Hello, my Lupo (type AYZ) has meanwhile 372,000 km down and after lighting up the ABS and brake warning lamp and repeated beeping has set the driving readiness. Since I have access to a megamacs42 engine tester, I was able to find out that the ABS control unit (6E0907379B) was defective. Fortunately I also had a part available and installed it. The Lupo runs again great, but now the ESP lamp lights up consistently. As error code I get with ABS: Error code 778 steering angle sensor function incorrect and with motor: Error code 18057 CAN bus drive Communication with ABS control unit missing My research has shown that after replacing the ABS control unit a zero balance of the steering angle sensor has to take place. This is not so wild, but before, as far as I can see this at the moment, still the control unit must be coded. Unfortunately, I found no instructions for this. My question is: has someone done this and can describe how it goes?