GPS-less navigation possible?

ATM there is a problem with yarbo missing lines. See my post and Yarbo answer? They are working on it, the latest firmware update, unfortunately, brought no solution, but it did a little better.

Yarbo missing lines.

@bryan.wheeler As I understand it, the problem lies in the slope. The algorithm calculates it wrong l, when the area is tilted.
I can not set more than 20cm overlap in the app, so at the moment there is no good solution. I tried Checkerboard and parallel, no difference in the outcome.

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