feat: config to adjust tight turn offset

config/VehicleConfigurations.xml

@@ -128,7 +128,7 @@ You can define the following custom settings:
 	Disables the pipe height adjustment for trailers of a few pipe implements/vehicles.
 
 - ignorePipeMovingToolIndex: int
-	Ignores the given pipe moving tool by it's index.
+	Ignores the given pipe moving tool by its index.
 	This can be used to ignore a pipe moving part 
 	and only use one part.
 	An example is the premium expansion Dewulf P3K Profi.
@@ -141,6 +141,14 @@ 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.
 
+- 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. 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>
 	<Configurations>
@@ -169,6 +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="FLOAT">tightTurnOffsetDistanceInTurns</Configuration>
 	</Configurations>
     <!--[GIANTS]-->
 
@@ -468,7 +477,9 @@ You can define the following custom settings:
     <Vehicle name="pw10012.xml"
              noReverse = "true"
              implementWheelAlwaysOnGround = "true"
-             turnRadius = "7.5"
+             tightTurnOffsetDistanceInTurns = "1"
+             workingWidth = "5.8"
+             turnRadius = "7.8"
              raiseLate = "true"
              lowerEarly = "true"
     />

scripts/ai/AIUtil.lua

@@ -321,9 +321,10 @@ end
 ---@param vehicle table
 ---@param object table
 ---@return boolean
-function AIUtil.isObjectAttachedOnTheBack(vehicle,object)
-	local _, _, dz = localToLocal(object.rootNode, AIUtil.getDirectionNode(vehicle), 0, 0, 0)
-	if dz < 0 then
+function AIUtil.isObjectAttachedOnTheBack(vehicle, object)
+	-- TODO: now in the implement's coordinate system, this is still not 100% reliable in turns
+	local _, _, dz = localToLocal(AIUtil.getDirectionNode(vehicle), object.rootNode, 0, 0, 0)
+	if dz > 0 then
 		return true
 	end
 	return false

scripts/ai/turns/AITurn.lua

@@ -732,7 +732,7 @@ function CourseTurn:onPathfindingDone(path)
         self.turnCourse:setUseTightTurnOffsetForLastWaypoints(15)
         local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.turnCourse, nil, true)
         local x = AIUtil.getDirectionNodeToReverserNodeOffset(self.vehicle)
-        self:debug('Extending course at direction switch for reversing to %.1f m (or at least 1m)', -x )
+        self:debug('Extending course at direction switch for reversing to %.1f m (or at least 1m)', -x)
         self.turnCourse:adjustForReversing(math.max(1, -x))
         TurnManeuver.setLowerImplements(self.turnCourse, endingTurnLength, true)
     else
@@ -987,7 +987,7 @@ function StartRowOnly:init(vehicle, driveStrategy, ppc, turnContext, startRowCou
     local _, steeringLength = AIUtil.getSteeringParameters(self.vehicle)
     self.enableTightTurnOffset = steeringLength > 0 and not AIUtil.hasArticulatedAxis(self.vehicle)
 
-        -- TODO: do we need tight turn offset here?
+    -- TODO: do we need tight turn offset here?
     self.turnCourse:setUseTightTurnOffsetForLastWaypoints(15)
     -- add a turn ending section into the row to make sure the implements are lowered correctly
     local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.turnCourse, 3, true)

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