Pre arm hardware safety switch

Hi Guys I am having problems getting my rover to move with my pixhawk (px4). I connect the module with no issues but when I try to do the motor turning or anything else I get this pre arm hardware safety switch warning as soon as I arm with the software which is so frustrating . what can someone recommend me to any way to get things working .

Disable the switch. brd_safetyenable to 0

Thanks that took care of one thing now I have Unhealthy AHRS. hopefully you can help me out again .