Driving back from work and i noticed my ESP light was on, tried pressing the button but no joy, light was still on. Checked the brake lights and there working. Incidentally i have just the day before changed both front cv gaitors and a wishbone...so everything was taken out....apart from any sensors on the wheel. However aparently after changing the wishbone you need to get the camber alignment done? (which is prob why the steering angle is not staight to the wheels) My steering wheel is not striaght now when the wheels are straight, and the mot guy said i need to get my tracking done as it is out. Knowing that the esp is connected to the steering angle and tracking of the car does anyone think that if i get all that sorted it should rectify the problem. Any help would be much appreciated. Also both front pads and dics's were removed when doing the cv gaitors.