diff --git a/.github/FUNDING.yml b/.github/FUNDING.yml
new file mode 100644
index 0000000..550c1fd
--- /dev/null
+++ b/.github/FUNDING.yml
@@ -0,0 +1,14 @@
+# These are supported funding model platforms
+
+# github: # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
+# patreon: # Replace with a single Patreon username
+# open_collective: # Replace with a single Open Collective username
+ko_fi: philiplinden
+# tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
+# community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
+# liberapay: # Replace with a single Liberapay username
+# issuehunt: # Replace with a single IssueHunt username
+# lfx_crowdfunding: # Replace with a single LFX Crowdfunding project-name e.g., cloud-foundry
+# polar: # Replace with a single Polar username
+# buy_me_a_coffee: # Replace with a single Buy Me a Coffee username
+# custom: # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
new file mode 100644
index 0000000..789db9e
--- /dev/null
+++ b/.github/workflows/docs.yml
@@ -0,0 +1,34 @@
+name: Docs
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+env:
+  CARGO_TERM_COLOR: always
+  RUST_LOG: info
+
+jobs:
+  book:
+    runs-on: ubuntu-20.04
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.ref }}
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Setup mdBook
+        uses: peaceiris/actions-mdbook@v2
+        with:
+          mdbook-version: '0.4.10'
+          # mdbook-version: 'latest'
+
+      - run: mdbook build
+
+      - name: Deploy to GitHub Pages
+        uses: peaceiris/actions-gh-pages@v3
+        if: ${{ github.ref == 'refs/heads/main' }}
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/book
diff --git a/.github/workflows/extras.yml b/.github/workflows/extras.yml
deleted file mode 100644
index 1b415c5..0000000
--- a/.github/workflows/extras.yml
+++ /dev/null
@@ -1,66 +0,0 @@
-name: Extras
-
-on:
-  push:
-    branches: [ "main" ]
-  pull_request:
-    branches: [ "main" ]
-  
-env:
-  CARGO_TERM_COLOR: always
-  RUST_LOG: info
-  
-jobs:
-
-  book:
-    runs-on: ubuntu-20.04
-    concurrency:
-      group: ${{ github.workflow }}-${{ github.ref }}
-    steps:
-      - uses: actions/checkout@v2
-
-      - name: Setup mdBook
-        uses: peaceiris/actions-mdbook@v2
-        with:
-          mdbook-version: '0.4.10'
-
-      - run: mdbook build
-
-      - name: Deploy
-        uses: peaceiris/actions-gh-pages@v3
-        if: ${{ github.ref == 'refs/heads/main' }}
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: ./book
-
-#   deploy:
-#     if: github.ref == 'refs/heads/main'
-#     needs: doc
-#     # Grant GITHUB_TOKEN the permissions required to make a Pages deployment
-#     permissions:
-#       pages: write      # to deploy to Pages
-#       id-token: write   # to verify the deployment originates from an appropriate source
-#     # Deploy to the github-pages environment
-#     environment:
-#       name: github-pages
-#       url: ${{ steps.deployment.outputs.page_url }}
-#     runs-on: ubuntu-latest
-#     steps:
-#       - uses: actions/checkout@v3
-#         with:
-#           fetch-depth: 0
-
-#       - uses: actions/download-artifact@v4
-#         with:
-#           name: doc
-#           path: ${{ github.workspace }}
-
-#       - name: Upload Pages artifact
-#         uses: actions/upload-pages-artifact@v3
-#         with:
-#           path: target/doc
-
-#       - name: Deploy to GitHub Pages
-#         id: deployment
-#         uses: actions/deploy-pages@v4
-#         if: github.event_name != 'pull_request'
diff --git a/Cargo.toml b/Cargo.toml
