for many codes on a bmw, the warning message will only go away after you visit the dealership or a qualified shop that can erase the fault code. i think you should be ok once you reset the fault code.
Current: 2013 F10 M5 & 2013 GLK350
997.1 GT3RS (gone)
2009 WRX STI (gone)
e92 M3 (gone)