Here is a quick copy/paste regarding this code I dug up on the web.
P0870 is indeed an OD Hydraulic Pressure Test fault. "Fluid Pressure Sensor C Circuit" is a generic description (used by some scan tools). OD Hydraulic Pressure Test is the manufacturer-specific description used by FCA. Kind of like asking "What kind of vehicle is that?" and getting told either "It's a pickup truck" (generic) or "It's a 2018 Ram 2500 Mega Cab 4x4" (manufacturer-specific).
P0870 means that the PCM tested the
OD pressure switch (by momentarily turning on pressure to the OD clutch, and watching for the pressure switch to close), and did NOT see the
pressure switch respond. This is a relatively rare fault.
And, not to be harsh, but please, please, you have a Cummins engine in your truck. No G in Cummins.