6.01.00199 Combine pocket fix

Make sure the combine starts the pocket early enough so it has the tank
capacity to finish the pocket.

CombineAIDriver.lua

@@ -63,7 +63,7 @@ function CombineAIDriver:onWaypointPassed(ix)
 	self:checkFruit()
 	-- make sure we start making a pocket while we still have some fill capacity left as we'll be
 	-- harvesting fruit while making the pocket
-	if not self.fieldOnLeft then
+	if self:shouldMakePocket() then
 		self.fillLevelFullPercentage = self.pocketFillLevelFullPercentage
 	end
 	self:checkDistanceUntilFull(ix)
@@ -91,8 +91,8 @@ function CombineAIDriver:changeToFieldworkUnloadOrRefill()
 	if self.vehicle.cp.realisticDriving then
 		self:checkFruit()
 		-- TODO: check around turn maneuvers we may not want to pull back before a turn
-		if not self.fieldOnLeft or (self.fruitLeft > 0.75 and self.fruitRight > 0.75) then
-			-- I'm on the edge of the field, make a pocket on the right side and wait there for the unload
+		if self:shouldMakePocket() then
+			-- I'm on the edge of the field or fruit is on both sides, make a pocket on the right side and wait there for the unload
 			local pocketCourse, nextIx = self:createPocketCourse()
 			if pocketCourse then
 				self:debug('No room to the left, making a pocket for unload')
@@ -105,7 +105,7 @@ function CombineAIDriver:changeToFieldworkUnloadOrRefill()
 				-- revert to normal behavior
 				UnloadableFieldworkAIDriver.changeToFieldworkUnloadOrRefill(self)
 			end
-		elseif self.fruitLeft > self.fruitRight then
+		elseif self:shouldPullBack() then
 			-- is our pipe in the fruit? (assuming pipe is on the left side)
 			local pullBackCourse = self:createPullBackCourse()
 			if pullBackCourse then
@@ -211,6 +211,16 @@ function CombineAIDriver:unloadFinished()
 	return (self:allFillLevelsOk() and not discharging) or fillLevel < 0.1
 end
 
+function CombineAIDriver:shouldMakePocket()
+	-- on the outermost headland clockwise (field edge) or fruit both sides
+	return not self.fieldOnLeft or (self.fruitLeft > 0.75 and self.fruitRight > 0.75)
+end
+
+function CombineAIDriver:shouldPullBack()
+	-- is our pipe in the fruit? (assuming pipe is on the left side)
+	return self.fruitLeft > self.fruitRight
+end
+
 function CombineAIDriver:checkFruit()
 	-- getValidityOfTurnDirections() wants to have the vehicle.aiDriveDirection, so get that here.
 	local dx,_,dz = localDirectionToWorld(self.vehicle:getAIVehicleDirectionNode(), 0, 0, 1)

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="40">
-	<version>6.01.00198</version>
+	<version>6.01.00199</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title>
 		<br>CoursePlay SIX</br>

turn.lua

@@ -410,7 +410,7 @@ function courseplay:turn(vehicle, dt, turnContext)
 						-- We have more waypoints, so we goto stage 4, which will still change waypoints together with checking if we can lower the implement
 						vehicle.cp.turnStage = 4;
 					end;
-					courseplay:debug(string.format("%s:(Turn) Ending turn, stage %d", nameNum(vehicle), vehicle.cp.turnStage ), 14);
+					courseplay:debug(string.format("%s:(Turn) Ending turn at waypoint %d, stage %d", nameNum(vehicle), vehicle.cp.curTurnIndex, vehicle.cp.turnStage ), 14);
 					return;
 				end;
 
@@ -1401,6 +1401,7 @@ function courseplay:generateTurnTypeForward3PointTurn(vehicle, turnInfo)
 		fromPoint.z = z;
 		toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.directionNodeToTurnNodeLength - turnInfo.zOffset + 5);
 		courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, false, true);
+		courseplay.setLowerImplementsPoint(vehicle, turnInfo.frontMarker, turnInfo.targetNode)
 	else
 		--- Get the 2 circle center coordinate
 		local center1ZOffset = turnInfo.targetDeltaZ + turnInfo.zOffset + frontOffset;