TCS/ESP / C0287 00
Read the instructions below then 
start the fault diagnostic procedure.
Symptom: ESP warning lamp on.
No HSA function
Message appears in display.
	
Yaw Rate Sensor Internal Failure

 
Fault symptom
ESP warning lamp on.
No HSA function
Message appears in display.
On-board diagnosis
Type of diagnosis:
Enable criteria:
Fault criteria:
| Faulty signal from longitudinal acceleration sensor. | 
Diagnostic help
Diagnosis regards:
| Electrical fault in the component. | 
| ____________________________________ | 
| The sensor is a combined yaw rate sensor, lateral acceleration sensor and longitudinal acceleration sensor. | 
Functions in the diagnostic tool related to the fault:
| Longitudinal Acceleration | 
| (See also description of readings/activations in diagnostic tool) |