diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9c9330eec..a2fe4c4c4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,18 +1,26 @@
 # Changelog
 
+## Version 2.4.0 (2016-02-29)
+
+### Bug Fixes
+
+* Use monotonic clock for all of the internal timeouts and time
+  measurements
+* Docs fixes
 
-## Version 2.3.0 (2016-11-25)
+
+## Version 2.3.0 (2016-02-26)
 
 ### New Features
 
-* px4 compatability improvements
+* PX4 compatibility improvements
 
 ### Updated Features
 
 * Documentation fixes
 * PIP repository improvements
-* mode-setting API improvements
-* ardupilot-solo compatability fixes
+* Mode-setting API improvements
+* ardupilot-solo compatibility fixes
 
 
 
@@ -21,8 +29,10 @@
 ### Bug Fixes
 
 * Splits outbound messages into its own thread.
-* remove of capabilities request on HEARTBEAT listener
-* check if mode_mapping has items before iteration
+* Remove of capabilities request on HEARTBEAT listener
+* Check if mode_mapping has items before iteration
+
+
 
 ## Version 2.1.0 (2016-02-16)
 
diff --git a/docs/about/github_latest_release.txt b/docs/about/github_latest_release.txt
index 15ea9853e..102656248 100644
--- a/docs/about/github_latest_release.txt
+++ b/docs/about/github_latest_release.txt
@@ -3,22 +3,31 @@
 Changelog
 =========
 
-Version 2.3.0 (2016-11-25)
+Version 2.4.0 (2016-02-29)
+--------------------------
+
+Bug Fixes
+~~~~~~~~~
+
+-  Use monotonic clock for all of the internal timeouts and time
+   measurements
+-  Docs fixes
+
+Version 2.3.0 (2016-02-26)
 --------------------------
 
 New Features
 ~~~~~~~~~~~~
 
-* px4 compatability improvements
+-  PX4 compatibility improvements
 
 Updated Features
 ~~~~~~~~~~~~~~~~
 
-- Documentation fixes
-- PIP repository improvements
-- mode-setting API improvements
-- ardupilot-solo compatability fixes
-
+-  Documentation fixes
+-  PIP repository improvements
+-  Mode-setting API improvements
+-  ardupilot-solo compatibility fixes
 
 Version 2.2.0 (2016-02-19)
 --------------------------
@@ -26,10 +35,9 @@ Version 2.2.0 (2016-02-19)
 Bug Fixes
 ~~~~~~~~~
 
-- Splits outbound messages into its own thread.
-- remove of capabilities request on HEARTBEAT listener
-- check if mode_mapping has items before iteration
-
+-  Splits outbound messages into its own thread.
+-  Remove of capabilities request on HEARTBEAT listener
+-  Check if mode\_mapping has items before iteration
 
 Version 2.1.0 (2016-02-16)
 --------------------------
@@ -37,36 +45,43 @@ Version 2.1.0 (2016-02-16)
 New Features
 ~~~~~~~~~~~~
 
-- Gimbal control attribute
-- Autopilot version attribute
-- Autopilot capabilities attribute
-- Best Practice guide documentation.
-- Performance test example (restructured and docs added)
+-  Gimbal control attribute
+-  Autopilot version attribute
+-  Autopilot capabilities attribute
+-  Best Practice guide documentation.
+-  Performance test example (restructured and docs added)
 
-Updated Features
-~~~~~~~~~~~~~~~~
+Updated Features:
+~~~~~~~~~~~~~~~~~
 
 Many documentation fixes:
 
-- Restructured documentation with Develop (Concepts) and Guide (HowTo) sections
-- Docs separated out "Connection Strings" section.
-- Improved test and contribution sections.
-- Updated examples and documentation to use DroneKit-Sitl for simulation ("zero setup examples")
-- Debugging docs updated with additional libraries.
-- Flight Replay example fetches data from TLOG rather than droneshare
-- Drone Delivery example now uses strart location for home address.
-- Disabled web tests (not currently supported/used)
-- Updated copyright range to include changes in 2016
-
+-  Restructured documentation with Develop (Concepts) and Guide (HowTo)
+   sections
+-  Docs separated out "Connection Strings" section.
+-  Improved test and contribution sections.
+-  Updated examples and documentation to use DroneKit-Sitl for
+   simulation ("zero setup examples")
+-  Debugging docs updated with additional libraries.
+-  Flight Replay example fetches data from TLOG rather than droneshare
+-  Drone Delivery example now uses strart location for home address.
+-  Disabled web tests (not currently supported/used)
+-  Updated copyright range to include changes in 2016
 
 Bug Fixes
 ~~~~~~~~~
 
-- Numerous minor docs fixes.
-- Harmonise nosetest options across each of the integration platforms
-- Fix incorrect property marker for airspeed attribute
+-  Numerous minor docs fixes.
+-  Harmonise nosetest options across each of the integration platforms
+-  Fix incorrect property marker for airspeed attribute
 
+Version 2.0.2 (2015-11-30)
+--------------------------
+
+Bug Fixes:
+~~~~~~~~~~
 
+-  Updates ``requests`` dependency to work >=2.5.0
 
 Version 2.0.0 (2015-11-23)
 --------------------------
diff --git a/docs/conf.py b/docs/conf.py
index 0d934a3d5..2509fc2de 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -49,9 +49,9 @@
 # built documents.
 #
 # The short X.Y version.
-version = '2.3'
+version = '2.4'
 # The full version, including alpha/beta/rc tags.
-release = '2.3.0'
+release = '2.4.0'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
diff --git a/setup.py b/setup.py
index b34ff24c4..d0b4d8835 100644
--- a/setup.py
+++ b/setup.py
@@ -1,7 +1,7 @@
 from setuptools import setup, Extension
 import platform
 
-version = '2.3.0'
+version = '2.4.0'
 
 setup(name='dronekit',
       zip_safe=True,