diff --git a/firmware/controllers/can/can.h b/firmware/controllers/can/can.h
index 71e46d4761..b24a96643a 100644
--- a/firmware/controllers/can/can.h
+++ b/firmware/controllers/can/can.h
@@ -14,6 +14,8 @@
 #define CAN_PEDAL_TPS_OFFSET 2
 #define CAN_SENSOR_1_OFFSET 3
 
+#define CAN_TIMEOUT MS2NT(100)
+
 class Logging;
 class CanSensorBase;
 
diff --git a/firmware/controllers/can/obd2.cpp b/firmware/controllers/can/obd2.cpp
index 0b9c20cb00..7a7d442a2a 100644
--- a/firmware/controllers/can/obd2.cpp
+++ b/firmware/controllers/can/obd2.cpp
@@ -124,7 +124,7 @@ static void handleGetDataRequest(const CANRxFrame& rx) {
 		obdSendValue(_1_MODE, pid, 2, (2<<8)|(0));	// 2 = "Closed loop, using oxygen sensor feedback to determine fuel mix"
 		break;
 	case PID_ENGINE_LOAD:
-		obdSendValue(_1_MODE, pid, 1, getFuelingLoad(PASS_ENGINE_PARAMETER_SIGNATURE) * 2.55f);
+		obdSendValue(_1_MODE, pid, 1, getFuelingLoad(PASS_ENGINE_PARAMETER_SIGNATURE) * ODB_TPS_BYTE_PERCENT);
 		break;
 	case PID_COOLANT_TEMP:
 		obdSendValue(_1_MODE, pid, 1, Sensor::get(SensorType::Clt).value_or(0) + ODB_TEMP_EXTRA);
@@ -154,7 +154,7 @@ static void handleGetDataRequest(const CANRxFrame& rx) {
 		obdSendValue(_1_MODE, pid, 2, getRealMaf(PASS_ENGINE_PARAMETER_SIGNATURE) * 100.0f);	// grams/sec	(A*256+B)/100
 		break;
 	case PID_THROTTLE:
-		obdSendValue(_1_MODE, pid, 1, Sensor::get(SensorType::Tps1).value_or(0) * 2.55f);	// (A*100/255)
+		obdSendValue(_1_MODE, pid, 1, Sensor::get(SensorType::Tps1).value_or(0) * ODB_TPS_BYTE_PERCENT);	// (A*100/255)
 		break;
 	case PID_FUEL_AIR_RATIO_1: {
 		float lambda = Sensor::get(SensorType::Lambda).value_or(0);
diff --git a/firmware/controllers/can/obd2.h b/firmware/controllers/can/obd2.h
index 1d592b3338..8a413c3444 100644
--- a/firmware/controllers/can/obd2.h
+++ b/firmware/controllers/can/obd2.h
@@ -45,3 +45,4 @@ void obdOnCanPacketRx(const CANRxFrame& rx);
 
 #define ODB_RPM_MULT 4
 #define ODB_TEMP_EXTRA 40
+#define ODB_TPS_BYTE_PERCENT 2.55f
diff --git a/firmware/controllers/sensors/can_sensor.h b/firmware/controllers/sensors/can_sensor.h
index 57238da029..484c9f062c 100644
--- a/firmware/controllers/sensors/can_sensor.h
+++ b/firmware/controllers/sensors/can_sensor.h
@@ -12,6 +12,7 @@
 #include "hal.h"
 #include "can_msg_tx.h"
 #include "obd2.h"
+#include "can.h"
 
 /**
  * Sensor which reads it's value from CAN
@@ -79,12 +80,13 @@ private:
 	const uint8_t m_offset;
 };
 
-template <int Size, int TScale>
+template <int Size, int Offset>
 class ObdCanSensor: public CanSensorBase {
 public:
-	ObdCanSensor(int PID, SensorType type, efitick_t timeout) :
-			CanSensorBase(OBD_TEST_RESPONSE, type, timeout) {
+	ObdCanSensor(int PID, float Scale, SensorType type) :
+			CanSensorBase(OBD_TEST_RESPONSE, type, CAN_TIMEOUT) {
 		this->PID = PID;
+		this->Scale = Scale;
 	}
 
 	void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) override {
@@ -99,7 +101,7 @@ public:
 			iValue = frame.data8[3];
 		}
 
-		float fValue = 1.0 * iValue / TScale;
+		float fValue = (1.0 * iValue / Scale) - Offset;
 		setValidValue(fValue, nowNt);
 	}
 
@@ -114,5 +116,6 @@ public:
 	}
 
 	int PID;
+	float Scale;
 };
 
diff --git a/firmware/init/sensor/init_can_sensors.cpp b/firmware/init/sensor/init_can_sensors.cpp
index 94a471c026..64d994cd9d 100644
--- a/firmware/init/sensor/init_can_sensors.cpp
+++ b/firmware/init/sensor/init_can_sensors.cpp
@@ -14,30 +14,43 @@
 EXTERN_CONFIG
 ;
 
-
-#define TIMEOUT MS2NT(100)
-
 CanSensor<int16_t, PACK_MULT_PERCENT> canPedalSensor(
 	CAN_DEFAULT_BASE + CAN_PEDAL_TPS_OFFSET, /*offset =*/ 0,
-	SensorType::AcceleratorPedal, TIMEOUT
+	SensorType::AcceleratorPedal, CAN_TIMEOUT
 );
 
-ObdCanSensor<2, ODB_RPM_MULT> obdRpmSensor(
-		PID_RPM,
-	SensorType::Rpm, TIMEOUT
+ObdCanSensor<2, 0> obdRpmSensor(
+		PID_RPM, ODB_RPM_MULT,
+	SensorType::Rpm
 );
 
-ObdCanSensor<1, 1> obdCltSensor(
-		PID_COOLANT_TEMP,
-	SensorType::Clt, TIMEOUT
+ObdCanSensor<1, ODB_TEMP_EXTRA> obdCltSensor(
+		PID_COOLANT_TEMP, 1,
+	SensorType::Clt
 );
 
+ObdCanSensor<1, ODB_TEMP_EXTRA> obdIatSensor(
+		PID_INTAKE_TEMP, 1,
+	SensorType::Iat
+);
+
+ObdCanSensor<1, 0> obdTpsSensor(
+		PID_INTAKE_TEMP, ODB_TPS_BYTE_PERCENT,
+	SensorType::Tps1
+);
+
+//ObdCanSensor<1, ODB_TPS_BYTE_PERCENT> obdTpsSensor(
+//		PID_ENGINE_LOAD,
+//	SensorType::Tps, TIMEOUT
+//);
 
 void initCanSensors() {
 	if (CONFIG(consumeObdSensors)) {
 //		registerCanSensor(canPedalSensor);
 		registerCanSensor(obdRpmSensor);
 //		registerCanSensor(obdCltSensor);
+		//		registerCanSensor(obdIatSensor);
+		//		registerCanSensor(obdTpsSensor);
 	}
 }
 #endif // EFI_CAN_SUPPORT