Using Voltmeter

WARNING: This page is about a different car, the 2004 Hyundai Santa Fe and 2003 Hyundai Santa Fe. However, it is still accessible from the selected car via links, so may be relevant.

Disconnect the APS connector.
Check the continuity between terminal 4 and sensor ground.

Fig 1: Accelerator Position Sensor Checking Table
Courtesy of HYUNDAI MOTOR CO.
If out of specification, replace the throttle position sensor.

Fig 2: Checking Accelerator Position Sensor
Courtesy of HYUNDAI MOTOR CO.