激光门控改为可配置, 本设备(无激光)置false

链路: 新增link.require_laser_valid(默认true, 有激光机型的锁定位置位粘滞兜底);
本吊舱厂商确认不含激光测距 → pod_bridge.json 置false, 并加部署配置回归测试。
文档新增§10记录设备特性(无激光/锁定位置位丢失后不复位/脱靶量无无效标志位)。
全量351条通过(新增3条激光门控用例)

utils/tests/pod_bridge/bridge_test.py

@@ -10,7 +10,7 @@ import time
 from dataclasses import replace
 
 from pod_bridge.bridge import PodBridge
-from pod_bridge.config import BridgeConfig
+from pod_bridge.config import BridgeConfig, load_from_json
 from pod_bridge.protocol import (ControlCode, ControlCommand, TargetGeo,
                                  Telemetry, decode_attitude, decode_control)
 from pod_bridge.px4_gateway import OwnState
@@ -79,9 +79,9 @@ def _valid_state(now_ms, lat=0.0, lon=0.0, yaw_rad=0.0, gs=0.0):
                     time_ms=now_ms, position_time_ms=now_ms)
 
 
-def _locked_telemetry():
-    """状态字节1 bit2=1(锁定)的遥测帧。"""
-    return Telemetry(status1=0b00000100)
+def _locked_telemetry(laser=50.0):
+    """状态字节1 bit2=1(锁定)的遥测帧;默认带有效激光(默认闸门要求激光有效)。"""
+    return Telemetry(status1=0b00000100, laser_range_m=laser)
 
 
 def _bridge(px4, pod, cfg=None):
@@ -297,6 +297,41 @@ def test_lock_lost_midflight_falls_back_to_brake():
     assert out2.mode.name == "BRAKE_HOVER"
 
 
+# --- 激光有效性门控(锁定位置位粘滞时的兜底)-----------------------------------
+def test_laser_invalid_blocks_guidance_when_required():
+    """默认 require_laser_valid=True:锁定位置位但激光无效 → 目标无效 → 刹车。"""
+    px4 = FakePx4(_valid_state(1000))
+    pod = FakePod()
+    pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry(laser=None))
+    b = _bridge(px4, pod)
+
+    out = asyncio.run(b.step(1000))
+    assert out.mode.name == "BRAKE_HOVER"
+    assert px4.velocity_calls == []
+
+
+def test_laser_invalid_allowed_when_gate_disabled():
+    """本设备无激光(厂商确认)→ require_laser_valid=False 时照常引导。"""
+    px4 = FakePx4(_valid_state(1000))
+    pod = FakePod()
+    pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry(laser=None))
+    cfg = BridgeConfig()
+    cfg.link.require_laser_valid = False
+    b = _bridge(px4, pod, cfg)
+
+    out = asyncio.run(b.step(1000))
+    assert out.mode.name == "VELOCITY_HEADING"
+
+
+def test_deployed_config_disables_laser_gate():
+    """部署配置回归:本机无激光,pod_bridge.json 必须关掉激光闸门。"""
+    import os
+    path = os.path.join(os.path.dirname(os.path.dirname(os.path.dirname(
+        os.path.abspath(__file__)))), "config", "pod_bridge.json")
+    cfg = load_from_json(path)
+    assert cfg.link.require_laser_valid is False
+
+
 # --- 缺陷③:run() 异常护栏 -----------------------------------------------------
 class FlakyPod(FakePod):
     """前 fail_times 次 poll 抛串口异常,之后恢复正常。"""