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Settings System (NewSettings Branch)

Overview

Settings are split into three separate files for better organization:

Settings File Purpose
Vehicle GPS/Properties/VehicleSettings.cs Steer settings, IMU, GPS config, brand presets
Tool GPS/Properties/ToolSettings.cs Sections, tramlines, relays, Arduino machines
Environment GPS/Properties/Settings.cs Display, sounds, window positions, colors

Save Pattern

// Vehicle settings
VehicleSettings.Default.Save(RegistrySettings.vehicleFileName);

// Tool settings
ToolSettings.Default.Save(RegistrySettings.toolFileName);

// Environment settings
Settings.Default.Save(); // uses environmentFileName internally

Registry Storage

All settings are stored in Windows Registry (not .config files).

File Locations

Type Directory File Pattern
Vehicle %AppData%\AgOpenGPS\VehicleProfiles\ {ProfileName}.xml
Tool %AppData%\AgOpenGPS\ToolProfiles\ {ProfileName}.xml
Environment %AppData%\AgOpenGPS\Environment\ environment.xml or DefaultEnvironment.xml

Migration

Classes/CSettingsMigration.cs handles migration from the old single-file format.

Vehicle Settings (VehicleSettings.cs)

Vehicle Dimensions

Property Type Default Description
setVehicle_wheelbase double 3.3 Distance from front axle to rear axle (meters)
setVehicle_antennaHeight double 3.0 GPS antenna height above ground (meters)
setVehicle_antennaPivot double 0.1 Distance from antenna to pivot axle (meters)
setVehicle_antennaOffset double 0.0 Lateral offset of antenna (meters)
setVehicle_maxSteerAngle double 30.0 Maximum steering angle (degrees)
setVehicle_maxAngularVelocity double 0.64 Maximum turn rate (degrees/sec)
setVehicle_trackWidth double 1.9 Width of vehicle tracks (meters)

AutoSteer Settings

Property Type Default Description
setAS_Kp byte 50 Proportional gain (0-100)
setAS_countsPerDegree byte 110 WAS sensor counts per degree
setAS_minSteerPWM byte 25 Absolute minimum PWM
setAS_highSteerPWM byte 180 Maximum PWM output
setAS_lowSteerPWM byte 30 Minimum PWM when driving
setAS_wasOffset int 3 WAS sensor zero offset
setAS_sideHillComp double 0.0 Side-hill compensation factor
setAS_ackerman byte 100 Ackerman compensation (%)
setAS_ModeXTE double 0.1 Cross-track error for mode switch
setAS_ModeTime int 1 Time before mode hold activates
setAS_functionSpeedLimit double 12.0 Speed limit for functions (km/h)
setAS_maxSteerSpeed double 15.0 Max steering speed (km/h)
setAS_minSteerSpeed double 0.0 Min steering speed (km/h)
setAS_isSteerInReverse bool false Enable steering in reverse

IMU Settings

Property Type Default Description
setIMU_rollZero double 0.0 Roll angle zero offset (degrees)
setIMU_rollFilter double 0.0 Roll filter value (0-1)
setIMU_invertRoll bool false Invert roll sensor
setIMU_isDualAsIMU bool false Use dual antenna as IMU
setIMU_fusionWeight2 double 0.06 GPS/IMU fusion weight

GPS Settings

Property Type Default Description
setGPS_headingFromWhichSource string "Fix" Heading source: "Fix", "Dual", "IMU"
setGPS_forwardComp double 0.15 Forward compensation (meters)
setGPS_reverseComp double 0.3 Reverse compensation (meters)
setGPS_dualHeadingOffset double 0.0 Dual antenna heading offset (degrees)
setGPS_dualReverseDetectionDistance double 0.25 Reverse detection distance (meters)
setGPS_minimumStepLimit double 0.05 Minimum position step (meters)

Arduino Steer Settings

Property Type Default Description
setArdSteer_setting0 byte 56 Steer config byte 0
setArdSteer_setting1 byte 0 Steer config byte 1
setArdSteer_maxPulseCounts byte 3 Maximum pulse counts
setArdMac_isDanfoss bool false Use Danfoss valve

Brand Settings

Property Type Default Description
setBrand_TBrand TractorBrand AGOpenGPS Tractor brand preset
setBrand_HBrand HarvesterBrand AgOpenGPS Harvester brand preset
setBrand_WDBrand ArticulatedBrand AgOpenGPS Articulated brand preset

Vehicle Type

Property Type Default Description
setVehicle_vehicleType int 0 0=Tractor, 1=Harvester, 2=4WD, 3=Articulated
setVehicle_panicStopSpeed double 0.0 Speed threshold for panic stop

Tool Settings (ToolSettings.cs)

