Definition of waiver. 1  1 : the act of intentionally relinquishing or abandoning a known right, claim, or privilege; also : the legal instrument evidencing such an act.
Roll, pitch and yaw. Roll, pitch and yaw are rotations along the natural axes of the helicopter (or any aircraft). A rolling movement is where the helicopter rotates along a line along its length using lateral cyclic inputs (aileron), eventually turning from right way up to inverted while maintaining the helicopter's heading.
As the pitch of the rotor changes, the torque on the fuselage changes. Increase pitch, the blade bites into the air more, spinning the fuselage in the opposite direction. If you want to yaw a coax rotor helicopter, then increase pitch on one rotor.