BAS/ESP and ETS light on.

[blau]

hello,

While driving in town the BAS/ESP and ETS light came on. I restarted the car and the lights would go off. But would come on again after driving it for a while.

I search the web. And there is a procedure to turn the stearing wheel lock to lock to reset the stearing wheel sensor. I did that and the light seem to come on more often. BUT I am not clear what the exact procedure is to reset the stearing wheel sensor. Do you do it when the car is in park or in gear? Can you be roling the car when doing this? And do you need to turn the car off and turn the key to the aux mode for 5 minutes (but not starting the car). But I think I did all these aleady except the 5 minutes.

I also got a new mercedes battery so I don't think low voltage is an issue.

the only other thing I can think of is that I can tranny oil recently.

Any other suggestions.