Isn’t that the tilt warning? Like Yarbo thinks it’s on a steep slope?
Haven’t see that one yet. Something to look forward to 
There are 2 sensors on the trimmer that detect when the trimmer is fully extended outward or pushed too far inward. If this was activating with only forward momentum and the trimmer wasn’t moving (IE swung in either direction and fully extend, but rather in its standard stationary position), then I can see why they replaced the trimmer.
So I finally got the chance to work with the rover last Friday and found something interesting. Since there was the suggestion to remove/disconnect the trimmer and see if the map error corrected itself, I had the thought to leave the rover on the charge pad and just reboot it right there. Did it, and when the robot came back up, despite being on the pad, the location of the robot was now shown to be even FURTHER out into the yard. When I looked at the diagnostics I noticed that the L2 Satellites were 0, which it shouldn’t be. I then tried to swap the GPS antennas and immediately got a reading of 11…
If one of the antennas was bad, is this the kind of result I should see from simply swapping them? If not, what kind of diagnostics should I expect to see if one of the antennas is bad? I guess I’m asking if one of the antennas is bad, what other diagnostics should I be looking at to confirm that?
I did have a second set of antennas that I’d bought from AliExpress based on the thread from a while back talking about higher gain antennas and they do seem to be working. That said, I tried to send the rover out and it did seemed that the map was still off by some slight amount.
When it warms up a little more this week, I’ll go out and try putting the original antennas back on and see what it does, but I don’t exactly have high confidence… In part because I’ve already had an issue with the trimmer skipping up over the top of a cinder block and scraping the spindle over the surface of the block. Scratched up the place where the string comes out and caused the line to be severed triggering a line advance error 
But then not even 10 minutes later running into an issue where it was trying to turn into an obstacle because the map was off by about 1-2 feet….
Fun times…
REALLY don’t want to have to remap everything, but I suppose if that’s what it comes down to…
If you move the antennas and one is bad the total satellites count and L2 counts should swap. One should be zero and the other have numbers.
For the drift, since it was way off on the dock, park it, start charging, check for L2 greater than 10, HDOP less than 1.4 and Quality 0.9 and then correct for map drift. That should hopefully fix your map. If not, you could try restoring the map from the cloud or a local saved backup and see if that helps. You may have to correct for map drift again after.
Thanks for the info. I don’t know that I’ll get to it tonight, but I’ll definitely try to get to it this week. It’s still dipping cold here in southern Indiana, but the grass has been growing the last week or two, and it’s definitely getting close to needing to be mowed.
If swapping the antennas took you from 0 to 11 L2 sats, that’s pointing to a bad antenna. I would swap them back and confirm the 0 L2 follows the antenna.
Also, what did the numbers look like with the 3rd party antennas? If stronger, I’d stick with them attempt to correct the drift.
Oh I’d definitely stick with the 609’s. They are much better and durable.
Thanks for the detailed information—it’s really helpful. Based on what you’ve described, there may indeed be an issue with one of the antennas.
To help us investigate further, could you please submit a support ticket and include screenshots of the diagnostics page both before and after swapping the antennas? This will give our team a clearer view of what’s happening and allow us to assist you more efficiently.
Appreciate your patience, and please keep us posted!
2X GNSS Active Helix Antenna RTK HA-901A GPS GLONASS for UM980 UM982 UM960 UM981 ZED-F9P
That’s the “spare” antennas I’d purchased that are supposed to be higher gain.
Unfortunately, I got home pretty late last night and didn’t get a chance to do anything with the rover. Hopefully I’ll get home at a decent hour and can get some screenshots and put in a ticket as Yarbo has suggested.
609s are it!
The stats I found were completely opposite.
I’ll hold my tongue about the sources, lol.
Are you guys running the HA or HX variety? The HX looks to have better gain with better noise and multipath rejection specs.
The HA
Well, for those interested, I had to remap my whole yard. With the alt antennas I noticed what seemed like lag in the position detection. After the above suggestions I tried going back to the original antennas and, voila it started receiving signal again. After a little fiddling I found that the left hand antenna (looking from behind) only has about a 1/4 or 1/6 of a turn difference between being connected or not and being fully seated. i.e. fully seated and you get satellites. back it off just a hair and the satellites disappear.
Another interesting thing, though I didn’t do much more testing to confirm, is that with the other antennas, while I was seeing more L2 and overall sats, for some reason my DOP never went below about 2.3-2.5, but with the original antennas I’ve gotten as low as 0.8-0.9.
With the remap, everything seems to be tracking now, but I still have the issue that the app can’t seem to connect to the Data Center. So I’ve put in a ticket for that. Also, now I’m seeing a thing where the robot seems to suddenly shut off for a few seconds and then come back on. It happened this afternoon when HAL 9000 got stuck and I had to move him remotely. I had my roommate go out and check on the rover. I had him on the phone and while I was moving it, it suddenly stopped responding and ALL the lights went out. Weirdly I was still getting camera feed. I went back to the map view and it suddenly showed the rover as no signal, no GPS, and then disconnected. I hit the link button after a few seconds and everything came back up and I could move it remotely again. This is not something I experienced at the end of the year last year when I was finally able to get HAL up and running and actually mowing, but I’ll keep looking into it and will make sure to keep track of the ticket.
Were you using the high mount or the low mounts? For the newer antennas, I had to use the newer style low mounts that have the barrel connector embedded in them. That’s because the rubber gasket was keeping it from making good contact, like you observed. The new mount had more length to it. I think the new flex mount would too. The 609’s work great on it. But if you have the 901’s, I am not surprised the HDOP is so high given the smaller size, there is less multipath rejection. Plus if they weren’t making good contact too, might also be a factor.
Hi there, thanks for sharing all these details—it’s really helpful.
Sorry to hear about the issues you’ve been experiencing. The behavior you described does seem abnormal and will require further investigation from our team. Once we have the necessary information from your ticket, we’ll take a closer look and work to identify the root cause.
We truly appreciate your patience while we look into this and get it resolved for you.
Right now I’m back to using the stock antennas on the stock low mounts that came with the robot. Actually the 901s fit on the connectors better than the stock antennas. I had to rotate the 901s almost a full turn before they lost contact.
So at the insistence of some of the other folks here, I went out this evening and disconnected both the data center and the router that it’s connected to for five full minutes and let them come back up. Everything seemed to come back okay and when I went back to the app I was able to connect to the robot after a minute or so. Attached below is a screenshot of the diagnostic page as it currently stands. I still cannot, however, access the details page on the diagnostic screen nor can I access the data center settings. In both cases, despite being outside with a clear line of sight less than 15 feet away, when I try to access either of those screens, I just get the spinning radar screen and the data center never shows up to be selected.
I’m really at a loss to understand how everything else seems to be working just fine and HAL and the data center obviously seem to be talking to each other without issue, but when I try to access them from the app, it just doesn’t even seem to see the data center…
Is there a chance that the data center firmware specifically is out of date far enough that the new app version can’t engage those features? If so, is there another way to initiate a firmware update on the DC?
Oh! And this is interesting… Despite being connected to the robot and being able to see the cameras and the diagnostics page, if I try to access he PPVS screen I get a network request failure error message. 