Tool Dimensions

Property Type Default Description
setVehicle_toolWidth double 4.0 Total tool width (meters)
setVehicle_toolOverlap double 0.0 Section overlap (meters)
setVehicle_toolOffset double 0.0 Tool lateral offset (meters)
setVehicle_tankTrailingHitchLength double 3.0 Tank hitch length (meters)
setVehicle_toolTrailingHitchLength double -2.5 Tool hitch length (meters)
setVehicle_toolLookAheadOn double 1.0 Lookahead when section ON (meters)
setVehicle_toolLookAheadOff double 0.5 Lookahead when section OFF (meters)
setVehicle_hitchLength double -1.0 Hitch length (meters)

Tool Configuration

Property Type Default Description
setTool_isToolTrailing bool true Tool is trailing
setTool_isToolRearFixed bool false Tool is rear fixed
setTool_isToolTBT bool false Tool is TBT (Tram Between Tool)
setTool_isToolFront bool false Tool is front mounted
setTool_isSectionsNotZones bool true Use sections instead of zones
setTool_isSectionOffWhenOut bool true Turn off sections out of boundary
setTool_isDisplayTramControl bool true Show tram control
setTool_isTramOuterInverted bool false Invert outer tramlines
setTool_isDirectionMarkers bool true Show direction markers
setTool_trailingToolToPivotLength double 0.0 Distance to pivot (meters)

Section Settings

Property Type Default Description
setVehicle_numSections int 3 Number of sections (1-16)
setTool_numSectionsMulti int 20 Number of sections for multi (1-64)
setSection_isFast bool true Fast section control
setTool_defaultSectionWidth double 2.0 Default section width (meters)
setTool_sectionWidthMulti double 0.5 Section width for multi (meters)
setTool_zones string "2,10,20,..." Zone configuration string

Section Positions (setSection_position1-16)

Position of each section relative to vehicle center (meters, negative = left, positive = right).

Property Type Default
setSection_position1 decimal -2.0
setSection_position2 decimal -1.0
setSection_position3 decimal 1.0
setSection_position4-16 decimal 0.0

Section Colors (setColor_sec01-16)

RGB color for each section display.

Property Type Default
setColor_sec01 Color RGB(249, 22, 10) - Red
setColor_sec02 Color RGB(68, 84, 254) - Blue
setColor_sec03 Color RGB(8, 243, 8) - Green
setColor_sec04-16 Color Various
Property Type Default Description
setColor_isMultiColorSections bool false Use unique colors per section

DeadZone Settings

Property Type Default Description
setAS_deadZoneDistance int 1 Distance dead zone (cm)
setAS_deadZoneHeading int 10 Heading dead zone (degrees)
setAS_deadZoneDelay int 5 Dead zone delay (seconds)

Headland Settings

Property Type Default Description
setHeadland_isSectionControlled bool true Section control in headland

Arduino Machine Settings

Property Type Default Description
setArdMac_setting0 byte 0 Config byte 0
setArdMac_isHydEnabled byte 0 Hydraulics enabled
setArdMac_hydRaiseTime byte 3 Hydraulic raise time (sec)
setArdMac_hydLowerTime byte 4 Hydraulic lower time (sec)
setArdMac_user1-4 byte 1-4 User defined bytes

Relay Settings

Property Type Default Description
setRelay_pinConfig string "1,2,3,0,..." 24 relay pin config (comma-separated)

Guidance Algorithm Settings

Property Type Default Description
purePursuitIntegralGainAB double 0.0 Pure Pursuit integral gain
stanleyDistanceErrorGain double 1.0 Stanley distance gain
stanleyHeadingErrorGain double 1.0 Stanley heading gain
stanleyIntegralGainAB double 0.0 Stanley integral gain
setVehicle_isStanleyUsed bool false Use Stanley algorithm

Tool Specific Steer Parameters

Property Type Default Description
setVehicle_goalPointLookAheadHold double 3.0 Lookahead when holding (meters)
setVehicle_toolOffDelay double 0.0 Tool off delay (sec)
setVehicle_goalPointLookAheadMult double 1.5 Lookahead multiplier
setVehicle_goalPointAcquireFactor double 0.9 Acquire factor
setVehicle_slowSpeedCutoff double 0.5 Slow speed threshold (km/h)
setVehicle_minCoverage double 100 Minimum coverage (%)
setVehicle_hydraulicLiftLookAhead double 2.0 Hyd lift lookahead (meters)
setF_isSteerWorkSwitchEnabled bool false Steer work switch enabled

Environment Settings (Settings.cs)

