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/tests/test_device_setup.py

@@ -180,20 +180,21 @@ def test_the_axis_mapping_page_holds_the_mapping_and_refuses_duplicates(make_win
     window = make_window()
     try:
         dialog = window.device_setup
-        assert dialog.tabs.count() == 3
+        assert dialog.tabs.count() == 4
         page = dialog.roles_page
         assert page.roles() == DEFAULT_AXIS_ROLES
         assert page.problem() == ""
         assert window.poller.service.axis_roles == DEFAULT_AXIS_ROLES
 
-        # Two roles on one drive: reported on the page *and* by the guard.
-        page.combos["pitch"].setCurrentIndex(page.combos["pitch"].findData(3))
+        # Two roles on one drive: reported on the page *and* by the guard. Yaw is
+        # moved onto pitch's drive, which is the duplicate this page exists to refuse.
+        page.combos["yaw"].setCurrentIndex(page.combos["yaw"].findData(3))
         assert page.problem() != ""
         assert window.poller.service.roles_problem() != ""
         assert window.poller.service.check_axes_move({"yaw": 1.0}) is not None
 
         # Correcting it clears both.
-        page.combos["pitch"].setCurrentIndex(page.combos["pitch"].findData(2))
+        page.combos["yaw"].setCurrentIndex(page.combos["yaw"].findData(2))
         assert page.problem() == ""
         assert window.poller.service.roles_problem() == ""
     finally:
@@ -222,3 +223,63 @@ def test_opening_the_setup_does_not_touch_the_connection(make_window):
         assert window.connection_panel.open_button.isEnabled() is True
     finally:
         window.close()
+
+
+def test_the_press_page_starts_uncalibrated_and_says_so(make_window):
+    """Until the zero is measured the press axis is not a coordinate anyone knows."""
+    window = make_window()
+    try:
+        page = window.device_setup.press_page
+        assert page.press()["calibrated"] is False
+        assert page.state_label.text() == t("setup.press_unset")
+        assert window.finger_panel.solved_pose  # bound; the pose itself needs a bundle
+    finally:
+        window.close()
+
+
+def test_a_press_axis_edit_reaches_the_panel_that_plans_the_move(make_window):
+    """The page is a measurement, and the move has to obey it immediately.
+
+    A zero typed here but not handed to the solver's consumer would leave the
+    confirmation box showing a height the press axis was never told about.
+    """
+    window = make_window()
+    try:
+        page = window.device_setup.press_page
+        page.zero_spin.setValue(12.5)
+        page.calibrated_check.setChecked(True)
+        assert window.prefs["press_axis"] == {
+            "zero_mm": 12.5,
+            "rising": True,
+            "calibrated": True,
+        }
+        assert window.finger_panel._press.calibrated is True  # noqa: SLF001
+        assert window._press_axis.zero_mm == 12.5  # noqa: SLF001
+        assert page.state_label.text() == t("setup.press_set")
+
+        page.rising_check.setChecked(False)
+        assert window.prefs["press_axis"]["rising"] is False
+        assert window._press_axis.rising is False  # noqa: SLF001
+    finally:
+        window.close()
+
+
+def test_a_stored_press_axis_is_restored_into_the_page(make_window):
+    window = make_window(
+        press_axis={"zero_mm": -3.25, "rising": False, "calibrated": True}
+    )
+    try:
+        page = window.device_setup.press_page
+        assert page.press() == {"zero_mm": -3.25, "rising": False, "calibrated": True}
+        assert window.finger_panel._press.zero_mm == -3.25  # noqa: SLF001
+    finally:
+        window.close()
+@pytest.mark.parametrize("settings", [
+    {"zero_mm": 12.5, "rising": True, "calibrated": "false"},
+    {"zero_mm": float("nan"), "rising": True, "calibrated": True},
+    {"zero_mm": 12.5, "rising": "false", "calibrated": True},
+])
+def test_invalid_stored_press_relation_does_not_enable_motion(make_window, settings):
+    window = make_window()
+    window.prefs["press_axis"] = settings
+    assert window._press_axis.target_for(19.051) is None