After a battery disconnection you need to reset the parameter steering by turning the wheel from lock to lock several times with the engine running, if this is not done the ABS and ESP lights will stay on.
What is the airmatic fault codes that will not clear?
Yes I did. I purchased a C3 and laptop for my 02 S500 w220. I have a contact that you can use to get the C3 and they are trustworthy and it is a quality product. I got this through another member on this forum who is very knowledgeable regarding the STAR/DAS system. It is better that you email me at; stevehamilton@windstream.net