diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index bcaca94652..06bc631c5d 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,5 +1,33 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.3.0-beta6 10-Dec-2022
+Changes from 4.3.0-beta5
+1) Arming check that main loop is running at configured speed (e.g. SCHED_LOOP_RATE)
+2) uBlox M10 support
+3) Autopilot specific changes
+    a) CubeOrange defaults to using 2nd IMU as primary
+    b) SIRF and SBP GPS disabled on BeastF7v2, MatekF405-STD, MAtekF405-Wing, omnibusf4pro
+4) Bug fixes
+    a) Camera driver's CAM_MIN_INTERVAL fixed if pilot manually triggers extra picture
+    b) Main loop slowdown after arming fixed (parameter logging was causing delays)
+    c) Main loop's fast tasks always run (caused twitches in Loiter on heavily loaded CPUs)
+    d) MAVLink commands received on private channels checked for valid target sysid
+    e) ModalAI cameras support fixed (ODOMETRY message frame was consumed incorrectly)
+    f) Param reset after firmware load fixed on these boards
+        - BeastF7v2
+        - CubeYellow-bdshot
+        - f405-MatekAirspeed
+        - FlywooF745Nano
+        - KakuteF4Mini
+        - KakuteF7-bdshot
+        - MatekF405-bdshot
+        - MatekF405-STD
+        - MatekF405-Wing-bdshot
+        - MatekF765-SE
+        - MatekF765-Wing-bdshot
+    g) Siyi A8 gimbal support fixed
+    h) Windows builds move to compiling only 64-bit executables
+------------------------------------------------------------------
 Rover 4.3.0-beta5 17-Nov-2022
 Changes from 4.3.0-beta4
 1) Autopilot specific enhancements