- Introduced a new document detailing the current state of the autodev process, including steps, status, and findings.

- Revised acceptance criteria in the acceptance_criteria.md file to clarify metrics and expectations, including updates to GPS accuracy and image processing quality.
- Enhanced restrictions documentation to reflect operational parameters and constraints for UAV flights, including camera specifications and satellite imagery usage.
- Added new research documents for acceptance criteria assessment and question decomposition to support ongoing project evaluation and decision-making.

_docs/00_problem/input_data/expected_results/results_report.md

@@ -35,7 +35,7 @@ Ground truth GPS coordinates for each frame are in `coordinates.csv`. The system
 | # | Input | Input Description | Expected Result | Comparison | Tolerance | Reference File |
 |---|-------|-------------------|-----------------|------------|-----------|---------------|
 | 1 | `coordinates.csv` (all 60 frames) | Sequential flight images with ground truth GPS | ≥ 80% of frames have position error < 50m from ground truth | percentage | ≥ 80% of frames within 50m | `expected_results/position_accuracy.csv` |
-| 2 | `coordinates.csv` (all 60 frames) | Sequential flight images with ground truth GPS | ≥ 60% of frames have position error < 20m from ground truth | percentage | ≥ 60% of frames within 20m | `expected_results/position_accuracy.csv` |
+| 2 | `coordinates.csv` (all 60 frames) | Sequential flight images with ground truth GPS | ≥ 50% of frames have position error < 20m from ground truth (per AC-1.2) | percentage | ≥ 50% of frames within 20m | `expected_results/position_accuracy.csv` |
 | 3 | `coordinates.csv` (all 60 frames) | Sequential flight images with ground truth GPS | Per-frame position output in WGS84 (lat, lon) | numeric_tolerance | each frame ± 100m max (no single frame exceeds 100m error) | `expected_results/position_accuracy.csv` |
 | 4 | `coordinates.csv` (all 60 frames) | Sequential flight images with ground truth GPS | Cumulative VO drift between satellite anchors < 100m | threshold_max | ≤ 100m drift between anchors | N/A |
 
@@ -72,7 +72,7 @@ Ground truth GPS coordinates for each frame are in `coordinates.csv`. The system
 | 16 | Frames 32-43 from coordinates.csv | Trajectory with direction change (turn area) | System continues producing position estimates through the turn | threshold_min | ≥ 1 position output per frame | N/A |
 | 17 | Simulated consecutive frames with 350m gap | Outlier between 2 consecutive photos due to tilt | System handles outlier, position estimate not corrupted (error < 100m for next valid frame) | threshold_max | ≤ 100m error after recovery | N/A |
 | 18 | Simulated sharp turn (no overlap, <5% overlap, <70° angle, <200m drift) | Sharp turn where VO fails | Satellite re-localization triggers, position recovered within 3 frames after turn | threshold_max | position error ≤ 50m after re-localization | N/A |
-| 19 | Simulated VO loss + satellite match success | Tracking loss → re-localization | cuVSLAM restarts, ESKF position corrected, tracking_state returns to NORMAL | exact | tracking_state == NORMAL after recovery | N/A |
+| 19 | Simulated VO loss + satellite match success | Tracking loss → re-localization | cuVSLAM restarts, Component 5 calibrator emits a satellite-anchored fix, FC EKF3 reconverges, tracking_state returns to NORMAL | exact | tracking_state == NORMAL after recovery | N/A |
 
