Because your SRS MIL goes out when turning the steering wheel, this normally would confirm that you have a steering wheel brush contact problem. Usually, though the light will flicker on/off when you get that one spot on the wheel. Next time this light stays on, be sure to wait longer than the 4 sec. diagnostic cycle, and then move the wheel.
It is also suggested that when repairing this problem, that both the contact ring in the steering wheel and the brushes in the column be replaced.
Last comment, many people (inc. car detailers) spray cleaners on the dash board, avoid spraying these around the steering wheel contact. If it must be used, spray it on a cloth and then wipe the dash.