diff --git a/SC24/MCB.json b/SC24/MCB.json
index 1404217..b2f9800 100644
--- a/SC24/MCB.json
+++ b/SC24/MCB.json
@@ -3269,59 +3269,89 @@
                 }
             }
         },
-        "SBG_ECAN_MSG_GPS2_HDT": {
-            "id": 393,
-            "length": 8,
+        "IMU__Accelerometers": {
+            "message-id_dec": 55,
+            "id": 891,
+            "length": 6,
             "sender": "IMU",
             "signals": {
-                "PITCH": {
-                    "start_bit": 32,
+                "ACCEL_X": {
+                    "start_bit": 0,
                     "size": 16,
                     "endianness": "little",
                     "signed": true,
-                    "unit": "deg",
-                    "receivers": [
-                        "SCANNER"
-                    ],
+                    "unit": "m.s-2",
                     "scale": 0.01,
                     "offset": 0,
                     "min": -327.68,
                     "max": 327.67
                 },
-                "PITCH_ACC": {
-                    "start_bit": 48,
+                "ACCEL_Y": {
+                    "start_bit": 16,
                     "size": 16,
                     "endianness": "little",
-                    "unit": "deg",
-                    "receivers": [
-                        "SCANNER"
-                    ],
+                    "signed": true,
+                    "unit": "m.s-2",
                     "scale": 0.01,
                     "offset": 0,
-                    "min": 0,
-                    "max": 655.35
+                    "min": -327.68,
+                    "max": 327.67
                 },
-                "TRUE_HEADING": {
-                    "start_bit": 0,
+                "ACCEL_Z": {
+                    "start_bit": 32,
                     "size": 16,
                     "endianness": "little",
-                    "unit": "deg",
-                    "receivers": [
-                        "SCANNER"
-                    ],
+                    "signed": true,
+                    "unit": "m.s-2",
                     "scale": 0.01,
                     "offset": 0,
+                    "min": -327.68,
+                    "max": 327.67
+                }
+            }
+        },
+        "IMU__TrackSlipCurv": {
+            "message-id_dec": 60,
+            "id": 971,
+            "length": 7,
+            "sender": "IMU",
+            "signals": {
+                "ANGLE_SLIP": {
+                    "start_bit": 16,
+                    "size": 16,
+                    "endianness": "little",
+                    "signed": true,
+                    "unit": "rad",
+                    "scale": 0.0001,
+                    "offset": 0,
+                    "min": -3.2768,
+                    "max": 3.2767
+                },
+                "ANGLE_TRACK": {
+                    "start_bit": 0,
+                    "size": 16,
+                    "endianness": "little",
+                    "signed": true,
+                    "unit": "rad",
+                    "scale": 0.0001,
+                    "offset": 0,
+                    "min": -3.2768,
+                    "max": 3.2767
+                },
+                "AUTO_STATUS": {
+                    "start_bit": 48,
+                    "size": 8,
+                    "endianness": "little",
+                    "scale": 1,
+                    "offset": 0,
                     "min": 0,
-                    "max": 655.35
+                    "max": 255
                 },
-                "TRUE_HEADING_ACC": {
-                    "start_bit": 16,
+                "CURVATURE_RADIUS": {
+                    "start_bit": 32,
                     "size": 16,
                     "endianness": "little",
-                    "unit": "deg",
-                    "receivers": [
-                        "SCANNER"
-                    ],
+                    "unit": "m",
                     "scale": 0.01,
                     "offset": 0,
                     "min": 0,
@@ -3329,40 +3359,50 @@
                 }
             }
         },
-        "SBG_ECAN_MSG_GPS2_HDT_INFO": {
-            "id": 392,
+        "IMU__VelocityBody": {
+            "message-id_dec": 59,
+            "id": 955,
             "length": 6,
             "sender": "IMU",
             "signals": {
-                "STATUS": {
-                    "start_bit": 32,
+                "VELOCITY_X": {
+                    "start_bit": 0,
                     "size": 16,
                     "endianness": "little",
-                    "receivers": [
-                        "SCANNER"
