diff --git a/CanUds.c b/CanUds.c
index 3386b04..dfc45a8 100644
--- a/CanUds.c
+++ b/CanUds.c
@@ -114,8 +114,10 @@ void ReceivedTP_func(void *arg, tCanTP_data *data) {
 
     osStatus_t status = osMessageQueuePut(env->queue, data, 0, 0U);
 
+//    LoggerFormatInfo(LOGGER, LOG_SIGN, "Add queue (UDS): %d", data[0])
+
     if (status != osOK) {
-        LoggerInfoStatic(LOGGER, LOG_SIGN, "Ошибка добавления в очередь addCommandQueue")
+        LoggerInfoStatic(LOGGER, LOG_SIGN, "Error addCommandQueue")
     }
 
 }
@@ -334,7 +336,7 @@ static uint16_t InputOutputControlByIdentifier_2F(tCanUds *env) {
         if (uds_IoDataByIdentifier_2F_com_CF[dataIdentifier_lo].data != NULL) {
             uint16_t size = uds_IoDataByIdentifier_2F_com_CF[dataIdentifier_lo].size;
 
-            if (env->data.len != size + 4) {
+            if ((env->data.data[3] == UDS_io_shortTermAdjustment) && (env->data.len != size + 4)) {
                 return setResponseError(env, UDS_InputOutputControlByIdentifier,
                                         UDS_error_incorrectMessageLengthOrInvalidFormat);
             }
@@ -610,8 +612,8 @@ static uint16_t Routine_Control_31(tCanUds *env) {
     }
 
     eUdsRoutineControlType udsRoutineControlType = env->data.data[1];
-    uint8_t routineIdentifier_hi = env->data.data[1];
-    uint8_t routineIdentifier_lo = env->data.data[2];
+    uint8_t routineIdentifier_hi = env->data.data[2];
+    uint8_t routineIdentifier_lo = env->data.data[3];
     uint16_t routineIdentifier = (routineIdentifier_hi << 8) | routineIdentifier_lo;
 
     if ((udsRoutineControlType != UDS_routine_StartRoutine) && (udsRoutineControlType != UDS_routine_StopRoutine) &&
@@ -620,9 +622,9 @@ static uint16_t Routine_Control_31(tCanUds *env) {
     }
 
     env->dataResponse[0] = UDS_RoutineControl | 0b1000000;
-    env->dataResponse[1] = routineIdentifier_hi;
-    env->dataResponse[2] = routineIdentifier_lo;
-    env->dataResponse[3] = env->data.data[3];
+    env->dataResponse[1] = env->data.data[1]; // eUdsRoutineControlType
+    env->dataResponse[2] = routineIdentifier_hi;
+    env->dataResponse[3] = routineIdentifier_lo;
 
     switch (routineIdentifier) {
         case UDS_routine_VIN_learn:
@@ -1069,8 +1071,8 @@ void CanUds_Init(
     env->filterReqId[5] = 0;
     env->filterReqId[6] = 0;
 
-    env->filterRespId[0] = 0;
-    env->filterRespId[1] = 0;
+    env->filterRespId[0] = Diag_From_CCU_CANID;
+    env->filterRespId[1] = Diag_From_CCU_CANID;
     env->filterRespId[2] = 0;
     env->filterRespId[3] = 0;
     env->filterRespId[4] = 0;
@@ -1083,7 +1085,7 @@ void CanUds_Init(
     env->filterDirReq[2] = 0;
     env->filterDirReq[3] = 0;
     env->filterDirReq[4] = 0;
-    env->filterDirReq[5] = 1;
+    env->filterDirReq[5] = 0;
     env->filterDirReq[6] = 0;