diff --git a/Makefile.ac b/Makefile.ac
index 3ce3e3616c..1a8c58dea5 100644
--- a/Makefile.ac
+++ b/Makefile.ac
@@ -76,6 +76,27 @@ else # not auto, explicitly specified
   NPROCS := $J
 endif
 
+#
+# export paparazzi version
+#
+GIT_SHA1 := $(shell git log -1 --pretty=format:%H 2> /dev/null)
+ifneq ($(words $(GIT_SHA1)),1)
+GIT_SHA1 := "UNKNOWN"
+endif
+GIT_DESC := $(shell ./paparazzi_version)
+PPRZ_VER := $(shell echo $(GIT_DESC) | sed 's/[^0-9.]*\([0-9.]*\).*/\1/')
+PPRZ_VER_MAJOR := $(shell echo $(GIT_DESC) | sed 's/v\([0-9]*\).*/\1/')
+PPRZ_VER_MINOR := $(shell echo $(GIT_DESC) | sed 's/v[0-9]*.\([0-9]*\).*/\1/')
+PPRZ_VER_PATCH := $(shell echo $(GIT_DESC) | sed 's/v[0-9]*.[0-9]*.\([0-9]*\).*/\1/')
+ifneq ($(words $(PPRZ_VER_PATCH)),1)
+PPRZ_VER_PATCH := 0
+endif
+export GIT_DESC
+export GIT_SHA1
+export PPRZ_VER_MAJOR
+export PPRZ_VER_MINOR
+export PPRZ_VER_PATCH
+
 
 # "make Q=''" to get full echo
 Q=@
@@ -105,7 +126,7 @@ init:
 
 print_version:
 	@echo "-----------------------------------------------------------------------"
-	@echo "Paparazzi version" $(shell ./paparazzi_version)
+	@echo "Paparazzi version" $(GIT_DESC)
 	@echo "-----------------------------------------------------------------------"
 
 
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 5ce88059dd..ab36044051 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/infrared_adc.xml"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/infrared_adc.xml modules/tune_airspeed.xml"
    gui_color="#6293ba"
   />
   <aircraft
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 2a8a477c75..00cec549da 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -139,7 +139,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/infrared_adc.xml"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/infrared_adc.xml modules/tune_airspeed.xml"
    gui_color="#6293ba"
   />
   <aircraft
diff --git a/sw/airborne/Makefile b/sw/airborne/Makefile
index 8005c4f213..8ba372ea26 100644
--- a/sw/airborne/Makefile
+++ b/sw/airborne/Makefile
@@ -51,6 +51,12 @@ ifneq ($(MAKECMDGOALS),clean)
     endif
   endif
 
+  $(TARGET).CFLAGS += -DGIT_SHA1=$(GIT_SHA1)
+  $(TARGET).CFLAGS += -DGIT_DESC=$(GIT_DESC)
+  $(TARGET).CFLAGS += -DPPRZ_VER=$(PPRZ_VER)
+  $(TARGET).CFLAGS += -DPPRZ_VER_MAJOR=$(PPRZ_VER_MAJOR)
+  $(TARGET).CFLAGS += -DPPRZ_VER_MINOR=$(PPRZ_VER_MINOR)
+  $(TARGET).CFLAGS += -DPPRZ_VER_PATCH=$(PPRZ_VER_PATCH)
   ifdef PRINT_CONFIG
     $(TARGET).CFLAGS += -DPRINT_CONFIG
   endif
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index a599236aff..fbdf5bbbde 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -86,6 +86,7 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #include "subsystems/abi.h"
 
 #include "led.h"
+#include "pprz_version.h"
 
 #ifdef USE_NPS
 #include "nps_autopilot.h"
@@ -156,8 +157,8 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
 static inline void on_gps_solution(void);
 #endif
 
-// what version is this ????
-static const uint16_t version = 1;
+/** Paparazzi version */
+static const uint16_t version = PPRZ_VERSION_INT;
 
 #if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
 static uint8_t  mcu1_ppm_cpt;
@@ -459,13 +460,13 @@ void reporting_task(void)
 {
   static uint8_t boot = TRUE;
 
