ok want to get to the bottom of this (as much as I can anyway)
from an official Uk manual
" Sudden turns (such as spin turns, acceleration turns), drifting, etc. When ESP function is OFF (ESP OFF
SW ON) may cause the yaw rate/side G -sensor system indicate a problem. However, this is not a malfunction
if normal operation can be resumed after restarting engine. Then erase memory of self-diagnosis."
More:
"ESP Function EFS0047S
In addition to the TCS/ABS function, the driver steering amount and brake operation amount are detected
from steering angle sensor and pressure sensor, and vehicle's driving status (amount of under-steering /
over-steering) is determined from information from yaw rate/side G-sensor, wheel sensor, etc., and this
information is used to improve vehicle stability by controlling the braking and engine power to all four
wheels.
SLIP indicator lamp flashes to inform the driver of ESP operation.
During ESP operation, body and brake pedal lightly vibrate and mechanical noises may be heard. This is
normal.
ABS warning lamp, ESP OFF indicator lamp, and SLIP indicator lamp might turn on when vehicle is subject
to strong shaking or large vibration, such as when vehicle is on a turn table or a ship while engine is
running. In this case, restart engine on a normal road, and if ABS warning lamp, ESP OFF indicator lamp,
and SLIP indicator lamp turn off, there is no problem.
TCS Function EFS0047T
The wheel spin of the drive wheels is detected by ESP/TCS/ABS control unit from the wheel speed signals
from four wheels, so if wheel spin occurs, rear wheel right and left brake fluid pressure control and
engine fuel cut are performed while throttle value is restricted to reduce the engine torque and decrease
the amount of wheel spin. In addition, the degree throttle is opened is controlled to achieve the optimum
engine torque.
Depending on road circumstances, the driver may have a sluggish feel. This is normal, because the optimum
traction has the highest priority under TCS operation.
TCS may be activated any time vehicle suddenly accelerates, suddenly downshifts, or is driven on a road
with a varying surface friction coefficient.
During TCS operation, it informs a driver of system operation by flashing SLIP indicator lamp."
More:
"ABS Function EFS0047U
The anti-lock brake system is a function that detects wheel revolution while braking, and it improves handling
stability during sudden braking by electrically preventing 4 wheel lock. Maneuverability is also
improved for avoiding obstacles.
If the electrical system breaks down, then the fail-safe function starts, the ABS becomes inoperative, and
ABS warning lamp turns on.
Electrical system diagnosis by CONSULT-II is available.
EBD Function EFS0047V
Electronic Brake Distributor is a function that detects subtle slippages between front and rear wheels during
braking, and it improves handling stability by electronically controlling the brake fluid pressure which
results in reduced rear wheel slippage.
In case of electrical system break down, the fail-safe function is activated, EBD and ABS becomes inoperative,
and ABS warning lamp and brake warning lamp are turned on.
Electrical System Diagnosis by CONSULT-II is available.
Fail-Safe Function EFS0047W
ESP / TCS SYSTEM
In case of throttle control system trouble, ESP OFF indicator lamp and SLIP indicator lamp are turned on, and
the condition of vehicle is the same as the condition of vehicles without ESP / TCS equipment. In case of trouble
to the throttle control system, the ABS control continues to operate normally without ESP / TCS control.
CAUTION:
If the fail-safe function is activated, then perform the self- diagnosis for ESP/TCS/ABS control system.
ABS, EBD SYSTEM
In case of electrical malfunctions with the ABS, ABS warning lamp, ESP OFF indicator lamp and SLIP indicator
lamp will turn on. In case of electrical malfunctions with the EBD, brake warning lamp, ABS warning lamp,
ESP OFF indicator lamp and SLIP indicator lamp will turn on. Simultaneously, the ESP/ TCS/ABS become one
of the following conditions of the fail-safe function.
1. For ABS trouble, only the EBD is activated and the condition of vehicle is the same condition of vehicles
without ESP/TCS/ABS equipment.
2. For EBD trouble, the EBD and ABS become inoperative, and the condition of vehicle is the same as the
condition of vehicles without ESP/TCS/ABS, EBD equipment.
NOTE:
In condition 1 described above, an ABS self-diagnosis sound may be heard. That is a normal condition
because a self-diagnosis for “Key Switch ONâ€