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fix: leaving course after pathfinder track #884

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Merged
Tensuko merged 1 commit into from
May 27, 2025
Merged

fix: leaving course after pathfinder track #884

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12 changes: 0 additions & 12 deletions scripts/ai/PurePursuitController.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -603,18 +603,6 @@ function PurePursuitController:isReversing()
end
end

function PurePursuitController:getDirection(lz)
local ctx, cty, ctz = self:getClosestWaypointData()
if not ctx then
return lz
end
local dx, _, dz = worldToLocal(self.controlledNode, ctx, cty, ctz)
local distance = math.sqrt(dx * dx + dz * dz)
local r = distance * distance / 2 / dx
local steeringAngle = math.atan(self.vehicle.cp.distances.frontWheelToRearWheel / r)
return math.cos(steeringAngle)
end

-- goal point local position in the vehicle's coordinate system
function PurePursuitController:getGoalPointLocalPosition()
return localToLocal(self.goalWpNode.node, self.controlledNode, 0, 0, 0)
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7 changes: 5 additions & 2 deletions scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua
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Expand Up @@ -411,9 +411,12 @@ function AIDriveStrategyFieldWorkCourse:resumeFieldworkAfterTurn(ix)
self.ppc:setNormalLookaheadDistance()
self:startWaitingForLower()
self:lowerImplements()
local startIx = self.fieldWorkCourse:getNextFwdWaypointIxFromVehiclePosition(ix,
local startIx, found = self.fieldWorkCourse:getNextFwdWaypointIxFromVehiclePosition(ix,
self.vehicle:getAIDirectionNode(), self.workWidth / 2)
self:startCourse(self.fieldWorkCourse, startIx)
-- if we can't found a waypoint in front of us, just use the next (ix would be the turn end, this is after that)
-- ix may be problematic, especially if the next waypoint is a headland corner with > 90 degrees angle, PPC
-- may never advance to the next waypoint
self:startCourse(self.fieldWorkCourse, found and startIx or ix + 1)
end

--- Attempt to recover from a turn where the vehicle got blocked. This replaces the current turn with a
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