Another smashed steering panel from bashing into a curb resulted in another upgrade to the steering panel.  No more glue required.

Camera pole got a new light which improved the rare night footage.  Discovered gopro 24fps does better in the dark than the timelapse modes.

A lot of effort went into a gopro11 enclosure with active cooling & dummy battery. 

The dummy battery required permanently breaking the heat sink off so it can never be used again without the enclosure.

https://hackaday.io/project/203999-dummy-battery-for-gopro-11-mini

The well yellowed TPU tail lights were replaced by a new scotch wrapped aluminum angle, with stainless screws.  The new problem is the scotch trapping dirt between the LEDs & adhesive tape, but the contact is about as bad as the TPU.  This is going to be a wear item.

A protracted battle with the motors seizing resulted in a new magnet holder & farsteners upgraded from 2-56 to M3.  The tiny fraction of a mm seemed to fix the seizing, but the real problem is depending on an encoder which is aligned by a load bearing structure.  Studies into Clarke & Park transforms showed there's still no way to time the commutations at low speed without a dedicated encoder.  A gear driven encoder would be the next step, but would suffer from different types of errors.

The firmware got a new feature which allows a seized motor to be deactivated.  That way it can drive on just 1 motor or be pulled in leash mode by an animal.

More breaks in the dummy servo resulted in another adapter, which once again requires the camera pole to be removed to access the dummy servo.  

Then it got further refinement to try to reduce the mangling of food.

Efforts at waterproofing had little success.  The latest idea was an elaborate combination of PLA panels, velcro, & recycled poncho plastic which completely covered it.  This was quite cumbersome, bulky, & prone to getting blown away.

Ongoing efforts with splash boards were keeping the container relatively clean, but not very dry.  The mane problem has been keeping them from getting smashed during backflips & side swipes.  They've been trending towards a pure TPU construction.