Merge pull request #640 from iNavFlight/update-dev-master

Update dev from master

docs/Cli.md

@@ -256,6 +256,10 @@ Re-apply any new defaults as desired.
 | `flaperon_throw_offset`         | Defines throw range in us for both ailerons that will be applied (before scaling) when FLAPERON mode is activated. | 100      | 400     | 250             | Profile       | UINT16    |  
 | `flaperon_throw_inverted`       | Inverts throw offset on both ailerons. Can be used to create SPOILERON or just to change throw direction | OFF      | ON     | OFF             | Profile       | UINT8    |  
 | `fw_iterm_throw_limit`          | Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set `0` to disable completely.  | 0      | 500     | 165             | Profile       | UINT16    |  
+| `iterm_ignore_threshold`        | Used to prevent Iterm accumulation on ROLL/PITCH axis during stick movements. Iterm is allowed to change fully when sticks are centered. Iterm will not change when requested rotation speed is above `iterm_ignore_threshold`. Iterm acumulation is scaled lineary between `0` and `iterm_ignore_threshold`  | 15      | 1000     | 200             | Profile       | UINT8    |
+| `yaw_iterm_ignore_threshold`    | Used to prevent Iterm accumulation on YAW axis during stick movements. Iterm is allowed to change fully when sticks are centered. Iterm will not change when requested rotation speed is above `yaw_iterm_ignore_threshold`. Iterm acumulation is scaled lineary between `0` and `yaw_iterm_ignore_threshold`  | 15      | 1000     | 50             | Profile       | UINT8    |
+| `rate_accel_limit_roll_pitch`   | Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When  set correctly, it greatly improves stopping performance. Value of `0` disables limiting. Disabled by default. | 0      | 500000     | 0             | Profile       | UINT8    |
+| `rate_accel_limit_yaw`          | Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When  set correctly, it greatly improves stopping performance and general stability durig yaw turns. Value of `0` disables limiting. Enabled by default. | 0      | 500000     | 10000 | Profile       | UINT8    |
 
 ## New iNav specific
 | `Variable`                                    | Description/Units                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | Min    | Max    | Default          | Type         | Datatype |