Revise acceptance criteria and restrictions documentation to clarify recent updates and specifications. Key changes include enhanced definitions for position accuracy, image processing quality, and operational parameters, as well as updates to camera specifications and validation requirements. This revision aims to improve clarity and ensure alignment with project goals.

_docs/02_document/tests/resilience-tests.md

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+# Resilience Tests
+
+### NFT-RES-01: Total Visual Blackout With GPS Spoofing
+
+**Summary**: Validate degraded-mode behavior when the camera feed is totally occluded/blacked out and real GPS is spoofed or denied.
+
+**Traces to**: AC-3.5, AC-5.2, AC-NEW-8
+
+**Preconditions**:
+- Plane SITL or replay trace is emitting normal telemetry.
+- System has a recent trusted visual/satellite anchor.
+
+**Fault injection**:
+- Full camera blackout/total occlusion for 5 s, 15 s, and 35 s while spoofed GPS is present.
+
+| Step | Action | Expected Behavior |
+|------|--------|-------------------|
+| 1 | Inject total occlusion/blackout and spoofed GPS | Camera gate reports `usable_for_vio=false`, BASALT is bypassed, and system switches to `dead_reckoned` within <=1 processed frame or <=400 ms |
+| 2 | Continue blackout | IMU-only covariance grows monotonically and spoofed GPS is ignored |
+| 3 | Exceed 30 s or covariance >500 m | System emits no-fix/failsafe fields and QGC `VISUAL_BLACKOUT_FAILSAFE` |
+
+**Pass criteria**: All pre-VIO occlusion gate, timing, covariance, `fix_type`, `horiz_accuracy`, and status thresholds match AC-NEW-8.
+
+---
+
+### NFT-RES-02: Sharp Turn And Disconnected Segment Relocalization
+
+**Summary**: Validate recovery when frame-to-frame overlap drops below the VO threshold.
+
+**Traces to**: AC-3.2, AC-3.3, AC-3.4, AC-8.6
+
+**Preconditions**:
+- Public or representative replay contains sharp-turn/disconnected segment cases, or equivalent synthetic sequence is generated from mapped imagery.
+
+**Fault injection**:
+- Sequence transition with <5% overlap, heading change <70°, and drift <200 m.
+
+| Step | Action | Expected Behavior |
+|------|--------|-------------------|
+| 1 | Replay normal segment | BASALT + wrapper emits normal `vo_extrapolated` estimates |
+| 2 | Inject sharp-turn/disconnected transition | VO failure is expected; system triggers VPR relocalization |
+| 3 | Continue next segment | System connects segment through verified satellite anchor or reports degraded status |
+
+**Pass criteria**: Relocalization request is issued when no position is available for >=3 consecutive frames and >=2 s; verified anchor reconnects the segment or output remains degraded with growing covariance.
+
+---
+
+### NFT-RES-03: Companion Computer Restart Mid-Flight
+
+**Summary**: Validate reboot recovery from flight-controller state and preloaded cache.
+
+**Traces to**: AC-5.3, AC-NEW-1
+
+**Preconditions**:
+- Replay/SITL mission is in progress.
+- FDR has current segment logs.
+
+**Fault injection**:
+- Kill and restart the GPS-denied service during a GPS-denied segment.
+
+| Step | Action | Expected Behavior |
+|------|--------|-------------------|
+| 1 | Kill service | FC continues on last known/IMU-extrapolated state |
+| 2 | Restart service | Service reloads cache/index and uses FC state handoff |
+| 3 | Observe first valid output | First valid `GPS_INPUT` emitted within <30 s |
+
+**Pass criteria**: No raw frames are required for recovery; first valid fix <30 s p95; failure is logged in FDR.
+
+---
+
+### NFT-RES-04: Tile Cache Freshness Degradation
+
+**Summary**: Validate graceful behavior when the only available tile candidates are stale.
+
+**Traces to**: AC-8.2, AC-NEW-6
+
+**Fault injection**:
+- Mark cache tiles older than 6 months for active-conflict sector and older than 12 months for stable sector.
+
+| Step | Action | Expected Behavior |
+|------|--------|-------------------|
+| 1 | Replay frame requiring satellite anchor | Stale tiles are rejected or down-confidence weighted |
+| 2 | Inspect emitted estimate | No stale tile produces `satellite_anchored` label past hard rejection threshold |
+
+**Pass criteria**: Freshness decay and hard rejection match AC-NEW-6.