diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index 32b231fb2e..ca28eeeb08 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,5 +1,31 @@
 Rover Release Notes:
 --------------------------------
+Rover 4.1.0-beta4 12-Jun-2021
+Changes from 4.1.0-beta3
+1) Rover/Boat specific enhancements and bug fixes
+    a) DShot support fixed
+    b) Simple Avoidance fix to allow backing away from obstacles
+    c) THR onboard log message logs forward-back acceleration
+    d) Waypoint delay of -1 does not delay
+2) Minor enhancements (or changes)
+    a) CSRF telemetry improvements to power setting and pass param requests more quickly
+    b) CUAV X7/Nora supports ICM42688P IMU
+    c) Pix32v5 USB product string fixed and IMU heater enabled 
+    d) RunCam Hybrid supported (see RUNCAM_TYPE parameter)
+    e) VisualOdom feature removed from 1MB boards
+3) Bug fixes
+    a) BLHeli Auto only affects telemetry passthrough to ease setup
+    b) Circular complex fence radius not truncated
+    c) CubeOrange serial1/2 DMA fixed
+    d) ESC telemetry fixes including motor index on boards with I/O mcu
+    e) I/O MCU reset fix if user had disabled safety switch (recovery from reset would leave motors not spinning)
+    f) MSP temperature scaling fixed
+    g) PreArm check of roll/pitch and yaw angle difference fixed
+    h) Serial port info file (@SYS/uarts.txt) easier to understand
+    i) Scheduler fix of premature run of tasks every 11min
+    j) Visual odometry yaw alignment fixed
+    k) WPNAV_RADIUS never less than 5cm
+--------------------------------
 Rover 4.1.0-beta3 24-May-2021
 Changes from 4.1.0-beta2
 1) Dshot bug fix for autopilots with I/O boards (CubeBlack, CubeOrange, etc)