fix(lint): resolve all ruff E402/I001/F821 errors

- Move pytestmark after all imports in 35 test files (E402: not-at-top)
- Add TYPE_CHECKING guard for FlightProcessor in composition.py (F821)
- Sort import blocks in src/ and tests/ (I001 auto-fix via ruff --fix)
- ruff check src/ tests/ now exits 0 with no errors

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

tests/conftest.py

@@ -1,14 +1,5 @@
 """Shared test fixtures for GPS-denied-onboard test suite."""
 
-from unittest.mock import AsyncMock, MagicMock
-
-import numpy as np
-import pytest
-
-from gps_denied.core.coordinates import CoordinateTransformer
-from gps_denied.core.models import ModelManager
-from gps_denied.schemas import CameraParameters, GPSPoint
-
 # ---------------------------------------------------------------
 # Phase 2 / TEST-03: AC traceability plugin
 #
@@ -23,6 +14,14 @@ import json
 import re
 from collections import defaultdict
 from pathlib import Path
+from unittest.mock import AsyncMock, MagicMock
+
+import numpy as np
+import pytest
+
+from gps_denied.core.coordinates import CoordinateTransformer
+from gps_denied.core.models import ModelManager
+from gps_denied.schemas import CameraParameters, GPSPoint
 
 _AC_ID_RE = re.compile(r"^AC-(?:\d+\.\d+[a-z]?|NEW-\d+)$")
 

tests/e2e/test_coord.py

@@ -3,10 +3,10 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.testing.coord import ecef_to_wgs84, euler_to_quaternion
 
+pytestmark = [pytest.mark.unit]
+
 # --- ECEF → WGS84 ---
 
 def test_ecef_origin_is_on_equator_prime_meridian():

tests/e2e/test_dataset_base.py

@@ -2,8 +2,6 @@
 
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.testing.datasets.base import (
     DatasetAdapter,
     DatasetCapabilities,
@@ -14,6 +12,8 @@ from gps_denied.testing.datasets.base import (
     PlatformClass,
 )
 
+pytestmark = [pytest.mark.unit]
+
 
 def test_capabilities_defaults():
     cap = DatasetCapabilities(

tests/e2e/test_download.py

@@ -5,8 +5,6 @@ from pathlib import Path
 
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.testing.download import (
     DATASET_REGISTRY,
     DatasetSpec,
@@ -14,6 +12,8 @@ from gps_denied.testing.download import (
     verify_sha256,
 )
 
+pytestmark = [pytest.mark.unit]
+
 
 def test_registry_has_euroc_machine_hall():
     assert "euroc_machine_hall" in DATASET_REGISTRY

tests/e2e/test_euroc.py

@@ -13,12 +13,12 @@ from pathlib import Path
 
 import pytest
 
-pytestmark = [pytest.mark.e2e]
-
 from gps_denied.testing.datasets.euroc import EuRoCAdapter
 from gps_denied.testing.harness import E2EHarness
 from gps_denied.testing.metrics import absolute_trajectory_error
 
+pytestmark = [pytest.mark.e2e]
+
 # CI-tier keeps the prefix short so a full run stays under a couple of minutes.
 EUROC_MH01_MAX_FRAMES = 100
 

tests/e2e/test_euroc_adapter.py

@@ -4,14 +4,14 @@ from pathlib import Path
 
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.testing.datasets.base import (
     DatasetNotAvailableError,
     PlatformClass,
 )
 from gps_denied.testing.datasets.euroc import EuRoCAdapter
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def fake_euroc_root(tmp_path: Path) -> Path:

tests/e2e/test_euroc_mh_all.py

@@ -17,12 +17,12 @@ from pathlib import Path
 
 import pytest
 
-pytestmark = [pytest.mark.e2e]
-
 from gps_denied.testing.datasets.euroc import EuRoCAdapter
 from gps_denied.testing.harness import E2EHarness
 from gps_denied.testing.metrics import absolute_trajectory_error
 
+pytestmark = [pytest.mark.e2e]
+
 MAX_FRAMES = 100
 VO_SCALE_M = 0.005  # 5 mm/frame — measured GT median on MH_01
 

tests/e2e/test_euroc_vo_only.py

@@ -20,12 +20,12 @@ import cv2
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.e2e]
-
 from gps_denied.core.vo import ORBVisualOdometry
 from gps_denied.schemas import CameraParameters
 from gps_denied.testing.datasets.euroc import EuRoCAdapter
 
