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Outputs / CAN

CAN Output Specification

Combined Speed, Longitudinal and Lateral Acceleration

Default address

Data bytes 1 4

Data bytes 5 8

0x500

Combined accelerometer and GPS speed.

Format: Signed, 32bit, little-endian integer.

Units: cm/s.

Scaling: None.

Bytes 5 - 6: Longitudinal Acceleration

Bytes 7 - 8: Lateral Acceleration

Format: Both are signed, 16bit, little-endian integers.

Units: g

Scaling*: Output = g 1000

*NOTE: This applies to firmware 2.2.1 onwards; units with firmware from 2.1.0 to 2.2.0 inclusive output m/s^2 * 256

SPEEDBOX Status

Default address

Data bytes 1 4

Data bytes 5 8

0x501

Byte 1: SPEEDBOX status:

0x00: Power on, no output from GPS module.

0x01: Not enough satellites locked for solution.

0x02: At least 4 satellites locked, but unable to reach solution.

0x03: Good GPS lock achieved.

0x06: GPS module active, but no lock.

Byte 2: Version number (major)

Byte 3: Version number (intermediate)

Byte 4: Version number (minor)

Byte 5: Number of GPS satellites used in solution.

Byte 6: Number of GPS satellites used in solution by receiver 2 (RTK unit only).

Byte 7: Number of common GPS satellites used by both receivers (RTK unit only).

Byte 8: RTK Status (RTK unit only):

0x00: No solution from one or both receivers.

0x01: Not enough common satellites for RTK solution.

0x02: Unable to obtain RTK solution.

0x03: RTK solution obtained.

GPS Time

Default address

Data bytes 1 4

Data bytes 5 8

0x502

GPS millisecond time of week. This is the number of milliseconds that have passed since midnight on Saturday night.

Format: Unsigned, 32bit, little-endian integer.

Units: ms.

Scaling: None.

These bytes are reserved to output an estimate of time accuracy in the future. Currently no meaningful estimate of time accuracy is derived from the solution, so these bytes are output as zero.

GPS Position (Longitude and latitude)

Default address

Data bytes 1 4

Data bytes 5 8

0x503

GPS longitude.

Format: Signed, 32bit, little-endian integer.

Units: Degrees.

Scaling: Output = degrees 1e7.

GPS latitude.

Format: Signed, 32bit, little-endian integer.

Units: Degrees.

Scaling: Output = degrees 1e7.

GPS Altitude and Heading

Default address

Data bytes 1 4

Data bytes 5 8

0x504

GPS altitude.

Format: Signed, 32bit, little-endian integer.

Units: mm.

Scaling: None.

GPS heading.

Format: Signed, 32bit, little-endian integer.

Units: degrees.

Scaling: Output = degrees 1000

GPS Velocity (ECEF X and Y velocity)

Default address

Data bytes 1 4

Data bytes 5 8

0x505

GPS ECEF (Earth-centred) X velocity.

Format: Signed, 32bit, little-endian integer.

Units: cm/s.

Scaling: None.

GPS ECEF Y velocity.

Format: Signed, 32bit, little-endian integer.

Units: cm/s.

Scaling: None.

GPS Velocity (ECEF Z velocity and velocity accuracy estimate)

Default address

Data bytes 1 4

Data bytes 5 8

0x506

GPS ECEF Z velocity.

Format: Signed, 32bit, little-endian integer.

Units: cm/s.

Scaling: None.

GPS velocity accuracy estimate.

Format: Unsigned, 32bit, little-endian integer.

Units: cm/s.

Scaling: None.

GPS Position (ECEF X and Y position)

Default address

Data bytes 1 4

Data bytes 5 8

0x507

GPS ECEF X position.

Format: Signed, 32bit, little-endian integer.

Units: cm.

Scaling: None.

GPS ECEF Y position.

Format: Signed, 32bit, little-endian integer.

Units: cm.

Scaling: None.

GPS Position (ECEF Z position and positional accuracy estimate)

Default address

Data bytes 1 4

Data bytes 5 8

0x508

GPS ECEF Z position.

Format: Signed, 32bit, little-endian integer.

Units: cm.

Scaling: None.

GPS Positional accuracy estimate.

Format: Unsigned, 32bit, little-endian integer.

Units: mm.

Scaling: None.

GPS gradient and gradient accuracy [firmware >= 2.3.0]

Default address

Data bytes 1 2

Data byte 3

Data byte 4

Data bytes 5 8

0x509

GPS gradient.

Format: Signed, 16bit, little-endian integer.

Units: degrees.

Scaling: output = degrees x 100.

Gradient accuracy, format to be decided.

Currently unused.

Gradient flags:

bit 0 (lsb): gradient valid (1) or invalid (0).

bit 1: gradient accuracy valid (1) or invalid (0).

Reserved for future use.

GPS MB-RTK Yaw and Pitch [SPEEDBOX-RTK ONLY]

Default address

Data bytes 1 4

Data bytes 5 8

0x509

(firmware < 2.3.0)

0x50A

(firmware >= 2.3.0)

MB-RTK Yaw between antennas.

Format: Signed, 32bit, little-endian integer.

Units: degrees.

Scaling: Output = degrees 1e3.

Range: -180 to +180.

MB-RTK Pitch between antennas.

Format: Signed, 32bit, little-endian integer.

Units: degrees.

Scaling: Output = degrees 1e3.

Range: -180 to +180.

GPS MB-RTK Slip [SPEEDBOX-RTK ONLY]

Default address

Data bytes 1 4

Data bytes 5 8

0x50A

(firmware < 2.3.0)

0x50B

(firmware >= 2.3.0)

Calculated slip angle (MB-RTK yaw - GPS heading).

Format: Signed, 32bit, little-endian integer.

Units: degrees.

Scaling: Output = degrees 1e3.

Range: -180 to +180.

Reserved for future use.

GPS MB-RTK Estimated baseline and relative positional accuracy [SPEEDBOX-RTK ONLY]

Default address

Data bytes 1 4

Data bytes 5 8

0x50B

(firmware < 2.3.0)

0x50C

(firmware >= 2.3.0)

MB-RTK Estimated baseline.

Format: Unsigned, 32bit, little-endian integer.

Units: mm.

Scaling: None.

MB-RTK Estimated relative positional accuracy.

Format: Unsigned, 32bit, little-endian integer.

Units: mm.

Scaling: Output = mm 1e2.

Page last modified on February 18, 2014, at 12:43 PM