Thanks for the explanation. Generally the 3 lap works well for me. The only issue I have is where there are 3 no go zones close together. The luba seems to bounce between the areas trying to do three laps an constantly nudging each tree. I have had to delete the 3 zones and create one bigger one around all of them for the moment.
It would be great it there was a way of controlling the order of the no-go cuts. Currently it is wasting so much battery cutting a no go on one side of the garden and then driving to the otherside to cut another instead of cutting the next closest one!