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/px4_gateway_test.py

@@ -5,6 +5,7 @@
 """
 
 import asyncio
+import math
 from enum import Enum
 from types import SimpleNamespace
 
@@ -62,7 +63,7 @@ class FakeTelemetry:
     def gps_info(self):
         return self._stream(self._gps)
 
-    def velocity_body(self):
+    def velocity_ned(self):
         return self._stream(self._velocity)
 
 
@@ -77,8 +78,9 @@ def _pos(lat=31.0, lon=121.0, aalt=100.0, ralt=50.0):
                            absolute_altitude_m=aalt, relative_altitude_m=ralt)
 
 
-def _att(roll=0.1, pitch=0.2, yaw=1.57):
-    return SimpleNamespace(roll_rad=roll, pitch_rad=pitch, yaw_rad=yaw)
+def _att(roll_deg=5.0, pitch_deg=10.0, yaw_deg=90.0):
+    """MAVSDK EulerAngle 字段是度（roll_deg/pitch_deg/yaw_deg），网关转弧度。"""
+    return SimpleNamespace(roll_deg=roll_deg, pitch_deg=pitch_deg, yaw_deg=yaw_deg)
 
 
 # --- 枚举转换 ---------------------------------------------------------------
@@ -120,12 +122,14 @@ def test_update_attitude_sets_radians():
     gw.update_attitude(_att())
     s = gw.own_state()
     assert s.has_attitude is True
-    assert s.yaw_rad == pytest.approx(1.57)
+    assert s.roll_rad == pytest.approx(math.radians(5.0))
+    assert s.pitch_rad == pytest.approx(math.radians(10.0))
+    assert s.yaw_rad == pytest.approx(math.radians(90.0))
 
 
-def test_update_velocity_body_ground_speed_is_horizontal_magnitude():
+def test_update_velocity_ned_ground_speed_is_horizontal_magnitude():
     gw = Px4Gateway(FakeDrone())
-    gw.update_velocity_body(SimpleNamespace(forward_m_s=3.0, right_m_s=4.0,
+    gw.update_velocity_ned(SimpleNamespace(north_m_s=3.0, east_m_s=4.0,
                                             down_m_s=-9.9))
     assert gw.own_state().ground_speed_mps == pytest.approx(5.0)  # 不含 down
 
@@ -173,9 +177,9 @@ def test_command_delegation_reaches_offboard():
 def test_start_telemetry_populates_cache_then_stop():
     telemetry = FakeTelemetry(
         position=[_pos(lat=22.0, lon=114.0)],
-        attitude=[_att(yaw=0.5)],
+        attitude=[_att(yaw_deg=30.0)],
         gps=[SimpleNamespace(fix_type=3, num_satellites=10)],
-        velocity=[SimpleNamespace(forward_m_s=2.0, right_m_s=0.0, down_m_s=0.0)],
+        velocity=[SimpleNamespace(north_m_s=2.0, east_m_s=0.0, down_m_s=0.0)],
     )
     gw = Px4Gateway(FakeDrone(telemetry))
 
@@ -184,7 +188,7 @@ def test_start_telemetry_populates_cache_then_stop():
         await asyncio.sleep(0.05)  # 让后台任务消费预设消息
         s = gw.own_state()
         assert s.latitude_deg == 22.0 and s.longitude_deg == 114.0
-        assert s.yaw_rad == pytest.approx(0.5)
+        assert s.yaw_rad == pytest.approx(math.radians(30.0))
         assert s.position_valid is True
         assert s.ground_speed_mps == pytest.approx(2.0)
         await gw.stop_telemetry()
@@ -210,7 +214,7 @@ def test_position_timestamp_not_refreshed_by_other_streams():
     clock[0] = 2000
     gw.update_attitude(_att())
     gw.update_gps(SimpleNamespace(fix_type=3, num_satellites=9))
-    gw.update_velocity_body(SimpleNamespace(forward_m_s=1.0, right_m_s=0.0,
+    gw.update_velocity_ned(SimpleNamespace(north_m_s=1.0, east_m_s=0.0,
                                             down_m_s=0.0))
     s = gw.own_state()
     assert s.time_ms == 2000            # 诊断时间戳照常刷新