Merge pull request #67 from ClemensElflein/feature/Unified-FW-Prep

Add troubleshooting guide for invalid robot firmware

Author: Apehaenger

content/en/docs/troubleshooting/robot-firmware/index.md

@@ -0,0 +1,92 @@
+---
+title: "Troubleshooting: Invalid Robot Firmware"
+linkTitle: "Robot Firmware"
+description: >-
+  Fix the 'Robot firmware ... invalid for this hardware' error by setting the
+  correct board type in mower_params.yaml.
+tags: [troubleshooting, firmware, board, mower_params]
+---
+
+The firmware logs the following error repeatedly and the status LED blinks red:
+
+```text
+Robot firmware '<name>' invalid for this hardware...
+```
+
+This means the `board:` value in your `mower_params.yaml` does not match the
+mainboard that is actually installed. The firmware rejects the name and keeps
+waiting for a valid one.
+
+## Fix
+
+{{< tabpane text=true >}}
+{{% tab header="Supported mower" text=true %}}
+
+Open the ROS configuration (this opens `mower_params.yaml`):
+
+```bash
+openmower configure ros
+```
+<br>
+
+Set the `board:` value under `ll:` field to the board type that matches your hardware:
+
+```yaml
+ll:
+  board: "YardForce"
+```
+<br>
+
+After saving, OpenMower restarts automatically and should boot with a green
+status LED.
+
+{{% /tab %}}
+{{% tab header="Universal / Custom (MOWER=CUSTOM)" text=true %}}
+
+Edit `~/params/custom_params.yaml`:
+
+```bash
+nano ~/params/custom_params.yaml
+```
+<br>
+
+Set the `board:` value under `ll:`, for a Universal board, use `Universal-5S`,
+`Universal-7S`, or `Universal-8S` depending on your battery:
+
+```yaml
+ll:
+  board: "Universal-7S"
+```
+<br>
+
+Editing `custom_params.yaml` does not restart the stack automatically, so apply
+the change via:
+
+```bash
+openmower restart
+```
+<br>
+
+See [Universal Board Configuration]({{< relref "/docs/Knowledge-Base/configuration/universal-board-configuration" >}})
+for the full custom-build reference.
+
+{{% /tab %}}
+{{< /tabpane >}}
+
+## Valid board types
+
+| Board type     | Hardware                                             |
+| -------------- | ---------------------------------------------------- |
+| `YardForce`    | Regular YardForce board                              |
+| `YardForce-V4` | YardForce board with YFR4-xESC (old Rev.4 mow motor) |
+| `Universal-5S` | Universal board with 5S battery                      |
+| `Universal-7S` | Universal board with 7S battery                      |
+| `Universal-8S` | Universal board with 8S battery                      |
+| `Worx`         | Universal board with Worx functionality              |
+| `Lyfco-E1600`  | Universal board with Lyfco-E1600 functionality       |
+| `Husq310MKII`  | Husqvarna 310 MKII board                             |
+
+The value must match exactly (including capitalization).
+
+The default template with all valid values lives in the OpenMowerOS repository:
+[mower_params.yaml](https://github.com/ClemensElflein/OpenMowerOS/blob/main/stage-openmower/40-openmower/files/home/openmower/params/mower_params.yaml).