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/01_solution/solution.md

@@ -21,7 +21,7 @@ Image quality + calibration + orthorectification
         +--> Tile path: new COG tile + quality/provenance sidecar --> manifest update --> post-flight Satellite Service sync
 ```
 
-Heavy retrieval and local matching are not steady-state per-frame dependencies. They run on cold start, VO failure, sharp turns, disconnected segments, covariance growth, stale-anchor age, or operator-assisted relocalization.
+Heavy local retrieval and local matching are not steady-state per-frame dependencies. They run on cold start, VO failure, sharp turns, disconnected segments, covariance growth, stale-anchor age, or operator-assisted relocalization, using only preloaded cache/index data during flight.
 
 ## Architecture
 
@@ -42,7 +42,7 @@ Heavy retrieval and local matching are not steady-state per-frame dependencies.
 
 BASALT does not replace the project-owned safety logic. The wrapper remains responsible for satellite anchor acceptance, confidence calibration, source labels, blackout/spoofing modes, tile-write eligibility, and MAVLink `GPS_INPUT` semantics.
 
-### Satellite Retrieval And Anchor Verification
+### Satellite Service And Anchor Verification
 
 | Solution | Tools | Pinned Mode/Config | Fit |
 |----------|-------|--------------------|-----|
@@ -50,16 +50,16 @@ BASALT does not replace the project-owned safety logic. The wrapper remains resp
 | SuperPoint+LightGlue | SuperPoint, LightGlue | Same matcher with SuperPoint features | License-gated benchmark/fallback only. |
 | Classical SIFT/ORB | OpenCV | Handcrafted features + homography | Regression/fallback baseline. |
 
-The VPR index is built over ground-footprint-sized chunks with overlap and a multi-scale descriptor set. VPR is invoked only on relocalization triggers or covariance/anchor-age growth; normal flight uses BASALT VIO plus wrapper propagation.
+The Satellite Service component imports mission cache/index packages before flight, uploads generated-tile packages after landing, and serves local VPR queries during flight. The VPR index is built over ground-footprint-sized chunks with overlap and a multi-scale descriptor set. VPR is invoked only on relocalization triggers or covariance/anchor-age growth; normal flight uses BASALT VIO plus wrapper propagation. No satellite-provider or Satellite Service network calls are allowed mid-flight.
 
-### Cache And Tile Lifecycle
+### Tile Manager
 
 | Solution | Tools | Pinned Mode/Config | Fit |
 |----------|-------|--------------------|-----|
 | COG tile objects + PostgreSQL/PostGIS manifest + signed JSON sidecars | GDAL COG, PostgreSQL/PostGIS, signed JSON sidecars, FAISS index files | Service tiles and generated tiles are write-new COG objects; active version selected by PostGIS-backed manifest | Selected. Fits geospatial raster access, provenance, spatial/freshness queries, and write-new tile lifecycle. |
 | PMTiles | PMTiles | Read-only archive snapshot | Rejected for live cache because in-flight tile generation needs mutable write-new objects. |
 
-Service-source tiles and generated tiles carry CRS, capture date, source, m/px, freshness, quality score, sidecar hashes, and descriptor references. Stale tiles are rejected or down-confidence weighted.
+Service-source tiles and generated tiles carry CRS, capture date, source, m/px, freshness, quality score, sidecar hashes, and descriptor references. The Tile Manager also orthorectifies eligible nadir frames into generated COG tiles. Stale tiles are rejected or down-confidence weighted.
 
 ### MAVLink Integration
 
@@ -96,7 +96,7 @@ The system emits per-frame estimates locally and downsampled status to QGroundCo
 - DINOv2 descriptor fidelity: compare PyTorch/ONNX/TensorRT embeddings and retrieval rankings before accepting optimized engines.
 - FAISS CPU index tests: top-K recall, query latency, index size, save/load behavior on Jetson ARM64.
 - LightGlue extractor matrix: ALIKED vs DISK vs SIFT/ORB vs SuperPoint benchmark; SuperPoint excluded from production unless legal approves.
-- COG cache lifecycle: write-new generated tile, update manifest, verify active version and rollback.
+- Tile Manager: orthorectify eligible nadir frames into write-new generated tiles, update manifest, verify active version and rollback.
 - `GPS_INPUT` SITL: validate fix type, `horiz_accuracy`, velocity fields, ignore flags, `EK3_SRC1_*` parameters, QGC behavior.
 - Security gates: stale tile, mismatched tile hash, low inlier ratio, impossible velocity jump, and spoofed GPS during blackout.