diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 0589cfcee5..039fed22e1 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1,8 +1,8 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #pragma once
 
-#define THISFIRMWARE "ArduPlane V3.5.0"
-#define FIRMWARE_VERSION 3,5,0,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define THISFIRMWARE "ArduPlane V3.5.1"
+#define FIRMWARE_VERSION 3,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 /*
    Lead developer: Andrew Tridgell
diff --git a/ArduPlane/release-notes.txt b/ArduPlane/release-notes.txt
index b9ad53a3c4..59ce9456fc 100644
--- a/ArduPlane/release-notes.txt
+++ b/ArduPlane/release-notes.txt
@@ -1,3 +1,57 @@
+Release 3.5.1, 21st March 2016
+------------------------------
+
+The ArduPilot development team is proud to announce the release of
+version 3.5.1 of APM:Plane. This is a minor release with primarily
+small changes.
+
+The changes in this release are:
+
+ - update uavcan to new protocol
+ - always exit loiter in AUTO towards next waypoint
+ - support more multicopter types in quadplane
+ - added support for reverse thrust landings
+ - added LAND_THR_SLEW parameter
+ - added LAND_THEN_NEUTRL parameter
+ - fixed reporting of armed state with safety switch
+ - added optional arming check for minimum voltage
+ - support motor test for quadplanes
+ - added QLAND flight mode (quadplane land mode)
+ - added TECS_LAND_SRC (land sink rate change)
+ - use throttle slew in quadplane transition
+ - added PID tuning for quadplane
+ - improved text message queueing to ground stations
+ - added LAND_THR_SLEW parameter
+ - re-organisation of HAL_Linux bus API
+ - improved NMEA parsing in GPS driver
+ - changed TECS_LAND_SPDWGT default to -1
+ - improved autoconfig of uBlox GPS driver
+ - support a wider range of Lightware serial Lidars
+ - improved non-GPS performance of EKF2
+ - allow for indoor flight of quadplanes
+ - improved compass fusion in EKF2
+ - improved support for Pixracer board
+ - improved NavIO2 support
+ - added BATT_WATT_MAX parameter
+
+The reverse thrust landing is particulary exciting as that adds a
+whole new range of possibilities for landing in restricted areas. Many
+thanks to Tom for the great work on getting this done.
+
+The uavcan change to the new protocol has been a long time coming, and
+I'd like to thank Holger for both his great work on this and his
+patience given how long it has taken to be in a release. This adds
+support for automatic canbus node assignment which makes setup much
+easier, and also supports the latest versions of the Zubax canbus GPS.
+
+My apologies if your favourite feature didn't make it into this
+release! There are a lot more changes pending but we needed to call a
+halt for the release eventually. This release has had a lot of flight
+testing and I'm confident it will be a great release.
+
+Happy flying!
+
+
 Release 3.5.0, 30th January 2016
 --------------------------------