{"id":1013,"date":"2026-06-21T15:06:46","date_gmt":"2026-06-21T07:06:46","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ardupilot-harmonic-notch-fft-farsi\/"},"modified":"2026-06-21T16:09:07","modified_gmt":"2026-06-21T08:09:07","slug":"ardupilot-harmonic-notch-fft-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ardupilot-harmonic-notch-fft-farsi\/","title":{"rendered":"\u062a\u0646\u0638\u06cc\u0645 Harmonic Notch \u0628\u0627 FFT \u062f\u0631 ArduPilot (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nHarmonic Notch FFT ArduPilot\n<\/div>\n
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\u0686\u0631\u0627 Harmonic \u0648 \u0686\u0631\u0627 FFT\u061f<\/h2>\n

\u0646\u0648\u06cc\u0632 \u0645\u0648\u062a\u0648\u0631 \u0641\u0642\u0637 \u062f\u0631 \u06cc\u06a9 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0646\u06cc\u0633\u062a\u061b \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9\u200c\u0647\u0627<\/strong> (\u0645\u0636\u0627\u0631\u0628 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0627\u0635\u0644\u06cc) \u0647\u0645 \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u0646\u062f. Harmonic Notch<\/strong> \u0686\u0646\u062f \u0641\u06cc\u0644\u062a\u0631 \u0631\u0627 \u0631\u0648\u06cc \u0641\u0631\u06a9\u0627\u0646\u0633 \u0627\u0635\u0644\u06cc \u0648 \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9\u200c\u0647\u0627\u06cc\u0634 \u0642\u0631\u0627\u0631 \u0645\u06cc\u200c\u062f\u0647\u062f \u062a\u0627 \u0646\u0648\u06cc\u0632 \u06a9\u0627\u0645\u0644\u200c\u062a\u0631 \u062d\u0630\u0641 \u0634\u0648\u062f.<\/p>\n

\u0645\u0634\u06a9\u0644 Notch \u062b\u0627\u0628\u062a \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u06af\u0627\u0632\u060c \u0641\u0631\u06a9\u0627\u0646\u0633 \u0646\u0648\u06cc\u0632 \u0647\u0645 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0631\u0627\u0647\u200c\u062d\u0644\u060c Notch \u067e\u0648\u06cc\u0627<\/strong> \u0627\u0633\u062a \u06a9\u0647 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0645\u0631\u06a9\u0632\u06cc \u0631\u0627 \u0628\u0647\u200c\u0635\u0648\u0631\u062a \u0632\u0646\u062f\u0647 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0645\u0646\u0628\u0639 \u0627\u06cc\u0646 \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0631\u062f\u0646 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f FFT \u062f\u0627\u062e\u0644\u06cc<\/strong> \u0641\u0644\u0627\u06cc\u062a \u06a9\u0646\u062a\u0631\u0644\u0631 \u0628\u0627\u0634\u062f \u06a9\u0647 \u0637\u06cc\u0641 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0631\u0627 \u062f\u0631 \u067e\u0631\u0648\u0627\u0632 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u0633\u062e\u062a\u200c\u0627\u0641\u0632\u0627\u0631<\/td>\nFC \u0628\u0627 \u062a\u0648\u0627\u0646 \u067e\u0631\u062f\u0627\u0632\u0634\u06cc \u06a9\u0627\u0641\u06cc (F7\/H7)<\/td>\n<\/tr>\n
\u06af\u0631\u0648\u0647 \u067e\u0627\u0631\u0627\u0645\u062a\u0631<\/td>\nFFT_*, INS_HNTCH_*<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u06af\u0627\u0645 \u06f1: \u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632\u06cc FFT \u062f\u0627\u062e\u0644\u06cc<\/h2>\n
