The X-45A introduced yaw axis thrust vectoring. The rudder is the primary control of yaw. The primary control of yaw is with the rudder. Rotation about this axis is called "yaw". Some multi-axis MRUs are capable of measuring roll, pitch, yaw and heave. Ailerons also have a secondary effect on yaw. A small oscillation in the pitch and yaw planes resulted from this. He added a gyroscope to allow for the yaw of the firing ship. Other avionics include an autopilot and yaw damper. The remaining engine's asymmetrical thrust would cause the aircraft to yaw violently to one side. Dutch roll stability can be artificially increased by the installation of a yaw damper. They are oriented along the pitch, roll, and yaw axes. The V-tail thus acts both as a yaw and pitch stabilizer. The profile drag imbalance adds to the adverse yaw. A spin follows departures in roll, yaw and pitch from balanced flight.