diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index 6b75a719b6..bb7c6c3e22 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,5 +1,15 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.2.1-rc1 28-May-2022
+Changes from 4.2.0
+1) CAN ESCs bus bandwidth efficiency improvements (see CAN_Dx_UC_ESC_OF parameter)
+2) DShot timing improvements to support for ESC variants
+3) Luftan EFI measures fuel consumption (see EFI_COEF1, EFI_COEF2)
+4) Bug fixes
+    b) CAN ESCs work on boards with no safety switch (e.g. MatekH743)
+    b) Inflight Compass calibration checks GSF yaw estimate is good
+    c) NeoPixel colour fix
+------------------------------------------------------------------
 Rover 4.2.0 23-May-2022 / 4.2.0-rc4 14-May-2022
 Changes from 4.2.0-rc3
 1) FlyingMoon F407 and F427 autopilots supported