修正朝上判断、接触高度与过期姿态目标

朝上判断误用平台轴、接触高度报旋转前数值、多点对准复用缓存姿态，且多点会话被复核入口拒绝；现按修正计划改正并接通 autocal-multipoint-1.0 只读复核，缺失帧源如实报告而不补零。离线验证：新回归在 dc5a6f8 上失败、此处通过，panel_check 通过，两截图点接触高度复现 19.0510 / 21.5781 mm；实机项未做，详见 .scratch/autocal-motion-fix/verification.md。
2026-10-15 06:52:28 +08:00
parent 5339624ffa
commit bcc55a3b97
29 changed files with 2179 additions and 209 deletions
@@ -24,14 +24,20 @@
    "max_travel_mm": 100.0,
    "max_descent_mm": 10.0,
    "max_press_depth_mm": 1.0,
+    "max_yaw_deg": 180.0,
+    "max_pitch_deg": 90.0,
    "follow_error_mm": 0.5,
    "contact_search_mm": 3.0
  },
+  "press_axis": {
+    "zero_mm": 0.0,
+    "rising": true,
+    "calibrated": false
+  },
  "sensor_setup": {
    "sensor_type": "box",
    "config_ref": "",
    "geometry_id": "",
-    "press_axis": 2,
    "probe_tip_offset_mm": [0.0, 0.0, 0.0],
    "probe_tip_set": false,
    "sensor_to_platform": [],