If your Air Pods haven’t updated to the latest version, be sure the i Phone or i Pad is connected online (preferably to wi-fi), put the Air Pods in the Air Pod charging case for a moment, then pop open the lid.
When the menu pops up on the i Phone just swipe it away as usual.
Now close the lid on the case and wait a few minutes, if an update is available it should happen automatically sometime within 30 minutes or so.
Note: Do not connect the camera to the computer yet.
Alternatively, you can find firmware updates on the Apple Support site.
For example, this update appeared soon after the Mac Pro1.1 was released in 2006: Mac Pro SMC Firmware Update 1.1: Download and run the updater.
This happens as part of OS X's software update process.