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_ik_analytical.py

@@ -199,13 +199,13 @@ def test_the_surface_normals_point_up_so_the_face_faces_the_tool(bundle):
     )
 
 
-def test_few_vertices_end_turned_over_and_those_are_edge_on(bundle):
-    """Turning the face over is the failure mode; measure it and bound it.
+def test_no_vertex_ends_turned_over(bundle):
+    """Turning the face over is the failure mode; with the right up axis it is zero.
 
-    The remainder are vertices whose normals are 60-90 degrees off the tool axis —
-    the rim of the dome. Aligning an edge-on face has to roll the body about that
-    normal, and the sign is decided by rounding, so they cannot be pushed to zero
-    and should not be asserted away.
+    ``uprightness`` used to compare the platform's Y axis, so 47 of these vertices read
+    as turned over even though they only rolled about the vertical. Against the
+    post-mount nominal up (the tool axis) no vertex ends inverted, and this now fails
+    if the reference regresses rather than reporting a small count as acceptable.
     """
     stack = PlatformStack()
     normals = bundle.vertex_normals()
@@ -214,9 +214,7 @@ def test_few_vertices_end_turned_over_and_those_are_edge_on(bundle):
         pose = stack.solve(np.zeros(3), normal)
         if stack.uprightness(pose.yaw_deg, pose.pitch_deg) < -0.5:
             flipped += 1
-    assert flipped <= len(normals) * 0.03, (
-        f"{flipped} of {len(normals)} vertices ended turned over"
-    )
+    assert flipped == 0, f"{flipped} of {len(normals)} vertices ended turned over"
 
 
 def test_a_pose_reports_whether_it_is_upright():