Hi @Llacunaorg ! In hilly landscape : We could record a first line with the GPS antenna in hand and then ask the mapping software to copy this line every XXX inches for next rows. But, we would have to be sure that the contouring stocks to the slopes variations. On flat land, basically, we set an A-B line and ask the mapping system to draw the next rows and we add a geofencing limit that follows external border of the field + keeping a U-turn zone.