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I don't see in the RAW that a Battle Herald must be in combat to use Inspiring Commands, although the flavor of the Battle Herald seems to go with that. The Inquisitor specifically states that Judgements must be during battle, but no such requirement I can find on the Battle Herald.
The question came up this weekend in regards to a Battle Hearld using his None Shall Fall ability outside of combat to heal party members. The party does not have a cleric or oracle, so the extra healing is very beneficial to the party.
Thoughts on whether the Battle Hearld should be able to use Inspiring Commands outside of a fight?