I think this branch finally is ready for a review @JTrentSmart. The only thing that's not quite right is that within a mission I'm seeing some compilation overhead.
Coverage increased (+0.3%) to 90.386% when pulling 26a4ce7b694a9a755a90db8b4a92dcb0de75302e on feature-rotor_diff into 9aaec3edae4910165bb153ba55325701226f36f8 on jax-develop.
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