diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index da9dcea511..d861e0ef47 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,40 @@
-APM:Copter Release Notes:
+ArduPilot Copter Release Notes:
+------------------------------------------------------------------
+Copter 3.5-rc1 28-Jan-2017
+Changes from 3.4.4
+1) Multicopter firmware consolidated into single binary, users must set FRAME_CLASS parameter (1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri)
+2) PixRacer specific items:
+    a) board LEDs supported
+    b) ESC calibration start problem resolved (was sometimes not detecting high throttle from pilot)
+3) Relaxed compass calibration and compass consistency checks
+4) Sensor and Optional Hardware Improvements:
+    a) IMU sampling rate for MPU9250, ICM20608 IMUs to 8kHz for improved vibration resistance (Pixracer, Pixhawk2)
+    b) Onboard Display (http://ardupilot.org/copter/docs/common-display-onboard.html)
+    c) UBlox M8P RTK GPS support
+    d) LightWare I2C drivers usable on Copter (thanks to in-tree drivers below)
+    e) MaxBotix sonar with serial interface now supported
+    f) Bebop optical flow (but sonar not yet operational making this feature currently impossible to use)
+5) Precision Loiter using IRLock sensor (set CH7_OPT to 39)
+6) Delivery improvements:
+   a) Servo gripper (http://ardupilot.org/copter/docs/common-gripper-servo.html)
+   b) Package_Place mission command (drops package without vehicle landing) 
+7) Pozyx support for Non-GPS flight (http://ardupilot.org/copter/docs/common-pozyx.html)
+8) EKF improvements:
+    a) improved blending of optical flow and GPS
+    b) EKF3 added in ride-along.  Enable by setting EK3_ENABLE=1
+    c) improvements when using range finder as primary height reference
+9) Object Avoidance improvements (http://ardupilot.org/dev/docs/code-overview-object-avoidance.html):
+    a) uses mini-fence
+    b) accepts MAVLink distance-sensor messages 
+    c) simple avoidance in AltHold mode 
+10) Other improvements:
+    a) pre-arm check that logging is working
+    b) better reporting of battery failsafe to ground stations
+    c) reduced minimum waypoint speed to 20cm/s
+    d) Flight time recorder (http://ardupilot.org/copter/docs/common-flight-time-recorder.html)
+11) Technical improvements (users may not see a functional change):
+    a) in-tree drivers lead to improved sharing of drivers with Linux boards
+    b) copter arming checks consolidated with other vehicles
 ------------------------------------------------------------------
 Copter 3.4.4 06-Jan-2017 / Copter 3.4.4-rc1 21-Dec-2016
 Changes from 3.4.3