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Using Ublox mower is always very accurate (+/- 4 cm) ,so the docking is always OK. Using LC29Hea i thing it's also OK (+/- 4cm) 80 % of the time, but sometime it's (+/- 10cm),so docking can fail :(. You can see this behaviour at the beginning of this video record is normaly on the border.

If you use a teensy PCB you can test lc29hea , but not veru accurate , Ublox work better.

For 1.51 version You can try with the ardusimple config file (work for me) ,Maybe you lost the sat number in sunray app ,but fix is OK. Deactivate gps_config into config.h //#define GPS_CONFIG true // configure GPS receiver (recommended - requires GPS wire fix above! otherwise firmware...

NO. direction is not manage on the same process than the MC33926 For reverse you need to send PWM signal on the reverse pin of the driver. So one PWM pin for forward and other for reverse. You need some change into sunray code. If you need help to write driver ,you can take a look at my teensy...

https://forum.ardumower.de/threads/robomow-rl1000-rebuild.23679/post-40174

Yes BTS7960 are OK to replace MC33926, but no sense reading, so you need INA226. If you really need MC33926, I can check if i have some of them that i don't use.

I have tested (only 1 hour outdoor test under rain) your driver into my mower and it's OK using sunray and LC29HEA. So congratulation to you and @argoso .

Code is for teensy platform ; it's here select LC29HEA branch https://github.com/Boilevin/Sunray_TeensyPcb/tree/LC29HEA You can simply copy and past all the skytrack folder into your code. But the main change is line 246 into skytrack.cpp if (!stream->available()) return; while...

It's work for me with minor change into skytrack driver: I can share the skytrack folder if you need.

I send them via PM Can you check again the position relative or absolute . You need absolute and enter the base location Num of satellite at 50 show that Uart data are coming

What do you mean by GPS working ? Sunray can only work on float or fix rtk , so without fix or float sunray App show you a GPS invalid and mower can only move in manual. Also are you sure that you are in Position Mode ABSOLUTE and have set your base location ? Now into main menu you need to...

If you uncomment line 243 and 244 you can see nmea message into console. I fail to use LORA to send correction data from Base to Rover, Can you explain how did you do this over SIK/LORA and share the code ??

Maybe you can first test with sunray app , and when everything is OK you can use Cassandra.

Maybe you can take a look at skytrack.cpp line 237 i have not the same data that initial code. Also line 15 you can activate the debug. and line 243 / 244 uncomment. You need to add #include "../../config.h" at the beginning to use console. I have upload the code into my git repo ,it's...

Did you try to connect brake pin of driver to 3.3V or to GND to be sure ?

If you use ZSX12, take a look at the brake feature ,if i remember my test i need to add the management to put them in high or low on startup. It's the opposite on ZSX11 version.

It's UDP transfert protocol, so you need to have wifi in your garden and near base station. For Base station into config.h set your SSID and your password line 3 and 4 set a valid static IP adress 185 in the sample ,mask etc according your router ip adress plan line 8 and other. into...

Here the sender part using LC29HBS : Oled is not mandatory ,adjust according your connecting . #include <Wire.h> #include <U8g2lib.h> #include <WiFi.h> #include <WiFiUdp.h> #include <ArduinoOTA.h> #include "config.h" #define SW_VERSION "v22" // Exemple pour un écran SSD1306 I2C 128x64 //...

Here code locate on the esp32 receiver.: #include <WiFi.h> #include <WiFiUdp.h> #include <ArduinoOTA.h> HardwareSerial SerialGNSS(2); HardwareSerial SerialTeensy(1); const char* ssid = "your ssid"; const char* password = "your password"; WiFiUDP udp; const int localPort = 5000; // your...

Not sure if it's possible to reduce the speed of LC29HEA. Or something complex without changing the factory firmware. Yes , I test it and i can have fix result ,record map (300 m2) and mow it. Docking is more complex on my test using vicking Mi 422 ,but need more investigation to see why there...