I'm new to this forum and AgOpenGPS. AOG Looks like a really interesting project with a bright future.
I've been running simulations for my small lawn (mower) tractor and I've run into some problems.
Currently there's no option for tool between wheel axles. There is a workaround, I expect: set the tool behind, rigid, reduce hitch, tow-between and trailing to minimum allowed.
In theory this should work. Tractor is small enough that tool 20cm after vs tool 40cm before rear axle shouldn't make a huge difference. However, I can't confirm at the moment, at least not for my tractor. See next issue.
As soon as I reduce the wheelbase, turning goes bonkers. I.e. it doesn't work properly, if at all. I think the math/algorithms break for such a small tractor.
Here are my tractor parameters (actual, physical, measured):
- wheelbase 120cm
- max steer angle about 45deg
- wheel to wheel width (left outside to right outside of the wheel, front and back the same) 88cm
- tool width 92cm, one section
- min turn radius 70cm (rear wheel outside to same spot when tractor is 180deg turned is ~135cm, rounded up to 140cm)
If I keep wheelbase at 200-250 or more and turn radius near those values, then turning might work (hit and miss) depending on exact numbers used. If I set those values to be lower, then turning does crazy things like in the screenshot, or even far worse. Interestingly, reducing the turn radius even with wheelbase 200-250 causes simulator turn radius to increase.
In my sreenshot first two turns were with min turn radius set to 200, last two turns were with turn radius set to 100.
Wheelbase was 250 on all turns. Section was set to 1x90cm. All else was at default values.
I tried tweaking autosteer options as well, it didn't make any significant difference. Low wheelbase value seems to be the key value that causes turning to go haywire.
Am I missing some settings? Anyone else experienced the same or similar?
I'm running AOG_dev commit f72b84e (3 days old) on linux under wine. Some visual artefacts are there, but my environment shouldn't affect maths and algorithms.
I'll be happy to make some recordings or capture more screenshots if needed.