ESP fault w169 a180 cdi ....
 

steering angle sensor alredy changed, but this problem is something else, if any have some idea what to try to doo , i will dooo it, i have not here Merces benz official service, and simple mehanics not like A class , i hope it can be lighr brake switch.... here is log of diagnostic. Car is going to lim after 2-3 m. it was start from today.... here is pdf file...please help ASAP