diff --git a/baseflight.uvopt b/baseflight.uvopt
index 53db26c9f..2084cf0cb 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -161,9 +161,24 @@
         <Bp>
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+          <EnabledFlag>1</EnabledFlag>
+          <Address>134218890</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\src/cli.c\309</Expression>
+        </Bp>
+        <Bp>
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@@ -173,6 +188,21 @@
           <ExecCommand></ExecCommand>
           <Expression>\\baseflight\src/drv_mpu6050.c\58</Expression>
         </Bp>
+        <Bp>
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+          <EnabledFlag>1</EnabledFlag>
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+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\src/cli.c\316</Expression>
+        </Bp>
       </Breakpoint>
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@@ -202,7 +232,7 @@
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@@ -519,10 +549,10 @@
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 :04000005080000ED02
 :00000001FF
diff --git a/src/board.h b/src/board.h
index a872baa8e..63acf0ab1 100755
--- a/src/board.h
+++ b/src/board.h
@@ -5,6 +5,7 @@
 #include <stdint.h>
 #include <math.h>
 #include <string.h>
+#include <stdio.h>
 
 #include "stm32f10x_conf.h"
 #include "core_cm3.h"
@@ -20,14 +21,13 @@ typedef enum {
 typedef enum {
     FEATURE_PPM = 1 << 0,
     FEATURE_VBAT = 1 << 1,
-    FEATURE_SERVO = 1 << 2,
+    FEATURE_INFLIGHT_ACC_CAL = 1 << 2,
     FEATURE_DIGITAL_SERVO = 1 << 3,
     FEATURE_MOTOR_STOP = 1 << 4,
     FEATURE_SERVO_TILT = 1 << 5,
     FEATURE_CAMTRIG = 1 << 6,
     FEATURE_GYRO_SMOOTHING = 1 << 7,
     FEATURE_LED_RING = 1 << 8,
-    FEATURE_INFLIGHT_ACC_CAL = 1 << 9,
 } AvailableFeatures;
 
 typedef void (* sensorInitFuncPtr)(void);
diff --git a/src/cli.c b/src/cli.c
index 4e05c9b7e..68c1e897f 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -3,23 +3,32 @@
 
 // we unset this on 'exit'
 extern uint8_t cliMode;
+static void cliDefaults(char *cmdline);
 static void cliExit(char *cmdline);
+static void cliFeature(char *cmdline);
 static void cliHelp(char *cmdline);
 static void cliMixer(char *cmdline);
-static void cliRMode(char *cmdline);
+static void cliSave(char *cmdline);
 static void cliSet(char *cmdline);
 static void cliVersion(char *cmdline);
 
 // buffer
 static char cliBuffer[32];
 static uint8_t bufferIndex = 0;
-static bool unsaved = false;
 
+// sync this with MultiType enum from mw.h
 const char *mixerNames[] = {
     "TRI", "QUADP", "QUADX", "BI",
-    "GIMBAL", "Y6", "HEX6", 
+    "GIMBAL", "Y6", "HEX6",
     "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
-    "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4"
+    "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", NULL
+};
+
+// sync this with AvailableFeatures enum from board.h
+const char *featureNames[] = {
+    "PPM", "VBAT", "INFLIGHT_ACC_CAL", "DIGITAL_SERVO", "MOTOR_STOP",
+    "SERVO_TILT", "CAMTRIG", "GYRO_SMOOTHING", "LED_RING",
+    NULL
 };
 
 typedef struct {
@@ -30,17 +39,18 @@ typedef struct {
 
 // should be sorted a..z for bsearch()
 const clicmd_t cmdTable[] = {
+    { "defaults", "reset to defaults and reboot", cliDefaults },
     { "exit", "", cliExit },
+    { "feature", "list or -val or val", cliFeature },
     { "help", "", cliHelp },
-    { "mixer", "mixer name", cliMixer },
-    { "rmode", "pwm / ppm", cliRMode },
-    { "set", "name=value", cliSet },
+    { "mixer", "mixer name or list", cliMixer },
+    { "save", "save and reboot", cliSave },
+    { "set", "name=value or blank for list", cliSet },
     { "version", "", cliVersion },
 };
 #define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
 
 typedef enum {
-    VAR_BOOL,   // yes/no true/false 1/0 type stuff
     VAR_UINT8,
     VAR_INT8,
     VAR_UINT16,
@@ -65,12 +75,17 @@ const clivalue_t valueTable[] = {
     { "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
     { "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
     { "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
+    { "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
+    { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
     { "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
     { "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
 
