Update autodev state documentation to reflect progress in the Decompose phase, changing the current step from 5 to 6. Revise sub-step details to indicate a shift to phase 2, focusing on module layout for the Satellite Service and Tile Manager, and awaiting confirmation before product task decomposition. Additionally, enhance problem documentation to clarify the original still-image sample limitations and introduce the Derkachi representative fixture for improved data validation. Update references to the Tile Manager and Satellite Service throughout the documentation for consistency.

_docs/00_problem/input_data/expected_results/results_report.md

@@ -2,9 +2,9 @@
 
 ## Scope
 
-`coordinates.csv` is the current source of truth for the provided nadir image set. It gives expected WGS84 frame-center coordinates for `AD000001.jpg` through `AD000060.jpg`.
+`coordinates.csv` is the current source of truth for the provided still-image nadir set. It gives expected WGS84 frame-center coordinates for `AD000001.jpg` through `AD000060.jpg`.
 
-This data is sufficient for black-box frame-center geolocation tests against still images. It is not sufficient for final BASALT VIO, IMU-fusion, blackout, spoofing, or flight-controller tests because synchronized IMU/attitude/airspeed/altitude and ground-truth trajectory are not present in this sample set.
+This data is sufficient for black-box frame-center geolocation tests against still images. The Derkachi representative fixture in `input_data/flight_derkachi/` adds cropped nadir video plus synchronized `SCALED_IMU2` and `GLOBAL_POSITION_INT` telemetry. It is sufficient for fixture validation, video/telemetry synchronization, replay, latency, VIO smoke tests, and trajectory comparison against the tlog GPS path. It is not sufficient by itself for final production accuracy because raw camera calibration, lens distortion, and exact camera-to-body calibration are still pending.
 
 ## Pass / Fail Rules
 
@@ -15,6 +15,8 @@ This data is sufficient for black-box frame-center geolocation tests against sti
 
 ## Input To Expected Output Map
 
+### Still-Image Frame Centers
+
 | Input image | Expected latitude | Expected longitude | Primary threshold | Stretch threshold |
 |-------------|-------------------|--------------------|-------------------|-------------------|
 | AD000001.jpg | 48.275292 | 37.385220 | <= 50 m | <= 20 m |
@@ -78,9 +80,18 @@ This data is sufficient for black-box frame-center geolocation tests against sti
 | AD000059.jpg | 48.255481 | 37.356501 | <= 50 m | <= 20 m |
 | AD000060.jpg | 48.256246 | 37.357485 | <= 50 m | <= 20 m |
 
+### Representative Derkachi Video/IMU Fixture
+
+| Input fixture | Expected validation result | Threshold |
+|---------------|----------------------------|-----------|
+| `flight_derkachi/data_imu.csv` | Telemetry CSV has required `timestamp(ms)`, `Time`, `SCALED_IMU2.*`, and `GLOBAL_POSITION_INT.*` columns; non-empty rows are monotonic from `Time=0.0` to `489.9` | 0 missing required columns; 0 decreasing timestamps; 4,900 nonblank rows |
+| `flight_derkachi/flight_derkachi.mp4` | Video stream is readable as cropped nadir footage for replay | H.264, 880 x 720, 30 fps, approximately 490.07 s |
+| Video/telemetry alignment | Video has 14,700 frames and telemetry has 4,900 rows | Exactly 3 video frames per telemetry row; duration delta <=250 ms |
+| Derkachi trajectory comparison | Replay output can be compared to `GLOBAL_POSITION_INT.lat`, `GLOBAL_POSITION_INT.lon`, `GLOBAL_POSITION_INT.alt`, `GLOBAL_POSITION_INT.relative_alt`, velocity, and heading | Thresholds are calibration-gated; use for smoke/relative trajectory validation until intrinsics and camera-to-body calibration are pinned |
+
 ## Known Gaps
 
-- No synchronized IMU, attitude, airspeed, altitude, or timestamp stream is present for these images.
-- No ground-truth trajectory exists beyond per-image center coordinates.
-- The sample cadence is slower than the target 3 fps runtime profile.
-- Final acceptance requires additional public and representative datasets with synchronized camera/IMU/ground truth.
+- The still-image set has expected WGS84 centers but no synchronized IMU, attitude, airspeed, altitude, or timestamp stream.
+- The Derkachi fixture has synchronized video, IMU, and GPS trajectory, but no raw camera calibration, lens distortion, exact camera-to-body transform, attitude, or airspeed columns.
+- The still-image sample cadence is slower than the target 3 fps runtime profile; the Derkachi video is 30 fps and must be sampled to target replay cadence for runtime tests.
+- Final production acceptance requires camera calibration and representative datasets with synchronized camera/IMU plus ground-truth trajectory.

_docs/00_problem/input_data/flight_derkachi/README.md

@@ -0,0 +1,14 @@
+# Derkachi Representative Flight Fixture
+
+## Files
+
+| File | Description | Observed Metadata |
+|------|-------------|-------------------|
+| `flight_derkachi.mp4` | Cropped nadir flight footage for replay | H.264, 880 x 720, 30 fps, about 490.07 s |
+| `data_imu.csv` | Flight-controller telemetry trace exported from the tlog | 4,900 rows at 10 Hz from `Time=0.0` to `489.9`; includes `SCALED_IMU2` and `GLOBAL_POSITION_INT` trajectory fields |
+
+## Test Use
+
+Use this fixture for video/telemetry synchronization checks, representative replay smoke tests, VIO hot-path latency, frame-drop accounting, and trajectory comparison against `GLOBAL_POSITION_INT`. The video and telemetry align at exactly three video frames per telemetry row. Camera intrinsics, lens distortion, raw camera resolution, and exact camera-to-body calibration are still unknown, so this fixture is not sufficient by itself for final production camera calibration or satellite-anchor accuracy claims.
+
+For the test recording, the rotating camera was mechanically fixed in a downward/nadir orientation. Treat the MP4 as a cleaned/cropped replay fixture rather than the raw camera feed.

_docs/00_problem/input_data/flight_derkachi/flight_derkachi.mp4

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