From c0f5b548e02bfa6fef6e07ab177116b74bca2287 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 8 Jan 2015 21:17:20 +0900
Subject: [PATCH] Copter: AC3.2.1-rc1 Release Notes

---
 ArduCopter/ReleaseNotes.txt | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 5b7beac9c..ffbbae36e 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,21 @@
 ArduCopter Release Notes:
 ------------------------------------------------------------------
+ArduCopter 3.2.1-rc1 08-Jan-2014
+Changes from 3.2
+1) Enhancements:
+    a) reduced twitch when passing Spline waypoints
+    b) Faster disarm after landing in Auto, Land, RTL
+2) Safety Features:
+    a) Add desired descent rate check to reduce chance of false-positive on landing check
+    b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
+    c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
+    d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
+    e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
+3) Bug Fixes:
+    a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
+    b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
+    c) PosHold wind compensation fix
+------------------------------------------------------------------
 ArduCopter 3.2 07-Nov2014 / 3.2-rc14 31-Oct-2014
 Changes from 3.2-rc13
 1) Safety Features:
-- 
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