fix(followers): enterprise audit v6.0.2 — fresh-eyes safety & correctness pass

CRITICAL safety fixes:
- fw_attitude_rate: fix bank angle PID sign inversion (was computing -P*error instead of +P*error)
- fw_attitude_rate: fix TargetLossAction local enum shadowing safety_types (RTL/ORBIT never fired)
- fw_attitude_rate: fix rtl_triggered not reset on state reset (RTL permanently stuck after first trigger)
- mc_attitude_rate: fix TargetLossAction local enum shadowing (RTL never fired)
- mc_attitude_rate: remove dead _parse_target_loss_action method (unreachable code)
- mc_velocity_ground: fix pid_z repulsive force bug (setpoint=min_descent_height caused drone to climb)

High-priority fixes:
- base_follower: move numpy import to module level (was re-imported on every 20Hz call)
- mc_attitude_rate: TARGET_ALTITUDE_OFFSET default 0.0→15.0 (matches config)
- mc_velocity_position: YAW_CONTROL_THRESHOLD default 0.05→0.02 (matches config)
- mc_velocity_position: getattr altitude default 0.0→None (activates existing None guard)
- mc_velocity_distance: ENABLE_ALTITUDE_CONTROL default True→False (safe ground testing)
- mc_velocity_ground: MAX_RATE_OF_DESCENT default 2.0→1.0 (matches config)
- gm_velocity_chase: remove inline import math in hot path (already at module level)
- mc_velocity_distance: move inline 'from math import degrees' to module level

Code quality:
- gm_velocity_chase: strip emoji from logger calls (breaks log parsers/grep/enterprise logs)

Config/schema cleanup:
- config_schema.yaml: remove orphaned safety keys from per-follower sections
- config_schema.yaml: fix range maxima, type mismatches, missing FW_ATTITUDE_RATE keys
- config_default.yaml: align key names with code expectations
- follower_commands.yaml: add missing deprecated aliases
- scripts/generate_schema.py: remove dead section registrations

Docs updates (12 files):
- Fix Safety.GlobalLimits/FollowerOverrides config structure throughout
- Fix AltitudeLimits/RateLimits from @DataClass to NamedTuple
- Fix TrackerOutput angular field (remove stale gimbal_pan/gimbal_tilt)
- Fix factory-pattern.md: deprecated aliases raise ValueError (not warnings)
- Update follower count, remove pid_pursuit references, fix stale aliases
- Fix safety-manager.md: FollowerLimits types, get_altitude_limits() signature

Tests: 1547 passed, 49 skipped, 0 failed

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

Author: alireza787b

configs/config_default.yaml

@@ -1294,6 +1294,7 @@ GM_VELOCITY_CHASE:
   # === Mount Configuration ===
   MOUNT_TYPE: "HORIZONTAL"                  # Options: "HORIZONTAL", "VERTICAL"
   CONTROL_MODE: "BODY"                      # Options: "NED", "BODY"
+  ROLL_RIGHT_SIGN: "NEGATIVE"               # Options: NEGATIVE | POSITIVE — sign convention for roll-right direction
 
   # === Required Tracker Fields ===
   REQUIRED_TRACKER_FIELDS: ["angular"]     # Must have angular data from gimbal
@@ -1928,7 +1929,7 @@ MC_ATTITUDE_RATE:
 # ==============================================================================
 MC_VELOCITY_GROUND:
   # === Target Position Mode ===
-  TARGET_POSITION_MODE: center          # Target positioning: "center", "initial"
+  TARGET_POSITION_MODE: center          # Options: center | initial
 
   # === Velocity Limits ===
   # NOTE: MAX_VELOCITY_X/Y now in Safety.GlobalLimits as MAX_VELOCITY_LATERAL/FORWARD
@@ -2164,7 +2165,7 @@ Safety:
     # Safety Behavior
     EMERGENCY_STOP_ENABLED: true
     RTL_ON_VIOLATION: true
-    TARGET_LOSS_ACTION: hover            # hover, orbit, stop, rtl, continue
+    TARGET_LOSS_ACTION: hover            # Options: hover | orbit | stop | rtl | continue
     MAX_SAFETY_VIOLATIONS: 5
 
   # ===========================================================================