Cross-slope level control for mobile machinery

A cross slope level/torsion control for mobile machines is disclosed. At least two crawler tracks or four wheels or rail bogies are provided for transporting and elevating the frame with at least one crawler track or two wheels or rail bogies on a reference side of the mobile machine and at least one crawler track or two wheels or rail bogies on cross slope side of the mobile machine. At least four jacking points having variable vertical extension are placed between the crawler tracks, wheels or rail bogies and frame with two jacking points being on the reference side of the mobile machine and two jacking points being on the cross slope side of the mobile machine. The reference side of the mobile machine tracks a reference in elevation and adapts a desired reference attitude. An attitude sensor on the reference side of the mobile machine measures the actual attitude of the reference side relative to gravity. Likewise, an attitude sensor on the cross slope side of the mobile measures the actual attitude of the cross slope side relative to gravity. The relative elevation between the two jacking points on the cross slope side of the mobile machine is varied to cause the attitude of the cross slope side of the mobile machine to match the attitude of the reference side of the mobile machine. Finally, a single cross slope sensor varies the elevation of the cross slope side of the mobile machine relative to the reference side of the mobile machine.