8. Firmware Releases

The latest ROS driver is fully backwards-compatible with all older firmware releases.

After building the latest ROS driver, your MultiSense KS21 can be field upgraded to latest firmware by downloading a firmware update file sent from Carnegie Robotics and issuing the following command (assuming the IP address of your MultiSense KS21 is "10.66.171.21"):

curl -T update.img tftp://10.66.171.21

The file updated to the multisense must be named update.img

After uploading the update.img file to the camera, the camera will take between 3 and 5 minutes to reboot. Once rebooted it is safe to operate and power-cycle the camera. A basic networking status utility like ping can be used to monitor when the camera reboots

Release 5.16

Date 2021-11-05

Firmware Notes

This firmware is only compatable with LibMultiSense version 4.0

This firmware release incorporates the following new features:

  • Supports H264 Compression for: left, right, aux, left rectified, right rectified, and aux_rectified streams.

  • Fixed: Bug in compressor (ce), which caused multiple decompression errors, especially noticeable in dynamically changing scenes.

  • Added Filtering in api layer to improve camera api interaction, stopped direct calls to pipeline from libmultisense, when parameters were not changing. This was causing the pipeline to reset too frequently when config changes are applied frequently.

Release 5.12

Date 2021-08-13

Firmware Notes

This firmware release incorporates the following new features:

  • Fixed: Auto Exposure and Auto Exposure Regions of interest.

  • Auto exposure regions of interest are now required to be set in the cameras native resolution regardless of the current resolution of the camera.

  • For example: if the camera is set to quarter resolution (960x600) the ROI must still be set in terms of the native sensor resolution (1920, 1200)

  • ROI for aux camera is in secondary exposure configuration by default.

  • For example: For cameras which support aux camera and stereo, the Image Configuration should include 1 Primary Configuration and one secondary configuration.

  • To modify the region of interest for the color camera, a Secondary Exposure Configuration must be used.

  • To modify the region of interest for the stereo pair, the Primary Exposure Configuration must be used.

Release 5.8

Date 2021-05-19

Firmware Notes

This firmware release incorporates the following new features:

  • Fixed 8-pixel image shift issue.

  • Corrected exposure and gain fields of image headers.

  • Fixed color image synchronization error.

  • Fixed PTP global timing offset.