CAN Output – VBOX 3iS Single Antenna (v1)
The following details the default CAN output from a VBOX 3iS Single Antenna (v1).
This is the Racelogic standard VBOX output, ie. Starting at 0x301. It has a fixed latency of 15 ms.
Data format: Motorola
Channel definitions are available here.
CAN database (.dbc) files can be downloaded here.
| ID* | Data Bytes | |||||||
|---|---|---|---|---|---|---|---|---|
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | |
| 0x301 | (1) Sats | (2) Time since midnight UTC | (3) Position - Latitude MMMM.MMMMM | |||||
| 0x302 | (4) Position - Longitude MMMMM.MMMMM | (5) Speed (kts) | (6) Heading ( °) | |||||
| 0x303 | (7) Altitude. WGS 84 (m) | (8) Vertical velocity (m/s) | Unused | (9) Status | (10) Status | |||
| x0304 | (11) Distance from brake trigger | (12) Longitudinal accel (g) | (13) Lateral accel (g) | |||||
| 0x305 | (14) Distance travelled since VBOX reset (m) | (15) Trigger time (s) | (16) Trigger speed (kts) | |||||
| x0306 | (17) Velocity quality | Unused | ||||||
| 0x307 | (18) Lateral velocity | Unused | (19) Longitudinal velocity | |||||
| 0x308 | (20) Position - Latitude | (21) Position quality | (22) Solution Type | |||||
| 0x309 | (23) Position - Longitude | (24) Speed (kts) | ||||||
| 0x314 | Unused | (25) Sats | (26) Time since midnight UTC | (27) Robot Heading | ||||
| 0x317 | (28) Latitude (DD.DDDDDDD) | (29) Longitude (DD.DDDDDDD) | ||||||
| 0x318 | (30) Distance from brake trigger (corrected, m) | (31) Distance from start speed to end speed (m) | ||||||
| 0x319 | (32) Speed at start of test (km/h) | (33) Speed at end of test (km/h) | (34) Decel test time (s) | (35) Status | ||||
| 0x31A | (36) Lap time (s) | (37) Split time (s) | (38) Radius of turn (m) | |||||
| 0x31B | (39) Head_IMU ( °) | (40) Roll_IMU ( °) | (41) Pitch_IMU ( °) | (42) KF Status | ||||
| 0x31C | (43) Speed_raw (kts) | (44) Head_IMU2 ( °) | (45) Head_raw ( °) | Unused | ||||
| 0x31D | (46) Wheel speed 1 | (47) Wheel speed 2 | ||||||
| 0x31E | (48) High resolution speed (km/h) | Unused | ||||||
| 0x324 | (49) Status | (50) Motion pack type | (51) Firmware version | |||||
| 0x329 | (52) X position (m) | (53) Y position (m) | ||||||
| 0x32A | (54) Vehico robot head ( °) | (55) Speed (kts) | (56) Position quality | (57) Solution type | Unused | |||
| 0x32B | (58) GPSDayH | (59) GPSDayL | (60) Diff Age | (61) Serial Number | (62) Status | Unused | ||
| 0x600 | (63) YAW rate (°/s) | (64) X acceleration (g) | ||||||
| 0x601 | (65) Y acceleration (g) | (66) Temperature (°C) | ||||||
| 0x602 | (67) Pitch rate (°/s) | (68) Roll rate (°/s) | ||||||
| 0x603 | (69) Z acceleration (°/s) | Unused | ||||||
| SS/VBOX | Undelayed/Robot | Kalman Filter | IMU |
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 32-bit signed integer, North being positive.
4. Position, Longitude * 100,000 (11882246 = 1 Degrees, 58.82445 Minutes West). This is a true 32-bit signed integer, West being positive.
5. Speed, 0.01 knots per bit. This is Speed_Raw when the Kalman Filter is not enabled and the filtered value when Kalman Filter is enabled.
6. Heading, 0.01° per bit.
7. Altitude, 0.01 metres 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 = VBOX 3.
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 metres per bit, unsigned. Corrected to trigger point.
