feat: stage2 — SQLite DB layer (ORM, async engine, repository, cascade delete, 9 DB tests)

docs-Lokal/LOCAL_EXECUTION_PLAN.md

@@ -64,9 +64,9 @@
 - **Дані:** Завантажити тестові зображення у папку `data/test_flights`.
 - **Ваги:** Завантажити ваги SuperPoint, LightGlue, LiteSAM локально в `weights/`.
 
-### Етап 1 — Конфігурація та доменні моделі
+### Етап 1 — Конфігурація та доменні моделі ✅
-- Реалізувати завантаження конфігів з env + YAML.
+- Реалізовано завантаження конфігів з `.env` через `pydantic-settings` (`config.py`).
-- Pydantic-схеми: Flight, Waypoint, ImageBatch, події SSE.
+- Pydantic-схеми: GPSPoint, CameraParameters, Flight*, Waypoint, Batch*, SSE events.
 
 ### Етап 2 — База даних полёту
 - SQLite БД: міграції (flights, waypoints, frame results, chunk state).

src/gps_denied/db/__init__.py

@@ -0,0 +1 @@
+"""Database package."""

src/gps_denied/db/engine.py

@@ -0,0 +1,41 @@
+"""Async database engine and session factory."""
+
+from __future__ import annotations
+
+from sqlalchemy import event
+from sqlalchemy.ext.asyncio import AsyncSession, async_sessionmaker, create_async_engine
+
+from gps_denied.config import get_settings
+
+
+def _build_engine():
+    settings = get_settings()
+    connect_args = {}
+    if "sqlite" in settings.db.url:
+        connect_args["check_same_thread"] = False
+
+    eng = create_async_engine(
+        settings.db.url,
+        echo=settings.db.echo,
+        connect_args=connect_args,
+    )
+
+    # Enable FK enforcement for SQLite (required for ON DELETE CASCADE)
+    @event.listens_for(eng.sync_engine, "connect")
+    def _set_sqlite_pragma(dbapi_connection, connection_record):
+        cursor = dbapi_connection.cursor()
+        cursor.execute("PRAGMA foreign_keys=ON")
+        cursor.close()
+
+    return eng
+
+
+engine = _build_engine()
+
+async_session_factory = async_sessionmaker(engine, class_=AsyncSession, expire_on_commit=False)
+
+
+async def get_session() -> AsyncSession:  # noqa: ANN201 — used as FastAPI dependency
+    """Yield an async session (for use as a FastAPI dependency)."""
+    async with async_session_factory() as session:
+        yield session

