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-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.