diff --git a/Arduino/Razor_AHRS/Razor_AHRS.ino b/Arduino/Razor_AHRS/Razor_AHRS.ino
index 72504d3..b8df948 100644
--- a/Arduino/Razor_AHRS/Razor_AHRS.ino
+++ b/Arduino/Razor_AHRS/Razor_AHRS.ino
@@ -1,5 +1,5 @@
 /***************************************************************************************************************
-* Razor AHRS Firmware v1.4.2
+* Razor AHRS Firmware v1.5.1
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" (SEN-10125 and SEN-10736)
 * and "9DOF Sensor Stick" (SEN-10183, 10321 and SEN-10724)
diff --git a/README.md b/README.md
index b03a440..2246935 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-Razor AHRS v1.5
+Razor AHRS v1.5.1
 ---
 
 **9 Degree of Measurement Attitude and Heading Reference System** for Sparkfun *9DOF Razor IMU* (SEN-10125, SEN-10736 and SEN-14001) and SparkFun *9DOF Sensor Stick* (SEN-10183, SEN-10321 and SEN-10724)
@@ -55,6 +55,10 @@ Building your own app:
 * If you want to use the DeclinationHelper class you also need:  
 `android.permission.ACCESS_FINE_LOCATION` and `android.permission.ACCESS_COARSE_LOCATION`
 
+### Optional: ROS Interface
+
+See http://wiki.ros.org/razor_imu_9dof.
+
 Donation
 ---