From 7c7fd90704b1e980d37c4008a7f69304fdb5d129 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 30 Mar 2013 09:21:25 +0900
Subject: [PATCH] Copter: update Release notes ahead of 2.9.1b release

---
 ArduCopter/ReleaseNotes.txt | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 9c38f431e..a9a2ddb24 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,13 @@
 ArduCopter Release Notes:
+------------------------------------------------------------------
+ArduCopter 2.9.1b 30-Feb-2013
+Improvements over 2.9.1:
+1) reduce INS_MPU6K_FILTER to 20hz
+2) reduce InertialNav Z-axis time constant to 5 (was 7)
+3) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew
+4) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
+5) reduce yaw_rate P default to 0.20 (was 0.25)
+
 ------------------------------------------------------------------
 ArduCopter 2.9.1 & 2.9.1-rc2 01-Feb-2013
 Improvements over 2.9.1-rc1:
-- 
GitLab