-                    ],
-                    "scale": 1,
+                    "signed": true,
+                    "unit": "m.s-1",
+                    "scale": 0.01,
                     "offset": 0,
-                    "min": 0,
-                    "max": 65535
+                    "min": -327.68,
+                    "max": 327.67
                 },
-                "TIME_STAMP": {
-                    "start_bit": 0,
-                    "size": 32,
+                "VELOCITY_Y": {
+                    "start_bit": 16,
+                    "size": 16,
                     "endianness": "little",
-                    "unit": "usec",
-                    "receivers": [
-                        "SCANNER"
-                    ],
-                    "scale": 1,
+                    "signed": true,
+                    "unit": "m.s-1",
+                    "scale": 0.01,
                     "offset": 0,
-                    "min": 0,
-                    "max": 4294970000
+                    "min": -327.68,
+                    "max": 327.67
+                },
+                "VELOCITY_Z": {
+                    "start_bit": 32,
+                    "size": 16,
+                    "endianness": "little",
+                    "signed": true,
+                    "unit": "m.s-1",
+                    "scale": 0.01,
+                    "offset": 0,
+                    "min": -327.68,
+                    "max": 327.67
                 }
             }
         },
-        "SBG_ECAN_MSG_GPS2_POS": {
-            "id": 389,
+        "IMU__GPS1_Position": {
+            "message-id_dec": 58,
+            "id": 939,
             "length": 8,
             "sender": "IMU",
             "signals": {
@@ -3371,10 +3411,7 @@
                     "size": 32,
                     "endianness": "little",
                     "signed": true,
-                    "unit": "deg",
-                    "receivers": [
-                        "SCANNER"
-                    ],
+                    "unit": "\ufffd",
                     "scale": 1e-07,
                     "offset": 0,
                     "min": -214.7483648,
@@ -3385,10 +3422,7 @@
                     "size": 32,
                     "endianness": "little",
                     "signed": true,
-                    "unit": "deg",
-                    "receivers": [
-                        "SCANNER"
-                    ],
+                    "unit": "\ufffd",
                     "scale": 1e-07,
                     "offset": 0,
                     "min": -214.7483648,
@@ -3396,61 +3430,85 @@
                 }
             }
         },
-        "SBG_ECAN_MSG_GPS2_POS_INFO": {
-            "id": 388,
-            "length": 8,
+        "IMU__Gyro": {
+            "message-id_dec": 56,
+            "id": 907,
+            "length": 6,
             "sender": "IMU",
             "signals": {
-                "STATUS": {
-                    "start_bit": 32,
-                    "size": 32,
+                "GYRO_X": {
+                    "start_bit": 0,
+                    "size": 16,
                     "endianness": "little",
-                    "receivers": [
-                        "SCANNER"
-                    ],
-                    "scale": 1,
+                    "signed": true,
+                    "unit": "rad.s-1",
+                    "scale": 0.001,
                     "offset": 0,
-                    "min": 0,
-                    "max": 4294970000
+                    "min": -32.768,
+                    "max": 32.767
                 },
-                "TIME_STAMP": {
-                    "start_bit": 0,
-                    "size": 32,
+                "GYRO_Y": {
+                    "start_bit": 16,
+                    "size": 16,
                     "endianness": "little",
-                    "unit": "usec",
-                    "receivers": [
-                        "SCANNER"
-                    ],
-                    "scale": 1,
+                    "signed": true,
+                    "unit": "rad.s-1",
+                    "scale": 0.001,
                     "offset": 0,
-                    "min": 0,
-                    "max": 4294970000
+                    "min": -32.768,
+                    "max": 32.767
+                },
+                "GYRO_Z": {
+                    "start_bit": 32,
+                    "size": 16,
+                    "endianness": "little",
+                    "signed": true,
+                    "unit": "rad.s-1",
+                    "scale": 0.001,
+                    "offset": 0,
+                    "min": -32.768,
