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Robot Modes - DSD

VB3iSL-RTK can be incorporated into the DSD Ultra Flat Overrunable (UFO) Robot system, as both an onboard UFO controller, or operating in the subject vehicle. Selecting the DSD option within VBOX Manager will allow the user to define if the VBOX is to be used in the UFO, or if it will be used in the Vehicle.

Hardware Configuration

As DSD themselves supply the DGPS radios and calculate the ranging data themselves, there is no need for the VBOX to VBOX communication radios commonly found within an ADAS system. Because of this, the Racelogic equipment needed to integrate with the DSD systems is fairly straight forward and consists of:-

  • 1x VB3iSL-RTK (with both GPS antennas connected)

VB3iSL-RTK is integrated with the DSD system as shown below:-

 

 

Selecting either the UFO or VEHICLE options will automatically configure the VBOX in the following ways, readying the VBOX for integration with the DSD system:

UFO

 
  • Dynamic Mode - High dynamics
  • Log rate - 100 Hz
  • Hi Dynamic KF - Enabled
  • DGPS Mode - RTCMv3
  • DGPS RS232 rate - 9600
  • Dual Antenna - Enabled
    • ROLL MODE
    • Antenna separation 0.55 m
  • IMU integration - Enabled NOT “Roof Mode”
  • VCI CAN bus set to RS232 port
  • VCI CAN bus set to 500 kbit
  • VCI CAN bus set to Termination ‘ON’
  • The following CAN IDs should also be switched on:-
    • 308
    • 309
    • 314

VEHICLE

 
  • Dynamic Mode - High dynamics
  • Hi Dynamic KF - Disabled
  • Log rate - 100 Hz
  • DGPS Mode - RTCMv3
  • DGPS RS232 rate - 9600
  • Dual Antenna Enabled
    • NOT “Roll Mode”
    • Antenna separation 1.00 m*
  • IMU integration Enabled - “Roof Mode”
  • VCI CAN bus set to RS232 port
  • VCI CAN bus set to 500 kbit 
  • VCI CAN bus set to Termination ‘ON’
  • The following CAN IDs should also be switched on:-
    • 308
    • 309
    • 314

*1.00 m is the default dual antenna separation. If it is not possible to gain a 1m separation, then the user will have to enter the required separation value in the ‘DUAL ANTENNA’ area of VBOX Manager.

Disabling DSD Mode

Please note that the VBOX will continue to operate in ‘DSD mode’ until either a different Robot mode is selected (Vehico, ABD) or ‘NONE’ is selected from within VBOX Manager.

Please note that enabling the DSD mode does not change the core functionality of the VBOX.

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Last modified
10:23, 24 Jan 2017

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