diff --git a/.github/actions/add-version-to-channel/action.yml b/.github/actions/add-version-to-channel/action.yml
new file mode 100644
index 00000000..9349dc88
--- /dev/null
+++ b/.github/actions/add-version-to-channel/action.yml
@@ -0,0 +1,41 @@
+name: 'Add version to release channel'
+description: |
+  Appends the specified version to the end of the specified release channel if
+  it wasn't already part of that channel.
+
+inputs:
+  release_type:
+    description: 'Release type (firmware, gui, docs, internal-docs).'
+    required: true
+  channel:
+    description: 'The channel on which to register this version'
+    required: true
+  version:
+    description: 'The version name (commit hash or semantic version name)'
+    required: true
+  odrive_api_key:
+    description: 'Key to our release index server'
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - name: Register on release server
+      shell: python
+      run: |
+        import asyncio
+        import sys
+        import aiohttp
+
+        sys.path.insert(0, '${{ github.workspace }}/.github/actions/upload-release')
+        from odrive.api_client import ApiClient
+        from private_release_api import PrivateReleaseApi
+
+        async def main():
+          async with aiohttp.ClientSession() as session:
+            api_client = ApiClient(session, key='${{ inputs.odrive_api_key }}')
+            release_api = PrivateReleaseApi(api_client)
+            await release_api.append_to_channel('${{ inputs.release_type }}', "${{ inputs.channel }}", "${{ inputs.version }}")
+            await release_api.refresh_routes('${{ inputs.release_type }}')
+
+        asyncio.run(main())
diff --git a/.github/actions/upload-release/action.yml b/.github/actions/upload-release/action.yml
index b37c68d9..a84d306d 100644
--- a/.github/actions/upload-release/action.yml
+++ b/.github/actions/upload-release/action.yml
@@ -2,11 +2,14 @@ name: 'Upload (Pre)release'
 description: |
   Pushes the specified local directory to our release file server and registers
   the new content on our release index server.
-  Whether the release will be public depends on the channel and its settings.
+  The version will not yet be associated with a channel.
 
 inputs:
   release_type:
-    description: 'Release type (firmware, gui, docs, internal-docs).' # TODO: Currently only firmware is supported.
+    description: 'Release type (firmware, gui, docs, internal-docs).' # TODO: Currently only firmware and docs is supported.
+    required: true
+  version:
+    description: 'The version name (commit hash or semantic version name)'
     required: true
   src_dir:
     description: 'The source directory on the local system.'
@@ -27,7 +30,7 @@ inputs:
     description: 'Firmware app name (default, bootloader) (for firmware releases only).'
     required: false
   variant:
-    description: 'Variant (for docs releases only).'
+    description: 'Variant (public or internal).'
     required: false
 
 runs:
@@ -101,10 +104,9 @@ runs:
         from private_release_api import PrivateReleaseApi
         from odrive.crypto import safe_b64decode
         
-        channel="0.5.4"
+        version="${{ inputs.version }}"
 
-        print("Channel:  ", channel)
-        print("Commit hash: ", '${{ github.sha }}')
+        print("Version: ", version)
         print("Content key: ", '${{ steps.load-content-key.outputs.content-key }}')
 
         async def main():
@@ -121,8 +123,12 @@ runs:
               qualifiers['variant'] = '${{ inputs.variant }}'
             
             content_key = safe_b64decode('${{ steps.load-content-key.outputs.content-key }}')
-            await release_api.register_content('${{ inputs.release_type }}', '${{ github.sha }}', content_key, **qualifiers)
-            await release_api.register_commit('${{ inputs.release_type }}', channel, '${{ github.sha }}')
-            await release_api.refresh_routes('${{ inputs.release_type }}')
+
+            # Content can only be registered once, afterwards the indicated_commit cannot be changed
+            if "${{ steps.load-content-key.outputs.needs-upload}}" == 'true':
+              await release_api.register_content('${{ inputs.release_type }}', content_key, '${{ github.sha }}')
+
+            # Can be called multiple times with same or different parameters. No effect if called twice with the same parameters.
+            await release_api.register_version('${{ inputs.release_type }}', version, content_key, **qualifiers)
 
         asyncio.run(main())
diff --git a/.github/actions/upload-release/private_release_api.py b/.github/actions/upload-release/private_release_api.py
index c75f61ea..269892ac 100644
--- a/.github/actions/upload-release/private_release_api.py
+++ b/.github/actions/upload-release/private_release_api.py
@@ -48,19 +48,25 @@ class PrivateReleaseApi():
         })
         return outputs
 
