diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8b2bade3b2b..d002a09ced7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,18 @@
+Paparazzi v6.1.0_stable
+=====================
+
+Stable version release v6.1. This version is an intermediate step towards
+deaper changes planned for the series 6.
+
+Since the previous RC (6.0.0_testing), new additions are
+
+- collection of small fixes: (#2809) (#2812) (#2811)
+- adaptive navigation patterns (#2813)
+- fix Gazebo coordinate transform (#2808)
+- documentation (#2815) (#2816)
+- improve system identification tools (#2810)
+
+
 Paparazzi v6.0.0_testing
 ========================
 
diff --git a/doc/sphinx/source/quickstart/install.rst b/doc/sphinx/source/quickstart/install.rst
index 8771e13e971..7b7d66ad472 100644
--- a/doc/sphinx/source/quickstart/install.rst
+++ b/doc/sphinx/source/quickstart/install.rst
@@ -51,7 +51,7 @@ Clone the repository:
 
 .. code-block:: bash
 
-    git checkout -b v5.18 upstream/v5.18
+    git checkout -b v6.1 upstream/v6.1
 
 Get the submodules and build Paparazzi. This step might take a long time the first time you launch it:
 
diff --git a/paparazzi_version b/paparazzi_version
index 5dda4171b06..acff2ac8401 100755
--- a/paparazzi_version
+++ b/paparazzi_version
@@ -1,6 +1,6 @@
 #!/bin/sh
 
-DEF_VER=v6.0.0_testing
+DEF_VER=v6.1.0_stable
 
 # First try git describe (if running on a git repo),
 # then use default version from above (for release tarballs).