index 952077a..bdf7399 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,55 +1,20 @@
-[package]
+[workspace]
+resolver = "2" # Important for Bevy
+members = [
+    "crates/yahs",
+    "crates/yahs-cli",
+    "crates/yahs-ui"
+]
+
+[workspace.package]
 name = "yahs"
 description = "Yet Another HAB Simulator"
 version = "0.4.0"
 authors = ["Philip Linden <lindenphilipj@gmail.com>"]
 readme = "README.md"
-license = "MIT or Apache-2.0"
-edition = "2021"
-
-default-run = "yahs"
-
-# When importing this crate as a dependency, use the simulator library as "yahs"
-[lib]
-name = "yahs"
-path = "src/simulator/src/lib.rs"
-
-# When running this project as a CLI, use the CLI binary as "yahs"
-[[bin]]
-name = "yahs"
-path = "src/cli/src/main.rs"
-
-# These are the dependencies when building the CLI from the project root
-[dependencies]
-# Simulator dependencies
-yahs-simulator = { path = "src/simulator" }
-bevy = { workspace = true }
-avian3d = { workspace = true }
-bevy-trait-query = { workspace = true }
-
-# CLI dependencies
-yahs-cli = { path = "src/cli" }
-bevy_ratatui = "0.7.0"
-ratatui = "0.29"
-color-eyre = "0.6.3"
-crossterm = "0.28.1"
-
-[features]
-default = ["dev"]
-dev = ["yahs-cli/dev", "yahs-simulator/dev"]
-
-[workspace.package]
-authors = ["Philip Linden <lindenphilipj@gmail.com>"]
 edition = "2021"
 license = "MIT or Apache-2.0"
-
-[workspace]
-resolver = "2" # Important for Bevy
-members = [
-    "src/simulator",
-    "src/cli",
-    "src/ui"
-]
+license-file = "LICENSE-APACHE"
 
 [workspace.dependencies]
 # Shared dependencies with fixed versions
@@ -59,21 +24,6 @@ bevy = { version = "0.15.0", default-features = false, features = [
 avian3d = { git = "https://github.com/Jondolf/avian.git", branch = "main" }
 bevy-trait-query = "0.7.0"
 
-# -----------------------------------------------------------------------------
-# Some Bevy optimizations
-# -----------------------------------------------------------------------------
-
-# Idiomatic Bevy code often triggers these lints, and the CI workflow treats
-# them as errors. In some cases they may still signal poor code quality however,
-# so consider commenting out these lines.
-[lints.clippy]
-# Bevy supplies arguments to systems via dependency injection, so it's
-# natural for systems to request more than 7 arguments -- which triggers
-# this lint.
-too_many_arguments = "allow"
-# Queries that access many components may trigger this lint.
-type_complexity = "allow"
-
 # Compile with Performance Optimizations:
 # https://bevyengine.org/learn/quick-start/getting-started/setup/#compile-with-performance-optimizations
 
@@ -92,7 +42,8 @@ debug = false
 [profile.release]
 # Compile the entire crate as one unit. Slows compile times, marginal
 # improvements.
-codegen-units = 1
+# codegen-units = 1
+
 # Optimize with size in mind (also try "z", sometimes it is better).
 # Slightly slows compile times, great improvements to file size and runtime
 # performance.
diff --git a/README.md b/README.md
index 1854d29..95a20ce 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,8 @@
 
 A high altitude balloon flight simulator built in
 [Bevy](https://bevyengine.org/) with Rust, inspired by
-[tkschuler/EarthSHAB](https://github.com/tkschuler/EarthSHAB).
+[tkschuler/EarthSHAB](https://github.com/tkschuler/EarthSHAB) and
+[mfc-apps](https://github.com/Brickworks/mfc-apps).
 
 [devlog](docs/devlog.md)
 
@@ -28,7 +29,7 @@ fn main() {
 ```
 
 Then you can use all of the components and systems from the
-[`yahs-simulator`](./src/simulator/README.md) crate.
+[`yahs`](./crates/yahs/README.md) crate.
