Merge pull request #155 from Field-Robotics-Lab/bsb/changelogupdate

Changelog update based on PRs and commits

Author: bsb808

Changelog.md

@@ -90,3 +90,15 @@ This changelog covers the entire dave project which includes a few repositories,
 - Documentation, descriptions and tutorials
   - Overall Installation to tutorial wikis are updated for Ubuntu Focal (20.04) - Noetic - Gazebo 11 Support
 
+
+## [4.1.0] - 2021-09-03
+
+### Added
+
+- Extended DVL sensor capabilities to support user-specified, spatially varying currents and provide vertical water column velocity profiles :  dave PRs [#144](https://github.com/Field-Robotics-Lab/dave/pull/144) and [#154](https://github.com/Field-Robotics-Lab/dave/pull/154).
+- [Terrain-Aided Navigation demonstration scenarios wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Terrain-Aided-Navigation-(TAN)-Senarios)
+
+### Update
+
+- Continued updates to conform to new repository layout for the purposes of increasing clarity and ease of maintenance : dave PRs [#143](https://github.com/Field-Robotics-Lab/dave/pull/143), [#145](https://github.com/Field-Robotics-Lab/dave/pull/145), [#149](https://github.com/Field-Robotics-Lab/dave/pull/149) and [#150](https://github.com/Field-Robotics-Lab/dave/pull/143).
+