Controlling a positioning system for an agricultural implement

An apparatus for generating position signals for controlling the positioning of an agricultural implement relative to the ground, the apparatus comprising a processor circuit operably configured to:

• receive first and second position signals representing respective first and second positions of the agricultural implement relative to the ground, the first and second positions being associated with spaced apart locations on the agricultural implement and being operable to provide an input to a controller for controlling the positioning of the agricultural implement relative to the ground;
• receive an intermediate position signal representing an intermediate position of the agricultural implement relative to the ground, the intermediate position being associated with an intermediate location disposed between the spaced apart locations on the agricultural implement;
• and
• when the intermediate position signal represents a position of the agricultural implement that is closer to the ground than a threshold intermediate distance due to a ground inconsistency, modify the first and second position signals based on the intermediate position signal to represent positions that are closer to the ground to cause the controller to lift the agricultural implement to clear the ground inconsistency.

A non-transitory computer readable medium including codes for directing a processor circuit to generate signals for controlling the positioning of an agricultural implement relative to the ground, the codes causing the processor circuit to:

• receive first and second position signals representing respective first and second positions of the agricultural implement relative to the ground, the first and second positions being associated with spaced apart locations on the agricultural implement and being operable to provide an input to a controller for controlling the positioning of the agricultural implement relative to the ground;
• receive an intermediate position signal representing an intermediate position of the agricultural implement relative to the ground, the intermediate position being associated with an intermediate location disposed between the spaced apart locations on the agricultural implement;
• and
• when the intermediate position signal represents a position of the agricultural implement that is closer to the ground than a threshold intermediate distance due to a ground inconsistency, modify the first and second position signals based on the intermediate position signal to represent positions that are closer to the ground to cause the controller to lift the agricultural implement to clear the ground inconsistency.