diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 26fc5aee56..ebe5073b1f 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -958,6 +958,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
         {
+            // 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
             handle_param_request_list(msg);
             break;
         }