 
 
 ### As an application
diff --git a/src/cli/Cargo.toml b/crates/yahs-cli/Cargo.toml
similarity index 91%
rename from src/cli/Cargo.toml
rename to crates/yahs-cli/Cargo.toml
index e1f8448..9ed0e11 100644
--- a/src/cli/Cargo.toml
+++ b/crates/yahs-cli/Cargo.toml
@@ -11,7 +11,7 @@ name = "yahs-cli"
 path = "src/main.rs"
 
 [dependencies]
-yahs-simulator = { path = "../simulator" }
+yahs = { path = "../yahs" }
 bevy = { workspace = true, features = [
     "bevy_state",
     "multi_threaded",
diff --git a/src/cli/README.md b/crates/yahs-cli/README.md
similarity index 100%
rename from src/cli/README.md
rename to crates/yahs-cli/README.md
diff --git a/src/cli/src/lib.rs b/crates/yahs-cli/src/lib.rs
similarity index 100%
rename from src/cli/src/lib.rs
rename to crates/yahs-cli/src/lib.rs
diff --git a/src/cli/src/main.rs b/crates/yahs-cli/src/main.rs
similarity index 100%
rename from src/cli/src/main.rs
rename to crates/yahs-cli/src/main.rs
diff --git a/src/ui/Cargo.toml b/crates/yahs-ui/Cargo.toml
similarity index 92%
rename from src/ui/Cargo.toml
rename to crates/yahs-ui/Cargo.toml
index 95a7e72..49f39ff 100644
--- a/src/ui/Cargo.toml
+++ b/crates/yahs-ui/Cargo.toml
@@ -11,7 +11,7 @@ name = "yahs-ui"
 path = "src/main.rs"
 
 [dependencies]
-yahs-simulator = { path = "../simulator" }
+yahs = { path = "../yahs" }
 bevy = { workspace = true, default-features = false, features = [
     "bevy_asset",
     "bevy_core_pipeline",
@@ -38,6 +38,6 @@ dev = [
     "avian3d/debug-plugin",
     "bevy/bevy_dev_tools",
     "bevy/dynamic_linking",
-    "yahs-simulator/dev",
+    "yahs/dev",
 ]
 inspect = ["bevy-inspector-egui"]
diff --git a/crates/yahs-ui/README.md b/crates/yahs-ui/README.md
new file mode 100644
index 0000000..5820ca5
--- /dev/null
+++ b/crates/yahs-ui/README.md
@@ -0,0 +1 @@
+# yahs-ui
diff --git a/src/ui/src/camera.rs b/crates/yahs-ui/src/camera.rs
similarity index 99%
rename from src/ui/src/camera.rs
rename to crates/yahs-ui/src/camera.rs
index 0f90a3c..6996393 100644
--- a/src/ui/src/camera.rs
+++ b/crates/yahs-ui/src/camera.rs
@@ -6,7 +6,7 @@ use bevy::{
 use std::f32::consts::PI;
 
 use super::controls::{CameraControls, KeyBindingsConfig};
-use yahs_simulator::prelude::Balloon;
+use yahs::prelude::Balloon;
 
 pub struct CameraPlugin;
 
diff --git a/src/ui/src/controls.rs b/crates/yahs-ui/src/controls.rs
similarity index 98%
rename from src/ui/src/controls.rs
rename to crates/yahs-ui/src/controls.rs
index b261fd0..87eddd0 100644
--- a/src/ui/src/controls.rs
+++ b/crates/yahs-ui/src/controls.rs
@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use yahs_simulator::prelude::{SimState, TimeScaleOptions};
+use yahs::prelude::{SimState, TimeScaleOptions};
 
 pub struct ControlsPlugin;
 
diff --git a/src/ui/src/dev_tools.rs b/crates/yahs-ui/src/dev_tools.rs
similarity index 100%
rename from src/ui/src/dev_tools.rs
rename to crates/yahs-ui/src/dev_tools.rs
diff --git a/src/ui/src/gizmos.rs b/crates/yahs-ui/src/gizmos.rs
similarity index 98%
rename from src/ui/src/gizmos.rs
rename to crates/yahs-ui/src/gizmos.rs
index c30d914..04855de 100644
--- a/src/ui/src/gizmos.rs
+++ b/crates/yahs-ui/src/gizmos.rs
@@ -1,6 +1,6 @@
 use bevy::{color::palettes::basic::*, prelude::*};
 
-use crate::simulator::forces::Force;
+use yahs::forces::Force;
 
 const ARROW_SCALE: f32 = 0.1;
 
diff --git a/src/ui/src/lib.rs b/crates/yahs-ui/src/lib.rs
similarity index 100%
rename from src/ui/src/lib.rs
rename to crates/yahs-ui/src/lib.rs
diff --git a/src/ui/src/main.rs b/crates/yahs-ui/src/main.rs
similarity index 96%
rename from src/ui/src/main.rs
rename to crates/yahs-ui/src/main.rs
index 4e08fcd..b0e5598 100644
--- a/src/ui/src/main.rs
+++ b/crates/yahs-ui/src/main.rs
