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.