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The orange light is the car's way of letting you know that one of the engine sensors has detected a bad reading and it is unable to adjust for it.
You need to have a scan tool connected to read what the code is before diagnosing the fault.
Most garages have a scan tool that will do this for you.
Driving with the light on for a short distance or time is not usually a problem but don't let it go for weeks with it on.
If the light starts flashing then it has become urgent that it be looked at.