diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 063427f14..c8dbfde5b 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -94,7 +94,11 @@ class CarState(CarStateBase):
     torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
 
     # dp - zss controller
-    ret.steeringAngleDeg = self.zssc.get_steering_angle_deg(cp.vl["PCM_CRUISE_2"]["MAIN_ON"], cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"], ret.steeringAngleDeg)
+    if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
+      main_on = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
+    else:
+      main_on = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
+    ret.steeringAngleDeg = self.zssc.get_steering_angle_deg(main_on, cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"], ret.steeringAngleDeg)
 
     # On some cars, the angle measurement is non-zero while initializing
     if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):