feat: stage6 — Image Pipeline (F05) and Rotation Manager (F06)

src/gps_denied/schemas/rotation.py

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+"""Rotation schemas (Component F06)."""
+
+from datetime import datetime
+from typing import Optional
+
+from pydantic import BaseModel
+import numpy as np
+
+
+class RotationResult(BaseModel):
+    """Result of a rotation sweep alignment."""
+    matched: bool
+    initial_angle: float
+    precise_angle: float
+    confidence: float
+    # We will exclude np.ndarray from BaseModel to avoid validation issues, 
+    # but store it as an attribute if needed or use arbitrary_types_allowed.
+    
+    model_config = {"arbitrary_types_allowed": True}
+    homography: Optional[np.ndarray] = None
+    inlier_count: int = 0
+
+
+class HeadingHistory(BaseModel):
+    """Flight heading tracking history."""
+    flight_id: str
+    current_heading: Optional[float] = None
+    heading_history: list[float] = []
+    last_update: Optional[datetime] = None
+    sharp_turns: int = 0
+
+
+class RotationConfig(BaseModel):
+    """Configuration for rotation sweeps."""
+    step_angle: float = 30.0
+    sharp_turn_threshold: float = 45.0
+    confidence_threshold: float = 0.7
+    history_size: int = 10