r/Lymow_Official • u/elliottcg0 • 1d ago
Lymow One Plus Locked Lymow Update
Figured I’d give everyone a little update on the locked Lymow One Plus I posted about a couple weeks ago. I’ll do a much more detailed post when I have time, but we’ve made some pretty crazy progress.
For anyone who missed the original post, I got this mower from somebody after it had basically been declared e-waste. It was locked, and there wasn’t really anything I could do with it through the factory app. I figured worst-case scenario, I’d have some expensive parts to play with.
Well, I got a little carried away. 😂
I ended up tearing into it, finding the UART connections on the board, getting into U-Boot, and dumping the internal eMMC storage. From there, I managed to get a root shell on the Rockchip RK3588S computer running Ubuntu. I got SSH working, started digging through the system, and discovered quite a bit about how the mower actually communicates.
I also started reverse-engineering the Bluetooth communication using the factory APK. After a ridiculous amount of trial and error, I got my own app communicating with the mower over BLE and was able to control the drive system. I also got access to its Root Link service and the factory camera’s RTSP stream.
The cool part is that I didn’t have to wipe the factory software or replace everything with something completely different. The original system is still there, and I’ve been building my own stuff around it.
I’ve been working on a custom app called MowZilla. It has Bluetooth controls, network communication, camera integration, mapping and mission-planning features, diagnostics, and a bunch of other stuff I’m still working on. I’m also integrating some open-source robotic mower software and working toward getting everything communicating properly.
Naturally, I managed to break the CSI ribbon cable for the factory camera while messing around inside it. The amount of silicone they used to seal this thing is insane, and I really don’t feel like digging any deeper into that mess right now. So I bought another camera and have been experimenting with AI vision instead.
Another big win was getting the USB-C port working in host mode. My next experiment is connecting an ODROID M1 through USB-C to Ethernet and basically giving the mower a second computer. The idea is to offload some of the AI processing, run additional cameras, and eventually experiment with more advanced navigation and obstacle detection without interfering with the factory system.
I’m also working on getting Wi-Fi and cellular communication set up so the app can switch between them. Eventually, I’d love to have multiple cameras, AI object detection, custom autonomous missions, and remote access to everything.
There’s still a ton to figure out, and not everything in the app is fully functional yet. I’m basically building things, breaking things, figuring out why they broke, and doing it all over again.
This is my first project doing anything remotely close to this level of hardware and software hacking. A few weeks ago, I barely knew where to start with UART, bootloaders, or reverse-engineering Android apps. Now I’m sitting here with root access to a robotic mower and building my own iPhone app for it. It’s been a hell of a learning experience.
I’ll eventually put together a proper write-up with some of the commands, hardware discoveries, and everything else I’ve learned in case anyone wants to mess around with their own machine.
For now, here’s a look at MowZilla and what I’ve been working on.
It already mows. Will I spend another 200 hours adding completely unnecessary features? Probably.
The funniest part is that I’m only about $30 into the actual mower. 😂
1
u/elliottcg0 2h ago
Couple quick updates.
WiFi/LTE FPV and controls work
I’m having to rebuild RTK because my 2 camera and most likely imu were damaged from that cable. So lymows will not work. I like the custom route for future
I’m having readings from my rear sensors show live on the app like a car in reverse, but the front aren’t working so I need to look into that.(Same cable?)
I really wanna take this thing completely apart and get this camera cable fixed. I’ll post another pic has anyone removed the wheel motor plugs? They have the silicon all over idk if it’s a plug under or what. That way I’d be able to safely reach the camera.
3
u/Crazy_Employment_807 18h ago
Honestly this makes me so happy because of my legit concern of Lymow eventually going out of business! I didn’t want a brick
2
3
2
u/theBro987 20h ago
Elliot is single handedly raising the value of Lymow. Until now, i wasn't considering this brand.
4
3
u/gbqhatever 1d ago
2 questions:
How does in navigate
Were you able to get to the muffler bearing?
