Call me back | My basket | Checkout | Add to email list

     You are here: Website » Knowledge base

« back to website

GeneralCommsChannel / TriggeredTestDataMessage

(Type 5) TRIGGERED TEST DATA MESSAGE

    MSG[0] = 102
    MSG[1] = 57 (Length if no marker information is present)
                or 90 (Length if marker information is present)
    MSG[2] = 5  (Message type)

    MSG[3] = Test status flags
                NOTE: The test status flags require SPEEDBOX firmware v3.9.0 or later, and will read zero on earlier firmware versions
                Format: Bitfield with the following meanings:
                Bit 0: Ready (1) / Not ready (0)
                        Not ready indicates that the unit cannot start a test at present, e.g. no GPS lock or INS not converged.
                        Ready indicates that the unit is in a state at which testing could be performed if required, although it
                        should be noted that this is not an absolute guarantee since conditions do continuously change.
                Bit 1: Armed (1) / Not armed (0)
                        Armed indicates the configured test will start when the configured threshold is crossed.
                Bit 2: Active (1) / Not active (0)
                        Active indicates that a test is currently in progress.
                Bits 3 - 4: Reserved for future use.
                Bits 5 - 6: MFDD threshold speed units (only valid when Bit 7 is set)
                        The units are given as follows from the bit pattern:
                               Bit 5 zero, Bit 6 zero [00]: Units are m/s
                               Bit 5 set,  Bit 6 zero [01]: Units are kph
                               Bit 5 zero, Bit 6 set  [10]: Units are mph
                               Bit 5 set,  Bit 6 set  [11]: Units are knots
                Bit 7: MFDD threshold type flag
                        When Bit 7 is zero, MFDD thresholds are percentages of test start speed.
                        When Bit 7 is set, MFDD thresholds are fixed speeds in the units given by Bits 5 and 6.

    MSG[4, 5, 6] = Time into Test
                Format: 24bit, big endian, unsigned integer.
                Units: Seconds
                Scaling: 1000

    MSG[7, 8, 9, 10] = Path Distance 3D
                Format: 32bit, big endian, unsigned integer.
                Units: Meters
                Scaling: 1000

    MSG[11, 12, 13, 14] = Forward Distance 2D  (forwards and vertical distance components)
                Format: 32bit, big endian, signed integer.
                Units: Meters
                Scaling: 1000

    MSG[15, 16, 17, 18] = Deviation Distance 1D (sideways distance component)
                Format: 32bit, big endian, signed integer.
                Units: Meters
                Scaling: 1000

    MSG[19, 20, 21, 22] = Direct Distance 3D
                Format: 32bit, big endian, unsigned integer.
                Units: Meters
                Scaling: 1000

    MSG[23, 24, 25, 26] = Path Distance 2D
                Format: 32bit, big endian, unsigned integer.
                Units: Meters
                Scaling: 1000

    MSG[27, 28] = Average Acceleration during Test
                Format: 16bit, big endian, signed integer.
                Units: g
                Scaling: 1000

    MSG[29, bit 7 (MSB)] = MFDD Validity Flag
                Format: Single bit (byte 29 & 0x80)
                Meaning: 0 = MFDD Invalid, 1 = MFDD Valid

    MSG[29 (bits 0->6), 30] = MFDD (only if MFDD validity flag set)
                Format: 15bit, big endian, unsigned integer
                Units: g
                Scaling: 1000

    MSG[31] = Configured MFDD Start Threshold
                Format: Unsigned byte
                Units: % if MSG[3] Bit 7 is clear, otherwise units given by MSG[3] Bits 5 and 6
                Scaling: None

    MSG[32] = Configured MFDD End Threshold
                Format: Unsigned byte
                Units: % if MSG[3] Bit 7 is clear, otherwise units given by MSG[3] Bits 5 and 6
                Scaling: None

    MSG[33, 34, 35] = Initial Speed 3D (at start of triggered test)
                Format: 24bit, big endian, unsigned integer
                Units: m/s
                Scaling: 1000

    MSG[36, 37] = Initial Heading (at start of triggered test)
                Format: 16bit, big endian, signed integer
                Units: degrees
                Scaling: 100
                Range: -180..180

    MSG[38, bit 7 (MSB)] = Final Speed Validity Flag
                Format: Single bit (byte 38 & 0x80)
                Meaning: 0 = Final Speed Invalid, 1 = Final Speed Valid

    MSG[38 (bits 0->6), 39, 40] = Final Speed 3D (only if Final Speed Validity Flag set)
                Format: 23bit, big endian, unsigned integer
                Units: m/s
                Scaling: 1000

    MSG[41, 42, 43] = Speed 3D
                Format: 24bit, big endian, unsigned integer
                Units: m/s
                Scaling: 1000

    MSG[44, 45] = Longitudinal Acceleration (continuous during test, peak value after completion of test)
                Format: 16bit, big endian, signed integer.
                Units: g
                Scaling: 1000

