Conditions for Setting the DTC

WARNING: This page does not describe the selected car, but rather 8 other vehicles, including the 2007 GMC Yukon XL, 2007 GMC Yukon, 2007 Chevrolet Tahoe, 2007 Chevrolet Suburban, and 2007 Chevrolet Avalanche. However, it is still accessible from the selected car via links, so may be relevant.

The calculated steering angle from the steering wheel position sensor does not correlate with the steering angle calculated from the yaw rate.
The vehicle has been driven for 10 minutes without completing steer angle centering.