iOS 9 beta goes to developers today; public beta coming in July

Apple announced on stage at WWDC 2015 that they would be making a developer beta of iOS 9 available today, with a public beta coming in July.
Those interested can head to beta.apple.com to sign up.

iOS 9 will support all devices that support iOS 8. These include the iPhone 4s, 5, 5c, 5s, and iPhone 6 and 6 Plus. iPads supported include the iPad 2, 3, and 4, as well as the iPad Air and iPad Air 2. The 5th-generation iPod Touch will also be supported. Some features, like iOS 9's new multitasking capabilities, will be limited to newer devices.

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WWDC 2015