Can't reset map on S6 Pure

[faulesocke]

Hey there,

I got this (used) S6 Pure from my neighbour and successfully flashed it using the FEL method. I didn't bother to factory-reset it before or after flashing. Now I have the issue that when I start a new cleanup, I get these voice messages (in german, translations probably incorrect) from the robot:

Finding position
[... after a while]
Positioning error. Starting new cleanup

However, after the cleanup, the map created of my home is all blue with no segments. Also when I press the Full Cleanup button in the welcome dialog, it starts the procedure from above, sometimes (briefly) shows me the old map of my neighbours home and after the cleanup does not do segmentation and does not save the map.

So somewhere in the system the old map still seems to be saved and I tried deleting it by using the MapResetCapability. I always get one of these two responses:

% curl -X 'PUT' \
  'http://192.168.178.93/api/v2/robot/capabilities/MapResetCapability' \
  -H 'accept: */*' \
  -H 'Content-Type: application/json' \
  -d '{
  "action": "reset"
}'
"save new map too close"

% curl -X 'PUT' \
  'http://192.168.178.93/api/v2/robot/capabilities/MapResetCapability' \
  -H 'accept: */*' \
  -H 'Content-Type: application/json' \
  -d '{
  "action": "reset"
}'
"map resource unavailable"

Here is part of the log:

[2023-07-31T01:32:24.698Z] [INFO] Firmware Version: 1368
[2023-07-31T01:32:24.705Z] [INFO] Current rootfs: system_a (/dev/nande)
[2023-07-31T01:32:24.745Z] [INFO] Valetudo can be reached via: valetudo-dishonestmildpanther.local
[2023-07-31T01:32:41.979Z] [INFO] Starting NetworkConnectionStabilizer
[2023-07-31T01:32:41.989Z] [INFO] Setting /proc/self/oom_score_adj to 666. Previous value: 0
[2023-07-31T01:32:42.009Z] [INFO] Dummycloud is spoofing 127.0.0.1:8053 on 127.0.0.1:8053
[2023-07-31T01:32:42.026Z] [INFO] Webserver running on port 80
[2023-07-31T01:32:42.037Z] [INFO] FDSMockServer running on port 8079
[2023-07-31T01:32:42.069Z] [INFO] Bonjour service "Valetudo DishonestMildPanther Web" with type "http" started
[2023-07-31T01:32:42.070Z] [INFO] Bonjour service "Valetudo DishonestMildPanther" with type "valetudo" started
[2023-07-31T01:32:43.004Z] [INFO] Successfully set the robot time via NTP to 2023-07-31T01:32:43.907Z
[2023-07-31T01:33:02.306Z] [INFO] Dummycloud connected
[2023-07-31T07:04:07.360Z] [INFO] Miio error response {
  id: 662,
  error: { code: -10008, message: 'map resource unavailable' },
  exe_time: 1
}
[2023-07-31T07:04:07.404Z] [WARN] MapResetCapabilityRouter: Received error from robot while handling route "/" { body: { action: 'reset' }, message: 'map resource unavailable' }
[2023-07-31T07:06:39.934Z] [INFO] Miio error response {
  id: 668,
  error: { code: -10008, message: 'map resource unavailable' },
  exe_time: 1
}
[2023-07-31T07:06:39.939Z] [WARN] MapResetCapabilityRouter: Received error from robot while handling route "/" { body: { action: 'reset' }, message: 'map resource unavailable' }
[2023-07-31T07:06:57.404Z] [INFO] Miio error response {
  id: 671,
  error: { code: -10008, message: 'map resource unavailable' },
  exe_time: 1
}
[2023-07-31T07:06:57.410Z] [WARN] MapResetCapabilityRouter: Received error from robot while handling route "/" { body: { action: 'reset' }, message: 'map resource unavailable' }
[2023-07-31T07:07:03.139Z] [INFO] Miio error response {
  id: 672,
  error: { code: -10005, message: 'save new map too close' },
  exe_time: 1
}

Is this a bug in Valetudo or do I need to perform a factory reset or some other (shell) operation on my robot?

In case of a factory reset: Do I need to re-root afterwards? Wouldn't be a problem, I soldered a wire to the testpoint.

Can I brick the system when doing a factory reset after rooting?

Will factory resetting downgrade the firmware of my robot?

I believe it will probably yield the best cleaning results on the newest firmware and I couldn't find any option in valetudo to upgrade the vendor part of the robots firmware. Is my assumption correct and is there any way to perform the upgrade? Or did flashing the images from the DustBuilder already upgrade to the newest available vendor firmware?

Best regards

[Hypfer]

Did you try disabling and re-enabling persistent maps?

[faulesocke]

Okay, I tried that and it seems like it deleted the map and got rid of the positioning error. However, after another full cleanup, the map is still all blue. The cleanup went through without interruption and the robot docked successfully.

[faulesocke]

I tried it again and it worked this time. Thanks! Might have been caused by not letting the robot start from the dock when I tried the first time after resetting the map.