docs: design MovementTest solver timeout

2026-08-05 11:33:59 +08:00
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+# MovementTest Solver Timeout Design
+
+## Goal
+
+Allow the trajectory-observation MovementTest to give OSQP enough time to produce its first test trajectory without loosening solver accuracy or vehicle safety constraints.
+
+## Scope
+
+- Add `SolverTimeoutSeconds` to `TrajectoryObservationSettings`, defaulting to `0.50` seconds.
+- Validate and snapshot that setting with the existing observation settings.
+- Expose it as a MovementTest field and pass it into the observation settings.
+- Copy the setting to `EmPlannerConfiguration.Scheduling.SolverTimeoutSeconds` when the observation controller is created.
+
+## Non-goals
+
+- Do not change the `1e-5` OSQP or strict residual tolerances.
+- Do not change vehicle, map, speed, acceleration, or control-command behavior.
+- Do not modify the production EM default configuration; this is an observation-test override only.
+
+## Verification
+
+The observation verification host will prove a custom timeout survives settings snapshotting and is present on the EM planning request. Existing observation and full EM verification suites must remain green.