diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index b67685765f..41c21a3343 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -68,10 +68,13 @@ static inline int ahrs_is_aligned(void) {
 
 #if USE_KILL_SWITCH_FOR_MOTOR_ARMING
 #include "autopilot_arming_switch.h"
+PRINT_CONFIG_MSG("Using kill switch for motor arming")
 #elif USE_THROTTLE_FOR_MOTOR_ARMING
 #include "autopilot_arming_throttle.h"
+PRINT_CONFIG_MSG("Using throttle for motor arming")
 #else
 #include "autopilot_arming_yaw.h"
+PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
 #endif
 
 #ifndef MODE_STARTUP