feat(pipeline): jalon 1-3 — ingest, USBL parse, filter

Stages 01-03 opérationnels sur 20260505-Lepradet:
- 01_ingest: manifest auto, 3 AUVs vidéo, 3 AUVs bags, mapping AUV2xx↔AUV0xx
- 02_usbl_parse: MCAP (format incompatible firmware) → fallback serial CSV, 213 pts bruts
- 03_usbl_filter: MAD-3σ + moving-avg + Kalman optionnel, dégradé gracieux si null lat/lon
- orchestrator/db.py: SQLite schema missions/jobs/metrics idempotent
- config/: thresholds.yaml + default_params.yaml versionnés
- qa/checks.py: vérifications pass/fail/degraded par étape

Note: MCAP bags corrompus ou format non-standard firmware — lat/lon absent.
Statut degraded (pas crash). Nécessite investigation format MCAP spécifique.

pipeline/config/default_params.yaml

@@ -0,0 +1,58 @@
+# Default params per stage — overridable per-run via CLI or cron patch
+stage_01_ingest:
+  gap_min: 5                     # minutes gap to split segment
+  ssd_root: /mnt/ssd
+  output_dir: /home/cosma/cosma-pipeline
+
+stage_02_usbl_parse:
+  # USBL log/ CSVs are raw serial frames — real nav is in bag/*.mcap
+  # This stage parses MCAP bag files for USBL/nav topics
+  mcap_topics:
+    - /usbl/position
+    - /usbl/fix
+    - /navigation/position
+    - /bluerov/usbl
+    - /waterlinked/position
+  fallback_csv_serial: true      # try to decode serial bytes if no mcap topic
+  output_format: parquet         # or csv
+
+stage_03_usbl_filter:
+  method: mad                    # mad | kalman_simple
+  mad_sigma: 3.0
+  moving_avg_window: 5
+
+stage_04_frame_extract:
+  fps: 1
+  width: 518
+  height: 294
+  trim_hors_eau: true
+
+stage_05_inference:
+  workers:
+    - host: 192.168.0.87
+      user: floppyrj45
+      gpu: "RTX 3060 12GB"
+      vram_mib: 11913
+      lingbot_path: /home/floppyrj45/ai-video/lingbot-map
+      frames_dir: /home/floppyrj45/cosma-pipeline-frames
+    - host: 192.168.0.84
+      user: root
+      gpu: "RTX 3090 24GB"
+      vram_mib: 24576
+      lingbot_path: /root/ai-video/lingbot-map
+      frames_dir: /root/cosma-pipeline-frames
+  model_path: /home/floppyrj45/ai-video/lingbot-map/checkpoints/lingbot_map.pt
+  mode: streaming
+  keyframe_interval: 6
+
+stage_06_align:
+  use_imu_heading: true
+  use_depth: true
+
+stage_07_stitch_per_auv:
+  voxel_size: 0.05
+  use_ransac: true
+
+stage_08_stitch_cross_auv:
+  voxel_size: 0.1
+  final_icp: true