How can I tell what version of firmware is in the hardware?

The Firmware version is reported in the top bar of the Control app.

Titan Control panel showing firmware version – Lyra and Atlas are similar

If you are still running the old grey Control app, the firmware version is reported when hover the mouse over the serial number near the top of the Control app. Before you upgrade to v1.17 firmware or higher, you must upgrade the software to the black Control app, version 2.03 or higher first.