diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 9f729f9e9b..ba20326dbe 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3288,6 +3288,12 @@ void GCS_MAVLINK::send_banner()
     if (hal.util->get_system_id(sysid)) {
         send_text(MAV_SEVERITY_INFO, "%s", sysid);
     }
+
+    // send RC output mode info if available
+    char banner_msg[50];
+    if (hal.rcout->get_output_mode_banner(banner_msg, sizeof(banner_msg))) {
+        send_text(MAV_SEVERITY_INFO, "%s", banner_msg);
+    }
 }