+static void cliSetVar(const clivalue_t *var, const int32_t value);
+static void cliPrintVar(const clivalue_t *var);
+
 static void cliPrompt(void)
 {
     uartPrint("\r\n# ");
@@ -82,12 +97,82 @@ static int cliCompare(const void *a, const void *b)
     return strncasecmp(ca->name, cb->name, strlen(cb->name));
 }
 
+static void cliDefaults(char *cmdline)
+{
+    uartPrint("Resetting to defaults...\r\n");
+    checkFirstTime(true);
+    uartPrint("Rebooting...");
+    delay(10);
+    systemReset(false);
+}
+
 static void cliExit(char *cmdline)
 {
     uartPrint("\r\nLeaving CLI mode...\r\n");
     memset(cliBuffer, 0, sizeof(cliBuffer));
     bufferIndex = 0;
     cliMode = 0;
+    // save and reboot... I think this makes the most sense
+    cliSave(cmdline);
+}
+
+static void cliFeature(char *cmdline)
+{
+    uint8_t i;
+    uint8_t len;
+    uint32_t mask;
+    
+    len = strlen(cmdline);
+    mask = featureMask();
+
+    if (len == 0) {
+        uartPrint("Enabled features: ");
+        for (i = 0; ; i++) {
+            if (featureNames[i] == NULL)
+                break;
+            if (mask & (1 << i))
+                uartPrint((char *)featureNames[i]);
+            uartWrite(' ');
+        }
+        uartPrint("\r\n");
+    } else if (strncasecmp(cmdline, "list", len) == 0) {
+        uartPrint("Available features: ");
+        for (i = 0; ; i++) {
+            if (featureNames[i] == NULL)
+                break;
+            uartPrint((char *)featureNames[i]);
+            uartWrite(' ');
+        }
+        uartPrint("\r\n");
+        return;
+    } else {
+        bool remove = false;
+        if (cmdline[0] == '-') {
+            // remove feature
+            remove = true;
+            cmdline++; // skip over -
+            len--;
+        }
+
+        for (i = 0; ; i++) {
+            if (featureNames[i] == NULL) {
+                uartPrint("Invalid feature name...\r\n");
+                break;
+            }
+            if (strncasecmp(cmdline, featureNames[i], len) == 0) {
+                if (remove) {
+                    featureClear(1 << i);
+                    uartPrint("Disabled ");
+                } else {
+                    featureSet(1 << i);
+                    uartPrint("Enabled ");
+                }
+                uartPrint((char *)featureNames[i]);
+                uartPrint("\r\n");
+                break;
+            }
+        }
+    }
 }
 
 static void cliHelp(char *cmdline)
@@ -106,29 +191,141 @@ static void cliHelp(char *cmdline)
 
 static void cliMixer(char *cmdline)
 {
+    uint8_t i;
+    uint8_t len;
+    
+    len = strlen(cmdline);
+
+    if (len == 0) {
+        uartPrint("Current mixer: ");
+        uartPrint((char *)mixerNames[cfg.mixerConfiguration - 1]);
+        uartPrint("\r\n");
+        return;
+    } else if (strncasecmp(cmdline, "list", len) == 0) {
+        uartPrint("Available mixers: ");
+        for (i = 0; ; i++) {
+            if (mixerNames[i] == NULL)
+                break;
+            uartPrint((char *)mixerNames[i]);
+            uartWrite(' ');
+        }
+        uartPrint("\r\n");
+        return;
+    }
 
+    for (i = 0; ; i++) {
+        if (mixerNames[i] == NULL) {
+            uartPrint("Invalid mixer type...\r\n");
+            break;
+        }
+        if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
+            cfg.mixerConfiguration = i + 1;
+            uartPrint("Mixer set to ");
+            uartPrint((char *)mixerNames[i]);
+            uartPrint("\r\n");
+            break;
+        }
+    }
+}
 
+static void cliSave(char *cmdline)
+{
+    uartPrint("Saving...");
+    writeParams();
+    uartPrint("\r\nRebooting...");
+    delay(10);
+    systemReset(false);
 }
 
-static void cliRMode(char *cmdline)
+static void cliPrintVar(const clivalue_t *var)
 {
-    if (strncasecmp(cmdline, "pwm", 3) == 0) {
-        uartPrint("PWM Mode");
-        featureClear(FEATURE_PPM);
-    } else {
-        uartPrint("PPM Mode");
-        featureSet(FEATURE_PPM);
+    int32_t value;
+    char buf[16];
+
+    switch (var->type) {
+        case VAR_UINT8:
+            value = *(uint8_t *)var->ptr;
+            break;
+            
+        case VAR_INT8:
+            value = *(int8_t *)var->ptr;
+            break;
+            
+        case VAR_UINT16:
+            value = *(uint16_t *)var->ptr;
+            break;
+            
+        case VAR_INT16:
+            value = *(int16_t *)var->ptr;
+            break;
     }
+    snprintf(buf, 16, "%d", value);
+    uartPrint(buf);
+}
 