Window Positions

Property Type Default Description
setWindow_Location Point (30, 30) Main window position
setWindow_Size Size (1005, 730) Main window size
setWindow_Maximized bool false Start maximized
setWindow_Minimized bool false Start minimized
setJobMenu_location Point (200, 200) Job menu position
setJobMenu_size Size (640, 530) Job menu size
setWindow_steerSettingsLocation Point (40, 40) Steer settings position
setWindow_buildTracksLocation Point (40, 40) Build tracks position
setWindow_formNudgeLocation Point (200, 200) Nudge form position
setWindow_formNudgeSize Size (200, 400) Nudge form size
setWindow_abDrawSize Size (1022, 742) AB draw size
setWindow_HeadlineSize Size (1022, 742) Headline window size
setWindow_HeadAcheSize Size (1022, 742) Headache window size
setWindow_MapBndSize Size (1022, 742) Boundary window size
setWindow_BingMapSize Size (965, 700) Bing map window size
setWindow_BingZoom int 15 Bing map zoom level
setWindow_QuickABLocation Point (100, 100) Quick AB position
setWindow_gridSize Size (400, 400) Grid window size
setWindow_gridLocation Point (20, 20) Grid window position
setWindow_tramLineSize Size (921, 676) Tramline window size

Display Settings

Property Type Default Description
setMenu_isMetric bool true Use metric units
setMenu_isGridOn bool true Show grid
setMenu_isLightbarOn bool true Show lightbar
setMenu_isSideGuideLines bool false Show side guidelines
setMenu_isPureOn bool true Pure pursuit mode
setMenu_isSimulatorOn bool true Enable simulator
setMenu_isSpeedoOn bool false Show speedometer
setMenu_isLightbarNotSteerBar bool false Lightbar instead of steer bar
setDisplay_isDayMode bool true Day color mode
setDisplay_isStartFullScreen bool false Start full screen
setDisplay_isKeyboardOn bool true Enable keyboard shortcuts
setDisplay_isVehicleImage bool true Show vehicle image
setDisplay_isTextureOn bool true Use textures
setDisplay_isBrightnessOn bool false Show brightness control
setDisplay_isLogElevation bool false Log elevation data
setDisplay_isSvennArrowOn bool false Show Svenn arrow
setDisplay_isSectionLinesOn bool true Show section lines
setDisplay_isLineSmooth bool false Smooth lines
setDisplay_isTermsAccepted bool false Terms accepted
setDisplay_isHardwareMessages bool false Show hardware messages
setDisplay_isAutoStartAgIO bool true Auto-start AgIO
setDisplay_isAutoOffAgIO bool true Auto-close AgIO
setWindow_isKioskMode bool false Kiosk mode
setWindow_isShutdownComputer bool false Shutdown on exit
setDisplay_isShutdownWhenNoPower bool false Shutdown on power loss

Display Values

Property Type Default Description
setDisplay_lightbarCmPerPixel int 5 Lightbar scale
setDisplay_lineWidth int 2 Line width
setDisplay_brightness int 40 Screen brightness
setDisplay_brightnessSystem int 40 System brightness
setDisplay_camSmooth int 50 Camera smoothing
setDisplay_camZoom double 9.0 Camera zoom
setDisplay_camPitch double -62.0 Camera pitch
setDisplay_vehicleOpacity int 100 Vehicle opacity (%)

Display Colors

Property Type Default Description
setDisplay_colorDayFrame Color RGB(210, 210, 230) Day frame color
setDisplay_colorNightFrame Color RGB(50, 50, 65) Night frame color
setDisplay_colorSectionsDay Color RGB(27, 151, 160) Day section color
setDisplay_colorFieldDay Color RGB(100, 100, 125) Day field color
setDisplay_colorFieldNight Color RGB(60, 60, 60) Night field color
setDisplay_colorTextNight Color RGB(230, 230, 230) Night text color
setDisplay_colorTextDay Color RGB(10, 10, 20) Day text color
setDisplay_colorVehicle Color White Vehicle color
setDisplay_customColors string "-62208,..." Custom color list
setDisplay_customSectionColors string "-62208,..." Section color list
setDisplay_buttonOrder string "0,1,2,..." Button order

Sound Settings

Property Type Default Description
setSound_isUturnOn bool true U-turn sounds
setSound_isHydLiftOn bool true Hyd lift sounds
setSound_isAutoSteerOn bool true Autosteer sounds
setSound_isSectionsOn bool true Section sounds

Keyboard Settings

Property Type Default Description
setKey_hotkeys string "ACFGMNPTYVW12345678" Hotkey assignments

Field Settings

Property Type Default Description
setF_CurrentDir string "" Current field directory
setF_isWorkSwitchEnabled bool false Work switch enabled
setF_isWorkSwitchManualSections bool false Work switch = manual sections
setF_isWorkSwitchActiveLow bool true Work switch active low
setF_isSteerWorkSwitchManualSections bool false Steer work switch = manual
setF_minHeadingStepDistance double 0.5 Min heading step (meters)
setF_UserTotalArea double 0.0 User total area (hectares)
setF_isRemoteWorkSystemOn bool false Remote work system

