diff --git a/mavros/src/lib/mavros.cpp b/mavros/src/lib/mavros.cpp
index 57b7e76b4..f89ae04d3 100644
--- a/mavros/src/lib/mavros.cpp
+++ b/mavros/src/lib/mavros.cpp
@@ -128,7 +128,7 @@ MavRos::MavRos() :
 	ROS_INFO("Built-in SIMD instructions: %s", Eigen::SimdInstructionSetsInUse());
 	ROS_INFO("Built-in MAVLink package version: %s", MAVLINK_VERSION);
 	ROS_INFO("Built-in MAVLink dialect: %s", STR(MAVLINK_DIALECT));
-	ROS_INFO("MAVROS started. MY ID [%d, %d], TARGET ID [%d, %d]",
+	ROS_INFO("MAVROS started. MY ID %d.%d, TARGET ID %d.%d",
 		system_id, component_id,
 		tgt_system_id, tgt_component_id);
 }
@@ -258,9 +258,11 @@ void MavRos::startup_px4_usb_quirk(void) {
 }
 
 void MavRos::log_connect_change(bool connected) {
+	auto ap = mav_uas.str_autopilot(mav_uas.get_autopilot());
+
 	/* note: sys_status plugin required */
 	if (connected)
-		ROS_INFO("CON: Got HEARTBEAT, connected.");
+		ROS_INFO("CON: Got HEARTBEAT, connected. FCU: %s", ap.c_str());
 	else
 		ROS_WARN("CON: Lost connection, HEARTBEAT timed out.");
 }