{"id":1010,"date":"2026-06-21T15:06:34","date_gmt":"2026-06-21T07:06:34","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/arducopter-notch-filter-noise-farsi\/"},"modified":"2026-06-21T15:06:35","modified_gmt":"2026-06-21T07:06:35","slug":"arducopter-notch-filter-noise-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/arducopter-notch-filter-noise-farsi\/","title":{"rendered":"\u062a\u0646\u0638\u06cc\u0645 Notch Filter \u0628\u0631\u0627\u06cc \u06a9\u0627\u0647\u0634 \u0646\u0648\u06cc\u0632 \u062f\u0631 ArduCopter (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nNotch Filter ArduCopter\n<\/div>\n
\n

Notch Filter \u0686\u06cc\u0633\u062a \u0648 \u0686\u0631\u0627 \u0644\u0627\u0632\u0645 \u0627\u0633\u062a\u061f<\/h2>\n

\u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0648 \u067e\u0631\u0647\u200c\u0647\u0627\u06cc \u062f\u0631 \u062d\u0627\u0644 \u0686\u0631\u062e\u0634\u060c \u0627\u0631\u062a\u0639\u0627\u0634\u06cc \u0628\u0627 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0645\u0634\u062e\u0635 \u062a\u0648\u0644\u06cc\u062f \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f \u06a9\u0647 \u0698\u06cc\u0631\u0648\u0633\u06a9\u0648\u067e \u0622\u0646 \u0631\u0627 \u0628\u0647\u200c\u0639\u0646\u0648\u0627\u0646 \u00ab\u062d\u0631\u06a9\u062a\u00bb \u0645\u06cc\u200c\u062e\u0648\u0627\u0646\u062f. \u0627\u06cc\u0646 \u0646\u0648\u06cc\u0632 \u0628\u0627\u0639\u062b \u0645\u06cc\u200c\u0634\u0648\u062f \u0641\u0644\u0627\u06cc\u062a \u06a9\u0646\u062a\u0631\u0644\u0631 \u062f\u0627\u0626\u0645\u0627\u064b \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0631\u0627 \u0627\u0635\u0644\u0627\u062d \u06a9\u0646\u062f \u06a9\u0647 \u0645\u0646\u062c\u0631 \u0628\u0647 \u06af\u0631\u0645 \u0634\u062f\u0646 \u0645\u0648\u062a\u0648\u0631\u060c \u0645\u0635\u0631\u0641 \u0628\u0627\u062a\u0631\u06cc \u0648 \u067e\u0631\u0648\u0627\u0632 \u0646\u0627\u067e\u0627\u06cc\u062f\u0627\u0631 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

Notch Filter<\/strong> \u06cc\u06a9 \u0641\u06cc\u0644\u062a\u0631 \u0628\u0627\u0631\u06cc\u06a9 \u0627\u0633\u062a \u06a9\u0647 \u062f\u0642\u06cc\u0642\u0627\u064b \u0647\u0645\u0627\u0646 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0646\u0648\u06cc\u0632 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u062d\u0630\u0641 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u0628\u062f\u0648\u0646 \u0622\u0646\u06a9\u0647 \u0628\u0647 \u0633\u06cc\u06af\u0646\u0627\u0644 \u06a9\u0646\u062a\u0631\u0644 \u0648\u0627\u0642\u0639\u06cc \u0622\u0633\u06cc\u0628 \u0628\u0632\u0646\u062f. \u0627\u06cc\u0646 \u06cc\u06a9\u06cc \u0627\u0632 \u0645\u0647\u0645\u200c\u062a\u0631\u06cc\u0646 \u062a\u0646\u0638\u06cc\u0645\u0627\u062a \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u0627\u0632 \u0646\u0631\u0645 \u0648 \u0645\u0648\u062a\u0648\u0631 \u062e\u0646\u06a9 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632<\/td>\n\u06cc\u06a9 \u067e\u0631\u0648\u0627\u0632 \u0628\u0631\u0627\u06cc \u0636\u0628\u0637 \u0644\u0627\u06af \u0627\u0631\u062a\u0639\u0627\u0634<\/td>\n<\/tr>\n
\u06af\u0631\u0648\u0647 \u067e\u0627\u0631\u0627\u0645\u062a\u0631<\/td>\nINS_HNTCH_*<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u06af\u0627\u0645 \u06f1: \u067e\u06cc\u062f\u0627 \u06a9\u0631\u062f\u0646 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0646\u0648\u06cc\u0632<\/h2>\n

