Merge pull request #388 from farmerbriantee/611_Fixes

611 fixes

SourceCode/AgIO/Source/Forms/FormKeyboard.cs

@@ -47,7 +47,7 @@ private void FormKeyboard_Load(object sender, EventArgs e)
             string language = Properties.Settings.Default.setF_culture;
             if (language == "fr")
             {
-                this.Height = 640;
+                this.Height = 587;
             }
             else
             {

SourceCode/AgIO/Source/Forms/FormKeyboard.resx

@@ -117,4 +117,7 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
+  <metadata name="keyboard1.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
 </root>

SourceCode/GPS/AgOpenGPS.csproj

@@ -940,6 +940,8 @@
     <None Include="btnImages\ABPivot.png" />
     <None Include="btnImages\TrackPivot.png" />
     <None Include="btnImages\Config\ConF_SoundSections.png" />
+    <None Include="btnImages\Config\ConD_LogElevation.png" />
+    <None Include="btnImages\Config\ConT_TramOverrideDisplay.png" />
     <Content Include="Resources\TF012.WAV" />
     <None Include="Resources\SectionOn.wav" />
     <None Include="Resources\SectionOff.wav" />

SourceCode/GPS/Classes/CABCurve.cs

@@ -337,9 +337,11 @@ public void BuildCurveCurrentList(vec3 pivot)
                     {
                         int ptCnt = curList.Count - 1;
 
+                        bool isAdding = false;
                         //end
                         while (mf.bnd.bndList[0].fenceLineEar.IsPointInPolygon(curList[curList.Count - 1]))
                         {
+                            isAdding = true;
                             for (int i = 1; i < 10; i++)
                             {
                                 vec3 pt = new vec3(curList[ptCnt]);
@@ -350,11 +352,25 @@ public void BuildCurveCurrentList(vec3 pivot)
                             ptCnt = curList.Count - 1;
                         }
 
+                        if (isAdding)
+                        {
+                            vec3 pt = new vec3(curList[curList.Count - 1]);
+                            for (int i = 1; i < 5; i++)
+                            {
+                                pt.easting += (Math.Sin(pt.heading) * 2);
+                                pt.northing += (Math.Cos(pt.heading) * 2);
+                                curList.Add(pt);
+                            }
+                        }
+
+                        isAdding = false;
+
                         //and the beginning
                         pt33 = new vec3(curList[0]);
 
                         while (mf.bnd.bndList[0].fenceLineEar.IsPointInPolygon(curList[0]))
                         {
+                            isAdding = true;
                             pt33 = new vec3(curList[0]);
 
                             for (int i = 1; i < 10; i++)
@@ -365,6 +381,18 @@ public void BuildCurveCurrentList(vec3 pivot)
                                 curList.Insert(0, pt);
                             }
                         }
+
+                        if (isAdding)
+                        {
+                            vec3 pt = new vec3(curList[0]);
+                            for (int i = 1; i < 5; i++)
+                            {
+                                pt.easting -= (Math.Sin(pt.heading) * 2);
+                                pt.northing -= (Math.Cos(pt.heading) * 2);
+                                curList.Insert(0, pt);
+                            }
+                        }
+
                     }
                 }
             }
@@ -378,11 +406,13 @@ public void BuildCurveCurrentList(vec3 pivot)
                     - (mf.pivotAxlePos.northing - refPoint1.northing) * (mf.steerAxlePos.easting - refPoint1.easting)) < 0;
 
                 //how far are we away from the reference line at 90 degrees - 2D cross product and distance
-                distanceFromRefLine = glm.Distance(mf.guidanceLookPos, refPoint1);
+                distanceFromRefLine = glm.Distance(mf.pivotAxlePos, refPoint1);
 
                 distanceFromRefLine -= (0.5 * widthMinusOverlap);
 
