ABS/DSC/Brakes yellow warnings

[dougal]

I have the yellow lights for ABS/DSC and brakes.

I tried turn steering left, right and centre but did not fix it.

I checked with INPA and it said this re steering angle sensor:

Date: 06/07/16 13:45:04 ECU: LWS5_1B JobStatus: OKAY Variant: LWS5_1B-------------------------------------------------------------
RESULT: 3 errors in error memory !-------------------------------------------------------------
4 90 degrees difference of wiper too large (Adjustment operation)
Error frequency : 31
Static error
Errorcode: 04 3F 19-------------------------------------------------------------
12 CAN-Bus off
Error frequency : 3
Sporadic error
Errorcode: 0C 03 B3-------------------------------------------------------------
16 Watchdog
Error frequency : 0
Sporadic error
Errorcode: 10 00 79 ================================================== ===========


And this re DSC:

Date: 06/07/16 13:43:29 ECU: DSC57 JobStatus: OKAY Variant: DSC57-------------------------------------------------------------
RESULT: 2 errors in error memory !-------------------------------------------------------------
90 temporary system deactivation
Error frequency : 255
Vehicle speed 2.75 km/h
ASC not passiv ABS-control passiv stop light switch off ASC-control passiv ACB passive HBA passive ECD passive HDC passive-------------------------------------------------------------
104 Error steering angle Control unit
Error frequency : 255
Vehicle speed 2.75 km/h
ASC passiv ABS-control passiv stop light switch off ASC-control passiv ACB passive HBA passive ECD passive HDC passive ================================================== ===========

I noticed when turn steering right and then back to center it makes a sound from inside the car sort of like scratching a glass with a key.