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CAN Output required for Stahle Robot

Updated on Mar 4, 2026

To output the correct CAN messages to the Stahle Robot, the following must be transmitted at 100 Hz as Intel format.

Note: This is not transmitted by default.

RL Channel NameChannel NameCAN IDByte PositionMessage lengthData TypeUnits and scaling factorMaths Calculation required
Errors0x661-44 bytesBitmaskSet to a value of zero always
Roll rateIMU Roll Rate0x6B1-22 bytes16 bit signed integer0.01 deg/s per bit
Pitch rateIMU Pitch Rate0x6B3-42 bytes16 bit signed integer0.01 deg/s per bit
YAW rateIMU Yaw Rate0x6B5-62 bytes16 bit signed integer0.01 deg/s per bit
Long accel.Longitudinal Accel0x751-22 bytes16 bit signed integer0.0004g per bit
Lateral accel.Lateral Accel0x753-42 bytes16 bit signed integer0.0004g per bit
Z AccelerationIMU Z Acceleration0x755-62 bytes16 bit signed integer0.0004g per bit
Inverse Path Radius0x831-22 bytes16 bit signed integer0.0001 per bitInverse Path Radius = 1/(Speed (m/s)/yaw rate (rad/s))
Slip Angle0x833-42 bytes16 bit signed integer0.01 deg per bitSlip angle = -(Robot Head – Heading)
Roll_Ang_IMURoll_IMU0x951-22 bytes16 bit signed integer0.01 deg per bit
Pitch_IMUPitch_IMU0x953-42 bytes16 bit signed integer0.01 deg per bit
Robot Head0x955-62 bytes16 bit unsigned integer0.01 deg per bitRobot Head = 360 - Robot head
HeadingHeading0x957-82 bytes16 bit unsigned integer0.01 deg per bit
Time since midnight UTCUTC Time0x9C1-44 bytes10 ms per bit
LatitudeLatitude0x9F1-44 bytes32 bit signed integer1e^-7 per bit Decimal degrees
LongitudeLongitude0x9F5-84 bytes32 bit signed integer1e^-7 per bit Decimal degrees
X Velocity(car frame)0xAF1-22 bytes16 bit signed integer0.005m/s per bitX Velocity = Speed(m/s) * Cos(slip angle)
Y Velocity(car frame)0xAF3-42 bytes16 bit signed integer0.005m/s per bitY Velocity = Speed (m/s)*Sin(Slip angle)