[AZ-654] [AZ-655] [AZ-656] gimbal_controller primitives + monotonic clock fix (batch 11)

AZ-654 SweepEngine: pendulum default, Raster/LawnMower variants
reserved and explicitly NotImplemented (no silent fallback per AC-3).
Time injected via next_step(now) for deterministic dwell tests.

AZ-655 PlanExecutor: linear yaw/pitch interpolation between PanGoals
with self-throttle (default 50 ms); stats expose
commands_emitted/dropped_to_throttle counters. PanGoal/PanPlan added
to shared::models::gimbal (spec drift: data_model.md §PanPlan flagged
for next doc sync).

AZ-656 CentreOnTarget: zoom-aware proportional control loop (correction
~ 1/zoom); target_lost debounced — fires once per loss streak, resets
on bbox return. Also fixes the misleadingly-named monotonic_ns() helper
introduced by AZ-653 that used SystemTime::now(): GimbalController now
owns a shared::clock::MonoClock and stamps GimbalState::ts_monotonic_ns
via clock.elapsed_ns(). AZ-656 AC-2 forced the correction; integration
test verifies the fix end-to-end.

58/58 gimbal_controller tests green (47 unit + 7 AZ-653 integration +
4 new batch_11 integration). Workspace test suite green this run.

Co-authored-by: Cursor <cursoragent@cursor.com>

crates/gimbal_controller/src/internal/centre_on_target.rs

@@ -0,0 +1,323 @@
+//! AZ-656 — Centre-on-target primitive.
+//!
+//! Proportional control loop that consumes a normalized target bbox
+//! stream (from `scan_controller`) and emits the gimbal yaw/pitch
+//! command needed to drag the target toward the centre 25% region of
+//! the frame. The actual `GimbalState` publish (with monotonic
+//! timestamp) is handled by [`crate::GimbalControllerHandle::set_pose`]
+//! when the emitted command is applied — this primitive is a pure
+//! per-tick controller, no I/O.
+//!
+//! Loss detection: after [`CentreOnTargetConfig::max_missed_ticks`]
+//! consecutive ticks with no bbox, a one-shot `target_lost` signal is
+//! returned to the caller (debounced — never re-emits while the loss
+//! state persists). On bbox return, the loss counter resets and the
+//! signal becomes available again for the next loss streak.
+
+use shared::models::frame::BoundingBox;
+
+use crate::GimbalCommand;
+
+pub const DEFAULT_TARGET_GAIN: f32 = 0.6;
+pub const DEFAULT_CENTRE_WINDOW: f32 = 0.25;
+pub const DEFAULT_MAX_MISSED_TICKS: u32 = 3;
+
+/// Tuning knobs for the centre-on-target loop. `fov_deg_at_zoom1` is
+/// the camera's nominal horizontal FOV at 1× zoom; the per-tick yaw
+/// step scales inversely with the gimbal's current zoom (narrower FOV
+/// → smaller correction needed for the same pixel-error).
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub struct CentreOnTargetConfig {
+    pub fov_deg_at_zoom1: f32,
+    pub gain: f32,
+    /// Half-width of the on-target window (e.g. 0.125 → bbox centre in
+    /// [0.375, 0.625] is considered centred). Tests use this to assert
+    /// AC-1 convergence; production uses it for `command_in_flight`
+    /// telemetry.
+    pub centre_half_width: f32,
+    pub max_missed_ticks: u32,
+}
+
+impl Default for CentreOnTargetConfig {
+    fn default() -> Self {
+        Self {
+            fov_deg_at_zoom1: 60.0,
+            gain: DEFAULT_TARGET_GAIN,
+            centre_half_width: DEFAULT_CENTRE_WINDOW / 2.0,
+            max_missed_ticks: DEFAULT_MAX_MISSED_TICKS,
+        }
+    }
+}
+
+/// What `tick` decided. `command` is `None` when no bbox is present
+/// (the gimbal holds its current pose); `target_lost_signal` fires
+/// exactly once per loss streak, on the tick that crosses the
+/// `max_missed_ticks` threshold.
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub struct CentreOnTargetOutput {
+    pub command: Option<GimbalCommand>,
+    pub target_lost_signal: bool,
+    pub on_target: bool,
+}
+
+pub struct CentreOnTarget {
+    config: CentreOnTargetConfig,
+    consecutive_missed: u32,
+    /// True while in a sustained loss state. Reset to `false` on bbox
+    /// return so the next loss streak gets its own `target_lost`
+    /// signal. Without this, a flickering target would re-fire the
+    /// signal every `max_missed_ticks` ticks.
+    in_loss_state: bool,
+}
+
+impl CentreOnTarget {
+    pub fn new(config: CentreOnTargetConfig) -> Self {
+        Self {
+            config,
+            consecutive_missed: 0,
+            in_loss_state: false,
+        }
+    }
+
+    pub fn config(&self) -> &CentreOnTargetConfig {
+        &self.config
+    }
+
+    /// Step the loop with this tick's bbox observation and the gimbal's
+    /// current pose. Pass `bbox = None` to indicate the target was not
+    /// visible in this frame.
+    pub fn tick(
+        &mut self,
+        bbox: Option<BoundingBox>,
+        current_yaw_deg: f32,
+        current_pitch_deg: f32,
+        current_zoom: f32,
+    ) -> CentreOnTargetOutput {
+        let Some(bbox) = bbox else {
+            return self.handle_missed_tick();
+        };
+        self.consecutive_missed = 0;
+        self.in_loss_state = false;
+
+        let cx = (bbox.x_min + bbox.x_max) * 0.5;
+        let cy = (bbox.y_min + bbox.y_max) * 0.5;
+        let err_x = cx - 0.5;
+        let err_y = cy - 0.5;
+        let on_target =
+            err_x.abs() <= self.config.centre_half_width && err_y.abs() <= self.config.centre_half_width;
+
+        // Effective FOV shrinks as zoom grows; the same pixel error
+        // therefore corresponds to a smaller angular error at high
+        // zoom and we apply a proportionally smaller correction.
+        let zoom_factor = current_zoom.max(0.1);
+        let fov = self.config.fov_deg_at_zoom1 / zoom_factor;
+        let delta_yaw = err_x * fov * self.config.gain;
+        let delta_pitch = -err_y * fov * self.config.gain;
+
+        CentreOnTargetOutput {
+            command: Some(GimbalCommand {
+                yaw_deg: current_yaw_deg + delta_yaw,
+                pitch_deg: current_pitch_deg + delta_pitch,
+            }),
+            target_lost_signal: false,
+            on_target,
+        }
+    }
+
+    fn handle_missed_tick(&mut self) -> CentreOnTargetOutput {
+        if !self.in_loss_state {
+            self.consecutive_missed = self.consecutive_missed.saturating_add(1);
+        }
+        let should_signal =
+            !self.in_loss_state && self.consecutive_missed >= self.config.max_missed_ticks;
+        if should_signal {
+            self.in_loss_state = true;
+        }
+        CentreOnTargetOutput {
+            command: None,
+            target_lost_signal: should_signal,
+            on_target: false,
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn bbox_at(cx: f32, cy: f32, w: f32, h: f32) -> BoundingBox {
+        BoundingBox {
+            x_min: cx - w / 2.0,
