[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>

README.md

@@ -3,8 +3,9 @@
 Scaffold for the Jetson-hosted GPS-denied localization runtime, replay harness, and
 deployment evidence paths.
 
-The project uses a Python `src/` layout for orchestration code, with native bridge
+The project uses a Python `src/` layout for orchestration code. Native bridge
-directories reserved for BASALT, feature matching, and TensorRT integrations.
+placeholders live inside the owning component folders rather than in a shared
+native tree.
 Generated mission data, FDR payloads, cache payloads, and raw frame dumps are kept
 out of git unless they are explicitly curated test fixtures.
 

_docs/02_document/FINAL_report.md

@@ -23,7 +23,7 @@ The system is a trigger-based hybrid estimator. Normal flight uses camera ingest
 | # | Component | Purpose | Dependencies | Epic |
 |---|-----------|---------|--------------|------|
 | 01 | Camera Ingest And Calibration | Ingest frames, validate calibration, detect total occlusion before VIO | Bootstrap, shared geometry/time, config/errors | AZ-209 |
-| 02 | BASALT VIO Adapter | Wrap BASALT relative VIO and emit replaceable state DTOs | Camera, MAVLink telemetry, shared helpers | AZ-213 |
+| 02 | VIO Adapter | Wrap the selected relative VIO backend and emit replaceable state DTOs | Camera, MAVLink telemetry, shared helpers | AZ-213 |
 | 03 | Safety And Anchor Wrapper | Own localization state, covariance, anchors, blackout/failsafe, output semantics | Camera, MAVLink, VIO, anchor verification | AZ-216 |
 | 04 | Satellite Service | Sync Satellite Service cache/upload packages and retrieve local VPR candidates from cache descriptors and FAISS | Camera, Tile Manager, shared helpers | AZ-214 |
 | 05 | Anchor Verification | Verify retrieved candidates with learned matching and RANSAC | Satellite Service, camera, Tile Manager | AZ-215 |
@@ -72,7 +72,7 @@ See `risk_mitigations.md` for the full register.
 | Component | Integration | Performance | Security | Acceptance | AC Coverage |
 |-----------|-------------|-------------|----------|------------|-------------|
 | Camera Ingest And Calibration | 3 | 1 | 1 | 2 | 7 ACs |
-| BASALT VIO Adapter | 4 | 1 | 1 | 1 | 8 ACs |
+| VIO Adapter | 4 | 1 | 1 | 1 | 8 ACs |
 | Safety And Anchor Wrapper | 7 | 1 | 1 | 3 | 15 ACs |
 | Satellite Service | 4 | 2 | 1 | 1 | 10 ACs |
 | Anchor Verification | 2 | 1 | 2 | 1 | 9 ACs |
@@ -95,7 +95,7 @@ See `risk_mitigations.md` for the full register.
 | 5 | AZ-210: MAVLink And GCS Integration | Component 07 | M / 5-8 pts | AZ-206, AZ-208 |
 | 6 | AZ-211: Tile Manager | Component 06 | L / 8-13 pts | AZ-206, AZ-207, AZ-208 |
 | 7 | AZ-212: FDR And Observability | Component 08 | M-L / 5-8 pts | AZ-206, AZ-208 |
-| 8 | AZ-213: BASALT VIO Adapter | Component 02 | L / 8-13 pts | AZ-209, AZ-210 |
+| 8 | AZ-213: VIO Adapter | Component 02 | L / 8-13 pts | AZ-209, AZ-210 |
 | 9 | AZ-214: Satellite Service | Component 04 | L / 8-13 pts | AZ-209, AZ-211 |
 | 10 | AZ-215: Anchor Verification | Component 05 | L / 8-13 pts | AZ-214, AZ-209, AZ-211 |
 | 11 | AZ-216: Safety And Anchor Wrapper | Component 03 | XL / 13-21 pts | AZ-209, AZ-210, AZ-213, AZ-215 |

_docs/02_document/architecture.md

@@ -7,7 +7,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl
 ### Components / Responsibilities
 
 - Camera ingest/calibration: load frames, apply intrinsics/extrinsics, validate image quality.
-- BASALT VIO adapter: produce relative camera+IMU motion from synchronized nav frames and FC IMU.
+- VIO adapter: produce relative camera+IMU motion from synchronized nav frames and FC IMU.
 - Safety/anchor wrapper: own covariance calibration, source labels, degraded modes, anchor fusion, and `GPS_INPUT`.
 - Satellite Service: sync mission cache packages before flight, upload generated-tile packages after flight, and serve local VPR candidate retrieval from the offline cache.
 - Anchor verification: run local matching/RANSAC and reject unsafe anchors.
@@ -97,7 +97,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl
 |--------|-------------|--------------------|
 | FrameRecord | Navigation-camera frame metadata, total-occlusion status, and processing status | Camera ingest/calibration |
 | TelemetrySample | FC IMU, attitude, airspeed, altitude, GPS health | MAVLink/GCS integration |
-| VioState | BASALT-relative pose/velocity/bias output and quality metadata | BASALT VIO adapter |
+| VioState | Backend-relative pose/velocity/bias output and quality metadata | VIO adapter |
 | PositionEstimate | WGS84 estimate, covariance, source label, fix type, anchor age | Safety/anchor wrapper |
 | VprChunk | Retrieval unit over cache imagery and descriptors | Satellite Service |
 | AnchorCandidate | Retrieved tile/chunk with local-match and RANSAC evidence | Anchor verification |
@@ -117,9 +117,9 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl
 
