feat: config distance for tight turn offset

Added vehicle config option to override default distance
from turn end where tight turn offset is applied
in 180 turns.

#3173

config/VehicleConfigurations.xml

@@ -141,12 +141,13 @@ You can define the following custom settings:
 	Moving tool index for the pipe controller to control the pipe height.
 	This index is for the pipe part that is directly connected to the discharge node.
 
-- disableTightTurnOffsetInTurns: boolean
-    "Tight turn offset" is extending the radius of a turn with a towed implement, in
+- tightTurnOffsetDistanceInTurns: float
+    "Tight turn offset" is extending the radius of turns with a towed implement, in
     order to keep the implement on the path, while the tractor is driving outside the
-    generated turn course. Setting this to true disables this, as some implements,
-    especially big plows turn on the spot and align better with the next row without
-    tight turn offset.
+    generated turn course. This is usually applied to the last curvy 10-20 meters of the
+    turn course. With this value you can override the default to make this section
+    shorter for some implements, especially big plows turn on the spot and align
+    better with the next row without tight turn offset.
 
 -->
 <VehicleConfigurations>
@@ -176,7 +177,7 @@ You can define the following custom settings:
 		<Configuration type="INT">basePipeMovingToolIndex</Configuration>
 		<Configuration type="INT">childPipeMovingToolIndex</Configuration>
 		<Configuration type="FLOAT">unloadOffsetX</Configuration>
-        <Configuration type="BOOL">disableTightTurnOffsetInTurns</Configuration>
+        <Configuration type="FLOAT">tightTurnOffsetDistanceInTurns</Configuration>
 	</Configurations>
     <!--[GIANTS]-->
 

scripts/ai/turns/AITurn.lua

@@ -619,9 +619,7 @@ end
 
 function CourseTurn:onWaypointChange(ix)
     AITurn.onWaypointChange(self, ix)
-    local tightTurnOffsetDisabled = not self.turnContext:isHeadlandCorner() and
-            g_vehicleConfigurations:getRecursively(self.vehicle, 'disableTightTurnOffsetInTurns')
-    if self.turnCourse and not tightTurnOffsetDisabled then
+    if self.turnCourse then
         if self.forceTightTurnOffset or (self.enableTightTurnOffset and self.turnCourse:useTightTurnOffset(ix)) then
             -- adjust the course a bit to the outside in a curve to keep a towed implement on the course
             -- TODO_22

scripts/ai/turns/TurnManeuver.lua

@@ -313,7 +313,9 @@ function AnalyticTurnManeuver:init(vehicle, turnContext, vehicleDirectionNode, t
 	self.course = self:findAnalyticPath(vehicleDirectionNode, 0, turnEndNode, 0, goalOffset, self.turningRadius)
 
 	-- make sure we use tight turn offset towards the end of the course so a towed implement is aligned with the new row
-	self.course:setUseTightTurnOffsetForLastWaypoints(10)
+
+	self.course:setUseTightTurnOffsetForLastWaypoints(
+			g_vehicleConfigurations:getRecursively(vehicle, 'tightTurnOffsetDistanceInTurns') or 10)
 	local ixBeforeEndingTurnSection = self.course:getNumberOfWaypoints()
 	-- and once again, if there is an ending course, keep adjusting the tight turn offset
 	local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.course, steeringLength, true)
@@ -428,7 +430,8 @@ function TurnEndingManeuver:init(vehicle, turnContext, vehicleDirectionNode, tur
 	self:generateStraightSection(endArc, endStraight)
 	myCorner:delete()
 	self.course = Course(vehicle, self.waypoints, true)
-	self.course:setUseTightTurnOffsetForLastWaypoints(20)
+	self.course:setUseTightTurnOffsetForLastWaypoints(
+			g_vehicleConfigurations:getRecursively(vehicle, 'tightTurnOffsetDistanceInTurns') or 20)
 	TurnManeuver.setLowerImplements(self.course, math.max(math.abs(turnContext.frontMarkerDistance), steeringLength))
 end