+                    "max": 32.767
                 }
             }
         },
-        "SBG_ECAN_MSG_EVENT_INFO_A": {
-            "id": 512,
-            "length": 8,
+        "IMU__Euler": {
+            "message-id_dec": 57,
+            "id": 923,
+            "length": 6,
             "sender": "IMU",
             "signals": {
-                "STATUS": {
-                    "start_bit": 32,
+                "PITCH": {
+                    "start_bit": 16,
                     "size": 16,
                     "endianness": "little",
-                    "scale": 1,
+                    "signed": true,
+                    "unit": "rad",
+                    "scale": 0.0001,
                     "offset": 0,
-                    "min": 0,
-                    "max": 65535
+                    "min": -3.2768,
+                    "max": 3.2767
                 },
-                "TIME_STAMP": {
+                "ROLL": {
                     "start_bit": 0,
-                    "size": 32,
+                    "size": 16,
                     "endianness": "little",
-                    "unit": "usec",
-                    "scale": 1,
+                    "signed": true,
+                    "unit": "rad",
+                    "scale": 0.0001,
                     "offset": 0,
-                    "min": 0,
-                    "max": 4294970000
+                    "min": -3.2768,
+                    "max": 3.2767
+                },
+                "YAW": {
+                    "start_bit": 32,
+                    "size": 16,
+                    "endianness": "little",
+                    "signed": true,
+                    "unit": "rad",
+                    "scale": 0.0001,
+                    "offset": 0,
+                    "min": -3.2768,
+                    "max": 3.2767
                 }
             }
         },
@@ -3619,6 +3677,7 @@
         "NLG5_CTL": {
             "id": 1560,
             "length": 7,
+            "sender": "BRUSA",
             "cycle_time": 100,
             "signals": {
                 "NLG5_C_CP_V": {
@@ -3727,6 +3786,7 @@
         "NLG5_DIAG_RX": {
             "id": 1816,
             "length": 8,
+            "sender": "BRUSA",
             "signals": {
                 "LAD_D_ParamRq": {
                     "description": "Diag requested data from host",
@@ -3785,7 +3845,7 @@
                     "max": 1
                 },
                 "NLG5_E_C_OFF": {
-                    "description": "CAN off, transmit buffer \u003e255",
+                    "description": "CAN off, transmit buffer >255",
                     "start_bit": 16,
                     "size": 1,
                     "endianness": "big",
@@ -3798,7 +3858,7 @@
                     "max": 1
                 },
                 "NLG5_E_C_RX": {
-                    "description": "CAN receiver buffer \u003e127",
+                    "description": "CAN receiver buffer >127",
                     "start_bit": 30,
                     "size": 1,
                     "endianness": "big",
@@ -3811,7 +3871,7 @@
                     "max": 1
                 },
                 "NLG5_E_C_TO": {
-                    "description": "CAN timeout, no control message received for \u003e300ms",
+                    "description": "CAN timeout, no control message received for >300ms",
                     "start_bit": 17,
                     "size": 1,
                     "endianness": "big",
@@ -3824,7 +3884,7 @@
                     "max": 1
                 },
                 "NLG5_E_C_TX": {
-                    "description": "CAN transmit buffer \u003e127",
+                    "description": "CAN transmit buffer >127",
                     "start_bit": 31,
                     "size": 1,
                     "endianness": "big",
@@ -3928,7 +3988,7 @@
                     "max": 1
                 },
                 "NLG5_E_NV_CRC": {
-                    "description": "NVSRAM check sum failure; contains most of the scaling \u0026 calibration values, CAN ID's and  charging profile etc.",
+                    "description": "NVSRAM check sum failure; contains most of the scaling & calibration values, CAN ID's and  charging profile etc.",
                     "start_bit": 22,
                     "size": 1,
                     "endianness": "big",
diff --git a/SC24/infos.md b/SC24/infos.md
index f1c5abf..035d646 100644
--- a/SC24/infos.md
+++ b/SC24/infos.md
@@ -8,8 +8,7 @@ The list of ECUs and their ids:
 - DASH: 5
 - DIAG_TOOL: 6
 - DSPACE: 7
-- EXTRA_NODE: 8  `DON'T CHANGE THIS ECU-ID: KEEP IT AT 8 !`  
