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RACELOGIC Support Centre

5.5 IMU Menu


This page covers the IMU menu in VBOX Setup connected to a VBOX 3i Single Antenna (v5) with firmware version 3.0.



IMU - default - Singel antenna.png

The IMU Integration will be disabled by default. Use the toggle switch to enable the IMU integration. When this is enabled, the IMU settings will become available and the GPS Optimisation will automatically be set to High.

IMU Integration Enabled 

IMU-default_single antenna.png


IMU integration

Use the toggle switch to enable/disable IMU integration. When enabled, you can use Serial IMU to capture IMU attitude data and improve accuracies for speed, heading and positional data. 

Roof mount

Use the toggle switch to enable/disable the roof mount feature. This should only be enabled when you are using a Racelogic Roof Mount. 

Robot blend

Use the toggle switch to enable/disable the Robot Blend feature. This is a safety feature for when you are using robot control. It prevents sudden position corrections and provides a smooth return of position and heading.

ADAS mode

Use the toggle switch to enable/disable the ADAS mode feature. This optimises the Kalman Filter's performance for high-accuracy position. This feature should not be enabled when you are performing brake stops and dynamic tests. 

Initialise only when moving

Use the toggle switch to enable/disable the Initialise only when moving feature. This will make the filter initialise only when the unit detects a speed that is faster than 18 km/h for a second or longer. You should use this feature in scenarios where you find it difficult to remian stationary during the initialisation. 

VIPS - Use external IMU

Use the toggle switch to enable/disable the VIPS feature.

Note: This is only to be used if you are using a Racelogic VIPS product. You can find more information about using this feature in the VIPS documentation. 

IMU Menu_enabled_default_calibration.png

Pitch & Roll Angle level

The function of the Pitch and Roll Angle Level is to remove any measurement error on the Pitch_imu and Roll_imu channels caused by the IMU not being mounted on a flat surface. 

Click the Calibrate button to start the automated calibration process.  



  • This calibration must be performed after you have completed the IMU Kalman Filter calibration procedure.
  • The vehicle must be stationary and on a level surface.  
  • You cannot enter these offset values manually, you have to do the calibration process. 

Click Clear to remove any set offset values.

IMU_KF initialised.png

Zero Gyro Rates

These rate offsets are used to correct any gyro bias, making the Pitch, Roll and Yaw channels read zero when the vehicle is stationary. 

You can expand the Serial IMU section to view the live values for Pitch Rate, Roll Rate and Yaw Rate and to find the Zero function for the Gyro Rate Offsets. 


Click the Zero button to calibrate the rate offsets for all detected and available IMUs. The software will run through an auto-calibration procedure for each available IMU. 

NoteThe offsets will be reset each time you power cycle the VBOX 3i unit.  

Click the Reset button to remove the calibrated offsets and reset the rates to the default values. 


Relative to antenna, the IMU is …

When you have set Roof Mount to 'Disabled':

You must enter the offset values (X, Y and Z) from the IMU to the antenna. 

These are needed for the Kalman Filter algorithm. 

IMU_Settings_Offset-relative to antenna-framed.png

When you have set Roof Mount to 'Enabled':

The Antenna to IMU offset becomes greyed out and you can no longer enter any values (see image). 

Relative to the front of the vehicle, the output reference point is …

Enter the X, Y, and Z offset values from the nominated reference point to the IMU. This will translate the data from the IMU location to the point on the vehicle where all the measurements will be made.

IMU_Settings_Offset-output reference point-framed.png
Wheel Speed Input 
IMU_WheelSpeed_Single antenna.png

Note: This tab is only presented when IMU integration is Enabled.

You can use the wheel speed input options to configure the wheel speed input channels and the reference location.

Adding wheel speed information in the Kalman Filter can improve positioning in locations that are subject to obstruction, such as tunnels or other areas where there is no view of the sky at all. Inertial sensors and wheel-speeds can fill in the gaps for periods of up to 5 minutes.


IMU_Wheel speed input_configure wheel speed input-framed.png

Select from logged channel

You can set the wheel speed inputs with an already configured CAN input channel. You will be able to pick a channel from a list of available channels connected to the SER port (the set CAN input port if you are using a CAN Hub). 

Select from CAN database

You can select channels to use for wheel speed from the internal database or from a database file. 

Click the Add wheel speed input button to open the Select wheel speed input channels window and set your input channels.

IMU_Wheel Speed input_Select wheel speed input channel_BMW-framed.png

Select the User radio button to choose wheel speed input channels from a user-configured database file. 

Select the Vehicle database button to choose wheel speed input channels from the internal vehicle database.

Make – Use the dropdown menu to see a list of available makes and select the one that applies to your setup. 

Model – Use the dropdown menu to see a list of all available models and select the one that applies to your setup.

The Connection details area will provide you with available CAN connection information for the selected vehicle. 

The Wheel Speed 1 and 2 sections will display lists of available options for Wheel Speed 1 and 2, based on your selection in the vehicle database or your database file. 


After configuring your wheel speed inputs, you must measure and enter the offset from the antenna to the wheel reference point. The Wheel Speed reference point is the centre point between the rear wheels. Make sure that your measurements are in line with this point.  

IMU - Wheel speed input - offset.png



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