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End of the pass: seen on a pass bent round trees too - #233
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At the end of a pass with no U-turn and a hard fence, AutoSteer goes off a metre into the headland (EndOfPassWithoutTurn). The check asks whether the tractor is on the line, heading along it, and walks the pass ahead to the fence. Both were measured against the straight pass. A pass bent round Go around obstacles leaves the crop up to 45 degrees off the pass, so the tractor looked like one turning by hand, and the check (made once per headland entry) said no. Walking the straight pass from abreast of the tractor also found crop the bend had already left. On a tester's field (simulator, 8 m front boom) 3R, bent round two trees in the headland, left the crop 36 degrees off the pass; AutoSteer steered on along the bend for 40 m until the fence guard stopped it with the boom over the fence. The pipeline now hands the check the bend it steers (GoAroundPasses.Current): "on the line" is the bend's heading at the tractor, and PassLeavesFieldAhead walks the bend from its point nearest the tractor. Without a bend nothing changes. On that field the check now says yes 1 m past the crop (was no). Tests: EndOfPassWithoutTurnTests (a tree in a wide headland: the bend leaves the crop 35 degrees off and AutoSteer goes off a metre past the line; a bend through a headland strip with crop past it is not the end). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01VKEBDFmQpFVsahedjtN2AZ
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Nov 14, 2026
# Conflicts: # CLAUDE.md # README.md
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November 14, 2026 15:55
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What changed
At the end of a pass with no U-turn and a hard boundary, AutoSteer goes off a metre into the headland (
EndOfPassWithoutTurn, #197). The check measured "on the line" and "the pass ahead" against the straight pass. A pass bent round Go around obstacles leaves the crop up to 45° off the pass, so the tractor looked like one turning by hand and the check (once per headland entry) said no.On a tester's field (simulator, 8 m front boom 4.5 m ahead) 3R, bent round two trees in the headland, left the crop 36° off the pass. AutoSteer steered on along the bend for 40 m, until the fence guard stopped it with the boom over the fence.
GoAroundPasses.Current).PassLeavesFieldAheadwalks the bend from its point nearest the tractor. The straight pass beside the bend can still be in the crop where the bend has already left it.On that field, the check now says yes 1 m past the crop (it said no before).
Fork only. CLAUDE.md and the fork README are updated.
Related issue
The tester's report of 14 Nov, 13:36 (Casa, south end of 3R).
Pre-submit checklist
dotnet buildsucceeds with no errorsdotnet testpasses: Services.Tests 3849 passed, 1 failed (An_old_display_folder_that_cannot_be_removed_does_not_fail_the_save, which fails only when run as root in the cloud container)EndOfPassWithoutTurnTestsScreenshots
None (no UI change).
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