Sensors should automatically pass. If Sensors are not passing, check and resolve the issue described.

For airspeed issues: keep vehicle on the ground and out of the wind when arming to prevent incorrect speed measurement, or re-calibrate airspeed if needed.

For AHRS error: this usually fixed by obtaining more GPS satellites with a more clear view of the sky. You can try rebooting the aircraft when sitting still on level ground to clear sensor warning messages.