diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 401117ce13..affb227ee8 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -209,6 +209,8 @@ class CarInterface(CarInterfaceBase):
 
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
+    if ret.steerControlType == car.CarParams.SteerControlType.angle:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
 
     # we can't use the fingerprint to detect this reliably, since
     # the EV gas pedal signal can take a couple seconds to appear