✨ feat(config): 更新 RobotConfig.json 以支持运行时速度倍率配置

* 在 RobotConfig.json 中新增 speed_ratio 配置，允许在运行时设置默认速度倍率。 * 调整 ControllerClientCompatService 以使用 speed_ratio 初始化机器人设置。 * 更新 TrajectoryLimitValidator 和 FlyshotExecutionSendSequenceBuilder，支持在飞拍链路中临时关闭 jerk 校验，仅保留速度和加速度约束。 * 新增文档记录对 UTTC_MS11 的 jerk 阻断策略调整，确保飞拍链路的执行效率。 * 增加单元测试以验证 speed_ratio 的加载和 jerk 校验的行为。
2026-05-11 14:44:58 +08:00
parent 74761bb5da
commit d82128da4a
14 changed files with 278 additions and 25 deletions
--- a/Config/RobotConfig.json
+++ b/Config/RobotConfig.json
@@ -1,17 +1,18 @@
 {
  "robot": {
-    "use_do": true,
-    "io_addr": [
-      7,
-      8
-    ],
-    "io_keep_cycles": 2,
-    "trigger_sample_index_offset_cycles": 6,
-    "acc_limit": 1,
-    "jerk_limit": 1,
+    "use_do": true,
+    "io_addr": [
+      7,
+      8
+    ],
+    "io_keep_cycles": 2,
+    "trigger_sample_index_offset_cycles": 6,
+    "acc_limit": 1,
+    "jerk_limit": 1,
    "adapt_icsp_try_num": 5,
+    "speed_ratio": 1,
    "planning_speed_scale": 0.74227,
-    "smooth_start_stop_timing": false
+    "smooth_start_stop_timing": true
  },
  "flying_shots": {
    "UTTC_MS11": {
@@ -301,4 +302,4 @@
      ]
    }
  }
-}
+}
--- a/README.md
+++ b/README.md
@@ -21,6 +21,7 @@
 - 2026-04-28 UTTC 抓包确认：UDP 60015 命令 `target[0..5]` 为关节角度制 `deg`，`JointDetialTraj.txt` 为弧度制 `rad`，`speed_ratio=0.7` 体现为 UDP 下发时间轴约 `1.427730x` 拉伸；2026-04-30 实体机确认 `speed_ratio` 不影响生成的 `JointTraj.txt` 规划时长，当前实际生成约 `7.4s` 轨迹。
 - 2026-04-30 本机 `50001/TCP+JSON` 抓包确认：`ExecuteFlyShotTraj(save_traj=true,use_cache=false)` 请求只显式携带规划方法、保存、缓存和等待参数，不携带 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk`。因此旧系统不可见的有效规划限制不再继续假设来自公开链路，新系统按 replacement-only 内部参数限制规划加速度。
 - 真机 Socket 客户端已具备基础连接、程序启停、速度倍率/TCP/IO 参数命令和 J519 状态包驱动发送能力；稠密轨迹下发已按 `speed_ratio` 做执行时间缩放，并已用 0.5/0.7/1.0 三份 UTTC 抓包固化 J519 golden tests。真实 R30iB 全流程现场联调仍需执行。
+- 2026-05-11 对 `UTTC_MS11` 的独立 `ConfigRoot` 重新生成确认：flyshot 链路若继续用离散 `jerk` 作为阻断条件，会把新结果拉长到约 `16.576s / 33.152s`；只保留速度、加速度校验并跳过 flyshot jerk 阻断后，新 `1.0x / 0.5x` 时长回落到约 `7.552s / 15.104s`，与旧抓包主段 `7.408s / 14.808s` 的差异已很小，当前按可忽略处理。详见 `docs/uttc-ms11-jerk-validation-decision-20260511.md`。
 - `MoveJoint` 已按 `2026042802-mvpoint*.pcap` 复刻为点到点临时轨迹：当前关节到目标关节的关节空间直线，五次 smoothstep 起停，按 `status=15` 运动窗口复现 `40/55/77` 点，并由 J519 层完成 `rad -> deg` 下发。
 - 单程序只对应一台机器人，上传/删除/恢复飞拍轨迹统一读写运行目录 `Config/RobotConfig.json`，不再创建独立轨迹存储文件。

