Turning on the orientation visualization would add vector arrows and moment arrows to the lines through the Center of Mass indicator. The vector arrows would be labeled X, Y, Z in the positive sense, and the moment arrows would be labeled pitch, roll, yaw in the positive sense. For example: http://www.chrobotics.com/wp-content/uploads/2012/11/Inertial-Frame-300x191.png
Yes. This would help when docking