# Thread: Decode Ford Enhanced PID Response

1. ## Decode Ford Enhanced PID Response

I have some PIDs for steering angle, yaw rate, lateral acceleration but I don't know how to scale the response. Does anyone know how to scale the responses to these Ford enhanced PIDs?

2. I guess they are not OBD compliant as they are Ford specific. So simply looking up the scaling is out of the question!

Please post the full message and responses to the following conditions:

When the steering is straight, when it is full left lock and full right lock. It is also possible to establish a baseline reading for yaw and accel when the vehicle is stationary.

I will have a look, but really no guarentee!!

3. Unfortunately I don't have access to the vehicle right now but these are the values I have so far for steering angle with the known values from some proprietary software:

byte A (in hex) = 82
byte B = D0
known value = 31850

byte A = 80
byte B = 00
known = 31130

I think this should be in degrees so I'm wondering if the software is correct with the 31850 and 31130 values... I should get access to the vehicle this afternoon and I'll do the full left and full right and post results here. Thanks for your help!

4. I figured out the steering angle, the equation is A*256+B-1638. The lateral and longitudinal acceleration is still a mystery though. If anyone has any experience with those any input would be greatly appreciated!

5. Originally Posted by broken87262
I have some PIDs for steering angle, yaw rate, lateral acceleration but I don't know how to scale the response. Does anyone know how to scale the responses to these Ford enhanced PIDs?
What PIDs are they? I have mode \$22 PIDs of \$3A33 for lateral acceleration and \$3A34 for longitudinal acceleration in m/s^2. These are A/4 + B/1024.

For yaw rate I have PID \$3A35 in rad/s with A/32 + B/8192.

Maybe also \$3910 for lateral acceleration.

6. Cool, really good information! I'm using these PIDs:

yaw: 22 3A 45
roll: 22 3A 4B
lat accel: 22 3A 33
long accel: 22 3A 34
steering angle: 22 32 01

So it looks like lat/long accel match up but I'll try this yaw rate. What do you have for steering angle?

Thanks!

7. What I know, Ford uses only bit rotate to compute the right scaling, so it should not be much work to try rotate by one, two or more bits when you know unit of value.

8. Originally Posted by broken87262
Cool, really good information! I'm using these PIDs:

yaw: 22 3A 45
roll: 22 3A 4B
lat accel: 22 3A 33
long accel: 22 3A 34
steering angle: 22 32 01

So it looks like lat/long accel match up but I'll try this yaw rate. What do you have for steering angle?

Thanks!
Steering angle, mode \$22 PID \$3201 is 2 bytes, with units in degrees and a scaling factor of 0.05 and an offset of -32768. So the two examples mean 36 degrees and 0 degrees. Still looking for some of the other stuff........

9. Originally Posted by broken87262
Cool, really good information! I'm using these PIDs:

yaw: 22 3A 45
roll: 22 3A 4B
lat accel: 22 3A 33
long accel: 22 3A 34
steering angle: 22 32 01

So it looks like lat/long accel match up but I'll try this yaw rate. What do you have for steering angle?

Thanks!
PIDs \$3A45 and \$3A4B both are in degrees/sec and have an offset of -128 and unity scaling. Hope this helps....

10. Thanks for the great info! Do you have anything for wiper status? Like wipers on/off/intermittent/washer? How about headlights on/off/bright/parking/fog?

This helps a ton! We use this for gathering environmental data from the vehicle and this kind of stuff has been really helpful.

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