My ESP light is on permanently. I had the abs pressure sensor fault which I had fixed by Volksmasters in Oldham for £325 but it didn't put the ESP light out. It's now saying there's a haldex controller failure. Does anyone know what part this is or what the part number is so I can track it down from a breaker as I hear it's £800 new. Volksmasters told me to find someone with a VAS system rather than vcds because it has a test function that performs a diagnostic rather than just list the fault - this is meant to avoid replacing bits that don't need replacing. Anyone heard of this? I'd really appreciate any suggestions as I'm not even sure what to look for. It also said something about a clutch leak, but I got the impression this was the haldex clutch and it was the same problem. Am a little disheartened at the moment. Thanks in advance.