Hardware validation of the reorientation assumption

Establish the validity of the identified single-effective-slew-rate reorientation assumption for the escape-aware control barrier function on physical quadrotor hardware.

Background

The proposed escape-aware certificate depends on an assumption that quadrotor attitude dynamics can be represented by a single effective thrust-axis slew rate. The paper identifies and validates this assumption only on the simulated 13-state quadrotor plant, while the certificate's soundness in real flight depends on whether the same reorientation model remains accurate on physical hardware.