diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index b31a6313f3..6b2ca97f85 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -86,12 +86,17 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
-    # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
-    # 17 is a fault from a prolonged high torque delta between cmd and user
-    # 3 is a fault from the lka command message not being received by the EPS
-    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
+
+    # 3 is a fault from the lka/lta command message not being received by the EPS
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+      ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LTA_STATE"] not in (1, 3, 5)  # TODO: set actual codes. 1 is inactive, 5 is active, 3 is below
+      ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LTA_STATE"] in (3,)  # TODO: any more?
+    else:
+      # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
+      # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
+      ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
+      # 17 is a fault from a prolonged high torque delta between cmd and user
+      ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
 
     if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH