Ice mode solution?

Originally Posted by MrPostman

Yep heavy braking done while the car is still straight, and trailing off going into the turn apex if braking late. Not sure if doing the yaw switch mod would alleviate this since the ABS sensors are still reading each individual wheel speed, and when you are braking into a turn the outside wheels are turning faster than the inside wheels. I'm sure the makes the algorithm a tad more complicated to write.