To make a long story short. I had a bad battery. Installed the new battery. Have Sensor on my display and no VTS. Got code P1517 Compass. Took my machine out and about a minute into my ride all is normal then I stopped and I went into Limp Home Mode. Is it possible that these conditions would cause me to go into Limp Home Mode? Ive seen other posts regarding this condition but nothing about going into Limp Home Mode.