Enhance skill discipline and clarify acceptance criteria and restrictions

Updated the meta-rule document to emphasize strict adherence to skill instructions, prohibiting unnecessary investigations or external checks. Revised acceptance criteria and restrictions to correct communication protocol details for ArduPilot and iNav, ensuring clarity on external-positioning interfaces. Adjusted autodev state to reflect ongoing research phase and updated sub-step details for improved tracking.

_docs/00_problem/acceptance_criteria.md

@@ -1,6 +1,8 @@
 # Acceptance Criteria
 
-> Last revised 2026-05-07 (cleanup pass: stripped algorithm/library/parameter implementation details; renamed source label `vo_extrapolated` → `visual_propagated`; broadened FC scope to ArduPilot + iNav). See git history for prior versions.
+> Last revised 2026-05-07 (cleanup pass: stripped algorithm/library/parameter implementation details; renamed source label `vo_extrapolated` → `visual_propagated`; broadened FC scope to ArduPilot + iNav).
+> Subsequent revision 2026-05-07 (post-SQ6 research): AC-4.3 reworded to acknowledge that no single message type is accepted by both ArduPilot Plane and iNav — per-FC interface is named explicitly (MAVLink `GPS_INPUT` for ArduPilot Plane, MSP2 `MSP2_SENSOR_GPS` for iNav). Rationale and L1 sources in `_docs/00_research/02_fact_cards.md` SQ6 / `_docs/00_research/01_source_registry.md` Sources #4, #9, #10, #12, #13.
+> See git history for prior versions.
 
 ## Position Accuracy
 - **AC-1.1** — Frame-center GPS within **50 m** of true GPS for **≥80%** of normal-flight photos.
@@ -29,7 +31,7 @@
 ## Real-Time Onboard Performance
 - **AC-4.1** — End-to-end latency (camera capture → GPS to FC) **<400 ms p95**. Up to ~10% frames may drop under sustained load.
 - **AC-4.2** — Memory **<8 GB shared** on Jetson Orin Nano Super.
-- **AC-4.3 — FC output contract**: WGS84 coordinates over MAVLink, via the standard external-positioning message type(s) accepted by ArduPilot and iNav. Honest covariance carried in the field the FC uses for outlier rejection (under-reported covariance is a defect, see AC-NEW-4). Source-label semantics per AC-1.4. Implementation may emit a primary GPS-substitute message and, when the estimator delivers full 6-DoF covariance + quality above a configured threshold, an optional auxiliary external-odometry message. Per-FC message selection and FC-side parameter wiring are design decisions.
+- **AC-4.3 — FC output contract**: WGS84 coordinates delivered to each supported FC via that FC's documented external-positioning interface — MAVLink `GPS_INPUT` for ArduPilot Plane, MSP2 `MSP2_SENSOR_GPS` for iNav. Honest covariance is carried in the field each FC uses for outlier rejection (under-reported covariance is a defect, see AC-NEW-4). Source-label semantics per AC-1.4 are emitted out-of-band via the FC-appropriate channel (e.g. MAVLink `STATUSTEXT` / `NAMED_VALUE_FLOAT` for ArduPilot; MSP equivalent for iNav). Where the FC supports it, implementation may also emit an optional auxiliary external-odometry message when the estimator delivers full 6-DoF covariance + quality above a configured threshold. Per-FC parameter wiring (EKF source-set selection on ArduPilot; GPS provider / UART role on iNav), FDR-side message variants, and out-of-band channel choice remain design decisions.
 - **AC-4.4** — Estimates streamed frame-by-frame; no batching/delay.
 - **AC-4.5** — System may refine prior estimates and emit corrections.
 

_docs/00_problem/restrictions.md

@@ -1,6 +1,7 @@
 # Restrictions
 
 > Last revised 2026-05-07 (cleanup pass — design-independent, IEEE-830 style; only external dependencies, environmental constraints, integration boundaries).
+> Subsequent revision 2026-05-07 (post-SQ6 research): the FC-facing communication protocol entries below were corrected — iNav firmware (master, post-9.0) has no inbound MAVLink external-positioning handler; the project must use a per-FC adapter (MAVLink `GPS_INPUT` for ArduPilot Plane; MSP2 `MSP2_SENSOR_GPS` for iNav). Rationale and L1 sources in `_docs/00_research/02_fact_cards.md` SQ6 / `_docs/00_research/01_source_registry.md` Sources #4, #9, #10, #12, #13.
 
 ## UAV & Flight
 - Fixed-wing UAVs only; navigation camera fixed downward (no gimbal).
@@ -33,10 +34,10 @@
 - Storage budget ≥ tile cache (~10 GB) + per-flight FDR (64 GB, AC-NEW-3).
 
 ## Sensors & Integration
-- **High-rate IMU** available from FC via MAVLink.
-- **Communication protocol (pinned)**: MAVLink for both FC and GCS.
-- **Supported flight controllers**: ArduPilot, iNav (both via standard MAVLink). PX4 out of scope.
-- **Output to FC**: WGS84 GPS coordinates as a real-GPS replacement, via the MAVLink message type(s) the supported FCs accept for external positioning (per-FC message selection is a design choice; contract is AC-4.3).
+- **High-rate IMU** available from FC via MAVLink (both ArduPilot Plane and iNav expose IMU telemetry over MAVLink outbound).
+- **Communication protocol (pinned)**: MAVLink for the GCS link (QGroundControl). Companion ↔ FC interface is per-FC: MAVLink for ArduPilot Plane (inbound external positioning + outbound telemetry); MSP2 for iNav (inbound external positioning via `MSP2_SENSOR_GPS`); MAVLink outbound from iNav for telemetry to the GCS is preserved.
+- **Supported flight controllers**: ArduPilot Plane, iNav. PX4 out of scope.
+- **Output to FC**: WGS84 GPS coordinates as a real-GPS replacement, via each supported FC's documented external-positioning interface — MAVLink `GPS_INPUT` for ArduPilot Plane, MSP2 `MSP2_SENSOR_GPS` for iNav (companion is the sole GPS source on iNav; iNav has no dual-GPS arbitration). Per-FC parameter wiring (EKF source-set on ArduPilot; GPS provider/UART selection on iNav) and source-label out-of-band channel are design choices; outcome contract is AC-4.3.
 - **Ground station**: QGroundControl (Mission Planner out of scope). Telemetry link bandwidth-limited; per-frame data stays on local FDR (AC-NEW-3); GCS sees 1–2 Hz downsampled summary (AC-6.1).
 - **Representative data**: see `input_data/` (still images), `input_data/flight_derkachi/` (cropped nadir video + synchronized `SCALED_IMU2` + `GLOBAL_POSITION_INT`). Production acceptance still requires camera intrinsics, distortion, camera-to-body calibration, and synchronized representative flight data (frames + FC IMU/attitude/airspeed/altitude + emitted MAVLink + ground-truth trajectory).