This is a common problem and has been described in detail here in the XLR section. Search is your friend.
Multiple causes that need to be diagnosed using a trained dealer tech include:
1) Dirty wheel sensor hubs.
2) Faulty yaw position sensor.
3) Faulty steering wheel position sensor.
4) Known issue with wiring under the steering wheel.
5) Bad wheel sensor hub.
6) Faulty suspension control module.
Because it's a hard fault, (warning constantly illuminated) #1 is a good bet and it's cheap to fix.
CCC