diff --git a/docs/Configuration.md b/docs/Configuration.md
index 72f52a138c..cd9f75da29 100644
--- a/docs/Configuration.md
+++ b/docs/Configuration.md
@@ -132,8 +132,29 @@ set telemetry_provider = 1
 save
 ```
 
+## Migrating from baseflight
+
+Before flashing with cleanflight, dump your configs for each profile via the CLI and save to a text file.
+
+profile 0
+dump
+profile 1
+dump
+profile 2
+dump
+
+Then after flashing cleanflight paste the output from each dump command into the cli, switching profiles as you go.
+
+You'll note that some commands are not recognised by cleanflight when you do this.  For the commands that are not recognised look
+up the new configuration options and choose appropriate values for the settings.  See below for a list of differences.
+
+Once you've done this for the first profile, save the config.  Then verify your config is OK, e.g. features serial ports, etc.
+When you've verified the first profile is OK repeat for the other profiles.
+
 ## CLI command differences from baseflight
 
+In general all CLI commands use underscore characters to separate words for consistency.  In baseflight the format of CLI commands is somewhat haphazard.
+
 ### gps_baudrate
 reason: simplify
 
@@ -163,3 +184,43 @@ Example: to use RSSI on AUX1 in Cleanflight use `set rssi_aux_channel = 5`, sinc
 reason: improved functionality
 
 See `failsafe_min_usec` and `failsafe_max_usec` in Failsafe documentation.
+
+### emfavoidance
+reason: renamed to `emf_avoidance` for consistency
+
+### yawrate
+reason: renamed to `yaw_rate` for consistency
+
+### yawdeadband
+reason: renamed to `yaw_deadband` for consistency
+
+### midrc
+reason: renamed to `midrc` for consistency
+
+### mincheck
+reason: renamed to `min_check` for consistency
+
+### maxcheck
+reason: renamed to `max_check` for consistency
+
+### minthrottle
+reason: renamed to `min_throttle` for consistency
+
+### maxthrottle
+reason: renamed to `max_throttle` for consistency
+
+### mincommand
+reason: renamed to `min_command` for consistency
+
+### deadband3d_low
+reason: renamed to `3d_deadband_low` for consistency
+
+### deadband3d_high
+reason: renamed to `3d_deadband_high` for consistency
+
+### deadband3d_throttle
+reason: renamed to `3d_deadband_throttle` for consistency
+
+### neutral3d
+reason: renamed to `3d_neutral` for consistency
+
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 44701e2c61..b2e772646b 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -146,19 +146,19 @@ const clivalue_t valueTable[] = {
     { "looptime", VAR_UINT16, &masterConfig.looptime, 0, 9000 },
     { "emf_avoidance", VAR_UINT8, &masterConfig.emf_avoidance, 0, 1 },
 
-    { "midrc", VAR_UINT16, &masterConfig.rxConfig.midrc, 1200, 1700 },
-    { "mincheck", VAR_UINT16, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
-    { "maxcheck", VAR_UINT16, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "mid_rc", VAR_UINT16, &masterConfig.rxConfig.midrc, 1200, 1700 },
+    { "min_check", VAR_UINT16, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "max_check", VAR_UINT16, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
     { "rssi_channel", VAR_INT8, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
 
-    { "minthrottle", VAR_UINT16, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
-    { "maxthrottle", VAR_UINT16, &masterConfig.escAndServoConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
-    { "mincommand", VAR_UINT16, &masterConfig.escAndServoConfig.mincommand, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "min_throttle", VAR_UINT16, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "max_throttle", VAR_UINT16, &masterConfig.escAndServoConfig.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "min_command", VAR_UINT16, &masterConfig.escAndServoConfig.mincommand, PWM_RANGE_ZERO, PWM_RANGE_MAX },
 
