diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 7e649dd8c6..81d5d2bcc7 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -119,6 +119,7 @@ static Parameters      g;
 ////////////////////////////////////////////////////////////////////////////////
 // prototypes
 static void update_events(void);
+void gcs_send_text_fmt(const prog_char_t *fmt, ...);
 
 ////////////////////////////////////////////////////////////////////////////////
 // DataFlash
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 243805a5af..5d57113f37 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -9,9 +9,6 @@ static bool mavlink_active;
 // check if a message will fit in the payload space available
 #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
 
-// prototype this for use inside the GCS class
-void gcs_send_text_fmt(const prog_char_t *fmt, ...);
-
 /*
  *  !!NOTE!!
  *
diff --git a/APMrover2/Steering.pde b/APMrover2/Steering.pde
index 9a75a033bf..375f223275 100644
--- a/APMrover2/Steering.pde
+++ b/APMrover2/Steering.pde
@@ -42,13 +42,16 @@ static bool auto_check_trigger(void)
     if (g.auto_trigger_pin != -1) {
         hal.gpio->pinMode(g.auto_trigger_pin, GPIO_INPUT);
         if (hal.gpio->read(g.auto_trigger_pin) == 0) {
+            gcs_send_text_P(SEVERITY_LOW, PSTR("Triggered AUTO with pin"));
             auto_triggered = true;
             return true;            
         }
     }
 
     if (g.auto_kickstart != 0.0f) {
-        if (ins.get_accel().x >= g.auto_kickstart) {
+        float xaccel = ins.get_accel().x;
+        if (xaccel >= g.auto_kickstart) {
+            gcs_send_text_fmt(PSTR("Triggered AUTO xaccel=%.1f"), xaccel);
             auto_triggered = true;
             return true;            
         }