-  /** initialisation phase during boot */
+  /* initialisation phase during boot */
   if (boot) {
     uint16_t non_const_version = version;
     DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &non_const_version);
     boot = FALSE;
   }
-  /** then report periodicly */
+  /* then report periodicly */
   else {
     //PeriodicSendAp(DefaultChannel, DefaultDevice);
 #if PERIODIC_TELEMETRY
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 44dee0a798..791af66774 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -87,6 +87,7 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #include "mcu_periph/usb_serial.h"
 #endif
 
+#include "pprz_version.h"
 
 /* if PRINT_CONFIG is defined, print some config options */
 PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
@@ -113,6 +114,9 @@ INFO_VALUE("it is recommended to configure in your airframe PERIODIC_FREQUENCY t
 #endif
 #endif
 
+/** Paparazzi version */
+static const uint16_t version = PPRZ_VERSION_INT;
+
 static inline void on_gyro_event(void);
 static inline void on_accel_event(void);
 static inline void on_gps_event(void);
@@ -245,9 +249,20 @@ STATIC_INLINE void main_periodic(void)
 
 STATIC_INLINE void telemetry_periodic(void)
 {
+  static uint8_t boot = TRUE;
+
+  /* initialisation phase during boot */
+  if (boot) {
+    uint16_t non_const_version = version;
+    DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &non_const_version);
+    boot = FALSE;
+  }
+  /* then report periodicly */
+  else {
 #if PERIODIC_TELEMETRY
-  periodic_telemetry_send_Main(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
+    periodic_telemetry_send_Main(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
 #endif
+  }
 }
 
 /** mode to enter when RC is lost while using a mode with RC input (not AP_MODE_NAV) */
diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c
index 97547e23fa..26d3bd9eb1 100644
--- a/sw/airborne/modules/datalink/mavlink.c
+++ b/sw/airborne/modules/datalink/mavlink.c
@@ -39,6 +39,7 @@
 #include "mcu_periph/sys_time.h"
 #include "subsystems/electrical.h"
 #include "state.h"
+#include "pprz_version.h"
 
 mavlink_system_t mavlink_system;
 
@@ -298,10 +299,11 @@ static inline void mavlink_send_params(void)
 static inline void mavlink_send_autopilot_version(void)
 {
   /// TODO: fill in versions correctly, how should they be encoded?
+  static uint32_t ver = PPRZ_VERSION_INT;
   static uint8_t custom_version[8];
   mavlink_msg_autopilot_version_send(MAVLINK_COMM_0,
                                      0,  // capabilities,
-                                     54, // version
+                                     ver, // version
                                      custom_version);
 }
 
diff --git a/sw/include/pprz_version.h b/sw/include/pprz_version.h
new file mode 100644
index 0000000000..59cf16ed52
--- /dev/null
+++ b/sw/include/pprz_version.h
@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2014 Felix Ruess <felix.ruess@gmail.com
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/** @file pprz_version.h
+ *
+ * Provides stringified paparazzi version numbers.
+ *
+ * Defined at build time:
+ * - GIT_SHA1: full git SHA1 hash
+ * - GIT_DESC: paparazzi version description (from paparazzi_version using git describe)
+ * - PPRZ_VER: paparazzi version in <MAJOR>.<MINOR>.<PATCH> format
+ * - PPRZ_VER_MAJOR: major version number
+ * - PPRZ_VER_MINOR: minor version number
+ * - PPRZ_VER_PATCH: patch version number
+ *
+ * Stringified defines provided:
+ * - GIT_VERSION
+ * - PPRZ_VERSION_DESC
+ * - PPRZ_VERSION
+ *
+ *
+ */
+
+#ifndef PPRZ_VERSION_H
+#define PPRZ_VERSION_H
+
+#define _STRINGIFY(s) #s
+#define STRINGIFY(s) _STRINGIFY(s)
+
+#define GIT_VERSION        STRINGIFY(GIT_SHA1)
+#define PPRZ_VERSION_DESC  STRINGIFY(GIT_DESC)
+#define PPRZ_VERSION       STRINGIFY(PPRZ_VER)
+
+/** paparazzi version encoded as one integer */
+#define PPRZ_VERSION_INT (PPRZ_VER_MAJOR * 100 + PPRZ_VER_MINOR * 10 + PPRZ_VER_PATCH)
+
+#endif /* PPRZ_VERSION_H */