From my experience, i took it to a specialist, they ran diagnostics on it, two fault were logged - saying it was misfiring on two cylinders ( when my lights used to come on - id have so little power, it would kanga SO harshly and it would rev to hell ) one coil was faulty and the other wasnt on properly from previous service about 6hrs before. Never seen that horrid light again.
When the lights came on immediately from start up the only way it would leave is after turning it off for an hour and coming back later..
So basically it could be a number of things that's upsetting it causing the ecu to mess you about..