VBOX 3iSL Betriebsanweisung PDF herunterladen (Seite 51)

VBOX 3iSL User Guide

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11/04/2012

CAN Output

The VBOX 3iSL has a CAN output which is present on the 5-way connector output; Data format: Motorola; Baud rate: 500Kb/s.

Format

Motorola

ID**

Update

rate *

Data Bytes

0x301

10ms

(1) Sats in

view

(2) Time since midnight UTC

(3) Position  Latitude MMMM.MMMMM

0x302

10ms

(4) Position  Longitude MMMMM.MMMMM

(5) Velocity. (Knots)

(6) Heading. (Degrees)

0x303

10ms

(7) Altitude. WGS 84. (Metres)

(8) Vertical velocity. (M/S)

Unused

(9) Status

(10) Status

0x304

10ms

(11) Distance. (Meters)

(12) Longitudinal Accel. (G)

(13) Lateral Accel. (G)

0x305

10ms

(14) Distance travelled since VBOX reset

(15) Trigger time

(16) Trigger Velocity

0x306

10ms

(17) Velocity Quality

(18) True Heading

(Degrees)

(19) Slip Angle (degrees)

(20) Pitch Angle (Degrees)

0x307

10ms

(21) Lateral Velocity

(Knots)

(22) Yaw Rate

(Degrees/S)

(23) Roll Angle (Degrees)

(24) Longitudinal Velocity (Knots)

0x308

10ms

(25) Position latitude

Unused

(26) Status

0x309

10ms

(27) Position longitude

Unused

0x313

10ms

(28) Front Left

(29) Front Right

(30) Rear Left

(31) Rear Right

0x314

10ms

(32) Center of Gravity

Unused

*Update rate depends on GPS update rate. 10ms Update rate shown corresponds to 100Hz GPS setting.

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

(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 * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32bit signed integer, North being positive.

(4) Position, Longitude * 100,000 (11882246 = 1 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 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3

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