@el.map
def motor_thrust_response(time: el.Time, pwm: MotorPwm, prev_thrust: Thrust) -> Thrust:
    motor_time_constant = 0.1 # experimentally determined
    motor_thrust_coef = 0.65 # experimentally determined
    poly_coefs = jnp.array([motor_thrust_coef, 1 - motor_thrust_coef, 0.0])
    scale_thrust = partial(jnp.polyval, poly_coefs)
    thrust = scale_thrust(pwm / MAX_PWM_THROTTLE) * max_thrust
    alpha = dt / (dt + motor_time_constant)
    return prev_thrust + alpha * (thrust - prev_thrust)