{"id":1001,"date":"2026-06-21T15:05:59","date_gmt":"2026-06-21T07:05:59","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ardupilot-terrain-following-farsi\/"},"modified":"2026-06-21T15:06:01","modified_gmt":"2026-06-21T07:06:01","slug":"ardupilot-terrain-following-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ardupilot-terrain-following-farsi\/","title":{"rendered":"Terrain Following \u062f\u0631 ArduPilot \u2014 \u062d\u0641\u0638 \u0627\u0631\u062a\u0641\u0627\u0639 \u0627\u0632 \u0633\u0637\u062d \u0632\u0645\u06cc\u0646 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"<div class='hero-image-container' style='margin-bottom:28px;border-radius:14px;overflow:hidden;box-shadow:0 4px 18px rgba(0,0,0,0.08)'>\n<img src='https:\/\/projectleon.net\/make\/wp-content\/uploads\/2026\/06\/post213-terrain-following.jpg' alt='Terrain Following ArduPilot' style='width:100%;height:auto;display:block' loading='eager'\/>\n<\/div>\n<div class='beginner-intro' style='background:#f0f7ff;border-right:4px solid #2e5fb6;padding:16px 20px;border-radius:10px;margin-bottom:22px'>\n<h2 style='margin-top:0'>Terrain Following \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f<\/h2>\n<p>\u0628\u0647\u200c\u0637\u0648\u0631 \u0639\u0627\u062f\u06cc \u067e\u0647\u067e\u0627\u062f \u0627\u0631\u062a\u0641\u0627\u0639 \u0631\u0627 \u0646\u0633\u0628\u062a \u0628\u0647 \u0646\u0642\u0637\u0647 \u0628\u0631\u062e\u0627\u0633\u062a (Home) \u062d\u0641\u0638 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u0645\u0627 \u0627\u06af\u0631 \u0632\u0645\u06cc\u0646 \u0634\u06cc\u0628\u200c\u062f\u0627\u0631 \u0628\u0627\u0634\u062f\u060c \u0627\u06cc\u0646 \u06cc\u0639\u0646\u06cc \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0628\u0647 \u062a\u067e\u0647 \u0628\u0631\u062e\u0648\u0631\u062f \u06a9\u0646\u062f \u06cc\u0627 \u0627\u0632 \u0633\u0637\u062d \u062e\u06cc\u0644\u06cc \u062f\u0648\u0631 \u0634\u0648\u062f. <strong>Terrain Following<\/strong> \u0628\u0647 \u067e\u0647\u067e\u0627\u062f \u0627\u062c\u0627\u0632\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f \u0627\u0631\u062a\u0641\u0627\u0639 \u0631\u0627 \u0646\u0633\u0628\u062a \u0628\u0647 <strong>\u0633\u0637\u062d \u0648\u0627\u0642\u0639\u06cc \u0632\u0645\u06cc\u0646<\/strong> \u0632\u06cc\u0631 \u062e\u0648\u062f \u062d\u0641\u0638 \u06a9\u0646\u062f.<\/p>\n<p>\u0645\u0646\u0628\u0639 \u062f\u0627\u062f\u0647 \u0627\u0631\u062a\u0641\u0627\u0639 \u0632\u0645\u06cc\u0646 \u06cc\u0627 \u067e\u0627\u06cc\u06af\u0627\u0647\u200c\u062f\u0627\u062f\u0647 \u062c\u0647\u0627\u0646\u06cc <strong>SRTM<\/strong> \u0627\u0633\u062a (\u06a9\u0647 Mission Planner \u062f\u0627\u0646\u0644\u0648\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f) \u06cc\u0627 \u06cc\u06a9 <strong>\u0631\u0646\u062c\u200c\u0641\u0627\u06cc\u0646\u062f\u0631 (Rangefinder)<\/strong> \u0645\u062b\u0644 \u0644\u06cc\u062f\u0627\u0631 \u06a9\u0647 \u0641\u0627\u0635\u0644\u0647 \u062a\u0627 \u0632\u0645\u06cc\u0646 \u0631\u0627 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0645\u06cc\u200c\u0633\u0646\u062c\u062f. \u0627\u06cc\u0646 \u0642\u0627\u0628\u0644\u06cc\u062a \u0628\u0631\u0627\u06cc \u0646\u0642\u0634\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u0648 \u067e\u0631\u0648\u0627\u0632 \u06a9\u0645\u200c\u0627\u0631\u062a\u0641\u0627\u0639 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0646\u0627\u0647\u0645\u0648\u0627\u0631 \u062d\u06cc\u0627\u062a\u06cc \u0627\u0633\u062a.