diff --git a/libraries/AP_HAL_Linux/ToneAlarm.cpp b/libraries/AP_HAL_Linux/ToneAlarm.cpp
index 0f3ec03007..fcc26ddf4d 100644
--- a/libraries/AP_HAL_Linux/ToneAlarm.cpp
+++ b/libraries/AP_HAL_Linux/ToneAlarm.cpp
@@ -39,7 +39,7 @@ bool ToneAlarm::init()
     return true;
 }
 
-void ToneAlarm::set_buzzer_tone(float frequency, float volume)
+void ToneAlarm::set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
 {
     if (is_zero(frequency) || is_zero(volume)) {
         dprintf(run_fd,"0");
diff --git a/libraries/AP_HAL_Linux/ToneAlarm.h b/libraries/AP_HAL_Linux/ToneAlarm.h
index 3e4ddf6656..72e3f7d14f 100644
--- a/libraries/AP_HAL_Linux/ToneAlarm.h
+++ b/libraries/AP_HAL_Linux/ToneAlarm.h
@@ -8,7 +8,7 @@ class ToneAlarm {
 public:
 	ToneAlarm();
 	virtual bool init();
-        virtual void set_buzzer_tone(float frequency, float volume);
+    virtual void set_buzzer_tone(float frequency, float volume, uint32_t duration_ms);
 
 private:
 	int32_t period_fd;
diff --git a/libraries/AP_HAL_Linux/ToneAlarm_Disco.cpp b/libraries/AP_HAL_Linux/ToneAlarm_Disco.cpp
index 90ae553f9a..a9fd39f2dc 100644
--- a/libraries/AP_HAL_Linux/ToneAlarm_Disco.cpp
+++ b/libraries/AP_HAL_Linux/ToneAlarm_Disco.cpp
@@ -20,6 +20,7 @@
 #include <AP_HAL_Linux/RCOutput_Bebop.h>
 #include <AP_HAL_Linux/RCOutput_Disco.h>
 #include "ToneAlarm_Disco.h"
+#include <AP_Math/AP_Math.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -34,12 +35,12 @@ bool ToneAlarm_Disco::init()
     return true;
 }
 
-void ToneAlarm_Disco::set_buzzer_tone(float frequency, float volume)
+void ToneAlarm_Disco::set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
 {
     if (is_zero(frequency) || is_zero(volume)) {
         bebop_out->play_note(0, 0, 0);
     } else {
-        bebop_out->play_note(TONEALARM_PWM_POWER, (uint16_t)roundf(frequency), 10000);
+        bebop_out->play_note(TONEALARM_PWM_POWER, (uint16_t)roundf(frequency), duration_ms);
     }
 }
 
diff --git a/libraries/AP_HAL_Linux/ToneAlarm_Disco.h b/libraries/AP_HAL_Linux/ToneAlarm_Disco.h
index 2feb625190..52bf083499 100644
--- a/libraries/AP_HAL_Linux/ToneAlarm_Disco.h
+++ b/libraries/AP_HAL_Linux/ToneAlarm_Disco.h
@@ -13,7 +13,7 @@ class ToneAlarm_Disco : public ToneAlarm {
 public:
     ToneAlarm_Disco();
     bool init() override;
-    void set_buzzer_tone(float frequency, float volume) override;
+    void set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
 
 private:
     RCOutput_Bebop *bebop_out;
diff --git a/libraries/AP_HAL_Linux/Util.cpp b/libraries/AP_HAL_Linux/Util.cpp
index c14e695343..378ee0e2c4 100644
--- a/libraries/AP_HAL_Linux/Util.cpp
+++ b/libraries/AP_HAL_Linux/Util.cpp
@@ -17,7 +17,6 @@ using namespace Linux;
 
 extern const AP_HAL::HAL& hal;
 
-static int state;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 ToneAlarm_Disco Util::_toneAlarm;
 #else
diff --git a/libraries/AP_HAL_Linux/Util.h b/libraries/AP_HAL_Linux/Util.h
index 83ba05bd3a..13ff1801c1 100644
--- a/libraries/AP_HAL_Linux/Util.h
+++ b/libraries/AP_HAL_Linux/Util.h
@@ -96,7 +96,9 @@ public:
     int get_hw_arm32();
 
     bool toneAlarm_init() override { return _toneAlarm.init(); }
-    void toneAlarm_set_buzzer_tone(float frequency, float volume) override { _toneAlarm.set_buzzer_tone(frequency, volume); }
+    void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override {
+        _toneAlarm.set_buzzer_tone(frequency, volume, duration_ms);
+    }
 
 private:
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO