I'm trying to reverse engineer a sensor on the can bus.

Is there a way to get my DL1 MK3 Club log all messages on the CAN bus?

Or does anybody have other suggestions how to find out the sensor's message id and format?

I have a Bosch steering angle sensor with CAN interface. (from a Citroen I think)

Would it work to simply connect it to the DL1 CAN-bus without too much hassle, or am I better off with a sensor with analogue output?