also of note: "
Goddard successfully applied three-axis control, gyroscopes and steerable thrust to rockets to effectively control their flight."
Again, Goddard, October 5, 1882 – August 10, 1945
But what Musk's team did...
like science fiction 
Actuality, Musk's team went for the big show.
Don't get me wrong, it's cool as hell. But mostly because of the
scale, not because t
hrust control is anything new.