FFT_ENABLE = 1\nFFT_MINHZ  = 50\nFFT_MAXHZ  = 450\n# \u067e\u0633 \u0627\u0632 \u062a\u063a\u06cc\u06cc\u0631 FC \u0631\u0627 \u0631\u06cc\u200c\u0627\u0633\u062a\u0627\u0631\u062a \u06a9\u0646\u06cc\u062f<\/code><\/pre>\n
\u06af\u0627\u0645 \u06f2: \u062a\u0646\u0638\u06cc\u0645 Notch \u067e\u0648\u06cc\u0627 \u0628\u0631 \u067e\u0627\u06cc\u0647 FFT<\/h2>\n
INS_HNTCH_ENABLE = 1\nINS_HNTCH_MODE   = 4     (4 = FFT)\nINS_HNTCH_HMNCS  = 3     (\u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9\u200c\u0647\u0627\u06cc 1 \u0648 2 \u0641\u0639\u0627\u0644)\nINS_HNTCH_FREQ   = 80    (\u0641\u0631\u06a9\u0627\u0646\u0633 \u067e\u0627\u06cc\u0647 \u0627\u0648\u0644\u06cc\u0647)\nINS_HNTCH_BW     = 40\nINS_HNTCH_OPTS   = 0<\/code><\/pre>\n
\u06af\u0627\u0645 \u06f3: \u062a\u0633\u062a \u0648 \u0645\u0642\u0627\u06cc\u0633\u0647<\/h2>\n
\u06cc\u06a9 \u067e\u0631\u0648\u0627\u0632 \u0628\u0627 \u0644\u0627\u06af \u0628\u06af\u06cc\u0631\u06cc\u062f \u0648 \u062f\u0631 FFT Mission Planner \u0637\u06cc\u0641 \u0642\u0628\u0644 \u0648 \u0628\u0639\u062f \u0631\u0627 \u0645\u0642\u0627\u06cc\u0633\u0647 \u06a9\u0646\u06cc\u062f. \u0628\u0627 Notch \u067e\u0648\u06cc\u0627 \u0628\u0627\u06cc\u062f \u0642\u0644\u0647\u200c\u0647\u0627\u06cc \u0646\u0648\u06cc\u0632 \u062f\u0631 \u0647\u0645\u0647 \u0633\u0637\u0648\u062d \u06af\u0627\u0632 \u06a9\u0627\u0647\u0634 \u06cc\u0627\u0628\u0646\u062f\u060c \u0646\u0647 \u0641\u0642\u0637 \u062f\u0631 \u06af\u0627\u0632 \u0645\u0639\u06cc\u0646.<\/p>\n
\u0686\u0646\u062f \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9 \u2014 \u062c\u062f\u0648\u0644 HMNCS<\/h2>\n\n\n\n\n\n
HMNCS (bitmask)<\/th>\n\u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9\u200c\u0647\u0627\u06cc \u0641\u0639\u0627\u0644<\/th>\n<\/tr>\n
1<\/td>\n\u0641\u0642\u0637 \u0641\u0631\u06a9\u0627\u0646\u0633 \u067e\u0627\u06cc\u0647<\/td>\n<\/tr>\n
3<\/td>\n\u067e\u0627\u06cc\u0647 + \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9 \u062f\u0648\u0645<\/td>\n<\/tr>\n
7<\/td>\n\u067e\u0627\u06cc\u0647 + \u062f\u0648\u0645 + \u0633\u0648\u0645<\/td>\n<\/tr>\n<\/table>\n
\n\u062a\u0648\u062c\u0647:<\/strong> \u0641\u0639\u0627\u0644 \u06a9\u0631\u062f\u0646 \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9\u200c\u0647\u0627\u06cc \u0632\u06cc\u0627\u062f \u0628\u0627\u0631 \u067e\u0631\u062f\u0627\u0632\u0634\u06cc FC \u0631\u0627 \u0628\u0627\u0644\u0627 \u0645\u06cc\u200c\u0628\u0631\u062f. \u0631\u0648\u06cc \u0628\u0631\u062f\u0647\u0627\u06cc F4 \u0636\u0639\u06cc\u0641\u060c \u062a\u0639\u062f\u0627\u062f \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9 \u0631\u0627 \u06a9\u0645 \u0646\u06af\u0647 \u062f\u0627\u0631\u06cc\u062f \u06cc\u0627 \u0627\u0632 \u062d\u0627\u0644\u062a Throttle (MODE=1) \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u062f.\n<\/div>\n
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