diff --git a/README.md b/README.md
index d051e35..d85b408 100644
--- a/README.md
+++ b/README.md
@@ -34,7 +34,7 @@ Planned repositories and the reasoning behind the split are described in
 |---|---|
 | NVIDIA Jetson Orin Nano Super (`mikkeli-orin-nano`) | Car unit: main compute, JetPack r36.4 / Ubuntu 22.04 |
 | NVIDIA Jetson Orin Nano Super (`mikkeli-orin-nano-2`) | Development unit: builds, CI, bench (see [REPOS](docs/REPOS.md)) |
-| PEAK PCAN-USB | Car CAN bus access (`can_pcan`, 500 kbps measured at the OBD port; listen-only until `obd-poller`) |
+| PEAK PCAN-USB | Car CAN bus access (`can_pcan`, 500 kbps measured at the OBD port; `obd-poller` is its single writer) |
 | Onboard MTTCan | Second CAN interface (`can_onboard`) |
 | Waveshare SIM7600G-H-M.2 | LTE Cat 4 (povo, fallback uplink below WiFi/Ethernet) + GNSS |
 
diff --git a/docs/ROADMAP.md b/docs/ROADMAP.md
index ded81a8..8fe8cb8 100644
--- a/docs/ROADMAP.md
+++ b/docs/ROADMAP.md
@@ -59,7 +59,13 @@ mark …`, or the app's Mark button), on the same clock as the frames.
       `docs/impl/reports/Z27AG-CAN-PRIOR-ART.md`
 - [ ] Build the Z27AG DBC incrementally in `contracts`
 - [ ] `decoder` — raw frames to named signals
-- [ ] `obd-poller` — active OBD-II PIDs, single writer, rate-limited
+- [x] `obd-poller` — active OBD-II PIDs, single writer, 2026-10-12: mode 01, the
+      nine `obd2` signals (~10 Hz fast, 1 Hz slow), only while the bus is alive;
+      `can_pcan` out of listen-only. Recorded beside the frames (`vehicle.ndjson`)
+- [ ] OBD-II beyond mode 01: DTC scan (modes 03/07/0A) and MUT-III `21 xx`
+      requests, both needing multi-frame (ISO-TP) replies
+- [ ] First decoding captures in the car, per contracts
+      `docs/impl/plans/Z27AG-CAPTURES.md`
 - [ ] `gnss` — position/speed, useful as ground truth for validating decoded speed
 
 OBD-II gives standardised signals quickly and is worth doing early; it also