diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 5cb3bb24fc..45520630d0 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduCopter V2.9-rc4"
+#define THISFIRMWARE "ArduCopter V2.9-rc5"
 /*
  *  ArduCopter Version 2.9
  *  Lead author:	Jason Short
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index b4700f0327..36bc5d0f48 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,9 @@
 ArduCopter Release Notes:
-
+------------------------------------------------------------------
+ArduCopter 2.9-rc5 14-Jan-2013
+Improvements over 2.9-rc4:
+1) add constraint to loiter commanded roll and pitch angles
+2) relax altitude requirement for take-off command to complete
 ------------------------------------------------------------------
 ArduCopter 2.9-rc4 12-Jan-2013
 Improvements over 2.9-rc3: