CAN Output – VBOX 3iS Dual Antenna RTK

​ The following details the default CAN output from a VBOX 3iS Dual Antenna RTK.

This is the Racelogic standard VBOX output, ie. Starting at 0x301. It has a fixed latency of 15 ms.

You can find the CAN database files on the CAN Outputs and Database Files page. 

Data format: Motorola

Channel definitions are available here.

* ADAS channels that have a suffix tg1 should default to tg2 when target vehicle 2 is selected in ADAS mode

1. If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
2. Time since midnight. This is a count of 10mS intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
3. Position, Latitude * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32bit signed integer, North being positive.
4. Position, Longitude * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32bit signed integer, West being negative.
5. Speed, 0.01 knots per bit. This is Speed_Raw when the KF is not enabled and the filtered value when KF is enabled
6. Heading, 0.01° per bit.
7. Altitude, 0.01 meters per bit, signed.
8. Vertical Velocity, 0.01 m/s per bit, signed.
9. Status. 8 bit unsigned char. Bit 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3.
10. Status is an 8 bit unsigned char. Bit 0 is always set, Bit 1 = Lapmarker, Bit 3=brake test started, Bit 4 = Brake trigger active, Bit 5 = Dual Lock.
11. Distance, 0.000078125 meters per bit, unsigned. Corrected to trigger point.
12. Longitudinal Acceleration, 0.01G per bit, signed.
13. Lateral Acceleration, 0.01G per bit, signed.
14. Distance travelled in meters since VBOX reset.
15. Time from last brake trigger event. 0.01 Seconds per bit.
16. Speed at brake trigger point in Knots.
17. Velocity Quality, 0.01 km/h per bit.
18. True Heading of vehicle, 16-bit unsigned integer * 100.
19. Slip Angle, 16-bit signed integer * 100.
20. Pitch Angle, 16-bit signed integer * 100.
21. Lateral Velocity, 16-bit signed integer * 100.
22. Roll Angle, 16-bit signed integer * 100
23. Longitudinal Velocity, 16-bit signed integer * 100.
24. Position, Latitude 48bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
25. Position Quality, 8 bit unsigned integer, undelayed
26. Solution Type, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed, undelayed
27. Position, Longitude 48bit signed integer, Longitude * 10,000,000 (minutes). East being positive.
28. Speed, 0.01 knots per bit (not delayed when ADAS enabled).
29. Vehicle Separation (meters), 32 Bit IEEE Float
30. Relative Speed (km/h), 32 Bit IEEE Float
31. Longitudinal Range; wrt subject heading (meters), 32 Bit IEEE Float
32. Lateral Range; wrt subject heading (meters), 32 Bit IEEE Float
33. Longitudinal Speed; wrt subject heading (meters), 32 Bit IEEE Float
34. Lateral Speed; wrt subject heading (meters), 32 Bit IEEE Float
35. Separation Angle (degrees), 32 Bit IEEE Float
36. Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed
37. Link Time 24 bit unsigned integer, count of 10ms counts since midnight.
38. Longitudinal Range; wrt Target heading (metres), 32 Bit IEEE Float
39. Lateral Range; wrt Target heading (metres), 32 Bit IEEE Float
40. Time to collision; wrt subject heading (seconds), 32 Bit IEEE Float
41. Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed
42. YAW diff, difference between subject and target1 vehicle headings, 16 bit signed integer *100
43. Subject Vehicle Speed (km/h), 32 Bit IEEE Float
44. Time to Collision 2; (seconds), 32 Bit IEEE Float
45. Lateral Diff (meters), 32 Bit IEEE Float
46. Target vehicle Acceleration (g), 32 Bit IEEE Float
47. Separation Time (seconds), 32 Bit IEEE Float
48. Time to Collision Target; wrt target heading (seconds), 32 Bit IEEE Float
