Description:
6.03.00024 Bridge and proximity sensor fixes
Aim node elevation fastened (#6665)
Proximity sensor straight on the again of the mix/chopper
permitting for the unloader to get nearer.
When driving over non-level bridges, the managed node isn't vertical and
the aim node was positioned on the bottom stage which is approach beneath the car.
Attributable to this, the aim's place within the managed node's reference wasn't correct
on this state of affairs, appeared to be so much nearer when driving uphill, lot additional when
driving downhill. Uphill aim being too shut brought about oscillations in PPC.
Moved the aim level on the extent of the car (managed node), so the error
attributable to the non-vertical managed node is negligible.
Few proximity sensor and car dimension fixes
Proximity sensor sits on the again of the mix now
fastened pathfinder car information rectangles, clarified the
false impression that the route node is all the time on the foundation node,
it’s not, the route node is the turning node, normally sits
between the non-steered wheels.
6.03.00022 Minor fixes
repair all hybrid A* pathfinder failing
repair reset fill stage after making pocket
6.03.00021 Course generator and switch fixes
No further headland circle (#6605)
Fastened the calculation of the headland/center transition.
If the middle mode is lands, there’s nonetheless a small probability that
an nearly full circle connecting observe shall be added if the beginning
level could be very near the beginning/finish of the primary working row of the
lands sample.
Partial repair for #6383
don’t add straight part to show finish to align if there isn’t a towed
implement
if activate discipline enabled however there's no house to show (should reverse), use
the legacy huge flip (which can be buggy a bit).
when you don't need your sprayers increase hit obstacles exterior the sector,
use a headland.
6.03.00020 Mode 2/3 enhancements
Wait earlier than beginning the subsequent row if the rendezvous level is near the row finish.
use A* to calculate distance to mix earlier than the
rendezvous.
mix notifies unloader on missed rendezvous, unloader
re-plans route
attempt to strategy mix ready after backing out of the fruit
from the rear so we received't minimize in entrance of it.
don't decelerate round rendezvous when discharging already
don't ask for a rendezvous when the mix isn’t prepared to,
for instance when unload is disabled on the primary headland.
received't provoke new rendezvous till the mix cancels the present one
transfer up rendezvous factors near row finish
pipe in fruit map modified to have a 20 m buffer at every finish of the
row to account for non-perpendicular headlands.
fastened offsets when calculating goal to mix, typically it
used the aspect offset as entrance offset.
be certain that to reset 95% full restrict after making pocket
added security margin to the calculation of the space till full
All this to keep away from the state of affairs the place the mix stops earlier than reaching
the rendezvous level as a result of it thinks it’s full (though solely 95%)
solely considers unloaders really ready for task,
ignore those on unload course for instance when a mix
is in search of an unloader
if an unloader is already assigned to a mix, solely it’s
ready for the mix to grow to be prepared for unload (for instance
as a consequence of fruit in pipe), assign the identical mix to it. This
ought to in all probability be refactored, including a brand new state for the unloader,
like WAITING_FOR_COMBINE_TO_BECOME_READY or so.
Credit:
pvaiko
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