Hello to everybody. I have a similar problem with a 2005 C5 Break 3.0 A/T with RT3 navigation unit. Front sensors are giving audible signals only when I put gear selector in a reverse. Signal is proper, coming from adequate speakers, changing from continuous pitch to beeps emitted in raising intervals while I am backing up from obstacle. If gear selector is in drive, there are no signals at all. All this time navigation display shows wrong information - only the farthest central segment if obstacle is very near. Rear sensors are working normally. Someone on different forum described exactly the same behaviour. I think it is related to RT3 or BSI malfunction. I replaced sensors, front harness and parking assistance unit (placed in a spare wheel bay) and also updated RT3 software using image on CD, but it gave no results. My next step will be putting my assistance unit into another C5 to check if it is not damaged. I will also try to give my car to authorized service for complex reprogramming, but I worry they won't to anything more than telecoding (what I can do manually, step by step with my lexia clone). Regards, Pawel P.S. I know this thread is quite old, but maybe with your help this strange problem will be finally solved.