Pixhawk cube orange error

we are able to connect our pixhawk orange cube to mission planner but it is giving an error
config error then reboot and in the logs it is board validation check imu1 present.
please help us in solving the error.

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IMU1 is causing problems. Reset all parameters and if the problem persists contact CubePilot for a replacement.

but when i upload PX4 firmware its showing different error “MAG0 not found”