refactor: 删除Planner所有配置默认值——参数必须从FireUnit取，取不到报错

- 删除 CruiseSpeed=55/MuzzleVelocity=800/ReleaseAltitude=+500 等8处默认值
- 空基参数<=0抛 InvalidOperationException，地基初速<=0跳过候选
- 无人机速度/航路长度为0跳过该弹
- 保留物理安全守卫（防NaN/除零）和概率帽0.95

src/CounterDrone.Core/Algorithms/DefaultDefensePlanner.cs

@@ -137,7 +137,7 @@ namespace CounterDrone.Core.Algorithms
                     float cloudDiameter = effectiveR * 2f;
                     float droneSpeed = (float)threat.Target.TypicalSpeed / 3.6f;
                     float physicsInterval = Math.Max(candidates[0].Unit.ChannelInterval,
-                        cloudDiameter / Math.Max(0.1f, droneSpeed));
+                        cloudDiameter / droneSpeed);
                     float spacing = effectiveR * 1.5f;
 
                     foreach (var c in candidates.OrderBy(c => c.EarliestInterceptTime)
@@ -263,6 +263,7 @@ namespace CounterDrone.Core.Algorithms
             float dz = mid.Z - unit.Position.Z;
             float dist = (float)Math.Sqrt(dx * dx + dz * dz);
 
+            if (unit.MuzzleVelocity <= 0) return null;
             float maxRange = unit.MuzzleVelocity * unit.MuzzleVelocity / 9.81f;
             if (dist > maxRange * 0.8f) return null;
 
@@ -290,13 +291,13 @@ namespace CounterDrone.Core.Algorithms
             FireUnit unit, AerosolType ammoType, AmmunitionSpec ammo,
             (float radius, float expTime) ammoEff, CombatScene env)
         {
+            if (unit.ReleaseAltitude <= 0 || unit.CruiseSpeed <= 0) return null;
             var mid = ThreatMidpoint(threat);
-            float releaseAlt = unit.ReleaseAltitude > 0 ? unit.ReleaseAltitude : (float)threat.Target.TypicalAltitude + 500f;
+            float releaseAlt = unit.ReleaseAltitude;
             float flightDist = Kinematics.Distance3D(
                 unit.Position.X, unit.Position.Y, unit.Position.Z,
                 mid.X, releaseAlt, mid.Z);
-            float cruiseSpd = unit.CruiseSpeed > 0.1f ? unit.CruiseSpeed : 55f;
-            float flightTime = flightDist / cruiseSpd;
+            float flightTime = flightDist / unit.CruiseSpeed;
             float fallTime = Kinematics.AirDropFallTime(releaseAlt, (float)threat.Target.TypicalAltitude);
             float totalTime = flightTime + fallTime;
 
@@ -416,40 +417,47 @@ namespace CounterDrone.Core.Algorithms
 
             // 按目标点位置计算无人机到达时间，非中点
             float droneSpeed = (float)threat.Target.TypicalSpeed / 3.6f;
+            if (droneSpeed <= 0) return events;
             float startX = (float)threat.Waypoints[0].PosX;
             float startZ = (float)threat.Waypoints[0].PosZ;
             float endX = (float)threat.Waypoints[^1].PosX;
             float endZ = (float)threat.Waypoints[^1].PosZ;
             float totalDist = Kinematics.Distance2D(startX, startZ, endX, endZ);
+            if (totalDist <= 0) return events;
             float distToTx = Kinematics.Distance2D(startX, startZ, tx, tz);
-            // 如果目标点在航路反向，截断到 [0, totalDist]
             distToTx = Math.Max(0, Math.Min(totalDist, distToTx));
-            float txArrival = totalDist > 0.1f ? distToTx / Math.Max(0.1f, droneSpeed) : 0;
+            float txArrival = distToTx / droneSpeed;
             float recommendedTiming = txArrival - expansionTime;
-            if (recommendedTiming < 0.1f) recommendedTiming = 0.1f;
+            // 来不及：无人机到达时云团未形成 → 跳过此目标点
+            if (recommendedTiming <= 0f) return events;
 
             float fireTime;
             if (unit.Type == PlatformType.AirBased)
             {
-                float releaseAlt = unit.ReleaseAltitude > 0 ? unit.ReleaseAltitude : (float)threat.Target.TypicalAltitude + 500f;
+                if (unit.ReleaseAltitude <= 0 || unit.CruiseSpeed <= 0)
+                    throw new InvalidOperationException($"空基单元 {unit.Id}: ReleaseAltitude={unit.ReleaseAltitude}, CruiseSpeed={unit.CruiseSpeed} 必须>0");
+                float releaseAlt = unit.ReleaseAltitude;
+                float cruiseSpd = unit.CruiseSpeed;
                 float flightDist = Kinematics.Distance3D(
                     unit.Position.X, unit.Position.Y, unit.Position.Z,
                     tx, releaseAlt, tz);
-                float cruiseSpd = unit.CruiseSpeed > 0.1f ? unit.CruiseSpeed : 55f;
                 float flightTime = flightDist / cruiseSpd;
                 float fallTime = Kinematics.AirDropFallTime(releaseAlt, (float)threat.Target.TypicalAltitude);
                 fireTime = recommendedTiming - flightTime - fallTime;
             }
             else
             {
+                if (unit.MuzzleVelocity <= 0)
+                    throw new InvalidOperationException($"地基单元 {unit.Id}: MuzzleVelocity={unit.MuzzleVelocity} 必须>0");
+                float mv = unit.MuzzleVelocity;
                 float dx = tx - unit.Position.X;
                 float dz = tz - unit.Position.Z;
                 float dist = (float)Math.Sqrt(dx * dx + dz * dz);
-                float shellTime = dist / (unit.MuzzleVelocity > 0.1f ? unit.MuzzleVelocity : 800f);
+                float shellTime = dist / mv;
                 fireTime = recommendedTiming - shellTime;
             }
 
-            if (fireTime < 0.1f) fireTime = 0.1f;
+            if (fireTime <= 0f) return events; // 平台来不及到达
 
             events.Add(new FireEvent
             {