+pytestmark = [pytest.mark.e2e]
+
 # Match CI-tier frame cap used in test_euroc.py
 EUROC_MH01_MAX_FRAMES = 100
 

tests/e2e/test_harness_smoke.py

@@ -7,11 +7,11 @@ Correctness of VO on synthetic is out of scope — that's unit-test territory.
 
 import pytest
 
-pytestmark = [pytest.mark.integration]
-
 from gps_denied.testing.datasets.synthetic import SyntheticAdapter
 from gps_denied.testing.harness import E2EHarness, HarnessResult
 
+pytestmark = [pytest.mark.integration]
+
 
 @pytest.mark.asyncio
 async def test_harness_processes_every_frame():

tests/e2e/test_mars_lvig.py

@@ -4,11 +4,11 @@ from pathlib import Path
 
 import pytest
 
-pytestmark = [pytest.mark.e2e]
-
 from gps_denied.testing.datasets.mars_lvig import MARSLVIGAdapter
 from gps_denied.testing.harness import E2EHarness
 
+pytestmark = [pytest.mark.e2e]
+
 # Stress tier does not gate on RMSE — featureless sequences legitimately cause
 # tracking loss. The gate is whether the pipeline RUNS TO COMPLETION without
 # crashing, and what fraction of frames produced any estimate at all.

tests/e2e/test_mars_lvig_adapter.py

@@ -4,14 +4,14 @@ from pathlib import Path
 
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.testing.datasets.base import (
     DatasetNotAvailableError,
     PlatformClass,
 )
 from gps_denied.testing.datasets.mars_lvig import MARSLVIGAdapter
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def fake_mars_seq(tmp_path: Path) -> Path:

tests/e2e/test_metrics.py

@@ -3,14 +3,14 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.testing.metrics import (
     absolute_trajectory_error,
     relative_pose_error,
     trajectory_rmse,
 )
 
+pytestmark = [pytest.mark.unit]
+
 
 def test_rmse_identical_trajectories_is_zero():
     est = np.array([[0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [2.0, 0.0, 0.0]])

tests/e2e/test_synthetic_adapter.py

@@ -4,9 +4,9 @@ import numpy as np
 import pytest
 
 from gps_denied.testing.datasets.base import PlatformClass
+from gps_denied.testing.datasets.synthetic import SyntheticAdapter
 
 pytestmark = [pytest.mark.unit]
-from gps_denied.testing.datasets.synthetic import SyntheticAdapter
 
 
 def test_synthetic_has_raw_imu():

tests/e2e/test_vpair.py

@@ -8,12 +8,12 @@ from pathlib import Path
 
 import pytest
 
-pytestmark = [pytest.mark.e2e]
-
 from gps_denied.testing.datasets.vpair import VPAIRAdapter
 from gps_denied.testing.harness import E2EHarness
 from gps_denied.testing.metrics import absolute_trajectory_error
 
+pytestmark = [pytest.mark.e2e]
+
 VPAIR_SAMPLE_RMSE_CEILING_M = 20.0  # initial target, calibrate after first runs
 
 

tests/e2e/test_vpair_adapter.py

@@ -10,14 +10,14 @@ from pathlib import Path
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.testing.datasets.base import (
     DatasetNotAvailableError,
     PlatformClass,
 )
 from gps_denied.testing.datasets.vpair import VPAIRAdapter
 
+pytestmark = [pytest.mark.unit]
+
 # ECEF for a point at roughly lat=50.737°, lon=7.095°, alt=350m (Bonn/Eifel region).
 # Chosen to hit the real VPAIR geographic area so the adapter's conversion
 # produces plausible numbers the tests can assert on.

tests/test_acceptance.py

@@ -13,8 +13,6 @@ from unittest.mock import AsyncMock, MagicMock
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.integration]
-
 from gps_denied.core.chunk_manager import RouteChunkManager
 from gps_denied.core.gpr import GlobalPlaceRecognition
 from gps_denied.core.graph import FactorGraphOptimizer
@@ -25,6 +23,8 @@ from gps_denied.core.recovery import FailureRecoveryCoordinator
 from gps_denied.core.vo import SequentialVisualOdometry
 from gps_denied.schemas.graph import FactorGraphConfig
 
