diff --git a/CHANGELOG.md b/CHANGELOG.md
index 51b7209d..b0f23fd1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,25 @@ will consitute of a breaking change warranting a new major release:
 ## Fixed
 
 - ADIS1650X: Added missing MDL_RANG pool entry for configuration set
+- Removed matrix determinant calculation as part of the `MEKF`, which would take about
+  300ms of runtime
+- Resetting the `MEKF` now also actually resets its stored state
+
+## Changed
+
+- Commented out commanding of actuators as part of the `AcsController`
+- Collection sets of the `AcsController` now get updated before running the actual ACS
+  algorithm
+- `GpsController` now always gets scheduled
+
+## Added
+
+- Added `AcsController` action command to confirm solar array deployment, which then deletes
+  two files
+- Added `AcsController` action command to reset `MEKF`
+- `GpsCtrlDummy` now initializes the `gpsSet`
+- `RwDummy` now initializes with a non faulty state
+
 
 # [v1.31.1]