Universal Modelling Language create plans and track the development cycle and can aid QA.
Both of these are free, and have all the features you want for a rich UML interface.
Draw
Best paid UML
Has github integration, and the price seems reasonable. It's used by Google, Oracle, Cisco, Amazon etc
GenMyModel
Different approach
I personally, like repurposing 'mindmaps' just because they keep the plan simpler and it's fine if I'm doing something on my own without classes or rich details to keep track of.
https://app.mindmup.com
http://mindmapfree.com
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