diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 83a5ee0ec6..f8c8f0a7d8 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -133,6 +133,7 @@ public:
 #if AP_AHRS_NAVEKF_AVAILABLE
     void send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optflow);
 #endif
+    void send_autopilot_version(void) const;
 
     // return a bitmap of active channels. Used by libraries to loop
     // over active channels to send to all active channels    
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index aa97ed13bf..e416704385 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1243,3 +1243,55 @@ void GCS_MAVLINK::send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optf
         hagl); // ground distance (in meters) set to zero
 }
 #endif
+
+/*
+  send AUTOPILOT_VERSION packet
+ */
+void GCS_MAVLINK::send_autopilot_version(void) const
+{
+    uint16_t capabilities = 0;
+    uint32_t flight_sw_version = 0;
+    uint32_t middleware_sw_version = 0;
+    uint32_t os_sw_version = 0;
+    uint32_t board_version = 0;
+    uint8_t flight_custom_version[8];
+    uint8_t middleware_custom_version[8];
+    uint8_t os_custom_version[8];
+    uint16_t vendor_id = 0;
+    uint16_t product_id = 0;
+    uint64_t uid = 0;
+    
+#if defined(GIT_VERSION)
+    strncpy((char *)flight_custom_version, GIT_VERSION, 8);
+#else
+    memset(middleware_custom_version,0,8);
+#endif
+
+#if defined(PX4_GIT_VERSION)
+    strncpy((char *)middleware_custom_version, PX4_GIT_VERSION, 8);
+#else
+    memset(middleware_custom_version,0,8);
+#endif
+    
+#if defined(NUTTX_GIT_VERSION)
+    strncpy((char *)os_custom_version, NUTTX_GIT_VERSION, 8);
+#else
+    memset(os_custom_version,0,8);
+#endif
+    
+    mavlink_msg_autopilot_version_send(
+        chan,
+        capabilities,
+        flight_sw_version,
+        middleware_sw_version,
+        os_sw_version,
+        board_version,
+        flight_custom_version,
+        middleware_custom_version,
+        os_custom_version,
+        vendor_id,
+        product_id,
+        uid
+    );
+}
+