> For the complete documentation index, see [llms.txt](https://wiki.retropilot.org/index/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://wiki.retropilot.org/index/vehicles/volkswagen-pq25-platform-retrofits/observations.md).

# Observations

### Only swap EPS controller

This was tested on a 6R2 909 144 column, replacing with the 2Q1 909 144 controller, this did not work, no power assist was provided. The fault codes below are undocumented in both VCDS and ODIS. This is likely related to the steering angle sensor, removing the angle sensor may be possible but this needs exploring. 

```
12 Faults Found:
10539520 - ROD - Unknown Error Code 
          - 00 [137]
          MIL ON - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 5
                    Fault Frequency: 1
                    Reset counter: 200

10539776 - ROD - Unknown Error Code 
          - 00 [137]
          MIL ON - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 5
                    Fault Frequency: 1
                    Reset counter: 200

14735104 - ROD - Unknown Error Code 
          - 00 [009]
          Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 5
                    Fault Frequency: 158
                    Reset counter: 200

10541056 - ROD - Unknown Error Code 
          - 00 [137]
          MIL ON - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 5
                    Fault Frequency: 158
                    Reset counter: 200

10541312 - ROD - Unknown Error Code 
          - 00 [137]
          MIL ON - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 5
                    Fault Frequency: 158
                    Reset counter: 200

10508544 - ROD - Unknown Error Code 
          - 00 [008]
          Intermittent - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 6
                    Fault Frequency: 1
                    Reset counter: 200

10503936 - ROD - Unknown Error Code 
          - 00 [008]
          Intermittent - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 4
                    Fault Frequency: 8
                    Reset counter: 240

10535168 - ROD - Unknown Error Code 
          - 00 [008]
          Intermittent - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 6
                    Fault Frequency: 1
                    Reset counter: 240
                    Mileage: 6008 km
                    Date: 2020.02.03
                    Time: 16:33:46

11540736 - ROD - Unknown Error Code 
          - 00 [137]
          MIL ON - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 4
                    Fault Frequency: 1
                    Reset counter: 200

12723200 - ROD - Unknown Error Code 
          - 00 [136]
          MIL ON - Intermittent - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 4
                    Fault Frequency: 1

10626304 - ROD - Unknown Error Code 
          - 00 [008]
          Intermittent - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 4
                    Fault Frequency: 1

10591488 - ROD - Unknown Error Code 
          - 00 [008]
          Intermittent - Confirmed - Tested Since Memory Clear
             Freeze Frame:
                    Fault Status: 00000001
                    Fault Priority: 5
                    Fault Frequency: 1
                    Reset counter: 0
                    Mileage: 5 km
                    Date: 2019.11.19
                    Time: 12:41:47
```


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