 ### 3-Consecutive-Failure Re-Localization
 
@@ -80,20 +80,20 @@ Ground truth GPS coordinates for each frame are in `coordinates.csv`. The system
 |---|-------|-------------------|-----------------|------------|-----------|---------------|
 | 20 | Simulated VO loss + 3 satellite match failures | Cannot determine position by any means | Re-localization request sent: `RELOC_REQ: last_lat=.* last_lon=.* uncertainty=.*m` | regex | message matches pattern | N/A |
 | 21 | Re-localization request active | System waiting for operator | GPS_INPUT fix_type=0, system continues IMU prediction, continues satellite matching attempts | exact (fix_type) | fix_type == 0 | N/A |
-| 22 | Operator sends approximate coordinates (lat, lon) | Operator re-localization hint | System uses hint as ESKF measurement (high covariance ~500m), attempts satellite match in new area | threshold_max | position error ≤ 500m initially, ≤ 50m after satellite match | N/A |
+| 22 | Operator sends approximate coordinates (lat, lon) | Operator re-localization hint | System uses hint as a high-covariance (~500m) seed for VPR/cross-view re-localization (consumed by Component 5 calibrator), attempts satellite match in new area | threshold_max | position error ≤ 500m initially, ≤ 50m after satellite match | N/A |
 
 ### Startup & Handoff
 
 | # | Input | Input Description | Expected Result | Comparison | Tolerance | Reference File |
 |---|-------|-------------------|-----------------|------------|-----------|---------------|
-| 23 | System boot with GLOBAL_POSITION_INT available | Normal startup | System reads initial position, initializes ESKF, starts GPS_INPUT output | exact | GPS_INPUT output begins within 60s of boot | N/A |
+| 23 | System boot with GLOBAL_POSITION_INT available | Normal startup | System reads initial position, initializes Component 5 calibrator state, starts GPS_INPUT output (per AC-NEW-1 cold-start TTFF budget) | threshold_max | GPS_INPUT output begins within 30s of boot (95th percentile) | N/A |
 | 24 | System boot + first satellite match | Startup validation | First satellite match validates initial position, position error drops | threshold_max | position error ≤ 50m after first satellite match | N/A |
 
 ### Mid-Flight Reboot Recovery
 
 | # | Input | Input Description | Expected Result | Comparison | Tolerance | Reference File |
 |---|-------|-------------------|-----------------|------------|-----------|---------------|
-| 25 | System process killed mid-flight | Companion computer reboot | System recovers: reads FC position, inits ESKF with high uncertainty, loads TRT engines, starts cuVSLAM, performs satellite match | threshold_max | total recovery time ≤ 70s | N/A |
+| 25 | System process killed mid-flight | Companion computer reboot | System recovers: reads FC IMU-extrapolated position, re-initialises Component 5 calibrator state with high uncertainty, loads TRT engines, starts cuVSLAM, performs satellite match | threshold_max | total recovery time ≤ 30s (matches AC-NEW-1 TTFF) | N/A |
 | 26 | Post-reboot first satellite match | Recovery validation | Position accuracy restored after first satellite match | threshold_max | position error ≤ 50m after first satellite match | N/A |
 
 ### Object Localization
@@ -126,7 +126,7 @@ Ground truth GPS coordinates for each frame are in `coordinates.csv`. The system
 | 35 | 30-minute sustained operation | Memory usage over time | Peak memory < 8GB, no memory leaks (growth < 50MB over 30min) | threshold_max | peak < 8192MB, growth ≤ 50MB | N/A |
 | 36 | 30-minute sustained operation | GPU thermal | SoC junction temperature stays below 80°C (no throttling) | threshold_max | ≤ 80°C | N/A |
 | 37 | cuVSLAM single frame | VO processing time | cuVSLAM inference ≤ 20ms per frame | threshold_max | ≤ 20ms | N/A |
-| 38 | Satellite matching single frame | Satellite matching time (async) | LiteSAM/XFeat inference ≤ 330ms | threshold_max | ≤ 330ms | N/A |
+| 38 | Satellite matching single frame | Inline cross-view matcher time | SP+LG (TRT FP16/INT8) inline-matcher inference ≤ 200ms / pair on Orin Nano Super @ 25W. (LiteSAM is re-loc-fallback only, ≤ 2s budget — out of inline path.) | threshold_max | ≤ 200ms inline; ≤ 2000ms re-loc fallback | N/A |
 | 39 | TRT engine load | Engine initialization time | All TRT engines loaded within 10s total | threshold_max | ≤ 10s | N/A |
 
 ### Satellite Tile Management