-Some ECUs have non modifiable can-ids because programmed at fabbrication/delivery, we put those here
+- EXTRA_NODE: 8  `DON'T CHANGE THIS ECU-ID: KEEP IT AT 8 !` (Some ECUs have non modifiable can-ids because programmed at fabbrication/delivery, we put those here)
 - SCANNER: 9
 - TPMS: 10
 - IMU: 11
@@ -57,6 +56,12 @@ Below values are in base 10
     - 48: SB_FRONT_sdcSensingStatus
     - 50: SB_FRONT_potentiometer
     - 51: SB_REAR_potentiometer
+    - 55: IMU__Accelerometers 
+    - 56: IMU__Gyro
+    - 57: IMU__Euler
+    - 58: IMU__GPS1_Position
+    - 59: IMU__VelocityBody
+    - 60: IMU__TrackSlipCurv
 ```
 ### Mid Priority Low Speed (50-100+ms)
 ```
diff --git a/SC24/sbgCanVendorDefault.json b/SC24/sbgCanVendorDefault.json
new file mode 100644
index 0000000..acff0da
--- /dev/null
+++ b/SC24/sbgCanVendorDefault.json
@@ -0,0 +1,2498 @@
+{
+	"version": "",
+	"nodes": {
+		"": {}
+	},
+	"general_attributes": {},
+	"node_attributes": {},
+	"message_attributes": {
+		"MsgPeriodMS": {
+			"int": {
+				"default": 0,
+				"from": 0,
+				"to": 65535
+			}
+		}
+	},
+	"signal_attributes": {},
+	"messages": {
+		"SBG_ECAN_MSG_AIR_DATA_AIRSPEED": {
+			"id": 356,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"AIRSPEED": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"PRESSURE_DIFF": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"signed": true,
+					"unit": "Pa",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -2147483.648,
+					"max": 2147483.647
+				}
+			}
+		},
+		"SBG_ECAN_MSG_AIR_DATA_ALTITUDE": {
+			"id": 355,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"ALTITUDE": {
+					"start_bit": 32,
+					"size": 32,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -2147483.648,
+					"max": 2147483.647
+				},
+				"PRESSURE_ABS": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "Pa",
+					"scale": 0.001,
+					"offset": 0,
+					"min": 0,
+					"max": 4294967.295
+				}
+			}
+		},
+		"SBG_ECAN_MSG_AIR_DATA_INFO": {
+			"id": 354,
+			"length": 7,
+			"sender": "Vector__XXX",
+			"signals": {
+				"AIR_DATA_STATUS": {
+					"start_bit": 32,
+					"size": 8,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"AIR_TEMPERATURE": {
+					"start_bit": 40,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "\ufffdC",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "us",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_AUTO_SLIP_CURV": {
+			"id": 544,
+			"length": 7,
+			"sender": "Vector__XXX",
+			"signals": {
+				"ANGLE_SLIP": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "rad",
+					"scale": 0.0001,
+					"offset": 0,
+					"min": -3.2768,
+					"max": 3.2767
+				},
+				"ANGLE_TRACK": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "rad",
+					"scale": 0.0001,
+					"offset": 0,
+					"min": -3.2768,
+					"max": 3.2767
+				},
+				"AUTO_STATUS": {
+					"start_bit": 48,
+					"size": 8,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"CURVATURE_RADIUS": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"unit": "m",
+					"scale": 0.01,
+					"offset": 0,
+					"min": 0,
+					"max": 655.35
+				}
+			}
+		},
+		"SBG_ECAN_MSG_DEPTH_ALTITUDE": {
+			"id": 359,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"DEPTH": {
+					"start_bit": 32,
+					"size": 32,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -2147480,
+					"max": 2147480
+				},
+				"PRESSURE_ABS": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "Pa",
+					"scale": 0.1,
+					"offset": 0,
+					"min": 0,
+					"max": 429497000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_DEPTH_INFO": {
+			"id": 358,
+			"length": 5,
+			"sender": "Vector__XXX",
+			"signals": {
+				"DEPTH_STATUS": {
+					"start_bit": 32,
+					"size": 8,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "us",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_EKF_ALTITUDE": {
+			"id": 309,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"ALTITUDE": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -2147480,
+					"max": 2147480
+				},
+				"UNDULATION": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.005,
+					"offset": 0,
+					"min": -163.84,
+					"max": 163.835
+				}
+			}
+		},
+		"SBG_ECAN_MSG_EKF_EULER": {
+			"id": 306,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"PITCH": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "rad",
+					"scale": 0.0001,
+					"offset": 0,
+					"min": -3.2768,
+					"max": 3.2767
+				},
+				"ROLL": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "rad",
+					"scale": 0.0001,
+					"offset": 0,
+					"min": -3.2768,
+					"max": 3.2767
+				},
+				"YAW": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "rad",
