# Velodyne LiDAR Sensor Firmware Update ## Preparation The navigation box must be connected locally to your workstation via an ethernet cable. Do NOT connect to rover via Wi-Fi for this procedure. Additionally, do NOT attempt to do this procedure over the Phoenix LiDAR Systems Connection service. The navigation system (rover) must be connected locally via an ethernet cable. The navigation box must be powered on (CPU light green). The Velodyne LiDAR sensor must be powered on and connected to the navigation box, however there is no need to ACTivate the sensor through SpatialExplorer. Provide power to the navigation box with either the included AC adapter or from a backup battery. We recommend using the AC adapter as your main source. Prior to updating your Velodyne sensor, please make sure the following tasks have been completed: * [ ] Make sure you have configured the ethernet adapter on your workstation to be able to communicate with rover. Any computer with a properly configured ethernet adapter can be used to establish a direct connection to the rover using an ethernet cable. Field computers configured by Phoenix LiDAR Systems will default to an alternative IP configuration of 192.168.200.20 when no IP address is obtained through DHCP on the primary ethernet port within 3 minutes. This will allow a computer to establish a connection to the rover via ethernet after 3 minutes of connection. Refer to [Wired Ethernet Network Card Setup](/rover/software/base-station-notebook-setup/wired-ethernet-network-card-setup.md) for more information. * [ ] If your rover has not been upgraded to SpatialRover version 3.5.1 or above, please contact so that we may temporarily enable port 8080 on your system. ## Procedure 1\. Launch a web browser from the computer connected to rover and navigate to **192.168.200.10:8080** to access the Velodyne configuration page. If you are unable to access the Velodyne configuration page, refer to [Wired Ethernet Network Card Setup](/rover/software/base-station-notebook-setup/wired-ethernet-network-card-setup.md) for more information. ![How to access Velodyne web configuration page](/files/-LWCdM5iiQ8Fap6yBo3b) 2\. Click the Info tab to view the current firmware version installed on both the Top and Bottom lasers of your Velodyne sensor. ![Info Tab Displays Current Firmware Version](/files/-LWCdiXJmFykreqd36eC) 3\. Navigate to the [Velodyne Downloads page](http://velodynelidar.com/downloads.html) and scroll down to the Firmware section. This page will list the most recent firmware versions available for all Velodyne sensors. For this example, we will be upgrading the firmware on a Velodyne VLP-16. As of this writing, the most current firmware version for the Velodyne VLP-16 is 3.0.37.0. ![Velodyne VLP-16 Firmware Downloads Page](/files/-LWCeAqVak7CZgsjd7wF) {% hint style="danger" %} Be aware that VLP-16’s with firmware version below 3.0.24.x cannot be upgraded. They need to be returned to Velodyne to process the firmware upgrade. {% endhint %} 4\. Download the latest version of the firmware for your Velodyne sensor and save it locally to a location of your choosing on your workstation. ![ Download the Latest Firmware Version from Velodyne](/files/-LWCeZHffPOa2QTnp3_v) 5\. Go back to the Velodyne Configuration Page and click the System tab. From this interface, click the “Browse” button under Update Firmware. ![Click Browse Button on Update Firmware to Locate Firmware File](/files/-LWCfY3q43W0koRgLcBH) 6\. Browse and select the firmware file you downloaded from Velodyne’s Downloads page. Click the “Open” button to continue. ![Select latest firmware file to upload](/files/-LWCflcpjd5dMT12eQpK) 7\. With the new firmware file loaded, click on the “Update” button under the Update Firmware section to upload the new firmware. ![Click update to begin firmware loading process](/files/-LWCg8WUv6904uTONbQm) 8\. After clicking the “Update” button, you can track the firmware upload progress indicated by the progress bar underneath. {% tabs %} {% tab title="First Tab" %} ![Firmware uploading to Velodyne sensor](/files/-LWCgLmtYpzFxhsc1rZB) {% endtab %} {% tab title="Second Tab" %} ![Firmware uploading to Velodyne sensor](/files/-LWCgZPqQzyY5EoPaPqn) {% endtab %} {% endtabs %} 9\. Once the firmware is done uploading, you still need to process the firmware update to the Velodyne sensor. Click on the “Process Firmware Update” button to write the new firmware to the Velodyne sensor. You must do this otherwise the new firmware will not be applied to the Velodyne sensor. ![Process Firmware Update](/files/-LWCiDj5wuyvVu9VzPtT) 10\. Once the firmware has been processed (indicated by the 100% in the progress bar), you must click the “Reset System” button. ![ Reset System](/files/-LWCiVwmyOlqF5E0GC3p) 11\. Once the system has been reset, go back into the Info tab verify the firmware version. Make sure both Top and Bottom firmware versions match. If they match, you are done. If the versions don’t match, continue on to the next step to reupload the firmware again. {% tabs %} {% tab title="First Tab" %} ![Firmware match between Top and Bottom lasers](/files/-LWCklvo70jSbH2ZV6wt) {% endtab %} {% tab title="Second Tab" %} ![Firmware mismatch between top and bottom](/files/-LWCkOHP3XFRRpKACklw) {% endtab %} {% endtabs %} 12\. If the Top and Bottom firmware versions don’t match, navigate back to the to System tab and click the “Browse” button to select the firmware file you wish to re-upload. ![Re-upload the firmware if firmware mismatch occurs](/files/-LWCsXuKG2gGvwOpPR3b) 13\. With the firmware file selected, click the “Update” button to load the firmware. ![Upload firmware again to be written](/files/-LWCsu4XzdeWEIMdBy9C) 14\. Once the firmware is done uploading, you still need to process the firmware update to the Velodyne sensor. Click on the “Process Firmware Update” button to write the new firmware to the Velodyne sensor. You must do this otherwise the new firmware will not be applied to the Velodyne sensor. ![Reprocess Firmware Update](/files/-LWCtGQw11PdjUHOODeI) 15\. Once the firmware has been processed (indicated by the 100% in the progress bar), you must click the “Reset System” button. ![Reset System after reupload of firmware](/files/-LWCt_5ee3bDO5om6zBv) 16\. Once the system has been reset, go back into the Info tab to verify the firmware version. Make sure both Top and Bottom firmware versions match. If they match, you are done. If either the Top or Bottom lasers display firmware version 0.0.0.0, you must power down both the navigation box and the LiDAR sensor. ![Mismatch with versions after re-uploading](/files/-LWCimVUeYxHi-42g3QJ) 17\. Power on the navigation box and LiDAR sensor and reconnect to the Velodyne sensor Configuration Page. Navigate to the Info tab again and verify the new firmware has been loaded on both Top and Bottom lasers. Both Top and Bottom firmware versions should match. ![Top and bottom firmware versions match after hard reset of system](/files/-LWCklvo70jSbH2ZV6wt) --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. 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