ABS,DSC problems

I got stuck today in the snow trying to get out my street.
My traction control light is on with ABS and brake on dash.
Plugged the peake code reader in and got 85 (steering angle sensor timeout) & 75 (Servotronic speed signal).
I tryed clearing codes but lights stay on (No EML light)
I tryed disconnecting the battery (Which got my Max A/C button to work as I just change FSU 3rd one in 2 years).

Any ideas? Battery disconnected just now.
Straight road so no kerbs etc involved.

I thought it might have been the T/C over heating like in the freelander I used to have for work due to wheel spin but it was only 5 mins and not full gutty.

When I go throught the peake code reader menu's theres oil inps etc etc but There is one with an "h" which has code 31 and something else (never remember seeing it before).
checked all fuse in glove box 17, 30, 31 plus checked the boot too no fuses blown in car as fas as I can see.
The (!) comes on amber then goes red when key first turned the goes amber but the T/C and ABS stay on in amber.
I Checked the brake fluid just in case but plenty there must be about 3-4mm from max level.
checked all fuse in glove box 17, 30, 31 plus checked the boot too no fuses blown in car as far as I can see.
The (!) comes on red when key first turned the goes amber but the T/C and ABS stay on in amber.
I Checked the brake fluid just in case but plenty there must be about 3-4mm from max level.
I have reset codes and it's clear but still got the lights.




This car is brilliant but has a way of kicking you in the heid!