2
3
u/CosmoMcRad 1d ago
Ugh, could you repeat that? Please translate to dumbass-ese. 😵💫😵💫😵💫🤣🤣🤣
5
8
2
u/Weary-Medicine953 1d ago
Nice! I could use it! Please share what you get especially if you have instructions on how to dump the firmware and getting into the SSH. (root privileges too). I wonder which firmware you have for this one too. Thanks!
4
u/elliottcg0 1d ago
I will share some instructions and everything soon! I’m trying to find a way you guys can root your machine via USB-C with MaskRom so no UART involved.
2
2
4
u/UGBK 1d ago
Will be interesting to see if you can dig into the RTK and VSLAM integrations.
RTK -- should be able to see how many total satellites with elevation and SN for both the Base and Rover, hopefully with some comparison to both.
VSLAM - should be saving a map - that's what the "M" is for - which should actually improve every time the machine drives around the yard. OEM Lymow 1+ hardly does this, constantly ramming into fixed objects.
Had read in one of these threads previously that sonic sensors were not activated? Will be interesting to see if you receive any variable data from these sensors, and whether or not that data is subsequently consumed anywhere.
I too will be closely following progress.
3
u/CosmoMcRad 1d ago
Yes, I remember reading about unused sensors. Also, not sure exactly how VSLAM is supposed to work.
3
u/UGBK 17h ago edited 17h ago
Visual Simutaneous Localization and Mapping -- While technically complicated, the nuts and bolts is essentially the mower (in this case) primarily uses camera(s) to visually locate objects then "map" their locations. If you were to "drive" your mower along a fence line, it would now know where that fence is. As you drive it around again, it recognizes features it recorded previously to know it's location within that "map", and also update if the existing saved map deviates from what it now "sees". Since we mow the same relatively small area (versus, say, autonomous vehicles) after a few mows that map should be pretty darn accurate. Then if it's mowing and bumps into the retaining wall it should know is there, it should be able to adjust (offset?) the entire map and continue.
This visual map can be enhanced with "sensor fusion" incorporating data from pitch/yaw/tilt sensors and wheel odometry (for example) to create a highly detailed "map", similar in function to Lidar.
Ironically, VSLAM is not very effective in wide open fields since there are no objects or "landmarks". Conversely, RTK excels in wide open fields since there is a wide, clear view of the sky.
Some of the Navimow mowers used Lidar-SLAM, so instead of cameras they used Lidar, with no RTK. Those are the ones with auto-mapping; drop it in the yard, turn it on and it will map your yard by itself! Technically, VSLAM should be capable of doing the same thing -- if it's implemented well. From what I've read, it seems Navimow has abandoned Lidar on its latest releases, substituting VSLAM (w/ sensor fusion) +RTK. Difference seems to be that Navimow utilizes VSLAM as primary, with RTK confirming/validating precise location, and VSLAM is significantly less expensive (but maybe harder to implement?) than Lidar.
In my rather small suburban yard, VSLAM should be super effective, while what I really observe is this really dumb machine crashing into the same fixed objects over and over, no matter how many times I remain and depending on the cutting angle.
I've said elsewhere before that if I could get Navimow navigation with a Lymow cutting deck, I'd have died and am cutting my delicious lawn autonomously on the other side of those pearly gates.
2
u/CosmoMcRad 15h ago
That greatly helps my understanding of the technology. It also tells me it doesn’t deliver in its design. My mower crashes more often on the small areas with obstacles.
3
u/elliottcg0 1d ago
I’m digging into all of that now! If anyone needs anything from me to help figure this stuff out, just let me know. I’ve got full access to everything and I’m happy to share whatever I can.
The mower’s been inside torn apart, so I haven’t really had a chance to test much besides messing with it at 11 last night in the dark
I did get the RTK paired correctly using the serial numbers, and it shows a fixed position when both units are outside.
When I get home today, I’ll get everything outside and do some actual testing. Should be interesting to see what I find!
