新增pod_bridge吊舱桥接中间件(树莓派4B部署)

- pod_bridge: 协议G版编解码/地理位置引导律/PX4网关/串口链路/闭环主循环
- 含三项安全修复: position_time_ms拆分、表2-2锁定门控、run()异常护栏
- 测试92条全绿; 附树莓派4B(Ubuntu 24.04)部署注意事项与最小依赖清单

utils/config/pod_bridge.json

@@ -0,0 +1,29 @@
+{
+  "pod_serial": {
+    "port": "",
+    "baudrate": 115200
+  },
+  "px4": {
+    "connection_string": "udp://:14540"
+  },
+  "link": {
+    "attitude_downlink_hz": 20.0,
+    "telemetry_timeout_ms": 500
+  },
+  "guidance": {
+    "frequency_hz": 10.0,
+    "target_stale_ms": 1000,
+    "position_stale_ms": 1000,
+    "stop_radius_m": 5.0,
+    "max_speed_mps": 5.0,
+    "speed_kp": 0.5,
+    "speed_ki": 0.0,
+    "speed_kd": 0.0,
+    "speed_integral_limit": 0.0,
+    "speed_derivative_filter_coef": 0.0,
+    "speed_slew_mps2": 2.0,
+    "max_yaw_rate_dps": 30.0,
+    "yaw_kp": 1.0,
+    "yaw_slew_dps2": 60.0
+  }
+}