-                double RefDist = (distanceFromRefLine + (isHeadingSameWay ? mf.tool.offset : -mf.tool.offset)) / widthMinusOverlap;
+                double RefDist = (distanceFromRefLine 
+                    + (isHeadingSameWay ? mf.tool.offset : -mf.tool.offset) 
+                    + mf.trk.gArr[idx].nudgeDistance) / widthMinusOverlap;
 
                 if (RefDist < 0) howManyPathsAway = (int)(RefDist - 0.5);
                 else howManyPathsAway = (int)(RefDist + 0.5);

SourceCode/GPS/Classes/CGuidance.cs

@@ -277,8 +277,8 @@ public void StanleyGuidanceCurve(vec3 pivot, vec3 steer, ref List<vec3> curList)
                 //find the closest 2 points of pivot back from steer
                 for (int j = cc; j < dd; j++)
                 {
-                    double dist = ((pivot.easting - curList[j].easting) * (pivot.easting - curList[j].easting))
-                                    + ((pivot.northing - curList[j].northing) * (pivot.northing - curList[j].northing));
+                    double dist = ((steer.easting - curList[j].easting) * (steer.easting - curList[j].easting))
+                                    + ((steer.northing - curList[j].northing) * (steer.northing - curList[j].northing));
                     if (dist < minDistA)
                     {
                         minDistB = minDistA;
@@ -323,13 +323,13 @@ public void StanleyGuidanceCurve(vec3 pivot, vec3 steer, ref List<vec3> curList)
                 if (Math.Abs(dx) < Double.Epsilon && Math.Abs(dz) < Double.Epsilon) return;
 
                 //how far from current AB Line is fix
-                distanceFromCurrentLinePivot = ((dz * pivot.easting) - (dx * pivot.northing) + (pivB.easting
+                distanceFromCurrentLinePivot = ((dz * steer.easting) - (dx * steer.northing) + (pivB.easting
                             * pivA.northing) - (pivB.northing * pivA.easting))
                                 / Math.Sqrt((dz * dz) + (dx * dx));
 
                 mf.curve.distanceFromCurrentLinePivot = distanceFromCurrentLinePivot;
-                double U = (((pivot.easting - pivA.easting) * dx)
-                                + ((pivot.northing - pivA.northing) * dz))
+                double U = (((steer.easting - pivA.easting) * dx)
+                                + ((steer.northing - pivA.northing) * dz))
                                 / ((dx * dx) + (dz * dz));
 
                 rEastPivot = pivA.easting + (U * dx);

SourceCode/GPS/Classes/CTool.cs

@@ -54,6 +54,8 @@ public class CTool
         public int zones;
         public int[] zoneRanges = new int[9];
 
+        public bool isDisplayTramControl;
+
         //Constructor called by FormGPS
         public CTool(FormGPS _f)
         {
@@ -116,6 +118,8 @@ public CTool(FormGPS _f)
             {
                 zoneRanges[i] = int.Parse(words[i]);
             }
+
+            isDisplayTramControl = Properties.Settings.Default.setTool_isDisplayTramControl;
         }
 
         public void DrawTool()
@@ -371,7 +375,7 @@ public void DrawTool()
                 }
 
                 //tram Dots
-                if (mf.tram.displayMode != 0)
+                if (isDisplayTramControl && mf.tram.displayMode != 0)
                 {
                     if (mf.camera.camSetDistance > -300)
                     {

SourceCode/GPS/Classes/CVehicle.cs

@@ -23,7 +23,7 @@ public class CVehicle
         public double slowSpeedCutoff = 0;
 
         //autosteer values
-        public double goalPointLookAhead, goalPointLookAheadHold, goalPointLookAheadMult;
+        public double goalPointLookAhead, goalPointLookAheadHold, goalPointLookAheadMult, uturnCompensation;
 
         public double stanleyDistanceErrorGain, stanleyHeadingErrorGain;
         public double minLookAheadDistance = 2.0;
@@ -97,6 +97,8 @@ public CVehicle(FormGPS _f)
             functionSpeedLimit = Properties.Settings.Default.setAS_functionSpeedLimit;
             maxSteerSpeed = Properties.Settings.Default.setAS_maxSteerSpeed;
             minSteerSpeed = Properties.Settings.Default.setAS_minSteerSpeed;
+
+            uturnCompensation = Properties.Settings.Default.setAS_uTurnCompensation;
         }
 
         public int modeTimeCounter = 0;