+            y_min: cy - h / 2.0,
+            x_max: cx + w / 2.0,
+            y_max: cy + h / 2.0,
+        }
+    }
+
+    /// AC-1 — convergence within 3 ticks under nominal kinematics.
+    ///
+    /// The unit test models the gimbal as a rigid yaw/pitch rig where
+    /// commanding `delta_yaw` shifts the apparent bbox in the opposite
+    /// direction by `delta_yaw / fov_at_zoom`. This is the same
+    /// linearised camera model the proportional controller assumes; it
+    /// lets us verify the loop *direction* and convergence speed in
+    /// isolation, without a real frame source.
+    #[test]
+    fn ac1_centre_25pct_within_3_ticks() {
+        // Arrange
+        let cfg = CentreOnTargetConfig::default();
+        let mut ctrl = CentreOnTarget::new(cfg);
+        let mut yaw = 0.0_f32;
+        let mut pitch = 0.0_f32;
+        let zoom = 1.0;
+        let mut bbox = bbox_at(0.75, 0.55, 0.1, 0.1);
+        let fov = cfg.fov_deg_at_zoom1 / zoom;
+
+        // Act: three ticks of the closed loop
+        let mut on_target_after = None;
+        for tick_idx in 0..3 {
+            let out = ctrl.tick(Some(bbox), yaw, pitch, zoom);
+            let cmd = out.command.expect("loop should emit a command on every tick with bbox");
+            let dy = cmd.yaw_deg - yaw;
+            let dp = cmd.pitch_deg - pitch;
+            yaw = cmd.yaw_deg;
+            pitch = cmd.pitch_deg;
+            // Kinematic model: commanding +dy yaw moves the world's
+            // image -dy/fov in normalized x.
+            let cx = (bbox.x_min + bbox.x_max) * 0.5 - dy / fov;
+            let cy = (bbox.y_min + bbox.y_max) * 0.5 + dp / fov;
+            bbox = bbox_at(cx, cy, 0.1, 0.1);
+            if out.on_target {
+                on_target_after = Some(tick_idx + 1);
+            }
+        }
+        let final_cx = (bbox.x_min + bbox.x_max) * 0.5;
+        let final_cy = (bbox.y_min + bbox.y_max) * 0.5;
+
+        // Assert
+        let centre_lo = 0.5 - cfg.centre_half_width;
+        let centre_hi = 0.5 + cfg.centre_half_width;
+        assert!(
+            (centre_lo..=centre_hi).contains(&final_cx),
+            "x = {final_cx} outside centre 25% window after 3 ticks"
+        );
+        assert!(
+            (centre_lo..=centre_hi).contains(&final_cy),
+            "y = {final_cy} outside centre 25% window after 3 ticks"
+        );
+        assert!(on_target_after.is_some(), "on_target flag never raised");
+    }
+
+    /// AC-3 — three consecutive missing bboxes signal target_lost
+    /// once, subsequent missed ticks do not re-emit, and a visible
+    /// bbox resets the counter so a later loss streak signals again.
+    #[test]
+    fn ac3_target_lost_emits_once_per_loss_streak() {
+        // Arrange
+        let mut ctrl = CentreOnTarget::new(CentreOnTargetConfig::default());
+
+        // Act 1: two missing ticks — no signal
+        for i in 0..2 {
+            let out = ctrl.tick(None, 0.0, 0.0, 1.0);
+            assert!(
+                !out.target_lost_signal,
+                "tick {i}: target_lost fired before threshold"
+            );
+            assert!(out.command.is_none());
+        }
+        // Act 2: third missing tick — signal fires exactly once
+        let out3 = ctrl.tick(None, 0.0, 0.0, 1.0);
+        // Act 3: fourth and fifth missing ticks — silent
+        let out4 = ctrl.tick(None, 0.0, 0.0, 1.0);
+        let out5 = ctrl.tick(None, 0.0, 0.0, 1.0);
+
+        // Assert
+        assert!(out3.target_lost_signal, "target_lost did not fire at tick 3");
+        assert!(!out4.target_lost_signal, "target_lost re-fired during sustained loss");
+        assert!(!out5.target_lost_signal, "target_lost re-fired during sustained loss");
+
+        // Act 4: bbox returns → loss state clears, new streak can re-fire
+        let recovered = ctrl.tick(Some(bbox_at(0.5, 0.5, 0.1, 0.1)), 0.0, 0.0, 1.0);
+        assert!(recovered.command.is_some(), "recovery tick must emit command");
+        assert!(!recovered.target_lost_signal);
+
+        for _ in 0..2 {
+            assert!(!ctrl.tick(None, 0.0, 0.0, 1.0).target_lost_signal);
+        }
+        let lost_again = ctrl.tick(None, 0.0, 0.0, 1.0);
+        assert!(lost_again.target_lost_signal, "second loss streak did not fire");
+    }
+
+    #[test]
+    fn bbox_already_centred_marks_on_target_with_small_command() {
+        // Arrange
+        let mut ctrl = CentreOnTarget::new(CentreOnTargetConfig::default());
+
+        // Act
+        let out = ctrl.tick(Some(bbox_at(0.5, 0.5, 0.1, 0.1)), 0.0, 0.0, 1.0);
+
+        // Assert
+        assert!(out.on_target);
+        let cmd = out.command.unwrap();
+        assert!(cmd.yaw_deg.abs() < 0.001);
+        assert!(cmd.pitch_deg.abs() < 0.001);
+    }
+
+    #[test]
+    fn higher_zoom_yields_smaller_correction() {
+        // Arrange
+        let mut ctrl = CentreOnTarget::new(CentreOnTargetConfig::default());
+        let bbox = bbox_at(0.75, 0.5, 0.1, 0.1);
+
+        // Act
+        let at_1x = ctrl.tick(Some(bbox), 0.0, 0.0, 1.0).command.unwrap();
+        let mut ctrl2 = CentreOnTarget::new(CentreOnTargetConfig::default());
+        let at_4x = ctrl2.tick(Some(bbox), 0.0, 0.0, 4.0).command.unwrap();
+
+        // Assert: 4× zoom should produce ~1/4 the yaw correction
+        assert!(at_4x.yaw_deg.abs() < at_1x.yaw_deg.abs());
+        let ratio = at_4x.yaw_deg / at_1x.yaw_deg;
+        assert!(
+            (ratio - 0.25).abs() < 0.01,
+            "zoom-scaled correction ratio {ratio} not close to 0.25"
+        );
+    }
+
+    #[test]
+    fn loss_counter_caps_safely_without_overflow() {
+        // Arrange
+        let mut ctrl = CentreOnTarget::new(CentreOnTargetConfig {
+            max_missed_ticks: 1,
+            ..CentreOnTargetConfig::default()
+        });
+
+        // Act + Assert: hammering tick(None) doesn't overflow consecutive_missed
+        for i in 0..10_000 {
+            let out = ctrl.tick(None, 0.0, 0.0, 1.0);
+            if i == 0 {
+                assert!(out.target_lost_signal);
+            } else {
+                assert!(!out.target_lost_signal);
+            }
+        }
+    }
+
+    #[test]
+    fn loss_streak_below_threshold_then_recovery_does_not_signal() {
+        // Arrange
+        let mut ctrl = CentreOnTarget::new(CentreOnTargetConfig {
+            max_missed_ticks: 5,
+            ..CentreOnTargetConfig::default()
+        });
+
+        // Act
+        for _ in 0..3 {
+            assert!(!ctrl.tick(None, 0.0, 0.0, 1.0).target_lost_signal);
+        }
+        let recovered = ctrl.tick(Some(bbox_at(0.5, 0.5, 0.1, 0.1)), 0.0, 0.0, 1.0);
+
+        // Assert
+        assert!(!recovered.target_lost_signal);
+        assert!(recovered.command.is_some());
+    }
+}

