ESP light issue

[drew miranda]

My ESP light comes on and my brakes.Go away to the floor if I pump it a bunch of times it seems to be going back to normal but I don't understand what's wrong

 

[BLACKJKU]

My ESP light comes on and my brakes.Go away to the floor if I pump it a bunch of times it seems to be going back to normal but I don't understand what's wrong

Is your steering wheel centered when driving straight down the road?

Does it do it everytime you put the brakes on or when does it happen?