![\"FS19](\"https:\/\/www.taimods.com\/wp-content\/uploads\/1763938813104-c94ce059f6499-40306-fs19-courseplay-v6-03-00020.jpg\" "\\"FS19")
<\/p>\n<\/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: DevTeam<\/p>\n
6.03.00020 Mode 2\/3 improvements Wait before starting the next row if the rendezvous point is close to the row end. use A* to calculate distance to combine before the rendezvous. combine notifies unloader on missed rendezvous, unloader re-plans route try to approach combine waiting after backing out of the fruit from the rear so we […]<\/p>\n","protected":false},"author":2,"featured_media":149919,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[571],"tags":[],"class_list":["post-149917","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\/149917","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=149917"}],"version-history":[{"count":0,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/posts\/149917\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/media\/149919"}],"wp:attachment":[{"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/media?parent=149917"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/categories?post=149917"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/taimods.com\/en\/wp-json\/wp\/v2\/tags?post=149917"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}