Meaning of brake and DTC light on?

Today, on the X3 two warning lights came on.

1. "BRAKE" light in yellow. It's in the center and has the word "BRAKE". When the parking brake is on, this light is red and is normal. It is not the ABS or the brake pad light.

2. DTC light is yellow. It's in the upper part of the tachometer. It is a yellow "4x4" with a triangle above it and a semi-circle halo over that.

It remained on after restarting the car but did not go on after restarting the car again. The brake pads are thick and not worn. The brake fluid level is normal.

Is this just an electrical gremlin?