12. Longitudinal acceleration, 0.01 G per bit, signed.
13. Lateral acceleration, 0.01 G per bit, signed.
14. Distance travelled in metres 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. Lateral velocity, 16-bit signed integer * 100.
19. Longitudinal velocity, 16-bit signed integer * 100.
20. Position, latitude 48-bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
21. Position quality, 8-bit unsigned integer, undelayed.
22. Solution type, 8-bit unsigned integer, 0 = No solution, 1 = standalone, 2 = code differential, 3 = RTK Float, 4 = RTK Fixed, undelayed, 6= Coasting on IMU.
23. Position, longitude 48-bit signed integer, Longitude * 10,000,000 (minutes). East being positive.
24. Speed, 0.01 knots per bit (not delayed when ADAS enabled).
25. Raw satellite count.
26. Time since midnight. This is a count of 10 mS intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
27. Robot Head 16-bit unsigned integer * 100, (not delayed when ADAS enabled).
28. Position, latitude (DD.DDDDDDD) * 10,000,000 (519874298 = 51.9874298 Degrees, North). This is a true 32-bit signed integer, North being positive.
29. Position, longitude (DD.DDDDDDD) * 10,000,000 (11882246 = 1.9803743 Degrees, West), This is a true 32-bit signed integer. West being negative.
30. Distance, 0.000078125 metres per bit, unsigned. Trigger distance corrected to nearest km/h speed.
31. Distance, 0.000078125 metres per bit, unsigned. From start speed to end speed - Decel test.
32. Speed at start of Decel test, 0.01 km/h per bit
33. Speed at end of Decel test, 0.01 km/h per bit.
34. Time of Decel test. 0.01 seconds per bit.
35. Status. Bit 0 = Start/finish crossing, Bit 1 = Split line crossing (includes start/finish crossing).
36. Lap time 0.01 seconds per bit.
37. Split time 0.01 seconds per bit.
38. Radius of turn 32-bit signed * 100.
39. Heading derived from the Kalman Filter.
40. Roll angle derived from the Kalman Filter.
41. Pitch angle derived from the Kalman Filter.
42. Kalman Filter status.
43. Raw speed, knots, 0.01 per bit.
44. Heading_IMU2 derived from the Kalman Filter.
45. Raw heading degrees (16-bit unsigned integer * 100)
46. Wheel speed 1, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 1.
47. Wheel speed 2, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 2.
48. Speed to 0.001 km/h resolution, 32-bit IEEE Float.
49. Dual antenna status - 1 bit on bit 0. Reads 1 when enabled, 0 when disabled.
50. Motion pack type - indicator for ABD units. Should read 6 at all times.
51. Firmware version - 32-bit unsigned, split into Major (8-bit), Minor (8-bit) and build number (16-bit).
52. Vehico X position, 32-bit IEEE Float, undelayed.
53. Vehico Y position, 32-bit IEEE Float, undelayed.
54. Robot head, 16-bit unsigned integer * 100 (not delayed when ADAS enabled).
55. Speed, 0.01 knots per bit (not delayed when ADAS enabled).
56. Position quality, 8-bit unsigned integer, undelayed.
57. Solution Type, 8-bit unsigned integer, 0 = No solution, 1 = standalone, 2 = code differential, 3 = RTK Float, 4 = RTK Fixed, undelayed, 6 = Coasting on IMU.
58. GPSDayH unsigned char, most significant byte day number since 6th Jan 1980.
59. GPSDayL unsigned char, least significant byte day number since 6th Jan 1980.
60. Diff age unsigned char, (s) differential age (0xFF = invalid).
61. Serial number 20-bit VBOX serial number.
62. VBOX Type, first two bits, VBOX 3i = 1, VB3iS = 2, VB3iS2 = 3.
63. Yaw rate, 32-bit IEEE Float.
64. X acceleration, 32-bit IEEE Float.
65. Y acceleration, 32-bit IEEE Float.
66. IMU internal temperature, 32-bit IEEE Float.
67. Pitch rate, 32-bit IEEE Float.
68. Roll rate, 32-bit IEEE Float.
69. Z acceleration, 32-bit IEEE Float.