diff --git a/docs.md b/docs.md
index 150014d..38eb2b1 100644
--- a/docs.md
+++ b/docs.md
@@ -194,6 +194,12 @@ Every cycle:
 - Velocity Sensor `getAxis()`, `getVelocity`
 - Poll input signal strengths for global downwards thrust, and fore and aft thrust
 
+### Math
+
+#### Calculate Counteractive Thrust
+
+TODO: fill in
+
 ### Data Structures
 
 #### Config
@@ -241,6 +247,8 @@ Config = {
 }
 ```
 
+#### SensorData
+
 The member variables of the sensor table is as follows:
 
 ```lua
@@ -284,11 +292,21 @@ SensorData = {
 }
 ```
 
+#### Thrusters
+
 The member variables of the Thruster table are as follows (using some example thrusters):
 
 ```lua
 Thrusters = {
     gyroscopic_propeller_bearing_0 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_0",
         thruster = nil,
@@ -308,6 +326,14 @@ Thrusters = {
         power = nil
     },
     gyroscopic_propeller_bearing_1 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_1",
         thruster = nil,
@@ -327,6 +353,14 @@ Thrusters = {
         power = nil
     },
     gyroscopic_propeller_bearing_2 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_2",
         thruster = nil,
@@ -346,6 +380,14 @@ Thrusters = {
         power = nil
     },
     gyroscopic_propeller_bearing_3 = {
+        -- primary attitude thruster?
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        -- primary lateral thruster?
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_3",
         thruster = nil,
diff --git a/thrusters.txt.example b/thrusters.txt.example
index 4cf82c4..78ca4f0 100644
--- a/thrusters.txt.example
+++ b/thrusters.txt.example
@@ -1,53 +1,101 @@
 return {
     gyroscopic_propeller_bearing_0 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_0",
         thruster = nil,
         transmission = nil,
         affectVectors = {
-            yaw = nil,
-            pitch = "up",
-            roll = "star",
-            lateral = nil
+            angular = {
+              yaw = nil,
+              pitch = "up",
+              roll = "star",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
         },
         power = nil
     },
     gyroscopic_propeller_bearing_1 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_1",
         thruster = nil,
         transmission = nil,
         affectVectors = {
-            yaw = nil,
-            pitch = "up",
-            roll = "port",
-            lateral = nil
+            angular = {
+              yaw = nil,
+              pitch = "up",
+              roll = "port",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
         },
         power = nil
     },
     gyroscopic_propeller_bearing_2 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_2",
         thruster = nil,
         transmission = nil,
         affectVectors = {
-            yaw = nil,
-            pitch = "down",
-            roll = "port",
-            lateral = nil
+            angular = {
+              yaw = nil,
+              pitch = "down",
+              roll = "port",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
         },
         power = nil
     },
     gyroscopic_propeller_bearing_3 = {
+        primary_pitch_thruster = true,
+        primary_roll_thruster = true,
+        primary_yaw_thruster = false,
+        primary_altitude_thruster = true,
+        primary_fore_thruster = false,
+        primary_aft_thruster = false,
         type = "rotator",
         name = "gyroscopic_propeller_bearing_3",
         thruster = nil,
         transmission = nil,
         affectVectors = {
-            yaw = nil,
-            pitch = "down",
-            roll = "star",
-            lateral = nil
+            angular = {
+              yaw = nil,
+              pitch = "down",
+              roll = "star",
+            },
+            lateral = {
+              x = nil,
+              y = "up",
+              z = nil
+            }
         },
         power = nil
     }