diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 367761968f..8d804de75b 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -1162,6 +1162,9 @@ static void report_gps()
 static void report_version()
 {
 	Serial.printf_P(PSTR("FW Ver: %d\n"),(int)g.format_version.get());
+#if QUATERNION_ENABLE == ENABLED
+    Serial.printf_P(PSTR("Quaternion test\n"));
+#endif
 	print_divider();
 	print_blanks(2);
 }
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index 28b74098fd..9bcc101e4f 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -103,6 +103,10 @@ static void init_ardupilot()
 						 "\n\nFree RAM: %u\n"),
                     memcheck_available_memory());
 
+#if QUATERNION_ENABLE == ENABLED
+    Serial.printf_P(PSTR("Quaternion test\n"));
+#endif
+
 	//
 	// Initialize Wire and SPI libraries
 	//