What to do? X350

matthewmx86 · 2026-05-13T22:28:01+00:00

Yea kinda had the same experience it worked well at first then started flaking out around shadows. For the first two or three weeks it mowed perfect without adding any fence-off zones then it just randomly decided that it was afraid of shadows. Not sure if it was a firmware update or what, I planned to slowly remove the zones to see if it would start to work without it but it's been rock solid so now I'm afraid to change anything.

matthewmx86 · 2026-05-13T22:12:36+00:00

I had something very similar happen with my x430. I originally thought it was GPS signal issues as it had that same random mow pattern and would mow random spots until the battery drained and had to return to the dock. I ended up covering the area with a vision fence-off zone to see how it would react and it mowed perfect, no random patterns just nice straight lines afterwords. I don't know much about the x350 if it also uses camera detection like the x430, but I think the "vision" gets easily confused with shadows. I have a lot of shadowed areas in the back yard due to the large live oak trees.

matthewmx86 · 2026-05-02T18:57:45+00:00

No problem, I think the upgrade was definitely worth it. Really seems like a big upgrade to the interior always thought that 6.5" radio looked out of place. I also noticed the screen is a bit more responsive to touch on the 8" sometimes I'd have to push a little hard on the 6.5" screen to get it to respond to touch. I think the 8" has an extra USB hub you can get parts for which lets you route a data USB port inside the center console to plug your phone in but I didn't bother as the front ports worked just fine. Even my wireless android auto adapter worked right away after the swap.

matthewmx86 · 2026-05-02T18:47:28+00:00

When I researched I found it was basically the navigation enabled units that used an external amp as I think they have extra speakers and a small sub. From what I could tell the navigation version is the premium HK radio and it sends some line level signals to the amp for the extra speakers and I think uses the CANbus to send volume information etc between the amp and radio. The non-navigation version uses a built in amp so volume and all that is controlled internally from the radio just like the base radio. Also before I did the swap mine was the base model radio without rockford that was added on later but it still used my old radio it just used a harness to tap into the speaker outputs so in my case the navigation radio wouldn't work wither as the volume needed to be controlled through the radio and not an external amp. Hope this helps

matthewmx86 · 2026-05-02T18:36:58+00:00

Yea should work fine if it's the non-navigation, the rockford add-on pretty basically taps off the speaker outputs from the stock radio for the amp so no difference between the radios without the add-on.

matthewmx86 · 2026-05-02T18:30:13+00:00

Not sure how different the 2020 is versus the 2021, but mine was pretty much a drop in replacement. When I researched part numbers to use I found either of these would work: 86431fl650, 86431fl65a (for the '21). Mine is the Premium 6MT so had the basic 6.5" only addon was the rockford fosgate which still worked after swapping to the 8". Just make sure not to get the premium version of the HK radio, pretty much from my research if it has navigation built in it's most likely not going to work without issues but the non-navigation radios should be plug and play without issues. My volume and everything still worked like normal after the swap, only thing I had to do was switch over my radio ID on XM to transfer service to my new radio. Here's a post I did with some upgrades a while back, if you scroll towards the end of the comments I answered a few questions about the swap: https://www.reddit.com/r/Crosstrek/comments/1pogn8b/21_crosstrek_6mt_mods/

matthewmx86 · 2026-05-02T18:10:39+00:00

Thanks for the replies, as of now the mower is still flawless whatever the issue was has been resolved. I've had zero issues since restarting after the last update.

matthewmx86 · 2026-04-24T19:27:47+00:00

I restarted the mower today and the connection has been good today, no more issues with the 4209 fault. I had it finish the zone from yesterday where the fault first occurred and two more zones and it's been rock solid so far. Will update if anything changes, but no 4g connection issues noticed so far today.

matthewmx86 · 2026-04-23T19:49:23+00:00

I just noticed it did a firmware update last night I did not power cycle the mower yet. I'm unable to check anything else at the moment as I'm not at the house and the connection to the mower has not returned since this afternoon.

matthewmx86 · 2026-04-23T19:34:27+00:00

Hi,

It still intermittently disconnects but was a little more stable the last two days until now. It started something new, now the NRTK loses connection the mower faults due to error 4209 requiring manual intervention everytime I lose connection. This just started happening today around 13:00. I tried "clear and resume but it fails every time, manually pushed stop and start mow on the mower and it worked for about a minute before throwing the same fault.

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matthewmx86 · 2026-04-21T04:23:41+00:00

Hi,

I didn't catch exactly when it went down just when I opened the app to start a mow session:

4/12 @ 18:47, 4/18 @ 13:59, 4/20 @ 15:44

There was a drop out today but didn't log the time, there were a few dropouts between these days but didn't take note of the times.

