diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2ae19953..86db8832 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -43,6 +43,10 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint
 
 # Releases
+## [0.4.12] - 2020-05-06
+### Fixed
+* Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint
+
 ## [0.4.11] - 2019-07-25
 ### Added
 * Separate lockin configs for sensorless, index search, and general.
diff --git a/docs/Gemfile.lock b/docs/Gemfile.lock
index 860837ad..93af7d5e 100644
--- a/docs/Gemfile.lock
+++ b/docs/Gemfile.lock
@@ -134,7 +134,7 @@ GEM
       jekyll (~> 3.3)
     jekyll-remote-theme (0.2.3)
       jekyll (~> 3.5)
-      rubyzip (>= 1.2.2, < 3.0)
+      rubyzip (>= 1.3.0, < 3.0)
       typhoeus (>= 0.7, < 2.0)
     jekyll-sass-converter (1.5.2)
       sass (~> 3.4)
@@ -221,7 +221,7 @@ GEM
     ruby-enum (0.7.2)
       i18n
     ruby_dep (1.5.0)
-    rubyzip (1.2.2)
+    rubyzip (1.3.0)
     safe_yaml (1.0.4)
     sass (3.5.6)
       sass-listen (~> 4.0.0)
diff --git a/docs/odrivetool.md b/docs/odrivetool.md
index cb8059c3..dddd5ea1 100644
--- a/docs/odrivetool.md
+++ b/docs/odrivetool.md
@@ -88,7 +88,7 @@ To compile firmware from source, refer to the [developer guide](developer-guide)
 * On some machines you will need to unplug and plug back in the USB cable to make the PC understand that we switched from regular mode to bootloader mode.
 * If the DFU script can't find the device, try forcing it into DFU mode.
 
-  <details><summary markdown="span">How to force DFU mode (ODrive v3.5)</summary><div markdown="block">
+  <details><summary markdown="span">How to force DFU mode (ODrive v3.5 and newer)</summary><div markdown="block">
   Flick the DIP switch that "DFU, RUN" to "DFU" and power cycle the board. After you're done upgrading firmware, don't forget to put the switch back into the "RUN" position and power cycle the board again.
   </div></details>
 
diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py
index c1bb36a8..c80d2863 100755
--- a/tools/odrive/utils.py
+++ b/tools/odrive/utils.py
@@ -70,7 +70,7 @@ def oscilloscope_dump(odrv, num_vals, filename='oscilloscope.csv'):
             f.write(str(odrv.get_oscilloscope_val(x)))
             f.write('\n')
 
-data_rate = 10
+data_rate = 100
 plot_rate = 10
 num_samples = 1000
 def start_liveplotter(get_var_callback):
diff --git a/tools/setup.py b/tools/setup.py
index 986d9d0d..118f0ae5 100644
--- a/tools/setup.py
+++ b/tools/setup.py
@@ -32,7 +32,7 @@ to publish packages with the name odrive.
 """
 
 # Set to true to make the current release
-is_release = False
+is_release = True
 
 # Set to true to make an official post-release, rather than dev of new version
 is_post_release = False