+pytestmark = [pytest.mark.integration]
+
 
 # ---------------------------------------------------------------
 # Fixtures

tests/test_accuracy.py

@@ -22,8 +22,6 @@ import time
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.integration]
-
 from gps_denied.core.benchmark import (
     AccuracyBenchmark,
     BenchmarkResult,
@@ -33,6 +31,8 @@ from gps_denied.core.benchmark import (
 from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.eskf import ESKFConfig
 
+pytestmark = [pytest.mark.integration]
+
 ORIGIN = GPSPoint(lat=49.0, lon=32.0)
 
 

tests/test_api_flights.py

@@ -3,9 +3,6 @@
 import json
 
 import pytest
-
-pytestmark = [pytest.mark.integration]
-
 from httpx import ASGITransport, AsyncClient
 from sqlalchemy.ext.asyncio import AsyncSession, async_sessionmaker, create_async_engine
 
@@ -13,6 +10,8 @@ from gps_denied.app import app
 from gps_denied.db.engine import get_session
 from gps_denied.db.models import Base
 
+pytestmark = [pytest.mark.integration]
+
 
 @pytest.fixture
 async def override_get_session():

tests/test_chunk_manager.py

@@ -3,14 +3,14 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.chunk_manager import RouteChunkManager
 from gps_denied.core.graph import FactorGraphOptimizer
 from gps_denied.schemas.chunk import ChunkStatus
 from gps_denied.schemas.graph import FactorGraphConfig
 from gps_denied.schemas.metric import Sim3Transform
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def chunk_manager():

tests/test_coordinates.py

@@ -3,8 +3,6 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.coordinates import (
     CoordinateTransformer,
     OriginNotSetError,
@@ -14,6 +12,8 @@ from gps_denied.core.coordinates import (
 )
 from gps_denied.schemas import CameraParameters, GPSPoint
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def transformer():

tests/test_database.py

@@ -1,15 +1,14 @@
 """Tests for the database layer — CRUD, cascade, transactions."""
 
 import pytest
-
-pytestmark = [pytest.mark.integration]
-
 from sqlalchemy import event
 from sqlalchemy.ext.asyncio import AsyncSession, async_sessionmaker, create_async_engine
 
 from gps_denied.db.models import Base
 from gps_denied.db.repository import FlightRepository
 
+pytestmark = [pytest.mark.integration]
+
 
 @pytest.fixture
 async def session():

tests/test_eskf.py

@@ -3,13 +3,13 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.coordinates import CoordinateTransformer
 from gps_denied.core.eskf import ESKF
 from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.eskf import ConfidenceTier, ESKFConfig, IMUMeasurement
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def eskf():

tests/test_gpr.py

@@ -3,12 +3,12 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.gpr import GlobalPlaceRecognition
 from gps_denied.core.models import ModelManager
 from gps_denied.schemas.gpr import TileCandidate
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def gpr():

tests/test_gps_input_encoding.py

@@ -17,12 +17,12 @@ import time
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.blackbox, pytest.mark.ac("AC-4.3")]
-
 from gps_denied.core.mavlink import _confidence_to_fix_type, _eskf_to_gps_input
 from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.eskf import ConfidenceTier, ESKFState
 
+pytestmark = [pytest.mark.blackbox, pytest.mark.ac("AC-4.3")]
+
 _ORIGIN = GPSPoint(lat=49.0, lon=32.0)
 
 

tests/test_graph.py

@@ -3,14 +3,14 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.graph import FactorGraphOptimizer
 from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.graph import FactorGraphConfig
 from gps_denied.schemas.metric import Sim3Transform
 from gps_denied.schemas.vo import RelativePose
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def optimizer():

tests/test_health.py

@@ -1,13 +1,12 @@
 """Tests for the health endpoint."""
 
 import pytest
-
-pytestmark = [pytest.mark.integration]
-
 from httpx import ASGITransport, AsyncClient
 
 from gps_denied.app import app
 
+pytestmark = [pytest.mark.integration]
+
 
 @pytest.mark.asyncio
 async def test_health_returns_ok():

tests/test_mavlink.py

@@ -14,8 +14,6 @@ import time
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.mavlink import (
     MAVLinkBridge,
     MockMAVConnection,
@@ -27,6 +25,8 @@ from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.eskf import ConfidenceTier, ESKFState
 from gps_denied.schemas.mavlink import GPSInputMessage, RelocalizationRequest
 
