Xiaomi Mi Robot Vacuum reseting/crashing during cleaning

Describe the bug I originally installed Valetudo v 2021.03.0 and recently upgraded to 2021.04.0. I do run MQTT with Home Assistant. After installation I noticed that sometimes after we got home, robot was just sitting with low battery in middle of the room. It didn't happened every time just sometimes and usually after cleanup was resumed (after charge from low battery state). This was happening for about a month (not always). After that I decided to try to disable MQTT and for about a week the problem didn't occur again so I re enabled MQTT again and installed new Valetudo version (2021.04.0) and we were fine for about next 14 days and today it happened again except this time I had a chance to watch the behavior on my own eyes + on the map.

This is what is happening based on my observation: Vacuum is cleaning (at this point for about an hour+ it already did recharge once.) Suddenly it will lost connection in Web GUI and Vacuum itself goes quiet. Few seconds after that it suddenly starts vacuuming again and Web GUI comes back with following: It knows original map so I assume that it knows that it should resume where it left of but timer starts over again and most importantly it thinks that it is now in the dock, not where it "died", which of course thrown everything off as it is not able to get back on track.

From now on this will start happening every 50-120 seconds over and over again until it dies because of low battery.

Based on logs It seams that it just either crashed or just resets:

[2021-05-30T11:25:41.347Z] [INFO] Set Logfile to /tmp/valetudo.log
[2021-05-30T11:25:41.369Z] [INFO] Autodetected RoborockV1ValetudoRobot
[2021-05-30T11:25:41.697Z] [INFO] Starting Valetudo 2021.04.0
[2021-05-30T11:25:41.700Z] [INFO] Commit ID: 7d28ac85cea7a4081f49fe199f19adf678778f78
[2021-05-30T11:25:41.701Z] [INFO] Configuration file: /mnt/data/valetudo_config.json
[2021-05-30T11:25:41.703Z] [INFO] Logfile: /tmp/valetudo.log
[2021-05-30T11:25:41.705Z] [INFO] Robot: Beijing Roborock Technology Co., Ltd. Xiaomi Mi Robot Vacuum (RoborockV1ValetudoRobot)
[2021-05-30T11:25:41.706Z] [INFO] JS Runtime Version: v14.16.1
[2021-05-30T11:25:41.707Z] [INFO] Arch: arm
[2021-05-30T11:25:41.711Z] [INFO] Max Heap Size: 34 MiB
[2021-05-30T11:25:41.712Z] [INFO] Node Flags: --expose-gc --max-heap-size=34
[2021-05-30T11:25:41.726Z] [INFO] DeviceId 74206929
[2021-05-30T11:25:41.728Z] [INFO] IP 127.0.0.1
[2021-05-30T11:25:41.758Z] [INFO] CloudSecret REDACTED
[2021-05-30T11:25:41.760Z] [INFO] LocalSecret REDACTED
[2021-05-30T11:25:42.417Z] [INFO] Dummycloud is spoofing 127.0.0.1:8053 on 127.0.0.1:8053
[2021-05-30T11:25:42.427Z] [INFO] Webserver running on port 80
[2021-05-30T11:25:42.450Z] [INFO] Map Upload Server running on port 8079
[2021-05-30T11:25:47.436Z] [WARN] Error during time sync: Error: getaddrinfo EAI_AGAIN pool.ntp.org
    at GetAddrInfoReqWrap.onlookup [as oncomplete] (dns.js:67:26) {
  errno: -3001,
  code: 'EAI_AGAIN',
  syscall: 'getaddrinfo',
  hostname: 'pool.ntp.org'
}
[2021-05-30T11:25:53.901Z] [INFO] Cloud connected
[2021-05-30T11:25:55.488Z] [INFO] Connected successfully to MQTT broker
[2021-05-30T11:25:59.570Z] [INFO] MQTT configured
[2021-05-30T11:25:59.659Z] [INFO] Cloud message timed out. Assuming that we're not connected anymore
[2021-05-30T11:26:14.135Z] [INFO] Cloud connected
[2021-05-30T11:26:15.678Z] [WARN] Token is okay, however we're unable to reach the vacuum { retries: 10, method: 'get_consumable', args: [] }
[2021-05-30T11:26:50.006Z] [INFO] Successfully set the robot time via NTP to 2021-05-30T11:26:50.892Z
[2021-05-30T11:27:23.106Z] [WARN] Failed to parse uploaded map
[2021-05-30T11:27:25.109Z] [WARN] Failed to parse uploaded map
[2021-05-30T11:27:27.115Z] [WARN] Failed to parse uploaded map
[2021-05-30T11:27:34.283Z] [WARN] Failed to parse uploaded map
[2021-05-30T11:30:19.087Z] [INFO] Cloud message timed out. Assuming that we're not connected anymore
[2021-05-30T11:30:37.072Z] [INFO] Cloud connected

It might be just coincidence that this started happening after I flashed with Valetudo but I'm not aware that I would see same error in past 3 years that we are using this Vacuum.

EDIT: If I stop the cleaning and start it again from scratch it starts vacuuming normally.

Vacuum Model: Xiaomi Mi Robot Vacuum (Gen1)

Valetudo Version: 2021.04.0

User-Agent

Additional context

rand256 / valetudo

Xiaomi Mi Robot Vacuum reseting/crashing during cleaning #437