diff --git a/CHANGELOG.md b/CHANGELOG.md
index bfee00ff..0a53e707 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,12 @@
 # CHANGELOG 
 ## Unreleased
 
+## v1.5.10 - 2023-02-17
+
+### Changed
+- Merge RSBPV4 into RSBP
+
+
 ## v1.5.9 - 2023-02-17
 
 ### Changed
diff --git a/config/config.yaml b/config/config.yaml
index a325868f..77b90ed7 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -7,7 +7,7 @@ common:
   send_point_cloud_ros: true                            #true: Send point cloud through ROS or ROS2
 lidar:
   - driver:
-      lidar_type: RSM1             #LiDAR type - RS16, RS32, RSBP, RSBPV4, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, 
+      lidar_type: RSM1             #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, 
                                    #             RSM1, RSM1_JUMBO, RSM2, RSE1
       msop_port: 6699              #Msop port of lidar
       difop_port: 7788             #Difop port of lidar
diff --git a/src/rs_driver b/src/rs_driver
index 3c36c089..ef1bdd45 160000
--- a/src/rs_driver
+++ b/src/rs_driver
@@ -1 +1 @@
-Subproject commit 3c36c089277cb366603f1bc4b5d406ee911dfb80
+Subproject commit ef1bdd45ee4df51e5acb57b64e49d8fed233039c