Brakes feeling odd

Nickl

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When braking I occasionally feel the brake pedal trying to push back out towards me, is this just the ESP doing it's thing or is this strange?

Haven't noticed it until recently, although I have just installed the s3 pedals which mean I have more "feel" through them being metal rather than rubber/plastic.
 
That's the ABS kicking in, mine just feel very light like it disconnects the pedal (loosens the breaks)

Does it only happen under heavy breaking ?
 
yea sounds about right, phew thought something might of gone wrong, thanks