diff --git a/apriltag/build.gradle b/apriltag/build.gradle
index 0edbea7..f9a24c8 100644
--- a/apriltag/build.gradle
+++ b/apriltag/build.gradle
@@ -3,7 +3,7 @@ apply plugin: 'com.android.library'
 ext {
     PUBLISH_GROUP_ID = 'org.openftc'
     PUBLISH_ARTIFACT_ID = 'apriltag'
-    PUBLISH_VERSION = '2.0.0'
+    PUBLISH_VERSION = '2.1.0'
 
     PUBLISH_DESC = 'EOCV-AprilTag-Plugin'
     PUBLISH_URL = 'https://github.com/OpenFTC/EOCV-AprilTag-Plugin'
diff --git a/readme.md b/readme.md
index 84c74bd..10f3008 100644
--- a/readme.md
+++ b/readme.md
@@ -6,7 +6,7 @@ A plug and play module for detecting AprilTags on an FTC robot, designed to be u
 
 **IMPORTANT NOTE: This assumes you have already [installed EasyOpenCV](https://github.com/OpenFTC/EasyOpenCV#installation-instructions-onbotjava)!**
 
-1. Download the latest release AAR from Maven Central. Release v2.0.0 is located [here](https://repo1.maven.org/maven2/org/openftc/apriltag/2.0.0/apriltag-2.0.0.aar).
+1. Download the latest release AAR from Maven Central. Release v2.1.0 is located [here](https://repo1.maven.org/maven2/org/openftc/apriltag/2.1.0/apriltag-2.1.0.aar).
 
 2. In the OnBotJava console, click the Upload Files button (to the left of the trash can), select the `.aar` file you just downloaded, and wait while OnBotJava processes the library.
 
@@ -25,7 +25,7 @@ A plug and play module for detecting AprilTags on an FTC robot, designed to be u
 3. At the bottom, add this:
 
         dependencies {
-            implementation 'org.openftc:apriltag:2.0.0'
+            implementation 'org.openftc:apriltag:2.1.0'
          }
 
 4. Now perform a Gradle Sync:
@@ -42,6 +42,10 @@ Alternatively, you can find PNGs [here](https://github.com/AprilRobotics/aprilta
 
 ## Changelog:
 
+### v2.1.0
+
+- Updates to the latest version of AprilTag as of 8 June 2024
+
 ### v2.0.0
 
  - **API CHANGE:** `AprilTagPose` now provides the full 3x3 rotation matrix rather than precomputed euler angles. You can get euler angles the same way as with the IMU; i.e. `Orientation.getOrientation(detection.pose.R, AxesReference.INTRINSIC, AxesOrder.YXZ, AngleUnit.DEGREES);`