src/gps_denied/db/models.py

@@ -0,0 +1,230 @@
+"""SQLAlchemy ORM models for the flight database."""
+
+from __future__ import annotations
+
+import uuid
+from datetime import datetime, timezone
+
+from sqlalchemy import (
+    Boolean,
+    DateTime,
+    Float,
+    ForeignKey,
+    Index,
+    Integer,
+    JSON,
+    String,
+    Text,
+)
+from sqlalchemy.orm import DeclarativeBase, Mapped, mapped_column, relationship
+
+
+def _utcnow() -> datetime:
+    return datetime.now(tz=timezone.utc)
+
+
+def _new_id() -> str:
+    return uuid.uuid4().hex
+
+
+class Base(DeclarativeBase):
+    """Declarative base for all ORM models."""
+
+
+# ── Flights ───────────────────────────────────────────────────────────────
+
+
+class FlightRow(Base):
+    __tablename__ = "flights"
+
+    id: Mapped[str] = mapped_column(String(64), primary_key=True, default=_new_id)
+    name: Mapped[str] = mapped_column(String(255), nullable=False)
+    description: Mapped[str] = mapped_column(Text, default="")
+    start_lat: Mapped[float] = mapped_column(Float, nullable=False)
+    start_lon: Mapped[float] = mapped_column(Float, nullable=False)
+    altitude: Mapped[float] = mapped_column(Float, nullable=False)
+    camera_params: Mapped[dict] = mapped_column(JSON, nullable=False)
+    created_at: Mapped[datetime] = mapped_column(DateTime(timezone=True), default=_utcnow)
+    updated_at: Mapped[datetime] = mapped_column(
+        DateTime(timezone=True), default=_utcnow, onupdate=_utcnow
+    )
+
+    # relationships (cascade delete)
+    waypoints: Mapped[list[WaypointRow]] = relationship(
+        back_populates="flight", cascade="all, delete-orphan", passive_deletes=True
+    )
+    geofences: Mapped[list[GeofenceRow]] = relationship(
+        back_populates="flight", cascade="all, delete-orphan", passive_deletes=True
+    )
+    state: Mapped[FlightStateRow | None] = relationship(
+        back_populates="flight", cascade="all, delete-orphan", passive_deletes=True, uselist=False
+    )
+    frame_results: Mapped[list[FrameResultRow]] = relationship(
+        back_populates="flight", cascade="all, delete-orphan", passive_deletes=True
+    )
+    headings: Mapped[list[HeadingRow]] = relationship(
+        back_populates="flight", cascade="all, delete-orphan", passive_deletes=True
+    )
+    images: Mapped[list[ImageRow]] = relationship(
+        back_populates="flight", cascade="all, delete-orphan", passive_deletes=True
+    )
+    chunks: Mapped[list[ChunkRow]] = relationship(
+        back_populates="flight", cascade="all, delete-orphan", passive_deletes=True
+    )
+
+
+# ── Waypoints ─────────────────────────────────────────────────────────────
+
+
+class WaypointRow(Base):
+    __tablename__ = "waypoints"
+
+    id: Mapped[str] = mapped_column(String(64), primary_key=True, default=_new_id)
+    flight_id: Mapped[str] = mapped_column(
+        ForeignKey("flights.id", ondelete="CASCADE"), nullable=False, index=True
+    )
+    lat: Mapped[float] = mapped_column(Float, nullable=False)
+    lon: Mapped[float] = mapped_column(Float, nullable=False)
+    altitude: Mapped[float | None] = mapped_column(Float, nullable=True)
+    confidence: Mapped[float] = mapped_column(Float, default=0.0)
+    timestamp: Mapped[datetime] = mapped_column(DateTime(timezone=True), default=_utcnow)
+    refined: Mapped[bool] = mapped_column(Boolean, default=False)
+
+    flight: Mapped[FlightRow] = relationship(back_populates="waypoints")
+
+    __table_args__ = (Index("ix_waypoints_flight_ts", "flight_id", "timestamp"),)
+
+
+# ── Geofences ─────────────────────────────────────────────────────────────
+
+
+class GeofenceRow(Base):
+    __tablename__ = "geofences"
+
+    id: Mapped[str] = mapped_column(String(64), primary_key=True, default=_new_id)
+    flight_id: Mapped[str] = mapped_column(
+        ForeignKey("flights.id", ondelete="CASCADE"), nullable=False, index=True
+    )
+    nw_lat: Mapped[float] = mapped_column(Float, nullable=False)
+    nw_lon: Mapped[float] = mapped_column(Float, nullable=False)
+    se_lat: Mapped[float] = mapped_column(Float, nullable=False)
+    se_lon: Mapped[float] = mapped_column(Float, nullable=False)
+
+    flight: Mapped[FlightRow] = relationship(back_populates="geofences")
+
+
+# ── Flight State ──────────────────────────────────────────────────────────
+
+
+class FlightStateRow(Base):
+    __tablename__ = "flight_state"
+
+    flight_id: Mapped[str] = mapped_column(
+        ForeignKey("flights.id", ondelete="CASCADE"), primary_key=True
+    )
+    status: Mapped[str] = mapped_column(String(32), default="created")
