What rules changes made MotoGP competitive since 2016 season?

Started watching MotoGP since 2013. Then it was duel between just Honda & Yamaha.

I remember CRTs used to have separate championship. Do we have separate championship for satellite teams now?

What rule changes lead to riders on satellite bikes like Cal, Miller etc winning races. Guys like Fabio are even overshadowing factory team riders. What caused such drastic change?

Started watching MotoGP since 2013. Then it was duel between just Honda & Yamaha.I remember CRTs used to have separate championship. Do we have separate championship for satellite teams now?What rule changes lead to riders on satellite bikes like Cal, Miller etc winning races. Guys like Fabio are even overshadowing factory team riders. What caused such drastic change? http://ifttt.com/images/no_image_card.png