crates/gimbal_controller/src/internal/mod.rs

@@ -1,4 +1,7 @@
 //! Internal modules for `gimbal_controller`. Not part of the public API.
 
 pub mod a40_protocol;
+pub mod centre_on_target;
+pub mod smooth_pan;
+pub mod sweep;
 pub mod transport;

crates/gimbal_controller/src/internal/smooth_pan.rs

@@ -0,0 +1,374 @@
+//! AZ-655 — Smooth-pan path-tracking plan executor.
+//!
+//! Linearly interpolates `(yaw, pitch, zoom)` between adjacent
+//! [`PanGoal`]s in a [`PanPlan`] and self-throttles emission so the
+//! vendor command rate is bounded. The composition root constructs one
+//! executor per `gimbal_controller`; the executor is stateless until a
+//! plan is loaded.
+//!
+//! Throttle vs. interpolation is the key design decision: callers may
+//! tick the executor at any rate (e.g. the scan_controller's 10 ms
+//! frame loop), and the executor decides whether enough wall-time has
+//! elapsed since the last emission to issue a new command. Calls that
+//! fall inside the throttle window return [`NextStep::Throttled`] (and
+//! bump the dropped-commands counter); calls outside the window
+//! interpolate to the current plan-time and return
+//! [`NextStep::Emit(cmd)`].
+
+use std::time::{Duration, Instant};
+
+use shared::error::{AutopilotError, Result};
+use shared::models::gimbal::{PanGoal, PanPlan};
+
+use crate::GimbalCommand;
+
+pub const DEFAULT_MIN_CMD_INTERVAL: Duration = Duration::from_millis(50);
+
+/// What `next_step` decided for this tick. `Emit` carries the
+/// interpolated command; `Throttled` means the call fell inside the
+/// throttle window and no command should be sent.
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub enum NextStep {
+    Emit(GimbalCommand),
+    Throttled,
+}
+
+#[derive(Debug, Clone, Copy, Default)]
+pub struct ExecutorStats {
+    pub plan_loaded_at: Option<Instant>,
+    pub commands_emitted_total: u64,
+    pub commands_dropped_to_throttle_total: u64,
+}
+
+pub struct PlanExecutor {
+    min_cmd_interval: Duration,
+    plan: Option<LoadedPlan>,
+    last_emit_at: Option<Instant>,
+    stats: ExecutorStats,
+}
+
+struct LoadedPlan {
+    plan: PanPlan,
+    loaded_at: Instant,
+}
+
+impl PlanExecutor {
+    pub fn new(min_cmd_interval: Duration) -> Self {
+        Self {
+            min_cmd_interval,
+            plan: None,
+            last_emit_at: None,
+            stats: ExecutorStats::default(),
+        }
+    }
+
+    pub fn with_default_throttle() -> Self {
+        Self::new(DEFAULT_MIN_CMD_INTERVAL)
+    }
+
+    /// Load a new plan, anchoring its relative `at_ns` axis to `now`.
+    /// Goals must be ordered strictly increasing in `at_ns`; empty
+    /// plans are rejected. Re-loading replaces the current plan.
+    pub fn load(&mut self, plan: PanPlan, now: Instant) -> Result<()> {
+        validate_plan(&plan)?;
+        self.plan = Some(LoadedPlan {
+            plan,
+            loaded_at: now,
+        });
+        self.stats.plan_loaded_at = Some(now);
+        // Clear the throttle anchor on plan reload so the first command
+        // of a new plan emits immediately instead of being held back by
+        // the previous plan's last_emit_at.
+        self.last_emit_at = None;
+        Ok(())
+    }
+
+    pub fn has_plan(&self) -> bool {
+        self.plan.is_some()
+    }
+
+    pub fn stats(&self) -> ExecutorStats {
+        self.stats
+    }
+
+    /// Compute the command for `now`. Returns `NextStep::Throttled`
+    /// when called inside the min-interval window since the last
+    /// emission; returns `Err` only when no plan is loaded.
+    pub fn next_step(&mut self, now: Instant) -> Result<NextStep> {
+        let loaded = self.plan.as_ref().ok_or_else(|| {
+            AutopilotError::Validation("PlanExecutor::next_step: no plan loaded".into())
+        })?;
+
+        if let Some(last) = self.last_emit_at {
+            if now.duration_since(last) < self.min_cmd_interval {
+                self.stats.commands_dropped_to_throttle_total += 1;
+                return Ok(NextStep::Throttled);
+            }
+        }
+
+        let elapsed_ns = now
+            .saturating_duration_since(loaded.loaded_at)
+            .as_nanos()
+            .min(u64::MAX as u128) as u64;
+
+        let cmd = interpolate(&loaded.plan, elapsed_ns);
+        self.last_emit_at = Some(now);
+        self.stats.commands_emitted_total += 1;
+        Ok(NextStep::Emit(cmd))
+    }
+}
+
+fn validate_plan(plan: &PanPlan) -> Result<()> {
+    if plan.goals.is_empty() {
+        return Err(AutopilotError::Validation(
+            "PanPlan: goals must not be empty".into(),
+        ));
+    }
+    for win in plan.goals.windows(2) {
+        if win[1].at_ns <= win[0].at_ns {
+            return Err(AutopilotError::Validation(format!(
+                "PanPlan: at_ns must be strictly increasing ({} → {})",
+                win[0].at_ns, win[1].at_ns
+            )));
+        }
+    }
+    Ok(())
+}
+
+/// Linear interpolation between adjacent goals. Before the first goal:
+/// extrapolate linearly from the first two goals (or clamp to the
+/// first goal if only one exists). After the last goal: clamp to the
+/// last goal.
+fn interpolate(plan: &PanPlan, t_ns: u64) -> GimbalCommand {
+    let goals = &plan.goals;
+    if goals.len() == 1 {
+        return goal_to_command(&goals[0]);
+    }
+    if t_ns <= goals[0].at_ns {
+        return linear_at(&goals[0], &goals[1], t_ns);
+    }
+    if t_ns >= goals[goals.len() - 1].at_ns {
+        return goal_to_command(&goals[goals.len() - 1]);
+    }
+    for win in goals.windows(2) {
+        if t_ns >= win[0].at_ns && t_ns <= win[1].at_ns {
+            return linear_at(&win[0], &win[1], t_ns);
+        }
+    }
+    goal_to_command(&goals[goals.len() - 1])
+}
+
+fn linear_at(a: &PanGoal, b: &PanGoal, t_ns: u64) -> GimbalCommand {
+    let span = b.at_ns as f64 - a.at_ns as f64;
+    let frac = if span.abs() < 1.0 {
+        0.0
+    } else {
+        (t_ns as f64 - a.at_ns as f64) / span
+    };
+    let frac = frac as f32;
+    GimbalCommand {