+    frames_processed: Mapped[int] = mapped_column(Integer, default=0)
+    frames_total: Mapped[int] = mapped_column(Integer, default=0)
+    current_frame: Mapped[int | None] = mapped_column(Integer, nullable=True)
+    blocked: Mapped[bool] = mapped_column(Boolean, default=False)
+    search_grid_size: Mapped[int | None] = mapped_column(Integer, nullable=True)
+    created_at: Mapped[datetime] = mapped_column(DateTime(timezone=True), default=_utcnow)
+    updated_at: Mapped[datetime] = mapped_column(
+        DateTime(timezone=True), default=_utcnow, onupdate=_utcnow
+    )
+
+    flight: Mapped[FlightRow] = relationship(back_populates="state")
+
+
+# ── Frame Results ─────────────────────────────────────────────────────────
+
+
+class FrameResultRow(Base):
+    __tablename__ = "frame_results"
+
+    id: Mapped[str] = mapped_column(String(64), primary_key=True, default=_new_id)
+    flight_id: Mapped[str] = mapped_column(
+        ForeignKey("flights.id", ondelete="CASCADE"), nullable=False, index=True
+    )
+    frame_id: Mapped[int] = mapped_column(Integer, nullable=False)
+    gps_lat: Mapped[float] = mapped_column(Float, nullable=False)
+    gps_lon: Mapped[float] = mapped_column(Float, nullable=False)
+    altitude: Mapped[float] = mapped_column(Float, default=0.0)
+    heading: Mapped[float] = mapped_column(Float, default=0.0)
+    confidence: Mapped[float] = mapped_column(Float, default=0.0)
+    refined: Mapped[bool] = mapped_column(Boolean, default=False)
+    timestamp: Mapped[datetime] = mapped_column(DateTime(timezone=True), default=_utcnow)
+
+    flight: Mapped[FlightRow] = relationship(back_populates="frame_results")
+
+    __table_args__ = (
+        Index("ix_frame_results_flight_frame", "flight_id", "frame_id", unique=True),
+    )
+
+
+# ── Heading History ───────────────────────────────────────────────────────
+
+
+class HeadingRow(Base):
+    __tablename__ = "heading_history"
+
+    id: Mapped[str] = mapped_column(String(64), primary_key=True, default=_new_id)
+    flight_id: Mapped[str] = mapped_column(
+        ForeignKey("flights.id", ondelete="CASCADE"), nullable=False, index=True
+    )
+    frame_id: Mapped[int] = mapped_column(Integer, nullable=False)
+    heading: Mapped[float] = mapped_column(Float, nullable=False)
+    timestamp: Mapped[datetime] = mapped_column(DateTime(timezone=True), default=_utcnow)
+
+    flight: Mapped[FlightRow] = relationship(back_populates="headings")
+
+    __table_args__ = (
+        Index("ix_heading_flight_frame", "flight_id", "frame_id", unique=True),
+    )
+
+
+# ── Images ────────────────────────────────────────────────────────────────
+
+
+class ImageRow(Base):
+    __tablename__ = "images"
+
+    id: Mapped[str] = mapped_column(String(64), primary_key=True, default=_new_id)
+    flight_id: Mapped[str] = mapped_column(
+        ForeignKey("flights.id", ondelete="CASCADE"), nullable=False, index=True
+    )
+    frame_id: Mapped[int] = mapped_column(Integer, nullable=False)
+    file_path: Mapped[str] = mapped_column(Text, nullable=False)
+    metadata_json: Mapped[dict | None] = mapped_column(JSON, nullable=True)
+
+    flight: Mapped[FlightRow] = relationship(back_populates="images")
+
+    __table_args__ = (
+        Index("ix_images_flight_frame", "flight_id", "frame_id", unique=True),
+    )
+
+
+# ── Chunks ────────────────────────────────────────────────────────────────
+
+
+class ChunkRow(Base):
+    __tablename__ = "chunks"
+
+    chunk_id: Mapped[str] = mapped_column(String(64), primary_key=True, default=_new_id)
+    flight_id: Mapped[str] = mapped_column(
+        ForeignKey("flights.id", ondelete="CASCADE"), nullable=False, index=True
+    )
+    start_frame_id: Mapped[int] = mapped_column(Integer, nullable=False)
+    end_frame_id: Mapped[int | None] = mapped_column(Integer, nullable=True)
+    frames: Mapped[list] = mapped_column(JSON, default=list)
+    is_active: Mapped[bool] = mapped_column(Boolean, default=True)
+    has_anchor: Mapped[bool] = mapped_column(Boolean, default=False)
+    anchor_frame_id: Mapped[int | None] = mapped_column(Integer, nullable=True)
+    anchor_lat: Mapped[float | None] = mapped_column(Float, nullable=True)
+    anchor_lon: Mapped[float | None] = mapped_column(Float, nullable=True)
+    matching_status: Mapped[str] = mapped_column(String(32), default="pending")
+    updated_at: Mapped[datetime] = mapped_column(
+        DateTime(timezone=True), default=_utcnow, onupdate=_utcnow
+    )
+
+    flight: Mapped[FlightRow] = relationship(back_populates="chunks")

