I had some problem with my brakes, and Audi came to the conclusion that it was my ESP control module. I didn't have any light before, no ABS light no Brake light. After I replaced the ESP control module, my ABS and Brake light came on. I thought that the new one may be defective, so I put the old one back in
(which did not give me ABS or Brake light originaly) but, when I put it in, I still got the flashing ABS and Brake light. I took the battery out, and left it out for 30 minutes to see if that resets the lights...no luck. Any idea's anyone? Thanks a lot, I really appreciate your Help.

There are some other problems besides your ABS control module (although it is the most likely culprit) that could cause this, so it would be good to check your codes via Vag-Com.