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 |
- If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
- 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).
- Position, Latitude * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32-bit signed integer, North being positive.
- Position, Longitude * 100,000 (11882246 = 1 Degrees, 58.82445 Minutes West). This is a true 32-bit signed integer, West being positive.
- 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.
- Heading, 0.01° per bit.
- Altitude, 0.01 metres per bit, signed.
- Vertical velocity, 0.01 m/s per bit, signed.
- Status. 8-bit unsigned char. Bit 0 = VBOX Lite, Bit 1 = Open or Closed CAN Bus (1=open), 2 = VBOX 3.
- 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.
- Distance, 0.000078125 metres per bit, unsigned. Corrected to trigger point.
- Longitudinal acceleration, 0.01 G per bit, signed.
- Lateral acceleration, 0.01 G per bit, signed.
- Distance travelled in metres since VBOX reset.
- Time from last brake trigger event. 0.01 seconds per bit.
- Speed at brake trigger point in knots.
- Velocity quality, 0.01 km/h per bit.
- The difference between Heading and Slip_Head channels. This is then a measurement of body slip angle at the reference antenna.
- Lateral velocity, 16-bit signed integer * 100.
- Longitudinal velocity, 16-bit signed integer * 100.
- Position, latitude 48-bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
- Position quality, 8-bit unsigned integer, undelayed.
- 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.
- Position, longitude 48-bit signed integer, Longitude * 10,000,000 (minutes). East being positive.
- Speed, 0.01 knots per bit (not delayed when ADAS enabled).
- Raw satellite count.
- 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).
- Robot Head 16-bit unsigned integer * 100, (not delayed when ADAS enabled).
- Position, latitude (DD.DDDDDDD) * 10,000,000 (519874298 = 51.9874298 Degrees, North). This is a true 32-bit signed integer, North being positive.
- Position, longitude (DD.DDDDDDD) * 10,000,000 (11882246 = 1.9803743 Degrees, West), This is a true 32-bit signed integer. West being negative.
- Distance, 0.000078125 metres per bit, unsigned. Trigger distance corrected to nearest km/h speed.
- Distance, 0.000078125 metres per bit, unsigned. From start speed to end speed - Decel test.
- Speed at start of Decel test, 0.01 km/h per bit
- Speed at end of Decel test, 0.01 km/h per bit.
- Time of Decel test. 0.01 seconds per bit.
- Status. Bit 0 = Start/finish crossing, Bit 1 = Split line crossing (includes start/finish crossing).
- Lap time 0.01 seconds per bit.
- Split time 0.01 seconds per bit.
- Radius of turn 32-bit signed * 100.
- Heading derived from the Kalman Filter.
- Roll angle derived from the Kalman Filter.
- Pitch angle derived from the Kalman Filter.
- Kalman Filter status.
- Raw speed, knots, 0.01 per bit.
- Heading_IMU2 derived from the Kalman Filter.
- Raw heading degrees (16-bit unsigned integer * 100)
- Wheel speed 1, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 1.
- Wheel speed 2, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 2.
- Speed to 0.001 km/h resolution, 32-bit IEEE Float.
- Dual antenna status - 1 bit on bit 0. Reads 1 when enabled, 0 when disabled.
- Motion pack type - indicator for ABD units. Should read 6 at all times.
- Firmware version - 32-bit unsigned, split into Major (8-bit), Minor (8-bit) and build number (16-bit).
- Vehico X position, 32-bit IEEE Float, undelayed.
- Vehico Y position, 32-bit IEEE Float, undelayed.
- Robot head, 16-bit unsigned integer * 100 (not delayed when ADAS enabled).
- Speed, 0.01 knots per bit (not delayed when ADAS enabled).
- Position quality, 8-bit unsigned integer, undelayed.
- 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.
- GPSDayH unsigned char, most significant byte day number since 6th Jan 1980.
- GPSDayL unsigned char, least significant byte day number since 6th Jan 1980.
- Diff age unsigned char, (s) differential age (0xFF = invalid).
- Serial number 20-bit VBOX serial number.
- VBOX Type, first two bits, VBOX 3i = 1, VB3iS = 2, VB3iS2 = 3.
- Yaw rate, 32-bit IEEE Float.
- X acceleration, 32-bit IEEE Float.
- Y acceleration, 32-bit IEEE Float.
- IMU internal temperature, 32-bit IEEE Float.
- Pitch rate, 32-bit IEEE Float.
- Roll rate, 32-bit IEEE Float.
- Z acceleration, 32-bit IEEE Float.