I really should have listened to B5NUT but I didn't, thinking changing to a MFSW and cruise control would be simple. Well all of the weekend was spent using an RS4 SWCM (missing out a part that fits ontop of the slip ring), couldn't get rid of the ESP light, possibly because the RS4 has two modules. Anyway, picked up a SWCM from a scrappy today, came off an A4 S-LIne with MFSW. Fitted it, ESP light gone, calibrated fine however, I cannot get cruise to work. I've tried every available set of instructions off the Internet, VCDS picks up on the measuring blocks for 16-Steering Wheel the stalk responses, but it just doesn't work. I've activated it in the 01 - Engine, and the soft coding in the SWCM to no avail. Any ideas?