What does it mean when the yellow engine light is on? on 2007 BMW X5

It came on yesterday morning and has persisted. It feels "thick" to accelerate and there is a slight shuddering.

Asked by for the 2007 BMW X5
a fault code has been set and should be stored in the computer,have car scanned by reputable shop to determine the exact code(s) as more than one code may show,diagnose and repair,if the light is flashing recommend do not drive,as serious damage may result.
1 more answer
there is a problem, seek diag and est from your mech
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