-    cliExit(cmdline);
-    writeParams();
-    systemReset(false);
+static void cliSetVar(const clivalue_t *var, const int32_t value)
+{
+    switch (var->type) {
+        case VAR_UINT8:
+            *(uint8_t *)var->ptr = (uint8_t)value;
+            break;
+            
+        case VAR_INT8:
+            *(int8_t *)var->ptr = (int8_t)value;
+            break;
+            
+        case VAR_UINT16:
+            *(uint16_t *)var->ptr = (uint16_t)value;
+            break;
+            
+        case VAR_INT16:
+            *(int16_t *)var->ptr = (int16_t)value;
+            break;
+    }
 }
 
 static void cliSet(char *cmdline)
 {
+    uint8_t i;
+    uint8_t len;
+    const clivalue_t *val;
+    char *eqptr = NULL;
+    int32_t value = 0;
+    
+    len = strlen(cmdline);
 
-
+    if (len == 0) {
+        uartPrint("Current settings: \r\n");
+        for (i = 0; i < VALUE_COUNT; i++) {
+            val = &valueTable[i];
+            uartPrint((char *)valueTable[i].name);
+            uartPrint(" = ");
+            cliPrintVar(val);
+            uartPrint("\r\n");
+            delay(10);
+        }
+    } else if (eqptr = strstr(cmdline, "=")) {
+        // has equal, set var
+        eqptr++;
+        len--;
+        value = atoi(eqptr);
+        for (i = 0; i < VALUE_COUNT; i++) {
+            val = &valueTable[i];
+            if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
+                // found
+                if (value >= valueTable[i].min && value <= valueTable[i].max) {
+                    cliSetVar(val, value);
+                    uartPrint((char *)valueTable[i].name);
+                    uartPrint(" set to ");
+                    cliPrintVar(val);
+                } else {
+                    uartPrint("ERR: Value assignment out of range\r\n");
+                }
+                return;
+            }
+        }
+        uartPrint("ERR: Unknown variable name\r\n");
+    }
 }
 
 static void cliVersion(char *cmdline)
@@ -150,7 +347,7 @@ void cliProcess(void)
         if (c == '\t' || c == '?') {
             const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
             int i = bufferIndex;
-            for (cmd = cmdTable;cmd < cmdTable + CMD_COUNT;cmd++) {
+            for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
                 if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0))
                     continue;
                 if (!pstart)
@@ -158,7 +355,7 @@ void cliProcess(void)
                 pend = cmd;
             }
             if (pstart) {    /* Buffer matches one or more commands */
-                for (;;bufferIndex++) {
+                for (; ; bufferIndex++) {
                     if (pstart->name[bufferIndex] != pend->name[bufferIndex])
                         break;
                     if (!pstart->name[bufferIndex]) {
@@ -179,12 +376,13 @@ void cliProcess(void)
                 cliPrompt();
                 i = 0;    /* Redraw prompt */
             }
-            for (;i < bufferIndex;i++)
+            for (; i < bufferIndex; i++)
                 uartWrite(cliBuffer[i]);
         } else if (!bufferIndex && c == 4) {
             cliExit(cliBuffer);
             return;
         } else if (c == 12) {
+            // clear screen
             uartPrint("\033[2J\033[1;1H");
             cliPrompt();
         } else if (bufferIndex && (c == '\n' || c == '\r')) {
@@ -201,7 +399,7 @@ void cliProcess(void)
             if (cmd)
                 cmd->func(cliBuffer + strlen(cmd->name) + 1);
             else
-                uartPrint("ERR: Unknown command, try 'HELP'");
+                uartPrint("ERR: Unknown command, try 'help'");
 
             memset(cliBuffer, 0, sizeof(cliBuffer));
             bufferIndex = 0;
diff --git a/src/config.c b/src/config.c
index b813f03cf..4b9475541 100755
--- a/src/config.c
+++ b/src/config.c
@@ -8,7 +8,7 @@
 config_t cfg;
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 3;
+static uint8_t checkNewConf = 4;
 
 void readEEPROM(void)
 {
@@ -52,13 +52,13 @@ void writeParams(void)
     blinkLED(15, 20, 1);
 }
 
-void checkFirstTime(void)
+void checkFirstTime(bool reset)
 {
     uint8_t test_val, i;
 
     test_val = *(uint8_t *)FLASH_WRITE_ADDR;
 
