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OutputData / CANOutputs

CAN Outputs

• CAN Data Format
  • Data format 2 message definitions
  • Inertial messages
  • RT_Accel 3 axis acceleration data
  • RT_Gyro_Rates 3 axis gyro rates
  • RT_Speed Calculated speed
  • RT_Distance_1 Cumulative time and distance
  • RT_Distance_2 Cumulative time and distance
• GPS messages
  • RT_GPS_Status Firmware version and GPS status information
  • RT_GPS_Time GPS time of week'
  • RT_GPS_Pos_LLH GPS accuracy and latitude
  • RT_GPS_Pos_LLH GPS accuracy and latitude
  • RT_GPS_Pos_ECEF GPS XYZ accuracy and X position'
  • RT_GPS_Pos_ECEF_2 GPS Y and Z position
  • RT_GPS_Speed GPS 2D and 3D speed
  • RT_GPS_Vel_NED_1 GPS North and East velocity
  • RT_GPS_Vel_NED_2 GPS Down velocity
  • RT_GPS_Vel_ECEF_1 X,Y,Z accuracy and X velocity
  • RT_GPS_Vel_ECEF_2 Y and Z velocity
  • RT_GPS_Heading_Gradient1 Heading and gradient 1
  • RT_GPS_Heading_Gradient2 Heading and gradient 2
  • RT_RTK_Attitude Roll, pitch, yaw and accuracy
  • RT_RTK_Slip RTK baseline, slip and squat
  • RT_GPS_Mcycle_Lean Motorcycle lean angle
• INS Messages
  • RT_INS_STATUS: INS Status Information
  • RT_INS_Attitude: INS Yaw, Pitch and Roll
  • RT_INS_Pos_LLH_1: Accuracy and INS Latitude
  • RT_INS_Pos_LLH_2: INS Longitude and Altitude
  • RT_INS_Pos_ECEF_1: Accuracy and INS ECEF X position
  • RT_INS_Pos_ECEF_2: INS ECEF Y and Z position
  • RT_INS_Vel_NED_1: INS North and East Velocity
  • RT_INS_Vel_NED_2: INS Down Velocity
  • RT_INS_Vel_ECEF_1: Accuracy and INS X Velocity
  • RT_INS_Vel_ECEF_2: INS Y and Z Velocity
  • RT_INS_Heading_Gradient: INS Heading and Gradient
  • RT_INS_Heading_Gradient_2: INS Heading and Gradient
  • RT_INS_Slip: INS Slip and Squat
• Other messages
  • RT_Trigger_Timestamp Trigger timestamp
  • RT_Output_Status Output port status