diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 003ac54d2d..3940c72cee 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,25 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.1.4-rc1 27-Jan-2022
+Changes from 4.1.3
+1) Benewake CAN Lidar support
+2) CAN GPS default lag dropped to 0.1 seconds (was 0.22 seconds)
+3) Bug fixes
+    a) Compass custom orientation is never overwritten during calibration
+    b) EKF logging gaps fixed (some messages were occasionally being skipped)
+    c) Guided mode cornering improvements
+    d) IMU logging fix for IREG message (records IMU register changes)
+    e) LOITER_TO_ALT mission command's climb rate fixed (could climb or descend too quickly)
+    f) Position controller init fix to avoid twitch on vehicles with high vibrations
+    g) Position controller init fix to better handle high speed entry to flight mode
+    h) Position controller priortises reducing cross track error
+    i) Position controller relax fix
+    j) SBUS RC frame gap increased to better handle some new receivers
+    k) SERVOx_FUNCTION protection to avoid memory overwrite if set too high
+    l) SD card init triggering watchdog fixed
+    m) Spline path max lateral acceleration reduced (vehicle stays on path better but may be slower)
+    n) Takeoff bug fix if taking off below home or frame specified as MSL
+------------------------------------------------------------------
 Copter 4.1.3 31-Dec-2021 / 4.1.3-rc2 21-Dec-2021
 Changes from 4.1.3-rc1
 1) Suport for IIM-42652, ICM-40605 and ICM-20608-D IMUs