ParkingRobot/docs/superpowers/specs/2026-08-05-movementtest-solver-timeout-design.md

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.