Revert 364b098..475770f

This rolls back to commit 364b098540e2438dcdaa3819055f0874552b4898.
Revert 475770f..efc4b2f

This rolls back to commit 475770f04259d274942fc49f1077decd727e7aa5.
scaled down gains by 1/1000.

Since the initial commit the forces are limited to 24.8N. Roughly the
force a thruster can produce.