diff --git a/APMrover2/release-notes.txt b/APMrover2/release-notes.txt
index e368b8c8c6..814c460f2b 100644
--- a/APMrover2/release-notes.txt
+++ b/APMrover2/release-notes.txt
@@ -1,5 +1,13 @@
 APMrover2 Release Notes:
 ========================
+Rover V3.3.1-rc1 09-May-2018
+Changes from 3.3.1-rc1:
+1) Vectored Thrust to improve attitude control for boats with rotating motors
+2) minor changes and bug fixes:
+    a) remove jump forward when transitioning from forward to reverse
+    b) pivot turn while reversing fix
+    c) safety switch allows disarming motors (was disabled in 3.3.0)
+--------------------------------
 Rover V3.3.0 07-May-2018
 Changes from 3.3.0-rc1:
 1) default parameter changes