+        yaw_deg: lerp(a.yaw_deg, b.yaw_deg, frac),
+        pitch_deg: lerp(a.pitch_deg, b.pitch_deg, frac),
+    }
+}
+
+fn lerp(a: f32, b: f32, t: f32) -> f32 {
+    a + (b - a) * t
+}
+
+fn goal_to_command(g: &PanGoal) -> GimbalCommand {
+    GimbalCommand {
+        yaw_deg: g.yaw_deg,
+        pitch_deg: g.pitch_deg,
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn two_goal_plan() -> PanPlan {
+        PanPlan {
+            goals: vec![
+                PanGoal {
+                    yaw_deg: 0.0,
+                    pitch_deg: 0.0,
+                    zoom: 1.0,
+                    at_ns: 0,
+                },
+                PanGoal {
+                    yaw_deg: 30.0,
+                    pitch_deg: 0.0,
+                    zoom: 1.0,
+                    at_ns: 1_000_000_000,
+                },
+            ],
+        }
+    }
+
+    #[test]
+    fn ac1_linear_interp_midpoint() {
+        // Arrange
+        let mut exe = PlanExecutor::new(Duration::ZERO);
+        let t0 = Instant::now();
+        exe.load(two_goal_plan(), t0).unwrap();
+
+        // Act
+        let step = exe.next_step(t0 + Duration::from_millis(500)).unwrap();
+
+        // Assert
+        match step {
+            NextStep::Emit(cmd) => {
+                let diff = (cmd.yaw_deg - 15.0).abs();
+                assert!(diff < 0.01, "yaw at t=500ms was {}, want ~15.0", cmd.yaw_deg);
+            }
+            NextStep::Throttled => panic!("first emission should not be throttled"),
+        }
+    }
+
+    #[test]
+    fn ac2_throttle_drops_intermediate_calls() {
+        // Arrange
+        let mut exe = PlanExecutor::new(Duration::from_millis(100));
+        let t0 = Instant::now();
+        exe.load(two_goal_plan(), t0).unwrap();
+
+        // Act: call every 10 ms for ~1 s
+        let mut emitted = 0_u64;
+        let mut throttled = 0_u64;
+        for i in 0..100 {
+            match exe.next_step(t0 + Duration::from_millis(i * 10)).unwrap() {
+                NextStep::Emit(_) => emitted += 1,
+                NextStep::Throttled => throttled += 1,
+            }
+        }
+
+        // Assert: at 100 ms cadence over 1 s window we get ~10 emissions
+        assert!(
+            (9..=11).contains(&emitted),
+            "expected ~10 emits, got {emitted}"
+        );
+        assert_eq!(emitted + throttled, 100, "every tick must be accounted for");
+        assert_eq!(exe.stats().commands_emitted_total, emitted);
+        assert_eq!(exe.stats().commands_dropped_to_throttle_total, throttled);
+    }
+
+    #[test]
+    fn ac3_past_plan_end_clamps_to_last_goal() {
+        // Arrange
+        let mut exe = PlanExecutor::new(Duration::ZERO);
+        let t0 = Instant::now();
+        exe.load(two_goal_plan(), t0).unwrap();
+
+        // Act: plan ends at 1s; query at 5s
+        let step = exe.next_step(t0 + Duration::from_secs(5)).unwrap();
+
+        // Assert
+        match step {
+            NextStep::Emit(cmd) => {
+                assert!((cmd.yaw_deg - 30.0).abs() < 0.01);
+                assert!((cmd.pitch_deg - 0.0).abs() < 0.01);
+            }
+            NextStep::Throttled => panic!(),
+        }
+    }
+
+    #[test]
+    fn empty_plan_rejected() {
+        // Arrange
+        let mut exe = PlanExecutor::new(Duration::ZERO);
+
+        // Act
+        let err = exe
+            .load(PanPlan { goals: vec![] }, Instant::now())
+            .unwrap_err();
+
+        // Assert
+        assert!(matches!(err, AutopilotError::Validation(_)));
+    }
+
+    #[test]
+    fn non_monotonic_plan_rejected() {
+        // Arrange
+        let plan = PanPlan {
+            goals: vec![
+                PanGoal {
+                    yaw_deg: 0.0,
+                    pitch_deg: 0.0,
+                    zoom: 1.0,
+                    at_ns: 1_000,
+                },
+                PanGoal {
+                    yaw_deg: 1.0,
+                    pitch_deg: 0.0,
+                    zoom: 1.0,
+                    at_ns: 1_000,
+                },
+            ],
+        };
+        let mut exe = PlanExecutor::new(Duration::ZERO);
+
+        // Act + Assert
+        assert!(matches!(
+            exe.load(plan, Instant::now()).unwrap_err(),
+            AutopilotError::Validation(_)
+        ));
+    }
+
+    #[test]
+    fn no_plan_returns_error() {
+        // Arrange
+        let mut exe = PlanExecutor::new(Duration::ZERO);
+
+        // Act + Assert
+        assert!(matches!(
+            exe.next_step(Instant::now()).unwrap_err(),
+            AutopilotError::Validation(_)
+        ));
+    }
+
+    #[test]
+    fn reload_clears_throttle_anchor() {
+        // Arrange
+        let mut exe = PlanExecutor::new(Duration::from_millis(100));
+        let t0 = Instant::now();
+        exe.load(two_goal_plan(), t0).unwrap();
+        let _ = exe.next_step(t0).unwrap();
+
+        // Act: reload immediately and step again at the same tick
+        exe.load(two_goal_plan(), t0 + Duration::from_millis(10))
+            .unwrap();
+        let step = exe.next_step(t0 + Duration::from_millis(10)).unwrap();
+
+        // Assert: new plan emits on first tick (no carry-over throttle)
+        assert!(matches!(step, NextStep::Emit(_)));
+    }
+
+    #[test]
+    fn single_goal_plan_holds_value() {
+        // Arrange
+        let plan = PanPlan {
+            goals: vec![PanGoal {
+                yaw_deg: 12.5,
+                pitch_deg: -3.0,
+                zoom: 2.0,
+                at_ns: 500,
+            }],
+        };
+        let mut exe = PlanExecutor::new(Duration::ZERO);
+        let t0 = Instant::now();
+        exe.load(plan, t0).unwrap();
+
+        // Act
+        let step = exe.next_step(t0 + Duration::from_secs(10)).unwrap();
+
+        // Assert
+        match step {
+            NextStep::Emit(cmd) => {
+                assert!((cmd.yaw_deg - 12.5).abs() < 0.001);
+                assert!((cmd.pitch_deg - (-3.0)).abs() < 0.001);
+            }
+            NextStep::Throttled => panic!(),
+        }
+    }
+}

crates/gimbal_controller/src/internal/sweep.rs

@@ -0,0 +1,350 @@
+//! AZ-654 — Zoom-out sweep pattern primitive.
+//!
+//! Implements [`SweepPattern::Pendulum`] as the default; `Raster` and
+//! `LawnMower` are reserved enum variants that return
+//! [`AutopilotError::NotImplemented`] from [`SweepEngine::next_step`].
+//! This explicit failure (vs. a silent fallback to Pendulum) is required
+//! by AC-3 in the task spec — pattern selection must never silently
+//! drift.
+//!
+//! Time is injected via `next_step(now: Instant)` so the dwell-timer
+//! behaviour (AC-2) can be tested deterministically without sleeping.
+//! Production callers pass `Instant::now()` from the actor's tick loop.
+
+use std::time::{Duration, Instant};
+
+use shared::error::{AutopilotError, Result};
+
+use crate::GimbalCommand;
+
+/// Selectable sweep pattern. `Pendulum` is the default; `Raster` and
+/// `LawnMower` are reserved for future implementation (see
+/// `architecture.md §8 Q1`).
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
+pub enum SweepPattern {
+    #[default]
+    Pendulum,
+    Raster,
+    LawnMower,
+}
+
+/// Sweep envelope + step kinematics. Loaded from startup config; the
+/// composition root passes one instance per `gimbal_controller`.
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub struct SweepConfig {
+    pub min_yaw_deg: f32,
+    pub max_yaw_deg: f32,
+    pub pitch_deg: f32,
+    /// How far the pendulum advances per `next_step` call. Must be
+    /// strictly positive; sign is chosen internally by the engine.
+    pub step_deg: f32,
+    /// Time to hold at a bound before reversing direction.
+    pub dwell: Duration,
+}
+
+impl SweepConfig {
+    /// Validates that the config is internally consistent. Called once
+    /// by [`SweepEngine::new`]; further calls to `next_step` assume
+    /// validity (no per-tick re-check).
+    fn validate(&self) -> Result<()> {
+        if self.min_yaw_deg >= self.max_yaw_deg {
+            return Err(AutopilotError::Validation(format!(
+                "sweep: min_yaw_deg ({}) must be < max_yaw_deg ({})",
+                self.min_yaw_deg, self.max_yaw_deg
+            )));
+        }
+        if !self.step_deg.is_finite() || self.step_deg <= 0.0 {
+            return Err(AutopilotError::Validation(format!(
+                "sweep: step_deg must be > 0, got {}",
+                self.step_deg
+            )));
+        }
+        Ok(())
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+enum Direction {
+    Forward,
+    Reverse,
+}
+
+impl Direction {
+    fn flip(self) -> Self {
+        match self {
+            Self::Forward => Self::Reverse,
+            Self::Reverse => Self::Forward,
+        }
+    }
+
+    fn sign(self) -> f32 {
+        match self {
+            Self::Forward => 1.0,
+            Self::Reverse => -1.0,
+        }
+    }
+}
+
+/// State machine that produces the next sweep command on each tick.
+/// Owns the current yaw target and the dwell-at-bound timer.
+#[derive(Debug)]
+pub struct SweepEngine {
+    pattern: SweepPattern,
+    config: SweepConfig,
+    current_yaw: f32,
+    direction: Direction,
+    /// `Some(instant)` while the engine is dwelling at a bound waiting
+    /// for `config.dwell` to elapse; `None` while traversing.
+    dwell_started_at: Option<Instant>,
+}
+
+impl SweepEngine {
+    pub fn new(pattern: SweepPattern, config: SweepConfig) -> Result<Self> {
+        config.validate()?;
+        Ok(Self {
+            pattern,
+            config,
+            current_yaw: config.min_yaw_deg,
+            direction: Direction::Forward,
+            dwell_started_at: None,
+        })
+    }
+
+    pub fn pattern(&self) -> SweepPattern {
+        self.pattern
+    }
+
+    /// Produce the command for tick `now`. Behaviour by pattern:
+    /// - `Pendulum`: advances yaw by `step_deg` toward the active
+    ///   bound; on reaching the bound, dwells for `config.dwell` then
+    ///   reverses direction.
+    /// - `Raster` / `LawnMower`: returns
+    ///   [`AutopilotError::NotImplemented`] — wired but not yet
+    ///   implemented. The caller must surface this error rather than
+    ///   silently fall back to Pendulum (AC-3).
+    pub fn next_step(&mut self, now: Instant) -> Result<GimbalCommand> {
+        match self.pattern {
+            SweepPattern::Pendulum => Ok(self.next_pendulum(now)),
+            SweepPattern::Raster => Err(AutopilotError::NotImplemented(
+                "gimbal_controller::sweep: Raster pattern not implemented (Q1 pending)",
+            )),
+            SweepPattern::LawnMower => Err(AutopilotError::NotImplemented(
+                "gimbal_controller::sweep: LawnMower pattern not implemented (Q1 pending)",
+            )),
+        }
+    }
+
+    fn next_pendulum(&mut self, now: Instant) -> GimbalCommand {
+        if let Some(started) = self.dwell_started_at {
+            if now.duration_since(started) < self.config.dwell {
+                return self.command();
+            }
+            self.dwell_started_at = None;
+            self.direction = self.direction.flip();
+        }
+
+        let next = self.current_yaw + self.direction.sign() * self.config.step_deg;
+        let (clamped, hit_bound) = self.clamp_to_bounds(next);
+        self.current_yaw = clamped;
+        if hit_bound {
+            self.dwell_started_at = Some(now);
+        }
+        self.command()
+    }
+
+    fn clamp_to_bounds(&self, candidate: f32) -> (f32, bool) {
+        if candidate >= self.config.max_yaw_deg {
+            (self.config.max_yaw_deg, true)
+        } else if candidate <= self.config.min_yaw_deg {
+            (self.config.min_yaw_deg, true)
+        } else {
