[Baa! makes nice parallel tracks](https://poal.co/static/images/565236620c1e77d3.jpg) It's been approximately three weeks since I installed and completed the teach-in of our i215 LiDAR. Took about an hour and a half, all told. We named it 'Baa!' like the sheep's sound (Well, the German equivalent). Since then, it's completed 5000 square meters of mowing in appx. 12 sessions. It got stuck on the second run on some spindly green growth support stalks around our grow house, before I taught it an exclusion zone for that. Since then, no interventions needed at all. The RTK GPS is astonishingly accurate and the thing is pretty smart about how it plans its paths. It supports several zones with individual parameters but I created a single large zone and so far, so good. I reduced the mowing height step by step and it's now 35mm, which is probably the practical limit for our lawn and its bumps, furrows and warts. Probably going to go back to 40mm but todays result sure looks nice. It first goes around the outer zone limits two or three times and then starts doing parallel tracks over the bulk of the area. When it encounters an exclusion zone, it does the same go-around routine, then continues filling in more area. It changes the direction of the parallel tracks every time so it doesn't create permanent furrows. We have some pretty steep climbs and sometimes, depending on the angle of attack, it loses traction on one of the wheels but so far it has always been smart enough to recover and continue on. The video and audio track combination was a happy accident. Transferring the file from my phone to the Laptop took a long time (Turns out it got stuck and I had to repeat) and I got bored and started another video with the audio you're hearing here. Suddenly the mower video started while the other audio still played. It always blows me away how much the character of a video scene changes with the audio.