diff --git a/sensors/orientation.md b/sensors/orientation.md
index 9eba52a7..e258692d 100644
--- a/sensors/orientation.md
+++ b/sensors/orientation.md
@@ -15,6 +15,38 @@ top = false
 
 ## Sensors
 
+### Sensor Types
+
+Type | Subtype(s) | Primary Function(s) | Interface Library
+---|---|---|---
+Accelerometer | motion<br>/ orientation | translation<br>/ uprightness | ...
+Magnetometer<br>/ Compass | motion<br>/ orientation | yaw rate<br>/ angle | ...
+Gyroscope | motion<br>/ orientation | rotation rate<br>/ roll/pitch/yaw changes | ...
+Barometer (external) | positioning<br>/ motion | depth<br>/ vertical | ...
+Barometer (internal) | safety | ... | ...
+Temperature | environment | accuracy correction | ...
+Power Usage | safety | battery level<br>/ usage within capacity | ...
+Rangefinder<br>/ Altimeter | positioning<br>/ safety | terrain-follow<br>/ target tracking<br>/ obstacle avoidance | ...
+Leak Detector | safety | enclosure failure | ...
+GPS (surface) | positioning | absolute localisation<br>/ drift correction | ...
+USBL / SBL | positioning | ... | ...
+DVL | positioning | positioning | ...
+
+### Tested with ArduSub
+
+Sensor | Type | [Used On](@/hardware/required/autopilot/index.md) | Integration Source
+---|---|---|---
+[MMC5983](.) | Magnetometer | Navigator | ...
+[AK09915](.) | Compass | Navigator | ...
+[LSM303D](.) | Accel / Mag | Pixhawk | ...
+[IST8310](.) | Magnetometer | Pixhawk 4 | ...
+[ICM-20602](.) | IMU | Navigator / Pixhawk 4 | [AP_IntertialSensor_Invensense.cpp](https://github.com/ArduPilot/ardupilot/blob/Sub-4.1/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp)
+[L3GD20H](.) | Gyroscope | Pixhawk | ...
+[MPU6000](.) | accel/gyro | Pixhawk | ...
+[BMI055](.) | accel/gyro | Pixhawk 4 | ...
+[ICM-20689](.) | accel/gyro | Pixhawk 4 | ...
+
+
 ### Magnetometers / Compasses
 
 - Measure magnetic field strength in all directions
@@ -22,7 +54,7 @@ top = false
 - Calibration allows correcting for _constant_ magnetic effects from vehicle components
 - Subject to error due to magnetic field fluctuations (from nearby changing electrical currents, and going near large magnetic structures)
 - DIFFERENCE??
-- [`AP_...` library]()
+- [`AP_...` library](.)
 
 ### Gyroscopes
 
@@ -30,7 +62,7 @@ top = false
 - Can be integrated over time to estimate relative rotation angles
    - Integrated readings continually build error, and need to be corrected for by an absolute reference
 - Faster response than compass
-- [`AP_...` library]()
+- [`AP_...` library](.)
 - [`AP_Compass` library](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Compass)
 
 ### Accelerometers
@@ -44,17 +76,6 @@ top = false
 - [`AP_InertialSensor` library](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_InertialSensor)
 
 ### Tested with ArduSub
-- [MMC5983 magnetometer]() (Navigator)
-- [AK09915 compass]() (Navigator)
-- [LSM303D accel/mag]() (Pixhawk)
-- [IST8310 magnetometer]() (Pixhawk 4)
-- [ICM-20602 IMU]() (Navigator / Pixhawk 4)
-- [L3GD20H gyro]() (Pixhawk)
-- [MPU6000 accel/gyro]() (Pixhawk)
-- [BMI055 accel/gyro]() (Pixhawk 4)
-- [ICM-20689 accel/gyro]() (Pixhawk 4)
-- [ICM 20602](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp)
-
 
 ## Code Usage
 InertialSensor -> InertialNav / NavEKF/2/3 -> AHRS -> AttitudeControl