Refactor documentation to replace the Validation Harness with a separate E2E Test Suite, updating references throughout various documents. Adjust the autodev state to reflect the transition from the Decompose phase to the Implement phase, and revise the architecture documentation to clarify system boundaries and component relationships. Enhance risk mitigation documentation to specify affected components and update the component overview diagram accordingly.

_docs/02_document/contracts/shared/geometry_time_sync.md

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+# Contract: Geometry And Time Sync Helpers
+
+**Component**: shared/geo_geometry, shared/time_sync
+**Producer task**: AZ-221 — AZ-221_shared_geometry_time_sync.md
+**Consumer tasks**: AZ-223, AZ-225, AZ-226, AZ-228, AZ-230, AZ-231, AZ-232
+**Version**: 1.0.0
+**Status**: draft
+**Last Updated**: 2026-05-03
+
+## Purpose
+
+Defines shared geospatial and timestamp helper behavior used by runtime components to avoid duplicated math and inconsistent frame/IMU alignment.
+
+## Shape
+
+| API Area | Shape | Errors |
+|----------|-------|--------|
+| Coordinate conversion | WGS84/local tangent conversions and distance calculations | invalid CRS, missing origin |
+| Camera footprint | intrinsics/extrinsics/attitude/altitude to footprint and GSD | invalid calibration, missing altitude |
+| Homography metrics | homography/covariance conversions and MRE support | invalid geometry |
+| Time sync | monotonic checks, frame-to-IMU window selection, replay ordering | timestamp mismatch, gap/jitter exceeded |
+
+## Invariants
+
+- Helpers are deterministic for the same calibration, pose, and timestamp inputs.
+- Time helpers report gaps/jitter instead of silently dropping samples.
+- Geometry helpers do not decide safety policy; callers decide degrade/reject behavior.
+
+## Non-Goals
+
+- No VIO state estimation.
+- No MAVLink parsing beyond normalized timestamp fields.
+- No tile freshness or cache policy decisions.
+
+## Versioning Rules
+
+- Breaking changes to units, coordinate frames, or timestamp semantics require a major version bump.
+- New helper outputs may be added as optional fields in minor versions.
+
+## Test Cases
+
+| Case | Input | Expected | Notes |
+|------|-------|----------|-------|
+| valid-wgs84-local | known WGS84 point and origin | round-trip within tolerance | Uses representative coordinates |
+| frame-imu-window | frame timestamp plus IMU samples | correct aligned window | Includes gap metrics |
+| invalid-calibration | missing intrinsics/extrinsics | explicit error | No silent fallback |
+
+## Change Log
+
+| Version | Date | Change | Author |
+|---------|------|--------|--------|
+| 1.0.0 | 2026-05-03 | Initial contract | autodev |