How old is/are the detectors?
Some detectors will chirp (when they have power) if they think they're at the end of their design lifespan.
I replaced the old and presumably outdated CO alarm (in the bedroom in the back) and the smoke detector (in the living area in the front) of my RV with a pair of battery-only combo CO and smoke alarms. Being battery only makes it easy to figure out what power source is giving difficulties and lowers the parasitic drains on the house battery, and being combo alarms it seems to me gives more thorough protection; in particular, having a CO alarm nearer where the generator and propane appliances are (all generally more towards the front and middle of my motorhome) seems logical to me.