The good news for the day is we got Flimper’s codes cleared and lights sorted, although we’re not really sure what caused the problem in the first place.
Step 1 - tried to clear the codes with Creator 310+. Unsuccessful, 5E30 would not clear.
Step 2 - tried to clear code with INPA. Unsuccessful, 5E30 would not clear.
Step 3 - seat out and replace sensor with spare.
(Correct order of play for removing seat is: raise seat for access; remove 2 x nuts at the front and 2 x bolts at the rear; lower seat; disconnect battery; manually tip seat back and unplug electrical connection under seat; disconnect seatbelt (bottom bolt and top guide); remove seat).
Step 4 - tried to clear the code with Creator 310+ again, and with INPA. Unsuccessful, 5E30 still would not clear.
Step 5 - located the DSC_85 programme in Toolset32 and ran the job querbeschleunigung_dsc_abgleichen which should reset the lateral sensor. Tried to clear the code with Creator 310+ and INPA. Again, unsuccessful, 5E30 would not clear.
Step 6 - back into INPA and located the lateral and longitudinal acceleration sensor compensation routines. Ran these, cleared the codes again and hey presto, SUCCESS - no lights and no codes.
In retrospect, I should have used the DSC_MK60 programme instead of DSC_85 at step 5, but it probably wouldn’t have made any difference,
If anyone else has these lights and error codes, It may be worth running the lateral and longitudinal sensor compensation routines in INPA then trying to clear the codes before you think about replacing the DSC/yaw sensor itself, as it might just be a random error.