[AZ-381] C5 StateEstimator protocol + factory + C8 DTO reshape

- Add StateEstimator Protocol (6 methods, @runtime_checkable) + DTOs
  (EstimatorOutput, EstimatorHealth, IsamState, PoseSourceLabel, Quat)
  in _types/state.py per state_estimator_protocol.md v1.0.0.
- Add C5 error hierarchy (StateEstimatorError + 3 subclasses) and
  C5StateConfig (strategy, keyframe_window, spoof gates,
  no_estimate_fallback_s) with __post_init__ validation.
- Add ISam2GraphHandle Protocol + ISam2GraphHandleImpl skeleton (all
  4 methods raise NotImplementedError naming AZ-382 as owner).
- Add build_state_estimator factory + bind_state_ingest_thread for
  single-writer enforcement; ADR-002 build-flag gating
  (BUILD_STATE_<variant>); INFO log on success.
- Strict reshape of legacy EstimatorOutput / EstimatorHealth across
  all 6 C8 production files (_outbound_provenance,
  _covariance_projector, pymavlink_ardupilot_adapter,
  msp2_inav_adapter, mavlink_gcs_adapter, interface) + 6 C8 test
  files (UUID frame_id, LatLonAlt position_wgs84, Quat orientation,
  PoseSourceLabel enum source_label). Remove ad-hoc DTOs from
  _types/pose.py and from C4's public __init__ (EstimatorOutput is a
  C5 concept, not a C4 one).
- 20 AZ-381 AC tests (10 ACs + 4 config range + NFR + conformance).
- Full suite: 521 passed, 2 skipped (+20 vs Batch 11).
- Contracts: state_estimator_protocol.md v1.0.0 -> active;
  composition_root_protocol.md v1.2.0 -> v1.3.0 (additive state
  block + factory + ingest-thread binding).
- Impl report: _docs/03_implementation/batch_12_cycle1_report.md.

Co-authored-by: Cursor <cursoragent@cursor.com>

tests/unit/c8_fc_adapter/test_az394_inav_outbound.py

@@ -4,16 +4,20 @@ from __future__ import annotations
 
 import logging
 import threading
-from datetime import datetime, timezone
 from typing import Any
 from unittest import mock
+from uuid import UUID, uuid4
 
 import numpy as np
 import pytest
 
 from gps_denied_onboard._types.fc import FcKind, PortConfig
 from gps_denied_onboard._types.geo import LatLonAlt
-from gps_denied_onboard._types.pose import EstimatorOutput
+from gps_denied_onboard._types.state import (
+    EstimatorOutput,
+    PoseSourceLabel,
+    Quat,
+)
 from gps_denied_onboard.components.c8_fc_adapter._covariance_projector import (
     CovarianceProjector,
 )
@@ -89,24 +93,30 @@ def _inav_config(tmp_path) -> Any:
 
 def _make_output(
     *,
-    source_label: str = "visual_propagated",
+    source_label: PoseSourceLabel = PoseSourceLabel.VISUAL_PROPAGATED,
     smoothed: bool = False,
     cov: np.ndarray | None = None,
     wgs: LatLonAlt | None = None,
-    frame_id: int = 1,
+    frame_id: UUID | int | None = None,
 ) -> EstimatorOutput:
     if cov is None:
         cov = np.eye(6, dtype=np.float64) * 0.25
     if wgs is None:
         wgs = LatLonAlt(lat_deg=50.0, lon_deg=30.0, alt_m=100.0)
+    if frame_id is None:
+        frame_id = uuid4()
+    elif isinstance(frame_id, int):
+        frame_id = UUID(int=frame_id)
     return EstimatorOutput(
         frame_id=frame_id,
-        timestamp=datetime.now(tz=timezone.utc),
-        pose_se3=np.eye(4),
+        position_wgs84=wgs,
+        orientation_world_T_body=Quat(w=1.0, x=0.0, y=0.0, z=0.0),
+        velocity_world_mps=(0.0, 0.0, 0.0),
         covariance_6x6=cov,
         source_label=source_label,
+        last_satellite_anchor_age_ms=0,
         smoothed=smoothed,
-        extras={"wgs84": wgs},
+        emitted_at=0,
     )
 
 
@@ -179,7 +189,7 @@ def test_ac3_statustext_secondary_only_on_transitions(
     adapter: Msp2InavAdapter, msp: _MspStub, secondary: _SecondaryMavStub
 ) -> None:
     adapter._provenance._min_interval_s = 0.0  # type: ignore[attr-defined]
-    labels = ["visual_propagated", "sat_anchored"]
+    labels = [PoseSourceLabel.VISUAL_PROPAGATED, PoseSourceLabel.SATELLITE_ANCHORED]
     for i in range(100):
         label = labels[(i // 10) % 2]
         adapter.emit_external_position(_make_output(source_label=label, frame_id=i))