After two years of struggling to find the answer with my Xantia Estate (yr 2000) I took the car to main dealer who eventually traced the fault to the ECU. They replaced the original and all works fine - the light is no more! I had done the under seat bit and tried to have codes read but as the ECU was not working no-one could read the codes. Cost me just under £300 but I felt I had to get this fault fixed. Hope you can sort yours for less.