Thanks for the reply,the hdc and tc had been turned off, turned back on now. Unpluged rh rear sensor and it reads 950 ohms so would seem ok, sensor voltages at rest are both rh 2.21 volts both near side 2.23 volts. The osr showed no volts before I unpluged the sensor. Went out for a test drive and abs still on and tc coming on and applying brakes so much to slow vehicle down on tarmac road not a loose surface ?. Also now I have six chimes when ignition is turned on, vehicle is on coils I thought that only happened on air suspension?. At this moment I hate this Discovery. Forgot to mention tc stopped coming on and drives ok now again, but abs light still on all the time, as soon as I got to 10 mph yesterday the tc activates and virtually stopped the vehicle, then it stopped happening for no reason as I was driving.