把存储的 yaw 上限归一到 ±180

yaw 台转 ±180，实测点的第二组精确解落在 118° 之外：旧文件里的 ±90 会让求解器把位姿算成可达、运动守卫却拒绝这段 yaw，操作员看到的就是“到不了”。加载时把求解器与守卫两种写法的 yaw 上限一起归一，pitch 包络此前已按同一理由处理。

apps/autocal/tests/test_locales_autocal.py

@@ -122,6 +122,41 @@ def test_a_stored_block_without_a_new_limit_still_gets_it():
     assert "press_axis" not in prefs["sensor_setup"]
 
 
+def test_a_stored_quarter_turn_yaw_limit_is_normalised_to_the_bench_travel():
+    """A stored ±90 makes a solvable pose read as unreachable.
+
+    The yaw stage turns ±180, and a measured point's second exact solution sits past
+    118° of yaw: at ±90 the solver is left with one branch and the move guard refuses
+    the other, so a pose the preview aligned reports "cannot reach". Both spellings of
+    the limit — the solver's ``finger_yaw_limit_deg`` and the guard's
+    ``safety_limits.max_yaw_deg`` — are the same bench fact, so both are normalised.
+    """
+    from orisys_app_shared.paths import preference_path
+
+    from orisys_autocal.preferences import load_preferences
+
+    path = preference_path()
+    path.parent.mkdir(parents=True, exist_ok=True)
+    path.write_text(
+        json.dumps(
+            {
+                "safety_limits": {"max_yaw_deg": 90.0, "max_pitch_deg": 360.0},
+                "finger_yaw_limit_deg": 90.0,
+                "finger_pitch_limit_deg": 360.0,
+            }
+        ),
+        encoding="utf-8",
+    )
+
+    prefs = load_preferences()
+
+    assert prefs["safety_limits"]["max_yaw_deg"] == 180.0
+    assert prefs["finger_yaw_limit_deg"] == 180.0
+    # The pitch envelope keeps the correction it already had, so the two do not drift.
+    assert prefs["safety_limits"]["max_pitch_deg"] == 90.0
+    assert prefs["finger_pitch_limit_deg"] == 90.0
+
+
 def _walk(node, prefix: str = ""):
     for key, value in node.items():
         path = f"{prefix}{key}"