Skip to main content
RACELOGIC Support Centre

CAN Output – VBOX 3iS Single Antenna (v2)

The following details the default CAN output from a VBOX 3iS Single Antenna (v2).


This is the Racelogic standard VBOX output, ie. Starting at 0x301. It has a fixed latency of 20 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
0x304 (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)
0x306 (17) Velocity quality Unused (18) Slip Angle ( °) Unused
0x307 (19) Lateral velocity Unused (20) Longitudinal velocity
0x308 (21) Position - Latitude (22) Position quality (23) Solution Type
0x309 (24) Position - Longitude (25) Speed (kts)
0x314 Unused (26) Sats (27) Time since midnight UTC (28) Robot Heading
0x317 (29) Latitude (DD.DDDDDDD) (30) Longitude (DD.DDDDDDD)
0x318 (31) Distance from brake trigger (corrected, m) (32) Distance from start speed to end speed (m)
0x319 (33) Speed at start of test (km/h) (34) Speed at end of test (km/h) (35) Decel test time (s) (36) Status
0x31A (37) Lap time (s) (38) Split time (s) (39) Radius of turn (m)
0x31B (40) Head_IMU ( °) (41) Roll_IMU ( °) (42) Pitch_IMU ( °) (43) KF Status
0x31C (44) Speed_raw (kts) (45) Head_IMU2 ( °) (46) Head_raw ( °) Unused
0x31D (47) Wheel speed 1 (48) Wheel speed 2
0x31E (49) High resolution speed (km/h) Unused
0x324 (50) Status (51) Motion pack type (52) Firmware version
0x329 (53) X position (m) (54) Y position (m)
0x32A (55) Vehico robot head ( °) (56) Speed (kts) (57) Position quality (58) Solution type Unused
0x32B (59) GPSDayH (60) GPSDayL (61) Diff Age (62) Serial Number (63) Status Unused
0x600 (64) YAW rate (°/s) (65) X acceleration (g)
0x601 (66) Y acceleration (g) (67) Temperature (°C)
0x602 (68) Pitch rate (°/s) (69) Roll rate (°/s)
0x603 (70) 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. The difference between Heading and Slip_Head channels. This is then a measurement of body slip angle at the reference antenna.
  19. Lateral velocity, 16-bit signed integer * 100.
  20. Longitudinal velocity, 16-bit signed integer * 100.
  21. Position, latitude 48-bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
  22. Position quality, 8-bit unsigned integer, undelayed.
  23. 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.
  24. Position, longitude 48-bit signed integer, Longitude * 10,000,000 (minutes). East being positive.
  25. Speed, 0.01 knots per bit (not delayed when ADAS enabled).
  26. Raw satellite count.
  27. 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).
  28. Robot Head 16-bit unsigned integer * 100, (not delayed when ADAS enabled).
  29. Position, latitude (DD.DDDDDDD) * 10,000,000 (519874298 = 51.9874298 Degrees, North). This is a true 32-bit signed integer, North being positive.
  30. Position, longitude (DD.DDDDDDD) * 10,000,000 (11882246 = 1.9803743 Degrees, West), This is a true 32-bit signed integer. West being negative.
  31. Distance, 0.000078125 metres per bit, unsigned. Trigger distance corrected to nearest km/h speed.
  32. Distance, 0.000078125 metres per bit, unsigned. From start speed to end speed - Decel test.
  33. Speed at start of Decel test, 0.01 km/h per bit
  34. Speed at end of Decel test, 0.01 km/h per bit.
  35. Time of Decel test. 0.01 seconds per bit.
  36. Status. Bit 0 = Start/finish crossing, Bit 1 = Split line crossing (includes start/finish crossing).
  37. Lap time 0.01 seconds per bit.
  38. Split time 0.01 seconds per bit.
  39. Radius of turn 32-bit signed * 100.
  40. Heading derived from the Kalman Filter.
  41. Roll angle derived from the Kalman Filter.
  42. Pitch angle derived from the Kalman Filter.
  43. Kalman Filter status.
  44. Raw speed, knots, 0.01 per bit.
  45. Heading_IMU2 derived from the Kalman Filter.
  46. Raw heading degrees (16-bit unsigned integer * 100)
  47. Wheel speed 1, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 1.
  48. Wheel speed 2, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 2.
  49. Speed to 0.001 km/h resolution, 32-bit IEEE Float.
  50. Dual antenna status - 1 bit on bit 0. Reads 1 when enabled, 0 when disabled.
  51. Motion pack type - indicator for ABD units. Should read 6 at all times.
  52. Firmware version - 32-bit unsigned, split into Major (8-bit), Minor (8-bit) and build number (16-bit).
  53. Vehico X position, 32-bit IEEE Float, undelayed.
  54. Vehico Y position, 32-bit IEEE Float, undelayed.
  55. Robot head, 16-bit unsigned integer * 100 (not delayed when ADAS enabled).
  56. Speed, 0.01 knots per bit (not delayed when ADAS enabled).
  57. Position quality, 8-bit unsigned integer, undelayed.
  58. 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.
  59. GPSDayH unsigned char, most significant byte day number since 6th Jan 1980.
  60. GPSDayL unsigned char, least significant byte day number since 6th Jan 1980.
  61. Diff age unsigned char, (s) differential age (0xFF = invalid).
  62. Serial number 20-bit VBOX serial number.
  63. VBOX Type, first two bits, VBOX 3i = 1, VB3iS = 2, VB3iS2 = 3.
  64. Yaw rate, 32-bit IEEE Float.
  65. X acceleration, 32-bit IEEE Float.
  66. Y acceleration, 32-bit IEEE Float.
  67. IMU internal temperature, 32-bit IEEE Float.
  68. Pitch rate, 32-bit IEEE Float.
  69. Roll rate, 32-bit IEEE Float.
  70. Z acceleration, 32-bit IEEE Float.

 

  • Was this article helpful?