diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index 21aaa62361..fd1fa8f983 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -38,6 +38,7 @@
 #include "AP_BoardLED2.h"
 #include "ProfiLED.h"
 #include "ScriptingLED.h"
+#include "DShotLED.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -96,6 +97,14 @@ AP_Notify *AP_Notify::_singleton;
 #define BUZZER_ENABLE_DEFAULT 1
 #endif
 
+#ifndef BUILD_DEFAULT_BUZZER_TYPE
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && HAL_DSHOT_ALARM
+  #define BUILD_DEFAULT_BUZZER_TYPE (BUZZER_ENABLE_DEFAULT | (HAL_DSHOT_ALARM << 1))
+#else
+  #define BUILD_DEFAULT_BUZZER_TYPE BUZZER_ENABLE_DEFAULT
+#endif
+#endif
+
 #ifndef NOTIFY_LED_BRIGHT_DEFAULT
 #define NOTIFY_LED_BRIGHT_DEFAULT RGB_LED_HIGH
 #endif
@@ -122,12 +131,12 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, NOTIFY_LED_BRIGHT_DEFAULT),
 
-    // @Param: BUZZ_ENABLE
-    // @DisplayName: Buzzer enable
-    // @Description: Enable or disable the buzzer.
-    // @Values: 0:Disable,1:Enable
+    // @Param: BUZZ_TYPES
+    // @DisplayName: Buzzer Driver Types
+    // @Description: Controls what types of Buzzer will be enabled
+    // @Bitmask: 0:Built-in buzzer, 1:DShot
     // @User: Advanced
-    AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ENABLE_DEFAULT),
+    AP_GROUPINFO("BUZZ_TYPES", 1, AP_Notify, _buzzer_type, BUILD_DEFAULT_BUZZER_TYPE),
 
     // @Param: LED_OVERRIDE
     // @DisplayName: Specifies colour source for the RGBLed
@@ -164,7 +173,7 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @Param: LED_TYPES
     // @DisplayName: LED Driver Types
     // @Description: Controls what types of LEDs will be enabled
-    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting
+    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot
     // @User: Advanced
     AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE),
 
@@ -313,6 +322,11 @@ void AP_Notify::add_backends(void)
 #endif
                 break;
 
+            case Notify_LED_DShot:
+#if HAL_SUPPORT_RCOUT_SERIAL
+                ADD_BACKEND(new DShotLED());
+#endif
+                break;
         }
     }
 
@@ -323,7 +337,7 @@ void AP_Notify::add_backends(void)
 // ChibiOS noise makers
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     ADD_BACKEND(new Buzzer());
-#ifdef HAL_PWM_ALARM
+#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM
     ADD_BACKEND(new AP_ToneAlarm());
 #endif
 
diff --git a/libraries/AP_Notify/AP_Notify.h b/libraries/AP_Notify/AP_Notify.h
index b992a3413e..335614f4a7 100644
--- a/libraries/AP_Notify/AP_Notify.h
+++ b/libraries/AP_Notify/AP_Notify.h
@@ -72,6 +72,7 @@ public:
         Notify_LED_NeoPixel                 = (1 << 8), // NeoPixel 5050 AdaFruit 1655 SK6812  Worldsemi WS2812B
         Notify_LED_ProfiLED                 = (1 << 9), // ProfiLED
         Notify_LED_Scripting                = (1 << 10),// Colour accessor for scripting
+        Notify_LED_DShot                    = (1 << 11),// Use dshot commands to set ESC LEDs
         Notify_LED_MAX
     };
 
@@ -155,7 +156,9 @@ public:
     // play a tune string
     static void play_tune(const char *tune);
 
-    bool buzzer_enabled() const { return _buzzer_enable; }
+    bool buzzer_enabled() const { return _buzzer_type != 0; }
+
+    uint8_t get_buzzer_types() const { return _buzzer_type; }
 
     // set flight mode string
     void set_flight_mode_str(const char *str);
@@ -189,7 +192,7 @@ private:
     // parameters
     AP_Int8 _rgb_led_brightness;
     AP_Int8 _rgb_led_override;
-    AP_Int8 _buzzer_enable;
+    AP_Int8 _buzzer_type;
     AP_Int8 _display_type;
     AP_Int8 _oreo_theme;
     AP_Int8 _buzzer_pin;
diff --git a/libraries/AP_Notify/DShotLED.cpp b/libraries/AP_Notify/DShotLED.cpp
new file mode 100644
index 0000000000..798905a990
--- /dev/null
+++ b/libraries/AP_Notify/DShotLED.cpp
@@ -0,0 +1,35 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_Notify/AP_Notify.h"
+#include <AP_HAL/RCOutput.h>
+#include "DShotLED.h"
+#include "SRV_Channel/SRV_Channel.h"
+
+extern const AP_HAL::HAL& hal;
+
+bool DShotLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
+{
+    // don't play the motor LEDs while flying
+    if (hal.util->get_soft_armed() || hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI) {
+        return false;
+    }
+
+    hal.rcout->send_dshot_command(red ? AP_HAL::RCOutput::DSHOT_LED1_ON : AP_HAL::RCOutput::DSHOT_LED1_OFF);
+    hal.rcout->send_dshot_command(green ? AP_HAL::RCOutput::DSHOT_LED2_ON : AP_HAL::RCOutput::DSHOT_LED2_OFF);
+    hal.rcout->send_dshot_command(blue ? AP_HAL::RCOutput::DSHOT_LED0_ON : AP_HAL::RCOutput::DSHOT_LED0_OFF);
+
+    return true;
+}
\ No newline at end of file
diff --git a/libraries/AP_Notify/DShotLED.h b/libraries/AP_Notify/DShotLED.h
new file mode 100644
index 0000000000..1caf109d32
--- /dev/null
+++ b/libraries/AP_Notify/DShotLED.h
@@ -0,0 +1,29 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "RGBLed.h"
+#include "DShotLED.h"
+#include <AP_Common/AP_Common.h>
+
+class DShotLED : public RGBLed {
+public:
+    DShotLED() : RGBLed(0, 1, 1, 1) {}
+
+    bool init(void) override { return true; }
+
+protected:
+    bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
+};
diff --git a/libraries/AP_Notify/ToneAlarm.cpp b/libraries/AP_Notify/ToneAlarm.cpp
index 408e8ce1f2..00c0d547fd 100644
--- a/libraries/AP_Notify/ToneAlarm.cpp
+++ b/libraries/AP_Notify/ToneAlarm.cpp
@@ -105,7 +105,7 @@ bool AP_ToneAlarm::init()
     if (pNotify->buzzer_enabled() == false) {
         return false;
     }
-    if (!hal.util->toneAlarm_init()) {
+    if (!hal.util->toneAlarm_init(pNotify->get_buzzer_types())) {
         return false;
     }