<\/p>\n<\/div>\n<div style='background:#fff8e1;border:1px solid #ffd54f;border-radius:10px;padding:16px;margin-bottom:22px'>\n<h3 style='margin-top:0'>&#x1f6e0;&#xfe0f; \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n<table style='width:100%;border-collapse:collapse'>\n<tr>\n<td style='padding:6px;font-weight:bold;width:40%'>\u0645\u0646\u0628\u0639 \u0627\u0631\u062a\u0641\u0627\u0639<\/td>\n<td style='padding:6px'>SRTM \u06cc\u0627 Rangefinder (Lidar)<\/td>\n<\/tr>\n<tr style='background:#fffde7'>\n<td style='padding:6px;font-weight:bold'>\u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632<\/td>\n<td style='padding:6px'>\u06a9\u0627\u0631\u062a SD + \u0627\u062a\u0635\u0627\u0644 \u0627\u06cc\u0646\u062a\u0631\u0646\u062a \u0628\u0631\u0627\u06cc SRTM<\/td>\n<\/tr>\n<\/table>\n<\/div>\n<h2>\u06af\u0627\u0645 \u06f1: \u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632\u06cc Terrain<\/h2>\n<pre style='background:#1e1e1e;color:#d4d4d4;padding:12px;border-radius:8px;font-size:12px;margin-bottom:14px'><code>TERRAIN_ENABLE = 1\nTERRAIN_FOLLOW = 1     (\u062f\u0646\u0628\u0627\u0644 \u06a9\u0631\u062f\u0646 \u0632\u0645\u06cc\u0646 \u062f\u0631 RTL \u0648 \u062d\u0627\u0644\u062a\u200c\u0647\u0627)\nTERRAIN_SPACING = 100  (\u0641\u0627\u0635\u0644\u0647 \u0634\u0628\u06a9\u0647 \u062f\u0627\u062f\u0647 \u0628\u0647 \u0645\u062a\u0631)<\/code><\/pre>\n<h2>\u06af\u0627\u0645 \u06f2: \u062f\u0627\u0646\u0644\u0648\u062f \u062f\u0627\u062f\u0647 \u0632\u0645\u06cc\u0646 \u062f\u0631 Mission Planner<\/h2>\n<p>\u0647\u0646\u06af\u0627\u0645 \u0627\u062a\u0635\u0627\u0644 \u0628\u0647 \u0627\u06cc\u0646\u062a\u0631\u0646\u062a\u060c Mission Planner \u062f\u0627\u062f\u0647 SRTM \u0645\u0646\u0637\u0642\u0647 \u067e\u0631\u0648\u0627\u0632 \u0634\u0645\u0627 \u0631\u0627 \u062e\u0648\u062f\u06a9\u0627\u0631 \u062f\u0627\u0646\u0644\u0648\u062f \u0648 \u0631\u0648\u06cc \u06a9\u0627\u0631\u062a SD \u0641\u0644\u0627\u06cc\u062a \u06a9\u0646\u062a\u0631\u0644\u0631 \u0630\u062e\u06cc\u0631\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0628\u0627\u06cc\u062f \u0642\u0628\u0644 \u0627\u0632 \u067e\u0631\u0648\u0627\u0632 \u062f\u0631 \u0645\u0646\u0637\u0642\u0647 \u062c\u062f\u06cc\u062f \u0627\u0646\u062c\u0627\u0645 \u0634\u0648\u062f.<\/p>\n<h2>\u06af\u0627\u0645 \u06f3: \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 Rangefinder (\u062f\u0642\u06cc\u0642\u200c\u062a\u0631)<\/h2>\n<pre style='background:#1e1e1e;color:#d4d4d4;padding:12px;border-radius:8px;font-size:12px;margin-bottom:14px'><code>RNGFND1_TYPE = ...    (\u0646\u0648\u0639 \u0631\u0646\u062c\u200c\u0641\u0627\u06cc\u0646\u062f\u0631\u060c \u0645\u062b\u0644\u0627\u064b Benewake TF-Luna)\nRNGFND1_MAX_CM = 800\nRNGFND1_ORIENT = 25   (\u0631\u0648 \u0628\u0647 \u067e\u0627\u06cc\u06cc\u0646)\nEK3_SRC1_POSZ = 2     (\u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 Rangefinder \u0628\u0631\u0627\u06cc \u0627\u0631\u062a\u0641\u0627\u0639)<\/code><\/pre>\n<h2>\u06a9\u0627\u0631\u0628\u0631\u062f \u062f\u0631 \u0645\u0623\u0645\u0648\u0631\u06cc\u062a Auto<\/h2>\n<p>\u0647\u0646\u06af\u0627\u0645 \u0633\u0627\u062e\u062a Waypoint \u062f\u0631 Mission Planner\u060c \u06af\u0632\u06cc\u0646\u0647 \u0627\u0631\u062a\u0641\u0627\u0639 \u0631\u0627 \u0631\u0648\u06cc <strong>Terrain Alt<\/strong> \u0628\u06af\u0630\u0627\u0631\u06cc\u062f \u062a\u0627 \u0647\u0631 \u0646\u0642\u0637\u0647 \u0646\u0633\u0628\u062a \u0628\u0647 \u0633\u0637\u062d \u0632\u0645\u06cc\u0646 \u062a\u0641\u0633\u06cc\u0631 \u0634\u0648\u062f\u060c \u0646\u0647 \u0646\u0633\u0628\u062a \u0628\u0647 Home.