CAN Output

Available CAN output frames

*Default Identifiers. The identifier values can be changed using the configuration software.
**Channels only present when IMU is enabled.

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 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
3. Position: Latitude in minutes * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32-bit signed integer where North is positive.
4. Position: Longitude in minutes * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32-bit signed integer where West is positive.
5. Velocity, 0.01 kts per bit.
6. Heading, 0.01° per bit.
7. Altitude above mean sea level based on the Model of earth used, 0.01 m 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, Bit 3 = Logging Status.
10. Status: 8-bit unsigned char. Bit 0 = Always set, Bit 2 = Brake test started, Bit 3 = Brake trigger active, Bit 4 = DGPS active, Bit 5 = Dual Lock.
11. Longitudinal Acceleration: 0.01 g per bit, signed.
12. Lateral Acceleration: 0.01 g per bit, signed.
13. Distance travelled since VBOX reset. 0.000078125 m per bit, unsigned.
14. This is an RMS indication of the quality/accuracy of the current measured GNSS speed. It is expressed in km/h.
15. The difference between Heading and Slip_Head channels. This is then a measurement of body slip angle at the reference antenna.
16. Lateral Velocity: 16 bit signed integer 0.01 km/h per bit.
17. Longitudinal Velocity: 16 bit signed integer 0.01 km/h per bit.
18. Position Latitude 48-bit signed integer. Latitude * 10,000,000 (minutes). North is positive.
19. Position Quality, 8 bit unsigned integer.
20. Solution Type: 8-bit unsigned integer. 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed, 5 = Fixed position, 6 = IMU Coast.
21. Position, Longitude 48 bit signed integer, Longitude *10,000,000 (minutes). East being positive.
22. Speed
23. Satellites
24. Time since Midnight GPS
25. Vehicle Body Heading
26. Latitude
27. Longitude
28. Status
29. Lap time 0.01 seconds per bit.
30. Split time 0.01 seconds per bit.
31. Heading derived from the Kalman Filter (activated when IMU integration is enabled).
32. Roll Angle derived from Kalman Filter (activated when IMU integration is enabled).
33. Pitch Angle derived from Kalman Filter (activated when IMU integration is enabled).
34. Kalman filter status, 12-bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
35. Raw Speed: This contains the raw GNSS data from the Doppler-derived GNSS Speed. Knots, 0.01 per bit.
36. Heading_IMU2 derived from the Kalman Filter.
37. Raw Heading: This channel contains the raw GNSS data from the Doppler derived GNSS Heading.
38. Wheel speed 1, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 1.
39. Wheel speed 2, 32-bit IEEE Float - a 'CAN Passthrough' of Wheel Speed 2.
40. Speed to 0.001 km/h resolution, 32-bit IEEE Float.
41. GPS Sats
42. Glonass Sats
43. Galileo Sats
44. BeiDou Sats
45. Firmware version - major. 8-bit unsigned.
46. Firmware version - minor. 8-bit unsigned.
47. Firmware version - build. 16-bit unsigned.
48. GPSDayH: Unsigned char, most significant byte day number since 6th Jan 1980.
49. GPSDayL: Unsigned char, least significant byte day number since 6th Jan 1980.
50. Serial Number. 20-bit VBOX serial number.
51. VBOX Type, first two bits, VBOX 3i = 1, VB3iS = 2, VB3iS2 = 3.
52. YAW rate. 32-bit IEEE Float.
53. X-acceleration. 32-bit IEEE Float. 
54. Y-acceleration. 32-bit IEEE Float. 
55. IMU internal temperature, 32-bit IEEE Float.
56. Pitch Rate. 32-bit IEEE Float.
57. Roll Rate. 32-bit IEEE Float.
58. Z-acceleration. 32-bit IEEE Float.