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/tests/pod_bridge/bridge_test.py

@@ -13,6 +13,7 @@ import pytest
 
 from pod_bridge.bridge import PodBridge
 from pod_bridge.config import BridgeConfig, load_from_json
+from pod_bridge.ground_link import GroundTarget
 from pod_bridge.protocol import (ControlCode, ControlCommand, TargetGeo,
                                  Telemetry, decode_attitude, decode_control)
 from pod_bridge.px4_gateway import OwnState
@@ -523,3 +524,75 @@ def test_l1_require_vision_passes_with_source():
     assert out.mode.name == "VELOCITY_HEADING"
     assert out.yaw_rate_dps == pytest.approx(10.0, abs=1e-9)
 
+
+# --- 地面坐标注入（A2）-------------------------------------------------------
+def _inject_config(timeout_ms=5000):
+    cfg = BridgeConfig()
+    cfg.ground_inject.enabled = True
+    cfg.ground_inject.timeout_ms = timeout_ms
+    return cfg
+
+
+def test_ground_inject_priority_over_table4():
+    """注入坐标优先于表4：吊舱无表4/无锁定（本设备常态），注入新鲜坐标照常引导。"""
+    px4 = FakePx4(_valid_state(1000))
+    pod = FakePod()
+    injected = GroundTarget(latitude_deg=0.001, longitude_deg=0.0, time_ms=1000)
+    b = PodBridge(_inject_config(), px4, pod, now_ms_fn=lambda: 0,
+                  ground_target_fn=lambda: injected)
+    out = asyncio.run(b.step(1000))
+    assert out.mode.name == "VELOCITY_HEADING"
+    assert len(px4.velocity_calls) == 1
+
+
+def test_ground_inject_stale_falls_back_to_brake():
+    """注入坐标超龄 → 视为无目标 → 刹车（不得朝过期坐标飞）。"""
+    px4 = FakePx4(_valid_state(2000))
+    pod = FakePod()
+    injected = GroundTarget(latitude_deg=0.001, longitude_deg=0.0,
+                            time_ms=1000)  # 1000ms 前注入
+    cfg = _inject_config(timeout_ms=500)
+    b = PodBridge(cfg, px4, pod, now_ms_fn=lambda: 0,
+                  ground_target_fn=lambda: injected)
+    out = asyncio.run(b.step(2000))  # 差值 1000ms > 500ms → 超龄
+    assert out.mode.name == "BRAKE_HOVER"
+    assert px4.velocity_calls == []
+
+
+def test_ground_inject_disabled_ignores_injection():
+    """未启用地面注入 → 忽略注入坐标，回退表4 原路径（无表4 → 刹车）。"""
+    px4 = FakePx4(_valid_state(1000))
+    pod = FakePod()
+    injected = GroundTarget(latitude_deg=0.001, longitude_deg=0.0, time_ms=1000)
+    cfg = BridgeConfig()  # ground_inject.enabled=False
+    b = PodBridge(cfg, px4, pod, now_ms_fn=lambda: 0,
+                  ground_target_fn=lambda: injected)
+    out = asyncio.run(b.step(1000))
+    assert out.mode.name == "BRAKE_HOVER"
+
+
+# --- 运行时切换控制律（A3：GOTO(L2) ↔ TRACK(L1)）-----------------------------
+def test_set_heading_servo_enabled_runtime_switch():
+    """运行时切换控制律：初始 L1 → 切 L2（刹车）→ 切回 L1（速度）。"""
+    px4 = FakePx4(_valid_state(1000))
+    pod = FakePod()
+    b = _bridge(px4, pod, _l1_config())  # enabled=True → 初始 L1
+
+    # 初始 L1：锁定 + 脱靶量 → 速度
+    pod.queue(_locked_off_target(x=10.0))
+    out = asyncio.run(b.step(1000))
+    assert out.mode.name == "VELOCITY_HEADING"
+    assert out.yaw_rate_dps == pytest.approx(10.0, abs=1e-9)
+
+    # 切 L2：无表4/无锁定 → 刹车
+    b.set_heading_servo_enabled(False)
+    out = asyncio.run(b.step(1100))
+    assert out.mode.name == "BRAKE_HOVER"
+
+    # 切回 L1：重新喂锁定脱靶量 → 速度
+    b.set_heading_servo_enabled(True)
+    pod.queue(_locked_off_target(x=10.0))
+    out = asyncio.run(b.step(1200))
+    assert out.mode.name == "VELOCITY_HEADING"
+    assert out.yaw_rate_dps == pytest.approx(10.0, abs=1e-9)
+