diff --git a/AIDriver.lua b/AIDriver.lua
index 370e9f958..91d461858 100644
--- a/AIDriver.lua
+++ b/AIDriver.lua
@@ -293,6 +293,14 @@ function AIDriver:driveCourse(dt)
 		self:hold()
 	end
 
+	if not self:getIsEngineReady() then
+		if self:getSpeed() > 0 and self.allowedToDrive then
+			self:startEngineIfNeeded()
+			self:hold()
+			self:debugSparse('Wait for the engine to start')
+		end
+	end
+
 	-- use the recorded speed by default
 	if not self:hasTipTrigger() then
 		self:setSpeed(self:getRecordedSpeed())
@@ -311,10 +319,6 @@ function AIDriver:driveCourse(dt)
 
 	self:stopEngineIfNotNeeded()
 
-	if self:getSpeed() > 0 and self.allowedToDrive then
-		self:startEngineIfNeeded()
-	end
-
 	if isReverseActive then
 		-- we go wherever goReverse() told us to go
 		self:driveVehicleInDirection(dt, self.allowedToDrive, moveForwards, lx, lz, self:getSpeed())
@@ -1149,14 +1153,20 @@ function AIDriver:getClosestPointOnFieldBoundary(x, z, fieldNum)
 end
 
 function AIDriver:startEngineIfNeeded()
-	if self.vehicle.spec_motorized and not self.vehicle.spec_motorized.isMotorStarted then
+	if self.vehicle.spec_motorized and not self.vehicle.spec_motorized:getIsMotorStarted() then
 		self.vehicle:startMotor()
 	end
-	-- reset motor auto stop timer when someone starts the engine so we won't stop it for while just because
+	-- reset motor auto stop timer when someone starts the engine so we won't stop it for a while just because
 	-- our speed is 0 (for example while waiting for the implements to lower)
 	self.lastMovingTime = self.vehicle.timer
 end
 
+function AIDriver:getIsEngineReady()
+	local spec = self.vehicle.spec_motorized
+	return spec and (spec:getIsMotorStarted() and spec:getMotorStartTime() < g_currentMission.time)
+end;
+
+
 --- Is auto stop engine enabled?
 function AIDriver:isEngineAutoStopEnabled()
 	return self.vehicle.cp.saveFuelOptionActive
diff --git a/FieldworkAIDriver.lua b/FieldworkAIDriver.lua
index e0c38dab1..75dd0e09e 100644
--- a/FieldworkAIDriver.lua
+++ b/FieldworkAIDriver.lua
@@ -228,7 +228,6 @@ function FieldworkAIDriver:driveFieldwork()
 			self:calculateLoweringDuration()
 		else
 			self:debugSparse('waiting for all tools to lower')
-			self:startLoweringDurationTimer()
 			self:setSpeed(0)
 			self:checkFillLevels()
 		end
@@ -694,13 +693,10 @@ function FieldworkAIDriver:updateLightsOnField()
 end
 
 function FieldworkAIDriver:startLoweringDurationTimer()
-	-- if not started yet
-	if not self.startedLoweringAt then
-		-- then start but only after everything is unfolded as we don't want to include the
-		-- unfold duration (since we don't fold at the end of the row).
-		if self:isAllUnfolded() then
-			self.startedLoweringAt = self.vehicle.timer
-		end
+	-- then start but only after everything is unfolded as we don't want to include the
+	-- unfold duration (since we don't fold at the end of the row).
+	if self:isAllUnfolded() then
+		self.startedLoweringAt = self.vehicle.timer
 	end
 end
 
@@ -786,6 +782,7 @@ function FieldworkAIDriver:lowerImplements()
 		implement.object:aiImplementStartLine()
 	end
 	self.vehicle:raiseStateChange(Vehicle.STATE_CHANGE_AI_START_LINE)
+	self:startLoweringDurationTimer()
 end
 
 function FieldworkAIDriver:raiseImplements()
diff --git a/modDesc.xml b/modDesc.xml
index d099112be..42e03296a 100644
--- a/modDesc.xml
+++ b/modDesc.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="40">
-	<version>6.01.00163</version>
+	<version>6.01.00164.1</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title>
 		<br>CoursePlay SIX</br>
diff --git a/turn.lua b/turn.lua
index da5daf1e6..43501398e 100644
--- a/turn.lua
+++ b/turn.lua
@@ -803,7 +803,9 @@ function courseplay:turn(vehicle, dt)
 			directionForce = -vehicle.cp.mrAccelrator -- The progressive breaking function returns a postive number which accelerates the tractor 
 		end
 	end
-	allowedToDrive = vehicle.cp.driver and not vehicle.cp.driver:holdInTurnManeuver(vehicle.cp.turnStage == 0) and allowedToDrive
+	-- hold while straw swatch is active (not during headland turn maneuvers though)
+	local holdInTurn = not vehicle.cp.headlandTurn and vehicle.cp.driver and vehicle.cp.driver:holdInTurnManeuver(vehicle.cp.turnStage == 0)
+	allowedToDrive = not holdInTurn and allowedToDrive
 	
 	--courseplay.debugVehicle(14, vehicle, 'turn speed = %.1f, allowedToDrive %s', refSpeed, allowedToDrive)
 	--vehicle,dt,steeringAngleLimit,acceleration,slowAcceleration,slowAngleLimit,allowedToDrive,moveForwards,lx,lz,maxSpeed,slowDownFactor,angle