✨ feat(*): 添加 J519 实发重采样与 JSON 机型模型

* 新增 J519 实发采样器，按 8ms 周期生成 timing/jerk 诊断行并完成 rad->deg 转换
* 兼容层产物导出补充 speedRatio，规划编排补齐 smoothStartStopTiming 与日志透传
* 配置与机型加载切换到运行目录 JSON 模型，并补齐 7L 展开模型与相关单元测试

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -606,7 +606,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
                 robot,
                 trajectory,
-                new FlyshotExecutionOptions(saveTrajectory: true, method: method),
+                new FlyshotExecutionOptions(useCache:false,saveTrajectory: true, method: method),
                 planningSettings,
                 planningSettings.PlanningSpeedScale);
             ExportFlyshotArtifactsIfRequested(name, saveTrajectory: true, robot, bundle);
@@ -777,7 +777,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             return;
         }
 
-        _artifactWriter.WriteUploadedFlyshot(name, robot, bundle);
+        var speedRatio = _runtime.GetSnapshot().SpeedRatio;
+        _artifactWriter.WriteUploadedFlyshot(name, robot, bundle, speedRatio);
     }
 
     /// <summary>