diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 34889d8811..77c40a78d5 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 V3.0.1-rc2"
+#define THISFIRMWARE "ArduCopter V3.0.1"
 /*
  *  ArduCopter Version 3.0
  *  Creator:        Jason Short
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 3f780be423..4754c3ad2e 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,16 +1,16 @@
 ArduCopter Release Notes:
 ------------------------------------------------------------------
-ArduCopter 3.0.1-rc2 10-Jul-2013
+ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-2013
 Improvements over 3.0.1-rc1
 1) Rate Roll, Pitch and Yaw I fix when we hit motor limits
 2) pre-arm check changes:
     a) double flash arming light when pre-arm checks fail
     b) relax mag field checks to 35% min, 165% max of expected field
 3) loiter and auto changes:
-      a) reduced Loiter Pos P to 0.8 (was 1.0)
-      b) reduced Loiter speed to 5 m/s
-      c) reduced WP_ACCEL to 1 m/s/s (was 250  m/s/s)
-      d) rounding error fix in loiter controller
+      a) reduced Loiter speed to 5 m/s
+      b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s)
+      c) rounding error fix in loiter controller
+      d) bug fix to stopping point calculation for RTL and loiter during missions
 4) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw
 ------------------------------------------------------------------
 ArduCopter 3.0.1-rc1 26-Jun-2013