diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index cbaa476cc9..e8ae8e390c 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -888,7 +888,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {       // MAV ID: 21
         // mark the firmware version in the tlog
-        send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
+        send_text(MAV_SEVERITY_INFO, fwver.fw_string);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
         send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
@@ -1271,7 +1271,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_DO_SEND_BANNER: {
             result = MAV_RESULT_ACCEPTED;
 
-            send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
+            send_text(MAV_SEVERITY_INFO, fwver.fw_string);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
             send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
diff --git a/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h
index 1a72b74365..4e58711b9f 100644
--- a/ArduSub/GCS_Mavlink.h
+++ b/ArduSub/GCS_Mavlink.h
@@ -20,6 +20,7 @@ protected:
     AP_Camera *get_camera() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_GPS *get_gps() const override;
+
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
 
     uint8_t sysid_my_gcs() const override;
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index afeabcfe81..491ff1b99c 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -21,7 +21,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Sub class
  */
 Sub::Sub(void) :
-    DataFlash {FIRMWARE_STRING, g.log_bitmask},
+    DataFlash {fwver.fw_string, g.log_bitmask},
           mission(ahrs,
                   FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
                   FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index f7a9aedd93..cb49b55797 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -82,6 +82,7 @@
 #include "Parameters.h"
 #include "AP_Arming_Sub.h"
 #include "GCS_Sub.h"
+#include "version.h"
 
 // libraries which are dependent on #defines in defines.h and/or config.h
 #if OPTFLOW == ENABLED
@@ -135,6 +136,19 @@ public:
     void loop() override;
 
 private:
+
+    const AP_FWVersion fwver {
+        major: FW_MAJOR,
+        minor: FW_MINOR,
+        patch: FW_PATCH,
+        fw_type: FW_TYPE,
+#ifndef GIT_VERSION
+        fw_string: THISFIRMWARE
+#else
+        fw_string: THISFIRMWARE " (" GIT_VERSION ")"
+#endif
+    };
+
     // key aircraft parameters passed to multiple libraries
     AP_Vehicle::MultiCopter aparm;
 
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 0d36354a8d..7b4cb6928b 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -23,9 +23,10 @@ void Sub::init_ardupilot()
     // initialise serial port
     serial_manager.init_console();
 
-    hal.console->printf("\n\nInit " FIRMWARE_STRING
-                      "\n\nFree RAM: %u\n",
-                      (unsigned)hal.util->available_memory());
+    hal.console->printf("\n\nInit %s"
+                        "\n\nFree RAM: %u\n",
+                        fwver.fw_string,
+                        (unsigned)hal.util->available_memory());
 
     // load parameters from EEPROM
     load_parameters();
diff --git a/ArduSub/version.h b/ArduSub/version.h
index 8790f6050b..8f72749471 100644
--- a/ArduSub/version.h
+++ b/ArduSub/version.h
@@ -1,12 +1,13 @@
 #pragma once
 
-#include "ap_version.h"
+#include "AP_Common/AP_FWVersion.h"
 
 #define THISFIRMWARE "ArduSub V3.6-dev"
+
+// the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 3,6,0,FIRMWARE_VERSION_TYPE_DEV
 
-#ifndef GIT_VERSION
-#define FIRMWARE_STRING THISFIRMWARE
-#else
-#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
-#endif
+#define FW_MAJOR 3
+#define FW_MINOR 6
+#define FW_PATCH 0
+#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV