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Oleksandr Bezdieniezhnykh
4c63829ccd
ci/woodpecker/push/build-arm Pipeline failed
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>