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DTC C0051:04 [BCM]: Notes

WARNING: This page is about a different car, the 2009 Mazda 6. However, it is still accessible from the selected car via links, so may be relevant.
DETECTION CONDITION AND POSSIBLE CAUSE

DESCRIPTION  Steering angle sensor internal malfunction 
DETECTION CONDITION
  • Z phase is abnormal
  • Detected steering angle exceeds the specified value
POSSIBLE CAUSE 
  • Steering wheel is off-center
  • Improper installation or positioning of the steering angle sensor
  • Steering angle sensor malfunction
  • BCM malfunction