diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index eb4139619a..06bc2a1dd8 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,5 +1,18 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.1.0-rc2 10-Sep-2021
+Changes from 4.1.0-rc1
+1) Enhancements
+    a) Log download speeds improved on F765 and F777 based boards (USB buffers increased)
+    b) Serial port DMA contention heuristics improved (reduces chance of delays writing to serial devices)
+2) Bug Fixes
+    a) Declination automatic lookup rounding fix (caused inaccurate declination in some parts of world)
+    b) DShot (bi-directional) support on Pixhawk4, CUAVv5, CUAVv5-Nano
+    c) IMU semaphore fix to avoid occasional corruption
+    d) QioTek Zealot F427 GPIO pin fix
+    e) Replay/DAL RMGH log message format fix
+    f) Rangefinder initial buffer size and baudrate fix (affected Aintein US-D1 radar)
+------------------------------------------------------------------
 Rover 4.1.0-rc1 28-Aug-2021
 Changes from 4.1.0-beta7
 1) Enhancements