*Only suitable for units with hardware variants V3-V5 and older units that have been upgraded to be ‘IMU04 ready’. VBOX V3 variants start at serial number 32390 (Jan 2014). Look out for the silver 'IMU04 ready' sticker on your unit.
2.8 b23154 - July 2021
This firmware version requires the latest VBOX Manager (3.0.2341 or higher) firmware and Setup software (126.96.36.1996 or higher).
Racelogic Steering Wheel Sensor (RLSTSENSOR) is now officially supported. In previous firmware versions, manual configuration including DBC file loading was required for the Steering Wheel Sensor setup. In firmware 2.8, VB3i will now automatically detect the Steering Wheel Sensor when connected to the Racelogic CAN bus. When detected, four signals will be available for logging and serial transmission (Torque NmTorque Speed Nm/s, Angle Deg, Angle Speed Deg/s).
Note, Steering Wheel Sensor signals are not available for MFD (Multi-Function Display) when using the auto-detect feature.
More information on the Steering Wheel Sensor can be found on the here and on the Support Centre websites.
Lateral and Longitudinal Velocity signals now available on CAN for single antenna mode. These two parameters can be found on message 0x307, more information in the RACELOGIC Support Centre. Note, Lateral and Longitudinal Velocity signals should only be used with Kalman filter or dual antenna as an accurate body heading is required.
Slip Angle is now available on CAN for single antenna mode. The signal can be found on messages 0x314 and 0x083. Note, it should only be used with Kalman filter or dual antenna as an accurate body heading is required.
Improvements have been made to the ADAS telemetry communications in firmware version 2.8. The wireless telemetry communication links are less susceptible to data and connection loss during VBOX to VBOX data transmission.
VBOX3i ADAS users can confirm the VBOX to VBOX link stability by monitoring the “Link Time” channels made available by the VBOX3i. If the Link Time channels excessively drop to zero during use, an update to 2.8 will be recommended.
Position Quality is a numeric status value produced by VBOX3i for RTK robot path follow applications. The function has been reworked and simplified in version 2.8. More information about Position Quality can be found on our Support Centre.
The Kalman Filter position clamp is now 1 mm per sample rather than 2 mm per sample. This change offers a smoother position and heading transition once GNSS lock has been established after a GNSS signal degrade / denial phase.
Quality improvements have been made to the lateral and longitudinal speed (vehicle to vehicle) parameters. As a result, users will benefit from a noise reduction on the two ADAS parameters. Due to the channel nature (rate of change) any steps or noise in vehicle range is amplified in their corresponding speed channels. Advanced logic has now been applied to the lateral and longitudinal parameters in order to produce a cleaner, noise reduced speed parameter set without compromising accuracy.
2.7 b22949 - August 2020
NEW FEATURES & FUNCTIONALITY
(New) Wheelspeeds can now be used with IMU integration
(New) VIPS support
(New) Simultaneous output of x and y and Global coordinates
(New) Error warning for unusupported hardware (New) Option to clamp the KF position and robot heading to return to 2mm a sample
(Updated) L2 support with B210 engines (Updated) Robot compatibility
(Updated) ADAS calculations
BUG FIXES & IMPROVEMENTS
(Fix) IMU/reference offsets to GPS antenna
(Fix) Coldstarting no longer reset GPS engine baud rate
(Fix) CAN no longer stops after a B110 engine is coldstarted
(Fix) Sync issues
(Fix) Dynamic mode retained after power cycle
2.6 b21828 - February 2019
NEW FEATURES & FUNCTIONALITY
(New) Firmware now works across all VB3i variants
(New) L2 support for OEM GPS engines (v3/v4)
(New) 3 Target ADAS mode
(New) Addition of RobotHead
(New) Addition of SlipHead
(New) Firmware enabled Simplex Radio Mode
(Change) CAN output updates (see latest online documentation)
(Change) Robot mode updates/ABD path follow supports Single antenna
(Change) Long Acc CAN threshold removed
(Fix) Problems when connecting to VBTS/Setup
(Fix) Red PWR LED
(Fix) UTC offset handled with regard to midnight
(Fix) Slip Angle computation
(Fix) LDWS issues
(Fix) Vehico heading frame
2.5 build 20447 - February 2018
NEW FEATURES & FUNCTIONALITY
(New) Pass by Noise mode added.
(New) Standard VB3i - DIFF LED behaviour change (see latest online documentation)
(New) Kalman Filter - Added Longitudinal and Lateral jerk channels.