src/gps_denied/db/repository.py

@@ -0,0 +1,295 @@
+"""Repository (DAO) implementing IFlightDatabase operations."""
+
+from __future__ import annotations
+
+from datetime import datetime, timezone
+from typing import Any
+
+from sqlalchemy import delete, select, update
+from sqlalchemy.ext.asyncio import AsyncSession
+
+from gps_denied.db.models import (
+    ChunkRow,
+    FlightRow,
+    FlightStateRow,
+    FrameResultRow,
+    GeofenceRow,
+    HeadingRow,
+    ImageRow,
+    WaypointRow,
+)
+
+
+class FlightRepository:
+    """Async repository wrapping all DB operations for flights."""
+
+    def __init__(self, session: AsyncSession) -> None:
+        self._s = session
+
+    # ── Flight CRUD ───────────────────────────────────────────────────
+
+    async def insert_flight(
+        self,
+        *,
+        name: str,
+        description: str,
+        start_lat: float,
+        start_lon: float,
+        altitude: float,
+        camera_params: dict,
+        flight_id: str | None = None,
+    ) -> FlightRow:
+        row = FlightRow(
+            name=name,
+            description=description,
+            start_lat=start_lat,
+            start_lon=start_lon,
+            altitude=altitude,
+            camera_params=camera_params,
+        )
+        if flight_id:
+            row.id = flight_id
+        self._s.add(row)
+        await self._s.flush()
+        # Create initial flight state
+        state = FlightStateRow(flight_id=row.id)
+        self._s.add(state)
+        await self._s.flush()
+        return row
+
+    async def get_flight(self, flight_id: str) -> FlightRow | None:
+        return await self._s.get(FlightRow, flight_id)
+
+    async def list_flights(
+        self,
+        *,
+        status: str | None = None,
+        limit: int = 50,
+        offset: int = 0,
+    ) -> list[FlightRow]:
+        stmt = select(FlightRow).offset(offset).limit(limit).order_by(FlightRow.created_at.desc())
+        if status:
+            stmt = stmt.join(FlightStateRow).where(FlightStateRow.status == status)
+        result = await self._s.execute(stmt)
+        return list(result.scalars().all())
+
+    async def update_flight(self, flight_id: str, **kwargs: Any) -> bool:
+        kwargs["updated_at"] = datetime.now(tz=timezone.utc)
+        stmt = update(FlightRow).where(FlightRow.id == flight_id).values(**kwargs)
+        result = await self._s.execute(stmt)
+        return result.rowcount > 0  # type: ignore[union-attr]
+
+    async def delete_flight(self, flight_id: str) -> bool:
+        stmt = delete(FlightRow).where(FlightRow.id == flight_id)
+        result = await self._s.execute(stmt)
+        return result.rowcount > 0  # type: ignore[union-attr]
+
+    # ── Waypoints ─────────────────────────────────────────────────────
+
+    async def insert_waypoint(
+        self,
+        flight_id: str,
+        *,
+        lat: float,
+        lon: float,
+        altitude: float | None = None,
+        confidence: float = 0.0,
+        refined: bool = False,
+        waypoint_id: str | None = None,
+    ) -> WaypointRow:
+        row = WaypointRow(
+            flight_id=flight_id,
+            lat=lat,
+            lon=lon,
+            altitude=altitude,
+            confidence=confidence,
+            refined=refined,
+        )
+        if waypoint_id:
+            row.id = waypoint_id
+        self._s.add(row)
+        await self._s.flush()
+        return row
+
+    async def get_waypoints(self, flight_id: str, *, limit: int | None = None) -> list[WaypointRow]:
+        stmt = (
+            select(WaypointRow)
+            .where(WaypointRow.flight_id == flight_id)
+            .order_by(WaypointRow.timestamp)
+        )
+        if limit:
+            stmt = stmt.limit(limit)
+        result = await self._s.execute(stmt)
+        return list(result.scalars().all())
+
+    async def update_waypoint(self, flight_id: str, waypoint_id: str, **kwargs: Any) -> bool:
+        stmt = (
+            update(WaypointRow)
+            .where(WaypointRow.id == waypoint_id, WaypointRow.flight_id == flight_id)
+            .values(**kwargs)
+        )
+        result = await self._s.execute(stmt)
+        return result.rowcount > 0  # type: ignore[union-attr]
+
+    # ── Flight State ──────────────────────────────────────────────────
+
+    async def save_flight_state(self, flight_id: str, **kwargs: Any) -> bool:
+        kwargs["updated_at"] = datetime.now(tz=timezone.utc)
+        stmt = update(FlightStateRow).where(FlightStateRow.flight_id == flight_id).values(**kwargs)
+        result = await self._s.execute(stmt)
+        return result.rowcount > 0  # type: ignore[union-attr]
+
+    async def load_flight_state(self, flight_id: str) -> FlightStateRow | None:
+        return await self._s.get(FlightStateRow, flight_id)
+
+    # ── Frame Results ─────────────────────────────────────────────────
+
+    async def save_frame_result(
+        self,
