Hi everyone I have trouble with abs and esp control module in Audi A6 C5 2.7 biturbo after swap for emu Black ECU,After driving on a wet or muddy surface, when the wheels start to grind, the ABS locks the wheels.I have in can stream Audi VW pq35, and until now the car was driving normally, only recently the problems started, I get an error of the brake light switch near the pedals and the pressure sensor g201,but when I unlock the wheels, everything works until the ESP turns on, then the same thing happens, help, I’ve been struggling with this for two weeks now.I don’t know if it’s a problem with CAN coding or something else, until now the EMU didn’t send engine torque to the ABS controller, but I’ve figured that out too, I checked VCDS and the ABS controller sees the rpm,engine torque,engine torque loss and throttle angle,I don’t know what else can be problem,I have emu Black v3.