Intro, and suggestions needed.
Disconnecting the battery should not have triggered an SRS fault unless the mechanic was really sloppy any let the sparks fly trying to reconnect it. The problem is, SRS errors don't clear themselves - you have to have SDS (MBZ shop diagnostics) to do that. You need to get the SRS codes scanned (again, this requires SDS - generic OBDII scanners won't access the SRS system) to see what the fault is and try resetting it.
On the jerking, this could be many things. Try the "TCU reset" procedure (search the forum - it's a procedure you do with the ignition switch and accelerator pedal). Also, check the TCU for oil intrusion - it's under the carpet and sound insulation of the passenger-side floorboard sloped area. Pull the carpet down from under the dash, then remove the insulation panel, and you'll find the TCU behind the metal pan there. If you see oil on the wiring, you may have that problem. Otherwise, get the TCU codes checked when you have the SRS codes checked.
http://forums.mercedesclub.org.uk/sh...42&postcount=3
As for the ESP steering angle calibration, yes, turn the steering wheel fully lock to lock twice (or three times) with the engine running and in park. The ESP light goes out once it is calibrated. If that doesn't do it, then it may not be the sensor - it may be some other problem.
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