May not have come to a complete stop long enough when I changed from auto mode to ESP and I had problems right after that. Display says it's in first gear, but feels like 2nd or 3rd gear and bogs down real bad as you try to shift thru gears. Auto mode does it too. Bogs from stop and slow speed till you get above 2nd or 3rd gear. Computer seems confused as to what gear it's in. Can anything be reset or recalibrated or do I need to replace the angle sensor??? I have tried disconecting the battery a couple times and turning the key on and off. PLEASE HELP!!