After some frustration I finally got around to getting rid of this message and can confirm what others have said worked for them. The manual is misleading I think. Here is what I used:
Unlock car and get in. Short tap the start button once. (Do not hold down the start button to put the car into a different mode!)
Hold the reset button on the stalk, clutch in and start the car while continuing to hold the reset button for 10 seconds.
Once the yellow triangle starts to flash, release the reset button and voila.