It says this every time I open the app now, but it docked and started charging normally.
You should only see this if it docked successfully but failed to charge. It’s a known issue and I believe a fix is coming. Clear error doesn’t seem to get rid of it, but a reboot usually does. At least until it happens again.
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It just seems so strange. “Recharging successfully, but failed to charge” [automatically]? But then “try manually adjusting Yarbo’s position” but if it’s “recharging successfully” why would it need “adjustment"? 
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Mine has been saying that since October 22nd. It does charge on its own in my case. So yeah… definitely a bug.
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