So I noticed something a couple of days ago that seemed to be the rover getting stuck in a loop. I think it’s probably just a simple logic error, but I’m wondering if anyone else has seen it.
Shortly after the most recent firmware update, I noticed some unusual action in operation (on the 18th) that I think may be a logic problem. I’d had an RTK antenna fail which prevented me from mowing earlier this month, with an alternate antenna I had, I was able to get the Yarbo operational, I sent it out to (finally) start mowing again. Everything was going ok, other than the poor performance of the alternate GPS antenna, until the Yarbo went back to charge. I noticed that it seemed to be having a LOT of trouble navigating the paths I had set up (which I figured out was due to the (new???) ultrasonic sensor setting for the paths. It managed to finally navigate one path after a number of attempts, but got stuck on the final path back to its charging dock. It would start to go down the path that leads across my driveway to where the charger is placed, but would then stop as it pushed through some tall-ish grass and say “Obstacle detected” and back up a few inches. It was doing this for several minutes and did not seem to be able to make progress. I actually lost count of how many times it attempted to go through the path. I thought this was odd as it had the same problem when I went to send it out to start mowing, but after a few attempts it would give up, pause the work plan, and issue an error. However, when I was watching on the app, I would see it try to “pause the work plan”, but then immediately go back to trying to navigate the path. I think what was happening, is that it was trying to pause the work plan after detecting an object, but because the battery was at 20% it was then automatically trying to recharge. This seemed to get it stuck in a loop. I took a screen recording of this loop and uploaded it to my Google Drive at the following location: https://drive.google.com/file/d/1KozK0Z7-vI85KF7DNWRDzMEdY8GlrlRz/view?usp=sharing
I was able to get it out of this loop by turning off the vision and ultrasonic detection for the path and then reactivating the charging request. The Yarbo charged right across the path without issue and then connected to the charger right away. Following this, I went back through all my paths and areas to confirm they had the settings I wanted.
Anyone else seen this?
For reference I do have this called out in an open ticket I have with several other issues. The ticket number is 187402