fix: P0+P1 audit — memory leak, hardcoded camera/GPS, lifespan init, background processing, batch validation, ABC interfaces

src/gps_denied/app.py

@@ -1,17 +1,53 @@
 """FastAPI application factory."""
 
+from contextlib import asynccontextmanager
+
 from fastapi import FastAPI
 
 from gps_denied import __version__
 from gps_denied.api.routers import flights
 
 
+@asynccontextmanager
+async def lifespan(app: FastAPI):
+    """Initialise core pipeline components on startup."""
+    from gps_denied.core.models import ModelManager
+    from gps_denied.core.vo import SequentialVisualOdometry
+    from gps_denied.core.gpr import GlobalPlaceRecognition
+    from gps_denied.core.metric import MetricRefinement
+    from gps_denied.core.graph import FactorGraphOptimizer
+    from gps_denied.core.chunk_manager import RouteChunkManager
+    from gps_denied.core.recovery import FailureRecoveryCoordinator
+    from gps_denied.core.rotation import ImageRotationManager
+    from gps_denied.schemas.graph import FactorGraphConfig
+
+    mm = ModelManager()
+    vo = SequentialVisualOdometry(mm)
+    gpr = GlobalPlaceRecognition(mm)
+    metric = MetricRefinement(mm)
+    graph = FactorGraphOptimizer(FactorGraphConfig())
+    chunk_mgr = RouteChunkManager(graph)
+    recovery = FailureRecoveryCoordinator(chunk_mgr, gpr, metric)
+    rotation = ImageRotationManager(mm)
+
+    # Store on app.state so deps can access them
+    app.state.pipeline_components = {
+        "vo": vo, "gpr": gpr, "metric": metric,
+        "graph": graph, "recovery": recovery,
+        "chunk_mgr": chunk_mgr, "rotation": rotation,
+    }
+    yield
+    # Cleanup
+    app.state.pipeline_components = None
+
+
 def create_app() -> FastAPI:
     """Factory function to create and configure the FastAPI application."""
     app = FastAPI(
         title="GPS-Denied Onboard API",
         description="REST API for UAV Flight Processing in GPS-denied environments.",
         version=__version__,
+        lifespan=lifespan,
     )
 
     app.include_router(flights.router)