+        flight_id: str,
+        *,
+        frame_id: int,
+        gps_lat: float,
+        gps_lon: float,
+        altitude: float = 0.0,
+        heading: float = 0.0,
+        confidence: float = 0.0,
+        refined: bool = False,
+    ) -> FrameResultRow:
+        row = FrameResultRow(
+            flight_id=flight_id,
+            frame_id=frame_id,
+            gps_lat=gps_lat,
+            gps_lon=gps_lon,
+            altitude=altitude,
+            heading=heading,
+            confidence=confidence,
+            refined=refined,
+        )
+        self._s.add(row)
+        await self._s.flush()
+        return row
+
+    async def get_frame_results(self, flight_id: str) -> list[FrameResultRow]:
+        stmt = (
+            select(FrameResultRow)
+            .where(FrameResultRow.flight_id == flight_id)
+            .order_by(FrameResultRow.frame_id)
+        )
+        result = await self._s.execute(stmt)
+        return list(result.scalars().all())
+
+    # ── Heading History ───────────────────────────────────────────────
+
+    async def save_heading(
+        self, flight_id: str, *, frame_id: int, heading: float
+    ) -> HeadingRow:
+        row = HeadingRow(flight_id=flight_id, frame_id=frame_id, heading=heading)
+        self._s.add(row)
+        await self._s.flush()
+        return row
+
+    async def get_heading_history(
+        self, flight_id: str, *, last_n: int | None = None
+    ) -> list[HeadingRow]:
+        stmt = (
+            select(HeadingRow)
+            .where(HeadingRow.flight_id == flight_id)
+            .order_by(HeadingRow.timestamp.desc())
+        )
+        if last_n:
+            stmt = stmt.limit(last_n)
+        result = await self._s.execute(stmt)
+        return list(result.scalars().all())
+
+    async def get_latest_heading(self, flight_id: str) -> float | None:
+        rows = await self.get_heading_history(flight_id, last_n=1)
+        return rows[0].heading if rows else None
+
+    # ── Images ────────────────────────────────────────────────────────
+
+    async def save_image_metadata(
+        self, flight_id: str, *, frame_id: int, file_path: str, metadata: dict | None = None
+    ) -> ImageRow:
+        row = ImageRow(
+            flight_id=flight_id, frame_id=frame_id, file_path=file_path, metadata_json=metadata
+        )
+        self._s.add(row)
+        await self._s.flush()
+        return row
+
+    async def get_image_path(self, flight_id: str, frame_id: int) -> str | None:
+        stmt = select(ImageRow.file_path).where(
+            ImageRow.flight_id == flight_id, ImageRow.frame_id == frame_id
+        )
+        result = await self._s.execute(stmt)
+        return result.scalar_one_or_none()
+
+    # ── Chunks ────────────────────────────────────────────────────────
+
+    async def save_chunk(
+        self,
+        flight_id: str,
+        *,
+        chunk_id: str | None = None,
+        start_frame_id: int,
+        end_frame_id: int | None = None,
+        frames: list[int] | None = None,
+        is_active: bool = True,
+        has_anchor: bool = False,
+        anchor_frame_id: int | None = None,
+        anchor_lat: float | None = None,
+        anchor_lon: float | None = None,
+        matching_status: str = "pending",
+    ) -> ChunkRow:
+        row = ChunkRow(
+            flight_id=flight_id,
+            start_frame_id=start_frame_id,
+            end_frame_id=end_frame_id,
+            frames=frames or [],
+            is_active=is_active,
+            has_anchor=has_anchor,
+            anchor_frame_id=anchor_frame_id,
+            anchor_lat=anchor_lat,
+            anchor_lon=anchor_lon,
+            matching_status=matching_status,
+        )
+        if chunk_id:
+            row.chunk_id = chunk_id
+        self._s.add(row)
+        await self._s.flush()
+        return row
+
+    async def load_chunks(self, flight_id: str) -> list[ChunkRow]:
+        stmt = select(ChunkRow).where(ChunkRow.flight_id == flight_id)
+        result = await self._s.execute(stmt)
+        return list(result.scalars().all())
+
+    async def delete_chunk(self, flight_id: str, chunk_id: str) -> bool:
+        stmt = delete(ChunkRow).where(
+            ChunkRow.chunk_id == chunk_id, ChunkRow.flight_id == flight_id
+        )
+        result = await self._s.execute(stmt)
+        return result.rowcount > 0  # type: ignore[union-attr]
+
+    # ── Geofences ─────────────────────────────────────────────────────
+
+    async def insert_geofence(
+        self,
+        flight_id: str,
+        *,
+        nw_lat: float,
+        nw_lon: float,
+        se_lat: float,
+        se_lon: float,
+    ) -> GeofenceRow:
+        row = GeofenceRow(
+            flight_id=flight_id,
+            nw_lat=nw_lat,
+            nw_lon=nw_lon,
+            se_lat=se_lat,
+            se_lon=se_lon,
+        )
+        self._s.add(row)
+        await self._s.flush()
+        return row

