Yes it's configured by the sunray app when you click on start.Does "setSpeed" need to be set to my personal speed or can still be configured in the app?
But if agcm4 reboot while mowing i am not sûre that the speed and the 4 setting for Stanley are ok after the reboot,and it can explain why this only append after a long duration
Also into config.h try to Adjust stanley setting according the value you use in the sunray app:
Code:
// ---- path tracking -----------------------------------
// below this robot-to-target distance (m) a target is considered as reached
#define TARGET_REACHED_TOLERANCE 0.05
// stanley control for path tracking - determines gain how fast to correct for lateral path errors
#define STANLEY_CONTROL_P_NORMAL 1.1 // 3.0 for path tracking control (angular gain) when mowing
#define STANLEY_CONTROL_K_NORMAL 0.3 // 1.0 for path tracking control (lateral gain) when mowing
#define STANLEY_CONTROL_P_SLOW 1.1 // 3.0 for path tracking control (angular gain) when docking tracking
#define STANLEY_CONTROL_K_SLOW 0.3 // 0.1 for path tracking control (lateral gain) when docking tracking