Navimow for Home Assistant — position & zone fork

Monitor and control Navimow robotic mowers in Home Assistant.

This is a fork of segwaynavimow/NavimowHA. It adds real-time position and current mowing-zone sensors on top of the official integration. All credit for the base integration goes to the Segway Navimow team. See What this fork adds below.

What this fork adds ✨

The official integration exposes a lawn_mower entity and a battery sensor. The mower also continuously publishes its live pose and current map partition over MQTT (topic /downlink/vehicle/{id}/realtimeDate/location), but the bundled navimow-sdk neither subscribes to that topic nor parses it, so none of it reaches Home Assistant.

This fork makes the integration subscribe to that topic and turn it into entities, giving you these additional sensors per mower (populated while the mower is active):

Entity	Meaning
sensor.<mower>_zone	Target partition id — the zone the current task is headed for (set at task start; empty for "mow all")
sensor.<mower>_position_x	X position in meters (local grid; origin = the RTK/mapping reference, usually near the dock)
sensor.<mower>_position_y	Y position in meters
sensor.<mower>_heading	Mower orientation in degrees (0–360)
sensor.<mower>_mowing_zone	Partition id the mower is physically mowing right now (works for "mow all" too)
sensor.<mower>_mow_progress	Planned-route progress for the current zone, 0–10000 (10000 = zone complete; not the app's coverage %)
sensor.<mower>_dock_x / _dock_y	Dock position in meters — auto-learned by averaging the mower's pose while docked/charging; survives restarts. unknown until the mower has docked once. Used by the example map card to place the dock marker (the coordinate origin is not reliably the dock)

These unlock zone-aware and position-aware automations — for example opening a gate when the mower crosses between zones, geofencing, or live mapping. The coordinates are a local Cartesian grid in meters, not latitude/longitude.

How it works

No changes to navimow-sdk are required — this fork is self-contained and works against the stock SDK from PyPI:

• On MQTT connect, the integration subscribes to the …/realtimeDate/location topic for each device.
• Incoming location messages (a JSON array of objects keyed by type: 1 = pose, 3 = partition/zone, 4 = task-delay) are decoded in location.py and merged into a per-device record, so a pose update never wipes the last-known zone.
• The record is pushed to the coordinator and exposed via the four sensors above.

Because the location stream is delivered through Segway's cloud, these sensors update only while the mower is active and depend on internet connectivity. Build any safety-critical automation (e.g. a gate) with a fallback on the mower status and a physical sensor.

Examples 📦

examples/gate-automation/ contains a complete, parameterized package that uses the zone/position sensors to automatically open a gate so the mower can reach zones on the far side of the gate from its dock, and close it again once docked. See examples/gate-automation/SETUP.md for the full walkthrough (it also includes a live position map card, navimow-map-card.js).

Prerequisites 📋

• Home Assistant minimum version 2026.1.0
• A Navimow account that can sign in to the official app (used for authorization)

Installation 🛠️

This integration is not in the default HACS store; add this fork as a custom repository:

1. HACS → top-right menu → Custom repositories
2. Repository: https://github.com/pgoutsos/NavimowHA
3. Category: Integration
4. Search for Navimow in HACS and download it
5. Restart Home Assistant
6. Settings → Devices & Services → Add Integration → search Navimow

Switching from the official integration? In HACS, Remove the existing Navimow download first (this deletes the files but keeps your configured device and login), then add this fork as above and download it. Do not delete the Navimow integration from Settings → Devices & Services, or you'll have to re-authenticate.

Usage 🎮

After setup you should see:

• A lawn_mower entity (start / pause / dock)
• A battery sensor
• zone, position_x, position_y, heading, mowing_zone, mow_progress, dock_x, and dock_y sensors (this fork)

The position/zone sensors show unknown while docked and begin updating once the mower starts moving. The dock sensors are the opposite: they learn (and refine) the dock position while the mower sits docked/charging, keep their value across restarts, and read unknown only until the first docking after install — their samples/source attributes show the learning state.

See the upstream Getting Started guide for general setup.

Troubleshooting 🔧

Check the Home Assistant logs for error messages, and:

• Ensure the mower is connected to your network and reachable from Home Assistant.
• Restart Home Assistant and check if the issue persists.
• Make sure you are not blocking network access to Segway's services.
• If you use DNS filtering/ad-blocking, try disabling it temporarily.

If the position/zone sensors never populate while mowing, enable debug logging for mower_sdk.mqtt (Developer Tools → Actions → logger.set_level) and confirm that …/realtimeDate/location messages are arriving.

Navimow SDK Library 📚

This integration uses the navimow-sdk package to communicate with Navimow mowers. This fork does not modify the SDK.

Relationship to upstream & contributing back

This fork tracks segwaynavimow/NavimowHA. The position/zone functionality is a candidate for upstreaming — if/when the official integration adds it natively, this fork can be retired in favor of the official release. Issues and PRs specific to the position/zone sensors can be filed against this repository; general integration issues belong upstream.