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I'll try to add OTA update feature to esp32_rfid, so maybe that way I have less disassembling to do in future :)

Wiring is correct, it was ok before esp32 got wet and broke. This is bernard's wiring picture

I can use BT connection via bt-05 module, so that's not the problem. esp32 is in the motor box and it's pain in the ass to disassemble almost whole mower :D

ok, the old esp32 got wet last summer and I now replaced it. Must be something else broken also, I can connect esp32 but pfod app don't show up I was hoping that some code change is needed, now I have to find fault :D

yaml code is an example only, feel free to change it for your needs directory can be named whatever you like :) you need to create that directory also, I named it simply 'packages' but that directory have to define in configuration.yaml homeassistant: packages: !include_dir_named whatever do...

Raspbian has two software solutions for timekeeping. NTP requires network connection and it's useless when RasPi is not connected to the network, it also uses 'fake-hwclock'. It saves the current time periodically to disk and loads it at boot. It's not accurate but will eliminate the problem of...

try this: cat /var/log/syslog | grep 'brcmfmac' or w/o grep.. https://en.wikipedia.org/wiki/Syslog

Check syslog, if there are lines: ... brcmfmac: brcmf_cfg80211_scan: scan error (-110) ... brcmfmac: brcmf_run_escan: error (-110) Then it's buggy Broadcom drivers. Only option, for now, is to use different wifi chipset. e.g. dongle with Atheros chipset works fine

'STATE_REVERSE' is not used? When mower bumps something is it 'STATE_PERI_OUT_REV' what is used for reverse? and 'DistPerioutRev' is variable for that. 'DistPeriObstacleRev' is not actually used anything? I have few tight spots and mower reverse outside, then it can't roll back in. I'm thinking...

You may want to check motor current/power settings, for me, it looks like overcurrent protection caused turns

Save button is visible only in states: 'state_off', 'state_station', and 'state_station_charging'. Maybe this explains why the button disappears.

rfid part work just like python version. It does exactly the same things. Warnings don't matter if it compiled with success.

Ok, you have different wiring then. Motor controller has two channels? maybe the same as wheel motors? I did this https://forum.ardumower.de/threads/printing-experience-settings-suggestions-etc.23494/page-2#post-38382

secondMowMotor = true, if you have two motors. If it's false, second motor turning because input pwm is parallel but power feedback (sense) is separate and there's no overcurrent protection for second motor.

Sorry, I forgot completely different folders. I use vscode with platformio ide. Anyway, compile ardumower/src folder. You have to change ardumower.cpp to ardumower.ino if using arduino ide. https://github.com/jussipu/AzuritBer/tree/RFID_DUE/ardumower/src https://code.visualstudio.com/...