The Vitz was sold in the US as a Yaris as a point of reference.
When you changed the battery the PCM "forgot" the zero point for the throttle and is telling you that it needs to be done so it can tell where the throttle actually is. You need a good scan tool and under the special tests area you will find the procedure to reset it.
The manual for some other Toyota's show a method using a jumper wire but not for your vehicle.
Feb 2, 2017 at 6:00 AM