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09 - Speed Sensor CAN output

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The following details the default CAN output from a RLVBSSxx and RLVBSS100SL.


This is the Racelogic standard VBOX output, ie. Starting at 0x301

 

Format Motorola
ID** Update Rate Data Bytes
1 2 3 4 5 6 7 8
0x301 Variable* (1) Sats (2) Time since midnight UTC  (3) Position – Latitude MMMM.MMMMM
0x302 Variable* (4) Position – Longitude MMMMM.MMMMM (5) Speed. (Knots) (6) Heading (Degrees)
0x303 Variable* (7) Altitude. WGS 84. (Metres) (8) Vertical velocity (M/S) Unused (9) Status (10) Status
0x304 Variable* (11) Distance from Brake trigger (Meters) (12) Long Accel (G)

(13) Lateral Accel. (G)

0x305 Variable* (14) Distance travelled since VBOX reset (Metres) (15) Trigger Time (S) (16) Trigger Speed
0x306 Variable* Unused (17) Lean Angle (deg) (18) Radius of Turn (meters)
0x307 Variable* (19) Position – Latitude DD.DDDDDDD (20) Position – Longitude DD.DDDDDDD
0x308 Variable* (21) Distance from Brake Trigger (corrected) (Meters) (22) Distance from start speed to end speed (Meters) 
0x309 Variable* (23) Speed at start of test (kmh) (24) Speed at end of test (kmh) (25) Decel test time (s) Unused
0x30A Variable* (26) Lap time (s) (27) Split time (s) (28) Status   (29) RTK Status Unused
0x30B 10ms (30) True Heading (Degrees) (31) Slip Angle (degrees) (32) Pitch Angle (Degrees) (33) Lateral Velocity (Knots)
0x30C 10ms (34) Yaw Rate (Degrees/S) (35) Roll Angle (Degrees) (36) Longitudinal Velocity (Knots) (37) Center of Gravity
0x30D 10ms (38) Front Left (39) Front Right (40) Rear Left (41) Rear Right

Note: Channels highlighted in yellow are only present in the output from the the Dual Antenna Speed Sensor with RTK (RLVBSS100SLR).

 

Note: Channels highlighted in blue are only present in the output from the the Dual Antenna Speed Sensor (RLVBSS100SL).

* The update rate is variable dependent on which setting has been selected. (see below)

100Hz >> 10ms
50Hz  >> 20ms

20Hz 

>> 50ms
10Hz >> 100ms
5Hz  >> 200ms

 

  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 (mmmm.mmmmm) * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32bit signed integer, North being positive.
  4. Position, Longitude (mmmmm.mmmmm)* 100,000 (11882246 = 0 Degrees, 58.82246 Minutes West). This is a true 32bit signed integer, West being positive.
  5. Velocity, 0.01 knots per bit.
  6. Heading, 0.01° per bit.
  7. Altitude, 0.01 meters per bit, signed.
  8. Vertical Velocity, 0.01 m/s per bit, signed.
  9. Status.8 bit unsigned char. Bit 2 always set.
  10. Status, 8 bit unsigned char. Bit 0 is always set, Bit 1 = Lapmarker, Bit 3=brake test started, Bit 4 = Brake trigger active, Bit 5 = DGPS active
  11. Distance, 0.000078125 meters per bit, unsigned. Corrected to trigger point
  12. Longitudinal Acceleration, 0.01G per bit, signed.
  13. Lateral Acceleration, 0.01G per bit, signed.
  14. Distance (since reset/powercycle), 0.000078125 meters per bit, unsigned.
  15. Time from last brake trigger event. 0.01 Seconds per bit
  16. Velocity at brake trigger instant, 0.01 knots per bit (window smoothed over previous 4 samples)
  17. Lean Angle, 16-bit signed integer * 100.
  18. Radius of Turn 32-bit signed * 100.
  19. Position, Latitude (DD.DDDDDDD) * 10,000,000 (519874298 = 51.9874298 Degrees, North). This is a true 32bit signed integer, North being positive.
  20. Position, Longitude (DD.DDDDDDD) * 10,000,000 (11882246 = 1.1882246 Degrees, West). This is a true 32bit signed integer, West being positive.
  21. Distance, 0.000078125 meters per bit, unsigned. Trigger distance corrected to nearest 10km/h speed
  22. Distance, 0.000078125 meters per bit, unsigned. From start speed to end speed –Decel test
  23. Speed at start of Decel test, 0.01 knots per bit
  24. Speed at end of Decel, test 0.01 knots per bit
  25. Time of Decel test . 0.01 Seconds per bit
  26. Lap time 0.01 Seconds per bit
  27. Split time 0.01 seconds per bit
  28. Status. Bit 0 = Start/finish crossing; Bit 1 = Split line crossing (includes start/finish crossing)
  29. RTK status, 8 bit unsigned integer, 0 = No solution,1 = Stand alone, 2 = Code differential, 3 = RTK float, 4 = RTK fixed.
  30. True Heading of vehicle, 16-bit unsigned integer * 100.
  31. Slip Angle, 16-bit signed integer * 100.
  32. Pitch Angle, 16-bit signed integer * 100.
  33. Lateral Velocity, 16-bit signed integer * 100.
  34. YAW rate, 16-bit signed integer*100.
  35. Roll Angle, 16-bit signed integer * 100.
  36. Longitudinal Velocity, 16-bit signed integer * 100.
  37. Centre Of Gravity Slip angle, 16-bit signed integer *100.
  38. Front Left, 16-bit signed integer*100.
  39. Front Right, 16-bit signed integer*100.
  40. Rear Left, 16-bit signed integer*100.
  41. Rear Right, 16-bit signed integer*100.
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Question: For the time (2), is byte number 2 the LSB or the MSB?
Posted 17:39, 14 Oct 2015
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Last modified
11:40, 9 Jan 2017

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