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how to replace steering angle sensor on 53 plate c class?

I have a 53 plate C class with the ESP light on, fault has been traced to steering angle sensor, any info on what is required to tackle replacing said sensor and any coding issues please.
steve, December 2008
disconnect battery,2-25 torx at rear of steering wheel to remove airbag,disconnect wires from airbag side & horn contacts,10ml allen key to remove steering wheel,make sure its straight before removing!3-screws holding plastic part for horn & airbag wires,remove it & theres ur steering sensor remove that & rebuild.reconnect battery & turn steering full turns to left then full turn to right &back to middle.job done!reset windows after batt disconected by holding button fully down for 5 secs & then hold fully up 5secs.

DR MERC, December 2008
link Click here to see other fixes for Mercedes-Benz W203.