Preserve staticarrays in the problem construction

src/parameters.jl

@@ -100,6 +100,11 @@ function split_parameters_by_type(ps)
         end
         tighten_types = x -> identity.(x)
         split_ps = tighten_types.(Base.Fix1(getindex, ps).(split_idxs))
+
+        if ps isa StaticArray
+            parrs = map(x-> SArray{Tuple{size(x)...}}(x), split_ps)
+            split_ps = SArray{Tuple{size(parrs)...}}(parrs)
+        end
         if length(split_ps) == 1  #Tuple not needed, only 1 type
             return split_ps[1], split_idxs
         else

src/systems/diffeqs/abstractodesystem.jl

@@ -912,6 +912,10 @@ function DiffEqBase.ODEProblem(sys::AbstractODESystem, args...; kwargs...)
     ODEProblem{true}(sys, args...; kwargs...)
 end
 
+function DiffEqBase.ODEProblem(sys::AbstractODESystem, u0map::StaticArray, args...; kwargs...)
+    ODEProblem{false, SciMLBase.FullSpecialize}(sys, u0map, args...; kwargs...)
+end
+
 function DiffEqBase.ODEProblem{true}(sys::AbstractODESystem, args...; kwargs...)
     ODEProblem{true, SciMLBase.AutoSpecialize}(sys, args...; kwargs...)
 end

src/variables.jl

@@ -75,10 +75,16 @@ function varmap_to_vars(varmap, varlist; defaults = Dict(), check = true,
         end
     end
 
-    # T = typeof(varmap)
-    # We respect the input type (feature removed, not needed with Tuple support)
+    # We respect the input type if it's a static array
+    # otherwise canonicalize to a normal array
     # container_type = T <: Union{Dict,Tuple} ? Array : T
-    container_type = Array
+    if varmap isa StaticArray
+        container_type = typeof(varmap)
+    else
+        container_type = Array
+    end
+
+    @show container_type
 
     vals = if eltype(varmap) <: Pair # `varmap` is a dict or an array of pairs
         varmap = todict(varmap)

test/runtests.jl

@@ -35,6 +35,7 @@ end
         @safetestset "Reduction Test" include("reduction.jl")
         @safetestset "Split Parameters Test" include("split_parameters.jl")
         @safetestset "ODAEProblem Test" include("odaeproblem.jl")
+        @safetestset "StaticArrays Test" include("static_arrays.jl")
         @safetestset "Components Test" include("components.jl")
         @safetestset "Model Parsing Test" include("model_parsing.jl")
         @safetestset "print_tree" include("print_tree.jl")

test/static_arrays.jl

@@ -0,0 +1,28 @@
+using ModelingToolkit, StaticArrays, Test
+
+@parameters σ ρ β
+@variables t x(t) y(t) z(t)
+D = Differential(t)
+
+eqs = [D(D(x)) ~ σ * (y - x),
+    D(y) ~ x * (ρ - z) - y,
+    D(z) ~ x * y - β * z]
+
+@named sys = ODESystem(eqs)
+sys = structural_simplify(sys)
+
+u0 = @SVector [D(x) => 2.0,
+    x => 1.0,
+    y => 0.0,
+    z => 0.0]
+
+p = @SVector [σ => 28.0,
+    ρ => 10.0,
+    β => 8 / 3]
+
+tspan = (0.0, 100.0)
+prob_mtk = ODEProblem(sys, u0, tspan, p)
+
+@test !SciMLBase.isinplace(prob_mtk)
+@test prob_mtk.u0 isa SArray
+@test prob_mtk.p isa SArray