CAN Output required for Stahle Robot
To output the correct CAN messages to the Stahle Robot, the following must be transmitted at 100 Hz as Intel format.
Note: This is not transmitted by default.
|
RL Channel Name |
Channel Name |
CAN ID |
Byte Position |
Message length |
Data Type |
Units and scaling factor |
Maths Calculation required |
|---|---|---|---|---|---|---|---|
|
|
Errors |
0x66 |
1-4 |
4 bytes |
Bitmask |
Set to a value of zero always |
|
|
Roll rate |
IMU Roll Rate |
0x6B |
1-2 |
2 bytes |
16 bit signed integer |
0.01 deg/s per bit |
|
|
Pitch rate |
IMU Pitch Rate |
0x6B |
3-4 |
2 bytes |
16 bit signed integer |
0.01 deg/s per bit |
|
|
YAW rate |
IMU Yaw Rate |
0x6B |
5-6 |
2 bytes |
16 bit signed integer |
0.01 deg/s per bit |
|
|
Long accel. |
Longitudinal Accel |
0x75 |
1-2 |
2 bytes |
16 bit signed integer |
0.0004g per bit |
|
|
Lateral accel. |
Lateral Accel |
0x75 |
3-4 |
2 bytes |
16 bit signed integer |
0.0004g per bit |
|
|
Z Acceleration |
IMU Z Acceleration |
0x75 |
5-6 |
2 bytes |
16 bit signed integer |
0.0004g per bit |
|
|
|
Inverse Path Radius |
0x83 |
1-2 |
2 bytes |
16 bit signed integer |
0.0001 per bit |
Inverse Path Radius = 1/(Speed (m/s)/yaw rate (rad/s)) |
|
|
Slip Angle |
0x83 |
3-4 |
2 bytes |
16 bit signed integer |
0.01 deg per bit |
Slip angle = -(Robot Head – Heading) |
|
Roll_Ang_IMU |
Roll_IMU |
0x95 |
1-2 |
2 bytes |
16 bit signed integer |
0.01 deg per bit |
|
|
Pitch_IMU |
Pitch_IMU |
0x95 |
3-4 |
2 bytes |
16 bit signed integer |
0.01 deg per bit |
|
|
|
Robot Head |
0x95 |
5-6 |
2 bytes |
16 bit unsigned integer |
0.01 deg per bit |
Robot Head = 360 - Robot head |
|
Heading |
Heading |
0x95 |
7-8 |
2 bytes |
16 bit unsigned integer |
0.01 deg per bit |
|
|
Time since midnight UTC |
UTC Time |
0x9C |
1-4 |
4 bytes |
|
10 ms per bit |
|
|
Latitude |
Latitude |
0x9F |
1-4 |
4 bytes |
32 bit signed integer |
1e^-7 per bit Decimal degrees |
|
|
Longitude |
Longitude |
0x9F |
5-8 |
4 bytes |
32 bit signed integer |
1e^-7 per bit Decimal degrees |
|
|
|
X Velocity (car frame) |
0xAF |
1-2 |
2 bytes |
16 bit signed integer |
0.005m/s per bit |
X Velocity = Speed(m/s) * Cos(slip angle) |
|
|
Y Velocity (car frame) |
0xAF |
3-4 |
2 bytes |
16 bit signed integer |
0.005m/s per bit |
Y Velocity = Speed (m/s)*Sin(Slip angle)
|