From firmware 3.1.0, users have now possibilities to change the Ouster lidar’s internal IMU settings to adjust both accelerometer and gyroscope scale.
In the lidar web user interface, go to Configuration tab → IMU section and change the “Gyro Full Scale Range” and/or the “Accel Full Scale Range” from NORMAL to EXTENDED :
With EXTENDED value, the accelerometer full-scale range is +/- 16g and the gyroscope full-scale range is +/- 2000 dps (°/sec)
It can also be modified via HTTP API using the POST /api/v1/sensor/config request and the parameters “accel_fsr” & “gyro_fsr”