diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4ef271de..cc73f13b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Added
+- `SensorProcessing` now includes an FDIR for GPS altitude. If the measured GPS altitude is out
+  of bounds of the range defined in the `AcsParameters`, the altitude defaults to an altitude
+  set in the `AcsParameters`.
+
 ## Fixed
 
 - `AcsParameters` setter were previously all for scalar parameters. Now vector and matrix