diff --git a/CHANGELOG.md b/CHANGELOG.md
index d42efd7e..0d282fc5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -39,6 +39,10 @@ list yields a list of all related PRs for each release.
   previous range setting was wrong. Also fixed a small error properly set internal state
   on shut-down.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
+- `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of 
+  max. range based, as previous fix still left an margin of error between ADIS16505 sensors 
+  and L3GD20 sensors.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/346
 
 # [v1.19.0] 2023-01-10