OK Guys,
My ABS has failed
Reporting Right rear sensor implausible signal. I've replaced the sensor, but it's still giving me errors.
I did (probably stupidly) click the 'output tests' button in VCDS, and now it's telling me the controller is faulty. It does respond to VCDS, and it does read the speed from the other 3 wheels.
Any ideas beyond a new ECU (and where is it? might want to have a look inside and see if I can spot a dry joint or test for cable continuity).