Possible Causes

WARNING: This page is about a different car, the 2015 Jaguar XF, 2014 Jaguar XF, and 2013 Jaguar XF. However, it is still accessible from the selected car via links, so may be relevant.

The engine control module detected failure when comparing two or more input parameters for plausibility
The brake pedal switch signal received over CAN is defective
Brake pedal switch detached from pedal box whilst electrically connected
Brake pedal switch adjustment incorrect
Brake pedal switch harness failure
Brake pedal switch failure