<\/p>\n<div style='background:#ffebee;border-right:4px solid #c62828;padding:14px 18px;border-radius:10px;margin-bottom:20px'>\n<strong>\u0647\u0634\u062f\u0627\u0631:<\/strong> \u0627\u06af\u0631 \u062f\u0627\u062f\u0647 SRTM \u0645\u0646\u0637\u0642\u0647 \u062f\u0627\u0646\u0644\u0648\u062f \u0646\u0634\u062f\u0647 \u0628\u0627\u0634\u062f \u0648 \u0631\u0646\u062c\u200c\u0641\u0627\u06cc\u0646\u062f\u0631 \u0647\u0645 \u0646\u0628\u0627\u0634\u062f\u060c Terrain Following \u06a9\u0627\u0631 \u0646\u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0647\u0634\u062f\u0627\u0631 \u00abTerrain data missing\u00bb \u0628\u0628\u06cc\u0646\u06cc\u062f. \u0642\u0628\u0644 \u0627\u0632 \u067e\u0631\u0648\u0627\u0632 \u0627\u06cc\u0646 \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u062f.\n<\/div>\n<div style='display:grid;grid-template-columns:repeat(auto-fit,minmax(300px,1fr));gap:18px;margin:20px 0'>\n<iframe width='100%' height='280' src='https:\/\/www.youtube.com\/embed\/qULIJpqf9Sw' title='ArduPilot Terrain Following' frameborder='0' allowfullscreen><\/iframe><br \/>\n<iframe width='100%' height='280' src='https:\/\/www.youtube.com\/embed\/0Yk6N_8wAJg' title='Terrain Following Setup' frameborder='0' allowfullscreen><\/iframe>\n<\/div>\n<h2>\u0645\u0646\u0627\u0628\u0639 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0628\u06cc\u0634\u062a\u0631<\/h2>\n<ul>\n<li><a href='https:\/\/ardupilot.org\/copter\/docs\/terrain-following.html' target='_blank'>\u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u0631\u0633\u0645\u06cc Terrain Following<\/a><\/li>\n<li><a href='https:\/\/www.aparat.com\/result\/Terrain+%D9%BE%D9%87%D9%BE%D8%A7%D8%AF' target='_blank'>\u0622\u067e\u0627\u0631\u0627\u062a: \u0646\u0627\u0648\u0628\u0631\u06cc \u0627\u0631\u062a\u0641\u0627\u0639 \u0632\u0645\u06cc\u0646<\/a><\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u0622\u0645\u0648\u0632\u0634 Terrain Following \u062f\u0631 ArduPilot: \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u062f\u0627\u062f\u0647 \u0627\u0631\u062a\u0641\u0627\u0639 \u0632\u0645\u06cc\u0646 (SRTM)\u060c \u062a\u0646\u0638\u06cc\u0645 TERRAIN_ENABLE \u0648 TERRAIN_FOLLOW\u060c \u0646\u0642\u0634 \u0631\u0646\u062c\u200c\u0641\u0627\u06cc\u0646\u062f\u0631\u060c \u0648 \u067e\u0631\u0648\u0627\u0632 \u0627\u06cc\u0645\u0646 \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0634\u06cc\u0628\u200c\u062f\u0627\u0631.<\/p>\n","protected":false},"author":1,"featured_media":1000,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"pagelayer_contact_templates":[],"_pagelayer_content":"","footnotes":""},"categories":[17,20],"tags":[104,773,772,774,770,50,771,33],"class_list":["post-1001","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uav","category-projects-2","tag-ardupilot","tag-rangefinder","tag-srtm","tag-terrain","tag-terrain-following","tag-50","tag-771","tag-advanced"],"_links":{"self":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/1001","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/comments?post=1001"}],"version-history":[{"count":1,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/1001\/revisions"}],"predecessor-version":[{"id":1002,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/posts\/1001\/revisions\/1002"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/media\/1000"}],"wp:attachment":[{"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/media?parent=1001"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/categories?post=1001"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/projectleon.net\/make\/wp-json\/wp\/v2\/tags?post=1001"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}