Slk R170 230 Kompressor

[Andr33iy98]

Hi
I own a kompressor 230, r170 model, cabrio
I have those dtcs and did not find out what is the first and what cause the other to go wrong.
On tester what yaw rate and lateral acc. sensors are measurements ?
On BAS module you can see that I have only low voltage.
On ESP module the same undervoltage but with other sensors failures.
I can read those sensors on tester but did not know how to tell If they are good or not.
The battery is good, brand-new.