[chriskinal]

Field job T10, 2026-11-14 nightly (RAN-OFF, Safety).

What happened

• AutoSteer went off ten seconds into a U-turn and came back on three seconds later.
• The turn is dropped and planned again from scratch (GpsPipelineService clears it). But the tractor was back on its line in the cultivated area only 6 m before the headland, closer than a turn is planned (MinDistanceToCreate, 10 m).
• No turn was planned and nothing was said. It drove on through the headland and 25 m out of the field.
• AgOpenGPS can't turn there either, and sounds "too close".

Change (YouTurnStateMachine.Tick, "too close to plan")

• Conditions: in the cultivated area on the line, heading for the headland, no turn planned or under way, and closer to it than a turn is planned.
• Then the missed-turn sound plays once, with "U-turn missed: too close to the headland to turn. Take over manually."
• Not after an end of field or a refused turn: the operator was told then.
• On a curve the pass is walked ahead first, as for creation: the straight ray can meet the headland early on the outside of a bend (J10).
• The earlier T10 fix (U-turns: plan from the pass line; warn when heading out of the headland with no turn #761, "heading out of the headland") covers the tractor already in the headland. This covers the few metres before it.

Tests

• Too_close_to_the_headland_to_plan_a_turn_the_operator_is_told_once: fails without the change.
• A_turn_planned_in_time_says_nothing_near_the_headland.
• Models 472, Services 2428 (2 skipped), ViewModels 642, RemoteServer 44.
• Runner, first commit against develop (field, path, rig and turn-intervention jobs, 6 U-turns each): T10's RAN-OFF and TURN-LANDED-ELSEWHERE gone, but the warning also fired at the start of J3 and W1 on Baetas, where the first pass cuts across a corner of the cultivated area and comes back into it further on. Fixed in the second commit: the warning walks the pass past the crossing (CultivatedAhead) and is said only at its last one; unit test A_pass_crossing_a_corner_of_the_field_is_not_a_missed_turn.
• Runner, second commit against develop (J3, W1, T10, J10, 6 U-turns): T10's two findings gone, nothing new; J3, W1 and J10 drive their six turns as on develop.

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