Take the appropriate action and verify that the warning light turns off.

Taking Action
Message Indicated on DisplayMazda 6 Owners Manual: Center panel module removal/installation
1. Cancel the anti-theft operation. (with anti-theft system) (See ANTI-THEFT
SYSTEM.)
2. Disconnect the negative battery cable.
3. Remove the glove compartment.
4. Remove the rear console.
5. Remove in the order indicated in the table.
6. Install in the reverse order of removal.
Caution
...
Mazda 6 Owners Manual: No.5 tcs off light does not illuminate with ignition switch on
Diagnostic procedure
When performing an asterisked (*) troubleshooting inspection, shake the
wiring harness and connectors while doing the inspection to discover whether
poor contact points are the cause of any intermittent malfunction. If there
is a problem, check to make sure co ...