 | From | To | Protocol | Pattern | Notes |
 |------|----|----------|---------|-------|
-| Camera ingest/calibration | BASALT VIO adapter | In-process queue or shared frame bus | Streaming | Timestamp discipline is critical |
+| Camera ingest/calibration | VIO adapter | In-process queue or shared frame bus | Streaming | Timestamp discipline is critical |
-| MAVLink telemetry | BASALT VIO adapter | In-process telemetry buffer | Streaming | IMU/attitude/altitude sync |
+| MAVLink telemetry | VIO adapter | In-process telemetry buffer | Streaming | IMU/attitude/altitude sync |
-| BASALT VIO adapter | Safety/anchor wrapper | Typed state messages | Streaming | Wrapper calibrates confidence |
+| VIO adapter | Safety/anchor wrapper | Typed state messages | Streaming | Wrapper calibrates confidence |
 | Safety/anchor wrapper | Satellite Service | Command | Triggered local request | Uses only preloaded cache/index data during flight |
 | Satellite Service | Anchor verification | Candidate list | Request-response | Dynamic top-K |
 | Anchor verification | Safety/anchor wrapper | Anchor decision | Request-response | Includes MRE/inliers/provenance |

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

@@ -23,7 +23,7 @@ Shared timestamp validation and alignment utilities for frame, IMU, telemetry, F
 | Component | Usage |
 |-----------|-------|
 | Camera ingest/calibration | Frame ordering and timestamp metadata |
-| BASALT VIO adapter | IMU/frame synchronization |
+| VIO adapter | IMU/frame synchronization |
 | MAVLink/GCS integration | Telemetry timestamp normalization |
 | FDR/observability | Segment ordering |
 | Validation harness | Fixture validation |

_docs/02_document/components/01_camera_ingest_calibration/description.md

@@ -8,7 +8,7 @@
 
 **Upstream dependencies**: Navigation camera, camera calibration files.
 
-**Downstream consumers**: BASALT VIO adapter, Satellite Service, anchor verification, Tile Manager, FDR.
+**Downstream consumers**: VIO adapter, Satellite Service, anchor verification, Tile Manager, FDR.
 
 ## 2. Internal Interfaces
 
@@ -100,7 +100,7 @@ ImageQualityReport:
 
 **Can be implemented in parallel with**: Tile Manager, MAVLink/GCS integration.
 
-**Blocks**: BASALT VIO adapter, anchor verification, generated tile lifecycle.
+**Blocks**: VIO adapter, anchor verification, generated tile lifecycle.
 
 ## 8. Logging Strategy
 

_docs/02_document/components/01_camera_ingest_calibration/tests.md

@@ -110,7 +110,7 @@
 | Step | Action | Expected Result |
 |------|--------|-----------------|
 | 1 | Feed a calibrated normal frame | Occlusion status is `clear` |
-| 2 | Process quality gate | Frame is emitted to BASALT adapter |
+| 2 | Process quality gate | Frame is emitted to VIO adapter |
 
 ---
 

_docs/02_document/components/02_vio_adapter/description.md

@@ -1,8 +1,8 @@
-# BASALT VIO Adapter
+# VIO Adapter
 
 ## 1. High-Level Overview
 
-**Purpose**: Wrap BASALT as a replaceable relative VIO component that consumes calibrated frames and FC IMU data, then emits relative pose/velocity/bias state and tracking quality.
+**Purpose**: Wrap the selected relative VIO backend as a replaceable component that consumes calibrated frames and FC IMU data, then emits relative pose/velocity/bias state and tracking quality.
 
 **Architectural Pattern**: Adapter / anti-corruption layer.
 
@@ -48,14 +48,14 @@ No persistent production data ownership. Reads calibration/config at startup and
 
 ## 4. Implementation Details
 
-**State Management**: Owns BASALT runtime state and resets only through explicit wrapper command.
+**State Management**: Owns selected VIO backend runtime state and resets only through explicit wrapper command.
 
 **Key Dependencies**:
 
 | Library | Purpose |
 |---------|---------|
-| BASALT | Relative visual-inertial odometry |
+| BASALT | Current selected relative visual-inertial odometry backend |
-| Eigen/Sophus or BASALT native math stack | Pose and transform representation |
+| Eigen/Sophus or backend-native math stack | Pose and transform representation |
 
 **Error Handling Strategy**:
 - Tracking loss is surfaced to the safety/anchor wrapper, not hidden.
@@ -66,7 +66,7 @@ No persistent production data ownership. Reads calibration/config at startup and
 
 **Known limitations**:
 - BASALT has no special fixed-wing nadir mode; validation must prove fit under low-parallax/planar terrain.
-- BASALT covariance/confidence output is not the product authority; wrapper calibration is required.
+- Backend covariance/confidence output is not the product authority; wrapper calibration is required.
 
 **Performance bottlenecks**:
 - Native VIO runtime and image resolution can exceed Jetson budget if not tuned.
@@ -83,7 +83,7 @@ No persistent production data ownership. Reads calibration/config at startup and
 
 | Log Level | When | Example |
 |-----------|------|---------|
-| ERROR | BASALT initialization fails | `basalt_init_failed reason=...` |
+| ERROR | VIO backend initialization fails | `vio_init_failed reason=...` |
 | WARN | Tracking quality drops | `vio_tracking_degraded quality=...` |
 | INFO | VIO reset/reinitialized | `vio_reset cause=...` |
 

_docs/02_document/components/02_vio_adapter/tests.md

@@ -1,4 +1,4 @@
-# Test Specification — BASALT VIO Adapter
+# Test Specification — VIO Adapter
 
 ## Acceptance Criteria Traceability
 
@@ -17,7 +17,7 @@
 
 ### IT-01: Public Dataset VIO Replay
 
-**Summary**: Verify BASALT adapter produces relative motion for synchronized camera/IMU replay.
+**Summary**: Verify the VIO adapter produces relative motion for synchronized camera/IMU replay.
 
