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fix: recovery turn #3517

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merged 1 commit into from
Oct 11, 2024
Merged

fix: recovery turn #3517

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3 changes: 3 additions & 0 deletions scripts/ai/turns/AITurn.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,9 @@ end
function AITurn:onBlocked()
-- unregister here before the AITurn object is destructed
self.proximityController:unregisterBlockingObjectListener()
-- restore onWaypoint* listeners before giving back control to the drive strategy, otherwise they'll be lost
-- when the recovery turn is instantiated and registers its own listeners
self.ppc:restorePreviouslyRegisteredListeners()
self.driveStrategy:startRecoveryTurn(1 * self.turningRadius)
end

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2 changes: 1 addition & 1 deletion scripts/field/FieldScanner.lua
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Expand Up @@ -177,7 +177,7 @@ function FieldScanner:findContour(x, z)
else
if not done and not lost then
self:debug('%d. try, edge not found, we may have hit an island or corner, reset/rotate the probe a bit and retry', i)
setRotation(probe, 0, i * math.pi / 7, 0)
setRotation(probe, 0, i * math.pi / 6, 0)
elseif lost then
self:info('Could not trace field edge, limit search to field %d and retry', fieldId)
limitToFieldId = fieldId
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