wboayue / stable-flight / 38500459694

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Sim: autotune robustness table (#366) (#377)

Autotune robustness table: `StagePlan::copter_search` on 3 airframes × 7
perturbation sets × 2 starts (42 rows, one `#[test]` each). A row passes
when every stage ends `Tuned`, the tuned gains meet the `common::spec`
step targets on the same plant, and the run fits 905 s of simulated time
(slowest clean row, `heavy_quad` from high, 724 s + 25%). 9 rows pass;
the 33 that fail are `#[ignore]`d on the four issues filed from them.

Closes #366

## Rows

Sets: clean; 10 ms and 25 ms actuator delay; gyro noise (0.02 rad/s RMS
+ 0.1 rad/s at 90 Hz, seed 1); CG offset (m·g·0.01 on roll and pitch);
weak motor (slot 0 × 0.9); combined (10 ms + noise + CG + weak motor).
Starts: low = core default gains on the four tuned loops; high = the
airframe's rate P and D × 3, core default angle gains.

| Rows | Result | Blocked on |
|---|---|---|
| clean, both starts (6) | pass, 418–724 s | |
| 10 ms delay, low (3) | pass, 393–639 s | |
| noise, combined (12) | `StageFailed { RollRate, NotSettled }` ~10 s:
raw rates ~0.2 rad/s vs the 0.1 rad/s settle gate | #373 |
| CG offset, weak motor (12) | `Tilt`/`NotSettled` (quad_x low hovers at
35°), or `Kept(NoPass)` and steps missing overshoot/settle: only the
slow angle I holds a trim moment | #374 |
| 10/25 ms delay, high (6) | `NotSettled` 11–15 s: relay measures Ku
1.34 on quad_x, P 5.85 keeps flying and rings | #375 |
| 25 ms delay, low (3) | quad_x/heavy tune every stage but rate steps
miss rise and settle; racer pitch `NotSettled` | #376 |

High start: ×3 clips `quad_x`'s rate steps; on `heavy_quad` and `racer`
it's above the relay's ceiling (0.6·Ku), so it isn't flown as a
baseline. Their ×3 gains meet the spec on the clean plant: the search
leaves rate P low at the seeded D (#378).

36 in the plan counted the delays as one set; with both delays it's 42.

## Changes

- `tests/robustness.rs`: the table (`rows!` macro), its perturbation
sets and starts; failure message gives ai... (continued)

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