diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 21d12e65ff..6ac95ca113 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 V3.0.0-rc5"
+#define THISFIRMWARE "ArduCopter V3.0.0-rc6"
 /*
  *  ArduCopter Version 3.0
  *  Creator:        Jason Short
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 489a9edc34..8fc2932261 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,11 @@
 ArduCopter Release Notes:
 ------------------------------------------------------------------
+ArduCopter 3.0.0-rc6 16-Jun-2013
+Improvements over 3.0.0-rc5
+1) bug fix to Circle mode's start position (was moving to last loiter target)
+2) WP_ACCEL parameter added to allow user to adjust acceleration during missions
+3) loiter acceleration set to half of LOIT_SPEED parameter value (was hard-coded)
+------------------------------------------------------------------
 ArduCopter 3.0.0-rc5 04-Jun-2013
 Improvements over 3.0.0-rc4
 1) bug fix to LAND flight mode in which it could try to fly to mission's next waypoint location