[BUG_SP] Sharp Turn chopper occasinaly to far back to detect unload trailer

[pops64]

Look at the video, some things are already very well solved, others are not.
Driver must drive further back to be able to calculate the overload point correctly in the second headland.
LUA error on the last piece.

https://drive.google.com/file/d/18-nBWx0xyY-1Wcef74Pmi-5OHJKT08Ku/view?usp=drive_link

log.txt

[pops64]

This might not be fixable until #30 is completed. Which would involve a lot of effort. For now just keep track of which combinations(Field, Trailer, Chopper) has this issue and just avoid them. My test setup I can't duplicate so there must be some weird combination that occurs to have this happen

[pops64]

2nd Update. Took another look at the code. The problem lies with how combine headland turns are handled. It soly relies on angles and distances and has no regard to with where the fruit is(This is why you have the little bit of fruit at the end of a headland turn). This the problem section of code. Will have to think of a solution to fix it.

Courseplay_FS22/scripts/ai/turns/AITurn.lua

Lines 414 to 454 in d906cb8

	function CombineHeadlandTurn:turn(dt)
	local gx, gz, moveForwards, maxSpeed = AITurn.turn(self)
	local dx, _, dz = self.turnContext:getLocalPositionFromTurnEnd(self.vehicle:getAIDirectionNode())
	local angleToTurnEnd = math.abs(self.turnContext:getAngleToTurnEndDirection(self.vehicle:getAIDirectionNode()))
	if self.state == self.states.FORWARD then
	maxSpeed = self:getForwardSpeed()
	moveForwards = true
	if angleToTurnEnd > self.angleToTurnInReverse then
	--and not self.turnContext:isLateralDistanceLess(dx, self.dxToStartReverseTurn) then
	-- full turn towards the turn end direction
	gx, gz = self:getGoalPointForTurn(moveForwards, self.turnContext:isLeftTurn())
	else
	-- reverse until we can make turn to the turn end point
	self.state = self.states.REVERSE_STRAIGHT
	self:debug('Combine headland turn start reversing straight')
	end
	elseif self.state == self.states.REVERSE_STRAIGHT then
	maxSpeed = self:getReverseSpeed()
	moveForwards = false
	gx, gz = self:getGoalPointForTurn(moveForwards, nil)
	if math.abs(dx) < 0.2 then
	self.state = self.states.REVERSE_ARC
	self:debug('Combine headland turn start reversing arc')
	end
	elseif self.state == self.states.REVERSE_ARC then
	maxSpeed = self:getReverseSpeed()
	moveForwards = false
	gx, gz = self:getGoalPointForTurn(moveForwards, not self.turnContext:isLeftTurn())
	if angleToTurnEnd < math.rad(20) then
	self.state = self.states.ENDING_TURN
	self:debug('Combine headland turn forwarding again')
	-- lower implements here unconditionally (regardless of the direction, self:endTurn() would wait until we
	-- are pointing to the turn target direction)
	self.driveStrategy:lowerImplements()
	self:resumeFieldworkAfterTurn(self.turnContext.turnEndWpIx)
	end
	end
	return gx, gz, moveForwards, maxSpeed
	end