Ken,
That code means the APPS (Accelerator Pedal Position Sensor) volts do not agree with a valid idle signal. 99% of the time it means you need a new APPS.
Do a search for "APPS" here in the forum and you'll find many discussions on the subject of adjusting and/or replacing the APPS.
Please do us a favor and fill in both your forum profile and your message signature with the year of your truck and any accessories you have so we can better help you in the future. I noticed from another post you made that you have a 2001... correct?
Best regards,
John L.