Conditions for Setting the DTC

One of the following conditions exists:

• The yaw rate error is greater than 10 degrees/second with the vehicle speed less than 60 km/h (37 mph) and the acceleration pedal is pressed more than 25 percent of the pedal travel range for 1 second during the VSES activation.
• With the yaw rate less than 8 degrees/second, the side slip error is greater than 4.9 meters/second² for 5 seconds.