6.03.00039 Mode 3 combine approach fixes #6612

Forgotten vehicle parameter in OverloaderAIDriver caused it swerving
for the waiting combine.

AIDriver.lua

@@ -2052,8 +2052,11 @@ function AIDriver:checkProximitySensor(maxSpeed, allowedToDrive, moveForwards)
 	-- check for nil and NaN
 	if deg and deg == deg and self:isProximitySwerveEnabled(vehicle) and
 			(not sameDirection or not vehicle:getIsCourseplayDriving()) then
-		local dx = dAvg * math.sin(math.rad(deg))
+		local dx = dAvg * math.sin(math.rad(deg)) -- dx > 0 is left
 		-- which direction to swerve (have a little bias for right, sorry UK folks :)
+		local gx, _, _ = self.ppc:getGoalPointLocalPosition()
+		local bias = gx - 1.2
+		-- TODO: use bias here instead of -1.2
 		local dir = dx > -1.2 and 1 or -1
 		self:setInfoText('SLOWING_DOWN_FOR_TRAFFIC')
 		self.ppc:setTemporaryShortLookaheadDistance(1000)
@@ -2064,8 +2067,9 @@ function AIDriver:checkProximitySensor(maxSpeed, allowedToDrive, moveForwards)
 		self.course:changeTemporaryOffsetX(offsetChange, 1000)
 		-- always slow down when swerving
 		newSpeed = slowSpeed
-		debug(AIDriver.psStateSwerve, 'dAvg = %.1f (%d), speed = %.1f, swerve dx = %.1f, setPoint = %.1f, error = %.1f, offsetChange = %.1f',
-				dAvg, 100 * normalizedD, newSpeed, dx, setPoint, error, offsetChange)
+		debug(AIDriver.psStateSwerve,
+			'dAvg = %.1f (%d), speed = %.1f, swerve dx = %.1f, setPoint = %.1f, error = %.1f, offsetChange = %.1f, (%s)',
+				dAvg, 100 * normalizedD, newSpeed, dx, setPoint, error, offsetChange, nameNum(vehicle))
 	else
 		if self:isProximitySlowDownEnabled(vehicle) then
 			newSpeed = slowSpeed

CombineUnloadAIDriver.lua

@@ -1684,18 +1684,27 @@ function CombineUnloadAIDriver:changeToUnloadWhenFull()
 	end
 	return false
 end
-------------------------------------------------------------------------------------------------------------------------
--- Drive to stopped combine
-------------------------------------------------------------------------------------------------------------------------
-function CombineUnloadAIDriver:driveToCombine()
 
+function CombineUnloadAIDriver:checkForCombineProximity()
 	-- do not swerve for our combine towards the end of the course,
 	-- otherwise we won't be able to align with it when coming from
 	-- the wrong angle
 	if self.course:getDistanceToLastWaypoint(self.course:getCurrentWaypointIx()) < 20 then
+		if not self.doNotSwerveForVehicle:get() then
+			self:debug('Disable swerve for %s', nameNum(self.combineToUnload))
+		end
 		self.doNotSwerveForVehicle:set(self.combineToUnload, 2000)
 	end
 
+end
+
+------------------------------------------------------------------------------------------------------------------------
+-- Drive to stopped combine
+------------------------------------------------------------------------------------------------------------------------
+function CombineUnloadAIDriver:driveToCombine()
+
+	self:checkForCombineProximity()
+
 	courseplay:setInfoText(self.vehicle, "COURSEPLAY_DRIVE_TO_COMBINE");
 
 	self:setFieldSpeed()
@@ -1711,12 +1720,8 @@ end
 -- Drive to moving combine
 ------------------------------------------------------------------------------------------------------------------------
 function CombineUnloadAIDriver:driveToMovingCombine()
-	-- do not swerve for our combine towards the end of the course,
-	-- otherwise we won't be able to align with it when coming from
-	-- the wrong angle
-	if self.course:getDistanceToLastWaypoint(self.course:getCurrentWaypointIx()) < 20 then
-		self.doNotSwerveForVehicle:set(self.combineToUnload, 2000)
-	end
+
+	self:checkForCombineProximity()
 
 	courseplay:setInfoText(self.vehicle, "COURSEPLAY_DRIVE_TO_COMBINE");
 

DevHelper.lua

@@ -128,7 +128,9 @@ function DevHelper:updateProximitySensors(vehicle)
         if vehicle.cp.driver.forwardLookingProximitySensorPack then
             local d, otherVehicle, object, deg, dAvg =
                 vehicle.cp.driver.forwardLookingProximitySensorPack:getClosestObjectDistanceAndRootVehicle()
-        end
+			--renderText(0.6, 0.4, 0.018, string.format('d=%.1f %s deg=%.1f dAvg=%.1f dx=%.1f (%s)',
+			--	d, nameNum(otherVehicle), deg, dAvg, dAvg * math.sin(math.rad(deg)), nameNum(vehicle)))
+		end
         if vehicle.cp.driver.backwardLookingProximitySensorPack then
             local d, otherVehicle, object, deg, dAvg =
                 vehicle.cp.driver.backwardLookingProximitySensorPack:getClosestObjectDistanceAndRootVehicle()

OverloaderAIDriver.lua

@@ -132,9 +132,9 @@ function OverloaderAIDriver:isAugerPipeToolPositionsOkay(dt)
 	return true
 end
 
--- make sure we stay close to the trailer while overloading
-function OverloaderAIDriver:isProximitySwerveEnabled()
-    return CombineUnloadAIDriver.isProximitySwerveEnabled(self) and not self.nearOverloadPoint
+function OverloaderAIDriver:isProximitySwerveEnabled(vehicle)
+	-- make sure we stay close to the trailer while overloading
+	return CombineUnloadAIDriver.isProximitySwerveEnabled(self, vehicle) and not self.nearOverloadPoint
 end
 
 function OverloaderAIDriver:isProximitySpeedControlEnabled()

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="47">
-	<version>6.03.00038</version>
+	<version>6.03.00039</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title><!-- en=English de=German fr=French es=Spanish ru=Russian pl=Polish it=Italian br=Brazilian-Portuguese cs=Chinese(Simplified) ct=Chinese(Traditional) cz=Czech nl=Netherlands hu=Hungary jp=Japanese kr=Korean pt=Portuguese ro=Romanian tr=Turkish -->
 		<en>CoursePlay SIX</en>