Hi I have been having issues with these three lights for the past year now. get an error message on the screen saying cautious vehicle parked steep when applying the hand brake but it works fine and light flashes but goes off when I release it. They come and go. but they have been on more frequent recently. I have been to many garages and it doesn't pin point the problem. Abs sensors are fine no cuts on wires, battery fine. did a lot of live reading and they were all ok.  Got everything checked. Even VCDS and OBD11 doesn't show it. Audi advised could be abs module replaced it and fault came back 2 days later still does not work. I have now been told by an audi specialist that it looks like its the steering angle sensor. Has anyone come across this before that can cause this type of issue. I once used the Carista app and the came up showing

 

ABS outlet front right

coil spring travel sensor front right

coil spring travels sensor front left

he said they don't necessary have sensors and the angle sensor controls those which is why they are showing up as defective. 

No other scan tool is showing or pinpoint the problem. 

Its an Audi A6 C7 2012. 

Invest in ODIS if you can, it goes far deeper then VCDS can

Have you tried your battery? My wife's A3 had similar faults lighting up the DIS. We changed the battery and they haven't appeared since.

Spoken with @Asad and he replaced 

Scanned with Odis. 

AUDI A6 C7 2012 ACCELERATION YAW RATE SENSOR CONTROL MODULE 4G0907637

 Solved his problems 

Anyone know were yaw rate sensor is located?

 

Has ashtray and climate unit out all buttons above gear stick can't find it.

@anthonywalker198734

Anyone know what the middle wire is in this picture its snapped off on my rear drivers side hanging down.

Ones with round bits on them 

 

Sure it's not abs as lights would be permanently on dash speed sensor wire maybe 

I think it's should be plugged into auto handbrake still works until all lights pop up on dash 🤔

 

 

 Kind regards mark 

Update guys scanned with odis was passanger front abs sensor sorted