+					"scale": 0.0001,
+					"offset": 0,
+					"min": -3.2768,
+					"max": 3.2767
+				}
+			}
+		},
+		"SBG_ECAN_MSG_EKF_INFO": {
+			"id": 304,
+			"length": 4,
+			"sender": "Vector__XXX",
+			"signals": {
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_EKF_ORIENTATION_ACC": {
+			"id": 307,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"PITCH_ACC": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"unit": "rad",
+					"scale": 0.0001,
+					"offset": 0,
+					"min": 0,
+					"max": 6.5535
+				},
+				"ROLL_ACC": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"unit": "rad",
+					"scale": 0.0001,
+					"offset": 0,
+					"min": 0,
+					"max": 6.5535
+				},
+				"YAW_ACC": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"unit": "rad",
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+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"TEMPERATURE": {
+					"start_bit": 48,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "\ufffdC",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
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+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_MAG_0": {
+			"id": 336,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"STATUS": {
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+					"size": 16,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"TIME_STAMP": {
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+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_MAG_1": {
+			"id": 337,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"MAG_X": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "a.u.",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				},
+				"MAG_Y": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "a.u.",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				},
+				"MAG_Z": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "a.u.",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				}
+			}
+		},
+		"SBG_ECAN_MSG_MAG_2": {
+			"id": 338,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
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+					"endianness": "little",
+					"signed": true,
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+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"ACCEL_Y": {
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+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
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+					"offset": 0,
+					"min": -327.68,
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+				},
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+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
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+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				}
+			}
+		},
+		"SBG_ECAN_MSG_ODO_INFO": {
+			"id": 352,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"ODO_STATUS": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_ODO_VEL": {
+			"id": 353,
+			"length": 2,
+			"sender": "Vector__XXX",
+			"signals": {
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+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
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+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_0": {
+			"id": 321,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"HEAVE": {
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+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				},
+				"SURGE": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				},
+				"SWAY": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_1": {
+			"id": 325,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"ACCEL_X": {
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+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"ACCEL_Y": {
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+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"ACCEL_Z": {
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+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_2": {
+			"id": 329,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"VEL_X": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"VEL_Y": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"VEL_Z": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_HP_0": {
+			"id": 331,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"HEAVE": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				},
+				"SURGE": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				},
+				"SWAY": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m",
+					"scale": 0.001,
+					"offset": 0,
+					"min": -32.768,
+					"max": 32.767