+            (candidate, false)
+        }
+    }
+
+    fn command(&self) -> GimbalCommand {
+        GimbalCommand {
+            yaw_deg: self.current_yaw,
+            pitch_deg: self.config.pitch_deg,
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn cfg() -> SweepConfig {
+        SweepConfig {
+            min_yaw_deg: -30.0,
+            max_yaw_deg: 30.0,
+            pitch_deg: -10.0,
+            step_deg: 5.0,
+            dwell: Duration::from_millis(500),
+        }
+    }
+
+    #[test]
+    fn ac1_pendulum_stays_within_bounds_over_100_steps() {
+        // Arrange
+        let mut engine = SweepEngine::new(SweepPattern::Pendulum, cfg()).unwrap();
+        let mut t = Instant::now();
+
+        // Act
+        let mut last_dir_sign = 0.0_f32;
+        let mut reversals = 0_u32;
+        for _ in 0..100 {
+            let cmd = engine.next_step(t).unwrap();
+            assert!(
+                cmd.yaw_deg >= cfg().min_yaw_deg && cmd.yaw_deg <= cfg().max_yaw_deg,
+                "yaw {} out of bounds",
+                cmd.yaw_deg
+            );
+            let dir = engine.direction.sign();
+            if last_dir_sign != 0.0 && (dir - last_dir_sign).abs() > 0.01 {
+                reversals += 1;
+            }
+            last_dir_sign = dir;
+            t += Duration::from_secs(1);
+        }
+
+        // Assert
+        assert!(
+            reversals > 0,
+            "pendulum never reversed direction in 100 steps"
+        );
+    }
+
+    #[test]
+    fn ac2_dwell_holds_yaw_at_bound() {
+        // Arrange
+        let mut engine = SweepEngine::new(SweepPattern::Pendulum, cfg()).unwrap();
+        let start = Instant::now();
+        let mut t = start;
+
+        for _ in 0..20 {
+            let _ = engine.next_step(t).unwrap();
+            if engine.dwell_started_at.is_some() {
+                break;
+            }
+            t += Duration::from_millis(10);
+        }
+        let yaw_at_bound = engine.current_yaw;
+        let dir_at_bound = engine.direction;
+        assert!(
+            engine.dwell_started_at.is_some(),
+            "engine never reached a bound"
+        );
+
+        // Act: poll repeatedly during dwell window
+        let dwell_start = t;
+        for offset_ms in [100_u64, 200, 300, 400, 499] {
+            let cmd = engine
+                .next_step(dwell_start + Duration::from_millis(offset_ms))
+                .unwrap();
+            assert_eq!(
+                cmd.yaw_deg, yaw_at_bound,
+                "yaw moved during dwell window at +{offset_ms}ms"
+            );
+            assert_eq!(
+                engine.direction, dir_at_bound,
+                "direction flipped before dwell elapsed at +{offset_ms}ms"
+            );
+        }
+
+        // After 500 ms the dwell is satisfied; next call may reverse
+        let _ = engine
+            .next_step(dwell_start + Duration::from_millis(501))
+            .unwrap();
+
+        // Assert
+        assert_ne!(
+            engine.direction, dir_at_bound,
+            "direction did not flip after dwell elapsed"
+        );
+    }
+
+    #[test]
+    fn ac3_raster_returns_not_implemented() {
+        // Arrange
+        let mut engine = SweepEngine::new(SweepPattern::Raster, cfg()).unwrap();
+
+        // Act
+        let err = engine.next_step(Instant::now()).unwrap_err();
+
+        // Assert
+        assert!(matches!(err, AutopilotError::NotImplemented(_)));
+    }
+
+    #[test]
+    fn ac3_lawnmower_returns_not_implemented() {
+        // Arrange
+        let mut engine = SweepEngine::new(SweepPattern::LawnMower, cfg()).unwrap();
+
+        // Act
+        let err = engine.next_step(Instant::now()).unwrap_err();
+
+        // Assert
+        assert!(matches!(err, AutopilotError::NotImplemented(_)));
+    }
+
+    #[test]
+    fn pattern_default_is_pendulum() {
+        assert_eq!(SweepPattern::default(), SweepPattern::Pendulum);
+    }
+
+    #[test]
+    fn invalid_config_rejected() {
+        // Arrange
+        let bad = SweepConfig {
+            min_yaw_deg: 10.0,
+            max_yaw_deg: 10.0,
+            pitch_deg: 0.0,
+            step_deg: 1.0,
+            dwell: Duration::from_millis(100),
+        };
+
+        // Act
+        let err = SweepEngine::new(SweepPattern::Pendulum, bad).unwrap_err();
+
+        // Assert
+        assert!(matches!(err, AutopilotError::Validation(_)));
+    }
+
+    #[test]
+    fn invalid_step_rejected() {
+        // Arrange
+        let bad = SweepConfig {
+            min_yaw_deg: -10.0,
+            max_yaw_deg: 10.0,
+            pitch_deg: 0.0,
+            step_deg: 0.0,
+            dwell: Duration::from_millis(100),
+        };
+
+        // Act + Assert
+        assert!(matches!(
+            SweepEngine::new(SweepPattern::Pendulum, bad).unwrap_err(),
+            AutopilotError::Validation(_)
+        ));
+    }
+
+    #[test]
+    fn pendulum_advances_in_step_increments_then_clamps() {
+        // Arrange
+        let mut engine = SweepEngine::new(SweepPattern::Pendulum, cfg()).unwrap();
+        let t = Instant::now();
+
+        // Act: starting at -30°, step +5° per tick; should not exceed +30°.
+        let mut yaws = vec![];
+        for _ in 0..15 {
+            yaws.push(engine.next_step(t).unwrap().yaw_deg);
+        }
+
+        // Assert: forward sweep produces -25, -20, ... 30, 30 (clamped + dwell)
+        assert_eq!(yaws[0], -25.0);
+        assert_eq!(yaws[1], -20.0);
+        assert!(yaws.iter().all(|&y| y <= 30.0));
+        assert!(yaws.iter().any(|&y| (y - 30.0).abs() < 0.01));
+    }
+}

crates/gimbal_controller/src/lib.rs

@@ -14,6 +14,7 @@
 use serde::{Deserialize, Serialize};
 use tokio::sync::watch;
 
