thank you for this update, i found this post when looking for the same "problem".
my question:
at what minimal voltage will it really become harmful to the motor controller/gearing?
i noticed the beeping at 11.3Volts, which is a pretty normal voltage for a battery pack when its not "empty" at all yet.
i design hardware myself, and we chose a battery threshold of 10.7V before we alarm if i'm correct,
I don't mind beeping alarms if they are really necessary, maybe the voltage alarm threshold can just be lowered?
cheers, tony