docs: make K1 realtime map the primary lidar source

docs/00_TECHNICAL_AUDIT.md

@@ -61,6 +61,22 @@ The physical Lab 002 capture now provides stronger evidence than the prior
 official-material inference: a compressed left/right preview leaves the device.
 It still does not prove a full-resolution raw panorama stream.
 
+### Architecture clarification · 2026-07-25
+
+The processed nature of `lio_pcl` does not make the stream non-real-time or
+unsuitable as the current K1 perception source. Mission Core received the
+point/pose reports while the rig moved; K1 had already performed onboard
+LIO/modeling before publication. The accepted roadmap therefore keeps K1 as the
+physical starting sensor and produces separate short-TTL perception and
+persistent-reconstruction derivatives from the immutable report stream.
+
+Current LiDAR work is passive. Static firmware evidence may explain fields and
+processing order, but does not authorize a firmware change, onboard exporter,
+internal-topic invocation or new application command. The handheld `1.27 m`
+estimate is retained only in its historical diagnostic result; operational
+surface height is time-varying and must be estimated from pose-relative
+geometry when the selected platform profile requires ground.
+
 ### Still unsupported until measured
 
 - Local `map.las` layout resembles the network stream.