Brake Sensor problems of the 2006 BMW 530

The contact owns a 2006 BMW 530i. The contact stated while driving various speeds the brake pedal extended all the way down to the floor and there was a delay when the brake pedal was engaged. The contact also stated that when he turned the heat on he smelled a burning odor in the seats. The air bag light sensor illuminated whenever the vehicle was turned on. The vehicle had been taken to the dealer and stated that there was no recall for his vehicle. The manufacturer was notified of the failure. The approximate failure mileage was 89,000.