diff --git a/doc/changes/drivers/mr.249.md b/doc/changes/drivers/mr.249.md
new file mode 100644
index 000000000..5c31f91e2
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+++ b/doc/changes/drivers/mr.249.md
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+Use new pre-filter and 3-DoF filter in drivers.
diff --git a/doc/changes/misc_features/mr.249.2.md b/doc/changes/misc_features/mr.249.2.md
new file mode 100644
index 000000000..e3700d452
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+++ b/doc/changes/misc_features/mr.249.2.md
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+Add pre-filter and a simple understandable 3-DoF fusion filter.
diff --git a/doc/changes/misc_features/mr.249.md b/doc/changes/misc_features/mr.249.md
new file mode 100644
index 000000000..fbf30ab6d
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+++ b/doc/changes/misc_features/mr.249.md
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+Expand algebraic math functions.
diff --git a/doc/changes/misc_fixes/mr.249.md b/doc/changes/misc_fixes/mr.249.md
new file mode 100644
index 000000000..24350e3d4
--- /dev/null
+++ b/doc/changes/misc_fixes/mr.249.md
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+Use the correct time delta in DayDream driver.