-    if (test_val == checkNewConf)
+    if (!reset && test_val == checkNewConf)
         return;
 
     // Default settings
@@ -115,7 +115,9 @@ void checkFirstTime(void)
     cfg.wing_left_mid = 1500;
     cfg.wing_right_mid = 1500;
     cfg.tri_yaw_middle = 1500;
-    
+    cfg.tri_yaw_min = 1020;
+    cfg.tri_yaw_max = 2000;
+
     // gimbal
     cfg.tilt_pitch_prop = 10;
     cfg.tilt_roll_prop = 10;
@@ -157,3 +159,8 @@ void featureClearAll()
 {
     cfg.enabledFeatures = 0;
 }
+
+uint32_t featureMask(void)
+{
+    return cfg.enabledFeatures;
+}
diff --git a/src/main.c b/src/main.c
index fe150e08c..32f906f26 100755
--- a/src/main.c
+++ b/src/main.c
@@ -1,6 +1,8 @@
 #include "board.h"
 #include "mw.h"
 
+extern uint8_t useServo;
+
 int main(void)
 {
     uint8_t i;
@@ -17,13 +19,13 @@ int main(void)
     systemInit();
 
     readEEPROM();
-    checkFirstTime();
+    checkFirstTime(false);
 
     // We have these sensors
     sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
 
     mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
-    pwmInit(feature(FEATURE_PPM), feature(FEATURE_SERVO), feature(FEATURE_DIGITAL_SERVO));
+    pwmInit(feature(FEATURE_PPM), useServo, feature(FEATURE_DIGITAL_SERVO));
 
     LED1_ON;
     LED0_OFF;
diff --git a/src/mixer.c b/src/mixer.c
index b887f3f31..c01e66992 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -2,6 +2,7 @@
 #include "mw.h"
 
 static uint8_t numberMotor = 4;
+uint8_t useServo = 0;
 int16_t motor[8];
 int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
 
@@ -9,10 +10,10 @@ void mixerInit(void)
 {
     // enable servos for mixes that require them. note, this shifts motor counts.
     if (cfg.mixerConfiguration == MULTITYPE_BI || cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_GIMBAL || cfg.mixerConfiguration == MULTITYPE_FLYING_WING)
-        featureSet(FEATURE_SERVO);
+        useServo = 1;
     // if we want camstab/trig, that also enabled servos. this is kinda lame. maybe rework feature bits later.
     if (feature(FEATURE_SERVO_TILT) || feature(FEATURE_CAMTRIG))
-        featureSet(FEATURE_SERVO);
+        useServo = 1;
 
     switch (cfg.mixerConfiguration) {
         case MULTITYPE_GIMBAL:
@@ -51,7 +52,7 @@ void mixerInit(void)
 
 void writeServos(void)
 {
-    if (!feature(FEATURE_SERVO))
+    if (!useServo)
         return;
 
     if (cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_BI) {
@@ -66,13 +67,15 @@ void writeServos(void)
     }
 }
 
+extern uint8_t cliMode;
+
 void writeMotors(void)
 {
     uint8_t i;
     uint8_t offset = 0;
-    
+
     // when servos are enabled, motor outputs 1..2 are for servos only
-    if (feature(FEATURE_SERVO))
+    if (useServo)
         offset = 2;
 
     for (i = 0; i < numberMotor; i++)
diff --git a/src/mw.h b/src/mw.h
index 595c5fe81..aa178a740 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -175,6 +175,8 @@ typedef struct config_t {
     uint16_t wing_left_mid;                 // left servo center pos. - use this for initial trim
     uint16_t wing_right_mid;                // right servo center pos. - use this for initial trim
     uint16_t tri_yaw_middle;                // tail servo center pos. - use this for initial trim
+    uint16_t tri_yaw_min;                   // tail servo min
+    uint16_t tri_yaw_max;                   // tail servo max
     
     // gimbal-related configuration
     int8_t tilt_pitch_prop;                 // servo proportional (tied to angle) ; can be negative to invert movement
@@ -270,7 +272,7 @@ void serialCom(void);
 // Config
 void readEEPROM(void);
 void writeParams(void);
-void checkFirstTime(void);
+void checkFirstTime(bool reset);
 bool sensors(uint32_t mask);
 void sensorsSet(uint32_t mask);
 void sensorsClear(uint32_t mask);
@@ -278,6 +280,7 @@ bool feature(uint32_t mask);
 void featureSet(uint32_t mask);
 void featureClear(uint32_t mask);
 void featureClearAll(void);
+uint32_t featureMask(void);
 
 // cli
 void cliProcess(void);
