diff --git a/CHANGELOG.md b/CHANGELOG.md
index fd257682..072af641 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,38 @@
 ### Added
 - Hub name setting for selecting hub name when flashing firmware ([support#52]).
 
+### Changed
+- Updated to Pybricks firmware v3.1.0c1:
+
+  ### Added
+  - Added `DriveBase.curve()` method to drive an arc segment.
+  - Added `then` and `wait` arguments to `DriveBase` methods ([support#57]).
+
+  ### Changed
+  - Dropped `integral_range` argument from `Control.pid()`. This setting was
+    ineffective and never used. When set incorrectly, the motor could get stuck
+    for certain combinations of `kp` and `ki`.
+  - Improved motor behavior for cases with low-speed, low-load, but high
+    inertia ([support#366]).
+  - Changed how the duty cycle limit is set for `Motor` and `DCMotor`. It is now
+    set as a voltage limit via a dedicated method, instead of `Motor.control`.
+
+  ### Fixed
+  - Fixed `then=Stop.COAST` being ignored in most motor commands.
+  - Fixed `brake()`/`light.off()` not working on Move hub I/O port C ([support#501]).
+  - Fixed `Remote()` failing to connect when hub is connected to 2019 or newer
+    MacBooks ([support#397]).
+  - Fixed intermittent improper detection of hot-plugged I/O devices ([support#500]).
+  - A program now stops when a `Motor` is unplugged while it is running, instead
+    of getting in a bad state.
+
+  [support#57]: https://github.com/pybricks/support/issues/57
+  [support#366]: https://github.com/pybricks/support/issues/366
+  [support#397]: https://github.com/pybricks/support/issues/397
+  [support#500]: https://github.com/pybricks/support/issues/500
+  [support#501]: https://github.com/pybricks/support/issues/501
+
+
 [support#52]: https://github.com/pybricks/support/issues/52
 
 ## [1.1.0-beta.6] - 2021-09-21
@@ -134,7 +166,7 @@
 - Updated projects URL.
 - Updated hub firmware to [v3.1.0a1].
 - Updated docs.
-- 
+-
 [v3.1.0a1]: https://github.com/pybricks/pybricks-micropython/blob/master/CHANGELOG.md#310a1---2021-06-23
 
 ## [1.0.0] - 2021-06-08