Background: randomly both lights would come on after driving then after a restart they would turn back off for about 10 miles. (keep in mind abs light stayed off the whole time).

These are the codes that came up:

Dynamic stability control DXC8 Plus - E90
Current Fault Codes
5E19:
CAN DME/DDE, engine torque not adjustable
Error will cause a warning light
Error is not currently present
Test conditions have been completed
5E38:
Yaw rate sensor electrical failure
Error will cause a warning light
Error is not currently present
Test conditions have been completed
5E16:
CAN Timeout instrument cluster
Error will not cause a warning light
Error is not currently present
Test conditions have been completed
5E40:
Steering angle sensor signal not plausible, offset
Error will cause a warning light
Error is currently present
Test conditions have been completed
5E43:
Steering angle sensor internal
Error will cause a warning light
Error is currently present
Test conditions have been completed


I purchased a new Steering wheel angle sensor and installed it myself in about 10 minutes. The lights remained on.

I brought it to a mini dealer and they reprogrammed it. They have to save the values of the steering wheel turned all the way to both directions.

BAM lights off. DSC and Stability back, both lights off.

129.99 for the initiation / calibration of the sensor at the mini dealer here in CT.

I wanted to share this because There is lots of different hear say on what could be causing these.

-B