Sensors errors after arming

Hello, please look at the picture below, after arming i am getting these errors. How do i debug this? I am getting Bad Gyro Health and Unhealthy AHRS in MissionPlanner too. I have connected externalAHRS to the CubeOrange ardupilot and also i cant calibrate external INS through Mission Planner or QGC it just says fail to calibrate. Please help on this.

@amilcarlucas kindly help