Revise skills documentation to incorporate updated directory structure and terminology. Replace references to integration tests with blackbox tests in SKILL.md files and templates. Adjust paths in planning and deployment documentation to align with the new _docs/02_document/ structure, ensuring consistency and clarity throughout the documentation.

_docs/02_document/tests/traceability-matrix.md

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+# Traceability Matrix
+
+## Acceptance Criteria Coverage
+
+| AC ID | Acceptance Criterion | Test IDs | Coverage |
+|-------|---------------------|----------|----------|
+| AC-01 | 80% of frames within 50m of real GPS | FT-P-01, FT-P-03 | Covered |
+| AC-02 | 60% of frames within 20m of real GPS | FT-P-02 | Covered |
+| AC-03 | Cumulative VO drift between satellite anchors < 100m | FT-P-04 | Covered |
+| AC-04 | Confidence score per position estimate (high/low) | FT-P-07, FT-P-08, FT-N-06 | Covered |
+| AC-05 | Image registration rate > 95% | FT-P-06 | Covered |
+| AC-06 | System handles 350m outlier between consecutive photos | FT-N-02 | Covered |
+| AC-07 | System handles sharp turns with <5% overlap, <200m drift, <70° angle via satellite re-localization | FT-N-01, NFT-RES-02 | Covered |
+| AC-08 | System handles disconnected route segments (core feature) | FT-N-01, NFT-RES-02, NFT-RES-03 | Covered |
+| AC-09 | 3 consecutive failures → re-localization request to ground station | FT-N-05, FT-N-07 | Covered |
+| AC-10 | < 400ms end-to-end per frame | NFT-PERF-01 | Covered |
+| AC-11 | Memory < 8GB shared | NFT-RES-LIM-01, NFT-RES-LIM-04 | Covered |
+| AC-12 | GPS_INPUT via MAVLink (MAVSDK) to flight controller | FT-P-05, FT-P-09 | Covered |
+| AC-13 | Frame-by-frame streaming, no batch/delay | FT-P-09, NFT-PERF-02 | Covered |
+| AC-14 | System initializes from last known GPS position | FT-P-12 | Covered |
+| AC-15 | Complete failure for N seconds → FC falls back to IMU, system logs | NFT-RES-03, FT-N-06 | Covered |
+| AC-16 | Mid-flight reboot → re-initialize from FC's IMU-extrapolated position | NFT-RES-01 | Covered |
+| AC-17 | Position + confidence streamed to ground station via telemetry | FT-P-13, FT-P-14 | Covered |
+| AC-18 | Ground station can send commands (re-localization hint) | FT-N-07 | Covered |
+| AC-19 | Output coordinates in WGS84 | FT-P-05, FT-P-11 | Covered |
+| AC-20 | Other onboard AI can request object GPS coordinates | FT-P-10 | Covered |
+| AC-21 | Object coordinates via trigonometric calculation (gimbal, zoom, altitude) | FT-P-10, FT-P-11 | Covered |
+| AC-22 | Object accuracy consistent with frame-center accuracy | FT-P-10 | Covered |
+| AC-23 | Satellite imagery ≥ 0.5 m/pixel | NFT-RES-LIM-03 | Covered (tile storage validation uses zoom 18 = 0.6m/px) |
+| AC-24 | Satellite imagery pre-loaded before flight | NFT-RES-LIM-03 | Covered |
+| AC-25 | MRE < 1.0 pixels | — | NOT COVERED — requires cuVSLAM internal reprojection metric; not observable via black-box interfaces. Covered at component test level (Step 5). |
+| AC-26 | Satellite imagery < 2 years old | — | NOT COVERED — operational procurement constraint; not runtime-testable. Validated during offline tile preparation. |
+
+## Restrictions Coverage
+
+| Restriction ID | Restriction | Test IDs | Coverage |
+|---------------|-------------|----------|----------|
+| RESTRICT-01 | Fixed-wing UAV only | FT-P-01 through FT-P-06 (test data from fixed-wing flight) | Covered |
+| RESTRICT-02 | Camera pointing downwards, not autostabilized | FT-P-10, FT-P-11 (coordinate transforms account for non-stabilized mount) | Covered |
+| RESTRICT-03 | Eastern/southern Ukraine operational area | FT-P-01 (test coordinates at 48.25-48.28°N, 37.34-37.39°E) | Covered |
+| RESTRICT-04 | Altitude ≤ 1km, terrain height negligible | FT-P-01, FT-P-10 (test data at 400m altitude, flat terrain assumed) | Covered |
+| RESTRICT-05 | Mostly sunny weather | — | NOT COVERED — environmental condition; cannot be tested in Docker. Mitigated by feature-based matching robustness. |
+| RESTRICT-06 | Sharp turns (no common points possible, exceptional) | FT-N-01, FT-N-02, NFT-RES-02 | Covered |
+| RESTRICT-07 | Up to 3000 photos per flight | NFT-RES-LIM-04 | Covered |
+| RESTRICT-08 | Two cameras: navigation (fixed nadir) + AI (configurable) | FT-P-10 (object localization uses AI camera angles) | Covered |
+| RESTRICT-09 | Navigation camera: FullHD to 6252x4168, known parameters | FT-P-01 (test data at 6252x4168) | Covered |
+| RESTRICT-10 | Jetson Orin Nano Super: 67 TOPS, 8GB, 25W TDP | NFT-RES-LIM-01, NFT-RES-LIM-02, NFT-PERF-01 | Covered |
+| RESTRICT-11 | Thermal throttling at sustained GPU load | NFT-RES-LIM-02 | Covered |
+| RESTRICT-12 | IMU data via flight controller (MAVLink) | FT-P-05, FT-P-12 (SITL provides IMU via MAVLink) | Covered |
+| RESTRICT-13 | GPS_INPUT message to flight controller | FT-P-05, FT-P-09 | Covered |
+| RESTRICT-14 | Telemetry link bandwidth-limited | FT-P-13 (1Hz telemetry rate is bandwidth-appropriate) | Covered |
+| RESTRICT-15 | Google Maps satellite (potentially outdated) | NFT-RES-04 (tile server failure resilience) | Covered |
+| RESTRICT-16 | Onboard storage limited for satellite tiles | NFT-RES-LIM-03 | Covered |
+
+## Coverage Summary
+
+| Category | Total Items | Covered | Not Covered | Coverage % |
+|----------|-----------|---------|-------------|-----------|
+| Acceptance Criteria | 26 | 24 | 2 | 92% |
+| Restrictions | 16 | 15 | 1 | 94% |
+| **Total** | **42** | **39** | **3** | **93%** |
+
+## Uncovered Items Analysis
+
+| Item | Reason Not Covered | Risk | Mitigation |
+|------|-------------------|------|-----------|
+| AC-25 (MRE < 1.0 pixels) | cuVSLAM reprojection error is an internal metric not exposed via public API or MAVLink; cannot be observed at black-box level | LOW — MRE is a proxy for VO quality; position accuracy tests (FT-P-01/02) validate the end result | Covered at component test level (Step 5) with cuVSLAM-specific unit tests |
+| AC-26 (Satellite imagery < 2 years old) | Operational procurement constraint validated during offline tile preparation, not at runtime | LOW — outdated imagery degrades matching but is caught by satellite matching accuracy tests | Validated during pre-flight tile download workflow; documented in operational procedures |
+| RESTRICT-05 (Sunny weather) | Environmental condition that cannot be reproduced in Docker or controlled test environment | LOW — system uses feature-based matching (LiteSAM/XFeat) robust to lighting variation; not a software test | Validated during real-world flight tests; feature-based matching provides robustness |