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
@@ -67,7 +67,7 @@ Three buttons, and where each one lives is deliberate:

 | Button | Where | What it does |
 | --- | --- | --- |
-| **执行动作** Execute | this screen, next to 播放动作 | Sends the selected point's solved pose to the platform: **yaw, then pitch, then table X/Y**. The press axis **z is not commanded** — pressing is P7, with contact detection and press depth, neither of which exists here, so a move to the contact height would be a press with none of its guards. |
+| **执行动作** Execute | this screen, next to 播放动作 | Sends the selected point's solved pose to the platform: the stages together with the table X/Y, and the press axis **only when its zero is calibrated** (设备设置 → 压轴). The geometric contact height is not a controller coordinate, so an uncalibrated press axis is *held* and reported as held rather than commanded with a number the machine has not measured. |
 | **停止** Stop | here *and* the strip's 全部停止 | The same command. Two access points, one implementation: during a move the operator's eyes are on this pane, and an emergency stop has to be where they are. |
 | **回初始位** Return to zero | the axis rail, on every tab | Every drive to 0 — press axis first, then the stages, then the table. A machine-level action, wanted after work in any tab, so it is not repeated inside one. |