![\"FS19](\"https:\/\/www.taimods.com\/wp-content\/uploads\/1763938762159-2820027c048a2-56347-fs19-courseplay-for-fs19-v6-03-00025.jpg\" "\\"FS19")
<\/p>\n<\/p>\n
6.03.00025 Mode 2\/3 Improvements
\nfixes #6633 (Distance to next turn may not be defined for instance
\nin the last row)
\ntried to make the rendezvous more fault tolerant
\nuse a higher fruit value limit in the hybrid parts as it is not a
\nproblem getting temporarily closer to the fruit there, and it speeds
\nup the pathfinding quite a bit.
\nreduce off field penalty when combine on headland for faster
\npathfinding
\nbetter driving time estimation to rendezvous point now
\nconsidering turns we have to make to get there
\nimproved chopper handling in turns with headland at an angle<\/p>\n
6.03.00024 Bridge and proximity sensor fixes
\nGoal node elevation fixed (#6665)
\nProximity sensor directly on the back of the combine\/chopper
\nallowing for the unloader to get closer.<\/p>\n
When driving over non-level bridges, the controlled node isn\u2019t vertical and
\nthe goal node was positioned on the ground level which is way below the vehicle.<\/p>\n
Due to this, the goal\u2019s position in the controlled node\u2019s reference wasn\u2019t accurate
\nin this situation, seemed to be a lot closer when driving uphill, lot further when
\ndriving downhill. Uphill goal being too close caused oscillations in PPC.<\/p>\n
Moved the goal point on the level of the vehicle (controlled node), so the error
\ncaused by the non-vertical controlled node is negligible.<\/p>\n
Few proximity sensor and vehicle size fixes
\nProximity sensor sits on the back of the combine now
\nfixed pathfinder vehicle data rectangles, clarified the
\nmisconception that the direction node is always on the root node,
\nit is not, the direction node is the turning node, usually sits
\nbetween the non-steered wheels.<\/p>\n
6.03.00022 Minor fixes
\nfix all hybrid A* pathfinder failing
\nfix reset fill level after making pocket<\/p>\n
6.03.00021 Course generator and turn fixes
\nNo extra headland circle (#6605)
\nFixed the calculation of the headland\/middle transition.
\nIf the center mode is lands, there is still a small chance that
\nan almost full circle connecting track will be added if the starting
\npoint is very close to the start\/end of the first working row of the
\nlands pattern.<\/p>\n
Partial fix for #6383
\ndo not add straight section to turn end to align if there is no towed
\nimplement
\nif turn on field enabled but there\u2019s no space to turn (must reverse), use
\nthe legacy wide turn (which is also buggy a bit).
\nif you don\u2019t want your sprayers boom hit obstacles outside the field,
\nuse a headland.<\/p>\n
6.03.00020 Mode 2\/3 improvements
\nWait before starting the next row if the rendezvous point is close to the row end.
\nuse A* to calculate distance to combine before the
\nrendezvous.
\ncombine notifies unloader on missed rendezvous, unloader
\nre-plans route
\ntry to approach combine waiting after backing out of the fruit
\nfrom the rear so we won\u2019t cut in front of it.
\ndon\u2019t slow down around rendezvous when discharging already
\ndon\u2019t ask for a rendezvous when the combine is not willing to,
\nfor example when unload is disabled on the first headland.
\nwon\u2019t initiate new rendezvous until the combine cancels the current one
\nmove up rendezvous points close to row end
\npipe in fruit map changed to have a 20 m buffer at each end of the
\nrow to account for non-perpendicular headlands.
\nfixed offsets when calculating target to combine, sometimes it
\nused the side offset as front offset.
\nmake sure to reset 95% full limit after making pocket
\nadded safety margin to the calculation of the distance until full
\nAll this to avoid the situation where the combine stops before reaching
\nthe rendezvous point because it thinks it is full (although only 95%)
\nonly considers unloaders actually waiting for assignment,
\nignore the ones on unload course for example when a combine
\nis looking for an unloader
\nif an unloader is already assigned to a combine, only it is
\nwaiting for the combine to become ready for unload (for example
\ndue to fruit in pipe), assign the same combine to it. This
\nshould probably be refactored, adding a new state for the unloader,
\nlike WAITING_FOR_COMBINE_TO_BECOME_READY or so.<\/p>\n
Authors: Courseplay.devTeam<\/p>\n
6.03.00025 Mode 2\/3 Improvements fixes #6633 (Distance to next turn may not be defined for instance in the last row) tried to make the rendezvous more fault tolerant use a higher fruit value limit in the hybrid parts as it is not a problem getting temporarily closer to the fruit there, and it speeds up […]<\/p>\n","protected":false},"author":2,"featured_media":149815,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[571],"tags":[],"class_list":["post-149812","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-fs19-khac"],"blocksy_meta":[],"acf":[],"_links":{"self":[{"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/posts\/149812","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/comments?post=149812"}],"version-history":[{"count":0,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/posts\/149812\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/media\/149815"}],"wp:attachment":[{"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/media?parent=149812"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/categories?post=149812"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/tags?post=149812"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}