实现预定流程全链路: 任务状态机 + 编排器 + 地面站 + 真机/SITL入口

- utils/task_runner: 6态状态机(WAIT→ARM_TAKEOFF→GOTO(L2)→TRACK(L1)→APPROACH→RTL)
  + 编排器(快照采集/状态动作) + 双层日志(事件JSONL/遥测CSV) + 吊舱控制指令(0x07/0x0F/0x0E/0x08)
- pod_bridge: ground_link 地面坐标UDP注入(超龄判无效,无激光替代表4);
  set_heading_servo_enabled() 运行时L1/L2切换(切换即reset清积分防输出跳变);
  pod_locked 提为公共门控; config 新增 ground_inject 段
- virtual_pod 模拟吊舱(无电机语义) + verify_px4 增量④仅飞控验证 +
  pod_sitl_test L1 SITL全流程(飞行编排不塞进 run_bridge, 保持纯offboard闭环入口)
- 入口: task_runner_sitl(VirtualPod+虚拟目标, SITL端到端跑通约1m24s) /
  task_runner_real(真串口+UDP注入+吊舱控制)
- 地面站 ground_station: 坐标注入 + 状态可视化(Flask)
- S1标定回填(2026-10-09): beta_sign=+1 / alpha_sign=-1, 加标定回归测试守护
- 新增测试: task_runner x4 + ground_link/virtual_pod*/bridge/px4_gateway 增量; 全量 483 passed
- 文档: 预定流程(需求) + 预定流程-操作指南(操作/待办) + L1方案补S1结论与实现状态

utils/pod_bridge/config.py

@@ -20,6 +20,7 @@ from visual_track_control.config import TrackingConfig
 from visual_track_control.config import load_from_dict as _load_tracking_dict
 
 from .guidance import GuidanceConfig
+from .ground_link import GroundInjectConfig
 
 
 @dataclass
@@ -77,6 +78,7 @@ class BridgeConfig:
     guidance: GuidanceConfig = field(default_factory=GuidanceConfig)
     heading_servo: HeadingServoConfig = field(default_factory=HeadingServoConfig)
     tracking: TrackingConfig = field(default_factory=TrackingConfig)
+    ground_inject: GroundInjectConfig = field(default_factory=GroundInjectConfig)
 
 
 # ---------------------------------------------------------------------------
@@ -294,6 +296,23 @@ def _load_tracking(root: dict) -> TrackingConfig:
     return _load_tracking_dict(s)
 
 
+def _load_ground_inject(root: dict) -> GroundInjectConfig:
+    """地面坐标注入配置（预定流程「地面给坐标」，A2）。"""
+    s = _require_section(root, "ground_inject")
+    allowed = {f.name for f in dataclasses.fields(GroundInjectConfig)}
+    _reject_unknown(s, allowed, "ground_inject")
+    c = GroundInjectConfig()
+    c.enabled = _get_bool(s, "ground_inject", "enabled", c.enabled)
+    c.host = _get_string(s, "ground_inject", "host", c.host)
+    c.port = int(_in_range(
+        _get_integer(s, "ground_inject", "port", c.port),
+        1, 65535, "ground_inject.port"))
+    c.timeout_ms = int(_positive(
+        _get_integer(s, "ground_inject", "timeout_ms", c.timeout_ms),
+        "ground_inject.timeout_ms"))
+    return c
+
+
 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:
@@ -314,4 +333,5 @@ def load_from_json(path: str) -> BridgeConfig:
     cfg.guidance = _load_guidance(root)
     cfg.heading_servo = _load_heading_servo(root)
     cfg.tracking = _load_tracking(root)
+    cfg.ground_inject = _load_ground_inject(root)
     return cfg