For non-codable control module versions:

Sender for rotation rate -G202- is located under the floor mat in the front left footwell. 

Fig 1: Locating Sender For Rotation Rate - For Non-Codable Control Module Versions

Courtesy of AUDI OF AMERICA, INC.

It measures the vehicle's rotation about the vertical axis (rotation rate).

• To remove floor mat, first push left front seat back as far as it will go.
• Remove lower section of A-pillar trim and sill molding. On LHD vehicles, remove foot support.

  See INTERIOR TRIM .

• Remove floor mat.
• Tightening torque for bolt: 5 Nm (44 in. lb).

Sensor for transverse acceleration -G200- is located under the floor mat behind the seat cross member on the driver's side 

Fig 2: Locating Sensor For Transverse Acceleration - For Non-Codable Control Module Versions

Courtesy of AUDI OF AMERICA, INC.

• To remove floor mat, first remove driver's seat.

  See FRONT SEATS .

• Remove lower section of A-pillar trim, sill molding and foot support.

  See INTERIOR TRIM .

• Remove floor mat.

Tightening torque for bolts: 5 Nm (44 in. lb).