Micro-Doppler quadrotor (4k.2b)

Canonical RHS excerpt from the registered callable used for this benchmark cell. Expand it to verify the state equations; it is not a standalone runnable fixture.

def rhs(t, y):
    d = np.empty(n_rotors * 7)
    for i in range(n_rotors):
        s = i * 7
        ni = np.interp(t, _noise_ts, noise_table[i])
        d[s:s + 7] = rotor_fns[i](t, y[s:s + 7], ni)
    return d

Parameters

• _noise_ts = [0, 1e-05, 2e-05, 3e-05, 4e-05, 5e-05, …] [shape=(20001,), min=0, max=0.2]
• n_rotors = 4
• noise_table = [0.125730221093, -0.132104863291, 0.640422650443, 0.104900117153, -0.535669373161, 0.361595054909, …] [shape=(4, 20001), min=-4.49411704018, max=4.73195768864]
• rotor_fns = [<function>, <function>, <function>, <function>]

Initial condition

y(0) = [0, 0.01, 0, 0, 0, 3200, …] [shape=(28,), min=0, max=3264]

Horizon

t ∈ [0, 0.2]

Canonical RHS excerpt captured from the same registered callable used for the published benchmark. Frozen closure values are summarized below; helper imports and solver settings are intentionally omitted.