                NOTE: The continuous longitudinal acceleration is output during the test, but following the completion of
                the test the peak value is output, i.e:

                if Final_Speed_Validity_Flag == 1 then
                    Longitudinal_Acceleration = peak value
                else
                    Longitudinal_Acceleration = current value
                endif

    MSG[46, 47] = Lateral Acceleration
                Format: 16bit, big endian, signed integer.
                Units: g
                Scaling: 1000

    MSG[48, 49, 50, 51] = X Distance
                Format: 32bit, big endian, signed integer.
                Units: Meters
                Scaling: 1000

    MSG[52, 53, 54, 55] = Y Distance
                Format: 32bit, big endian, signed integer.
                Units: Meters
                Scaling: 1000

    MSG[56] = Distance Accuracy Estimate
                Format: Unsigned byte
                Units: Centimeters
                Scaling: None

                NOTE: Distance accuracy estimate is only available for SPEEDBOX-INS systems, and will simply output zero on non-INS systems.

    MSG[57, 58] = MFDD Time
                Format: 16bit, big endian, unsigned integer.
                Units: Seconds
                Scaling: 1000

                NOTE: MFDD Time is the time duration over which the MFDD has been calculated.

    If a marker condition has been configured, then MSG[59..91] contains the extra marker fields and MSG[92] contains the checksum, otherwise MSG[59] contains the checksum.

	If a marker condition is configured:

		MSG[59, 60, 61] = Longitudinal distance to collision
				Format: 24bit, big endian, unsigned integer
				Units: Meters
				Scaling: 1000
				Max value output: 1000m

				Note: This is the distance to/from collision with the extended target bar along the current direction of rover travel, taking both rover and target movement into account.

		MSG[62, 63, 64] = Lateral distance to collision
				Format: 24bit, big endian, signed integer
				Units: Meters
				Scaling: 1000
				Max value output: +-100m
				Polarity:	-ve: Target is/will be to left of vehicle at impact
							+ve: Target is/will be to right of vehicle at impact

				Note: This is the distance along the extended marker bar to the target centre at the projected point of collision on the current rover trajectory, taking both rover and target movement into account.

		MSG[65, 66, 67] = Direct distance to collision
				Format: 24bit, big endian, unsigned integer
				Units: Meters
				Scaling: 1000
				Max value output: 1000m

				Note: This is the direct distance from the current rover location to collision with the target centre, taking both rover and target movement into account.

		MSG[68, 69, 70] = Longitudinal time to collision
				Format: 24bit, big endian, unsigned integer
				Units: Seconds
				Scaling: 1000

				Note: This is the time to collision with the extended target bar along the current direction of rover travel, taking both rover and target movement into account.

		MSG[71, 72, 73] = Direct time to collision
				Format: 24bit, big endian, unsigned integer
				Units: Seconds
				Scaling: 1000

				Note: This is the time to collision with target centre, taking target movement into account, and assuming the rover follows the optimum trajectory to collide with target centre at current rover speed.

		MSG[74] = Collision flag
				Format: 0 => No collision
				            1 => Collision will occur

				Note: Flag is set true if collision with the target bar +-2m from the target centre will occur given the current rover and target trajectories, and set false otherwise.

		MSG[75, 76, 77, 78] = Collision longitude
				Format: 32bit, big endian, signed integer
				Units: Degrees
				Scaling: 1e7

				Note: This is the longitude of the currently projected collision position with the extended target bar, taking both rover and target movement into account.

		MSG[79, 80, 81, 82] = Collision latitude
				Format: 32bit, big endian, signed integer
				Units: Degrees
				Scaling: 1e7

				Note: This is the latitude of the currently projected collision position with the extended target bar, taking both rover and target movement into account.

		MSG[83, 84, 85] = Longitudinal distance to target
				Format: 24bit, big endian, unsigned integer
				Units: Meters
				Scaling: 1000
				Max value output: 1000m

				Note: This is the distance to/from intersection with the extended target bar along the current direction of rover travel, at the current target location (i.e. target movement ignored).

		MSG[86, 87, 88] = Lateral distance to target
				Format: 24bit, big endian, signed integer
				Units: Meters
				Scaling: 1000
				Max value output: +-100m
				Polarity:	-ve: Target is/will be to left of vehicle at impact
							+ve: Target is/will be to right of vehicle at impact

				Note: This is the distance along the extended marker bar to the target centre at the projected point of intersection on the current rover trajectory, at the current target location (i.e. target movement ignored).

		MSG[89, 90, 91] = Direct distance to target
				Format: 24bit, big endian, unsigned integer
				Units: Meters
				Scaling: 1000
				Max value output: 1000m

				Note: This is the direct distance from the current rover location to the target centre, at the current target location (i.e. target movement ignored).

		MSG[92] = Checksum

	If a marker condition is not configured:

		MSG[59] = Checksum
Page last modified on September 24, 2018, at 05:58 PM