Please note that all the controls are editable in-game!

Commands:

F1 - Map

F2 - Free movement

F3 - Goto (with target selected)

F4 - Dock (with target selected)

F5 - Orbit (in orbit range)

F6 - Scan

F7 - Messages

F8 - Orders

F9 - Skills

F10 - Help

F12 - Exit

ESC - Options/Cancel

Enter - Chat/OK

Ship movement:

W - Speed up

S - Speed down

SPACE - Thruster

Z - Engine kill

O - Engine on, speed zero (numeric zero)

X - FTL jump

R - Retro braking

F - Take off booster (when landed)

Combat:

MouseLEFT - Select target

MouseRIGHT - Fire

MouseMiddle - Fire missiles

LCtrl - Drop mine

Ship orientation:

Q - Roll left

E - Roll right

A - Strafe left

D - Strafe right

C - Toggle free camera

Fixed camera:

MouseX - Yaw

MouseY - Pitch

Free camera:

MouseXY - camera rotate (MouseLEFT pressed)

Misc:

L - Toggle headlight

J - Toggle compass

H - Toggle HUD

B - Build

T - Tractor loot

PgUp - Previous target

PgDn - Next target

Y - Message history

RCtrl - Trigger skill

PrnScr - Screenshot (goes in home dir)

Ins - Start/Stop video recording (goes in home/Spacemen dir)

Map:

TAB - Toggle System/Universe map

MouseLEFT - Select target 

F3 - Go to

R - Rename

G - Toggle grid

L - Map labels

S - Map symbols

PgUp - Zoom out

PgDn - Zoom in