Description:
6.03.00025 Mode 2/3 Enhancements
fixes #6633 (Distance to subsequent flip might not be outlined as an illustration
within the final row)
tried to make the rendezvous extra fault tolerant
use a better fruit worth restrict within the hybrid components as it’s not a
downside getting briefly nearer to the fruit there, and it speeds
up the pathfinding fairly a bit.
scale back off area penalty when mix on headland for quicker
pathfinding
higher driving time estimation to rendezvous level now
contemplating turns we’ve to make to get there
improved chopper dealing with in turns with headland at an angle
6.03.00024 Bridge and proximity sensor fixes
Purpose node elevation fastened (#6665)
Proximity sensor immediately 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 purpose node was positioned on the bottom degree which is method beneath the automobile.
As a result of this, the purpose's place within the managed node's reference wasn't correct
on this state of affairs, appeared to be quite a bit nearer when driving uphill, lot additional when
driving downhill. Uphill purpose being too shut precipitated oscillations in PPC.
Moved the purpose level on the extent of the automobile (managed node), so the error
attributable to the non-vertical managed node is negligible.
Few proximity sensor and automobile dimension fixes
Proximity sensor sits on the again of the mix now
fastened pathfinder automobile information rectangles, clarified the
false impression that the course node is all the time on the basis node,
it’s not, the course 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 degree after making pocket
6.03.00021 Course generator and switch fixes
No further headland circle (#6605)
Mounted the calculation of the headland/center transition.
If the middle mode is lands, there may be nonetheless a small likelihood that
an virtually full circle connecting monitor can be added if the beginning
level may 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 any towed
implement
if activate area enabled however there's no area to show (should reverse), use
the legacy extensive flip (which can also be buggy a bit).
should you don't need your sprayers increase hit obstacles outdoors 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 just isn’t keen 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 to reset 95% full restrict after making pocket
added security margin to the calculation of the gap 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 searching for an unloader
if an unloader is already assigned to a mix, solely it’s
ready for the mix to turn out to be prepared for unload (for instance
resulting from fruit in pipe), assign the identical mix to it. This
ought to most likely be refactored, including a brand new state for the unloader,
like WAITING_FOR_COMBINE_TO_BECOME_READY or so.
Credit:
Courseplay.devTeam
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