Please can somebody help me? I have a W reg 2000 A class 170 DCi and the BAS ESP light is on pretty much most of the time. It drives fine and I've taken it to my local garage who have always looked it - and I trust - they assure me that they can't find anything wrong with it. I called my nearest mercedes dealer and they want over £100 just to put it on their computer never mind fix anything. Bearing in mind that the car is probably not worth that much and I was thinking about swapping it in for something a bit bigger anyway I really don't want to go throwing hundreds of pounds at it. I can't help but think that it's something small and silly. Please help.