fix(milp): improve predictability of solver

feat: worky thrusters

feat: good luck!

fix: target_unit_vector is now rotated

feat: actually send the event

feat: document for tm

chore: additional debug logging

feat: additional debug information in joint-debug F6 forgot a spot

feat: additional debug information in joint-debug F6

feat: the most complicated thrust system OF ALL TIME! (certified)