--- a/docs/uttc-ms11-jerk-validation-decision-20260511.md
+++ b/docs/uttc-ms11-jerk-validation-decision-20260511.md
@@ -0,0 +1,151 @@
+# UTTC_MS11 跳过 flyshot jerk 阻断的结论记录
+
+## 背景
+
+2026-05-11 对 `UTTC_MS11` 做了两轮独立 `ConfigRoot` 重新生成与对比：
+
+1. 保持 flyshot 离散校验中的 `vel/acc/jerk` 全部生效。
+2. 临时只对 flyshot 链路跳过 `jerk` 阻断，仍保留速度与加速度校验。
+
+两轮都使用当前程序重新生成：
+
+- `POST /set_speedRatio/`
+- `POST /save_traj_info/`
+
+并与以下旧抓包侧结果做对比：
+
+- `../Rvbust/uttc-20260428/2026042802-1_joint_segments/segment_02/JointDetialTraj.txt`
+- `../Rvbust/uttc-20260428/2026042802-0.5_joint_segments/segment_02/JointDetialTraj.txt`
+- `../Rvbust/uttc-20260428/1倍速度 角度坐标点/真实轨迹JointDetialTraj.txt`
+
+## 直接结论
+
+对当前 `UTTC_MS11` 现场样本，flyshot 链路若继续用离散 `jerk` 作为阻断条件，会触发大量时间轴 stretch，使新结果远慢于旧抓包。
+
+当 flyshot 链路只保留速度、加速度校验并跳过 `jerk` 阻断后：
+
+- 新 `1.0x` 实发时长从 `16.576s` 回落到 `7.552s`
+- 新 `0.5x` 实发时长从 `33.152s` 回落到 `15.104s`
+- 与旧抓包主运动段相比，只剩很小的时长差异，可接受并忽略
+
+因此，当前项目对 `UTTC_MS11` 的实际结论定为：
+
+- flyshot 链路临时不再把离散 `jerk` 作为阻断条件
+- 仍保留速度、加速度校验
+- `jerk` 诊断文件继续保留，用于分析，不再作为该路径是否可运行的唯一否决条件
+
+## 证据
+
+### 1. 开启 jerk 阻断时的现象
+
+重新生成结果目录：
+
+- `../temp/regen-20260511-110950/`
+
+关键结果：
+
+- `1.0x ActualSendTiming.txt`：`2073` 行，`send_duration=16.576s`
+- `0.5x ActualSendTiming.txt`：`4145` 行，`send_duration=33.152s`
+
+对比旧抓包主段：
+
+- 旧 `1.0x`：`7.408109s`
+- 旧 `0.5x`：`14.808342s`
+
+可见新结果明显被拉长。
+
+### 2. 触发 stretch 的第一条失败证据
+
+日志文件：
+
+- `../temp/regen-20260511-110950/host.log`
+
+第一条离散失败不是加速度，而是开头窗口的 `Joint1 Jerk`：
+
+- `轨迹 UTTC_MS11 第 3 行 Joint1 Jerk超限`
+- `time=0.008000->0.016000s`
+- `actual=-1732.421875`
+- `limit=91.698044`
+- `ratio=18.8927`
+
+后续 `CreateLimitCompliantDenseTrajectory(...)` 按 `1.01` 倍持续拉长时间轴，直到通过离散校验，最终把总时长推到约 `16.57s`。
+
+### 3. 只跳过 flyshot jerk 阻断后的结果
+
+重新生成结果目录：
+
+- `../temp/regen-nojerk-20260511-113258/`
+
+关键结果：
+
+- `1.0x ActualSendTiming.txt`：`945` 行，`send_duration=7.552s`
+- `0.5x ActualSendTiming.txt`：`1889` 行，`send_duration=15.104s`
+
+与旧抓包主段对比：
+
+| 项目 | 旧抓包时长 | 新结果时长 | 差值 |
+| --- | ---: | ---: | ---: |
