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。

apps/autocal/docs/workflow.md

@@ -237,15 +237,15 @@ measured time per point.
 guard violation.
 
 **The single-point dry run is built**, in the finger debug screen: 执行动作 sends the
-selected point's *solved pose* to the platform — yaw, then pitch, then table X/Y — and
-does **not** command the press axis, so it cannot reach the sensor. The order is the
-model's own (`R_pitch · R_yaw`), so every intermediate pose is one the operator
-watched in the preview. Before it moves it checks the mapping, the target against the
-P0 limits (millimetres for x/y/z, degrees for yaw/pitch) and the rotary calibration —
-all in `motion/service.py`, so a later caller cannot walk around them — and the drives
-are commanded one at a time, each waiting for the previous to arrive, with a stall or
-an alarm aborting the rest. 停止 next to it is the same command as the strip's
-全部停止; 回初始位 in the rail sends every axis to zero with the press axis first.
+selected point's *solved pose* to the platform — the stages together with the table
+X/Y, and the press axis only once its zero is calibrated (设备设置 → 压轴); until then
+it is held, so the move cannot reach the sensor by accident. The order follows the
+model's own composition (`R_pitch · R_yaw`), so every intermediate pose is one the
+operator watched in the preview. Before it moves it checks the mapping, the target
+against the P0 limits (millimetres for x/y/z, degrees for yaw/pitch) and the rotary
+calibration — all in `motion/service.py`, so a later caller cannot walk around them.
+停止 next to it is the same command as the strip's 全部停止; 回初始位 in the rail sends
+every axis to zero with the press axis first.
 
 ---