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RACELOGIC Support Centre

VB3iS - CAN Output

The following details the default CAN output from a VBOX 3iS.


This is the Racelogic standard VBOX output, ie. Starting at 0x301. It has a fixed latency of 15 ms.


Data format: Motorola

Channel definitions are available 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 (m) (12) Long 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
0x308 (18) Position - Latitude (19) Position Quality (20) Solution Type
0x309 (21) Position - Longitude (22) Speed (kts)
0x30A (23) Range-tg1 (m) (24) RelSpd-tg1 (m)
0x30B (25) LngRsv-tg1 (m) (26) LatRsv-tg1 (m)
0x30C (27) LngSsv-tg1 (km/h) (28) LatSsv-tg1 (km/h)
0x30D (29) Angle-tg1 (°) (30) Status-tg1 (31) LkTime-sv
0x30E (32) LatRtg-tg1 (m) (33) LngRtg-tg1 (m)
0x30F (34) T2Csv-tg1 (s) (35) status-sv Unused (36) Yawdif-tg1
0x310 (37) Spd-sv (km/h) (38) T2C2sv-tg1 (s)
0x311 (39) LatRref-tg1 (m) (40) Accel-tg1 (g)
0x312 (41) SepTim-tg1 (s) (42) T2Ctg-tg1 (s)
0x314 Unused (43) Sats (44) Time since midnight UTC (45) Robot Heading
0x315 (46) LatDif-sv (m) (47) LngDif-sv (m)
0x316 (48) YawRat-sv (°/s) (49) Pntsv-tg1 (50) Pnttg-sv Unused
0x317 (51) Latitude (DD.DDDDDDD) (52) Longitude (DD.DDDDDDD)
0x318 (53) Distance from brake trigger (corrected, m) (54) Distance from start speed to end speed (m)
0x319 (55) Speed at start of test (km/h) (56) Speed at end of test (km/h) (57) Decel test time (s) (58) Status
0x31A (59) Lap time (s) (60) Split time (s) (61) Radius Of turn (m)
0x31B (62) Head_IMU (°) (63) Roll_IMU (°) (64) Pitch_IMU (°) (65) KF Status
0x31C
(66) Speed_raw
(67) Head_IMU2 (°) (68) Head_raw (°) Unused
0x31D (69) Wheel speed 1 (70) Wheel speed 2
0x325 (71) LngRref_tg1 Unused
0x600 (72) YAW rate (º/s) (73) X acceleration (g)
0x601 (74) Y Acceleration (g) (75) Temperature (˚C)
0x602 (76) Pitch rate (º/s) (77) Roll rate (º/s)
0x603 (78) Z Acceleration (º/s) Unused

 

*Default Identifiers. The identifier values can be changed using the configuration software.

SS/VBOX Undelayed/ Robot KF ADAS IMU

 

