diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index 1a16bb8865..36a0167581 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -151,7 +151,10 @@ def update(self, CC, CS, now_nanos):
     # TODO: sometimes when switching from brake to gas quickly, CLUTCH->ACCEL_NET shows a slow unwind. make it go to 0 immediately
     if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT and CC.longActive and not CS.out.cruiseState.standstill:
       # calculate amount of acceleration PCM should apply to reach target, given pitch
-      accel_due_to_pitch = math.sin(CS.slope_angle) * ACCELERATION_DUE_TO_GRAVITY
+      if len(CC.orientationNED) == 3:
+        accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+      else:
+        accel_due_to_pitch = 0.0
       net_acceleration_request = actuators.accel + accel_due_to_pitch
 
       # let PCM handle stopping for now