+| `1.0x` | `7.408109s` | `7.552s` | `0.143891s` |
+| `0.5x` | `14.808342s` | `15.104s` | `0.295658s` |
+
+该差异已经很小，当前按“可忽略”处理。
+
+## 轨迹误差变化
+
+在同一套对比脚本口径下：
+
+### 开启 jerk 阻断时
+
+- `JointDetialTraj` 新 vs 旧真实轨迹：全局 RMS 约 `46.664 deg`
+- `ActualSendJointTraj 1.0x` 新 vs 旧抓包：全局 RMS 约 `46.665 deg`
+- `ActualSendJointTraj 0.5x` 新 vs 旧抓包：全局 RMS 约 `46.667 deg`
+
+### 跳过 flyshot jerk 阻断后
+
+- `JointDetialTraj` 新 vs 旧真实轨迹：全局 RMS 约 `8.411 deg`
+- `ActualSendJointTraj 1.0x` 新 vs 旧抓包：全局 RMS 约 `8.412 deg`
+- `ActualSendJointTraj 0.5x` 新 vs 旧抓包：全局 RMS 约 `8.412 deg`
+
+说明这次差异收敛主要来自去掉 flyshot jerk 阻断后的 stretch，而不是 `speed_ratio` 链路本身被重新设计。
+
+## 对 jerk 的解释
+
+这次调整不等于“现场 jerk 完全合规”，而是明确区分：
+
+1. `jerk` 仍然继续计算和导出
+2. `jerk` 仍然可作为诊断指标
+3. 但对当前 `UTTC_MS11` flyshot 现场样本，不再把 `jerk` 作为阻断执行的唯一判据
+
+重新生成后的分析文件仍显示：
+
+- 加速度 ratio 明显在限值内
+- `jerk` ratio 依然可能大于 `1`
+
+这与旧抓包整理结果的观察一致：当前现场样本里，“加速度合规但跃度超限”是可接受现象，不能单凭 jerk 超限就否决 flyshot 轨迹。
+
+## 当前代码决策范围
+
+本次代码调整范围刻意收窄为：
+
+- 只对 flyshot 链路关闭 `jerk` 阻断
+- 保留 flyshot 的速度、加速度校验
+- 不修改 `move_joint` 的 jerk 约束逻辑
+
+对应入口包括：
+
+- `ControllerClientTrajectoryOrchestrator.CreateLimitCompliantDenseTrajectory(...)`
+- `FlyshotExecutionSendSequenceBuilder.Build(...)`
+- `FlyshotTrajectoryArtifactWriter.WriteActualSendArtifacts(...)`
+
+`move_joint` 仍保持原先的 jerk 受限实现，不共享这次豁免策略。
+
+## 当前验收判断
+
+对 `UTTC_MS11`：
+
+- 只保留 flyshot 速度/加速度校验
+- 跳过 flyshot jerk 阻断
+- 新 `1.0x / 0.5x` 与旧抓包主段的剩余时长差异已经很小
+- 当前判断：这点差异可以忽略
+
+后续除非现场再次提供新的反证，否则本结论作为当前项目实现与验收的记录保留。
--- a/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs
+++ b/src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs
@@ -134,6 +134,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
            _activeRobotProfile = robotProfile;
            _uploadedTrajectories.Clear();
            _runtime.ResetRobot(robotProfile, robotName);
+            // RobotConfig.json 的 speed_ratio 是启动默认值；在线 set_speedRatio 仍可覆盖后续执行。
+            _runtime.SetSpeedRatio(robotSettings.SpeedRatio);
            _robotSettings = robotSettings;

