diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index a6f8e20c2b..c0a3c52c91 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -820,7 +820,7 @@ bool AP_Arming_Copter::disarm()
     }
 
 #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
+    gcs().send_text(MAV_SEVERITY_INFO, "NOTICE:  Disarming motors");
 #endif
 
     AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 8b9c3f3f8e..d9172e61fe 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -822,12 +822,13 @@ void Copter::update_updownStatus2(uint8_t status)
 {
     copter.updownStatus = (UpDownState)status;
     if (status == 3)
-    {
+    {        
         set_mode(Mode::Number::AUTO, ModeReason::REQUEST_CMD);
          mavlink_zr_flying_status_t  zr_flying_status_t;
         zr_flying_status_t.updown_status = copter.updownStatus;
         zr_flying_status_t.countdown = 255;
         gcs().update_zr_fly_status(&zr_flying_status_t);
+         gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 执行继续任务");
     }
 }
 
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index 234b840376..47778e305f 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -102,7 +102,8 @@ void ModeRTL::run(bool disarm_on_land)
                  }
             }
          else  if (copter.updownStatus == UpDown_ContinueDescent)
-            {          
+            {   
+                gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 开始着陆");                                
                 _state = RTL_Land;
             }