docs: design MovementTest OSQP iteration limit

2026-08-05 11:55:32 +08:00
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+# MovementTest OSQP Iteration Limit Design
+
+## Goal
+
+Allow the trajectory-observation MovementTest to configure the OSQP iteration cap separately from the solver time budget, with a default that can be reached within the existing 0.50-second test budget.
+
+## Decision
+
+Add an integer `MaximumOsqpIterations` setting with a default of `12000`.
+
+The current target machine completes 4000 iterations in about 153ms. The 12000-iteration default is therefore expected to fit approximately within the existing 0.50-second `SolverTimeoutSeconds` budget. A 20000-iteration default would likely be cut short by the time budget first.
+
+## Scope
+
+- Add, snapshot, and validate `MaximumOsqpIterations` in `TrajectoryObservationSettings`.
+- Expose it as a public MovementTest parameter with default `12000`.
+- Copy it to `EmPlannerConfiguration.Solver.MaximumOsqpIterations` for an observation session.
+- Prove that a custom value is present on the emitted EM planning request.
+
+## Non-goals
+
+- Do not modify `SolverTimeoutSeconds` from its current 0.50-second test default.
+- Do not relax `AbsoluteTolerance`, `RelativeTolerance`, or `StrictResidualTolerance` from `1e-5`.
+- Do not change the production EM defaults, vehicle constraints, map, or observe-only command policy.
+