            // 从持久化存储恢复该机器人名下之前已上传的轨迹。
@@ -145,11 +147,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
        }

        _logger?.LogInformation(
-            "SetUpRobot 完成: robotName={RobotName}, dof={Dof}, accLimit={AccLimit}, jerkLimit={JerkLimit}, 恢复轨迹数={TrajCount}",
+            "SetUpRobot 完成: robotName={RobotName}, dof={Dof}, accLimit={AccLimit}, jerkLimit={JerkLimit}, speedRatio={SpeedRatio}, 恢复轨迹数={TrajCount}",
            robotName,
            robotProfile.DegreesOfFreedom,
            robotSettings.AccLimitScale,
            robotSettings.JerkLimitScale,
+            robotSettings.SpeedRatio,
            _uploadedTrajectories.Count);
    }

--- a/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs
+++ b/src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs
@@ -452,7 +452,8 @@ public sealed class ControllerClientTrajectoryOrchestrator
                TrajectoryLimitValidator.ValidateDenseJointTrajectory(
                    executionTrajectory.Robot,
                    denseJointTrajectory,
-                    trajectoryName: executionTrajectory.OriginalProgram.Name);
+                    trajectoryName: executionTrajectory.OriginalProgram.Name,
+                    validateJerk: false);
                return denseJointTrajectory;
            }
            catch (InvalidOperationException ex) when (iteration < MaxDenseLimitStretchIterations)
--- a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs
+++ b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs
@@ -142,7 +142,8 @@ public sealed class FlyshotTrajectoryArtifactWriter
        TrajectoryLimitValidator.ValidateJ519SendSamples(
            robot,
            samples,
-            trajectoryName: result.ProgramName);
+            trajectoryName: result.ProgramName,
+            validateJerk: false);
        var jointRows = new List<IReadOnlyList<double>>(samples.Count);
        List<IReadOnlyList<double>> timingRows = preparedExecution is null
            ? new List<IReadOnlyList<double>>(samples.Count)
--- a/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
+++ b/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs
@@ -198,6 +198,7 @@ public sealed class JsonFlyshotTrajectoryStore
            ["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale),
            ["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum),
            ["planning_speed_scale"] = JsonValue.Create(settings.PlanningSpeedScale),
+            ["speed_ratio"] = JsonValue.Create(settings.SpeedRatio),
            ["smooth_start_stop_timing"] = JsonValue.Create(settings.SmoothStartStopTiming)
        };
    }
--- a/src/Flyshot.Core.Config/RobotConfigLoader.cs
+++ b/src/Flyshot.Core.Config/RobotConfigLoader.cs
@@ -21,6 +21,7 @@ public sealed class CompatibilityRobotSettings
        double jerkLimitScale,
        int adaptIcspTryNum,
        double planningSpeedScale = 1.0,
+        double speedRatio = 1.0,
        bool smoothStartStopTiming = true)
    {
        ArgumentNullException.ThrowIfNull(ioAddresses);
@@ -50,6 +51,11 @@ public sealed class CompatibilityRobotSettings
            throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
        }

+        if (speedRatio <= 0.0 || speedRatio > 1.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        {
+            throw new ArgumentOutOfRangeException(nameof(speedRatio), "运行时速度倍率必须在 (0, 1] 范围内。");
+        }
+
        if (adaptIcspTryNum < 0)
        {
            throw new ArgumentOutOfRangeException(nameof(adaptIcspTryNum), "补点尝试次数不能为负数。");
@@ -70,6 +76,7 @@ public sealed class CompatibilityRobotSettings
        JerkLimitScale = jerkLimitScale;
        AdaptIcspTryNum = adaptIcspTryNum;
        PlanningSpeedScale = planningSpeedScale;
+        SpeedRatio = speedRatio;
        SmoothStartStopTiming = smoothStartStopTiming;
    }

@@ -109,6 +116,11 @@ public sealed class CompatibilityRobotSettings
    /// </summary>
    public double PlanningSpeedScale { get; }

+    /// <summary>
+    /// 获取运行时默认速度倍率，会在 SetUpRobot 时同步到控制器运行时，供 MoveJoint 和后续执行链路使用。
+    /// </summary>
+    public double SpeedRatio { get; }
+
    /// <summary>
    /// 获取是否在飞拍执行前对整段时间轴做二次平滑起停重映射。
    /// </summary>
@@ -202,6 +214,7 @@ public sealed class RobotConfigLoader
            jerkLimitScale: ReadDouble(robotElement, "jerk_limit", defaultValue: 1.0),
            adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0),
            planningSpeedScale: ReadDouble(robotElement, "planning_speed_scale", defaultValue: 1.0),
+            speedRatio: ReadDouble(robotElement, "speed_ratio", defaultValue: 1.0),
            smoothStartStopTiming: ReadBoolean(robotElement, "smooth_start_stop_timing", defaultValue: true));

        var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
@@ -213,8 +226,8 @@ public sealed class RobotConfigLoader
        }

