Update autodev state, architecture documentation, and glossary terms

Transitioned the autodev state to phase 21, reflecting the completion of Step 5 and the drafting of Step 6 epics. Revised the architecture documentation to clarify the roles of the Tile Manager and its components, ensuring accurate representation of the system's operational flow. Updated glossary entries for Flight State and Operator to incorporate recent changes and enhance clarity on component interactions and responsibilities.

_docs/02_document/common-helpers/02_helper_se3_utils.md

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+# Common Helper — `SE3Utils`
+
+## Purpose
+
+SE(3) ↔ pose-matrix conversion and Lie-algebra exponential/logarithm. Used wherever a 4×4 transformation matrix needs to be converted to/from a 6-vector, or where Jacobians of SE(3) operations are needed for covariance recovery.
+
+## Used By
+
+- C1 — Visual / Visual-Inertial Odometry (relative pose updates).
+- C4 — Pose Estimation (`solvePnPRansac` 4×4 → SE(3) for the GTSAM factor).
+- C5 — State Estimator (iSAM2 graph keys + smoothed history).
+
+## Interface (sketch)
+
+```
+def matrix_to_se3(T_4x4: ndarray) -> SE3
+def se3_to_matrix(pose: SE3) -> ndarray
+def exp_map(xi: Vector6) -> SE3
+def log_map(pose: SE3) -> Vector6
+def adjoint(pose: SE3) -> Matrix6
+```
+
+## Implementation Notes
+
+- Backed by GTSAM `Pose3` + Eigen Lie-algebra primitives where available; otherwise pure numpy.
+- All-positive-determinant rotation guarantee — caller is responsible for orthogonalising input rotation matrices before calling `matrix_to_se3`.
+
+## Caveats
+
+- Library-grade Lie-algebra functions exist in `manifpy` and `pylie`; we use GTSAM's primitives directly to avoid pulling in a second math library. If a future strategy needs richer manifold ops, evaluate `manifpy` then.