diff --git a/flight/PiOS/inc/pios_opahrs_proto.h b/flight/PiOS/inc/pios_opahrs_proto.h
index c3b93c436..38a2d4bb7 100644
--- a/flight/PiOS/inc/pios_opahrs_proto.h
+++ b/flight/PiOS/inc/pios_opahrs_proto.h
@@ -93,8 +93,10 @@ struct opahrs_msg_v0_req_fwup_verify {
 union opahrs_msg_v0_req {
   /* Mandatory for all bootloader and all application loads */
   struct opahrs_msg_v0_req_nop          nop;
+  struct opahrs_msg_v0_req_versions     versions;
   struct opahrs_msg_v0_req_serial       serial;
   struct opahrs_msg_v0_req_reset        reset;
+  struct opahrs_msg_v0_req_boot         boot;
 
   /* Only implemented by the application */
 
@@ -104,6 +106,12 @@ union opahrs_msg_v0_req {
   struct opahrs_msg_v0_req_fwup_verify  fwup_verify;
 } __attribute__((__packed__));
 
+struct opahrs_msg_v0_rsp_versions {
+  uint8_t  hw_version;
+  uint16_t bl_version;
+  uint32_t fw_version;
+} __attribute__((__packed__));
+
 struct opahrs_msg_v0_rsp_serial {
   uint8_t  serial_bcd[24];
 } __attribute__((__packed__));
@@ -112,6 +120,7 @@ struct opahrs_msg_v0_rsp_fwup_status {
 } __attribute__((__packed__));
 
 union opahrs_msg_v0_rsp {
+  struct opahrs_msg_v0_rsp_versions    versions;
   /* Mandatory for all bootloader and all application loads */
   struct opahrs_msg_v0_rsp_serial      serial;
 
@@ -121,13 +130,16 @@ union opahrs_msg_v0_rsp {
 
 enum opahrs_msg_v0_tag {
   OPAHRS_MSG_V0_REQ_NOP = 0x00,
+  OPAHRS_MSG_V0_REQ_VERSIONS,
   OPAHRS_MSG_V0_REQ_RESET,
+  OPAHRS_MSG_V0_REQ_BOOT,
   OPAHRS_MSG_V0_REQ_SERIAL,
 
   OPAHRS_MSG_V0_REQ_FWUP_START,
   OPAHRS_MSG_V0_REQ_FWUP_DATA,
   OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
 
+  OPAHRS_MSG_V0_RSP_VERSIONS,
   OPAHRS_MSG_V0_RSP_SERIAL,
   OPAHRS_MSG_V0_RSP_FWUP_STATUS,
 };
@@ -157,6 +169,9 @@ struct opahrs_msg_v0 {
 struct opahrs_msg_v1_req_nop {
 } __attribute__((__packed__));
 
+struct opahrs_msg_v1_req_versions {
+} __attribute__((__packed__));
+
 struct opahrs_msg_v1_req_reset {
   uint32_t reset_delay_in_ms;
 } __attribute__((__packed__));
@@ -207,6 +222,7 @@ struct opahrs_msg_v1_req_calibration {
 
 union opahrs_msg_v1_req {
   struct opahrs_msg_v1_req_nop          nop;
+  struct opahrs_msg_v1_req_versions     versions;
   struct opahrs_msg_v1_req_reset        reset;
   struct opahrs_msg_v1_req_serial       serial;
   struct opahrs_msg_v1_req_update       update;
@@ -216,6 +232,12 @@ union opahrs_msg_v1_req {
   struct opahrs_msg_v1_req_calibration  calibration;
 } __attribute__((__packed__));
 
+struct opahrs_msg_v1_rsp_versions {
+  uint8_t  hw_version;
+  uint16_t bl_version;
+  uint32_t fw_version;
+} __attribute__((__packed__));
+
 struct opahrs_msg_v1_rsp_serial {
   uint8_t  serial_bcd[25];
 } __attribute__((__packed__));
@@ -277,6 +299,7 @@ struct opahrs_msg_v1_rsp_calibration {
 } __attribute__((__packed__));
 
 union opahrs_msg_v1_rsp {
+  struct opahrs_msg_v1_rsp_versions     versions;
   struct opahrs_msg_v1_rsp_serial       serial;
   struct opahrs_msg_v1_rsp_north        north;
   struct opahrs_msg_v1_rsp_algorithm    algorithm;
@@ -287,6 +310,7 @@ union opahrs_msg_v1_rsp {
 
 enum opahrs_msg_v1_tag {
   OPAHRS_MSG_V1_REQ_NOP = 0x02000000,
+  OPAHRS_MSG_V1_REQ_VERSIONS,
   OPAHRS_MSG_V1_REQ_RESET,
   OPAHRS_MSG_V1_REQ_SERIAL,
   OPAHRS_MSG_V1_REQ_NORTH,
@@ -295,6 +319,7 @@ enum opahrs_msg_v1_tag {
   OPAHRS_MSG_V1_REQ_ATTITUDERAW,
   OPAHRS_MSG_V1_REQ_CALIBRATION,
 
+  OPAHRS_MSG_V1_RSP_VERSIONS,
   OPAHRS_MSG_V1_RSP_SERIAL,
   OPAHRS_MSG_V1_RSP_NORTH,
   OPAHRS_MSG_V1_RSP_ALGORITHM,