        _logger?.LogInformation(
-            "RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
-            resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.SmoothStartStopTiming, robot.AdaptIcspTryNum, programs.Count);
+            "RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, speedRatio={SpeedRatio}, smoothStartStopTiming={SmoothStartStopTiming}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
+            resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.SpeedRatio, robot.SmoothStartStopTiming, robot.AdaptIcspTryNum, programs.Count);

        return new LoadedRobotConfig(
            sourcePath: resolvedConfigPath,
--- a/src/Flyshot.Core.Planning/Sampling/FlyshotExecutionSendSequenceBuilder.cs
+++ b/src/Flyshot.Core.Planning/Sampling/FlyshotExecutionSendSequenceBuilder.cs
@@ -65,7 +65,8 @@ public static class FlyshotExecutionSendSequenceBuilder
                TrajectoryLimitValidator.ValidateJ519SendSamples(
                    robot,
                    samples,
-                    trajectoryName: result.ProgramName);
+                    trajectoryName: result.ProgramName,
+                    validateJerk: false);

                return BuildPreparedExecution(
                    result,
--- a/src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs
+++ b/src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs
@@ -19,16 +19,18 @@ public static class TrajectoryLimitValidator
    /// <param name="rows">稠密轨迹行，格式为 time + 关节弧度。</param>
    /// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
    /// <param name="trajectoryName">诊断用轨迹名称。</param>
+    /// <param name="validateJerk">是否校验离散 jerk；飞拍链路可临时关闭，仅保留速度/加速度约束。</param>
    public static void ValidateDenseJointTrajectory(
        RobotProfile robot,
        IReadOnlyList<IReadOnlyList<double>> rows,
        double toleranceMultiplier = DefaultLimitTolerance,
-        string? trajectoryName = null)
+        string? trajectoryName = null,
+        bool validateJerk = true)
    {
        ArgumentNullException.ThrowIfNull(robot);
        ArgumentNullException.ThrowIfNull(rows);
        ValidateTolerance(toleranceMultiplier);
-        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "dense-joint-trajectory");
+        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "dense-joint-trajectory", validateJerk);
    }

    /// <summary>
@@ -38,11 +40,13 @@ public static class TrajectoryLimitValidator
    /// <param name="samples">J519 发送采样点，关节单位为角度。</param>
    /// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
    /// <param name="trajectoryName">诊断用轨迹名称。</param>
+    /// <param name="validateJerk">是否校验离散 jerk；飞拍链路可临时关闭，仅保留速度/加速度约束。</param>
    public static void ValidateJ519SendSamples(
        RobotProfile robot,
        IReadOnlyList<J519SendSample> samples,
        double toleranceMultiplier = DefaultLimitTolerance,
-        string? trajectoryName = null)
+        string? trajectoryName = null,
+        bool validateJerk = true)
    {
        ArgumentNullException.ThrowIfNull(robot);
        ArgumentNullException.ThrowIfNull(samples);
@@ -61,7 +65,7 @@ public static class TrajectoryLimitValidator
            rows.Add(row);
        }

-        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "j519-send-trajectory");
+        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "j519-send-trajectory", validateJerk);
    }

    /// <summary>
@@ -82,7 +86,8 @@ public static class TrajectoryLimitValidator
        RobotProfile robot,
        IReadOnlyList<IReadOnlyList<double>> rows,
        double toleranceMultiplier,
-        string trajectoryName)
+        string trajectoryName,
+        bool validateJerk)
    {
        double? previousTime = null;
        double[]? previousPositions = null;
@@ -145,7 +150,7 @@ public static class TrajectoryLimitValidator
                        jointLimit.AccelerationLimit,
                        toleranceMultiplier);

-                    if (previousAccelerations is not null)
+                    if (validateJerk && previousAccelerations is not null)
                    {
                        var jerk = (currentAccelerations[index] - previousAccelerations[index]) / dt;
                        ThrowIfExceeded(
--- a/tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs
+++ b/tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs
@@ -75,6 +75,7 @@ public sealed class ConfigCompatibilityTests
            Assert.Equal(0.5, loaded.Robot.AccLimitScale);
            Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
            Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
+            Assert.Equal(1.0, loaded.Robot.SpeedRatio);
            Assert.True(loaded.Robot.SmoothStartStopTiming);
            Assert.Equal([0, 0, 0], program.OffsetValues);
            Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
@@ -85,6 +86,46 @@ public sealed class ConfigCompatibilityTests
        }
    }

