can someone help with this code? P0050 HO2S bank 2 sen 1 heater circuit. is this an oxygen sensor? and which one is it? my 02 A6 3.0 needs an emission test and i need to fix this. any help walking me through the fix would be greatly appreciated. thanks!

 

yep its a heated O2 sensor (HO2S) heated oxygen sensor
P0050 = heater control circuit malfunction so probably wiring or O2 sensor.

 

thanks, but can anyone explain how to replace it? i'd like to do it myself.