 **Traces to**: AC-2.1a, AC-2.2
 
@@ -53,7 +53,7 @@
 
 **Traces to**: AC-3.1
 
-**Input data**: Replay segment with synthetic ±20° tilt and up to 350 m apparent outlier.
+**Input data**: Replay segment with synthetic +/-20 degree tilt and up to 350 m apparent outlier.
 
 **Expected result**: Adapter either tracks with quality metadata or emits `TrackingLost`; it never hides a failure as high-quality VIO.
 
@@ -67,7 +67,7 @@
 
 **Traces to**: AC-3.2, AC-3.4
 
-**Input data**: <5% overlap sequence with heading change <70°.
+**Input data**: <5% overlap sequence with heading change <70 degrees.
 
 **Expected result**: Adapter emits low tracking quality or `TrackingLost` within the loss window, allowing relocalization trigger.
 
@@ -75,7 +75,7 @@
 
 ## Performance Tests
 
-### PT-01: BASALT Adapter Runtime Budget
+### PT-01: VIO Adapter Runtime Budget
 
 **Summary**: Verify VIO processing does not consume the full <400 ms system p95 budget.
 

_docs/02_document/components/03_safety_anchor_wrapper/description.md

@@ -6,7 +6,7 @@
 
 **Architectural Pattern**: Stateful coordinator / safety facade.
 
-**Upstream dependencies**: BASALT VIO adapter, anchor verification, MAVLink telemetry, camera quality reports.
+**Upstream dependencies**: VIO adapter, anchor verification, MAVLink telemetry, camera quality reports.
 
 **Downstream consumers**: MAVLink/GCS integration, FDR, Tile Manager, separate e2e test suite.
 

_docs/02_document/components/05_anchor_verification/description.md

@@ -76,7 +76,7 @@ AnchorDecision:
 
 **Must be implemented after**: Satellite Service candidate DTOs, Tile Manager tile access.
 
-**Can be implemented in parallel with**: BASALT VIO adapter.
+**Can be implemented in parallel with**: VIO adapter.
 
 **Blocks**: accepted satellite-anchor path.
 

_docs/02_document/components/07_mavlink_gcs_integration/description.md

@@ -8,7 +8,7 @@
 
 **Upstream dependencies**: ArduPilot Plane FC, safety/anchor wrapper.
 
-**Downstream consumers**: BASALT VIO adapter, safety/anchor wrapper, QGC, FDR.
+**Downstream consumers**: VIO adapter, safety/anchor wrapper, QGC, FDR.
 
 ## 2. Internal Interfaces
 

_docs/02_document/data_model.md

@@ -12,7 +12,7 @@ This model defines system-level runtime, cache, telemetry, and validation data.
 | CameraCalibration | Intrinsics, distortion, lens, fixed extrinsics, capture settings | Versioned calibration file | Camera ingest/calibration |
 | FrameRecord | Per-frame metadata, timestamp, total-occlusion/blackout state, image quality, processing status | PostgreSQL/FDR event; replay fixture | Camera ingest/calibration |
 | TelemetrySample | FC IMU, attitude, altitude, airspeed, GPS health | MAVLink stream; FDR event | MAVLink/GCS integration |
-| VioState | BASALT relative state, velocity, bias, tracking quality | Internal DTO; FDR event | BASALT VIO adapter |
+| VioState | Backend-relative state, velocity, bias, tracking quality | Internal DTO; FDR event | VIO adapter |
 | PositionEstimate | WGS84 output, covariance, source label, anchor age, fix type | MAVLink DTO; FDR event | Safety/anchor wrapper |
 | VprChunk | Retrieval footprint and descriptor metadata | PostgreSQL/PostGIS manifest + descriptor files | Satellite Service |
 | AnchorCandidate | Top-K retrieval result and local verification metrics | Internal DTO; FDR event | Anchor verification |

