Systems and methods for steering a mobile agricultural machine to align a guidance point with a guidance line. One method includes setting the guidance point and setting the guidance line. The method also includes receiving, from an orientation sensor mounted on the mobile agricultural machine, orientation information including one or both of a pitch angle and a roll angle of the mobile agricultural machine. The method further includes calculating an orientation correction based on the orientation information. The method also includes modifying the guidance point using the orientation correction and steering the mobile agricultural machine to align the modified guidance point with the guidance line and/or modifying the guidance line using the orientation correction and steering the mobile agricultural machine to align the guidance point with the modified guidance line.
