I still use Cleanflight in two of my builds.  I'm running the SPRacing F3 board, it comes with Cleanflight on it.  I noticed the latest version of Cleanflight has Turtle Mode on it!  Cool right?  Setup a switch for it on my radio and added the mode for it in Cleanflight.  It works, sorda... It will arm and move the motors upside down like it wants to flip over but it is spinning the motors in the wrong direction.  Cuts grass really good, LOL.  Anyone have any ideas on this?  I'm pretty sure I have the latest version of Blheli installed on my ESCs but that will be the first thing I check tonight.  
I'm new to this forum and I'm looking forward to contributing to it.
Thanks

is it BLHeli_S ESC? Have you tried updating the firmware?

Yep, that was it. Updated to the latest firmware and now I have Turtlemode and the beeper setup for the ESCs working now. I guess I just needed to get home and try it. It sucks being at work all day thinking about things you need to do with your quad.