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/02_document/tests/test-data.md

@@ -7,6 +7,7 @@
 | `project_60_still_images` | 60 nadir images with WGS84 frame-center coordinates from `coordinates.csv`; height 400 m | FT-P-01, FT-P-02, FT-N-01, NFT-PERF-01 | Mounted from `_docs/00_problem/input_data/` | Read-only |
 | `project_gmaps_reference_subset` | Google Maps reference images available for the first sample frames | FT-P-02, FT-N-01 | Mounted from `_docs/00_problem/input_data/` | Read-only |
 | `expected_frame_centers` | Expected lat/lon and thresholds derived from `coordinates.csv` | FT-P-01, FT-P-02 | `_docs/00_problem/input_data/expected_results/results_report.md` | Read-only |
+| `derkachi_video_telemetry` | Cropped nadir MP4 synchronized with IMU and `GLOBAL_POSITION_INT` trajectory: 880 x 720, 30 fps, ~490.07 s; telemetry 10 Hz, 4,900 rows | FT-P-03, NFT-PERF-02, NFT-RES-02 | Mounted from `_docs/00_problem/input_data/flight_derkachi/` | Read-only |
 | `public_nadir_vio_candidates` | MUN-FRL, ALTO, EPFL fixed-wing, Kagaru, AerialVL/VPAir slices, EuRoC/UZH FPV proxy slices | FT-P-03, FT-P-04, NFT-PERF-02, NFT-RES-02 | Downloaded or mounted by replay harness; exact files pinned during implementation | Reset fixture volume |
 | `sitl_spoofing_scenarios` | Generated ArduPilot Plane SITL GPS loss/spoofing traces | FT-N-02, NFT-RES-01, NFT-SEC-03 | Generated by test harness | Discard generated logs after report |
 | `cache_integrity_fixtures` | Fresh, stale, unsigned, hash-mismatched, and low-resolution cache manifests | FT-N-03, NFT-SEC-01, NFT-SEC-02 | Mounted fixture volume | Read-only |
@@ -36,6 +37,7 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t
 | `coordinates.csv` | `_docs/00_problem/input_data/coordinates.csv` | Machine-readable expected frame centers | FT-P-01, FT-P-02 |
 | `data_parameters.md` | `_docs/00_problem/input_data/data_parameters.md` | Height 400 m and camera model | FT-P-01, NFT-PERF-01 |
 | `AD000001_gmaps.png`, `AD000002_gmaps.png` | `_docs/00_problem/input_data/` | Reference map screenshots for sample sanity checks | FT-P-02 |
+| `flight_derkachi/flight_derkachi.mp4` + `flight_derkachi/data_imu.csv` | `_docs/00_problem/input_data/flight_derkachi/` | Cropped nadir video synchronized with IMU and `GLOBAL_POSITION_INT` GPS trajectory | FT-P-03, NFT-PERF-02, NFT-RES-02 |
 | Public dataset slices | External fixture paths pinned during implementation | Synchronized camera/IMU/GNSS/ground truth where available | FT-P-03, FT-P-04, NFT-PERF-02, NFT-RES-02 |
 
 ## Expected Results Mapping
@@ -44,7 +46,7 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t
 |------------------|------------|-----------------|-------------------|-----------|------------------------|
 | FT-P-01 | `AD000001.jpg` ... `AD000060.jpg` | Output WGS84 frame center per mapped row; >=80% within 50 m, >=50% within 20 m | Haversine distance threshold + aggregate pass rate | 50 m primary, 20 m stretch | `input_data/expected_results/results_report.md` |
 | FT-P-02 | Same 60 images + map references where present | Output includes source label, covariance semi-major axis, and anchor age for every emitted estimate | Required-field validation + geolocation threshold | Required fields present; geolocation thresholds as above | `input_data/expected_results/results_report.md` |
-| FT-P-03 | Public synchronized VIO dataset slice | BASALT + wrapper emits trajectory with calibrated covariance and no optimistic under-reporting | Dataset ground-truth trajectory comparison | Dataset-specific threshold pinned at implementation; must support AC-1/AC-2 signoff only after representative data | Public dataset ground truth |
+| FT-P-03 | `derkachi_video_telemetry` plus public synchronized VIO dataset slice when available | BASALT + wrapper emits trajectory with calibrated covariance and no optimistic under-reporting | Compare Derkachi output to `GLOBAL_POSITION_INT` trajectory for smoke/relative validation; compare public/representative calibrated runs to ground truth for final accuracy | Derkachi threshold is calibration-gated; final threshold is dataset-specific and pinned after camera calibration | `data_imu.csv` trajectory plus public dataset ground truth |
 | FT-P-04 | AerialVL/ALTO/VPAir-style aerial localization slice | Satellite retrieval returns candidate chunks and local verification produces accepted/rejected anchors | Georeference error + MRE + source-label checks | AC-1.1/1.2 and AC-2.2 thresholds where dataset supports them | Public dataset ground truth/reference map |
 | FT-N-01 | Low-texture/repetitive frames from sample or public data | System emits degraded confidence or rejects anchor rather than confident false fix | Source label and covariance threshold | No `satellite_anchored` label unless gates pass | Fixture-specific |
 | FT-N-02 | Plane SITL GPS spoof/loss trace | Spoofed GPS rejected; system promotes own estimate within <3 s when trigger conditions are met | Event timing and MAVLink field checks | <3 s promotion; blackout thresholds from AC-NEW-8 | Generated SITL trace |
@@ -64,7 +66,9 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t
 |-----------|------------|------------------|--------------------------|
 | Image frame | Existing file, readable image, expected timestamp/order metadata if sequence replay | Missing image, corrupt image, unsupported resolution | Mark estimate unavailable/degraded, log error, continue if possible |
 | Expected coordinate | Valid WGS84 latitude/longitude | Out-of-range lat/lon, missing row | Reject test fixture before replay |
+| Video/telemetry pair | MP4 duration matches telemetry duration, frame-to-telemetry ratio is stable, timestamps are monotonic | Duration drift >250 ms, missing trajectory columns, non-monotonic timestamps | Reject fixture before replay |
 | IMU trace | Monotonic timestamps, angular rate/accel fields, calibrated units | Non-monotonic timestamps, missing samples | Reject fixture or enter degraded mode depending scenario |
+| GPS trajectory trace | Valid WGS84 lat/lon, altitude, velocity, and heading fields | Out-of-range lat/lon, impossible altitude, missing `GLOBAL_POSITION_INT` columns | Reject trajectory comparison while allowing pure video replay if applicable |
 | Cache tile manifest | CRS, m/px, capture date, source, hashes, signature/provenance | Stale, unsigned, hash mismatch, low resolution | Reject or down-confidence per AC-8.2 and AC-NEW-6 |
 | MAVLink output | Valid `GPS_INPUT` fields and fix type/accuracy semantics | Missing `horiz_accuracy`, impossible fix type | Fail test; output contract violated |
 
