docs: audit links, glossary T0-T4, readability pass

Extend glossary with storage floors, source of truth, and linkable anchors.
Fix broken links, pose frame drift, rsync/offload wording, and README tone.
Add docs/improvement audit records and live demo links in design journey.

docs/adr/ADR-0001-no-swarm-orchestrator.md

@@ -17,7 +17,7 @@ Partitions are the normal case, not the exception.
 | Option | Pros | Cons |
 | --- | --- | --- |
 | A — Cluster orchestrator spanning the swarm | Familiar tooling | Assumes stable membership; a partition stalls coordination; single point of failure in the air |
-| B — Each drone autonomous, coordinating through exchanged data | Survives partitions; no air-side control plane to fail | No global view; behaviour must be derivable from local state |
+| B — Each drone autonomous, coordinating through exchanged data | Survives partitions; no air-side control plane to fail | No global view; behavior must be derivable from local state |
 
 ## Decision
 

docs/adr/ADR-0002-one-storage-format.md

@@ -6,9 +6,13 @@ Accepted (2026-07-08)
 
 ## Context
 
-Data lives in three places: on the drone's NVMe in flight (T1), in the ground
-warehouse after landing (T3), and in the dev/simulation environment. If each
-tier used a different format or layout, offload would need transformation code,
+Data lives across [storage floors](../00-glossary.md#t0--hot) T0–T4. Primary persistent
+stores are [T1](../00-glossary.md#t1--warm) (drone NVMe in flight) and
+[T3](../00-glossary.md#t3--warehouse) (ground warehouse after landing);
+[T0](../00-glossary.md#t0--hot) is the in-memory hot window,
+[T2](../00-glossary.md#t2--shared) optional on-board derived replication,
+[T4](../00-glossary.md#t4--dev) dev/sim slices. If each floor used a different
+format or layout, offload would need transformation code,
 schemas would drift, and a query proven on the bench would not run unchanged on
 flight data.
 

docs/adr/ADR-0003-sync-derived-state-only.md

@@ -25,7 +25,7 @@ new derived data triggers downstream action through hooks; nothing polls asking
 
 - Air bandwidth scales with the number of peers and the broadcast rate, not
   with sensor resolution.
-- The warehouse is the only place with the full picture; in-flight decisions use
+- The [source of truth](../00-glossary.md#source-of-truth) is the only place with the full picture; in-flight decisions use
   the local window plus peer broadcasts.
 - Broadcast staleness per peer becomes a first-class health signal
   ([`../07-observability.md`](../07-observability.md)).

docs/adr/README.md

@@ -27,14 +27,14 @@ decisions specific to the platform are ADRs and belong here.
 | [ADR-0005](ADR-0005-wireguard-beneath-ssh.md) | WireGuard beneath SSH for the mesh transport | Accepted |
 | [ADR-0006](ADR-0006-iac-boundaries.md) | IaC split: Ansible hosts, Terraform ground, Flux ground-only, fleet manifest for drones | Accepted |
 | [ADR-0007](ADR-0007-non-root-image.md) | Run the simulator image as a non-root user | Accepted |
-| [ADR-0008](ADR-0008-runtime-data-paths.md) | Shared `var/t1` / `var/t3` runtime paths; state out of Git | Accepted |
+| [ADR-0008](ADR-0008-runtime-data-paths.md) | Shared [`var/t1`](../00-glossary.md#t1--warm) / [`var/t3`](../00-glossary.md#t3--warehouse) runtime paths; state out of Git | Accepted |
 | [ADR-0009](ADR-0009-bounded-lake-scans.md) | Bound observability lake scans to a flight window and cache | Accepted |
 
 ## Writing a new ADR
 
 1. Copy [`TEMPLATE.md`](TEMPLATE.md) to `ADR-NNNN-short-slug.md` (next free number).
-2. Fill in Context, Options (if more than one was real), Decision, Consequences.
+2. Context, Options, Decision, Consequences.
 3. Add a row to the index above.
 4. Cross-link the ADR from the design doc it affects (and vice versa).
 
-Keep the tone laconic: state the decision and why, skip the narrative.
+Accepted = immutable. Reversal → new ADR supersedes. Never edit Accepted.