2002 Audi S4: Ep. 3 - Steering Angle Sensor

Fixing errors with my steering angle sensor on my B5 Audi S4.

Here's some info on the process I followed to get ABS and Traction control working. Note, the codes you enter are different if your car is Tiptronic vs Manual:

From VAG-Com, select 03 (ABS Brakes)
Select Login
Enter login code 09495 (6spd) 09497 (tip)
Click "Do It!"
Select Recode
Enter Soft Code 04395 (6spd) 04397 (tip)
AND Workshop Code - 06435
Click "Do It!"
Clear all DTC codes.

I still had issues with the ABS module holding the softcode. It kept clearing to all zeros. I tried above multiple times and it didn't seem to work. I did above again, followed by the procedure below:

Here is the procedure for zeroing the steering wheel.

From VAG-Com, select 03 (ABS Brakes)
Select Login
Enter login code 40168
Click "Do It!"
Select Basic settings
Select Group 001
There should be an "OK" in a block for Calibrating Steer Sensor
Switch ignition off
Switch ignition on
After starting the car back up, I no longer had the flashing BRAKE light, and no more beeping. I still had the ABS and ESP lights on the cluster however.

From here I drove my car 0.3 miles, and THEN the ABS and ESP lights turned off. I even tested out both (snow slick road), I now have working ABS and ESP. Also, my ESP button on my dash works again for turning ESP on/off.

I then parked my car and opened up the ABS module in VAG Com. The softcoding value stuck (no longer all zeros). Also, I no longer see any DTC alerts in Vag Com. .................