diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index a6788f97bdf7850310f608c1a1738f516046ba75..dc847cee7c0a5464fe5a75f346d78953fcfab182 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -107,7 +107,7 @@ bool GAudioOutput::say(QString text, int severity)
  */
 bool GAudioOutput::alert(QString text)
 {
-    emit textToSpeak(text, 2);
+    emit textToSpeak(text, 1);
     return true;
 }
 
diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h
index 4330a8e816c72afb22e2022ac74482866effb5aa..b9440e5856e2af1a5f6c0e2fafb39396ed8e9806 100644
--- a/src/GAudioOutput.h
+++ b/src/GAudioOutput.h
@@ -58,12 +58,24 @@ public:
         VOICE_FEMALE
     } QGVoice;
 
+    enum AUDIO_SEVERITY
+    {
+        AUDIO_SEVERITY_EMERGENCY = 0,
+        AUDIO_SEVERITY_ALERT = 1,
+        AUDIO_SEVERITY_CRITICAL = 2,
+        AUDIO_SEVERITY_ERROR = 3,
+        AUDIO_SEVERITY_WARNING = 4,
+        AUDIO_SEVERITY_NOTICE = 5,
+        AUDIO_SEVERITY_INFO = 6,
+        AUDIO_SEVERITY_DEBUG = 7
+    };
+
     /** @brief Get the mute state */
     bool isMuted();
 
 public slots:
     /** @brief Say this text if current output priority matches */
-    bool say(QString text, int severity = 1);
+    bool say(QString text, int severity = 6);
     /** @brief Play alert sound and say notification message */
     bool alert(QString text);
     /** @brief Start emergency sound */
diff --git a/src/audio/QGCAudioWorker.cpp b/src/audio/QGCAudioWorker.cpp
index e56133206b93cb5a5cf65da3573ecd454684dc46..0e74a85e95b6e116ca21acd7d1450a1b5dde48d1 100644
--- a/src/audio/QGCAudioWorker.cpp
+++ b/src/audio/QGCAudioWorker.cpp
@@ -6,6 +6,7 @@
 
 #include "QGC.h"
 #include "QGCAudioWorker.h"
+#include "GAudioOutput.h"
 
 #if defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
 #include <ApplicationServices/ApplicationServices.h>
@@ -89,11 +90,12 @@ QGCAudioWorker::~QGCAudioWorker()
 
 void QGCAudioWorker::say(QString text, int severity)
 {
-    qDebug() << "TEXT" << text;
     if (!muted)
     {
-        // TODO Add severity filter
-        Q_UNUSED(severity);
+        // Prepend high priority text with alert beep
+        if (severity < GAudioOutput::AUDIO_SEVERITY_CRITICAL) {
+            beep();
+        }
 
         // Wait for the last sound to finish
         while (!sound->isFinished()) {
@@ -149,7 +151,6 @@ void QGCAudioWorker::beep()
     {
         // Use QFile to transform path for all OS
         QFile f(QCoreApplication::applicationDirPath() + QString("/files/audio/alert.wav"));
-        qDebug() << "SOUND FILE:" << f.fileName();
         sound->play(f.fileName());
     }
 }
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 1e7f16d0e99e04f6dbc15d6fc05ee42706bbfb17..a474a487ba08b182ef7ebae506d00cd34f3f45c3 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -333,7 +333,7 @@ void UAS::updateState()
         connectionLost = true;
         receivedMode = false;
         QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
-        GAudioOutput::instance()->say(audiostring.toLower());
+        GAudioOutput::instance()->say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_ALERT);
     }
 
     // Update connection loss time on each iteration
@@ -347,7 +347,7 @@ void UAS::updateState()
     if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
     {
         QString audiostring = QString("Link regained to system %1").arg(this->getUASID());
-        GAudioOutput::instance()->say(audiostring.toLower());
+        GAudioOutput::instance()->say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_NOTICE);
         connectionLost = false;
         connectionLossTime = 0;
         emit heartbeatTimeout(false, 0);
@@ -574,7 +574,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
             {
-                GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()));
+                GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
                 QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
             }
             else if (modechanged || statechanged)