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C051D01

DTC C051D01 indicates an abnormal calibration status of the inertial measurement unit (IMU) inside the IPB (Integrated Power Brake) — Atto 3

Braking System

DTC C051D01 indicates an abnormal calibration status of the inertial measurement unit (IMU) inside the IPB (Integrated Power Brake).

Specifically, the yaw rate sensor or longitudinal acceleration sensor reference data is lost, offset, or invalid.

Integrated inside the IPB control module, this sensor monitors the vehicle’s rotational yaw rate about the vertical axis and its longitudinal acceleration in real time.

It provides the core input signal the ESP electronic stability control system uses to calculate vehicle dynamic attitude.

The IPB sets this code when it detects the sensor output deviates from the expected calibration reference beyond the threshold, or when it loses the stored calibration parameters.

This limits ESP functionality or triggers limp mode; however, normal hydraulic braking usually remains unaffected.

3
Cases Logged
Real-World Cases
BYD DTC AI Analysis

ESP warning light on after suspension repair (yaw rate sensor not calibrated)

✓
After the 4S shop replaced the front shock absorbers and lower control arms on a Song Plus DM-i, the instrument cluster showed a steady ESP warning light and the steering wheel felt abnormal self-centering torque when turning. VDS read IPB system fault code C051D01; freeze frame data showed the fault occurred at 0 km/h. Inspection found technicians disconnected IPB-related wiring harnesses during the chassis repairs and skipped sensor calibration afterward. We performed the "Yaw Rate Sensor Zero Position Calibration" procedure on level ground, cleared the fault codes after calibration, and road-tested 5 km to confirm ESP function returned to normal and the warning light went out.
Original source ↗
BYD DTC AI Analysis

IPB system warning after software upgrade (calibration data lost)

✓
After an OTA software update, the Qin PLUS DM-i started up the next day with the ESP and ABS warning lights and a 'Check Brake System' alert on the instrument cluster, and entered limp mode. The diagnostic scanner showed IPB system DTCs C051D01 (Yaw Rate Sensor Calibration Error) and C006A02 (Yaw Rate Sensor Signal Error). Technicians determined the IPB control logic had updated during the software upgrade, but the internal IMU calibration data had not synchronized. Using an ED400 diagnostic tool, they accessed the IPB system and ran the 'Integrated Sensor Calibration' procedure (longitudinal acceleration, yaw rate, and master cylinder pressure sensor calibration). The system passed self-checks after calibration. They cleared the fault codes and road-tested; brake force distribution and stability control functioned normally.
Original source ↗
BYD DTC AI Analysis

IPB internal IMU hardware failure caused calibration failure.

✓
A Song PLUS DM-i with 30,000 km and no collision or repair history sat stationary overnight. The next morning at startup, the dashboard suddenly showed an ESP warning. Only DTC retrieved: C051D01. Freeze frame showed the vehicle completely stationary when the fault occurred, battery voltage normal at 12.4V. Attempted sensor calibration; the scan tool returned 'Calibration failed - sensor signal out of tolerance'. Checked IPB power supply and ground—both normal. Diagnosed as internal Inertial Measurement Unit (IMU) chip hardware fault or dry solder joint in the IPB, causing permanent signal baseline offset. Replaced the IPB assembly (part number 6A-3630100). After replacement, performed coding, VIN configuration, and sensor calibration on the new module. Fault completely resolved.
Original source ↗
Other Atto 3 Fault Codes
P0A0DBattery Energy Control Module Requested MIL IlluminationP0AA6Hybrid Battery Voltage System Isolation FaultP1A00Drive Motor "A" Performance — BYD proprietaryB1108For the BYD Song MAX (2017–2019), DTC B1108 indicates a short circuit in the PM2.5 air quality detection module (dust sensor) or its wiring harness. The sensor uses laser scattering to detect in-cabin and outside PM2.5 concentrations and transmits data to the HVAC ECU via the LIN bus or an analog signal. Short circuit conditions include: 1) Sensor power supply wire (+5V/+12V) shorted to ground 2) Signal wire shorted to power or ground 3) Short circuit in the sensor's internal photoelectric detection circuit This fault prevents the automatic climate control from switching between fresh air and recirculation based on air quality. The system enters fail-safe mode (typically forced recirculation). Severe short-circuit current can destroy the HVAC ECU sampling circuit. The system classifies this as a Level 3 severe fault and restricts vehicle operation to prevent electrical fires or controller damage. For other BYD models (such as the Qin EV, E5, and Song DM), B1108 indicates a driver-side sunload sensor fault, reflecting differences in DTC definitions across models.B110811This DTC indicates a short circuit in the air conditioning system PM2.5 air quality sensor (rapid detector). Specifically, abnormal continuity exists between the sensor power supply circuit or signal output circuit and body ground or battery positive. This causes the control module (ACU/air conditioning controller) to detect abnormal current or a voltage signal outside the valid range (typically 0V or supply voltage). The PM2.5 sensor monitors internal and external particulate concentrations, providing the data the automatic air conditioning system uses to switch between fresh air and recirculation modes. A short circuit disables the air quality monitoring function. This fault may force the air conditioning system into recirculation protection mode and trigger related thermal management system faults, as the air conditioning system acts as a key actuator in vehicle thermal management. In severe cases, the short circuit current can damage the internal sampling circuit of the air conditioning controller or overheat the wiring harness.
Data confidence: Community This information is for reference only. Always consult a qualified technician for diagnosis and repair. Do not attempt high-voltage system repairs yourself.