diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6178646ba0ad44f5a170b41b92e80e4775a9e089..0d88f7faa4dcb5825741be91e97a299d960242f4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@
 Requires `libfranka` >= 0.3.0
 
   * Added some missing includes to `franka_hw`
+  * Allow elbow commanding in Cartesian pose and Cartesian velocity interface.
 
 ## 0.4.0 - 2018-03-26