\u0627\u0628\u062a\u062f\u0627 \u06cc\u06a9 \u067e\u0631\u0648\u0627\u0632 \u06a9\u0648\u062a\u0627\u0647 \u0628\u0627 \u0644\u0627\u06af\u200c\u06af\u06cc\u0631\u06cc Batch IMU \u0627\u0646\u062c\u0627\u0645 \u062f\u0647\u06cc\u062f. \u0633\u067e\u0633 \u062f\u0631 Mission Planner \u0627\u0632 \u0627\u0628\u0632\u0627\u0631 FFT\u060c \u0641\u0631\u06a9\u0627\u0646\u0633 \u0642\u0644\u0647 \u0646\u0648\u06cc\u0632 (Peak) \u0631\u0627 \u067e\u06cc\u062f\u0627 \u06a9\u0646\u06cc\u062f \u2014 \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u062c\u0627\u06cc\u06cc \u0628\u06cc\u0646 \u06f8\u06f0 \u062a\u0627 \u06f2\u06f0\u06f0 \u0647\u0631\u062a\u0632 \u0628\u0631\u0627\u06cc \u06a9\u0648\u0627\u062f\u06a9\u0648\u067e\u062a\u0631 \u06f5 \u0627\u06cc\u0646\u0686.<\/p>\n

\u06af\u0627\u0645 \u06f2: \u062a\u0646\u0638\u06cc\u0645 Notch \u062b\u0627\u0628\u062a<\/h2>\n
INS_HNTCH_ENABLE = 1\nINS_HNTCH_MODE   = 1      (1=Throttle-based\u061b \u0645\u062a\u062f\u0627\u0648\u0644)\nINS_HNTCH_FREQ   = 90     (\u0641\u0631\u06a9\u0627\u0646\u0633 \u0645\u0631\u06a9\u0632\u06cc Hz \u0627\u0632 FFT)\nINS_HNTCH_BW     = 40     (\u067e\u0647\u0646\u0627\u06cc \u0628\u0627\u0646\u062f Hz)\nINS_HNTCH_REF    = 0.30   (\u0646\u0642\u0637\u0647 \u0645\u0631\u062c\u0639 \u06af\u0627\u0632 = MOT_THST_HOVER)<\/code><\/pre>\n
\u06af\u0627\u0645 \u06f3: \u062a\u0623\u06cc\u06cc\u062f \u0646\u062a\u06cc\u062c\u0647<\/h2>\n
\u06cc\u06a9 \u067e\u0631\u0648\u0627\u0632 \u062f\u06cc\u06af\u0631 \u0628\u06af\u06cc\u0631\u06cc\u062f \u0648 \u062f\u0648\u0628\u0627\u0631\u0647 FFT \u0631\u0627 \u0628\u0628\u06cc\u0646\u06cc\u062f. \u0627\u06af\u0631 \u0642\u0644\u0647 \u0646\u0648\u06cc\u0632 \u06a9\u0648\u0686\u06a9 \u0634\u062f\u0647 \u0628\u0627\u0634\u062f\u060c \u0641\u06cc\u0644\u062a\u0631 \u062f\u0631\u0633\u062a \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0639\u0644\u0627\u0648\u0647 \u0628\u0631 \u0627\u06cc\u0646\u060c \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0628\u0627\u06cc\u062f \u062e\u0646\u06a9\u200c\u062a\u0631 \u0648 \u067e\u0631\u0648\u0627\u0632 \u0646\u0631\u0645\u200c\u062a\u0631 \u0634\u062f\u0647 \u0628\u0627\u0634\u062f.<\/p>\n
\u062d\u0627\u0644\u062a\u200c\u0647\u0627\u06cc \u0645\u0631\u062c\u0639 Notch<\/h2>\n\n\n\n\n\n
MODE<\/th>\n\u0645\u0631\u062c\u0639 \u0641\u0631\u06a9\u0627\u0646\u0633<\/th>\n<\/tr>\n
1<\/td>\nThrottle (\u0633\u0627\u062f\u0647\u060c \u0628\u062f\u0648\u0646 \u0633\u062e\u062a\u200c\u0627\u0641\u0632\u0627\u0631 \u0627\u0636\u0627\u0641\u0647)<\/td>\n<\/tr>\n
3<\/td>\nESC RPM Telemetry (\u062f\u0642\u06cc\u0642\u200c\u062a\u0631\u06cc\u0646)<\/td>\n<\/tr>\n
4<\/td>\nFFT \u062f\u0627\u062e\u0644\u06cc (\u067e\u0648\u06cc\u0627)<\/td>\n<\/tr>\n<\/table>\n
\n\u0646\u06a9\u062a\u0647:<\/strong> \u0627\u06af\u0631 ESC \u0634\u0645\u0627 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc RPM \u062f\u0627\u0631\u062f (\u0645\u062b\u0644 BLHeli_32 \u0628\u0627 DShot)\u060c \u062d\u0627\u0644\u062a MODE=3 \u062f\u0642\u06cc\u0642\u200c\u062a\u0631\u06cc\u0646 \u0646\u062a\u06cc\u062c\u0647 \u0631\u0627 \u0645\u06cc\u200c\u062f\u0647\u062f \u0686\u0648\u0646 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0648\u0627\u0642\u0639\u06cc \u0647\u0631 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0645\u06cc\u200c\u062f\u0627\u0646\u062f.\n<\/div>\n
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