diff --git a/docs.md b/docs.md
index 420f386..3022eb8 100644
--- a/docs.md
+++ b/docs.md
@@ -193,3 +193,93 @@ Every cycle:
 - Altitude Sensor `getHeight()`, `getAirPressure()`, `getVerticalSpeed()`
 - Velocity Sensor `getAxis()`, `getVelocity`
 - Poll input signal strengths for global downwards thrust, and fore and aft thrust
+
+### Data Structures
+
+#### Config
+
+The member variables of the Config table is as follows:
+
+```lua
+Config = {
+  ConfigPath = "/path/to/config.txt",
+  thrusterConfigPath = "path/to/thrusters.txt",
+  Debug = false, -- controls various debug print statements
+  Monitors = {
+    InstrumentPanelMonitor = {
+      name = "peripheralName",
+      peripheral = {} -- stores the table returned by running peripheral.wrap(name)
+    },
+    AutopilotControlMonitor = {
+      name = "peripheralName",
+      peripheral = {}
+    }
+  },
+  Autopilot = {
+    AutopilotEngaged = false, -- global shutoff for all autopilot functions
+    AutoForeAft = false, -- automatic forward/rearward throttle
+    AutopilotDesiredSpeed = nil, -- keep a certain velocity
+    AutopilotDesiredHeading = nil -- maintain a certain heading
+  },
+  SensorCorrection = {
+    Heading = 0 -- this is directly added to the heading value, in case the vessel was built with the heading not being direct north
+  },
+  Throttles = {
+    fore = {
+      name = "peripheralName",
+      side = "redstoneRelaySide" -- it is assumed that a user will use a redstone relay for their throttles
+    },
+    aft = {
+      name = "peripheralName",
+      side = "redstoneRelaySide"
+    },
+    down = {
+      name = "peripheralName",
+      side = "redstoneRelaySide"
+    }
+  }
+}
+```
+
+The member variables of the sensor table is as follows:
+
+```lua
+SensorData = {
+  Velocity = {
+    Raw = {
+      x = nil,
+      y = nil,
+      z = nil
+    }
+  },
+  Altitude = {
+    Altitude = nil,
+    AirPressure = nil,
+    VerticalSpeed = nil
+  },
+  NavTable = {
+    Heading = nil,
+    HasTarget = nil,
+    -- values past this are only populated if HasTarget == true
+    TargetBearing = nil,
+    TargetClosureRate = nil,
+    TargetVerticalOffset = nil,
+    TargetRelativeAngle = nil
+  },
+  Gimbal = {
+    Angles = {
+      xAngle = nil,
+      zAngle = nil
+    },
+    AngularRates = {
+      wx = nil,
+      wy = nil,
+      wz = nil
+    },
+    LinearAcceleration = {
+      ax = nil,
+      ay = nil,
+      az = nil
+  }
+}
+```