23 lines
1.1 KiB
Markdown
23 lines
1.1 KiB
Markdown
# MovementTest Solver Timeout Design
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## Goal
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Allow the trajectory-observation MovementTest to give OSQP enough time to produce its first test trajectory without loosening solver accuracy or vehicle safety constraints.
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## Scope
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- Add `SolverTimeoutSeconds` to `TrajectoryObservationSettings`, defaulting to `0.50` seconds.
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- Validate and snapshot that setting with the existing observation settings.
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- Expose it as a MovementTest field and pass it into the observation settings.
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- Copy the setting to `EmPlannerConfiguration.Scheduling.SolverTimeoutSeconds` when the observation controller is created.
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## Non-goals
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- Do not change the `1e-5` OSQP or strict residual tolerances.
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- Do not change vehicle, map, speed, acceleration, or control-command behavior.
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- Do not modify the production EM default configuration; this is an observation-test override only.
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## Verification
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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.
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