_docs/02_document/diagrams/component_overview.md

@@ -3,7 +3,7 @@
 ```mermaid
 flowchart LR
     camera[01 Camera Ingest And Calibration]
-    vio[02 BASALT VIO Adapter]
+    vio[02 VIO Adapter]
     wrapper[03 Safety And Anchor Wrapper]
     retrieval[04 Satellite Service]
     verify[05 Anchor Verification]

_docs/02_document/diagrams/flows/flow_normal_localization.md

@@ -7,7 +7,7 @@ flowchart TD
     occlusion -->|Yes| imuOnly[03 IMU-only dead_reckoned propagation]
     occlusion -->|No| frameOk{Frame usable for VIO?}
     frameOk -->|No| degrade[03 Safety wrapper degraded mode]
-    frameOk -->|Yes| vio[02 BASALT VIO adapter]
+    frameOk -->|Yes| vio[02 VIO adapter]
     telemetry[07 MAVLink telemetry] --> vio
     vio --> healthy{VIO healthy?}
     healthy -->|Yes| wrap[03 Covariance calibration + source label]

_docs/02_document/epics.md

@@ -17,7 +17,7 @@
 | 5 | AZ-210 | MAVLink And GCS Integration | component | AZ-206, AZ-208 | M / 5-8 pts |
 | 6 | AZ-211 | Tile Manager | component | AZ-206, AZ-207, AZ-208 | L / 8-13 pts |
 | 7 | AZ-212 | FDR And Observability | component | AZ-206, AZ-208 | M-L / 5-8 pts |
-| 8 | AZ-213 | BASALT VIO Adapter | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-210 | L / 8-13 pts |
+| 8 | AZ-213 | VIO Adapter | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-210 | L / 8-13 pts |
 | 9 | AZ-214 | Satellite Service | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-211 | L / 8-13 pts |
 | 10 | AZ-215 | Anchor Verification | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-211, AZ-214 | L / 8-13 pts |
 | 11 | AZ-216 | Safety And Anchor Wrapper | component | AZ-206, AZ-207, AZ-208, AZ-209, AZ-210, AZ-213, AZ-215 | XL / 13-21 pts |
@@ -33,7 +33,7 @@
 | `common-helpers/02_helper_time_sync.md` | AZ-207 |
 | Runtime config, error contracts, health checks | AZ-208 |
 | `components/01_camera_ingest_calibration/` | AZ-209 |
-| `components/02_basalt_vio_adapter/` | AZ-213 |
+| `components/02_vio_adapter/` | AZ-213 |
 | `components/03_safety_anchor_wrapper/` | AZ-216 |
 | `components/04_satellite_retrieval/` | AZ-214 |
 | `components/05_anchor_verification/` | AZ-215 |
@@ -54,7 +54,7 @@ flowchart TD
     mavlink[AZ-210 MAVLink And GCS]
     cache[AZ-211 Tile Manager]
     fdr[AZ-212 FDR And Observability]
-    vio[AZ-213 BASALT VIO Adapter]
+    vio[AZ-213 VIO Adapter]
     retrieval[AZ-214 Satellite Service]
     anchor[AZ-215 Anchor Verification]
     safety[AZ-216 Safety And Anchor Wrapper]
@@ -124,7 +124,7 @@ flowchart TD
 - AZ-210 — MAVLink And GCS Integration
 - AZ-211 — Tile Manager
 - AZ-212 — FDR And Observability
-- AZ-213 — BASALT VIO Adapter
+- AZ-213 — VIO Adapter
 - AZ-214 — Satellite Service
 - AZ-215 — Anchor Verification
 - AZ-216 — Safety And Anchor Wrapper

_docs/02_document/module-layout.md

@@ -9,7 +9,7 @@
 
 1. Each product component owns one top-level directory under `src/`.
 2. Shared contracts and cross-cutting helpers live under `src/shared/`.
-3. Native hot-path or third-party bridge code lives under `src/native/` and is owned by the component that wraps it.
+3. Native hot-path or third-party bridge code lives inside the owning component folder under `native/`.
 4. Public API surface per component is limited to `__init__.py`, `types.py`, and `interfaces.py` unless a component entry lists another public file.
 5. Tests live under `tests/` by test type and component; implementation tasks must not place tests inside the component tree unless a later test task explicitly changes this layout.
 
@@ -29,25 +29,24 @@
   - `src/camera_ingest_calibration/_*.py`
 - **Owns (exclusive write during implementation)**: `src/camera_ingest_calibration/**`
 - **Imports from**: shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry
-- **Consumed by**: BASALT VIO Adapter, Satellite Service, Anchor Verification, Tile Manager, FDR And Observability
+- **Consumed by**: VIO Adapter, Satellite Service, Anchor Verification, Tile Manager, FDR And Observability
 
-### Component: BASALT VIO Adapter
+### Component: VIO Adapter
 
 - **Epic**: AZ-213
-- **Directory**: `src/basalt_vio_adapter/`
+- **Directory**: `src/vio_adapter/`
-- **Native Directory**: `src/native/basalt_bridge/`
+- **Native Directory**: `src/vio_adapter/native/`
-- **Technologies**: Python adapter, C++ native bridge, BASALT, Eigen/Sophus or BASALT math stack, OpenCV 4.x, shared time-sync contracts
+- **Technologies**: Python adapter, C++ native bridge, BASALT as current backend, Eigen/Sophus or backend-native math stack, OpenCV 4.x, shared time-sync contracts
 - **Public API**:
-  - `src/basalt_vio_adapter/__init__.py`
+  - `src/vio_adapter/__init__.py`
-  - `src/basalt_vio_adapter/types.py`
+  - `src/vio_adapter/types.py`
-  - `src/basalt_vio_adapter/interfaces.py`
+  - `src/vio_adapter/interfaces.py`
 - **Internal (do NOT import from other components)**:
-  - `src/basalt_vio_adapter/internal/*`
+  - `src/vio_adapter/internal/*`
-  - `src/basalt_vio_adapter/_*.py`
+  - `src/vio_adapter/_*.py`
-  - `src/native/basalt_bridge/**`
+  - `src/vio_adapter/native/**`
 - **Owns (exclusive write during implementation)**:
-  - `src/basalt_vio_adapter/**`
+  - `src/vio_adapter/**`
-  - `src/native/basalt_bridge/**`
 - **Imports from**: Camera Ingest And Calibration, MAVLink And GCS Integration, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry
 - **Consumed by**: Safety And Anchor Wrapper, FDR And Observability
 
