I recently had a fault with my 07 swift, an esp w/l on dash, and it was the brake pressure sensor housed in the abs modulator which was at fault. Apparently it is common with the swift for the sensor's, of which there are a few, housed in the modulator to fail. It is a costly repair at a garage, but I used 'ACtronics' and sent them my modulator to fix. Very good service, and wasnt too costly to repair. Would recommend.
John Walton, March 2014