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

src/gps_denied/core/processor.py

@@ -23,6 +23,7 @@ from gps_denied.schemas.flight import (
     BatchMetadata,
     BatchResponse,
     BatchUpdateResponse,
+    CameraParameters,
     DeleteResponse,
     FlightCreateRequest,
     FlightDetailResponse,
@@ -76,6 +77,7 @@ class FlightProcessor:
         # Per-flight processing state
         self._flight_states: dict[str, TrackingState] = {}
         self._prev_images: dict[str, np.ndarray] = {}  # previous frame cache
+        self._flight_cameras: dict[str, CameraParameters] = {}  # per-flight camera
 
         # Lazy-initialised component references (set via `attach_components`)
         self._vo = None           # SequentialVisualOdometry
@@ -130,11 +132,10 @@ class FlightProcessor:
         vo_ok = False
         if self._vo and flight_id in self._prev_images:
             try:
-                from gps_denied.schemas.flight import CameraParameters
-                cam = CameraParameters(
+                cam = self._flight_cameras.get(flight_id, CameraParameters(
                     focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
                     resolution_width=640, resolution_height=480,
-                )
+                ))
                 rel_pose = self._vo.compute_relative_pose(
                     self._prev_images[flight_id], image, cam
                 )
@@ -246,6 +247,9 @@ class FlightProcessor:
             altitude=req.altitude,
             camera_params=req.camera_params.model_dump(),
         )
+        # P0#2: Store camera params for process_frame VO calls
+        self._flight_cameras[flight.id] = req.camera_params
+
         for poly in req.geofences.polygons:
             await self.repository.insert_geofence(
                 flight.id,
@@ -308,8 +312,18 @@ class FlightProcessor:
 
     async def delete_flight(self, flight_id: str) -> DeleteResponse:
         deleted = await self.repository.delete_flight(flight_id)
+        # P0#1: Cleanup in-memory state to prevent memory leaks
+        self._cleanup_flight(flight_id)
         return DeleteResponse(deleted=deleted, flight_id=flight_id)
 
+    def _cleanup_flight(self, flight_id: str) -> None:
+        """Remove all in-memory state for a flight (prevents memory leaks)."""
+        self._prev_images.pop(flight_id, None)
+        self._flight_states.pop(flight_id, None)
+        self._flight_cameras.pop(flight_id, None)
+        if self._graph:
+            self._graph.delete_flight_graph(flight_id)
+
     async def update_waypoint(
         self, flight_id: str, waypoint_id: str, waypoint: Waypoint
     ) -> UpdateResponse: