From 43eb664be6aa7dd9ae94f9ee85341ebc29b9a9d9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 9 Dec 2019 14:14:08 +1100
Subject: [PATCH] Plane: updated release notes for 4.0.2beta1

---
 ArduPlane/release-notes.txt | 35 +++++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/ArduPlane/release-notes.txt b/ArduPlane/release-notes.txt
index 0d46d7a097..5d40225691 100644
--- a/ArduPlane/release-notes.txt
+++ b/ArduPlane/release-notes.txt
@@ -1,3 +1,38 @@
+Release 4.0.2beta1, 9th December 2019
+-------------------------------------
+
+This is a minor release with a few bug fixes and enhancements. Changes
+are:
+
+ - added new COMPASS_SCALE parameters and estimator to fix issue with
+   compass in Here2 GPS
+
+ - fixed issue with millis wrap on boards with 16 bit system timer
+   (MatekF405, MatekF765, speedybeef4 and KakuteF4)
+
+ - fixed i2c internal masks for several boards
+
+ - fixed scaling of Blheli32 RPM conversion
+
+ - changed to WFQ FrSky telemetry scheduler
+
+ - enable LED pin on MatekF765
+
+ - added params for Durandal battery monitor pins to param docs
+
+ - updated bootloaders to reduce change of line noise stopping boot
+
+ - fixed DMA error causing memory corruption in ChibiOS I2C driver
+
+ - fixed param conversion from plane 3.9.x to plane 4.0.x for
+   rangefinders
+
+ - cope with UAVCAN GPS that doesn't provide AUX messages (Here2 GPS)
+
+ - send temperatures for IMUs on mavlink
+
+Happy flying!
+
 Release 4.0.1, 22nd November 2019
 ---------------------------------