tests/test_database.py

@@ -0,0 +1,228 @@
+"""Tests for the database layer — CRUD, cascade, transactions."""
+
+import pytest
+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
+
+
+@pytest.fixture
+async def session():
+    """Create an in-memory SQLite database for each test."""
+    engine = create_async_engine("sqlite+aiosqlite://", echo=False)
+
+    @event.listens_for(engine.sync_engine, "connect")
+    def _set_sqlite_pragma(dbapi_connection, connection_record):
+        cursor = dbapi_connection.cursor()
+        cursor.execute("PRAGMA foreign_keys=ON")
+        cursor.close()
+    async with engine.begin() as conn:
+        await conn.run_sync(Base.metadata.create_all)
+    async_session = async_sessionmaker(engine, class_=AsyncSession, expire_on_commit=False)
+    async with async_session() as s:
+        yield s
+    await engine.dispose()
+
+
+@pytest.fixture
+def repo(session: AsyncSession) -> FlightRepository:
+    return FlightRepository(session)
+
+
+CAM = {
+    "focal_length": 25.0,
+    "sensor_width": 23.5,
+    "sensor_height": 15.6,
+    "resolution_width": 6252,
+    "resolution_height": 4168,
+}
+
+
+# ── Flight CRUD ───────────────────────────────────────────────────────────
+
+
+@pytest.mark.asyncio
+async def test_insert_and_get_flight(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="Test_Flight_001",
+        description="Test",
+        start_lat=48.275,
+        start_lon=37.385,
+        altitude=400,
+        camera_params=CAM,
+    )
+    await session.commit()
+
+    loaded = await repo.get_flight(flight.id)
+    assert loaded is not None
+    assert loaded.name == "Test_Flight_001"
+    assert loaded.altitude == 400
+
+
+@pytest.mark.asyncio
+async def test_list_flights(repo: FlightRepository, session: AsyncSession):
+    await repo.insert_flight(
+        name="F1", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    await repo.insert_flight(
+        name="F2", description="", start_lat=0, start_lon=0, altitude=200, camera_params=CAM
+    )
+    await session.commit()
+
+    flights = await repo.list_flights()
+    assert len(flights) == 2
+
+
+@pytest.mark.asyncio
+async def test_update_flight(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="Old", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    await session.commit()
+
+    ok = await repo.update_flight(flight.id, name="New")
+    await session.commit()
+    assert ok is True
+
+    reloaded = await repo.get_flight(flight.id)
+    assert reloaded.name == "New"
+
+
+@pytest.mark.asyncio
+async def test_delete_flight_cascade(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="Del", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    fid = flight.id
+    # Add related entities
+    await repo.insert_waypoint(fid, lat=48.0, lon=37.0, confidence=0.9)
+    await repo.save_frame_result(fid, frame_id=1, gps_lat=48.0, gps_lon=37.0)
+    await repo.save_heading(fid, frame_id=1, heading=90.0)
+    await repo.save_image_metadata(fid, frame_id=1, file_path="/img/1.jpg")
+    await repo.save_chunk(fid, start_frame_id=1, frames=[1, 2, 3])
+    await repo.insert_geofence(fid, nw_lat=49.0, nw_lon=36.0, se_lat=47.0, se_lon=38.0)
+    await session.commit()
+
+    # Delete flight — should cascade
+    ok = await repo.delete_flight(fid)
+    await session.commit()
+    assert ok is True
+    assert await repo.get_flight(fid) is None
+    assert await repo.get_waypoints(fid) == []
+    assert await repo.get_frame_results(fid) == []