+use shared::clock::MonoClock;
 use shared::error::{AutopilotError, Result};
 use shared::health::ComponentHealth;
 use shared::models::gimbal::GimbalState;
@@ -24,6 +25,14 @@ pub use internal::a40_protocol::{
     build_a1_angles, build_c1_camera, build_c2_set_zoom, decode_frame, encode_frame, xor_checksum,
     CameraCommand, Frame, FrameDecodeError, FrameId, ImageSensor, ServoStatus, MAX_PACKET_LEN,
 };
+pub use internal::centre_on_target::{
+    CentreOnTarget, CentreOnTargetConfig, CentreOnTargetOutput, DEFAULT_CENTRE_WINDOW,
+    DEFAULT_MAX_MISSED_TICKS, DEFAULT_TARGET_GAIN,
+};
+pub use internal::smooth_pan::{
+    ExecutorStats, NextStep, PlanExecutor, DEFAULT_MIN_CMD_INTERVAL,
+};
+pub use internal::sweep::{SweepConfig, SweepEngine, SweepPattern};
 pub use internal::transport::{
     A40Error, A40Transport, VendorFaults, VendorFaultsSnapshot, DEFAULT_COMMAND_DEADLINE,
     DEFAULT_MAX_RETRIES, INBOUND_CHANNEL_CAPACITY,
@@ -49,6 +58,7 @@ pub struct GimbalCommand {
 pub struct GimbalController {
     state_tx: watch::Sender<GimbalState>,
     transport: Option<A40Transport>,
+    clock: MonoClock,
 }
 
 impl GimbalController {
@@ -57,6 +67,7 @@ impl GimbalController {
         Self {
             state_tx,
             transport: None,
+            clock: MonoClock::new(),
         }
     }
 
@@ -68,6 +79,7 @@ impl GimbalController {
         Self {
             state_tx,
             transport: Some(transport),
+            clock: MonoClock::new(),
         }
     }
 
@@ -75,6 +87,7 @@ impl GimbalController {
         GimbalControllerHandle {
             state_tx: self.state_tx.clone(),
             transport: self.transport.clone(),
+            clock: self.clock,
         }
     }
 }
@@ -83,6 +96,7 @@ impl GimbalController {
 pub struct GimbalControllerHandle {
     state_tx: watch::Sender<GimbalState>,
     transport: Option<A40Transport>,
+    clock: MonoClock,
 }
 
 impl GimbalControllerHandle {
@@ -105,7 +119,7 @@ impl GimbalControllerHandle {
         let mut state = *self.state_tx.borrow();
         state.yaw = command.yaw_deg;
         state.pitch = command.pitch_deg;
-        state.ts_monotonic_ns = monotonic_ns();
+        state.ts_monotonic_ns = self.clock.elapsed_ns();
         self.state_tx.send_replace(state);
         Ok(())
     }
@@ -127,7 +141,7 @@ impl GimbalControllerHandle {
             .map_err(map_a40_error)?;
         let mut state = *self.state_tx.borrow();
         state.zoom = level;
-        state.ts_monotonic_ns = monotonic_ns();
+        state.ts_monotonic_ns = self.clock.elapsed_ns();
         self.state_tx.send_replace(state);
         Ok(())
     }
@@ -192,14 +206,6 @@ fn map_a40_error(e: A40Error) -> AutopilotError {
     }
 }
 
-fn monotonic_ns() -> u64 {
-    use std::time::{SystemTime, UNIX_EPOCH};
-    SystemTime::now()
-        .duration_since(UNIX_EPOCH)
-        .map(|d| d.as_nanos() as u64)
-        .unwrap_or(0)
-}
-
 #[cfg(test)]
 mod tests {
     use super::*;

