diff --git a/main.lua b/main.lua
index 4a000fb..134ccbc 100644
--- a/main.lua
+++ b/main.lua
@@ -33,6 +33,8 @@ Thrusters = {
     }
 } -- Table of thruster tables
 
+SensorData = {}
+
 ThrusterTypes = {
     "thruster",
     "solid_fuel_thruster",
@@ -455,11 +457,21 @@ function PollVelocity()
 
     -- Velocity Sensors
     VelocityVectors = {}
-    for vsindex, velsensor in pairs(velSensors) do
-        local vsAxis = velsensor.getAxis()
-        local vsVelocity = velsensor.getVelocity()
-        VelocityVectors[vsAxis] = vsVelocity
+    local next = next
+    if next(velSensors) == nil then
+
+        SensorData.Velocity = {}
+
+        for vsindex, velsensor in pairs(velSensors) do
+            
+            local vsAxis = velsensor.getAxis()
+            local vsVelocity = velsensor.getVelocity()
+            VelocityVectors[vsAxis] = vsVelocity
+            
+            SensorData.Velocity.Raw = VelocityVectors
+        end
     end
+    
 end
 
 function PollAltitude()
@@ -467,19 +479,32 @@ function PollAltitude()
 
     -- Altitude Sensor
     if altSensor then
+
+        SensorData.Altitude = {}
+
         Altitude = altSensor.getHeight()
         AirPressure = altSensor.getAirPressure()
         VerticalSpeed = altSensor.getVerticalSpeed()
+
+        SensorData.Altitude.Altitude = Altitude
+        SensorData.Altitude.AirPressure = AirPressure
+        SensorData.Altitude.VerticalSpeed = VerticalSpeed
     end
 end
 
 function PollNavTable()
     local navTable = peripheral.find("navigation_table") -- enforce one nav table
-
+    
     -- Navigation Table
     if navTable then
+
+        SensorData.NavTable = {}
+
         Heading = navTable.getHeading()
         NavTableHasTarget = navTable.hasTarget()
+
+        SensorData.NavTable.Heading = Heading
+        SensorData.NavTable.HasTarget = NavTableHasTarget
         if NavTableHasTarget then
             BearingToTarget = navTable.getBearing()
             TargetClosureRate = navTable.getClosureRate()
@@ -492,13 +517,11 @@ function PollNavTable()
             TargetVerticalOffset = 0
             TargetRelativeAngle = 0
         end
-    else
-        Heading = 0
-        NavTableHasTarget = false
-        BearingToTarget = 0
-        TargetClosureRate = 0
-        TargetVerticalOffset = 0
-        TargetRelativeAngle = 0
+
+        SensorData.NavTable.TargetBearing = BearingToTarget
+        SensorData.NavTable.TargetClosureRate = TargetClosureRate
+        SensorData.NavTable.TargetVerticalOffset = TargetVerticalOffset
+        SensorData.NavTable.TargetRelativeAngle = TargetRelativeAngle
     end
 end
 
@@ -507,13 +530,16 @@ function PollGimbal()
 
     -- Gimbal Sensor
     if gimbalSensor then
+
+        SensorData.Gimbal = {}
+
         Angles = gimbalSensor.getAngles()
         AngularRates = gimbalSensor.getAngularRates()
         LinearAcceleration = gimbalSensor.getLinearAcceleration()
-    else
-        Angles = {0, 0}
-        AngularRates = {0, 0, 0}
-        LinearAcceleration = {0, 0, 0}
+
+        SensorData.Gimbal.Angles = Angles
+        SensorData.Gimbal.AngularRates = AngularRates
+        SensorData.Gimbal.LinearAcceleration = LinearAcceleration
     end
 end
 
@@ -667,35 +693,40 @@ function displayInstrumentPanel(monitor, sensorData)
     m.write("Caero Attitude Control")
     m.setCursorPos(1, 2)
     m.write("----------------------")
-    
-    if sensorData then
-        m.setCursorPos(1, 3)
-        m.write("Pitch:   " .. string.format("%.2f", sensorData.gimbal.pitch or 0))
-        m.setCursorPos(1, 4)
-        m.write("Roll:    " .. string.format("%.2f", sensorData.gimbal.roll or 0))
-        m.setCursorPos(1, 5)
-        m.write("Yaw:     " .. string.format("%.2f", sensorData.navTable.heading or 0))
-        m.setCursorPos(1, 6)
-        m.write("Velocity: " .. string.format("%.2f", sensorData.velocity or 0))
-        m.setCursorPos(1, 7)
-        m.write("Altitude: " .. string.format("%.2f", sensorData.altitude or 0))
-    else
-        m.setCursorPos(1, 3)
-        m.write("Pitch:   0.00")
-        m.setCursorPos(1, 4)
-        m.write("Roll:    0.00")
-        m.setCursorPos(1, 5)
-        m.write("Yaw:     0.00")
-        m.setCursorPos(1, 6)
-        m.write("Velocity: 0.00")
-        m.setCursorPos(1, 7)
-        m.write("Altitude: 0.00")
+
+    local next = next
+    if next(sensorData) ~= nil then
+        if sensorData then
+            m.setCursorPos(1, 3)
+            m.write("Pitch:   " .. string.format("%.2f", SensorData.Gimbal.Angles.xAngle or 0))
+            m.setCursorPos(1, 4)
+            m.write("Roll:    " .. string.format("%.2f", SensorData.Gimbal.Angles.zAngle or 0))
+            m.setCursorPos(1, 5)
+            m.write("Yaw:     " .. string.format("%.2f", SensorData.NavTable.Heading or 0))
+            m.setCursorPos(1, 6)
+            m.write("Velocity: " .. string.format("%.2f", sensorData.velocity or 0))
+            m.setCursorPos(1, 7)
+            m.write("Altitude: " .. string.format("%.2f", SensorData.Altitude.Altitude or 0))
+        else
+            m.setCursorPos(1, 3)
+            m.write("Pitch:   0.00")
+            m.setCursorPos(1, 4)
+            m.write("Roll:    0.00")
+            m.setCursorPos(1, 5)
+            m.write("Yaw:     0.00")
+            m.setCursorPos(1, 6)
+            m.write("Velocity: 0.00")
+            m.setCursorPos(1, 7)
+            m.write("Altitude: 0.00")
+        end
+        
+        -- Display autopilot status
+        local autopilotStatus = Config.Autopilot.AutopilotEngaged and "ON" or "OFF"
+        m.setCursorPos(1, 9)
+        m.write("Autopilot: " .. autopilotStatus)
     end
     
-    -- Display autopilot status
-    local autopilotStatus = Config.Autopilot.AutopilotEngaged and "ON" or "OFF"
-    m.setCursorPos(1, 9)
-    m.write("Autopilot: " .. autopilotStatus)
+    
 end
 
 function displayAutopilotControls(monitor, sensorData)
@@ -763,15 +794,16 @@ function Main()
     Init()
 
     local sentinel = true
+    print("Mainloop starting. Press 'q' to stop the loop and save configuration changes.")
     while sentinel do
 
         -- Update monitor displays
         if Config.Monitors.InstrumentPanelMonitor then
-            displayInstrumentPanel(Config.Monitors.InstrumentPanelMonitor)
+            displayInstrumentPanel(Config.Monitors.InstrumentPanelMonitor, SensorData)
         end
         
         if Config.Monitors.AutopilotControlMonitor then
-            displayAutopilotControls(Config.Monitors.AutopilotControlMonitor)
+            displayAutopilotControls(Config.Monitors.AutopilotControlMonitor, SensorData)
         end
 
         local unindexedThrusters = checkIfThrusterIsIndexed()