+    assert await repo.get_heading_history(fid) == []
+    assert await repo.load_chunks(fid) == []
+
+
+# ── Waypoints ─────────────────────────────────────────────────────────────
+
+
+@pytest.mark.asyncio
+async def test_waypoint_crud(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="WP", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    wp = await repo.insert_waypoint(flight.id, lat=48.1, lon=37.2, confidence=0.8)
+    await session.commit()
+
+    wps = await repo.get_waypoints(flight.id)
+    assert len(wps) == 1
+    assert wps[0].lat == 48.1
+
+    ok = await repo.update_waypoint(flight.id, wp.id, lat=48.2, refined=True)
+    await session.commit()
+    assert ok is True
+
+
+# ── Flight State ──────────────────────────────────────────────────────────
+
+
+@pytest.mark.asyncio
+async def test_flight_state(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="State", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    await session.commit()
+
+    state = await repo.load_flight_state(flight.id)
+    assert state is not None
+    assert state.status == "created"
+
+    await repo.save_flight_state(flight.id, status="processing", frames_total=500)
+    await session.commit()
+
+    state = await repo.load_flight_state(flight.id)
+    assert state.status == "processing"
+    assert state.frames_total == 500
+
+
+# ── Frame Results ─────────────────────────────────────────────────────────
+
+
+@pytest.mark.asyncio
+async def test_frame_results(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="FR", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    await repo.save_frame_result(
+        flight.id, frame_id=1, gps_lat=48.0, gps_lon=37.0, confidence=0.95
+    )
+    await repo.save_frame_result(
+        flight.id, frame_id=2, gps_lat=48.001, gps_lon=37.001, confidence=0.90
+    )
+    await session.commit()
+
+    results = await repo.get_frame_results(flight.id)
+    assert len(results) == 2
+    assert results[0].frame_id == 1
+
+
+# ── Heading History ───────────────────────────────────────────────────────
+
+
+@pytest.mark.asyncio
+async def test_heading_history(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="HD", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    for i in range(5):
+        await repo.save_heading(flight.id, frame_id=i, heading=float(i * 30))
+    await session.commit()
+
+    latest = await repo.get_latest_heading(flight.id)
+    assert latest == 120.0  # last frame heading
+
+    last3 = await repo.get_heading_history(flight.id, last_n=3)
+    assert len(last3) == 3
+
+
+# ── Chunks ────────────────────────────────────────────────────────────────
+
+
+@pytest.mark.asyncio
+async def test_chunks(repo: FlightRepository, session: AsyncSession):
+    flight = await repo.insert_flight(
+        name="CK", description="", start_lat=0, start_lon=0, altitude=100, camera_params=CAM
+    )
+    chunk = await repo.save_chunk(
+        flight.id,
+        chunk_id="chunk_001",
+        start_frame_id=1,
+        end_frame_id=10,
+        frames=[1, 2, 3, 4, 5],
+        has_anchor=True,
+        anchor_lat=48.0,
+        anchor_lon=37.0,
+    )
+    await session.commit()
+
+    chunks = await repo.load_chunks(flight.id)
+    assert len(chunks) == 1
+    assert chunks[0].chunk_id == "chunk_001"
+
+    ok = await repo.delete_chunk(flight.id, "chunk_001")
+    await session.commit()
+    assert ok is True
+    assert await repo.load_chunks(flight.id) == []