@@ -64,14 +63,14 @@
   - `src/safety_anchor_wrapper/internal/*`
   - `src/safety_anchor_wrapper/_*.py`
 - **Owns (exclusive write during implementation)**: `src/safety_anchor_wrapper/**`
-- **Imports from**: BASALT VIO Adapter, Anchor Verification, MAVLink And GCS Integration, Camera Ingest And Calibration, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry
+- **Imports from**: VIO Adapter, Anchor Verification, MAVLink And GCS Integration, Camera Ingest And Calibration, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry
 - **Consumed by**: MAVLink And GCS Integration, Tile Manager, FDR And Observability
 
 ### Component: Satellite Service
 
 - **Epic**: AZ-214
 - **Directory**: `src/satellite_service/`
-- **Native Directory**: `src/native/tensor_rt/`
+- **Native Directory**: `src/satellite_service/native/`
 - **Technologies**: Python service adapter, DINOv2-VLAD descriptors, ONNX/TensorRT candidate path, CPU FAISS, offline package sync client
 - **Public API**:
   - `src/satellite_service/__init__.py`
@@ -80,10 +79,9 @@
 - **Internal (do NOT import from other components)**:
   - `src/satellite_service/internal/*`
   - `src/satellite_service/_*.py`
-  - `src/native/tensor_rt/**`
+  - `src/satellite_service/native/**`
 - **Owns (exclusive write during implementation)**:
   - `src/satellite_service/**`
-  - `src/native/tensor_rt/**`
 - **Imports from**: Camera Ingest And Calibration, Tile Manager, Safety And Anchor Wrapper, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry
 - **Consumed by**: Anchor Verification, FDR And Observability
 - **Network invariant**: external Satellite Service sync is allowed only pre-flight or post-flight; no mid-flight satellite-provider or suite-service calls.
@@ -92,7 +90,7 @@
 
 - **Epic**: AZ-215
 - **Directory**: `src/anchor_verification/`
-- **Native Directory**: `src/native/feature_matching/`
+- **Native Directory**: `src/anchor_verification/native/`
 - **Technologies**: Python validation pipeline, ALIKED/DISK + LightGlue, OpenCV RANSAC/USAC, SIFT/ORB baseline, native feature-matching bridge
 - **Public API**:
   - `src/anchor_verification/__init__.py`
@@ -101,10 +99,9 @@
 - **Internal (do NOT import from other components)**:
   - `src/anchor_verification/internal/*`
   - `src/anchor_verification/_*.py`
-  - `src/native/feature_matching/**`
+  - `src/anchor_verification/native/**`
 - **Owns (exclusive write during implementation)**:
   - `src/anchor_verification/**`
-  - `src/native/feature_matching/**`
 - **Imports from**: Satellite Service, Camera Ingest And Calibration, Tile Manager, shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry
 - **Consumed by**: Safety And Anchor Wrapper, FDR And Observability
 
@@ -141,7 +138,7 @@
   - `src/mavlink_gcs_integration/_*.py`
 - **Owns (exclusive write during implementation)**: `src/mavlink_gcs_integration/**`
 - **Imports from**: Safety And Anchor Wrapper, shared/contracts, shared/time_sync, shared/config, shared/errors, shared/telemetry
-- **Consumed by**: BASALT VIO Adapter, Safety And Anchor Wrapper, FDR And Observability
+- **Consumed by**: VIO Adapter, Safety And Anchor Wrapper, FDR And Observability
 
 ### Component: FDR And Observability
 
@@ -189,7 +186,7 @@
 - **Technologies**: Python timestamp utilities, monotonic-clock validation, MAVLink/camera timestamp normalization, replay ordering checks
 - **Purpose**: Monotonic timestamp checks, frame-to-IMU alignment, clock-domain metadata, replay ordering, and gap/jitter metrics.
 - **Owned by**: time-sync task under AZ-207.
-- **Consumed by**: Camera Ingest And Calibration, BASALT VIO Adapter, MAVLink And GCS Integration, FDR And Observability.
+- **Consumed by**: Camera Ingest And Calibration, VIO Adapter, MAVLink And GCS Integration, FDR And Observability.
 
 ### shared/config
 
@@ -225,7 +222,7 @@ Read top-to-bottom; an upper layer may import from a lower layer but never the r
 | Layer | Components | May import from |
 |-------|------------|-----------------|
 | 4. Runtime Output / Coordination | Safety And Anchor Wrapper, MAVLink And GCS Integration, FDR And Observability | 1, 2, 3 public interfaces |
-| 3. Perception / Satellite Anchor | BASALT VIO Adapter, Satellite Service, Anchor Verification | 1, 2 public interfaces |
+| 3. Perception / Satellite Anchor | VIO Adapter, Satellite Service, Anchor Verification | 1, 2 public interfaces |
 | 2. Data Ingest / Persistence | Camera Ingest And Calibration, Tile Manager | 1 |
 | 1. Shared / Foundation | shared/contracts, shared/geo_geometry, shared/time_sync, shared/config, shared/errors, shared/telemetry | none |
 
@@ -242,5 +239,5 @@ The e2e replay/SITL/Jetson validation suite is not a product component and must
 - Every runtime component under `_docs/02_document/components/` has a mapping entry.
 - Cross-cutting epics AZ-206, AZ-207, and AZ-208 have shared ownership entries.
 - Layering covers all components and keeps shared code at the bottom.
-- Component-owned paths do not overlap, except explicitly assigned native directories.
+- Component-owned paths do not overlap; native bridge paths live inside the component that owns them.
 - Paths follow the project `src/` layout already confirmed by `AZ-219_initial_structure`.

_docs/02_document/risk_mitigations.md

@@ -35,7 +35,7 @@
 | ID | Risk | Category | Probability | Impact | Score | Mitigation | Owner | Status |
