The alternator failed on our 2001, Audi A4 2.5TDI whilst on a long journey. I continued to drive for 155miles just using the battery for electrical power, but then several dashboard warning lights came on, so stopped. Battery was flat. Having recharged the battery, everything works except for the ESP light stays on. I am fitting a new alternator in the morning, but how will I get the ESP back? Many thanks in anticipation that someone will know.
Richard

 

Seems we have stumbled on a dusty forum here..good luck. Try the related threads?