diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index ebec1386bf..cb9f71fa49 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -8,6 +8,7 @@
 #include <AP_OSD/AP_OSD.h>
 #include <AP_RPM/AP_RPM.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_CheckFirmware/AP_CheckFirmware.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include <AP_HAL_ChibiOS/sdcard.h>
 #endif
@@ -107,6 +108,10 @@ void AP_Vehicle::setup()
                         AP::fwversion().fw_string,
                         (unsigned)hal.util->available_memory());
 
+#if AP_CHECK_FIRMWARE_ENABLED
+    check_firmware_print();
+#endif
+
     load_parameters();
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 24ab21c23d..9ec76c8e6a 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -51,6 +51,7 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif
+#include <AP_CheckFirmware/AP_CheckFirmware.h>
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {