diff --git a/Rover/mode.h b/Rover/mode.h
index c3213c3277..8cf95e445b 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -430,7 +430,7 @@ protected:
     bool have_attitude_target;  // true if we have a valid attitude target
     uint32_t _des_att_time_ms;  // system time last call to set_desired_attitude was made (used for timeout)
     float _desired_yaw_rate_cds;// target turn rate centi-degrees per second
-    bool sent_notification;     // used to send one time notification to ground station
+    bool send_notification;     // used to send one time notification to ground station
     float _desired_speed;       // desired speed used only in HeadingAndSpeed submode
 
     // direct steering and throttle control
@@ -553,7 +553,7 @@ protected:
 
     bool _enter() override;
 
-    bool sent_notification; // used to send one time notification to ground station
+    bool send_notification; // used to send one time notification to ground station
     bool _loitering;        // true if loitering at end of RTL
 
 };
diff --git a/Rover/mode_guided.cpp b/Rover/mode_guided.cpp
index 06af7184c0..cffe91b996 100644
--- a/Rover/mode_guided.cpp
+++ b/Rover/mode_guided.cpp
@@ -12,7 +12,7 @@ bool ModeGuided::_enter()
     // initialise waypoint speed
     g2.wp_nav.set_desired_speed_to_default();
 
-    sent_notification = false;
+    send_notification = false;
 
     return true;
 }
@@ -28,8 +28,8 @@ void ModeGuided::update()
                 navigate_to_waypoint();
             } else {
                 // send notification
-                if (!sent_notification) {
-                    sent_notification = true;
+                if (send_notification) {
+                    send_notification = false;
                     rover.gcs().send_mission_item_reached_message(0);
                 }
 
@@ -228,7 +228,7 @@ bool ModeGuided::set_desired_location(const struct Location& destination,
 
         // handle guided specific initialisation and logging
         _guided_mode = ModeGuided::Guided_WP;
-        sent_notification = false;
+        send_notification = true;
         rover.Log_Write_GuidedTarget(_guided_mode, Vector3f(destination.lat, destination.lng, 0), Vector3f(g2.wp_nav.get_desired_speed(), 0.0f, 0.0f));
         return true;
     }
diff --git a/Rover/mode_rtl.cpp b/Rover/mode_rtl.cpp
index 951a3400a8..9da8bc5c45 100644
--- a/Rover/mode_rtl.cpp
+++ b/Rover/mode_rtl.cpp
@@ -27,7 +27,7 @@ bool ModeRTL::_enter()
         g2.wp_nav.set_desired_speed_to_default();
     }
 
-    sent_notification = false;
+    send_notification = true;
     _loitering = false;
     return true;
 }
@@ -40,8 +40,8 @@ void ModeRTL::update()
         navigate_to_waypoint();
     } else {
         // send notification
-        if (!sent_notification) {
-            sent_notification = true;
+        if (send_notification) {
+            send_notification = false;
             gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
         }