The ESP and BAS warning lights may illuminate due to a failed brake light switch. Replacement of the failed switch should correct this concern.Google+
Car Problem Reports
Mercedes-Benz C280 Brake Light Switch Failure May Cause ESP/BAS Warning Lights
Mercedes-Benz C280 Problem
Visitor, 1999 Mercedes-Benz C280
replaced the brake switch bas/esp light went out
Visitor, 1996 Mercedes-Benz C280, 161,000 mi
no brake lights or cruise control: Replaced bulbs,fuse in panel under hood marked cruise which operates stop lights. That took care of problem so far. Now my ABS light won't go out. Was told it came on because of my fuse failure and that you can clear it and all will be fine.Will see.