diff --git a/config/VehicleConfigurations.xml b/config/VehicleConfigurations.xml
index bcb0a485c..4065adb69 100644
--- a/config/VehicleConfigurations.xml
+++ b/config/VehicleConfigurations.xml
@@ -101,7 +101,7 @@ You can define the following custom settings:
diff --git a/modDesc.xml b/modDesc.xml
index ea17ed169..fa36f3d13 100644
--- a/modDesc.xml
+++ b/modDesc.xml
@@ -1,6 +1,6 @@
- 6.03.00036
+ 6.03.00037
<!-- en=English de=German fr=French es=Spanish ru=Russian pl=Polish it=Italian br=Brazilian-Portuguese cs=Chinese(Simplified) ct=Chinese(Traditional) cz=Czech nl=Netherlands hu=Hungary jp=Japanese kr=Korean pt=Portuguese ro=Romanian tr=Turkish -->
<en>CoursePlay SIX</en>
diff --git a/toolManager.lua b/toolManager.lua
index 7824ff511..cd92d29cf 100644
--- a/toolManager.lua
+++ b/toolManager.lua
@@ -45,6 +45,10 @@ function courseplay:updateOnAttachOrDetach(vehicle)
end
courseplay:resetTools(vehicle)
+
+ -- reset tool offset to the preconfigured value if exists
+ vehicle.cp.settings.toolOffsetX:setToConfiguredValue()
+
end
--- Set up tool configuration after something is attached or detached
@@ -61,9 +65,6 @@ function courseplay:resetTools(vehicle)
courseplay.hud:setReloadPageOrder(vehicle, -1, true);
courseplay:calculateWorkWidth(vehicle, true);
-
- -- reset tool offset to the preconfigured value if exists
- vehicle.cp.settings.toolOffsetX:setToConfiguredValue()
end;
function courseplay:isAttachedMixer(workTool)
diff --git a/turn.lua b/turn.lua
index c63195ae2..f2ceb2d8d 100644
--- a/turn.lua
+++ b/turn.lua
@@ -1812,8 +1812,8 @@ TurnContext = CpObject()
--- node so when the vehicle's root node reaches the vehicleAtTurnEndNode, the front of the work area will exactly be on the
--- turn end node. (The vehicle must be steered to the vehicleAtTurnEndNode instead of the turn end node so the implements
--- reach exactly the row end)
----@param backMarkerDistance number distance of the rearmost work area from the vehicle's root node. Will only be used
---- to pass in to turn generator code and should be reviewed if it is needed at all.
+---@param backMarkerDistance number distance of the rearmost work area from the vehicle's root node. Will be used
+--- to pass in to turn generator code and to calculate the minimum length of the row finishing course.
---@param turnEndSideOffset number offset of the turn end in meters to left (>0) or right (<0) to end the turn left or
--- right of the turn end node. Used when there's an offset to consider, for example because the implement is not
--- in the middle, like plows.
@@ -1863,7 +1863,8 @@ function TurnContext:init(course, turnStartIx, aiDriverData, workWidth,
self.dx, _, self.dz = localToLocal(self.turnEndWpNode.node, self.workEndNode, 0, 0, 0)
self.leftTurn = self.dx > 0
- self:debug('start ix = %d', turnStartIx)
+ self:debug('start ix = %d, back marker = %.1f, front marker = %.1f',
+ turnStartIx, self.backMarkerDistance, self.frontMarkerDistance)
end
function TurnContext:debug(...)
@@ -2192,13 +2193,15 @@ end
---@return Course
function TurnContext:createFinishingRowCourse(vehicle)
local waypoints = {}
- -- must be at least as long as the front marker distance so we are not reaching the end of the course before
- -- the implement reaches the field edge (a negative frontMarkerDistance means the implement is behind the
- -- vehicle, this isn't a problem for a positive frontMarkerDistance as the implement reaches the field edge
+ -- must be at least as long as the back marker distance so we are not reaching the end of the course before
+ -- the implement reaches the field edge (a negative backMarkerDistance means the implement is behind the
+ -- vehicle, this isn't a problem for a positive backMarkerDistance as the implement reaches the field edge
-- before the vehicle (except for very wide work widths of course, so make sure we have enough course to cross
-- the headland)
- -- TODO: fix this properly, maybe we should check the end course during turns instead
- for d = 0, math.max(self.workWidth * 1.5, -self.frontMarkerDistance * 6), 1 do
+ -- (back marker is the worst case, for when the raise implement is set to 'late'. If it is set to 'early',
+ -- the front marker distance would be here relevant but this is only for creating the course, where the vehicle will
+ -- stop finishing the row and start the turn depends only on the raise implement setting.
