diff --git a/Src/main.c b/Src/main.c
index 62b551d..ce2b142 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -520,7 +520,7 @@ int main(void) {
       beepCount(0, 10, 6);
     } else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) {                                            // 1 beep slow (medium pitch): Low bat 2
       beepCount(0, 10, 30);
-    } else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // 1 beep fast (high pitch): Backward spinning motors
+    } else if (BEEPS_BACKWARD && (((cmdR < -50 || cmdL < -50) && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // 1 beep fast (high pitch): Backward spinning motors
       beepCount(0, 5, 1);
       backwardDrive = 1;
     } else {  // do not beep
@@ -536,7 +536,7 @@ int main(void) {
       inactivity_timeout_counter = 0;
     }
 
-    #if defined(CRUISE_CONTROL_SUPPORT)
+    #if defined(CRUISE_CONTROL_SUPPORT) || defined(STANDSTILL_HOLD_ENABLE)
       if ((abs(rtP_Left.n_cruiseMotTgt)  > 50 && rtP_Left.b_cruiseCtrlEna) || 
           (abs(rtP_Right.n_cruiseMotTgt) > 50 && rtP_Right.b_cruiseCtrlEna)) {
         inactivity_timeout_counter = 0;