49. Slip Angle Front Left, 16-bit signed integer * 100.
50. Slip Angle Front Right, 16-bit signed integer * 100.
51. Slip Angle Rear Left, 16-bit signed integer * 100.
52. Slip Angle Rear Right, 16-bit signed integer * 100.
53. Slip Angle C of G, 16-bit signed integer * 100.
    a) When Single Antenna output is untranslated Slip Angle
54. Raw Satellite Count
55. Time since midnight. This is a count of 10mS intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
56. Robot Head 16-bit unsigned integer*100, (not delayed when ADAS enabled).
57. Latdif_tg1 difference in minutes between Subject Latitude and Target1 Latitude, 32 Bit IEEE Float
58. Lngdif_tg1 difference in minutes between Subject Longitude and Target1 Longitude, 32 Bit IEEE Float
59. YawRat_Sv Yaw rate from Subject vehicle, only if fitted (deg/s), 32 Bit IEEE Float
60. Pntsv-tg1 Current subject vehicle contact point to target vehicle 1 – 8 bit signed integer
61. Pnttg1-sv Current target vehicle contact point to subject vehicle – 8 bit signed integer
62. Position, Latitude (DD.DDDDDDD) * 10,000,000 (519874298 = 51.9874298 Degrees, North). This is a true 32bit signed integer, North being positive.
63. Position, Longitude (DD.DDDDDDD) * 10,000,000 (11882246 = 1.9803743 Degrees, West). This is a true 32bit signed integer, West being negative.
64. Distance, 0.000078125 meters per bit, unsigned. Trigger distance corrected to nearest 10km/h speed
65. Distance, 0.000078125 meters per bit, unsigned. From start speed to end speed –Decel test
66. Speed at start of Decel test, 0.01 kph per bit
67. Speed at end of Decel, test 0.01 kph per bit
68. Time of Decel test . 0.01 Seconds per bit
69. Status. Bit 0 = Start/finish crossing; Bit 1 = Split line crossing (includes start/finish crossing)
70. Lap time 0.01 Seconds per bit
71. Split time 0.01 seconds per bit
72. Radius of Turn 32-bit signed * 100.
73. Heading derived from the Kalman Filter
74. Roll Angle derived from Kalman Filter
75. Pitch Angle derived from Kalman Filter
76. Kalman Filter Status
77. Raw Speed, knots, 0.01 per bit
78. Heading_IMU2 derived from the Kalman Filter
79. Raw heading degrees (16-bit unsigned integer * 100)
80. Wheel Speed 1, 32bit IEEE Float – a ‘CAN Passthrough’ of Wheel Speed 1
81. Wheel Speed 2, 32bit IEEE Float – a ‘CAN Passthrough’ of Wheel Speed 2
82. Speed to 0.001 km/h resolution, 32-bit IEEE Float.
83. Dual Antenna Status – 1 bit on bit 0. Reads 1 when enabled, 0 when disabled
84. Motion pack type- indicator for ABD units. Should read 6 at all times.
85. Firmware Version - 32 bit unsigned, split into Major (8 bit), Minor (8 bit) and build number (16 bit)
86.  Longitudinal Range; with regards to reference line heading (m), 32 bit IEEE Float.
87. Vehico X position, 32 bit IEEE Float, undelayed
88. Vehico Y position, 32 bit IEEE Float undelayed
89. Robot Head 16-bit unsigned integer*100, (not delayed when ADAS enabled).
90. Speed, 0.01 knots per bit (not delayed when ADAS enabled).
91. Position Quality, 8 bit unsigned integer, undelayed
92. Solution Type, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed, undelayed
93. GPSDayH unsigned char, most sig byte day number since 6th Jan 1980
94. GPSDayL unsigned char, least sig byte day number since 6th Jan 1980
95. Diff Age unsigned char, (s) differential age (0xFF = invalid)
96. Serial Number 20 bit, VBOX serial number
97. VBOX Type, first two bits, VBOX3i = 1, VB3iS = 2, VB3iS2 = 3
98. Yaw Rate, 32bit IEEE Float
99. X Acceleration, 32bit IEEE Float
100. Y Acceleration, 32bit IEEE Float
101. IMU internal Temperature, 32bit IEEE Float
102. Pitch Rate, 32bit IEEE Float
103. Roll Rate, 32bit IEEE Float
104. Z Acceleration, 32bit IEEE Float