Docs updated

docs/Cli.md

@@ -341,7 +341,6 @@ Re-apply any new defaults as desired.
 |  yaw_deadband  | 5 | These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle. |
 |  throttle_tilt_comp_str  | 0 | Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled. |
 |  flaperon_throw_offset  | 200 | Defines throw range in us for both ailerons that will be passed to servo mixer via input source 14 (`FEATURE FLAPS`) when FLAPERON mode is activated. |
-|  gimbal_mode  | NORMAL | This can be either NORMAL or MIXTILT. NORMAL mean each axis is outputed to separated servos. MIXTILT combines PITCH and ROLL. Refer to gimbal documentation |
 |  fw_iterm_throw_limit  | 165 | 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. |
 |  fw_reference_airspeed  | 1000 | Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present. |
 |  fw_turn_assist_yaw_gain  | 1 | Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter |

docs/Servo Gimbal.md

@@ -0,0 +1,17 @@
+# Servo Gimbal
+
+Starting from INAV 2.0, _servo gimbal_ (aka _SERVO_TILT_) feature is removed. This functionality can be configured using _Mixer Configurator Tab_ instead.
+
+Servo gimbal using mixer works for all flight controllers that supports servos in either multirotor or airplane configuration. Bear in mind, that some boards might not have any servo outputs in multirotor configuration. In this case, servo gimbal will just not work. Refer to the board documentation to find out if servos are available in multirotor configuration.
+
+## How to setup _Servo Gimbal_
+
+1. Open Mixer tab
+1. Add new _servo rule_ for given servo index
+1. Choose source as one of _Gimbal Pitch_ and _Gimbal Roll_
+1. When required, apply scaling of the output by modyfing weight
+1. When required, servo direction can be modified by applying negative weight
+
+### MIXTILT option
+
+In rare cases, when gimbal required pitch mixed with roll, it is possible to use mixer to do it. In this case, mix roll and pitch exis are required. Refer to gimbal documentation for more details.

src/main/config/parameter_group_ids.h

@@ -19,7 +19,7 @@
 #define PG_CF_START 1
 #define PG_FAILSAFE_CONFIG 1
 #define PG_BOARD_ALIGNMENT 2
-#define PG_GIMBAL_CONFIG 3
+// #define PG_GIMBAL_CONFIG 3 Not used since 2.0
 #define PG_MOTOR_MIXER 4
 #define PG_BLACKBOX_CONFIG 5
 #define PG_MOTOR_CONFIG 6