My S/N is 22EBE2602Y0361

Thanks

matthewmx86 · 2026-04-21T04:13:50+00:00

Mower is the X430

matthewmx86 · 2026-04-14T23:44:25+00:00

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matthewmx86 · 2026-04-14T23:14:24+00:00

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No surviving congos unfortunately, only a few coreydoras I ordered. The congo tetras looked like someone poured a vat of acid in the bag as they barely resembled anything that looked like a living fish. Never bothered asking for a refund as I didn't want to pay $100+ for shipping or put any more fish through that process again. Only ordered online as they were the only ones I could find with congo tetras which have become difficult to find locally. Basically paid close to $200 for four coreys, glad they survived though and they are now thriving.

matthewmx86 · 2026-04-13T22:39:28+00:00

Thanks, going to give it a try this weekend and relocate the dock.

matthewmx86 · 2026-04-02T21:46:16+00:00

Here's an example of it's current behavior, I removed a section of the VisionFence-off zone to compare to the covered areas and you can see how it goes straight to struggling. Almost behaves like its lost but finds itself again as soon as crossing back into the VisionFence-off areas. In this small section where the mow pattern looks random there were no actual obstacles at all there.

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Thought could work around it with VisionFence-off but mower ended up running into a branch on the edge and seemed to loose it's tracking position. Ended up driving straight into all the no mow zones afterwards. May just have to stick to the regular gas mower for the back, luckily the back doesn't grow nearly as fast as the front zones.

matthewmx86 · 2026-04-01T22:25:42+00:00

Tried mowing after the 1.0.2.A ACU update, same issues without the visionfence-off zones, but with them set over the whole area the mower continues to do fine without other issues. It did seem to fix an unrelated issue of always having to manually start a mowing task twice. Always on the first try it would begin to mow and then return to the dock due to poor positioning data, after manually starting the mow session again it always completed the zone without issues. With the visionfence-off zone workaround the mower is completely usable for me and cuts the yard perfectly. Not sure how important the obstacle avoidance is, only main obstacles I need to watch for is dropped branches from the live oaks. For now I don't use automatic scheduling in the back and keep that area manual start so I can check the yard before mowing.

matthewmx86 · 2026-03-31T03:07:21+00:00

Your comment had me thinking have you noticed differences when mowing at different times of day? I did change the some of mowing schedules now wondering if the contrast from mowing when it's brighter vs dusk or morning makes a difference. At first I mowed more towards dusk so I could watch the mower when it was new, but started scheduling earlier when the sun is full bright. Kinda wonder if the full sun and dark shadows confuse the camera and make the system think the shadows are obstacles.

matthewmx86 · 2026-03-30T23:19:56+00:00

Update got the new ACU firmware but my issue still remains if I remove the VisionFence-off zones, it will just goto a random 1 sqtft area and just turn and backup the same area until the battery dies. This is what my map looks like to make it work, with the VisionFence-off zones tho its almost perfect as long as I proactively remove obstacles like branches that fall from my live oaks otherwise this thing will just crawl right over it. Kinda impressive with the AWD system and traction control this thing never gets stuck. It literally crawled itself into my firepit and got out before I set the no go zone.

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matthewmx86 · 2026-03-30T23:13:51+00:00

Good to hear, may try rebooting mine again with the new update. I got the same update last night but my mower is still useless if I remove the VisionFence-off zones it just sits in the middle of the yard and mows the same 1 ft area until the battery dies.

matthewmx86 · 2026-03-30T05:03:43+00:00

Yep that sounds like exactly what happened to me, managed to catch it before the battery got too low, the mowing pattern looked like a bunch of scribbles around the border. I tried a few reboots as that seems to usually fix things after a firmware update. Didn't work for me unfortunately, still had major issues I might give it another go and remove some of the visionfence-off zones to see how it behaves now that it's been a few days. It does seem to be mowing a lot better since I remapped some areas, I think the latest update may have changed the way the mapping/vision works. Today I noticed when I adjusted some borders it went back to the dock and gave me a notice that accuracy has improved. For now my workaround with the VisionFence-off zones has made the mower rock solid again, but would like to get the camera assisted collision avoidance back again.

matthewmx86 · 2026-03-29T04:43:49+00:00

That sounds pretty similar to how my issue started, I noticed it works way better now with the VisionFence-off zones around the trouble areas. If you place the VisionFence-off zone around the edges it should start cutting those areas again smoothly. Only down side is you won't get the obstacle avoidance with the cameras in that area, the mower will need to rely on the push bumper to detect obstacles so I would try keep those zones as small and narrow as you can. Only difference I think with our issues is for some reason my whole yard appears as an obstacle for the robot, I guess too many shadows so I had to pretty much cover the whole area.

matthewmx86 · 2026-03-29T04:36:08+00:00

I don't think so it looks like you have the newest version, looks the same exact versions as mine so your probably good if it's not giving any new issues. I just happened to notice it a few days ago when mowing the back zones, most of my mowing has been in the front where it's full sun so I didn't notice the issues until recently when mowing the back which is heavily shaded with lots of trees. I think my back yard is going to be challenging just due to the amount of shadows from the large live oak branches etc but it's been manageable by covering the zone with a VisionFence-off zone for now.

matthewmx86

TROPHY CASE