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Steering angle (0C0, signed 0.1°), main beam, front fogs; layouts can be signed; dipped beam doubted
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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Mikkeli Matlock
2026-10-15 21:21:48 +09:00
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docs/impl/reports/Z27AG-DECODE-2.md
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@@ -48,6 +48,24 @@ about 24° off level, turned so its X axis points forward. Calibrated, the marke
Lateral stays at about 0 in all four: forward is straight ahead. GNSS reports about once a second,
which smooths short peaks.
## Session 000009: lights at night, corners
`z27ag-20261015-203117-lights-corners-drive`: step 9 at night, then a 35-minute errand drive
(no OBD-II: the obd-poller was off after the freeze). References: GNSS and the calibrated IMU.
| Signal | Where | Evidence | Registered as |
|---|---|---|---|
| Main beam | `423.2.7` | set exactly through the marked stretch; also fired once with the other lights off: flash-to-pass | `main_beam` |
| Front fog lamps | `423.2.4` | set exactly through the marked stretch (lights on) | `front_fogs` |
| **Steering wheel angle** | `0C0` bytes 0–1, little-endian, **signed**, **0.1° per count**, positive left | correlation **+0.995** with how sharply the car turns (IMU yaw rate ÷ speed), 1021 s of driving. Lock to lock −479…+471°; with a 2.5 m wheelbase that is a 16.3:1 steering ratio, typical. Straight driving reads −2.7° (camber or alignment) | `steering_angle_deg` (the layout format gained `signed`) |
| Dipped beam? | `423.3.1` | clean in daylight on the 13th; at night it flickers on for 0.1–0.2 s at each switch movement. The cluster has **no dipped-beam lamp** (only side lights, main beam and fogs, no rear fogs), and `423` matches the cluster's lamps, so this bit is probably something else that moves with the lights (illumination, dimming). A walk through Off → Auto → Dim → Main settles it | `dipped_beam` kept, description says so |
**IMU, lateral axis:** lateral g against speed × yaw rate gives a slope of **−0.998** (correlation
−0.91; the sign is right: yaw counts a left turn positive, lateral g counts right positive). With the
stops above, both horizontal axes of the calibration are confirmed.
`149` bytes 1–2 is not a yaw-rate sensor (correlation 0.02 with the IMU's yaw rate).
## Not found
- **Intake air temperature:** no byte of `449` tracks OBD-II `0F` (29–51 °C here).