The problem seems to be throttle sensor as shown in fig. The throttle sensor rotates with respect to how much accelerator paddle is pressed. Today i clean the 3 sensors as some i was in mood to do some panga.
i cleaned the 2 sensors with wd40, one which is before and after throttle body, i think it is called mass air flow mixture. i started the car and every thing was fine. after that the throttle sensor was a bit difficult to remove. After cleaning and installing again i had that problem of rpm fluctuating and idle speed was different on CNG and on petrol , both above 1000 and that yellow MIL lamp light up. I have this 2004 idsi car for abt 6 months(2nd owner). After frustration, i adjusted it while the car was in start and eventually the light went off
some how and rpm also camebak to its orignal position but lost one screw deep inside (although i recovered 1st time but 2nd could not find it) will not adjust TPS again for fun.