October 30: LEMON manuals on a temporary server, it is slow and having issues, download the manuals you need! Later in November we will switch back to the fast server.

Conditions for Running the DTC

The steer angle has been centered.
The VSES is active.
The direction, understeer or oversteer, of the yaw rate error has not changed.
The centered lateral acceleration value is less than 0.5 g.
The yaw rate error is less than 6 degrees/second.
The side slip error is greater than 1.8 meters/second² .