ParkingRobot/docs/superpowers/specs/2026-08-05-movementtest-osqp-iteration-limit-design.md

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.