diff --git a/CHANGELOG.md b/CHANGELOG.md
index e71966b0..2614316f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,10 @@ will consitute of a breaking change warranting a new major release:
 - STR missed reply handling is now moved to DHB rather than the COM interface. The COM IF will
   still trigger an event if a reply is taking too long, and FDIR should still work via reply
   timeouts.
+- ACS Controller now includes the safe mode from FLP, which will calculate its rotational rate
+  from SUS and MGM measurements. To accommodate these changes, low-pass filters for SUS
+  measurements and rates as well as MGM measurements and rates are included. Usage of the new
+  controller as well as settings of the low-pass filters can be handled via parameter commands.
 
 ## Added