Yarbo is testing those internally right now. Hopefully they will release them for purchase on their accessories store soon! No ETA currently.
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I started getting that behavior early last week as well - but with 8.18, so it likely isn’t the new firmware. I’ve even abandoned one area that it’d been mowing since April.
The AdjustAngle behavior has always been an issue, at least for me.
I’m on the new build as of this evening, so I suppose I’ll see if there’s a behavior difference in the morning!
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----Update----
Little update. Yarbo sent me under warranty a new antenna with cable and screws. Since only the top part was broken, it took literally 10 seconds to fix and then boom, normal GPS signal.
----Update 2 ----
However, I’m a pro at breaking things it seems. A day later, I derailed the left track while delimiting no go zones (5 acres lawn, including a 95 trees orchard, 1.75 acres mapped for now). It seems that if you do zero turns too tight around a tree it can do that… My Yarbo was able to navigate around the trees without no go zones, but it was taking way too long and given the size of what I want Yarbo to eventually mow, I figured that no go zones would help optimize things. Luckily, Yarbo’s video is well done and it took 5 minutes to reinstall the track.
Long story short, this machine looks like a thank, is heavy like a thank, but there are some weak parts to be careful with (antennas, tracks at the very least).
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Have you greased them? This can help.
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Brand new. Seems factory greased (when I fixed the track I had grease all over my hands). But I’ll definitely buy some and add some more if you think it helps.
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It can or they may have just been loose from the factory. Too much grease could probably pop them off easily too. If you’re brand new, then it’s fine I’m sure.
They probably really do need to add a third wheel in the center.
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I got tired of driving around the trees to make no go zones. I ended up using the circle template. You then get to resize and drive around a little less to get it positioned correctly.
But if you do 95 trees you’ll be a pro.
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From the very early ages of tracks. my Grandfathers old John Deere 450C. Used, and I helped replace many times over the years used this basic type of system. One with breakdown. The other with what was called rock guards. Keeping all the extra junk out of places it didn’t need to be.
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Those look too big for a retrofit. 
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Hold my beer!
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I’m hoping for some ideas, to flow in the minds of others at this point! 
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