APS-W023
APS_w023_ECU_Cam_Statemismatch
Also written as APS_W023 / APS W023 / APS_w023_ECU_Cam_Statemismatch / aps_w023_ecu_cam_statemismatch
Why does the exact Tesla alert ID matter?
Record the exact alert ID, including underscores, suffixes, and companion alerts. Tesla alerts that look similar can point to different modules, timestamps, and service procedures.
What does APS-W023 mean?
Tesla warning code in the Autopilot System (APS) module. Warns if APS detects that Primary Autopilot is unhealthy APS detects Primary Autopilot is unhealthy based on watchdog state or GPIOs Primary Autopilot becomes healthy again Warns if APS fails to receive one or more CAN msgs from VCRIGHT on Vehicle Bus APS fails to receive one or more CAN msgs from VCRIGHT on Vehicle Bus APS starts receiving all CAN msgs from VCRIGHT Warns if APS fails to receive one or more CAN msgs from VCFRONT on Party Bus APS fails to receive one or more CAN msgs from VCFRONT on Party Bus APS starts receiving all CAN msgs from VCFRONT APS monitors stack usage and alerts when it exceeds limit Clears after a sleep cycle / power cycle Some AP features may not work as expected APS doesnt receive TAS msgs for more than 10 cycles APS starts receiving msgs from TAS
Original Description
Warns if APS detects that Primary Autopilot is unhealthy APS detects Primary Autopilot is unhealthy based on watchdog state or GPIOs Primary Autopilot becomes healthy again Warns if APS fails to receive one or more CAN msgs from VCRIGHT on Vehicle Bus APS fails to receive one or more CAN msgs from VCRIGHT on Vehicle Bus APS starts receiving all CAN msgs from VCRIGHT Warns if APS fails to receive one or more CAN msgs from VCFRONT on Party Bus APS fails to receive one or more CAN msgs from VCFRONT on Party Bus APS starts receiving all CAN msgs from VCFRONT APS monitors stack usage and alerts when it exceeds limit Clears after a sleep cycle / power cycle Some AP features may not work as expected APS doesnt receive TAS msgs for more than 10 cycles APS starts receiving msgs from TAS
Affected Tesla Models
What You May Notice
- Autopilot System alert: Warns if APS detects that Primary Autopilot is unhealthy APS detects Primary Autopilot is unhealthy based on watchdog st
- Camera or sensor obstruction notification on the touchscreen
- Autopilot features greyed out in the drive settings menu
How to Diagnose and Resolve
- 1 Check all cameras and sensors for dirt, ice, or obstructions — clean if needed
- 2 Reboot the vehicle
- 3 Check for OTA updates (Autopilot improvements are frequently delivered OTA)
- 4 Schedule service if Autopilot remains unavailable after cleaning and rebooting
Severity Notes
APS-W023 is a Warning in the Autopilot System system. Schedule service soon. Monitor your vehicle for additional warnings.