Check in ABS System to see if there is any Options for YAW Sensor Calibration in Adaptation Options............if you don't fine than please post your fault code here to see what that code really means..........Also if possible copy data log files for the ABS and Airbag System for this vehicle and sand it to Support Team so they can have a look for the Option you looking for it.......Also don't forget to the Add your Vin Number.......