[AZ-243] Sync native VIO test docs

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

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

@@ -16,17 +16,23 @@
 
 | Method | Input | Output | Async | Error Types |
 |--------|-------|--------|-------|-------------|
-| `initialize` | `VioInitRequest` | `VioInitResult` | No | `CalibrationInvalid`, `DatasetUnsupported` |
-| `process` | `VioInputPacket` | `VioStatePacket` | Yes | `TrackingLost`, `TimestampMismatch` |
-| `health` | none | `VioHealth` | No | none |
+| `initialize` | selected `VioBackend` / `VioRuntimeConfig` | updates `VioHealthReport` | No | backend initialization / native prerequisite errors |
+| `process` | `VioInputPacket` | `VioProcessingResult` | No | timestamp mismatch, backend runtime errors |
+| `health` | none | `VioHealthReport` | No | none |
 
 **Input DTOs**:
 
 ```yaml
 VioInputPacket:
   frame: FramePacket
-  imu_samples: list[TelemetrySample]
-  attitude_sample: TelemetrySample optional
+  telemetry_samples: list[TelemetrySample]
+VioRuntimeConfig:
+  environment: development | ci | staging | jetson | production
+  mode: replay | native optional
+  native_backend_name: string
+  native_runner_module: string
+  native_runner_factory: string
+  native_runner_config: object
 ```
 
 **Output DTOs**:
@@ -38,8 +44,12 @@ VioStatePacket:
   velocity: vector3
   bias_estimate: object optional
   tracking_quality: number
-  completed: boolean
   covariance_hint: matrix optional
+VioProcessingResult:
+  state_packet: VioStatePacket optional
+  health: VioHealthReport
+  processing_latency_ms: number optional
+  error: ErrorEnvelope optional
 ```
 
 ## 3. Data Access Patterns
@@ -50,6 +60,8 @@ No persistent production data ownership. Reads calibration/config at startup and
 
 **State Management**: Owns selected VIO backend runtime state and resets only through explicit wrapper command.
 
+**Runtime Selection**: `create_vio_adapter` selects replay mode only for explicit development/replay configuration. Production and Jetson profiles derive native mode, instantiate `ConfiguredNativeVioBackend`, and load a BASALT-compatible runner through `BasaltNativeRunner`.
+
 **Key Dependencies**:
 
 | Library | Purpose |
@@ -58,6 +70,7 @@ No persistent production data ownership. Reads calibration/config at startup and
 | Eigen/Sophus or backend-native math stack | Pose and transform representation |
 
 **Error Handling Strategy**:
+- Missing or invalid production native runtime prerequisites fail initialization with explicit health/error state and no replay-derived successful VIO output.
 - Tracking loss is surfaced to the safety/anchor wrapper, not hidden.
 - Timestamp/camera-IMU sync violations fail the packet and are logged.
 - The adapter never emits WGS84 coordinates; absolute semantics belong to the wrapper.