SourceCode/GPS/Classes/CYouTurn.cs

@@ -231,11 +231,6 @@ private bool CreateCurveOmegaTurn(bool isTurnLeft, vec3 pivotPos)
 
                         //creates half a circle starting at the crossing point
                         ytList.Clear();
-                        if (curveIndex >= mf.curve.curList.Count - 3 || curveIndex < 3)
-                        {
-                            FailCreate();
-                            return false;
-                        }
 
                         curveIndex += count;
 
@@ -2587,7 +2582,7 @@ public void BuildManualYouLateral(bool isTurnLeft)
             double turnOffset = (mf.tool.width - mf.tool.overlap); //remove rowSkips
 
             //if its straight across it makes 2 loops instead so goal is a little lower then start
-            if (!isHeadingSameWay) head += Math.PI;
+            if (!mf.isStanleyUsed &&!isHeadingSameWay) head += Math.PI;
 
             //move the start forward 2 meters, this point is critical to formation of uturn
             rEastYT += (Math.Sin(head) * 2);
@@ -2762,20 +2757,25 @@ public bool DistanceFromYouTurnLine()
                     //}
 
                     //feed backward to turn slower to keep pivot on
-                    A -= 7;
                     if (A < 0)
                     {
                         A = 0;
                     }
                     B = A + 1;
 
                     //return and reset if too far away or end of the line
-                    if (B >= ptCount - 8)
+                    if (B >= ptCount - 1)
                     {
                         CompleteYouTurn();
                         return false;
                     }
 
+                    if (uTurnStyle == 1 && pt3Phase == 0 && mf.isReverse)
+                    {
+                        CompleteYouTurn();
+                        return true;
+                    }
+
                     //get the distance from currently active AB line, precalc the norm of line
                     double dx = ytList[B].easting - ytList[A].easting;
                     double dz = ytList[B].northing - ytList[A].northing;
@@ -2820,7 +2820,7 @@ public bool DistanceFromYouTurnLine()
                     if (steerAngleYT < -0.74) steerAngleYT = -0.74;
 
                     //add them up and clamp to max in vehicle settings
-                    steerAngleYT = glm.toDegrees((steerAngleYT + abFixHeadingDelta) * -1.0);
+                    steerAngleYT = glm.toDegrees((steerAngleYT + abFixHeadingDelta * mf.vehicle.uturnCompensation) * -1.0);
                     if (steerAngleYT < -mf.vehicle.maxSteerAngle) steerAngleYT = -mf.vehicle.maxSteerAngle;
                     if (steerAngleYT > mf.vehicle.maxSteerAngle) steerAngleYT = mf.vehicle.maxSteerAngle;
                 }
@@ -2883,7 +2883,9 @@ public bool DistanceFromYouTurnLine()
 
                     //sharp turns on you turn.
                     //update base on autosteer settings and distance from line
-                    double goalPointDistance = 0.8 * mf.vehicle.UpdateGoalPointDistance();
+                    double goalPointDistance = mf.vehicle.UpdateGoalPointDistance();
+
+                    //goalPointDistance *= mf.vehicle.uturnCompensation;
 
                     isHeadingSameWay = true;
                     bool ReverseHeading = !mf.isReverse;
@@ -2933,6 +2935,8 @@ public bool DistanceFromYouTurnLine()
                     steerAngleYT = glm.toDegrees(Math.Atan(2 * (((goalPointYT.easting - pivot.easting) * Math.Cos(localHeading))
                         + ((goalPointYT.northing - pivot.northing) * Math.Sin(localHeading))) * mf.vehicle.wheelbase / goalPointDistanceSquared));
 
+                    steerAngleYT *= mf.vehicle.uturnCompensation;
+
                     if (steerAngleYT < -mf.vehicle.maxSteerAngle) steerAngleYT = -mf.vehicle.maxSteerAngle;
                     if (steerAngleYT > mf.vehicle.maxSteerAngle) steerAngleYT = mf.vehicle.maxSteerAngle;