diff --git a/libraries/AP_Notify/Buzzer.cpp b/libraries/AP_Notify/Buzzer.cpp
index 1627a366bb..7178d3e2ee 100644
--- a/libraries/AP_Notify/Buzzer.cpp
+++ b/libraries/AP_Notify/Buzzer.cpp
@@ -110,6 +110,20 @@ void Buzzer::update()
                         break;
                 }
                 return;
+            case ARMING_BUZZ:
+                // record start time
+                if (_pattern_counter == 1) {
+                    _arming_buzz_start_ms = hal.scheduler->millis();
+                    on(true);
+                } else {
+                    // turn off buzzer after 3 seconds
+                    if (hal.scheduler->millis() - _arming_buzz_start_ms >= BUZZER_ARMING_BUZZ_MS) {
+                        _arming_buzz_start_ms = 0;
+                        on(false);
+                        _pattern = NONE;
+                    }
+                }
+                return;
             default:
                 // do nothing
                 break;
@@ -121,7 +135,7 @@ void Buzzer::update()
         _flags.armed = AP_Notify::flags.armed;
         if (_flags.armed) {
             // double buzz when armed
-            play_pattern(DOUBLE_BUZZ);
+            play_pattern(ARMING_BUZZ);
         }else{
             // single buzz when disarmed
             play_pattern(SINGLE_BUZZ);
@@ -175,4 +189,4 @@ void Buzzer::play_pattern(BuzzerPattern pattern_id)
 {
     _pattern = pattern_id;
     _pattern_counter = 0;
-}
\ No newline at end of file
+}
diff --git a/libraries/AP_Notify/Buzzer.h b/libraries/AP_Notify/Buzzer.h
index 33abb28de8..aa17c6c574 100644
--- a/libraries/AP_Notify/Buzzer.h
+++ b/libraries/AP_Notify/Buzzer.h
@@ -28,11 +28,18 @@
  # define BUZZER_PIN    0       // pin undefined on other boards
 #endif
 
+#define BUZZER_ARMING_BUZZ_MS   3000    // arming buzz length in milliseconds (i.e. 3 seconds)
+
 class Buzzer
 {
 public:
     /// Constructor
-    Buzzer() : _counter(0), _pattern(NONE), _pattern_counter(0) {}
+    Buzzer() :
+        _counter(0),
+        _pattern(NONE),
+        _pattern_counter(0),
+        _arming_buzz_start_ms(0)
+    {}
 
     /// init - initialise the buzzer
     void init(void);
@@ -47,7 +54,8 @@ public:
         NONE = 0,
         SINGLE_BUZZ = 1,
         DOUBLE_BUZZ = 2,
-        GPS_GLITCH = 3
+        GPS_GLITCH = 3,
+        ARMING_BUZZ = 4
     };
 
     /// play_pattern - plays the defined buzzer pattern
@@ -68,6 +76,7 @@ private:
     uint8_t         _counter;           // reduces 50hz update down to 10hz for internal processing
     BuzzerPattern   _pattern;           // current pattern
     uint8_t         _pattern_counter;   // used to time on/off of current patter
+    uint32_t        _arming_buzz_start_ms;  // arming_buzz start time in milliseconds
 };
 
 #endif // __BUZZER_H__