From 866d40e05e7377a3679be9fb9c58309a7a80cddd Mon Sep 17 00:00:00 2001 From: Peter Vaiko Date: Sun, 9 Jan 2022 08:06:54 -0500 Subject: [PATCH] Headland to up/down transition fix #340 Vehicles with implements on the front should not miss (much) when transitioning to the first row from the headland. --- scripts/ai/AIDriveStrategyFieldWorkCourse.lua | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/ai/AIDriveStrategyFieldWorkCourse.lua b/scripts/ai/AIDriveStrategyFieldWorkCourse.lua index 99bf5015d..b27077dfd 100644 --- a/scripts/ai/AIDriveStrategyFieldWorkCourse.lua +++ b/scripts/ai/AIDriveStrategyFieldWorkCourse.lua @@ -497,7 +497,7 @@ function AIDriveStrategyFieldWorkCourse:checkTransitionFromConnectingTrack(ix, c if d < 5 * self.turningRadius and firstUpDownWpIx and not self.course:isTurnEndAtIx(firstUpDownWpIx) then self:debug('End connecting track, start working on up/down rows (waypoint %d) with alignment course if needed.', firstUpDownWpIx) local alignmentCourse = AlignmentCourse(self.vehicle, self.vehicle:getAIDirectionNode(), self.turningRadius, - course, firstUpDownWpIx, math.min(self.frontMarkerDistance, 0)):getCourse() + course, firstUpDownWpIx, math.min(-self.frontMarkerDistance, 0)):getCourse() if alignmentCourse then self:rememberCourse(course, firstUpDownWpIx) self.ppc:setShortLookaheadDistance()