Ignition "OFF".
Engine "ON".
Does warning lamp remain On?
YES
Substitute with a known-good HECU and check for proper operation. If problem is corrected, replace HECU and then go to "Verification of Vehicle Repair" procedure.
NO
Fault is intermittent caused by poor connection in Yaw Rate & Lateral G sensor circuit and/or faulty Yaw Rate & Lateral G sensor or was repaired and HECU memory was not cleared. Go to "Verification of Vehicle Repair" procedure.