diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 1cc8ccfcbb..5f152f6ccd 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -849,6 +849,7 @@ private:
 
     // controls which controller is run (pos or vel):
     GuidedMode guided_mode = Guided_TakeOff;
+    bool send_notification;     // used to send one time notification to ground station
 
 };
 
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 2e7664a204..0f79ee3d2d 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -44,6 +44,7 @@ bool ModeGuided::init(bool ignore_checks)
 {
     // start in position control mode
     pos_control_start();
+    send_notification = false;
     return true;
 }
 
@@ -62,6 +63,10 @@ void ModeGuided::run()
     case Guided_WP:
         // run position controller
         pos_control_run();
+        if (send_notification && wp_nav->reached_wp_destination()) {
+            send_notification = false;
+            gcs().send_mission_item_reached_message(0);
+        }
         break;
 
     case Guided_Velocity:
@@ -257,6 +262,9 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
 
     // log target
     copter.Log_Write_GuidedTarget(guided_mode, destination, Vector3f());
+
+    send_notification = true;
+
     return true;
 }
 
@@ -300,6 +308,9 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
 
     // log target
     copter.Log_Write_GuidedTarget(guided_mode, Vector3f(dest_loc.lat, dest_loc.lng, dest_loc.alt),Vector3f());
+
+    send_notification = true;
+
     return true;
 }