C05B2

Code

Generic C — Chassis

Steering Wheel Angle Sensor Signal - Yaw Rate Sensor Signal Correlation

Brand: Generic

Type: C — Chassis

Views: UK: 27 EN: 58 RU: 29

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Page language: EN

Causes

Misaligned or uncalibrated steering angle sensor (wheel not centered)
Faulty steering angle sensor (internal failure)
Faulty yaw rate (gyroscope/IMU) sensor
Damaged wiring, poor connector, or short/open on sensor circuits
CAN/serial communication errors between sensors and control module
Intermittent power or ground to sensors (low battery, poor ground)

Symptoms

ESC/ESP/ABS warning lamp or traction control light illuminated
Steering angle value on scan tool or dash does not match actual steering wheel position or reads erratic
Loss or reduction of traction/stability assist functions
Vehicle may feel to pull, yaw unexpectedly, or have degraded lane-keeping/driver-assist behavior
Possible fail-safe/limp mode for stability systems

What to check

Read all stored DTCs and freeze-frame data from ABS/ESC and body modules; note time and conditions
Verify ignition and battery voltage (should be within normal operating range during testing)
Visually inspect connectors, wiring harnesses, and grounds for SWAS and yaw sensor
Observe live data: steering wheel angle (degrees/counts) and yaw rate (deg/s) while turning wheel slowly
Confirm steering wheel is mechanically centered; check wheel alignment and steering wheel position
Check for CAN/communication errors (U-codes, bus off, message counters)

Signal parameters

Steering wheel angle: typical range ±540 to ±720 degrees (or encoder counts); resolution 0.1°–1°
Yaw rate (gyroscope): typical range ±200 deg/s (values near 0 deg/s when straight); resolution 0.1–1 deg/s
Analog sensor voltage (if applicable): ~0.5–4.5 V ratiometric output
CAN message update rate: commonly 10–100 Hz for angle and IMU messages
Expected behavior: small yaw rate proportional to steering angle at low speeds; near-zero yaw when wheel centered and vehicle straight
Time sync: both sensors should report consistent timestamps or message counters without large latency

Diagnostic algorithm

Connect a capable scan tool and record live data for steering angle and yaw rate. Note values with wheel centered and during slow steering inputs.
Verify ignition/battery voltage stable. Recreate fault conditions and note freeze-frame data.
Visually inspect both sensor connectors and wiring for damage, corrosion, or loose pins. Wiggle harness while watching live data for intermittent faults.
If sensors are analog, measure reference, signal and ground voltages at the sensor connector with key ON and compare to expected ranges.
Check CAN bus integrity: look for error counters, bus-off states, or lost messages; use oscilloscope if available to verify signal quality.
Confirm steering wheel centered mechanically. If not centered, center wheel and retest. If steering angle counts don't match physical center, perform SWAS calibration/zeroing per manufacturer procedure.
Perform built-in sensor self-tests/calibrations (ABS/ESC auto-calibrate or TSB procedure). Clear codes and retest on road at low speed while monitoring data.
If fault persists and wiring/communications OK, swap or bench-test suspect sensor(s) if kit or known-good unit available, or replace the most likely failed sensor (prioritize SWAS if uncalibrated or yaw sensor if its output is noisy/drifting).
After repair or calibration, clear codes and perform a verification road test covering the conditions that caused the fault.
If uncertainty remains, consult manufacturer technical service bulletins and wiring diagrams, and consider module programming or replacement as last resort.

Likely causes

Steering angle sensor out of calibration after wheel removal or battery disconnect
Damaged connector or chafed wiring on either SWAS or yaw sensor
Yaw rate sensor internal failure (noisy or drifting output)
CAN bus message corruption or module not receiving data
Temporary condition (ignition cycle required or transient voltage drop)