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_pose_move.py

@@ -32,8 +32,10 @@ from orisys_autocal.motion.models import AxisState, AxisStatusBits, BusStatus
 from orisys_autocal.motion.pose_move import (
     MOVE_ORDER,
     PoseMover,
+    PressAxis,
     SETTLE_DEG,
     SETTLE_MM,
+    press_targets,
 )
 from orisys_autocal.motion.transport import DemoTransport
 from orisys_autocal.preferences import default_preferences
@@ -465,3 +467,62 @@ def test_the_units_round_trip_through_the_service():
             from orisys_autocal.motion import user_units_to_deg
 
             assert user_units_to_deg(axis, units) == pytest.approx(value)
+
+
+# ------------------------------------------------------------------ press axis
+
+
+def test_an_uncalibrated_press_axis_is_held_rather_than_commanded():
+    """A geometric contact height is not a controller coordinate.
+
+    ``solve`` reports where the point ends up; what the press axis *reads* there
+    is a separate bench measurement. Until someone has made it, commanding the
+    geometric number would drive the press to a height that means nothing.
+    """
+    targets, held = press_targets({"x": 1.0, "y": 2.0, "z": 19.051}, PressAxis())
+    assert held == ("z",)
+    assert "z" not in targets
+    assert targets == {"x": 1.0, "y": 2.0}
+
+
+def test_a_calibrated_press_axis_turns_the_contact_height_into_its_coordinate():
+    """The relation has both a zero and a direction, and both come from the bench."""
+    rising = PressAxis(zero_mm=12.5, rising=True, calibrated=True)
+    falling = PressAxis(zero_mm=12.5, rising=False, calibrated=True)
+    assert rising.target_for(19.051) == pytest.approx(31.551)
+    assert falling.target_for(19.051) == pytest.approx(-6.551)
+    targets, held = press_targets({"x": 1.0, "z": 19.051}, rising)
+    assert held == ()
+    assert targets["z"] == pytest.approx(31.551)
+
+
+def test_planning_the_press_axis_does_not_touch_the_caller_s_mapping():
+    """The panel hands over its solved targets; holding z must not edit them."""
+    targets = {"x": 1.0, "z": 3.0}
+    press_targets(targets, PressAxis())
+    assert targets == {"x": 1.0, "z": 3.0}
+
+
+def test_a_held_press_axis_still_plans_the_other_roles():
+    """Held is not refused: the four axes that are justified still move."""
+    service = make_service()
+    plan = plan_pose_move(service, {"x": 1.0, "y": 2.0}, hold=("z",))
+    assert [step.role for step in plan.steps] == ["x", "y"]
+    assert plan.held == ("z",)
+
+
+@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},
+    {"zero_mm": True, "rising": True, "calibrated": True},
+    {"calibrated": True},
+])
+def test_invalid_press_settings_keep_the_axis_held(settings):
+    press = PressAxis.from_settings(settings)
+    assert press.target_for(19.051) is None
+
+
+def test_valid_press_settings_preserve_the_measured_direction():
+    press = PressAxis.from_settings({"zero_mm": 12.5, "rising": False, "calibrated": True})
+    assert press.target_for(19.051) == pytest.approx(-6.551)