A3 Steering angle test

Advice please . I have a3 2tdi 2004 I changed the battery to a new one ( like for like) but now all the dashboard lights are lit up. I used vcds to clear codes but for some reason car has gone into steering angle test ( which seems to be stuck in a loop ) . I took it to Audi dealership they ran tests and recon it's the controller for the abs. But when tested with vcds it says that the unit is working fine ?? Any ideas please ?