OK... you have the newer engine.
4 beeps and that light can be several things. (like sensors out of range) Since you know it has oil, and you know the filter doesn't have water in it. Then it can be a bad engine sender, or the actual water/oil warning unit is bad.
Unfortunately... short of checking each electrical system with a meter... the easiest way to get the real error, is to hook into the Smart craft system. But, if you did have low oil, and you filled the small tank on the side of the engine... make sure you plugged the sender wires back into the harness.