-    async def register_content(self, release_type: str, commit_hash: str, content_key: bytes, **qualifiers):
-        args = {
-            'commit_hash': commit_hash,
+    async def register_content(self, release_type: str, content_key: bytes, indicated_commit: str):
+        outputs = await self._api_client.call('PUT', PrivateReleaseApi.BASE_URL + '/' + release_type + '/content', inputs={
             'content_key': b64encode(content_key),
-            **qualifiers
-        }
-        outputs = await self._api_client.call('PUT', PrivateReleaseApi.BASE_URL + '/' + release_type + '/content', inputs=args)
+            'indicated_commit': indicated_commit,
+        })
         return outputs['created']
 
-    async def register_commit(self, release_type: str, channel: str, commit_hash: str):
-        outputs = await self._api_client.call('PUT', PrivateReleaseApi.BASE_URL + '/' + release_type + '/commit', inputs={
-            'commit_hash': commit_hash,
-            'channel': channel
+    async def register_version(self, release_type: str, version: str, content_key: bytes, **qualifiers):
+        outputs = await self._api_client.call('PUT', PrivateReleaseApi.BASE_URL + '/' + release_type + '/version', inputs={
+            'version': version,
+            'content_key': b64encode(content_key),
+            **qualifiers
+        })
+        return outputs['created']
+
+    async def append_to_channel(self, release_type: str, channel: str, version: str):
+        outputs = await self._api_client.call('PUT', PrivateReleaseApi.BASE_URL + '/' + release_type + '/channel', inputs={
+            'channel': channel,
+            'version': version,
         })
         return outputs['published']
 
diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
index f957a612..5ff5da14 100644
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -2,7 +2,7 @@ name: Build and publish HTML documentation website
 
 on:
   push:
-    branches: [ master ]
+    branches: [ 'docs-v**' ]
     paths: ['docs/**', '.github/**']
 
 jobs:
@@ -10,6 +10,18 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v2
+
+    - name: Get release name and channel
+      id: release-info
+      shell: python
+      run: |
+        channel = "master"
+        version = "${{ github.ref }}"
+        assert version.startswith("refs/heads/docs-v0.5.")
+        version = version[len("refs/heads/docs-v"):]
+
+        print("::set-output name=channel::" + channel)
+        print("::set-output name=version::" + version)
     
     - name: Cache pip
       uses: actions/cache@v2
@@ -32,8 +44,17 @@ jobs:
       uses: ./.github/actions/upload-release
       with:
         release_type: docs
+        version: ${{ steps.release-info.outputs.version }}
         src_dir: docs/_build/html
         do_access_key: ${{ secrets.DIGITALOCEAN_ACCESS_KEY }}
         do_secret_key: ${{ secrets.DIGITALOCEAN_SECRET_KEY }}
         odrive_api_key: ${{ secrets.ODRIVE_API_KEY }}
         variant: public
+
+    - name: Add version to release channel
+      uses: ./.github/actions/add-version-to-channel
+      with:
+        release_type: docs
+        channel: ${{ steps.release-info.outputs.channel }}
+        version: ${{ steps.release-info.outputs.version }}
+        odrive_api_key: ${{ secrets.ODRIVE_API_KEY }}
diff --git a/docs/conf.py b/docs/conf.py
index d9c63ace..7490c08d 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -25,9 +25,6 @@ project = 'ODrive Documentation'
 copyright = '2021, ODrive Robotics'
 author = 'ODrive Robotics'
 
-# The full version, including alpha/beta/rc tags
-release = '0.0'
-
 
 # -- General configuration ---------------------------------------------------
 
@@ -61,6 +58,11 @@ exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
 #
 # html_theme = 'alabaster'
 html_theme = "sphinx_rtd_theme"
+html_theme_options = {
+    'analytics_id':'UA-93396600-3',
+    'style_external_links': True,
+    'display_version': True,
+}
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
@@ -72,3 +74,10 @@ fibre_interface_files = ['../Firmware/odrive-interface.yaml']
 autosummary_generate = False
 
 intersphinx_mapping = {'python': ('https://docs.python.org/3', None)}
+
+html_js_files = [
+    'https://docs.odriverobotics.com/docsInject.js'
+]
+
+version = "0.5.4"
+release = version