diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index a6d74b4d58c..0783dc6d19c 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -765,6 +765,13 @@ function(px4_create_git_hash_header)
 		ONE_VALUE HEADER
 		REQUIRED HEADER
 		ARGN ${ARGN})
+	execute_process(
+		COMMAND git describe --tags
+		OUTPUT_VARIABLE git_tag
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		)
+	message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
 		COMMAND git rev-parse HEAD
 		OUTPUT_VARIABLE git_desc
diff --git a/cmake/templates/build_git_version.h.in b/cmake/templates/build_git_version.h.in
index 83c59c37d9d..99b35517432 100644
--- a/cmake/templates/build_git_version.h.in
+++ b/cmake/templates/build_git_version.h.in
@@ -2,3 +2,4 @@
 /* Do not edit! */
 #define PX4_GIT_VERSION_STR  "@git_desc@"
 #define PX4_GIT_VERSION_BINARY 0x@git_desc_short@
+#define PX4_GIT_TAG_STR  "@git_tag@"
diff --git a/src/modules/systemlib/git_version.h b/src/modules/systemlib/git_version.h
index f9bc3cbedd9..d3a5cb15367 100644
--- a/src/modules/systemlib/git_version.h
+++ b/src/modules/systemlib/git_version.h
@@ -47,5 +47,10 @@ __BEGIN_DECLS
 
 __EXPORT extern const char *px4_git_version;
 __EXPORT extern const uint64_t px4_git_version_binary;
+__EXPORT extern const char *px4_git_tag;
+__EXPORT extern const char *os_git_tag;
+__EXPORT extern const uint32_t px4_board_version;
+
+__EXPORT uint32_t version_tag_to_number(const char* tag);
 
 __END_DECLS
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index 28cd9886278..7afc33fb792 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -60,6 +60,48 @@ static const char mcu_uid_str[]		= "uid";
 
 const char *px4_git_version = PX4_GIT_VERSION_STR;
 const uint64_t px4_git_version_binary = PX4_GIT_VERSION_BINARY;
+const char *px4_git_tag = PX4_GIT_TAG_STR;
+
+#if defined(__PX4_NUTTX)
+__EXPORT const char *os_git_tag = "6.27";
+__EXPORT const uint32_t px4_board_version = CONFIG_CDCACM_PRODUCTID;
+#else
+__EXPORT const char *os_git_tag = "";
+__EXPORT const uint32_t px4_board_version = 1;
+#endif
+
+/**
+ * Convert a version tag string to a number
+ */
+uint32_t version_tag_to_number(const char* tag)
+{
+	uint32_t ver = 0;
+	unsigned len = strlen(tag);
+	unsigned mag = 1;
+	bool dotparsed = false;
+
+	for (int i = len - 1; i >= 0; i--) {
+		if (tag[i] >= '0' && tag[i] <= '9') {
+			unsigned number = tag[i] - '0';
+
+			ver += number * mag;
+			mag *= 10;
+		} else if (tag[i] == '.') {
+			continue;
+		} else if (ver > 100 && dotparsed) {
+			/* this is a full version and we have enough digits */
+			return ver;
+		} else if (tag[i] != 'v') {
+			/* reset, because we don't have a full tag but
+			 * are seeing non-numeric characters again
+			 */
+			ver = 0;
+			mag = 1;
+		}
+	}
+
+	return ver;
+}
 
 static void usage(const char *reason)
 {
@@ -109,6 +151,9 @@ int ver_main(int argc, char *argv[])
 
 			if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
 				printf("FW git-hash: %s\n", px4_git_version);
+				printf("FW version: %s (%u)\n", px4_git_tag, version_tag_to_number(px4_git_tag));
+				/* middleware is currently the same thing as firmware, so not printing yet */
+				printf("OS version: %s (%u)\n", os_git_tag, version_tag_to_number(os_git_tag));
 				ret = 0;
 
 			}