Makes sure the vine driver always raises late and lowers early.

scripts/ai/AIDriveStrategyFieldWorkCourse.lua

@@ -205,7 +205,8 @@ end
 function AIDriveStrategyFieldWorkCourse:setAITarget()
     --local dx, _, dz = localDirectionToWorld(self.vehicle:getAIDirectionNode(), 0, 0, 1)
     local wp = self.ppc:getCurrentWaypoint()
-    local dx, dz = wp.dx, wp.dz
+    --- TODO: For some reason wp.dx and wp.dz are nil sometimes.
+    local dx, dz = wp.dx or 0, wp.dz or 0
     local length = MathUtil.vector2Length(dx, dz)
     dx = dx / length
     dz = dz / length
@@ -281,7 +282,7 @@ function AIDriveStrategyFieldWorkCourse:shouldRaiseThisImplement(object, turnSta
     -- if something (like a combine) does not have an AI marker it should not prevent from raising other implements
     -- like the header, which does have markers), therefore, return true here
     if not aiBackMarker or not aiFrontMarker then return true end
-    local marker = self.settings.raiseImplementLate:getValue() and aiBackMarker or aiFrontMarker
+    local marker = self:getImplementRaiseLate() and aiBackMarker or aiFrontMarker
     -- turn start node in the back marker node's coordinate system
     local _, _, dz = localToLocal(marker, turnStartNode, 0, 0, 0)
     self:debugSparse('%s: shouldRaiseImplements: dz = %.1f', CpUtil.getName(object), dz)
@@ -342,7 +343,7 @@ function AIDriveStrategyFieldWorkCourse:shouldLowerThisImplement(object, turnEnd
     local dxFront = (dxLeft + dxRight) / 2
     self:debug('%s: dzLeft = %.1f, dzRight = %.1f, dzFront = %.1f, dxFront = %.1f, dzBack = %.1f, loweringDistance = %.1f, reversing %s',
             CpUtil.getName(object), dzLeft, dzRight, dzFront, dxFront, dzBack, loweringDistance, tostring(reversing))
-    local dz = self.settings.lowerImplementEarly:getValue() and dzFront or dzBack
+    local dz = self:getImplementLowerEarly() and dzFront or dzBack
     if reversing then
         return dz < 0 , true, nil
     else
@@ -554,6 +555,14 @@ function AIDriveStrategyFieldWorkCourse:getTurnEndForwardOffset()
     return 0
 end
 
+function AIDriveStrategyFieldWorkCourse:getImplementRaiseLate()
+    return self.settings.raiseImplementLate:getValue()
+end
+
+function AIDriveStrategyFieldWorkCourse:getImplementLowerEarly()
+    return self.settings.lowerImplementEarly:getValue()
+end
+
 function AIDriveStrategyFieldWorkCourse:rememberWaypointToContinueFieldWork()
     local ix = self:getBestWaypointToContinueFieldWork()
     self.vehicle:rememberCpLastWaypointIx(ix)

scripts/ai/AIDriveStrategyVineFieldWorkCourse.lua

@@ -39,4 +39,12 @@ end
 --- Always disables turn on field.
 function AIDriveStrategyVineFieldWorkCourse:isTurnOnFieldActive()
     return false
+end
+
+function AIDriveStrategyVineFieldWorkCourse:getImplementRaiseLate()
+    return true
+end
+
+function AIDriveStrategyVineFieldWorkCourse:getImplementLowerEarly()
+    return true
 end

scripts/specializations/CpAIFieldWorker.lua

@@ -321,3 +321,11 @@ function CpAIFieldWorker:replaceAIFieldWorkerDriveStrategies(jobParameters, star
     --- Only the last driving strategy can stop the helper, while it is running.
     table.insert(spec.driveStrategies, cpDriveStrategy)
 end
+
+--- Makes sure a callstack is printed, when an error appeared.
+--- TODO: Might be a good idea to stop the cp helper.
+local function onUpdate(vehicle, superFunc, ...)
+    CpUtil.try(superFunc, vehicle, ...)
+end
+
+AIFieldWorker.onUpdate = Utils.overwrittenFunction(AIFieldWorker.onUpdate, onUpdate)