Hello, I was playing around in the simulator and I saw the u turn compensation value. I couldn’t figure out what it is and in the wiki I couldn’t find anything about it. Anyone knowing what it does? Thanks!
It should make a difference if you would like to exit the row with straighter line or enter a row with straighter line on headland…
And yet when I change it, nothing happens, atleast in the sim. Thanks anyway, atleast now I know what it is.
This isn’t my understanding… from my understanding + plus adds steer angle making a tighter turn Uturn and minus makes a looser turn.
Now I’m curious what is the real purpose is…
A quick look at CYouTurn.cs would point toward it being a value to make the variable steerAngleYT a little larger or smaller. steerAngleYT then sets mf.guidanceLineSteerAngle, which is the value sent to the autosteer board as the “set” steer angle. So from that I would infer that the uturn compensation is simply to make the wheels turn a little sharper, or less sharp, when in a turn.
Disclaimer: I don’t know the AOG code, or C# very well, and only spent about 3 minutes looking. 
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During a U turn the tractor dynamics can change a whole lot, you’ve often got a higher 3pt load which takes weight off the steer tires, you’re turning much tighter compared to being in the field, etc.
Usually this causes the front wheels to slide sideways a lot and not steer as much as the system thinks it will. This causes the U turn to blow out wide. This causes a wiggle at the start of your new pass while the tractor gets lined back up to 0 xte.
The U turn compensation lets you adjust the amount of steer angle that the system uses for a turn. You can use it to tighten that U turn back up so that you start your next pass closer to 0 xte and don’t have a wiggle.
Of course it can all go the other way too, the U turn can be too tight and you can use the compensation to widen it out.
Play with the setting in the field and you’ll soon have it set right. Its one of the last settings to adjust. Definitely have your cpd setting finalized before you use the u turn compensation setting.
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It probably doesn’t have an effect in Simulator mode.
Thanks a lot!
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