Hi, This reply is probably a little late but I'll put it up in case anyone else has this problem.
It seems this issue occurs when components of the 'Firmware Over-the-Air' app get deleted somehow. The app kicks in when you connect or disconnect from WiFi to check for updated versions of Android for your device. I found this out after poking around in the root folder of my tablet.
There are a few options to fix it. You can try returning your device back to it's factory settings. If that doesn't work and you have a copy of your current Android ROM you can flash that and all should be back to normal. You can also try FotaFix on the Google Play Store. My device gave me no option to disable the auto update feature.
The last option will work if you, like me, have a device that will most likely never get an Android update. If your device is rooted, these are the steps to follow to get rid of the message:
1. Go to Google Play Store and download Titanium Backup.
2. Make a backup of 'Wireless update'
3. Then Uninstall 'Wireless update'.
4. Exit Titanium Backup and reboot your device.
The message should now be gone.
Cheers