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_HP_1": {
+			"id": 332,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"ACCEL_X": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"ACCEL_Y": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"ACCEL_Z": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-2",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_HP_2": {
+			"id": 333,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"VEL_X": {
+					"start_bit": 0,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"VEL_Y": {
+					"start_bit": 16,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				},
+				"VEL_Z": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"signed": true,
+					"unit": "m.s-1",
+					"scale": 0.01,
+					"offset": 0,
+					"min": -327.68,
+					"max": 327.67
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_HP_INFO": {
+			"id": 330,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"PERIOD": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"unit": "s",
+					"scale": 0.01,
+					"offset": 0,
+					"min": 0,
+					"max": 655.35
+				},
+				"STATUS": {
+					"start_bit": 48,
+					"size": 16,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_SHIP_MOTION_INFO": {
+			"id": 320,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"PERIOD": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"unit": "s",
+					"scale": 0.01,
+					"offset": 0,
+					"min": 0,
+					"max": 655.35
+				},
+				"STATUS": {
+					"start_bit": 48,
+					"size": 16,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_STATUS_01": {
+			"id": 256,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"CLOCK": {
+					"start_bit": 48,
+					"size": 16,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"GENERAL": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_STATUS_02": {
+			"id": 257,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"AIDING": {
+					"start_bit": 32,
+					"size": 32,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				},
+				"COM": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_STATUS_03": {
+			"id": 258,
+			"length": 6,
+			"sender": "Vector__XXX",
+			"signals": {
+				"HEAVE_STATUS": {
+					"start_bit": 32,
+					"size": 16,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 65535
+				},
+				"SOLUTION": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_UTC_0": {
+			"id": 272,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"GPS_TOW": {
+					"start_bit": 32,
+					"size": 32,
+					"endianness": "little",
+					"unit": "ms",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				},
+				"TIME_STAMP": {
+					"start_bit": 0,
+					"size": 32,
+					"endianness": "little",
+					"unit": "\ufffds",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 4294970000
+				}
+			}
+		},
+		"SBG_ECAN_MSG_UTC_1": {
+			"id": 273,
+			"length": 8,
+			"sender": "Vector__XXX",
+			"signals": {
+				"DAY": {
+					"start_bit": 16,
+					"size": 8,
+					"endianness": "little",
+					"unit": "d",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"HOUR": {
+					"start_bit": 24,
+					"size": 8,
+					"endianness": "little",
+					"unit": "h",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"MICRO_SEC": {
+					"start_bit": 48,
+					"size": 16,
+					"endianness": "little",
+					"unit": "us",
+					"scale": 100,
+					"offset": 0,
+					"min": 0,
+					"max": 6553500
+				},
+				"MIN": {
+					"start_bit": 32,
+					"size": 8,
+					"endianness": "little",
+					"unit": "min",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"MONTH": {
+					"start_bit": 8,
+					"size": 8,
+					"endianness": "little",
+					"unit": "month",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"SEC": {
+					"start_bit": 40,
+					"size": 8,
+					"endianness": "little",
+					"unit": "s",
+					"scale": 1,
+					"offset": 0,
+					"min": 0,
+					"max": 255
+				},
+				"YEAR": {
+					"start_bit": 0,
+					"size": 8,
+					"endianness": "little",
+					"unit": "year",
+					"scale": 1,
+					"offset": 2000,
+					"min": 2000,
+					"max": 2255
+				}
+			}
+		}
+	},
+	"signal_enums": null
+}
\ No newline at end of file
diff --git a/SC24/scripts/generate_ids.py b/SC24/scripts/generate_ids.py
index 3e118ca..e7b79be 100644
--- a/SC24/scripts/generate_ids.py
+++ b/SC24/scripts/generate_ids.py
@@ -7,7 +7,7 @@
 ecu_ids = mcb["signal_enums"]["ecu_id_Enum"];
 for message in mcb["messages"]:
     sender = mcb["messages"][message]["sender"]
-    if sender == "IMU" :
+    if sender == "BRUSA" :
         continue
     sender_ecu_id = ecu_ids[sender]
     message_id = mcb["messages"][message]["message-id_dec"]