diff --git a/CHANGELOG.md b/CHANGELOG.md
index a12219d7..e64319be 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 
 ### Changed
 * We now enforce encoder offset calibration must happen after index is found (if using index)
+* Renaming of the velocity estimate `pll_vel` -> `vel_estimate`.
 
 ### Fixed
 * Once you got an axis error `ERROR_INVALID_STATE` you could never clear it