Just idle speculation, but:
was thinking of up grading the brakes, in particular, the calipers?
Maybe four, or six pot jobbies

I have only ever had the abs try to out wit me once and I have got to say, it scared the be-jessus out of me - I knew what I was doing. . .
( maybe )
Until the damn thing tried to do the thinking on my behalf.
Why don't they fit an off button???

My ol audi's had off buttons!!!

Any thought / suggestions / etc?????