A. D. does not use the setting "Restrict pathfinder to field"

[KroshkaRoo]

If the task "unloading of the combine" and A.D. starts not within the borders of the field, then the setting "Restrict pathfinder to field" is ignored. As a result, in the fields of complex shape, A.D. tries to get to the combine on the shortest path, including through the relief.
Is it possible that at the beginning of his work he check the presence of the border of the field into a certain radius, and if there is a field, then he built a route inside the field?
For example, at first he crossed the border of the field, and then began to build a route to the combine, using the setting "Restrict pathfinder to field"?

[Iwan1803]

"Search for the path only within the boundaries of the field"? 🤔

If there is a catch line for AD around the field, then set the field exit strategy to "nearest".

[KroshkaRoo]

"Restrict pathfinder to field" - this option

Edited first post.

If there is a catch line for AD around the field, then set the field exit strategy to "nearest".

I use this. It's no problem.

[KroshkaRoo]

Situation: The combine unloader took the fruit to the destination point, and returned to the field. The route point, marked as field number, is located next to the field, because otherwise the unloader will interfere with the combine. And when the combine calls the unloader, the "Restrict Pathfinder to Field" option is ignored. If the unloader is restarted inside the borders of the field, then this option is used. But, until the next departure of the unloader from the field for unloading.
I hope so clearer.
Example of fields of complex form - Yagodnoe map

[rohne83]

But this makes sense. If the unloader is outside field boundaries when it is started, how shall it be able to stay within the field boundaries? AD pathfinder is by far less complex than CP pathfinder, and I don't think it applies some kind of cost to the waypoints. So if it cannot find a path totally inside the field as it already is outside, I guess it will just ignore this setting