Global Settings

Property Type Default Description
setFeatures CFeatureSettings - Feature flags
setIMU_isReverseOn bool true Reverse mode uses IMU
setAutoSwitchDualFixOn bool false Auto-switch dual/fix
setAutoSwitchDualFixSpeed double 2.0 Switch speed threshold (km/h)
setBnd_isDrawPivot bool true Draw pivot point
isHeadlandDistanceOn bool false Show headland distance
bndToolSpacing int 1 Boundary tool spacing
bndToolSmooth int 1 Boundary smoothing

AutoSteer Settings (Environment)

Property Type Default Description
setAS_snapDistance double 20.0 Snap distance (cm)
setAS_snapDistanceRef double 5.0 Ref snap distance (cm)
setAS_isAutoSteerAutoOn bool false AutoSteer auto mode
setAS_guidanceLookAheadTime double 1.5 Lookahead time (sec)
setAS_isConstantContourOn bool false Constant contour

GPS Settings (Environment)

Property Type Default Description
setGPS_SimLatitude double 53.4360564 Simulator latitude
setGPS_SimLongitude double -111.160047 Simulator longitude
setGPS_isRTK bool false RTK mode
setGPS_isRTK_KillAutoSteer bool false Kill autosteer on RTK loss
setGPS_ageAlarm int 20 GPS age alarm
setGPS_jumpFixAlarmDistance int 0 Jump fix alarm distance

U-Turn Settings

Property Type Default Description
set_youTurnExtensionLength int 20 U-turn extension (meters)
set_youTurnDistanceFromBoundary double 2.0 Distance from boundary (meters)
set_youSkipWidth int 1 Skip width (passes)
set_youTurnRadius double 8.1 Turn radius (meters)
set_uTurnStyle int 0 U-turn style (0-2)
setAS_uTurnSmoothing double 14.0 U-turn smoothing
setAS_uTurnCompensation double 1.0 U-turn compensation
setAS_numGuideLines int 10 Number of guide lines

Tram Settings

Property Type Default Description
setTram_tramWidth double 24.0 Tram width (meters)
setTram_passes int 1 Number of passes
setTram_alpha double 0.8 Tram transparency

AgShare Settings

Property Type Default Description
AgShareServer string "https://agshare.agopengps.com" AgShare server URL
AgShareApiKey string "" API key
PublicField bool false Public field sharing
AgShareEnabled bool false AgShare enabled
AgShareUploadActive bool false Upload active

UDP Settings

Property Type Default Description
SetGPS_udpWatchMsec int 50 UDP watch interval (ms)

Feature Settings (CFeatureSettings.cs)

Feature flags control which modules are enabled in the application.

Property Type Default Description
isHeadlandOn bool true Headland detection
isTramOn bool false Tramlines
isBoundaryOn bool true Boundaries
isBndContourOn bool false Boundary contours
isRecPathOn bool false Recorded paths
isABSmoothOn bool false Smooth AB lines
isHideContourOn bool false Hide contour lines
isWebCamOn bool false Webcam support
isOffsetFixOn bool false Offset fix
isAgIOOn bool true AgIO integration
isContourOn bool true Contour guidance
isYouTurnOn bool true U-turns
isSteerModeOn bool true Steering modes
isManualSectionOn bool true Manual sections
isAutoSectionOn bool true Auto sections
isCycleLinesOn bool true Cycle lines
isABLineOn bool true AB lines
isCurveOn bool true Curved lines
isAutoSteerOn bool true AutoSteer
isUTurnOn bool true U-turns (duplicate)
isLateralOn bool true Lateral guidance

Migration Examples

Old Combined Profile → New Split Profiles

// Old format (single file)
Vehicles/MyTractor.xml

// New format (split)
VehicleProfiles/MyTractor.xml (vehicle settings)
ToolProfiles/MyTool.xml (tool settings)
Environment/environment.xml (environment settings)

Migration Code Pattern

// Load old profile
SettingsLegacy oldSettings = new SettingsLegacy();
XmlSettingsHandler.LoadXMLFile(oldPath, oldSettings);

// Create new profiles
VehicleSettings vehicle = new VehicleSettings();
ToolSettings tool = new ToolSettings();
Settings environment = new Settings();

// Copy properties
CSettingsMigration.CopyVehicleProperties(oldSettings, vehicle);
CSettingsMigration.CopyToolProperties(oldSettings, tool);
CSettingsMigration.CopyEnvironmentProperties(oldSettings, environment);

// Save new profiles
vehicle.Save(newProfileName);
tool.Save(newToolName);
environment.Save();

Related Files