battery not charging?

[BITURBOAMG]

I am having in issue with the dash saying battery not charging and the batt light on. I have changed the batt and alt and get the same issue? I have no clue what is going on but I have always had problems with the batt light, odo and radio staying on after I take the key out and open the door. I have to lock unlock the truck and open another door for it to turn off. Any info or tips would help. I have a clifford after market alarm and remote start. Can any well guide me on what I need to do? The truck came out of warranty 1k miles ago so I am trying to fix myself if I can.