feat(simulator): virtual drone fleet data generator

One process per drone: seeded patrol kinematics, sensor streams at
realistic rates, detection events, hot current/ blocks sealed into
Hive-partitioned Parquet, and the compact UDP state broadcast with
peer RSSI derivation. Scales via docker compose --scale.

simulator/virtual_drone/flight.py

@@ -0,0 +1,75 @@
+"""Kinematics: a seeded patrol route and the drone's motion along it."""
+
+from __future__ import annotations
+
+import math
+import random
+from dataclasses import dataclass, replace
+
+from .config import Config
+
+
+@dataclass(frozen=True)
+class Pose:
+    ts_ns: int
+    x: float
+    y: float
+    z: float
+    roll: float
+    pitch: float
+    yaw: float
+    vx: float
+    vy: float
+    vz: float
+
+
+def make_waypoints(cfg: Config, rng: random.Random) -> list[tuple[float, float]]:
+    """Perimeter patrol with per-drone jitter so drones do not overlap."""
+    s = cfg.area_size_m
+    jitter = rng.uniform(0.05, 0.20) * s
+    corners = [(jitter, jitter), (s - jitter, jitter), (s - jitter, s - jitter), (jitter, s - jitter)]
+    start = rng.randrange(4)
+    return corners[start:] + corners[:start]
+
+
+def initial_pose(cfg: Config, rng: random.Random, ts_ns: int) -> Pose:
+    wps = make_waypoints(cfg, rng)
+    x, y = wps[0]
+    return Pose(ts_ns=ts_ns, x=x, y=y, z=cfg.cruise_alt_m, roll=0.0, pitch=0.0, yaw=0.0, vx=0.0, vy=0.0, vz=0.0)
+
+
+def step(pose: Pose, target: tuple[float, float], cfg: Config, rng: random.Random, dt: float, ts_ns: int) -> tuple[Pose, bool]:
+    """Advance one tick toward the target waypoint. Returns (pose, reached)."""
+    dx, dy = target[0] - pose.x, target[1] - pose.y
+    dist = math.hypot(dx, dy)
+    reached = dist < cfg.cruise_speed_ms * dt * 2
+
+    speed = cfg.cruise_speed_ms * rng.uniform(0.9, 1.1)
+    if dist > 1e-6:
+        vx, vy = dx / dist * speed, dy / dist * speed
+    else:
+        vx, vy = 0.0, 0.0
+
+    yaw = math.degrees(math.atan2(vy, vx))
+    # Small attitude noise around the commanded values
+    roll = rng.gauss(0.0, 1.5)
+    pitch = rng.gauss(2.0, 1.0)
+    z = cfg.cruise_alt_m + rng.gauss(0.0, 0.5)
+    vz = (z - pose.z) / dt if dt > 0 else 0.0
+
+    return (
+        replace(
+            pose,
+            ts_ns=ts_ns,
+            x=pose.x + vx * dt,
+            y=pose.y + vy * dt,
+            z=z,
+            roll=roll,
+            pitch=pitch,
+            yaw=yaw,
+            vx=vx,
+            vy=vy,
+            vz=vz,
+        ),
+        reached,
+    )