diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index 52146d4ce7..d41265e328 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,5 +1,17 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.2.0-beta2 10-Mar-2022
+Changes from 4.2.0-beta1
+1) Follow mode supports FOLLOW_TARGET message (sent by QGC ground station) 
+2) Bug fixes
+    a) Arming checks ignore SERVOx_MIN, MAX if setup as GPIO pin
+    b) BeastH7v2 BMI270 baro support
+    c) DShot prescaler fix (ESCs were not initialising correctly)
+    d) EKF3 variance constraint fix used to prevent "ill-conditioning"
+    e) POWR log message MCU voltage fix (min and max voltage were swapped)
+    f) Sailboats loiter fix (could get stuck pointing directly into the wind)
+    g) SPRacingH7 firmware install fix
+------------------------------------------------------------------
 Rover 4.2.0-rc1 28-Feb-2022
 Changes from 4.1.5
 1) AHRS/EKF improvements