slip and vdc off light are on

[b0r1th]

i've got a 2005 g35 sedan m/t. i purchased the car in feb. 2009 54,000miles. it was customized heavily one of the reasons why i wanted it DC headers, struts and suspension, back end lowered an 1 inch, custom exhaust and muffler, sway bars, staggered wheels and tires (245/45/18 f, 275/40/18 r), etc. 2 weeks ago the slip and vdc off light came on and will not turn off. i've checked all the abs sensors and brake hose in each of the wheel arches/well none are loose or frayed. i've got ample brake fluid, transmission fluid, power steering fluid. i took it to a shop they hooked up a scanner to it and the code came back C1145 yaw rate sensor. after much research online i ran into a service bulletin http://ww2.justanswer.com/uplo...a.pdf. i plan to perform inspection 6 per the document and hopefully that will resolve the issue otherwise i'll have to replace the vdc/tcs/abs control unit. my question is my shop guy told me that i may have to reprogram any new/replacement control unit with my car. does anyone know if that is true and would i be able to do it myself without having to pay an electronic company to do it. also does anyone know where i can get the part number for the vdc/tcs/abs control unit for a 2005 infiniti g35 or where would be a good place to locate this part i need should i need to replace it? any help would be appreciated, thanks all.
Modified by b0r1th at 12:22 AM 1/20/2010

[Poyzinous]

47850-AC740You definitely want an experienced tech doing the work. There may be another requirement, like your G sensor replaced or the Steering angle sensor reset.

[b0r1th]

thanks for part number. i had checked with infiniti and they wanted $966.xx for this part. unfortunately i'm trying to find the most cost effective solutions to this problem i'm hoping this is just a misfired sensor. i want to clear the error message and see if it returns. if it returns then maybe i'll have to invest in a better solution. i really appreciate the part number and advice.