anchor.diff:  		{ target_angular_velocity, {0, 0, 0} },
   
   		% Intrinsic ship parameters
  -		{ linear_target_velocity_scaling, {600, 800, 500} }, % {sideslip, throttle, lift}
  -		{ angular_target_velocity_scaling, {2, 2, 2} }, %  {pitch, roll, yaw}
  -		{ max_linear_thrust, {300, 400, 250} }, % {sideslip, throttle, lift}
  -		{ max_angular_thrust, {2, 2, 2} }, %  {pitch, roll, yaw}
  -		{ linear_responsiveness, {3, 3, 3} }, % {sideslip, throttle, lift}
  -		{ angular_responsiveness, {3, 3, 3} } %  {pitch, roll, yaw}
  +		{ linear_target_velocity_scaling, {1200, 1000, 1600} }, % {sideslip, lift, throttle}
  +		{ angular_target_velocity_scaling, {2, 2, 2} }, %  {pitch, heading, roll}
  +		{ max_linear_thrust, {600, 500, 800} }, % {sideslip, lift, throttle}
  +		{ max_angular_thrust, {2, 2, 2} }, %  {pitch, heading, roll}
  +		{ linear_responsiveness, {3, 3, 3} }, % {sideslip, lift, throttle}
  +		{ angular_responsiveness, {3, 3, 3} } %  {pitch, heading, roll}
   	]),
   
   	% Merge our initial shipstate dict with our default values, prefering our initials where there are
  
positive.code: handle_input_command(Entity, <<"pitch">>, [TargetVel], _KWArgs) ->
  	set_target_angular_velocity(Entity, {TargetVel, undefined, undefined});
  
  handle_input_command(Entity, <<"yaw">>, [TargetVel], _KWArgs) ->
  	set_target_angular_velocity(Entity, {undefined, TargetVel, undefined});
  
  handle_input_command(Entity, <<"roll">>, [TargetVel], _KWArgs) ->
  	set_target_angular_velocity(Entity, {undefined, undefined, -TargetVel});
  
  % Catch-all
  handle_input_command(Entity, Command, Args, KWArgs) ->
  
negative.code: 	% Calculate relative torque
  	Torque = {
  		calc_thrust(MaxPitchT, PitchR, PitchVel, TPitchScale * TPitch),
  		calc_thrust(MaxHeadingT, HeadingR, HeadingVel, THeadingScale * THeading),
  		calc_thrust(MaxRollT, RollR, RollVel, TRollScale * TRoll)
  	},
  
  	PhysicalChanges = [
  