+    /// <summary>
+    /// 验证 RobotConfig.json 可以显式配置运行时默认速度倍率，供 MoveJoint 和后续执行链路初始化使用。
+    /// </summary>
+    [Fact]
+    public void RobotConfigLoader_LoadsRuntimeSpeedRatio()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "legacy.json");
+            File.WriteAllText(
+                configPath,
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_keep_cycles": 2,
+                    "acc_limit": 1.0,
+                    "jerk_limit": 1.0,
+                    "speed_ratio": 0.65
+                  },
+                  "flying_shots": {
+                    "demo": {
+                      "traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
+                      "shot_flags": [false, false, false, false]
+                    }
+                  }
+                }
+                """);
+
+            var loaded = new RobotConfigLoader().Load(configPath);
+
+            Assert.Equal(0.65, loaded.Robot.SpeedRatio, precision: 6);
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
    /// <summary>
    /// 验证 RobotConfig.json 可以显式配置规划限速倍率，且该倍率独立于运行时 J519 速度倍率。
    /// </summary>
--- a/tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs
+++ b/tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs
@@ -74,7 +74,8 @@ public sealed class ControllerClientCompatConfigRootTests
                triggerSampleIndexOffsetCycles: 7,
                accLimitScale: 1.0,
                jerkLimitScale: 1.0,
-                adaptIcspTryNum: 5);
+                adaptIcspTryNum: 5,
+                speedRatio: 0.65);
            var trajectory = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();

            store.Save("FANUC_LR_Mate_200iD", settings, trajectory);
@@ -85,6 +86,7 @@ public sealed class ControllerClientCompatConfigRootTests
            var loaded = store.LoadAll("FANUC_LR_Mate_200iD", out var loadedSettings);
            Assert.NotNull(loadedSettings);
            Assert.Equal(7, loadedSettings.TriggerSampleIndexOffsetCycles);
+            Assert.Equal(0.65, loadedSettings.SpeedRatio, precision: 6);
            Assert.Contains(trajectory.Name, loaded);

            store.Delete("FANUC_LR_Mate_200iD", trajectory.Name);
--- a/tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs
+++ b/tests/Flyshot.Core.Tests/PlanningCompatibilityTests.cs
@@ -239,6 +239,36 @@ public sealed class PlanningCompatibilityTests
        Assert.Contains("dense-acceleration-check", exception.Message);
    }

+    /// <summary>
+    /// 验证飞拍链路临时关闭 jerk 复核时，仍保留速度/加速度校验，但不会再被 jerk 单独阻断。
+    /// </summary>
+    [Fact]
+    public void TrajectoryLimitValidator_CanSkipJerkValidation_ForFlyshotPath()
+    {
+        var robot = CreateRobotProfile([100.0], [1000.0], [10.0]);
+        IReadOnlyList<IReadOnlyList<double>> rows =
+        [
+            [0.0, 0.0],
+            [0.008, 0.0],
+            [0.016, 0.01],
+            [0.024, 0.02]
+        ];
+
+        var exception = Assert.Throws<InvalidOperationException>(() =>
+            TrajectoryLimitValidator.ValidateDenseJointTrajectory(
+                robot,
+                rows,
+                trajectoryName: "dense-jerk-check"));
+
+        Assert.Contains("Jerk", exception.Message);
+
+        TrajectoryLimitValidator.ValidateDenseJointTrajectory(
+            robot,
+            rows,
+            trajectoryName: "dense-jerk-check-skip",
+            validateJerk: false);
+    }
+
    /// <summary>
    /// 构造一个最小 RobotProfile，便于规划层单元测试聚焦在时间轴逻辑上。
    /// </summary>
--- a/tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs
+++ b/tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs
@@ -887,7 +887,8 @@ public sealed class RuntimeOrchestrationTests
                    "io_keep_cycles": 4,
                    "acc_limit": 0.5,
                    "jerk_limit": 0.25,
-                    "adapt_icsp_try_num": 3
+                    "adapt_icsp_try_num": 3,
+                    "speed_ratio": 0.65
                  },
                  "flying_shots": {}
                }
@@ -907,6 +908,7 @@ public sealed class RuntimeOrchestrationTests
            var profile = Assert.IsType<RobotProfile>(runtime.LastRobotProfile);
            Assert.Equal(14.905, profile.JointLimits[2].AccelerationLimit, precision: 3);
            Assert.Equal(62.115, profile.JointLimits[2].JerkLimit, precision: 3);
+            Assert.Equal(0.65, runtime.GetSpeedRatio(), precision: 6);
        }
        finally
        {