ABS, ESP and slip light were lighted up yesterday after work. No lights when started up my zed, drove a couple yards to a junction, applied brakes and those lights came up. Zed didn't go into limp mode or show any other signs. Stopped at traffic lights, restarted my zed, lights goes away. But as soon as I started to brake again, those lights lighted up again. Not flashing.   Managed to get my local garage to read them codes, and his reader returned these 2 codes.   C1109 - Battery voltage