[AZ-223] [AZ-224] [AZ-225] [AZ-227] Add runtime gateways

Implement the first runtime component boundaries around the shared
contracts so downstream batches can consume typed frame, MAVLink, tile,
and FDR behavior with focused tests and batch evidence.

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

_docs/02_tasks/done/AZ-223_camera_ingest_calibration.md

@@ -0,0 +1,89 @@
+# Camera Ingest Calibration And Frame Quality
+
+**Task**: AZ-223_camera_ingest_calibration
+**Name**: Camera Ingest Calibration And Frame Quality
+**Description**: Ingest navigation frames, attach calibration/timestamp metadata, classify quality, detect occlusion, and provide north-up normalization hints.
+**Complexity**: 5 points
+**Dependencies**: AZ-220_shared_runtime_contracts, AZ-221_shared_geometry_time_sync, AZ-222_runtime_config_errors_telemetry
+**Component**: Camera Ingest And Calibration
+**Tracker**: AZ-223
+**Epic**: AZ-209
+
+## Problem
+
+Downstream VIO, retrieval, anchor verification, Tile Manager, and FDR need trustworthy frame metadata and quality decisions before using image data.
+
+## Outcome
+
+- Replay and live-source frames are exposed with timestamps, calibration ID, quality, occlusion, and normalization hints.
+- Total occlusion/blackout frames are marked unusable for VIO and anchor paths.
+
+## Scope
+
+### Included
+- Frame source abstraction for replay/live camera boundary.
+- Calibration metadata loading and validation.
+- Quality and occlusion reports.
+- North-up/orthorectification hints as metadata, not unconditional frame mutation.
+
+### Excluded
+- Tile writing and generated COG persistence.
+- BASALT processing.
+
+## Dependencies
+
+### Document Dependencies
+- `_docs/02_document/contracts/shared/runtime_contracts.md`
+- `_docs/02_document/contracts/shared/geometry_time_sync.md`
+- `_docs/02_document/contracts/shared/config_errors_telemetry.md`
+
+## Acceptance Criteria
+
+**AC-1: Usable frame packet emitted**
+Given a valid replay frame and calibration
+When the frame is ingested
+Then a frame packet includes timestamp, calibration ID, quality report, occlusion report, and normalization hint.
+
+**AC-2: Blackout bypass signal emitted**
+Given an unreadable, covered, or total-occlusion frame
+When quality classification runs
+Then the frame is marked unusable for VIO and anchor matching.
+
+**AC-3: Raw frames are not retained**
+Given normal runtime operation
+When a frame is processed
+Then only allowed metadata/references are retained outside explicit fixture/test paths.
+
+## Non-Functional Requirements
+
+**Performance**
+- Frame preprocessing must fit within the system p95 latency budget.
+
+**Reliability**
+- Missing calibration blocks production readiness.
+
+## Unit Tests
+
+| AC Ref | What to Test | Required Outcome |
+|--------|--------------|------------------|
+| AC-1 | Valid frame with calibration | Frame packet contains required metadata |
+| AC-2 | Total occlusion input | `usable_for_vio=false` and `usable_for_anchor=false` |
+| AC-3 | Processed frame cleanup | No raw-frame persistence |
+
+## Blackbox Tests
+
+| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
+|--------|-------------------------|--------------|-------------------|----------------|
+| AC-1 | Derkachi replay fixture | Frame/telemetry alignment | Accepted frame packets are timestamped | Performance |
+| AC-2 | Blackout fixture | Occlusion handling | Visual path degrades safely | Reliability |
+
+## Constraints
+
+- Do not rotate every frame in ingest; emit normalization hints for downstream use.
+- ADTi hardware assumptions remain blocked until exact specs are verified.
+
+## Risks & Mitigation
+
+**Risk 1: False-negative occlusion**
+- *Risk*: Bad frames enter VIO or matching.
+- *Mitigation*: Conservative occlusion gate and explicit quality flags.