ELectronic power steering was going out intermittenly, then disconnected battery, to reset and went out completely, now ESP light on, power steering assist failure message and engine light, Brought it to Auto Zone to get message, and am getting general U1504- inplausible message data length rec'd from steering angle sensor- HELP Ive only had it a couple of months, Bought it used from dealership with 60,000 miles, I loved it and now this-

 

Can't guarantee this, but I've gotten the "steering angle sensor" warning after a battery went dead. The warning cleared itself after about three days of regular driving, and I understand several people have experienced this after disconnecting the battery.

 

It hasnt corrected itself yet, is there something I should be doing after disconnecting battery and reconnecting?
And are the wires from the fuses to PCM easy to trace? Meaning , where is the power steering control monitor?

 

And thank you- see additional questions, if you have a minute, Worried about cost at dealer although I havnet even drive the car 1000 miles
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I'm not remotely an expert on this...but my battery died, had it replaced, and got the same error message and check engine light you did. Everyone told me to wait about 3 days...so I did, and it cleared itself through regular driving. I think it's a little like the calibration you used to have to do with dash compasses...you have to drive just enough until it resets itself.