@@ -19,7 +19,7 @@ use bevy::{
     asset::AssetMetaCheck,
 };
 
-use yahs_simulator::prelude::SimulatorPlugins;
+use yahs::prelude::SimulatorPlugins;
 
 fn main() {
     App::new()
diff --git a/src/ui/src/scene.rs b/crates/yahs-ui/src/scene.rs
similarity index 98%
rename from src/ui/src/scene.rs
rename to crates/yahs-ui/src/scene.rs
index 853991c..46a854e 100644
--- a/src/ui/src/scene.rs
+++ b/crates/yahs-ui/src/scene.rs
@@ -2,7 +2,7 @@ use avian3d::prelude::*;
 use bevy::prelude::*;
 use std::f32::consts::PI;
 
-use yahs_simulator::prelude::*;
+use yahs::prelude::*;
 
 pub struct ScenePlugin;
 
diff --git a/src/simulator/Cargo.toml b/crates/yahs/Cargo.toml
similarity index 94%
rename from src/simulator/Cargo.toml
rename to crates/yahs/Cargo.toml
index 261c979..b333bfe 100644
--- a/src/simulator/Cargo.toml
+++ b/crates/yahs/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "yahs-simulator"
+name = "yahs"
 version = "0.4.0"
 description = "High Altitude Balloon simulation plugin for Bevy"
 edition = "2021"
diff --git a/crates/yahs/README.md b/crates/yahs/README.md
new file mode 100644
index 0000000..f8feb65
--- /dev/null
+++ b/crates/yahs/README.md
@@ -0,0 +1 @@
+# yahs
diff --git a/src/simulator/src/atmosphere.rs b/crates/yahs/src/atmosphere.rs
similarity index 100%
rename from src/simulator/src/atmosphere.rs
rename to crates/yahs/src/atmosphere.rs
diff --git a/src/simulator/src/balloon.rs b/crates/yahs/src/balloon.rs
similarity index 100%
rename from src/simulator/src/balloon.rs
rename to crates/yahs/src/balloon.rs
diff --git a/src/simulator/src/core.rs b/crates/yahs/src/core.rs
similarity index 100%
rename from src/simulator/src/core.rs
rename to crates/yahs/src/core.rs
diff --git a/src/simulator/src/forces/aero.rs b/crates/yahs/src/forces/aero.rs
similarity index 100%
rename from src/simulator/src/forces/aero.rs
rename to crates/yahs/src/forces/aero.rs
diff --git a/src/simulator/src/forces/body.rs b/crates/yahs/src/forces/body.rs
similarity index 100%
rename from src/simulator/src/forces/body.rs
rename to crates/yahs/src/forces/body.rs
diff --git a/src/simulator/src/forces/mod.rs b/crates/yahs/src/forces/mod.rs
similarity index 100%
rename from src/simulator/src/forces/mod.rs
rename to crates/yahs/src/forces/mod.rs
diff --git a/src/simulator/src/forces/scratch.rs b/crates/yahs/src/forces/scratch.rs
similarity index 100%
rename from src/simulator/src/forces/scratch.rs
rename to crates/yahs/src/forces/scratch.rs
diff --git a/src/simulator/src/heat.rs b/crates/yahs/src/heat.rs
similarity index 100%
rename from src/simulator/src/heat.rs
rename to crates/yahs/src/heat.rs
diff --git a/src/simulator/src/ideal_gas.rs b/crates/yahs/src/ideal_gas.rs
similarity index 100%
rename from src/simulator/src/ideal_gas.rs
rename to crates/yahs/src/ideal_gas.rs
diff --git a/src/simulator/src/lib.rs b/crates/yahs/src/lib.rs
similarity index 100%
rename from src/simulator/src/lib.rs
rename to crates/yahs/src/lib.rs
diff --git a/src/simulator/src/mod.rs b/crates/yahs/src/mod.rs
similarity index 100%
rename from src/simulator/src/mod.rs
rename to crates/yahs/src/mod.rs
diff --git a/src/simulator/src/payload.rs b/crates/yahs/src/payload.rs
similarity index 100%
rename from src/simulator/src/payload.rs
rename to crates/yahs/src/payload.rs
diff --git a/src/simulator/src/properties.rs b/crates/yahs/src/properties.rs
similarity index 100%
rename from src/simulator/src/properties.rs
rename to crates/yahs/src/properties.rs
diff --git a/src/simulator/src/time.rs b/crates/yahs/src/time.rs
similarity index 100%
rename from src/simulator/src/time.rs
rename to crates/yahs/src/time.rs
diff --git a/docs/SUMMARY.md b/docs/SUMMARY.md
index 70b16c7..871d36f 100644