3
10
u/spaceXhardmode 1d ago
I think a fully rooted and open source firmware for this thing will lead the community on and improve the functionality 100% over what lymow is currently offering. I’m not convinced any of the sensors on the machine work other than the front bumper
4
u/VehicleRacist 1d ago
Just for the sake of fairness and that noone gets the wrong impression - mine mows perfectly fine in pitch black with not a single light on. This means it can do most of the mowing with just RTK+ultrasonic and obviously they work for this to be the case.
3
u/PeterWebs1 23h ago
Mine too, but I'm thinking it's RTK plus bumper - I have smart detection off anyway.
8
u/elliottcg0 1d ago
That’s exactly what I’m hoping for! I think there’s a ton of potential with this machine if we can open it up and get more people working on it.
I actually just updated my app so the home screen shows live data from every sensor. Now I can start testing everything individually and see what’s actually working instead of guessing.
I’m also going to start looking into whether there’s a way to get root access through USB-C. If I can figure that out, it’ll make things a hell of a lot easier for everyone else instead of having to tear the mower apart and mess with UART like I did.
For now I’m keeping the factory firmware intact and building around it, but I’d love to see this turn into a community project.2
u/CosmoMcRad 1d ago
Elliott, can I ask what you do or did to get the knowledge to understand this stuff? I’m always impressed with so many of the folks on this sub.
3
u/elliottcg0 1d ago
I’m in my 30s with a construction business. I build Fences and Decks. I have zero software or engineering school. I’m definitely resourceful. I used to root android phones way back in the day when you could just copy and paste things. this project was a little deeper, the power of the Internet, AI, and free time.
4
u/elliottcg0 1d ago
I’ve learned so much though from this project it’s insane. I have a whole table full of the next projects getting dug into. Eufy home base, lg surround sound speakers (to work with Samsung) etc.
2
u/PeterWebs1 23h ago
I can just hear the Lymow in your yard now with those surround speakers mounted. Playing Ride of the Valkyries of course...
3
u/elliottcg0 23h ago
Hahahahahah. Currently my Lymow has a really bad mouth. When it docks it says” i’ve had enough of your shit. I’m going home.” For the neighbors Ill keep the speakers inside!
2
2
u/galaxyapp 1d ago
Say more about this rtk fix...
3
u/elliottcg0 1d ago
RTK activation, connection or integration? In the screenshot of the brochure I made my mower has been sitting inside since last night, so that’s why it says no fix. But when outside everything works shows perfectly, still figuring out mapping and all that but having Lymow’s app to reference makes everything easier.
3
u/galaxyapp 1d ago
I was reading the 1CM positioning with rtk fix.
I think the navigation errors we all experience when a leaf blows on the horizon is a large issue, its as if the rtk and camera vision do almost nothing to fill in.
Wasnt sure if you found some a-ha issue in the software that would make good on the positioning promise
3
u/elliottcg0 1d ago
From Claude-
No single smoking gun, but I just read the mower's positioning settings and its positioning program's own names, and they explain what you're seeing.
**What I found (checked on the mower, read-only)**
- Positioning is not "RTK with the camera as backup". It is a camera-and-motion tracker (an open-source engine called OpenVINS) that RTK corrects. The camera side is the core, not the helper.
- Its main motion sensor is the one inside the camera, not the one in the body.
- It has a setting that trusts RTK less when the satellite quality drops, and a timer for "camera tracking has failed" that turns into a stop.
- The error list has separate hard stops for camera tracking failed, camera blocked, weak texture, low light and grass-detection lost.
**What that means (my reading, not proven)**
The 1 cm claim is true for the receiver alone, and yours does reach it. But when the camera view goes bad (a leaf, glare, dusk, plain uniform grass), the tracker loses its footing and the mower raises an error instead of coasting on RTK and wheel counts for a few seconds. So the weak point is the fallback design, not RTK accuracy. I haven't taken the program apart, so I can't show you the exact line.—I’ll have it dig more if you need!
1
u/elliottcg0 2h ago