2009 Freightliner Cascadia engine light.

hello I need some help with an issue on my 2009 cascadia s60 14.0L

I recently got an engine light on and made my truck limit my rpms at 1500. It doesn’t limit the mph just the rpms. When I turn it off and wait 10 min and then Turn it on,it goes away. Then 10 min later going down the road it Turns on again.
I just changed the speed censor and it didn’t help it. I’m thinking it’s the roll stability control. Because when I make sharp turns it doesn’t go off anymore.
If it is I don’t even know where to look to replace it.
Please help.

I also have an abs light on I don’t know if it has anything to do with it.

 

Anyone?