实现L1航向伺服(路线A1): 吊舱角度直入控制律 + 桥接胶水 + 干跑入口

- visual_track_control: ControlSnapshot 加可选 los_beta_deg/los_alpha_deg,
  第④步角度直入优先否则回退像素路径(向后兼容); config 拆出 load_from_dict 供内嵌复用
- pod_bridge: BridgeConfig 内嵌 TrackingConfig + 新 HeadingServoConfig;
  bridge._build_snapshot 合成 β/α(姿态来自PX4/角度来自吊舱,信号双路适配无电机),
  step 按 heading_servo.enabled 切 L1/L2, DEGRADED_HOLD 补发刹车保 offboard 心跳;
  run() 循环频率按生效律取(修 L1 频率错配)
- run_bridge.py: 闭环 CLI 入口, --dry-run(S2 只接吊舱不发offboard) 与实飞优雅停机
- 配置落 L1 首飞值(slow_approach/0.2mps、垂直压低、无电机仅用脱靶量)
- 新增测试 29 条(vtc5+config9+bridgeL1 10+runner5); 全量 401 passed

utils/pod_bridge/config.py

@@ -16,6 +16,9 @@ import json
 from dataclasses import dataclass, field
 from typing import Any
 
+from visual_track_control.config import TrackingConfig
+from visual_track_control.config import load_from_dict as _load_tracking_dict
+
 from .guidance import GuidanceConfig
 
 
@@ -46,12 +49,34 @@ class LinkConfig:
                                           #  激光无效即不解算，以此兜底；无激光的吊舱置 False）
 
 
+@dataclass
+class HeadingServoConfig:
+    """L1 航向伺服（方案 §2/§4）：把吊舱表2-2 角度喂进 TrackingControlLaw。
+
+    信号合成（§2.1）：β = beta_sign·(beta_from_frame·frame_yaw + beta_from_off_target·off_target_x)，
+    α 同理。无电机吊舱 frame_yaw 恒 0（"框架角无用"）→ 仅用脱靶量；装电机后两者叠加。
+    符号（±1）台架 S1 标定后填，配置化而非硬编码，防接反反向转。
+    """
+
+    enabled: bool = False          # True = bridge 走 L1(TrackingControlLaw)，False = L2(GuidanceLaw)
+    beta_sign: int = 1             # 水平合成符号（台架标定 ±1）
+    alpha_sign: int = 1            # 垂直合成符号
+    beta_from_frame: bool = False  # β 是否叠加框架角 frame_yaw_deg（装电机后开）
+    beta_from_off_target: bool = True   # β 是否叠加脱靶量 off_target_x_deg
+    alpha_from_frame: bool = False      # α 是否叠加框架角 frame_pitch_deg
+    alpha_from_off_target: bool = True  # α 是否叠加脱靶量 off_target_y_deg
+    vertical_enabled: bool = True  # 无人机 L1 开垂直（决策3）；false → α 强制 0
+    require_vision: bool = False   # true = 需我方视觉作第二判据（S3 起，§2.3）
+
+
 @dataclass
 class BridgeConfig:
     pod_serial: PodSerialConfig = field(default_factory=PodSerialConfig)
     px4: Px4Config = field(default_factory=Px4Config)
     link: LinkConfig = field(default_factory=LinkConfig)
     guidance: GuidanceConfig = field(default_factory=GuidanceConfig)
+    heading_servo: HeadingServoConfig = field(default_factory=HeadingServoConfig)
+    tracking: TrackingConfig = field(default_factory=TrackingConfig)
 
 
 # ---------------------------------------------------------------------------
@@ -228,6 +253,47 @@ def _load_guidance(root: dict) -> GuidanceConfig:
     return g
 
 
+def _get_sign(section: dict, section_name: str, key: str, default: int) -> int:
+    """符号位：仅允许 -1 / +1（配置化防接反，方案 §2.1/§6）。"""
+    if key not in section:
+        return int(default)
+    value = section[key]
+    if not _is_integer(value) or value not in (-1, 1):
+        raise ValueError(f"配置非法(仅允许 -1 或 1): {section_name}.{key}")
+    return int(value)
+
+
+def _load_heading_servo(root: dict) -> HeadingServoConfig:
+    s = _require_section(root, "heading_servo")
+    allowed = {f.name for f in dataclasses.fields(HeadingServoConfig)}
+    _reject_unknown(s, allowed, "heading_servo")
+    c = HeadingServoConfig()
+    c.enabled = _get_bool(s, "heading_servo", "enabled", c.enabled)
+    c.beta_sign = _get_sign(s, "heading_servo", "beta_sign", c.beta_sign)
+    c.alpha_sign = _get_sign(s, "heading_servo", "alpha_sign", c.alpha_sign)
+    c.beta_from_frame = _get_bool(
+        s, "heading_servo", "beta_from_frame", c.beta_from_frame)
+    c.beta_from_off_target = _get_bool(
+        s, "heading_servo", "beta_from_off_target", c.beta_from_off_target)
+    c.alpha_from_frame = _get_bool(
+        s, "heading_servo", "alpha_from_frame", c.alpha_from_frame)
+    c.alpha_from_off_target = _get_bool(
+        s, "heading_servo", "alpha_from_off_target", c.alpha_from_off_target)
+    c.vertical_enabled = _get_bool(
+        s, "heading_servo", "vertical_enabled", c.vertical_enabled)
+    c.require_vision = _get_bool(
+        s, "heading_servo", "require_vision", c.require_vision)
+    return c
+
+
+def _load_tracking(root: dict) -> TrackingConfig:
+    """L1 控制律配置：缺省 → TrackingConfig() 默认；提供 → 按 vtc 严格解析（各分组齐全）。"""
+    s = _require_section(root, "tracking")
+    if not s:
+        return TrackingConfig()
+    return _load_tracking_dict(s)
+
+
 def load_from_json(path: str) -> BridgeConfig:
     """从 JSON 文件一次性加载桥接配置（启动期调用，调参重启生效）。"""
     try:
@@ -246,4 +312,6 @@ def load_from_json(path: str) -> BridgeConfig:
     cfg.px4 = _load_px4(root)
     cfg.link = _load_link(root)
     cfg.guidance = _load_guidance(root)
+    cfg.heading_servo = _load_heading_servo(root)
+    cfg.tracking = _load_tracking(root)
     return cfg