(New) Added compatibility for IMU04 connected via CAN to be used for slip translations and true heading2 smoothing
(Fixed) Modifications for backwards compatibility with 1.2d hardware variants and earlier
2.01 build 17393 - October 2014
(Change) Improvements to IMU04 filter performance, affecting velocity, pitch and roll accuracies
(Change) IMU04 pitch rate sign invert to remove inconsistency
(Fixed) Added IMU03 filter lever-arm correction compatibility CAN
(New) CAN delay option implemented. Allows user to set VBOX CAN output to a fixed 15.5ms delay, instead of minimum 8.5 +/- 1ms
(New) Addition of internal analogue channels for CAN pass through (Xtd Tx Identifiers)
(New) Add Dual antenna parameters to Racelogic CAN bus, so can now be displayed by Multi-function display (DSP03)
(Fixed) Modified Racelogic CAN bus throttling to maintain bus integrity and reliability when logging many channels (overload prevention) ADAS
(New) Multi Static point mode implemented
(New) Lane departure now has 4 corner points (previously two)
(New) Set points mode, allowing user to plot 24 points for each vehicle in vehicle separation
(New) Use of true heading (vehicle body angle) for ADAS calculations that previously used vehicle heading (improved Time to collision and range calculations at low speed)
(New) Content transmitted during 'Sync to target' mode added to transmit reference lane, vehicle offset and single antenna heading settings to target vehicle in single target ADAS mode (using radios in duplex mode). Allows simultaneous calculation of data in target vehicle for live display and logging.
(Changed) Angle channels now calculated from offset contact point to contact point in all ADAS modes (except Static point). Previously, calculations were antenna to antenna.
(Changed) Manual offset signing altered in vehicle separation. Offsets taken from antenna to collision point now.
(Changed) Autoset function removed from setting contact points menu (Fixed) Problem with loading corner offset points (.VBC file) in Lane departure mode
(Fixed) Range channel now correctly calculated when using large vehicle lateral offset values
(Fixed) Channel logging selection not altered after a power cycle
(Fixed) Removing spikes present when logging starts or stops
2.00 build 0086 - May 2014
Improved card writing strategy - The CF card had been changed to write in bigger blocks because of the intensity of the IMU integrations demands on the processor. This causes files to be corrupted if the card is removed or loses power without stopping the logging. Due to many customers using the device in this way and not using IMU integration, we have reinstated the original logging strategy in all circumstances except when IMU integration is turned on.
Additional UTC time channel removed - An additional UTC channel had been added to the dual antenna tab for diagnostic purposes. As this was not relevant to the customer, it has been removed.
500Hz analogue data storage improved - An issue that caused a saw tooth pattern in the data because of the way the data is stored has been fixed.
CAN delay with IMU integration 'on' fixed - An issue was found with the CAN output being delayed when IMU integration is switched on, this has now been fixed.
True heading 2 added - The addition of the channel allows the VB3i to be used with ABD steering robots for path following.
2.00 build b68 - December 2013
New 3 axis IMU Filter implemented
1.12 build 0028 - June 2013
500Hz analogue input drop out fix
Speed Kalman filter fix
IMU tab duplication fix
Minor slip module channel behaviour adjustments
1.12 build 0022 - May 2013
Minor bug fix for IMU integration
1.12 build 0021 - May 2013
New ADAS Support
RTK Moving Base Support added
Requires VBOX Tools 2.13.5 b211 and VBOX Manager firmware 2.55
1.09 build 0021 - May 2012
Bug fix for VBOX Manager log continuous setting
RTCMv3 Support added (R10G10, R2G2, SL-RTK)
1.09 build 0018 - March 2012
Enable 500Hz logging
Various updates for compatibility with VBOX Tools v2.7.3.b99 (or later)
1.08 build 0023 - December
Bug fix for Cold start routine
Note: Customer SMI levels cannot be sent via VBOX Setup
1.08 build 0021 - December
New ADAS functionality
New file manager compatibility
Minor bug fixes
1.06 build 0020 - March
High resolution position available on the CAN bus CANVEL added
Support for new TRG3_H5 engines (VB3iR10G10)
Update for ADAS - time to collision
VBOX Tools version 2.2.2b42 or higher required
1.05 build 0010 - December
VCI channel fix
Improvements made for IMU integration
Vehicle Separation compatibility with 100Hz operation
Improvements made for CAN modules
1.01 build 0000 - May 2009
IMU integration functionality added.
Note: IMU will require firmware version 1.25 or higher and VBOX Tools 1.9.8b3 or higher.
1.00 build 0035 - March 2009
Analogue channel names can be changed and logged correctly.
The digital output level setting now functions correctly with CAN modules.
Front panel I2C comms have been modified to fix an occasional start up problem.