双目测距方案重构与其他小修改

utils/tests/visual_track_control/vtc_config_test.py

@@ -15,7 +15,7 @@ from pathlib import Path
 import pytest
 
 from visual_track_control.config import (HeadingMode, NoDistanceAction,
-                                         load_from_json)
+                                         TrackingConfig, load_from_json)
 
 _REPO_ROOT = Path(__file__).resolve().parents[3]
 REAL_CONFIG = _REPO_ROOT / "reference-c++" / "visual_track_control" / "config" / "track_control.json"
@@ -27,7 +27,7 @@ def full_config() -> dict:
         "control": {
             "frequency_hz": 20.0,
             "visual_stale_ms": 200,
-            "radar_stale_ms": 500,
+            "distance_stale_ms": 500,
             "attitude_stale_ms": 300,
         },
         "camera": {
@@ -57,6 +57,7 @@ def full_config() -> dict:
             "retreat_velocity_limit_mps": 1.0,
             "no_distance_action": "hold",
             "no_distance_approach_limit_mps": 0.5,
+            "no_distance_exit_grace_ms": 3000,
         },
         "accel_limit": {
             "ax_mps2": 2.0,
@@ -84,7 +85,9 @@ def test_load_real_config_succeeds():
     assert cfg.vertical.vz_gain_mps_per_deg == 0.1
     assert cfg.vertical.vz_limit_mps == 2.0
     assert cfg.distance.d_exp_m == 10.0
-    assert cfg.distance.no_distance_action is NoDistanceAction.HOLD
+    assert cfg.distance.no_distance_action is NoDistanceAction.SLOW_APPROACH
+    assert cfg.distance.no_distance_exit_grace_ms == 3000
+    assert cfg.control.distance_stale_ms == 500
     assert cfg.accel_limit.ax_mps2 == 2.0
 
 
@@ -169,3 +172,18 @@ def test_fov_out_of_range_throws(tmp_path):
     with pytest.raises(ValueError) as exc_info:
         load_from_json(path)
     assert "camera.fov_h_deg" in str(exc_info.value)
+
+
+def test_default_no_distance_action_is_slow_approach():
+    # S1 拍板：双目有效域外无距离是常态，默认定速接近（纪要 D4/S1）
+    assert (TrackingConfig().distance.no_distance_action
+            is NoDistanceAction.SLOW_APPROACH)
+
+
+def test_negative_exit_grace_throws(tmp_path):
+    config = full_config()
+    config["distance"]["no_distance_exit_grace_ms"] = -1
+    path = write_temp_json(tmp_path, config, "vtc_cfg_badgrace.json")
+    with pytest.raises(ValueError) as exc_info:
+        load_from_json(path)
+    assert "no_distance_exit_grace_ms" in str(exc_info.value)