diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 0f8f189fa7..acda41b1a3 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -599,7 +599,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         uint8_t result = MAV_RESULT_UNSUPPORTED;
         
         // do command
-        send_text(MAV_SEVERITY_WARNING,"command received: ");
+        send_text(MAV_SEVERITY_INFO,"command received: ");
         
         switch(packet.command) {
             
@@ -827,7 +827,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         // check if this is the HOME wp
         if (packet.seq == 0) {
             tracker.set_home(tell_command); // New home in EEPROM
-            send_text(MAV_SEVERITY_WARNING,"new HOME received");
+            send_text(MAV_SEVERITY_INFO,"new HOME received");
             waypoint_receiving = false;
         }
 
@@ -916,7 +916,7 @@ void Tracker::mavlink_delay_cb()
     }
     if (tnow - last_5s > 5000) {
         last_5s = tnow;
-        gcs_send_text(MAV_SEVERITY_WARNING, "Initialising APM...");
+        gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM...");
     }
     in_mavlink_delay = false;
 }
@@ -974,10 +974,10 @@ void Tracker::gcs_send_text(MAV_SEVERITY severity, const char *str)
  *  only one fits in the queue, so if you send more than one before the
  *  last one gets into the serial buffer then the old one will be lost
  */
-void Tracker::gcs_send_text_fmt(const char *fmt, ...)
+void Tracker::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
 {
     va_list arg_list;
-    gcs[0].pending_status.severity = (uint8_t)MAV_SEVERITY_WARNING;
+    gcs[0].pending_status.severity = (uint8_t)severity;
     va_start(arg_list, fmt);
     hal.util->vsnprintf((char *)gcs[0].pending_status.text,
             sizeof(gcs[0].pending_status.text), fmt, arg_list);
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 634c9e1a59..c453e3825b 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -243,7 +243,7 @@ private:
     void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
     void tracking_manual_control(const mavlink_manual_control_t &msg);
     void update_armed_disarmed();
-    void gcs_send_text_fmt(const char *fmt, ...);
+    void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
     void init_capabilities(void);
     void compass_cal_update();
 
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index 6bfdc8ecdd..7a1915fc8d 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -4,9 +4,9 @@
 
 void Tracker::init_barometer(void)
 {
-    gcs_send_text(MAV_SEVERITY_WARNING, "Calibrating barometer");    
+    gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
     barometer.calibrate();
-    gcs_send_text(MAV_SEVERITY_WARNING, "barometer calibration complete");
+    gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
 }
 
 // read the barometer and return the updated altitude in meters
diff --git a/AntennaTracker/servos.cpp b/AntennaTracker/servos.cpp
index 86d5dab35d..bc093c5873 100644
--- a/AntennaTracker/servos.cpp
+++ b/AntennaTracker/servos.cpp
@@ -248,7 +248,7 @@ void Tracker::update_yaw_position_servo(float yaw)
     }
 
     if (new_slew_dir != slew_dir) {
-        tracker.gcs_send_text_fmt("SLEW: %d/%d err=%ld servo=%ld ez=%.3f",
+        tracker.gcs_send_text_fmt(MAV_SEVERITY_WARNING, "SLEW: %d/%d err=%ld servo=%ld ez=%.3f",
                                   (int)slew_dir, (int)new_slew_dir,
                                   (long)angle_err,
                                   (long)channel_yaw.servo_out,
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 6d130d3aa3..d6fea5a8ea 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -94,7 +94,7 @@ void Tracker::init_tracker()
     if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
         current_loc.lat = g.start_latitude * 1.0e7f;
         current_loc.lng = g.start_longitude * 1.0e7f;
-        gcs_send_text(MAV_SEVERITY_WARNING, "ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
+        gcs_send_text(MAV_SEVERITY_NOTICE, "ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
     }
 
     // see if EEPROM has a default location as well
@@ -104,7 +104,7 @@ void Tracker::init_tracker()
 
     init_capabilities();
 
-    gcs_send_text(MAV_SEVERITY_WARNING,"\nReady to track.");
+    gcs_send_text(MAV_SEVERITY_INFO,"\nReady to track.");
     hal.scheduler->delay(1000); // Why????
 
     set_mode(AUTO); // tracking