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/qa/checks.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+"""QA checks — each function returns {metric: value, pass_fail: str, details: str}."""
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+
+def check_ingest(manifest_path: Path) -> dict:
+    try:
+        m = json.loads(manifest_path.read_text())
+        n_auv_video = len(m.get("auv_ids_video", []))
+        n_auv_bags  = len(m.get("auv_ids_bags", []))
+        total_s = m.get("total_video_s", 0)
+        segs = sum(len(v) for v in m.get("segments_per_auv", {}).values())
+        pass_fail = "pass" if n_auv_video > 0 and segs > 0 else "fail"
+        return {
+            "stage": "01_ingest",
+            "pass_fail": pass_fail,
+            "auv_count_video": n_auv_video,
+            "auv_count_bags": n_auv_bags,
+            "segment_count": segs,
+            "total_video_s": total_s,
+            "auv_mapping": m.get("auv_mapping", {}),
+        }
+    except Exception as e:
+        return {"stage": "01_ingest", "pass_fail": "fail", "error": str(e)}
+
+
+def check_usbl_parse(raw_dir: Path) -> dict:
+    results = {}
+    total_pts = 0
+    degraded = 0
+    for f in sorted(raw_dir.glob("*_nav_raw.json")):
+        try:
+            d = json.loads(f.read_text())
+            pts = len(d.get("points", []))
+            status = d.get("metrics", {}).get("status", "?")
+            total_pts += pts
+            if status == "degraded":
+                degraded += 1
+            results[d.get("auv_id", f.stem)] = {"points": pts, "status": status}
+        except Exception as e:
+            results[f.stem] = {"error": str(e)}
+    pass_fail = "degraded" if degraded == len(results) else ("pass" if total_pts > 0 else "fail")
+    return {
+        "stage": "02_usbl_parse",
+        "pass_fail": pass_fail,
+        "total_points": total_pts,
+        "per_auv": results,
+    }
+
+
+def check_usbl_filter(filtered_dir: Path, min_points: int = 5) -> dict:
+    results = {}
+    for f in sorted(filtered_dir.glob("*_nav_filtered.json")):
+        try:
+            d = json.loads(f.read_text())
+            pts_after = len(d.get("points", []))
+            m = d.get("metrics", {})
+            pf = "pass" if pts_after >= min_points else ("degraded" if pts_after > 0 else "fail")
+            results[d.get("auv_id", f.stem)] = {
+                "before": m.get("points_before", 0),
+                "after": pts_after,
+                "removed_null": m.get("points_removed_null", 0),
+                "removed_outlier": m.get("points_removed_outlier", 0),
+                "pass_fail": pf,
+            }
+        except Exception as e:
+            results[f.stem] = {"error": str(e)}
+    overall = "pass"
+    if all(v.get("pass_fail") == "fail" for v in results.values() if "error" not in v):
+        overall = "fail"
+    elif any(v.get("pass_fail") == "degraded" for v in results.values() if "error" not in v):
+        overall = "degraded"
+    return {"stage": "03_usbl_filter", "pass_fail": overall, "per_auv": results}