32. Slip Angle Rear Left, 16 bit signed integer 0.01° per bit.
33. Slip Angle Rear Right, 16 bit signed integer 0.01° per bit.
34. Slip Angle COG, 16 bit signed integer 0.01° per bit.
35. Robot Navigation Satellites.
36. Time since midnight. This is a count of 10 ms intervals since midnight GPS. (5383690 = 53836.90 seconds since
midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
37.
Pre FW 2.6:
True Heading2, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
Post FW 2.6:
Robot heading, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
38. Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message), unsigned.
39. Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message), unsigned.
40. Heading derived from the Kalman Filter (activated when IMU integration is enabled).
41. Roll Angle derived from Kalman Filter (activated when IMU integration is enabled).
42. Pitch Angle derived from Kalman Filter (activated when IMU integration is enabled).
43.
Post FW 2.5:
Kalman filter status, 12 bit unsigned integer. See
for details.
44. Dual antenna mode on or off, 1 for on, 0 for off (used by ABD robot systems).
45. Motion pack type number, outputted as 6 (used by ABD robot systems).
46. VBOX FW version, 32 bit unsigned.
*can be split into Major (8 bit), Minor (8 bit) and build number (16 bit).
47. X position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the
origin is the first valid sample and the X direction is East. 32 bit float (not delayed when ADAS is enabled, used by
Vehico robot systems).
48. Y position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the
origin is the first valid sample and the Y direction is North. 32 bit float (not delayed when ADAS is enabled, used by
Vehico robot systems).
49. Robot heading translated to Vehico Coordinate frame (not delayed when ADAS is enabled, used by Vehico robot
systems).
50. Speed, 0.01 knots per bit (not delayed when ADAS is enabled, used by Vehico robot systems).
51. Position quality, 8 bit (used by Vehico robot systems).
52. Solution type, 8 bit (used by Vehico robot systems).
53. GPS Day High, unsigned char, most significant byte day number since 6th Jan 1980.
54. GPS Day Low, unsigned char, least significant byte day number since 6th Jan 1980.
55. Differential Age - unsigned char, (s) differential age (0xFF = invalid).
56. Serial Number - 20 bit, VBOX serial number.
57. VBOX Type - VB3i = 1, VB3iS = 2, VBOX Omega = 3.
Intel Format
These channels are for use with Stahle robot systems.
Data format:
Intel
Baud rate:
500 kbit/s
https://en.racelogic.support//Product_Info/VBOX_Data_Loggers/VBOX_3i_Range/VBOX_3i_User_Guide_(All_Variants)/15_-
_VB3i_Technical_Properties/VB3i_CAN_Output
104