diff --git a/configuration/packages/configuring-rotation-shim-controller.rst b/configuration/packages/configuring-rotation-shim-controller.rst
index 60cb13d7c..124c3790e 100644
--- a/configuration/packages/configuring-rotation-shim-controller.rst
+++ b/configuration/packages/configuring-rotation-shim-controller.rst
@@ -39,7 +39,18 @@ Rotation Shim Controller Parameters
   ============== ===========================
 
   Description
-    Maximum angular distance, in radians, away from the path heading to trigger rotation until within.
+    Maximum angular distance, in radians, away from the path heading to trigger rotation
+
+:angular_disengage_threshold:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  double         0.3925
+  ============== ===========================
+
+  Description
+    Angular distance, in radians, away from the path heading to rotation until within (new as of Oct 1, 2024 - previous behavior rotated until ``angular_dist_threshold``).
 
 :angular_disengage_threshold:
 
diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
index 04da621fd..d5ddebcdb 100644
--- a/migration/Jazzy.rst
+++ b/migration/Jazzy.rst
@@ -119,6 +119,12 @@ Default value:
 
 - true
 
+Rotation Shim Disengagement Threshold
+*************************************
+
+The parameter ``angular_disengage_threshold`` was introduced as a new threshold for disengagement of the rotation in the rotation shim controller.
+Previous behavior rotated until the ``angular_dist_threshold``, now it can rotate until the ``angular_disengage_threshold``, which can be set closer to the path's orientation if desired.
+
 Added optional collision checking for the Docking Server
 ********************************************************