Hi Gents, I fitted my Cruise Control yesterday and thought i would wright up my experience. and to help others do it. After finding the correct stalks and trim (make sure you have the correct style stalks) Also note that you have to make sure you have the correct one it has to match you're...
I bought a set of used stalks off ebay (just make sure they're for an a5 coupe or a4 saloon). My car has MFSW so the steering column ECU was OK to use.
Rotate steering wheel to allow access to air bag bolts.
Remove Airbag (2 torx bolts).
Remove upper steering column cowling, just clipped on.
Remove lower steering column cowling, 2 torx screws at top, 1 underneath.
Unplug steering column ecu, remove switches, ecu and steering angle sensor (make sure not to turn this, I put a bit of tape on it to hold it in position), 1x 5mm allen screw.
Swap the ECU and steering sensor to replacement stalks.
Fit back to steering column.
Fit lower cowling (I modified mine for larger cut out, or buy a replacement).
Fitting is reverse of removal.
Connect VCDS, activate Cruise Control in Steering Wheel ECU then Engine ECU using Long Coding.
When I started every thing to drive I had no ABS/ESP faults. In the past, a fault is thrown due to steering angle sensor. Usually turn wheels lock to lock then a steady drive round a carpark sort this out.