 |----|------|----------|-------------|--------|-------|------------|-------|--------|
 | R01 | ADTi 20MP 20L V1 public specs conflict with planning assumptions for resolution, FPS, lens, interface, and temperature | Technical / External | Medium | High | High | Pin manufacturer datasheet and exact lens/interface before implementation; make camera calibration/spec task a bootstrap blocker | Camera ingest/calibration | Mitigated by gate |
-| R02 | BASALT may underperform or lose tracking on nadir fixed-wing low-parallax terrain | Technical | Medium | High | High | Public replay with MUN-FRL/ALTO/Kagaru/EPFL where applicable, representative target replay, OpenVINS reference comparison, Kimera backup path | BASALT VIO adapter | Mitigated by validation |
+| R02 | BASALT may underperform or lose tracking on nadir fixed-wing low-parallax terrain | Technical | Medium | High | High | Public replay with MUN-FRL/ALTO/Kagaru/EPFL where applicable, representative target replay, OpenVINS reference comparison, Kimera backup path | VIO adapter | Mitigated by validation |
 | R03 | BASALT confidence/covariance may under-report real error | Safety | Medium | High | High | Wrapper owns covariance calibration; compare against ground truth, satellite residuals, and OpenVINS reference; never emit optimistic `horiz_accuracy` | Safety/anchor wrapper | Mitigated by wrapper design |
 | R04 | Total occlusion detector may false-negative and feed unusable frames into VIO | Safety / Technical | Medium | High | High | Conservative pre-VIO occlusion gate, FDR status, tests for total blackout, and fallback to IMU-only `dead_reckoned` mode | Camera ingest/calibration | Mitigated by spec/test |
 | R05 | IMU-only blackout propagation could be trusted too long | Safety | Medium | High | High | Monotonic covariance growth, `dead_reckoned` label, `fix_type=0`/`horiz_accuracy=999.0` when >30 s or covariance >500 m | Safety/anchor wrapper | Mitigated by AC gate |
@@ -55,7 +55,7 @@
 
 **Trigger conditions**: Manufacturer documentation or hardware testing contradicts assumed FPS, interface, temperature, or lens characteristics.
 
-**Affected components**: Camera ingest/calibration, BASALT VIO adapter, separate e2e test suite, deployment procedures.
+**Affected components**: Camera ingest/calibration, VIO adapter, separate e2e test suite, deployment procedures.
 
 **Mitigation strategy**:
 1. Make camera specification verification a bootstrap task.
@@ -76,7 +76,7 @@
 
 **Trigger conditions**: Public or representative replay shows high drift, frequent tracking loss, or poor initialization.
 
-**Affected components**: BASALT VIO adapter, safety/anchor wrapper, separate e2e test suite.
+**Affected components**: VIO adapter, safety/anchor wrapper, separate e2e test suite.
 
 **Mitigation strategy**:
 1. Run MUN-FRL first for synchronized nadir camera + IMU + ground truth.
@@ -87,7 +87,7 @@
 
 **Residual risk after mitigation**: Medium.
 
-**Documents updated**: `architecture.md`, `components/02_basalt_vio_adapter/description.md`, `tests/test-data.md`.
+**Documents updated**: `architecture.md`, `components/02_vio_adapter/description.md`, `tests/test-data.md`.
 
 ---
 
@@ -118,7 +118,7 @@
 
 **Trigger conditions**: Lens cover, cloud/whiteout, decode failure, underexposure/overexposure, or textureless frame reaches VIO as usable.
 
-**Affected components**: Camera ingest/calibration, safety/anchor wrapper, BASALT VIO adapter.
+**Affected components**: Camera ingest/calibration, safety/anchor wrapper, VIO adapter.
 
 **Mitigation strategy**:
 1. Camera ingest exposes `OcclusionReport` and sets `usable_for_vio=false` for total occlusion/blackout.
@@ -223,7 +223,7 @@
 
 **Trigger conditions**: MUN-FRL/ALTO/Kagaru/EPFL slices are unavailable, unrepresentative, or license-incompatible for acceptance.
 
-**Affected components**: Validation harness, BASALT VIO adapter, anchor verification.
+**Affected components**: Validation harness, VIO adapter, anchor verification.
 
 **Mitigation strategy**:
 1. Use public datasets for de-risking only.

_docs/02_document/system-flows.md

@@ -5,7 +5,7 @@
 | # | Flow Name | Trigger | Primary Components | Criticality |
 |---|-----------|---------|--------------------|-------------|
 | F1 | Pre-flight cache preparation | Operator sync before mission | Satellite Service, Tile Manager | High |
-| F2 | Normal frame processing | Navigation frame + FC telemetry | Camera ingest, BASALT VIO adapter, safety/anchor wrapper, MAVLink, FDR | High |
+| F2 | Normal frame processing | Navigation frame + FC telemetry | Camera ingest, VIO adapter, safety/anchor wrapper, MAVLink, FDR | High |
 | F3 | Satellite relocalization | Cold start, VO failure, sharp turn, covariance growth, stale anchor | Satellite Service, anchor verification, safety/anchor wrapper | High |
 | F4 | Visual blackout / spoofing degraded mode | Image-quality failure and GPS health failure | Camera ingest, MAVLink telemetry, safety/anchor wrapper, QGC, FDR | Critical |
 | F5 | Generated tile lifecycle | High-confidence pose + usable frame | Camera ingest, safety/anchor wrapper, Tile Manager, FDR | Medium |
@@ -82,12 +82,12 @@ sequenceDiagram
 
 ### Description
 
-During normal flight, the system processes each navigation frame and FC telemetry sample. The camera component first checks for total occlusion/blackout. Usable frames go to BASALT VIO; total-occlusion frames bypass VIO and send the wrapper into IMU-only degraded propagation.
