[AZ-219] [AZ-228] Generalize VIO component layout

Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.

Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/02_tasks/todo/AZ-228_vio_adapter.md

@@ -1,21 +1,21 @@
-# BASALT VIO Adapter
+# VIO Adapter
 
-**Task**: AZ-228_basalt_vio_adapter
-**Name**: BASALT VIO Adapter
-**Description**: Wrap BASALT as a replaceable relative VIO component with health and error behavior.
+**Task**: AZ-228_vio_adapter
+**Name**: VIO Adapter
+**Description**: Wrap the selected relative VIO backend as a replaceable component with health and error behavior.
 **Complexity**: 5 points
 **Dependencies**: AZ-221_shared_geometry_time_sync, AZ-222_runtime_config_errors_telemetry, AZ-223_camera_ingest_calibration, AZ-224_mavlink_gcs_gateway
-**Component**: BASALT VIO Adapter
+**Component**: VIO Adapter
 **Tracker**: AZ-228
 **Epic**: AZ-213
 
 ## Problem
 
-The safety wrapper needs relative VIO state from calibrated frames and FC IMU without inheriting BASALT-specific internals.
+The safety wrapper needs relative VIO state from calibrated frames and FC IMU without inheriting backend-specific internals.
 
 ## Outcome
 
-- BASALT initialization, processing, and health behavior are exposed through a replaceable adapter.
+- Backend initialization, processing, and health behavior are exposed through a replaceable adapter.
 - Tracking loss and timestamp mismatch are explicit.
 - The adapter never emits WGS84 coordinates or safety decisions.
 
@@ -61,7 +61,7 @@ Then the adapter reports current VIO readiness and degradation state.
 - Adapter processing must be profiled against Jetson latency/memory limits.
 
 **Reliability**
-- BASALT failures are surfaced, not hidden.
+- Backend failures are surfaced, not hidden.
 
 ## Unit Tests
 
@@ -79,11 +79,12 @@ Then the adapter reports current VIO readiness and degradation state.
 
 ## Constraints
 
-- BASALT is not the safety authority.
+- BASALT remains the current selected backend, but package and folder names must stay backend-neutral.
+- The VIO adapter is not the safety authority.
 - GPL VIO dependencies remain reference-only unless explicitly approved.
 
 ## Risks & Mitigation
 
 **Risk 1: Nadir fixed-wing fit**
-- *Risk*: BASALT underperforms on low-parallax terrain.
+- *Risk*: The selected VIO backend underperforms on low-parallax terrain.
 - *Mitigation*: Representative replay and reference comparisons gate acceptance.

_docs/02_tasks/todo/AZ-232_safety_anchor_state_machine.md

@@ -4,7 +4,7 @@
 **Name**: Safety Anchor State Machine
 **Description**: Own authoritative localization state, confidence, anchor fusion, degraded modes, tile-write eligibility, and MAVLink output semantics.
 **Complexity**: 5 points
-**Dependencies**: AZ-223_camera_ingest_calibration, AZ-224_mavlink_gcs_gateway, AZ-227_fdr_event_recorder, AZ-228_basalt_vio_adapter, AZ-231_anchor_verification_matching
+**Dependencies**: AZ-223_camera_ingest_calibration, AZ-224_mavlink_gcs_gateway, AZ-227_fdr_event_recorder, AZ-228_vio_adapter, AZ-231_anchor_verification_matching
 **Component**: Safety And Anchor Wrapper
 **Tracker**: AZ-232
 **Epic**: AZ-216
@@ -29,7 +29,7 @@ The product needs one safety authority that converts VIO, telemetry, camera qual
 - Tile-write eligibility decisions.
 
 ### Excluded
-- BASALT internals.
+- VIO backend internals.
 - MAVLink transport implementation.
 - Generated tile writing.
 
@@ -87,7 +87,7 @@ Then only sufficiently trusted poses are eligible for generated tile writes.
 
 ## Constraints
 
-- BASALT is not the safety authority.
+- The VIO backend is not the safety authority.
 - The wrapper does not call Tile Manager directly during anchor acceptance; freshness/provenance arrives through anchor evidence.
 
 ## Risks & Mitigation