diff --git a/.travis.yml b/.travis.yml
index 0337261e..37f24faf 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -45,11 +45,13 @@ env:
   - CONFIG_BOARD_VERSION=v3.4-48V DEPLOY=v3.4-48V
   - CONFIG_BOARD_VERSION=v3.5-24V DEPLOY=v3.5-24V
   - CONFIG_BOARD_VERSION=v3.5-48V DEPLOY=v3.5-48V
+  - CONFIG_BOARD_VERSION=v3.6-24V DEPLOY=v3.6-24V
+  - CONFIG_BOARD_VERSION=v3.6-56V DEPLOY=v3.6-56V
 
   # Various protocol combinations
-  - CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=native-stream CONFIG_UART_PROTOCOL=native
-  - CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=stdout CONFIG_UART_PROTOCOL=stdout
-  - CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=none CONFIG_UART_PROTOCOL=none
+  #- CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=native-stream CONFIG_UART_PROTOCOL=native
+  #- CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=stdout CONFIG_UART_PROTOCOL=stdout
+  #- CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=none CONFIG_UART_PROTOCOL=none
 
 script:
 - "./Firmware/build.sh"
diff --git a/CHANGELOG.md b/CHANGELOG.md
index b384b7f7..bad1b4c9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,12 +2,17 @@
 Please add a note of your changes below this heading if you make a Pull Request.
 
 ### Added
+* A release target for ODrive v3.6
 * Communication watchdog feature.
 * `encoder.set_linear_count(count)` function.
 * Configurable encoder offset calibration distance and speed:`calib_scan_distance` and `calib_scan_omega`
 * Encoder offset calibration debug variable `calib_scan_response`
+* Lock-in drive feature
 * Script to enable using a hall signal as index edge.
 
+### Changed
+* Encoder index search now based on the new lock-in drive feature
+
 ### Fixed
 * Encoder index interrupts now disabled when not searching