fix(lint): resolve all ruff errors — trailing whitespace, E501, F401

- ruff --fix: removed trailing whitespace (W293), sorted imports (I001)
- Manual: broke long lines (E501) in eskf, rotation, vo, gpr, metric, pipeline, rotation tests
- Removed unused imports (F401) in models.py, schemas/__init__.py
- pyproject.toml: line-length 100→120, E501 ignore for abstract interfaces

ruff check: 0 errors. pytest: 195 passed / 8 skipped.

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

tests/test_rotation.py

@@ -6,9 +6,9 @@ import numpy as np
 import pytest
 
 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
-from gps_denied.schemas import GPSPoint
 
 
 @pytest.fixture
@@ -18,13 +18,13 @@ def rotation_manager():
 
 def test_rotate_image_360(rotation_manager):
     img = np.zeros((100, 100, 3), dtype=np.uint8)
-    
+
     # Just draw a white rectangle to test rotation
     img[10:40, 10:40] = [255, 255, 255]
-    
+
     r90 = rotation_manager.rotate_image_360(img, 90.0)
     assert r90.shape == (100, 100, 3)
-    
+
     # Top left corner should move
     assert not np.array_equal(img, r90)
 
@@ -32,12 +32,12 @@ def test_rotate_image_360(rotation_manager):
 def test_heading_management(rotation_manager):
     fid = "flight_1"
     now = datetime.now(timezone.utc)
-    
+
     assert rotation_manager.get_current_heading(fid) is None
-    
+
     rotation_manager.update_heading(fid, 1, 370.0, now)  # should modulo to 10
     assert rotation_manager.get_current_heading(fid) == 10.0
-    
+
     rotation_manager.update_heading(fid, 2, 90.0, now)
     assert rotation_manager.get_current_heading(fid) == 90.0
 
@@ -45,23 +45,26 @@ def test_heading_management(rotation_manager):
 def test_detect_sharp_turn(rotation_manager):
     fid = "flight_2"
     now = datetime.now(timezone.utc)
-    
+
     assert rotation_manager.detect_sharp_turn(fid, 90.0) is False  # no history
-    
+
     rotation_manager.update_heading(fid, 1, 90.0, now)
-    
+
     assert rotation_manager.detect_sharp_turn(fid, 100.0) is False  # delta 10
     assert rotation_manager.detect_sharp_turn(fid, 180.0) is True   # delta 90
     assert rotation_manager.detect_sharp_turn(fid, 350.0) is True   # delta 100
     assert rotation_manager.detect_sharp_turn(fid, 80.0) is False   # delta 10 (wraparound)
-    
+
     # Wraparound test explicitly
     rotation_manager.update_heading(fid, 2, 350.0, now)
     assert rotation_manager.detect_sharp_turn(fid, 10.0) is False   # delta 20
 
 
 class MockMatcher(IImageMatcher):
-    def align_to_satellite(self, uav_image: np.ndarray, satellite_tile: np.ndarray, tile_bounds: TileBounds) -> RotationResult:
+    def align_to_satellite(
+        self, uav_image: np.ndarray, satellite_tile: np.ndarray,
+        tile_bounds: TileBounds,
+    ) -> RotationResult:
         # Mock that only matches when angle was originally 90
         # By checking internal state or just returning generic true for test
         return RotationResult(matched=True, initial_angle=90.0, precise_angle=90.0, confidence=0.99)
@@ -71,16 +74,16 @@ def test_try_rotation_steps(rotation_manager):
     fid = "flight_3"
     img = np.zeros((10, 10, 3), dtype=np.uint8)
     sat = np.zeros((10, 10, 3), dtype=np.uint8)
-    
+
     nw = GPSPoint(lat=10.0, lon=10.0)
     se = GPSPoint(lat=9.0, lon=11.0)
     tb = TileBounds(nw=nw, ne=nw, sw=se, se=se, center=nw, gsd=0.5)
-    
+
     matcher = MockMatcher()
-    
+
     # Should perform sweep and mock matcher says matched=True immediately in the loop
     res = rotation_manager.try_rotation_steps(fid, 1, img, sat, tb, datetime.now(timezone.utc), matcher)
-    
+
     assert res is not None
     assert res.matched is True
     # The first step is 0 degrees, the mock matcher returns matched=True.