Landroid Vision Cloud 4WD (WR340E) — E09 every single time I add a 2nd zone. Pulled the logs, here's what I found. Anyone cracked this?
TL;DR: Zone 1 auto-maps fine. The moment I try to add a 2nd zone via a connecting path over my pavement, mapping "finishes," the mower locks with -E09, and the ONLY way out is the USB unlock file + deleting the entire map. ~10 times now. How is anyone adding zones without a complete meltdown?? 😅
Setup:
- Landroid Vision Cloud 4WD (WR340E)
- Firmware 2.5.4+1 / 3.46.0+22
- Wi-Fi and RTK both solid, so it's NOT the offline "mower locked" flavour of E9
What happens:
Zone 1 = perfect. To add zone 2 I lay a connecting path across a paved bit, drive the mower over, map the new zone. Looks like it's mapping fine, gets to the end… then sticks and throws -E09. After that it's fully locked. USB unlock brings it back, but then literally ANY action (manual move, start mowing, anything) instantly re-triggers E09 and locks it again. So the only way forward is nuke the map and start over.
I dug into the mower logs and the failure is weirdly specific:
- The connector path keeps getting flagged: "P2PTracking check path is narrow channel!!!"
- While crossing it, SLAM throws repeated "pose_jump_detect" alarms (localisation jumping around)
- There's a ~28s depth-camera dropout in the same window
- And it ends with SLAM: "Save base position failed" — so the new map never actually saves
Working theory: the paved connector is too narrow (or too low-texture for the vision SLAM), the mower loses localisation crossing it, the map save fails, and it faults to E09. Feels like a software robustness issue, not hardware.
Questions for the hive mind:
Anyone with a Vision (esp. the 4WD) actually running multiple zones connected over pavement? What does your connector look like — how wide, any tricks?
Did widening the path / adding visual features / changing the lighting fix the pose jumps for you?
Is there ANY way to recover from E09 without deleting the whole map?
Anyone know the minimum path width the Vision needs before it calls it a "narrow channel"?