Was just driving and ESP display has come up on the car saying visit workshop car was driving fine until this happened now it's all over the road I've just had a diagnostic dome and it's come up with fault codes C1170 steering angle sensor and B1000 faulty control unit? Anyone else had this problem and is it easy to sort out or a major job? And what sort of price should I be paying? Also can any normal garage fix this or will it have to be a Mercedes specialist?