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Toyota Yaris Cross

Orientation parameters

The Toyota Yaris Cross has 13 orientation parameters.

● Confirmed◆ In testing○ Supported× Not supported

How to read a parameter card

Deceleration YCROSS_DECELConfirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 0 to 7 of the reply, 8 bits.

0x72 = 114 → (114 × 36.36 ÷ 255 − 18.18) = -1.924941 m/s²

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

  1. The parameter's name and its ID in the OBDb. Confirmed shows when a response from a real car confirms the parameter.
  2. The clutch mark shows a Connectable, a parameter that Pelican surfaces in its interface.
  3. The service and PID/DID asked for, the control module it's sent to, and how often Pelican asks.
  4. The reply's bytes. The parameter's bytes are blue. Bytes for other parameters in the same reply are grayed out. Hover over a byte to see the parameter it represents.
  5. Where the parameter is in the response, and how Pelican converts the raw value into a value.
  6. A real reply, decoded. The raw value comes first, then the reading.
  7. Which model years have tested this parameter.

Deceleration YCROSS_DECELConfirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 0 to 7 of the reply, 8 bits.

0x72 = 114 → (114 × 36.36 ÷ 255 − 18.18) = -1.924941 m/s²

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Deceleration 2 YCROSS_DECEL_2Confirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 8 to 15 of the reply, 8 bits.

0x77 = 119 → (119 × 36.36 ÷ 255 − 18.18) = -1.212 m/s²

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Deceleration open YCROSS_DECELERATION_OPENConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bit 6 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Lateral g YCROSS_LAT_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2022, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 0 to 7 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.5 to 2.5 g
Unit
g

Confirmed for 2023 to 2025. In testing for 2020 to 2021, 2026. Not supported for 2022.

Longitudinal g YCROSS_LNG_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2022, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 8 to 15 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.5 to 2.5 g
Unit
g

Confirmed for 2023 to 2025. In testing for 2020 to 2021, 2026. Not supported for 2022.

Yaw rate value, degrees/sec YCROSS_YAW_RATEConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2022, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 16 to 23 of the reply, 8 bits.

0x77 = 119 → (119 − 128) = -9 °

Formula
(val − 128)
Range
-128 to 127 °
Unit
°

Confirmed for 2023 to 2025. In testing for 2020 to 2021, 2026. Not supported for 2022.

Yaw rate, error? YCROSS_YAW_RATE_OPEN_ERRORConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bit 5 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Yaw rate, sensor 1 YCROSS_YAW_1Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 0 to 7 of the reply, 8 bits.

0x6C = 108 → (108 − 128) = -20

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Yaw rate, sensor 2 YCROSS_YAW_2Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 8 to 15 of the reply, 8 bits.

0x6D = 109 → (109 − 128) = -19

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Zero point of deceleration YCROSS_ZP_DECConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 0 to 7 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.56 to 2.54 g
Unit
g

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Zero point of deceleration 2 YCROSS_ZP_DEC2Confirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 8 to 15 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.56 to 2.54 g
Unit
g

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

Zero point of yaw rate YCROSS_ZERO_POINT_OF_YAW_RATE

  • Request21 A1
  • Service 21PID A1
  • Module7B0 → 7B8
  • Every3600 s
  • Testing

Bits 0 to 7 of the reply, 8 bits.

Formula
(val − 128)
Range
-128 to 127
Unit
Number

In testing for 2020 to 2021, 2023 to 2024, 2026. Not supported for 2022, 2025.

Zero point of yaw rate, degrees/sec YCROSS_ZP_YAWConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2020 to 2024, 2026

Example reply from a 2025 Toyota Yaris Cross.

Bits 16 to 23 of the reply, 8 bits.

0x80 = 128 → (128 − 128) = 0

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2025. In testing for 2020 to 2021, 2024, 2026. Not supported for 2022 to 2023.

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