diff --git a/ArduSub/ReleaseNotes.txt b/ArduSub/ReleaseNotes.txt
index 5fb922ec10..d59e35fb82 100644
--- a/ArduSub/ReleaseNotes.txt
+++ b/ArduSub/ReleaseNotes.txt
@@ -1,5 +1,11 @@
 APM:Sub Release Notes:
 
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Sub 4.1.1 Beta6 10-July-2023
+
+ - Fix roll/pitch drift in stabilized modes
+ - Fix Python 3.11 compatibility
+
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 Sub 4.1.1 Beta5 10-April-2023