I have a 2000 320ML that the BAS/ESP light has come on. I had a dead battery due to leaving the ignition on (closed the sunroof and forgot to turn off the key). Charged the battery for 15 hours and it starts just fine but the light stayed on and the car will not accelerate, only idle. I have cranked the wheel left, then right like the book says but no joy. Disconnected the battery and reconnected to see if it would reset things but no go on this either. Any ideas before the usual trip to the Mercedes dealer for the usual $1000 to replace some 1" square black widget?

Thanks, Garry