diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 1fd5417741..5baf5a59ec 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -1334,6 +1334,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             // mark the firmware version in the tlog
             send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
 
+#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
+            send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
+#endif
+
             // send system ID if we can
             char sysid[40];
             if (hal.util->get_system_id(sysid)) {
diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 4e09d85746..56911b0c19 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -573,6 +573,10 @@ static void start_logging()
     in_mavlink_delay = false;
     DataFlash.Log_Write_Message_P(PSTR(FIRMWARE_STRING));
 
+#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
+    DataFlash.Log_Write_Message_P(PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
+#endif
+
     // write system identifier as well if available
     char sysid[40];
     if (hal.util->get_system_id(sysid)) {