+pytestmark = [pytest.mark.unit]
+
 # ---------------------------------------------------------------
 # Helpers
 # ---------------------------------------------------------------

tests/test_metric.py

@@ -3,14 +3,14 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.metric import MetricRefinement
 from gps_denied.core.models import ModelManager
 from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.metric import AlignmentResult, ChunkAlignmentResult
 from gps_denied.schemas.satellite import TileBounds
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def metric():

tests/test_pipeline.py

@@ -5,11 +5,11 @@ import cv2
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.pipeline import ImageInputPipeline, QueueFullError
 from gps_denied.schemas.image import ImageBatch
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def pipeline(tmp_path):

tests/test_processor_full.py

@@ -5,8 +5,6 @@ from unittest.mock import AsyncMock, MagicMock
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.integration]
-
 from gps_denied.core.chunk_manager import RouteChunkManager
 from gps_denied.core.gpr import GlobalPlaceRecognition
 from gps_denied.core.graph import FactorGraphOptimizer
@@ -17,6 +15,8 @@ from gps_denied.core.recovery import FailureRecoveryCoordinator
 from gps_denied.core.vo import SequentialVisualOdometry
 from gps_denied.schemas.graph import FactorGraphConfig
 
+pytestmark = [pytest.mark.integration]
+
 
 @pytest.fixture
 def processor():

tests/test_processor_pipe.py

@@ -14,14 +14,14 @@ from unittest.mock import AsyncMock, MagicMock
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.integration]
-
 from gps_denied.core.coordinates import CoordinateTransformer
 from gps_denied.core.processor import FlightProcessor, TrackingState
 from gps_denied.core.rotation import ImageRotationManager
 from gps_denied.schemas import CameraParameters, GPSPoint
 from gps_denied.schemas.vo import RelativePose
 
+pytestmark = [pytest.mark.integration]
+
 # ---------------------------------------------------------------
 # Helpers
 # ---------------------------------------------------------------

tests/test_recovery.py

@@ -3,8 +3,6 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.chunk_manager import RouteChunkManager
 from gps_denied.core.gpr import GlobalPlaceRecognition
 from gps_denied.core.graph import FactorGraphOptimizer
@@ -13,6 +11,8 @@ from gps_denied.core.models import ModelManager
 from gps_denied.core.recovery import FailureRecoveryCoordinator
 from gps_denied.schemas.graph import FactorGraphConfig
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def recovery():

tests/test_rotation.py

@@ -5,13 +5,13 @@ from datetime import datetime, timezone
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.rotation import IImageMatcher, ImageRotationManager
 from gps_denied.schemas import GPSPoint
 from gps_denied.schemas.rotation import RotationResult
 from gps_denied.schemas.satellite import TileBounds
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def rotation_manager():

tests/test_satellite.py

@@ -3,12 +3,12 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.satellite import SatelliteDataManager
 from gps_denied.schemas import GPSPoint
 from gps_denied.utils import mercator
 
+pytestmark = [pytest.mark.unit]
+
 # ---------------------------------------------------------------
 # Mercator utils
 # ---------------------------------------------------------------

tests/test_schemas.py

@@ -3,9 +3,6 @@
 from datetime import datetime, timezone
 
 import pytest
-
-pytestmark = [pytest.mark.unit]
-
 from pydantic import ValidationError
 
 from gps_denied.config import get_settings
@@ -20,6 +17,8 @@ from gps_denied.schemas.flight import (
     Waypoint,
 )
 
+pytestmark = [pytest.mark.unit]
+
 # ── GPSPoint ──────────────────────────────────────────────────────────────
 
 @pytest.mark.ac("AC-6.3")

tests/test_vo.py

@@ -3,8 +3,6 @@
 import numpy as np
 import pytest
 
-pytestmark = [pytest.mark.unit]
-
 from gps_denied.core.models import ModelManager
 from gps_denied.core.vo import (
     CuVSLAMVisualOdometry,
@@ -16,6 +14,8 @@ from gps_denied.core.vo import (
 from gps_denied.schemas import CameraParameters
 from gps_denied.schemas.vo import Features, Matches
 
+pytestmark = [pytest.mark.unit]
+
 
 @pytest.fixture
 def vo():