--- a/docs/SUMMARY.md
+++ b/docs/SUMMARY.md
@@ -1,11 +1,17 @@
+# Summary
+
 [Introduction](index.md)
 
 ---
 
-- [yahs-sim](crates/yahs-sim/README.md)
-- [yahs-ui](crates/yahs-ui/README.md)
-- [yahs-cli](crates/yahs-cli/README.md)
+# Crates
+
+- [yahs](../crates/yahs/README.md)
+- [yahs-ui](../crates/yahs-ui/README.md)
+- [yahs-cli](../crates/yahs-cli/README.md)
 
 ---
 
+# Development
+
 [Devlog](devlog.md)
diff --git a/docs/devlog.md b/docs/devlog.md
index 4af3818..94703af 100644
--- a/docs/devlog.md
+++ b/docs/devlog.md
@@ -1,5 +1,24 @@
 # development log
 
+## 2024-12-16
+
+I'm leaning into the use case of running this as the "outside world" interface
+for a software-in-the-loop simulation. I think there are a few things I need to
+figure out before that is possible:
+
+- Host the simulation as a server or otherwise "free running" environment.
+- Connect a client application that can send commands and receive telemetry or
+  data from sensors, where the telemetry is created by the server and supplied
+  to the client over normal network protocols that it would expect from actual
+  hardware.
+- The server and client applications should be able to run in a headless mode,
+  or otherwise without a UI.
+
+It would be ideal if this was not required---I'd like to be able to run a
+completely virtual vehicle along with a software-in-the-loop simulation. In a
+sense this is the same as running a completely passive vehicle in the sim while
+also allowing for an active vehicle too.
+
 ## 2024-12-15
 
 - Added [mdbook](https://github.com/rust-lang/mdBook) to the project.
diff --git a/docs/index.md b/docs/index.md
index 3d07d7d..777dab0 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -8,11 +8,52 @@ simulation.
 
 This project is split into three parts:
 
-- [yahs-sim](https://github.com/philiplinden/yahs-sim) is the main simulation
-  crate. It is a Bevy plugin that can be added to any Bevy project.
-- [yahs-ui](https://github.com/philiplinden/yahs-ui) is a simple UI for the
-  simulation. It is not required but it is useful for visualizing the
+- [yahs](crates/yahs/README.md) is the main simulation crate. It is a Bevy
+  plugin that can be added to any Bevy project.
+- [yahs-ui](crates/yahs-ui/README.md) is a simple UI for the simulation. It is
+  not required but it is useful for visualizing the simulation and for
   simulation and for debugging.
-- [yahs-cli](https://github.com/philiplinden/yahs-cli) is a command line tool
-  for running the simulation. It is useful for testing out the simulation
-  without having to deal with the UI.
+- [yahs-cli](crates/yahs-cli/README.md) is a command line tool for running the
+  simulation. It is useful for testing out the simulation without having to deal
+  with the UI or for running the simulation in a headless mode.
+
+
+## Usage
+
+### As a library
+
+Add `yahs` to your `Cargo.toml`:
+
+```toml
+[dependencies]
+yahs = "0.4.0"
+```
+
+Then, add the `SimulatorPlugins` to your Bevy app:
+
+```rust
+use yahs::prelude::SimulatorPlugins;
+
+fn main() {
+    App::new().add_plugins(SimulatorPlugins);
+}
+```
+
+Then you can use all of the components and systems from the
+[`yahs`](./crates/yahs/README.md) crate.
+
+
+### As an application
+
+Running this package as a standalone application compiles all of the crates
+and runs the CLI by default:
+
+```bash
+cargo run
+```
+
+Force the standalone application to run the GUI instead of the CLI:
+
+```bash
+cargo run --bin yahs-ui
+```
diff --git a/src/simulator/README.md b/src/simulator/README.md
deleted file mode 100644
index e69de29..0000000
diff --git a/src/ui/README.md b/src/ui/README.md
deleted file mode 100644
index e69de29..0000000