Single Antenna Positioning Mode is listed the 3.14.0 firmware update release notes. Can someone explain how this improves “positioning reliability”
It’ll increase it quite a bit for mowing, since it does not need the 2nd ant for heading in canyon scenarios.
Yarbo cannot mow along a wall with the two ant system, since the whip closest to that wall with have no sats. The ant farther from the wall typically does, so the core will know where it is, but without the other the core will not know what its heading is.
A single ant strategy uses breadcrumbs to figure out effective heading. It even, naturally, causes proper crabbing on sidehills.
A single ant strategy is probably less good with the S1, where heading is required WITHOUT moving. The single ant strategy requires motion.
My understanding was the accuracy would be much worse under that strategy - 10-20 ft. I’m probably missing something on how all the systems would interact.
Every other RTK mower on the planet uses a single receiver + breadcrumbs, if that helps.
Yarbo uses twin sticks for the S1, so it’ll know where the point the chute BEFORE it starts driving around 
That’s not really an issue for the mower. Might be for the blower attachment, but not the mower.
My experience with this feature is it works very well. I was pretty blown away with how well it worked in my testing. Where it will really help is those who have broken or marginal antennas, doesn’t matter which one, it will switch and find the best signal on either antenna. And @Steve’s points are all valid.
Is there any improvement to the erratic back-and-forth-left-and-right lawn shredding behavior, where it finds its heading before starting an activity?
Not that I’ve seen.
With the single antenna strategy, will there be some kind of indication of an antenna failure, so it can be fixed before it takes down the core, in case the other antenna fails as well?
No indication by their design. But there will be signs in diagnostics that something is abnormal. My recommendation was that if it remains in single antenna mode for an hour or more that it alert the user. Not sure if they will implement that or not.
You can read more about single antenna mode here and their thought process.
After reading the Wiki, it sounds as though if one of Yarbo’s antennas is damaged or on functional, the end user won’t be informed at all, because the system will just stop trying to use the damaged one.
That seems ill advised to me. There should be some alert after an antenna has stopped working, and never recovers on its own.
I can’t believe they didn’t listen to you on this! This is not a good idea to not let the operator know that it is in this mode.
That type of change would take time to get put into the development pipeline. I also don’t care if it switches to this mode temporarily. But long term I’d want to know.
For sure I don’t want a notification every time the rover gets near a structure or a tree, but I want to know if something fails before something bad happens.
Currently, we do not have a user notification or alert specifically for this situation. However, we understand your concern and appreciate the suggestion.
I’ll share this feedback with our product team for further consideration, as an alert for long-term single antenna operation or antenna failure could help users identify potential issues earlier.