+During normal flight, the system processes each navigation frame and FC telemetry sample. The camera component first checks for total occlusion/blackout. Usable frames go to the VIO adapter; total-occlusion frames bypass VIO and send the wrapper into IMU-only degraded propagation.
 
 ### Preconditions
 
 - Camera calibration/extrinsics are loaded.
-- BASALT and wrapper are initialized.
+- VIO adapter and wrapper are initialized.
 - FC telemetry stream is healthy.
 
 ### Sequence Diagram
@@ -115,9 +115,9 @@ sequenceDiagram
 
 | Step | From | To | Data | Format |
 |------|------|----|------|--------|
-| 1 | Camera ingest | BASALT adapter or safety wrapper | Frame metadata, image, occlusion status | Frame DTO / DegradationSignal |
+| 1 | Camera ingest | VIO adapter or safety wrapper | Frame metadata, image, occlusion status | Frame DTO / DegradationSignal |
-| 2 | FC telemetry | BASALT adapter | IMU/attitude/altitude | MAVLink-derived telemetry DTO |
+| 2 | FC telemetry | VIO adapter | IMU/attitude/altitude | MAVLink-derived telemetry DTO |
-| 3 | BASALT adapter | Safety wrapper | Relative VIO state | VioState DTO |
+| 3 | VIO adapter | Safety wrapper | Relative VIO state | VioState DTO |
 | 4 | Safety wrapper | MAVLink output | WGS84 estimate | `GPS_INPUT` |
 | 5 | Safety wrapper | FDR | Inputs/outputs/audit | FDR segment event |
 
@@ -125,9 +125,9 @@ sequenceDiagram
 
 | Error | Where | Detection | Recovery |
 |-------|-------|-----------|----------|
-| Total occlusion / blackout | Camera ingest | Occlusion status, exposure/texture/decode checks | Bypass BASALT, enter IMU-only `dead_reckoned` propagation |
+| Total occlusion / blackout | Camera ingest | Occlusion status, exposure/texture/decode checks | Bypass VIO, enter IMU-only `dead_reckoned` propagation |
-| Frame unreadable | Camera ingest | Decode/quality failure | Mark visual signal degraded and bypass BASALT for that frame |
+| Frame unreadable | Camera ingest | Decode/quality failure | Mark visual signal degraded and bypass VIO for that frame |
-| VIO quality low | BASALT adapter | Tracking/completion metrics | Trigger relocalization or dead reckoning |
+| VIO quality low | VIO adapter | Tracking/completion metrics | Trigger relocalization or dead reckoning |
 | Covariance grows | Safety wrapper | Covariance threshold | Degrade fix type/source label |
 
 ### Performance Expectations

_docs/02_tasks/_dependencies_table.md

@@ -16,7 +16,7 @@
 | AZ-225 | tile_manager_cache_manifest | 5 | AZ-220, AZ-221, AZ-222 | AZ-211 |
 | AZ-226 | generated_tile_orthorectification | 5 | AZ-223, AZ-225 | AZ-211 |
 | AZ-227 | fdr_event_recorder | 5 | AZ-220, AZ-222 | AZ-212 |
-| AZ-228 | basalt_vio_adapter | 5 | AZ-221, AZ-222, AZ-223, AZ-224 | AZ-213 |
+| AZ-228 | vio_adapter | 5 | AZ-221, AZ-222, AZ-223, AZ-224 | AZ-213 |
 | AZ-229 | satellite_service_sync | 3 | AZ-222, AZ-225, AZ-226 | AZ-214 |
 | AZ-230 | satellite_service_vpr_retrieval | 5 | AZ-223, AZ-225, AZ-229 | AZ-214 |
 | AZ-231 | anchor_verification_matching | 5 | AZ-223, AZ-225, AZ-230 | AZ-215 |

_docs/02_tasks/done/AZ-219_initial_structure.md

@@ -16,10 +16,13 @@ project-root/
 ├── src/
 │   ├── __init__.py
 │   ├── camera_ingest_calibration/
-│   ├── basalt_vio_adapter/
+│   ├── vio_adapter/
+│   │   └── native/
 │   ├── safety_anchor_wrapper/
 │   ├── satellite_service/
+│   │   └── native/
 │   ├── anchor_verification/
+│   │   └── native/
 │   ├── tile_manager/
 │   ├── mavlink_gcs_integration/
 │   ├── fdr_observability/
@@ -30,10 +33,6 @@ project-root/
 │   │   ├── config/
 │   │   ├── errors/
 │   │   └── telemetry/
-│   └── native/
-│       ├── basalt_bridge/
-│       ├── feature_matching/
-│       └── tensor_rt/
 ├── migrations/
 │   ├── postgresql/
 │   └── seed/
@@ -74,7 +73,7 @@ project-root/
 
 ### Layout Rationale
 
-The runtime is organized directly under `src/` because this repository already represents the GPS-denied onboard system. Component directories live at the source root, with native bridges isolated under `src/native/` for BASALT, feature matching, and TensorRT-sensitive paths. Shared contracts, geometry, time-sync, configuration, error envelopes, and telemetry DTOs are centralized so component tasks consume a single public interface instead of duplicating cross-cutting logic.
+The runtime is organized directly under `src/` because this repository already represents the GPS-denied onboard system. Component directories live at the source root, and native bridges stay inside the component folder that owns the backend or hot path. Shared contracts, geometry, time-sync, configuration, error envelopes, and telemetry DTOs are centralized so component tasks consume a single public interface instead of duplicating cross-cutting logic.
 
 The scaffold separates runtime source, migrations, tests, deployment assets, configuration, and mutable data. Production runs on Jetson hardware, while Docker/compose is used for replay, SITL, and deterministic CI environments.
 
@@ -98,8 +97,8 @@ The scaffold separates runtime source, migrations, tests, deployment assets, con
 
 | Component | Interface | Methods | Exposed To |
 |-----------|-----------|---------|------------|
-| Camera ingest/calibration | `FrameProvider` | `next_frame`, `detect_occlusion`, `classify_quality` | BASALT VIO, Satellite Service, anchor verification, Tile Manager |
