Fecha de publicación: 19/12/2024 Fuente: WIPO "honey" Orientation signals from a ground surface orientation sensor are received at a control system. The signals are indicative of a side tilt angle of a sideways sloped ground surface. Based on the signals the control system, the control system causes a side tilt counteracting mechanism to operate to counteract the sideways acting force acting an agricultural apparatus associated with the side tilt angle. A steerable wheel of an agricultural apparatus is pivotable about a steering axis, and an actuation system is operable to adjust a steering angle of the steerable wheel about the steering axis. The steering angle of the steerable wheel may produce a steering direction that counteracts the side force acting on the tillage apparatus.