An agricultural vehicle comprises a left frame and a right frame. A first leg extends upward from the left frame and a second leg extends upward from the right frame to connect the legs to the beam. One or more satellite navigation receivers are associated with beam to determine a position and an attitude of the beam. In on configuration, at least one row unit suspended from the beam, where each row unit has a respective planting device with an adjustable position in one or more dimensions with respect to the beam for precise application or variable application of seeds within the rows or field.