+ for d = 0, math.max(self.workWidth * 1.5, -self.backMarkerDistance * 1.5), 1 do
local x, _, z = localToWorld(self.workEndNode, 0, 0, d)
table.insert(waypoints, {x = x, z = z})
end
diff --git a/vehicles.lua b/vehicles.lua
index 214ab5a5a..64688f811 100644
--- a/vehicles.lua
+++ b/vehicles.lua
@@ -774,11 +774,7 @@ end;
function courseplay:getToolTurnRadius(workTool)
local turnRadius = 0; -- Default value if none is set
-
- if g_vehicleConfigurations:get(workTool, 'turnRadius') then
- turnRadius = g_vehicleConfigurations:get(workTool, 'turnRadius')
- courseplay:debug(('%s -> TurnRadius: using configured value of %.2fm'):format(nameNum(workTool), turnRadius), 6);
- elseif courseplay:isWheeledWorkTool(workTool) then
+ if courseplay:isWheeledWorkTool(workTool) then
local radiusMultiplier = 1.05; -- Used to add a little bit to the radius, for safer turns.
local wheelBase = 0;
@@ -1559,23 +1555,37 @@ end
-- Get the turning radius of the vehicle and its implements (copied from AIDriveStrategyStraight.updateTurnData())
function AIDriverUtil.getTurningRadius(vehicle)
- courseplay.debugVehicle(6, vehicle, 'Finding turn radius')
- local radius = vehicle.maxTurningRadius * 1.1 -- needs ackermann steering
+ courseplay.debugVehicle(6, vehicle, 'Finding turn radius:')
+
+ local radius = vehicle.maxTurningRadius * 1.05 -- TODO: do we really need this buffer?
+ courseplay.debugVehicle(6, vehicle, ' maxTurningRadius by Giants is %.1f', vehicle.maxTurningRadius)
if vehicle:getAIMinTurningRadius() ~= nil then
+ courseplay.debugVehicle(6, vehicle, ' AIMinTurningRadius by Giants is %.1f', vehicle:getAIMinTurningRadius())
radius = math.max(radius, vehicle:getAIMinTurningRadius())
end
- local maxToolRadius = 0
local attachedAIImplements = vehicle:getAttachedImplements()
+ local maxToolRadius = 0
for _, implement in pairs(attachedAIImplements) do
- local turnRadius = AIVehicleUtil.getMaxToolRadius(implement)
- if turnRadius == 0 then
- turnRadius = courseplay:getToolTurnRadius(implement.object)
- courseplay.debugVehicle(6, vehicle, '%s: no Giants turn radius, we calculated %.1f', implement.object:getName(), turnRadius)
+ local turnRadius = 0
+ if g_vehicleConfigurations:get(implement.object, 'turnRadius') then
+ turnRadius = g_vehicleConfigurations:get(implement.object, 'turnRadius')
+ courseplay.debugVehicle(6, vehicle, ' %s: using the configured turn radius %.1f',
+ implement.object:getName(), turnRadius)
+ else
+ turnRadius = AIVehicleUtil.getMaxToolRadius(implement)
+ if turnRadius > 0 then
+ courseplay.debugVehicle(6, vehicle, ' %s: using the Giants turn radius %.1f',
+ implement.object:getName(), turnRadius)
+ else
+ turnRadius = courseplay:getToolTurnRadius(implement.object)
+ courseplay.debugVehicle(6, vehicle, ' %s: no Giants turn radius, we calculated %.1f',
+ implement.object:getName(), turnRadius)
+ end
end
maxToolRadius = math.max(maxToolRadius, turnRadius)
- courseplay.debugVehicle(6, vehicle, '%s: max tool radius %.1f', implement.object:getName(), maxToolRadius)
+ courseplay.debugVehicle(6, vehicle, ' %s: max tool radius now is %.1f', implement.object:getName(), maxToolRadius)
end
radius = math.max(radius, maxToolRadius)
courseplay.debugVehicle(6, vehicle, 'getTurningRadius: %.1f m', radius)