@@ -74,13 +78,13 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t
 |------------------|-------|---------------------|--------------------------|-----------------|---------------------------|---------------------|
 | FT-P-01 | Input/output | 60 project images + `coordinates.csv` | WGS84 center per image with 50 m / 20 m thresholds | Yes | Yes | Keep |
 | FT-P-02 | Input/output | 60 project images + output schema expectations | Required confidence/source-label fields and thresholds | Yes | Yes | Keep |
-| FT-P-03 | Input/output | Public or representative synchronized camera/IMU dataset | Dataset ground truth and calibrated covariance checks | Accepted as required external fixture | Accepted as dataset ground truth | Keep with acquisition task |
+| FT-P-03 | Input/output | Derkachi synchronized video/IMU/GPS fixture; public or calibrated representative dataset for final accuracy | Derkachi `GLOBAL_POSITION_INT` trajectory for smoke/relative validation; calibrated ground truth for final covariance checks | Yes for Derkachi; public/calibrated dataset still useful for final signoff | Yes for Derkachi GPS trajectory; calibrated camera thresholds pending | Keep with calibration gate |
 | FT-P-04 | Input/output | Public aerial localization or project cache fixture | Georeference, MRE, and source-label checks | Accepted as required external fixture | Accepted as dataset/reference-map ground truth | Keep with acquisition task |
 | FT-N-01 | Behavioral/input-output | Ambiguous low-texture/repetitive frames | 0 confident false anchors | Accepted as project/public fixture | Yes | Keep |
 | FT-N-02 | Behavioral | Generated Plane SITL spoof/blackout trace | Timing and MAVLink field thresholds from AC-NEW-8 | Generated by test harness | Yes | Keep |
 | FT-N-03 | Behavioral/input-output | Cache integrity fixtures | 0 trusted anchors from stale/invalid tiles | Generated fixture | Yes | Keep |
 | NFT-PERF-01 | Input/output | 60 project images | p95 latency and drop-rate thresholds | Yes | Yes | Keep |
-| NFT-PERF-02 | Input/output | Public/representative synchronized camera/IMU dataset | VO registration, latency, memory thresholds | Accepted as required external fixture | Yes | Keep with acquisition task |
+| NFT-PERF-02 | Input/output | Derkachi synchronized video/IMU/GPS fixture; public/representative synchronized camera/IMU dataset | VO registration, latency, memory thresholds | Yes for Derkachi | Yes | Keep with calibration gate |
 | NFT-PERF-03 | Behavioral/input-output | Precomputed descriptor/cache fixture | Trigger-path latency and MRE thresholds | Generated fixture | Yes | Keep |
 | NFT-PERF-04 | Behavioral | Cold-start harness and cache fixture | <30 s p95 over 50 runs | Generated by test harness | Yes | Keep |
 | NFT-RES-* | Behavioral | Fault triggers and generated traces | AC-defined timing/status thresholds | Generated by test harness | Yes | Keep |
@@ -90,6 +94,7 @@ Every replay test uses read-only fixture mounts and writes results to a fresh `t
 **Coverage after validation**: 49/49 AC and restriction groups remain covered. No tests were removed.
 
 **Acquisition tasks required downstream**:
+- Pin camera intrinsics, lens distortion, raw camera feed parameters, and camera-to-body mounting transform for the Derkachi fixture or future representative recordings.
 - Pin and download at least one strong synchronized nadir camera + IMU + ground-truth dataset, preferably MUN-FRL or ALTO, with EPFL fixed-wing and Kagaru as fixed-wing/farmland candidates.
 - Pin license-compatible VPR/localization datasets for satellite anchor tests; VPAir and UZH FPV have non-commercial restrictions and must not be used for commercial acceptance unless license terms allow it.
 - Create generated fixtures for Plane SITL spoofing, stale cache manifests, signed/unsigned manifests, FDR load, and thermal/resource monitoring during implementation.