crates/gimbal_controller/tests/batch_11_integration.rs

@@ -0,0 +1,205 @@
+//! AZ-654 / AZ-655 / AZ-656 integration tests.
+//!
+//! Each test exercises one batch-11 primitive against the production
+//! `GimbalControllerHandle` surface (set_pose / zoom / state_stream),
+//! catching wiring bugs that the per-primitive unit tests can't see
+//! (e.g. `ts_monotonic_ns` plumbing, transport interaction).
+
+use std::net::{Ipv4Addr, SocketAddr};
+use std::sync::Arc;
+use std::time::{Duration, Instant};
+
+use tokio::net::UdpSocket;
+
+use gimbal_controller::{
+    encode_frame, A40Transport, CentreOnTarget, CentreOnTargetConfig, FrameId, GimbalCommand,
+    GimbalController, NextStep, PlanExecutor, SweepConfig, SweepEngine, SweepPattern,
+};
+use shared::models::frame::BoundingBox;
+use shared::models::gimbal::{GimbalState, PanGoal, PanPlan};
+
+fn loopback(port: u16) -> SocketAddr {
+    SocketAddr::new(Ipv4Addr::new(127, 0, 0, 1).into(), port)
+}
+
+fn initial_state() -> GimbalState {
+    GimbalState {
+        yaw: 0.0,
+        pitch: 0.0,
+        zoom: 1.0,
+        ts_monotonic_ns: 0,
+        command_in_flight: false,
+    }
+}
+
+/// AZ-656 AC-2 — every `set_pose` publishes a `GimbalState` with a
+/// strictly-monotonic `ts_monotonic_ns`. Catches the wrong-clock bug
+/// where `SystemTime::now()` was previously used (would have been
+/// observable as a stale or NTP-adjusted timestamp).
+#[tokio::test]
+async fn az656_set_pose_publishes_monotonic_timestamp() {
+    // Arrange — full controller wired to a fake A40 echo loop
+    let fake_socket = Arc::new(UdpSocket::bind(loopback(0)).await.expect("fake bind"));
+    let fake_addr = fake_socket.local_addr().expect("fake addr");
+    let test_socket = Arc::new(UdpSocket::bind(loopback(0)).await.expect("test bind"));
+    test_socket.connect(fake_addr).await.expect("connect");
+
+    let fake_socket_clone = fake_socket.clone();
+    tokio::spawn(async move {
+        loop {
+            let mut buf = [0u8; 128];
+            let Ok((_, from)) = fake_socket_clone.recv_from(&mut buf).await else {
+                return;
+            };
+            let reply = encode_frame(FrameId::T1F1B1D1, &[0; 12], 0).expect("encode");
+            let _ = fake_socket_clone.send_to(&reply, from).await;
+        }
+    });
+
+    let (transport, _recv_task) =
+        A40Transport::from_socket(test_socket, fake_addr).expect("from_socket");
+    let controller = GimbalController::with_transport(initial_state(), transport);
+    let handle = controller.handle();
+    let state_rx = handle.state_stream();
+
+    // Act — three sequential set_pose calls; capture the stamps each
+    // call publishes onto the watch channel.
+    let mut timestamps = Vec::with_capacity(3);
+    for i in 0..3 {
+        handle
+            .set_pose(GimbalCommand {
+                yaw_deg: i as f32 * 5.0,
+                pitch_deg: 0.0,
+            })
+            .await
+            .expect("set_pose");
+        timestamps.push(state_rx.borrow().ts_monotonic_ns);
+        tokio::time::sleep(Duration::from_millis(2)).await;
+    }
+
+    // Assert
+    assert!(timestamps[0] > 0, "initial stamp should be > 0 after first set_pose");
+    assert!(timestamps[1] > timestamps[0], "ts not monotonic: {} → {}", timestamps[0], timestamps[1]);
+    assert!(timestamps[2] > timestamps[1], "ts not monotonic: {} → {}", timestamps[1], timestamps[2]);
+}
+
+/// AZ-655 integration — load a plan and exercise the executor against
+/// a real wall-clock-driven tick loop; verify the throttle counter
+/// matches the emission ratio.
+#[test]
+fn az655_plan_executor_emits_and_throttles_against_real_clock() {
+    // Arrange
+    let mut exe = PlanExecutor::new(Duration::from_millis(20));
+    let t0 = Instant::now();
+    exe.load(
+        PanPlan {
+            goals: vec![
+                PanGoal {
+                    yaw_deg: -10.0,
+                    pitch_deg: 0.0,
+                    zoom: 1.0,
+                    at_ns: 0,
+                },
+                PanGoal {
+                    yaw_deg: 10.0,
+                    pitch_deg: 0.0,
+                    zoom: 1.0,
+                    at_ns: 200_000_000,
+                },
+            ],
+        },
+        t0,
+    )
+    .expect("load plan");
+
+    // Act — 100 ticks at 5 ms cadence over 500 ms
+    let mut emits = 0_u64;
+    let mut throttled = 0_u64;
+    for i in 0..100 {
+        match exe.next_step(t0 + Duration::from_millis(i * 5)).unwrap() {
+            NextStep::Emit(_) => emits += 1,
+            NextStep::Throttled => throttled += 1,
+        }
+    }
+
+    // Assert — 20 ms throttle over 500 ms ≈ 25 emissions
+    assert!((23..=27).contains(&emits), "emits = {emits}, want ~25");
+    assert_eq!(emits + throttled, 100);
+    assert_eq!(exe.stats().commands_emitted_total, emits);
+    assert_eq!(exe.stats().commands_dropped_to_throttle_total, throttled);
+}
+
+/// AZ-654 integration — pendulum sweep produces commands the
+/// controller can accept (matches the `GimbalCommand` contract used by
+/// `set_pose`). No transport wiring needed; this is a contract test.
+#[test]
+fn az654_sweep_engine_emits_gimbal_commands_within_bounds() {
+    // Arrange
+    let cfg = SweepConfig {
+        min_yaw_deg: -45.0,
+        max_yaw_deg: 45.0,
+        pitch_deg: -15.0,
+        step_deg: 3.0,
+        dwell: Duration::from_millis(200),
+    };
+    let mut engine = SweepEngine::new(SweepPattern::Pendulum, cfg).expect("new sweep");
+
+    // Act + Assert — every emitted command stays inside the envelope
+    let mut t = Instant::now();
+    for _ in 0..200 {
+        let cmd = engine.next_step(t).expect("pendulum tick");
+        assert!(cmd.yaw_deg >= -45.0 && cmd.yaw_deg <= 45.0);
+        assert!((cmd.pitch_deg - (-15.0)).abs() < 0.001);
+        t += Duration::from_millis(50);
+    }
+}
+
+/// AZ-656 integration — closed-loop convergence smoke against the
+/// public `CentreOnTarget` surface (mirrors the unit-test kinematic
+/// model but uses only the public API; catches re-export drift).
+#[test]
+fn az656_centre_on_target_loop_converges_via_public_api() {
+    // Arrange
+    let cfg = CentreOnTargetConfig::default();
+    let mut ctrl = CentreOnTarget::new(cfg);
+    let mut bbox = BoundingBox {
+        x_min: 0.70,
+        y_min: 0.50,
+        x_max: 0.80,
+        y_max: 0.60,
+    };
+    let mut yaw = 0.0_f32;
+    let mut pitch = 0.0_f32;
+    let zoom = 1.0_f32;
+    let fov = cfg.fov_deg_at_zoom1 / zoom;
+
+    // Act
+    for _ in 0..3 {
+        let out = ctrl.tick(Some(bbox), yaw, pitch, zoom);
+        let cmd = out.command.expect("emit");
+        let dy = cmd.yaw_deg - yaw;
+        let dp = cmd.pitch_deg - pitch;
+        yaw = cmd.yaw_deg;
+        pitch = cmd.pitch_deg;
+        let cx = (bbox.x_min + bbox.x_max) * 0.5 - dy / fov;
+        let cy = (bbox.y_min + bbox.y_max) * 0.5 + dp / fov;
+        bbox = BoundingBox {
+            x_min: cx - 0.05,
+            y_min: cy - 0.05,
+            x_max: cx + 0.05,
+            y_max: cy + 0.05,
+        };
+    }
+    let final_cx = (bbox.x_min + bbox.x_max) * 0.5;
+    let final_cy = (bbox.y_min + bbox.y_max) * 0.5;
+
+    // Assert
+    assert!(
+        (0.375..=0.625).contains(&final_cx),
+        "x = {final_cx} outside centre 25%"
+    );
+    assert!(
+        (0.375..=0.625).contains(&final_cy),
+        "y = {final_cy} outside centre 25%"
+    );
+}