-    { "deadband3d_low", VAR_UINT16, &masterConfig.flight3DConfig.deadband3d_low, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME upper limit should match code in the mixer, 1500 currently
-    { "deadband3d_high", VAR_UINT16, &masterConfig.flight3DConfig.deadband3d_high, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME lower limit should match code in the mixer, 1500 currently,
-    { "neutral3d", VAR_UINT16, &masterConfig.flight3DConfig.neutral3d, PWM_RANGE_ZERO, PWM_RANGE_MAX },
-    { "deadband3d_throttle", VAR_UINT16, &masterConfig.flight3DConfig.deadband3d_throttle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "3d_deadband_low", VAR_UINT16, &masterConfig.flight3DConfig.deadband3d_low, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME upper limit should match code in the mixer, 1500 currently
+    { "3d_deadband_high", VAR_UINT16, &masterConfig.flight3DConfig.deadband3d_high, PWM_RANGE_ZERO, PWM_RANGE_MAX }, // FIXME lower limit should match code in the mixer, 1500 currently,
+    { "3d_neutral", VAR_UINT16, &masterConfig.flight3DConfig.neutral3d, PWM_RANGE_ZERO, PWM_RANGE_MAX },
+    { "3d_deadband_throttle", VAR_UINT16, &masterConfig.flight3DConfig.deadband3d_throttle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
 
     { "motor_pwm_rate", VAR_UINT16, &masterConfig.motor_pwm_rate, 50, 32000 },
     { "servo_pwm_rate", VAR_UINT16, &masterConfig.servo_pwm_rate, 50, 498 },
@@ -218,7 +218,7 @@ const clivalue_t valueTable[] = {
     { "throttle_correction_angle", VAR_UINT16, &currentProfile.throttle_correction_angle, 1, 900 },
 
     { "deadband", VAR_UINT8, &currentProfile.deadband, 0, 32 },
-    { "yawdeadband", VAR_UINT8, &currentProfile.yaw_deadband, 0, 100 },
+    { "yaw_deadband", VAR_UINT8, &currentProfile.yaw_deadband, 0, 100 },
     { "yaw_control_direction", VAR_INT8, &masterConfig.yaw_control_direction, -1, 1 },
 
     { "yaw_direction", VAR_INT8, &currentProfile.mixerConfig.yaw_direction, -1, 1 },
@@ -283,15 +283,15 @@ const clivalue_t valueTable[] = {
     { "i_yaw", VAR_UINT8, &currentProfile.pidProfile.I8[YAW], 0, 200 },
     { "d_yaw", VAR_UINT8, &currentProfile.pidProfile.D8[YAW], 0, 200 },
 
-    { "Ppitchf", VAR_FLOAT, &currentProfile.pidProfile.P_f[PITCH], 0, 100 },
-    { "Ipitchf", VAR_FLOAT, &currentProfile.pidProfile.I_f[PITCH], 0, 100 },
-    { "Dpitchf", VAR_FLOAT, &currentProfile.pidProfile.D_f[PITCH], 0, 100 },
-    { "Prollf", VAR_FLOAT, &currentProfile.pidProfile.P_f[ROLL], 0, 100 },
-    { "Irollf", VAR_FLOAT, &currentProfile.pidProfile.I_f[ROLL], 0, 100 },
-    { "Drollf", VAR_FLOAT, &currentProfile.pidProfile.D_f[ROLL], 0, 100 },
-    { "Pyawf", VAR_FLOAT, &currentProfile.pidProfile.P_f[YAW], 0, 100 },
-    { "Iyawf", VAR_FLOAT, &currentProfile.pidProfile.I_f[YAW], 0, 100 },
-    { "Dyawf", VAR_FLOAT, &currentProfile.pidProfile.D_f[YAW], 0, 100 },
+    { "p_pitchf", VAR_FLOAT, &currentProfile.pidProfile.P_f[PITCH], 0, 100 },
+    { "i_pitchf", VAR_FLOAT, &currentProfile.pidProfile.I_f[PITCH], 0, 100 },
+    { "d_pitchf", VAR_FLOAT, &currentProfile.pidProfile.D_f[PITCH], 0, 100 },
+    { "p_rollf", VAR_FLOAT, &currentProfile.pidProfile.P_f[ROLL], 0, 100 },
+    { "i_rollf", VAR_FLOAT, &currentProfile.pidProfile.I_f[ROLL], 0, 100 },
+    { "d_rollf", VAR_FLOAT, &currentProfile.pidProfile.D_f[ROLL], 0, 100 },
+    { "p_yawf", VAR_FLOAT, &currentProfile.pidProfile.P_f[YAW], 0, 100 },
+    { "i_yawf", VAR_FLOAT, &currentProfile.pidProfile.I_f[YAW], 0, 100 },
+    { "d_yawf", VAR_FLOAT, &currentProfile.pidProfile.D_f[YAW], 0, 100 },
 
     { "level_horizon", VAR_FLOAT, &currentProfile.pidProfile.H_level, 0, 10 },
     { "level_angle", VAR_FLOAT, &currentProfile.pidProfile.A_level, 0, 10 },