The SAS has to be programmed with a BMW computer. If your indy doesn't have one you'll have to take it to the dealer.I have this 04 X5 with DSC 4X4 mil light on constantly. Scanned system found fault code 5EB1 Steering angle sensor supply, 5F3A Transfer case (54C6 oil wear). I replaced the transfer case oil and reset the adaptation. I replaced the steering angle sensor and relearned and I replaced the Yaw sensor. I erased all fault codes but the DSC 4x4 mil light remained. What else could cause this problem. I am not very confident to condemn the DSC module. Any advice, thank you.