fix(v7): align live host-DSP units with replay path

Use WaveformConfig for live range/velocity conversion in RadarDataWorker
and add headless AST-based regression checks in test_v7.py.

Before: RadarDataWorker._run_host_dsp used RadarSettings.velocity_resolution
(default 1.0 in models.py:113), while ReplayWorker used WaveformConfig
(~5.343 m/s/bin). Live GUI under-reported velocity by factor ~5.34x.

Fix: local WaveformConfig() in _run_host_dsp, mirroring ReplayWorker
pattern. Doppler center derived from frame shape, matching processing.py:520.

Test: TestLiveReplayPhysicalUnitsParity in test_v7.py uses ast.parse on
workers.py (no v7.workers import, headless-CI-safe despite PyQt6 dep)
and asserts AST Call/Attribute/BinOp nodes for both RadarDataWorker
and ReplayWorker paths.

9_Firmware/9_3_GUI/v7/workers.py

@@ -23,7 +23,7 @@ import numpy as np
 
 from PyQt6.QtCore import QThread, QObject, QTimer, pyqtSignal
 
-from .models import RadarTarget, GPSData, RadarSettings
+from .models import RadarTarget, GPSData, RadarSettings, WaveformConfig
 from .hardware import (
     RadarAcquisition,
     RadarFrame,
@@ -169,8 +169,8 @@ class RadarDataWorker(QThread):
         The FPGA already does: FFT, MTI, CFAR, DC notch.
         Host-side DSP adds: clustering, tracking, geo-coordinate mapping.
 
-        Bin-to-physical conversion uses RadarSettings.range_resolution
-        and velocity_resolution (should be calibrated to actual waveform).
+        Bin-to-physical conversion uses WaveformConfig defaults to keep
+        live and replay units aligned (same source of truth as ReplayWorker).
         """
         targets: list[RadarTarget] = []
 
@@ -180,8 +180,11 @@ class RadarDataWorker(QThread):
 
         # Extract detections from FPGA CFAR flags
         det_indices = np.argwhere(frame.detections > 0)
-        r_res = self._settings.range_resolution
-        v_res = self._settings.velocity_resolution
+        wf = WaveformConfig()
+        r_res = wf.range_resolution_m
+        v_res = wf.velocity_resolution_mps
+        n_doppler = frame.detections.shape[1] if frame.detections.ndim == 2 else 32
+        doppler_center = n_doppler // 2
 
         for idx in det_indices:
             rbin, dbin = idx
@@ -190,8 +193,9 @@ class RadarDataWorker(QThread):
 
             # Convert bin indices to physical units
             range_m = float(rbin) * r_res
-            # Doppler: centre bin (16) = 0 m/s; positive bins = approaching
-            velocity_ms = float(dbin - 16) * v_res
+            # Doppler: centre bin = 0 m/s; positive bins = approaching.
+            # Derived from frame shape — mirrors processing.py:520.
+            velocity_ms = float(dbin - doppler_center) * v_res
 
             # Apply pitch correction if GPS data available
             raw_elev = 0.0  # FPGA doesn't send elevation per-detection