Add info on 0x18, update the multiplier for Z rate or rotation
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Here is information on some of the PIDs that you're most likely to use with
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RaceChrono and equations to get the right scale, etc.
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## PID 0x18
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Update frequency: 100 times per second.
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`0x18` is a strange PID. Judging by the low PID number (which in CAN networks
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implies higher priority) and the high update frequency, one would expect it to
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have some important data, like data for ABS or ESC systems. But based on what is
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currently known, it only has one the steering angle as a useful data channel.
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The steering angle graphs are usually relatively smooth, and this data is also
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available over `0xD0`, along with some much more important data, such as
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accelerometers.
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Channel name | Equation | Notes
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------------ | -------- | -----
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Steering angle | bytesToIntLe(raw, 0, 2) * 0.1 | Also available in 0xD0
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??? | `C` or bytesToIntLe(raw, 2, 1) | The value is 112 most of the time for me
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??? | `D` or bytesToIntLe(raw, 3, 1) | 0–14 sawtooth
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??? | `E` or bytesToIntLe(raw, 4, 1) | The value is 0 most of the time for me
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??? | `F` or bytesToIntLe(raw, 5, 1) | The value is 0 most of the time for me
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??? | `G` or bytesToIntLe(raw, 6, 1) | The value is 0 most of the time for me
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??? | `H` or bytesToIntLe(raw, 7, 1) | Strange data channel. It changes in a strange way when the car turns. It also has a 0-14 sawtooth over some otherwise smooth curve.
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## PID 0xD0
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Update frequency: 50 times per second.
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Channel name | Equation | Notes
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------------ | -------- | -----
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Steering angle | bytesToIntLe(raw, 0, 2) * 0.1 |
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Z rate of rotation | bytesToIntLe(raw, 2, 2) * -0.318309886 | The multiplier is 1/pi, but maybe should be 0.9 / pi
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Steering angle | bytesToIntLe(raw, 0, 2) * 0.1 | Also available in 0x18
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Z rate of rotation | bytesToIntLe(raw, 2, 2) * -0.286478897 | The multiplier for º/sec appears to be ((90 / pi) * 100)
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??? | bytes 4, 5 |
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Lateral acceleration | bytesToIntLe(raw, 6, 1) * 0.2 | Not 100% sure about the multiplier, but looks about right
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Longitudinal acceleration | bytesToIntLe(raw, 7, 1) * -0.1 | Not 100% sure about the multiplier, but looks about right
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