How control works

The whole reason for Level COMMAND existing is to help you implement earthmoving designs. It seems fairly simple, but the closer you look, the more is involved. Here are some of the considerations:

When we read a GPS position, we convert this to a blade position using the offsets stored in GPS Offsets. Then we perform various calculations (see below) to determine the target elevation. Then when we send the target elevation to COMMAND, we reverse the GPS offsets.

When the implement is over the design and COMMAND is engaged, we send target elevation (and cross slope if enabled) information to COMMAND. Since it takes a little bit of time between reading the GPS elevations and getting the blade to the desired height, we look ahead of the current position by a little. The exact distance changes depending on your speed, so it is determined using the current speed and a small time delay, called "Look Ahead". To edit it, go to Diagnostics/Advanced.

The elevation or slope we sent is further modified by any nudge specified and potentially by any limits set (limits are not yet available).

When the implement is off the map, a "no move" message is sent to COMMAND, making it easier when off the map hauling dirt to/from stockpiles.