  1. If <3 satellites in view, 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* 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32 bit signed integer, North being positive.
  4. Position, longitude* 100,000 (11882246 = 0 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being negative.
  5. Velocity, 0.01 kts per bit. This is Speed_Raw when the KF is not enabled and the filtered value when KF is enabled
  6. Heading, 0.01° per bit.
  7. Altitude above mean sea level based on the WGS 84 model of the earth, 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.
  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 = Dual Lock.
  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 in meters since VBOX reset.
  15. Time from last brake trigger event. 0.01 seconds per bit.
  16. Speed at brake trigger point in kts.
  17. Velocity quality, 0.01 km/h per bit.
  18. Position, latitude 48 bit signed integer, latitude * 10,000,000 (min). North being positive.
  19. Position Quality, 8 bit unsigned integer.
  20. Solution Type, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed
  21. Position, longitude 48 bit signed integer, longitude * 10,000,000 (min). East being positive.
  22. Speed, 0.01 kts per bit (not delayed when ADAS enabled).
  23. Vehicle separation (m), 32 bit IEEE float.
  24. Relative speed (km/h), 32 bit IEEE float.
  25. Longitudinal range; wrt subject heading (m), 32 bit IEEE float.
  26. Lateral range; wrt subject heading (m), 32 bit IEEE float.
  27. Longitudinal speed; wrt subject heading (m), 32 bit IEEE float.
  28. Lateral speed; wrt subject heading (m), 32 bit IEEE float.
  29. Separation angle (°), 32 bit IEEE float.
  30. Target RTK status 8 bit unsigned integer, 0 = No solution,1 = Stand alone, 2 = Code differential, 3 = RTK float, 4 = RTK fixed.
  31. Link time 24 bit unsigned integer, count of 10 ms counts since midnight.
  32. Lateral range; wrt target heading (m), 32 bit IEEE float.
  33. Longitudinal range; wrt target heading (m), 32 bit IEEE float.
  34. Time to collision; wrt subject heading (s), 32 bit IEEE float.
  35. Subject status, 8 bit unsigned integer, 0 = No solution,1 = Stand alone, 2 = Code differential, 3 = RTK float, 4 = RTK fixed
  36. YAW diff, difference between subject and target1 vehicle headings, 16 bit signed integer * 100.
  37. Subject vehicle speed (km/h), 32 bit IEEE float.
  38. Time to collision 2 (s), 32 bit IEEE float.
  39. Lateral diff (m), 32 bit IEEE float.
  40. Target vehicle acceleration (g), 32 bit IEEE float.
  41. Separation time (s), 32 bit IEEE float.
  42. Time to collision target; wrt target heading (s), 32 bit IEEE float.
  43. Raw satellite count.
  44. 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).
  45. Robot Head, 16-bit unsigned integer * 100 (not delayed when ADAS enabled).
  46. Latdif_tg1 difference in minutes between Subject latitude and Target 1 latitude, 32 bit IEEE float.
  47. Lngdif_tg1 difference in minutes between Subject longitude and Target 1 longitude, 32 bit IEEE float.
  48. YawRat_tg1 yaw rate from target vehicle, only if fitted (°/s), 32 bit IEEE float.
  49. Pntsv-tg1 current subject vehicle contact point to target vehicle, 1 – 8 bit signed integer.
  50. Pnttg1-sv current target vehicle contact point to subject vehicle, 1 – 8 bit signed integer.
  51. Position, latitude (DD.DDDDDDD) * 10,000,000 (519874298 = 51.9874298 Degrees, North). This is a true 32 bit signed integer, North being positive.
  52. Position, longitude (DD.DDDDDDD) * 100,000 (11882246 = 1.9803743 Degrees, West). This is a true 32 bit signed integer, West being negative.
  53. Distance, 0.000078125 m per bit, unsigned. Trigger distance corrected to nearest 10 km/h speed.
  54. Distance, 0.000078125 meters per bit, unsigned. From start speed to end speed – Decel test.
  55. Speed at start of Decel test, 0.01 km/h per bit.
  56. Speed at end of Decel test, 0.01 km/h per bit.
  57. Time of Decel test. 0.01 seconds per bit.
  58. Status. Bit 0 = Start/finish crossing; Bit 1 = Split line crossing (includes start/finish crossing).
  59. Lap time, 0.01 seconds per bit.
  60. Split time, 0.01 seconds per bit.
  61. Radius of turn, 32 bit signed * 100.
  62. Heading derived from the Kalman Filter.
  63. Roll angle derived from Kalman Filter.
  64. Pitch angle derived from Kalman Filter.
  65. Kalman Filter status.
  66. Raw GNSS speed.
  67. Heading_IMU2 derived from the Kalman Filter.
  68. Raw Heading degrees (16-bit unsigned integer * 100)
  69. Wheel speed 1, 32 bit IEEE float – a ‘CAN passthrough’ of Wheel speed 1.
  70. Wheel speed 2, 32 bit IEEE float – a ‘CAN passthrough’ of Wheel speed 2.
  71. Longitudinal range wrt to reference heading, 32 bit IEEE float.
  72. YAW rate, 32 bit IEEE float.
  73. X acceleration, 32 bit IEEE float.
  74. Y acceleration, 32 bit IEEE float.
  75. IMU internal temperature, 32 bit IEEE float.
  76. Pitch rate, 32 bit IEEE float.
  77. Roll rate, 32 bit IEEE float.
  78. Z acceleration, 32 bit IEEE float.