CAN Output – VBOX 3i ADAS

Available CAN output frames

*Default Identifiers. The identifier values can be changed using the configuration software.
**Channels only present on dual-antenna systems.
***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, North being positive.
4. Position, Longitude in minutes * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being 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_2 is an 8-bit unsigned char. Bit 0 = Alive, Bit 1 = DANT_Enabled, Bit 2 = Dual_Lock, Bit 3 = BrakeTest_Active, Bit 4 = BrakeTrigger_Active, Bit 5 = DGNSS, Bit 6 = East,
    Bit 7 = South
11. Distance, 0.000078125 m 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 since VBOX reset, 0.000078125 m per bit, unsigned.
15. Time from last brake trigger event, 0.01 seconds per bit.
16. Velocity at brake trigger point, 0.01 kts per bit, interpolated between samples.
17. Velocity Quality, 0.01 km/h per bit.
18. True Heading of vehicle, 16 bit signed integer, 0.01° per bit.
19. Lateral Velocity, 16 bit signed integer 0.01 km/h per bit.
20. Longitudinal Velocity, 16 bit signed integer 0.01 km/h per bit.
21. Position, Latitude 48 bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
22. Position Quality, 8 bit unsigned integer.
23. 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.
24. Position, Longitude 48 bit signed integer, Longitude *10,000,000 (minutes). East being positive.
25. Velocity, 16 bit signed integer 0.01 kts per bit (not delayed when ADAS mode enabled).
26. Robot Navigation Satellites.
27. Time since midnight. This is a count of 10 ms intervals since midnight GPS. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
28. Robot heading, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
29. Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message), unsigned.
30. Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message), unsigned.
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. Dual antenna mode on or off, 1 for on, 0 for off (used by ABD robot systems).
36. Motion pack type number, outputted as 6 (used by ABD robot systems).
37. VBOX FW version, ,major, 8 bit unsigned.
38. VBOX FW version, minor, 8-bit unsigned.
39. VBOX FW version, build number, 16 bit unsigned.
40. X position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the X direction is East. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
41. Y position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the Y direction is North. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
42. Robot heading translated to Vehico Coordinate frame (not delayed when ADAS is enabled, used by Vehico robot systems).
43. Speed, 0.01 knots per bit (not delayed when ADAS is enabled, used by Vehico robot systems).
44. Position quality, 8 bit (used by Vehico robot systems).
45. Solution type, 8 bit (used by Vehico robot systems).
46. GPS Day High, unsigned char, most significant byte day number since 6th Jan 1980.
47. GPS Day Low, unsigned char, least significant byte day number since 6th Jan 1980.
48. Differential Age - unsigned char, (s) differential age (0xFF = invalid).
49. Serial Number - 20 bit, VBOX serial number.
50. VBOX Type - VB3i = 1, VB3iS = 2, VBOX Omega = 3.