+| Camera ingest/calibration | `FrameProvider` | `next_frame`, `detect_occlusion`, `classify_quality` | VIO Adapter, Satellite Service, anchor verification, Tile Manager |
-| BASALT VIO adapter | `VioAdapter` | `initialize`, `process`, `health` | Safety wrapper, e2e tests |
+| VIO adapter | `VioAdapter` | `initialize`, `process`, `health` | Safety wrapper, e2e tests |
 | Safety/anchor wrapper | `LocalizationStateMachine` | `update_vio`, `consider_anchor`, `degrade`, `propagate_imu_only`, `tile_write_eligibility` | MAVLink/GCS, Tile Manager, FDR, e2e tests |
 | Satellite Service | `SatelliteService` | `import_mission_cache`, `load_index`, `retrieve`, `upload_generated_tiles` | Safety wrapper, anchor verification, Tile Manager |
 | Anchor verification | `AnchorVerifier` | `verify`, `benchmark_matcher` | Safety wrapper, FDR |
@@ -174,7 +173,7 @@ tests/
 ├── unit/
 │   ├── shared/
 │   ├── camera_ingest_calibration/
-│   ├── basalt_vio_adapter/
+│   ├── vio_adapter/
 │   ├── safety_anchor_wrapper/
 │   ├── satellite_service/
 │   ├── anchor_verification/
@@ -245,7 +244,7 @@ Each deployable service exposes `/health/live`, `/health/ready`, and `/metrics`
 | 5 | MAVLink/GCS integration | Supplies FC telemetry DTOs and validates `GPS_INPUT` output contract early |
 | 6 | Tile Manager | Owns PostGIS cache manifest, sidecars, COG access, freshness gates, and generated-tile orthorectification |
 | 7 | FDR/observability | Provides audit path for all components and validation reports |
-| 8 | BASALT VIO adapter | Depends on frame and telemetry contracts, blocks wrapper integration |
+| 8 | VIO adapter | Depends on frame and telemetry contracts, blocks wrapper integration |
 | 9 | Satellite Service | Depends on tile schema and frame DTOs, feeds anchor verification, and handles pre-flight/post-flight package sync |
 | 10 | Anchor verification | Depends on retrieval candidates and cache tile access |
 | 11 | Safety/anchor wrapper | Consumes VIO, anchor, camera degradation, MAVLink, and FDR contracts |

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

@@ -1,21 +1,21 @@
-# BASALT VIO Adapter
+# VIO Adapter
 
-**Task**: AZ-228_basalt_vio_adapter
+**Task**: AZ-228_vio_adapter
-**Name**: BASALT VIO Adapter
+**Name**: VIO Adapter
-**Description**: Wrap BASALT as a replaceable relative VIO component with health and error behavior.
+**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

src/anchor_verification/native/README.md

@@ -0,0 +1,3 @@
+# Anchor Verification Native Bridge
+
+Reserved for native feature extraction, matching, and RANSAC acceleration code owned by `anchor_verification`.

src/basalt_vio_adapter/__init__.py

@@ -1 +0,0 @@
-"""BASALT VIO adapter component."""

src/native/basalt_bridge/README.md

@@ -1,3 +0,0 @@
-# BASALT Bridge
-
-Reserved for native BASALT integration code wrapped by `basalt_vio_adapter`.

src/native/feature_matching/README.md

@@ -1,3 +0,0 @@
-# Feature Matching Bridge
-
-Reserved for native feature extraction, matching, and RANSAC acceleration code.

src/native/tensor_rt/README.md

@@ -1,3 +0,0 @@
-# TensorRT Bridge
-
-Reserved for Jetson/TensorRT descriptor inference integrations.

src/satellite_service/native/README.md

@@ -0,0 +1,3 @@
+# Satellite Service Native Bridge
+
+Reserved for ONNX/TensorRT descriptor inference integrations owned by `satellite_service`.

src/vio_adapter/__init__.py

@@ -0,0 +1 @@
+"""Replaceable VIO adapter component."""

src/vio_adapter/interfaces.py

@@ -1,4 +1,4 @@
-"""Public BASALT VIO adapter interfaces."""
+"""Public VIO adapter interfaces."""
 
 from typing import Any, Protocol
 

src/vio_adapter/native/README.md

@@ -0,0 +1,3 @@
+# VIO Native Bridge
+
+Reserved for native VIO backend integration code owned by `vio_adapter`.

src/vio_adapter/types.py

@@ -1,4 +1,4 @@
-"""Public BASALT VIO type aliases."""
+"""Public VIO type aliases."""
 
 from typing import Any
 

tests/unit/test_scaffold.py

@@ -3,7 +3,7 @@ from pathlib import Path
 
 COMPONENT_PACKAGES = [
     "camera_ingest_calibration",
-    "basalt_vio_adapter",
+    "vio_adapter",
     "safety_anchor_wrapper",
     "satellite_service",
     "anchor_verification",
@@ -28,13 +28,16 @@ REQUIRED_PATHS = [
     "tests/unit/test_scaffold.py",
     "tests/unit/shared/.gitkeep",
     "tests/unit/camera_ingest_calibration/.gitkeep",
-    "tests/unit/basalt_vio_adapter/.gitkeep",
+    "tests/unit/vio_adapter/.gitkeep",
     "tests/unit/safety_anchor_wrapper/.gitkeep",
     "tests/unit/satellite_service/.gitkeep",
     "tests/unit/anchor_verification/.gitkeep",
     "tests/unit/tile_manager/.gitkeep",
     "tests/unit/mavlink_gcs_integration/.gitkeep",
     "tests/unit/fdr_observability/.gitkeep",
+    "src/vio_adapter/native/README.md",
+    "src/satellite_service/native/README.md",
+    "src/anchor_verification/native/README.md",
     "tests/integration/contracts/.gitkeep",
     "tests/blackbox/still_image_geolocation/.gitkeep",
     "tests/fixtures/project_60_images/.gitkeep",
@@ -98,6 +101,14 @@ def test_scaffold_paths_cover_runtime_test_and_evidence_layout() -> None:
     assert missing == []
 
 
+def test_native_bridge_placeholders_are_component_owned() -> None:
+    # Act
+    shared_native_path_exists = Path("src/native").exists()
+
+    # Assert
+    assert shared_native_path_exists is False
+
+
 def test_ignore_rules_exclude_runtime_payloads_and_secrets() -> None:
     # Arrange
     required_patterns = [