so i was riding for about 2 hours earlier and just before i got to my driveway i noticed it felt like i was stuck in a lower gear when i was in D2. so i shut it off and start it and the screen flashes D1,D2,ESP all at once. it still starts and drives but its in a low gear. when u just turn the key to on but not running it say D2, then running it shows all. I tryed holding up and down,turn key forward let go then press again and it flashed 5 or 6 times. what could this be and how much will it cost? id like to avoid the dealership if possible