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

tests/test_acceptance.py

@@ -155,19 +155,28 @@ async def test_ac4_user_anchor_fix(wired_processor):
     flight = "ac4_anchor"
     graph = wired_processor._graph
 
-    # Inject initial pose
+    # Inject two poses
     graph._init_flight(flight)
     graph._flights_state[flight]["poses"][0] = Pose(
         frame_id=0, position=np.zeros(3),
         orientation=np.eye(3), timestamp=datetime.now(),
     )
+    graph._flights_state[flight]["poses"][1] = Pose(
+        frame_id=1, position=np.zeros(3),
+        orientation=np.eye(3), timestamp=datetime.now(),
+    )
 
-    gps = GPSPoint(lat=49.5, lon=31.0)
-    ok = graph.add_absolute_factor(flight, 0, gps, np.eye(2), is_user_anchor=True)
+    # First GPS sets origin
+    origin = GPSPoint(lat=49.0, lon=30.0)
+    graph.add_absolute_factor(flight, 0, origin, np.eye(2), is_user_anchor=True)
+
+    # Second GPS — 0.5° north
+    gps2 = GPSPoint(lat=49.5, lon=31.0)
+    ok = graph.add_absolute_factor(flight, 1, gps2, np.eye(2), is_user_anchor=True)
     assert ok is True
 
     traj = graph.get_trajectory(flight)
-    assert traj[0].position[1] > 50000  # ~55 km north of origin
+    assert traj[1].position[1] > 50000  # ~55 km north of origin
 
 
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