{"id":1191,"date":"2026-06-21T15:17:25","date_gmt":"2026-06-21T07:17:25","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/dronecan-gps-setup-ardupilot-farsi\/"},"modified":"2026-06-21T15:17:25","modified_gmt":"2026-06-21T07:17:25","slug":"dronecan-gps-setup-ardupilot-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/dronecan-gps-setup-ardupilot-farsi\/","title":{"rendered":"GPS \u0628\u0627 DroneCAN \u2014 \u0627\u062a\u0635\u0627\u0644 \u0633\u0627\u062f\u0647 \u0648 \u0642\u0627\u0628\u0644\u200c\u0627\u0639\u062a\u0645\u0627\u062f (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nDroneCAN GPS\n<\/div>\n
\n

DroneCAN \u0686\u06cc\u0633\u062a\u061f<\/h2>\n

DroneCAN<\/strong> \u067e\u0631\u0648\u062a\u06a9\u0644 \u0627\u0631\u062a\u0628\u0627\u0637\u06cc \u0628\u0631 \u067e\u0627\u06cc\u0647 \u0628\u0627\u0633 CAN<\/strong> \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0627\u06cc \u067e\u0647\u067e\u0627\u062f\u0647\u0627\u06cc \u062d\u0631\u0641\u0647\u200c\u0627\u06cc \u0637\u0631\u0627\u062d\u06cc \u0634\u062f\u0647. \u0628\u0631\u062e\u0644\u0627\u0641 UART \u06a9\u0647 \u0647\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u06a9\u0627\u0628\u0644 \u062c\u062f\u0627\u06af\u0627\u0646\u0647 \u062f\u0627\u0631\u062f\u060c DroneCAN \u0627\u062c\u0627\u0632\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f \u0686\u0646\u062f\u06cc\u0646 \u062f\u0633\u062a\u06af\u0627\u0647 (GPS\u060c \u0642\u0637\u0628\u200c\u0646\u0645\u0627\u060c \u0628\u0627\u0631\u0648\u0645\u062a\u0631\u060c ESC) \u0631\u0648\u06cc \u06cc\u06a9 \u0628\u0627\u0633 \u062f\u0648\u200c\u0633\u06cc\u0645\u06cc \u0628\u0647 FC \u0645\u062a\u0635\u0644 \u0634\u0648\u0646\u062f.<\/p>\n

\u0628\u0627 DroneCAN\u060c GPS \u0648 \u0642\u0637\u0628\u200c\u0646\u0645\u0627 \u062f\u0631 \u06cc\u06a9 \u0645\u0627\u0698\u0648\u0644 (\u0645\u062b\u0644 Here3) \u0631\u0648\u06cc \u06cc\u06a9 \u06a9\u0627\u0628\u0644 \u0633\u0627\u062f\u0647 \u0628\u0647 FC \u0648\u0635\u0644 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f. \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u0631\u0627 \u06a9\u0627\u0647\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f \u0648 \u062f\u0631 \u0645\u0642\u0627\u0628\u0644 \u0646\u0648\u06cc\u0632 \u0648 \u062a\u062f\u0627\u062e\u0644 \u0645\u0642\u0627\u0648\u0645\u200c\u062a\u0631 \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\u0631\u0648\u062a\u06a9\u0644<\/td>\nDroneCAN (CAN 2.0B)<\/td>\n<\/tr>\n
\u0633\u06cc\u0645\u200c\u0647\u0627<\/td>\nCAN_H\u060c CAN_L\u060c 5V\u060c GND<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0645\u0632\u0627\u06cc\u0627\u06cc DroneCAN \u062f\u0631 \u0645\u0642\u0627\u0628\u0644 UART<\/h2>\n\n\n\n\n\n
\u0648\u06cc\u0698\u06af\u06cc<\/th>\nUART<\/th>\nDroneCAN<\/th>\n<\/tr>\n
\u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc<\/td>\n\u062c\u062f\u0627 \u0628\u0631\u0627\u06cc \u0647\u0631 \u062f\u0633\u062a\u06af\u0627\u0647<\/td>\n\u06cc\u06a9 \u0628\u0627\u0633 \u0645\u0634\u062a\u0631\u06a9<\/td>\n<\/tr>\n
\u062a\u062f\u0627\u062e\u0644<\/td>\n\u0622\u0633\u06cc\u0628\u200c\u067e\u0630\u06cc\u0631<\/td>\n\u0645\u0642\u0627\u0648\u0645<\/td>\n<\/tr>\n
\u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc \u0633\u0644\u0627\u0645\u062a<\/td>\n\u0645\u062d\u062f\u0648\u062f<\/td>\n\u06a9\u0627\u0645\u0644<\/td>\n<\/tr>\n<\/table>\n

\u06af\u0627\u0645 \u06f1: \u062a\u0646\u0638\u06cc\u0645\u0627\u062a ArduPilot<\/h2>\n
CAN_P1_DRIVER = 1        (\u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632\u06cc CAN1)\nCAN_D1_PROTOCOL = 1      (DroneCAN)\nGPS_TYPE = 9             (u-blox CAN)\nGPS_TYPE2 = 9            (\u0628\u0631\u0627\u06cc GPS \u062f\u0648\u0645 \u0631\u0648\u06cc CAN)<\/code><\/pre>\n
\u06af\u0627\u0645 \u06f2: \u0627\u062a\u0635\u0627\u0644 \u0641\u06cc\u0632\u06cc\u06a9\u06cc<\/h2>\n
\u0645\u0627\u0698\u0648\u0644 DroneCAN GPS (\u0645\u062b\u0644 Here3) \u0631\u0627 \u0628\u0647 \u067e\u0648\u0631\u062a CAN1 Pixhawk \u0648\u0635\u0644 \u06a9\u0646\u06cc\u062f:<\/p>\n
    \n
  • CAN_H \u2192 CAN_H<\/li>\n
  • CAN_L \u2192 CAN_L<\/li>\n
  • 5V\/GND \u2192 \u0628\u0631\u0642<\/li>\n<\/ul>\n
    \u06af\u0627\u0645 \u06f3: \u0628\u0631\u0631\u0633\u06cc \u0648\u0636\u0639\u06cc\u062a<\/h2>\n
    \u062f\u0631 Mission Planner\u060c \u0628\u0647 \u062a\u0628 Initial Setup \u2192 Optional Hardware \u2192 UAVCAN \u0628\u0631\u0648\u06cc\u062f. \u0628\u0627\u06cc\u062f \u0645\u0627\u0698\u0648\u0644 GPS \u0631\u0627 \u062f\u0631 \u0644\u06cc\u0633\u062a \u06af\u0631\u0647\u200c\u0647\u0627\u06cc DroneCAN \u0628\u0628\u06cc\u0646\u06cc\u062f. \u0647\u0645\u0686\u0646\u06cc\u0646 \u062a\u0639\u062f\u0627\u062f \u0645\u0627\u0647\u0648\u0627\u0631\u0647 \u0648 HDOP \u062f\u0631 \u0635\u0641\u062d\u0647 Quick \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n
    \u0639\u06cc\u0628\u200c\u06cc\u0627\u0628\u06cc DroneCAN<\/h2>\n\n\n\n\n
    \u0645\u0634\u06a9\u0644<\/th>\n\u0631\u0627\u0647\u200c\u062d\u0644<\/th>\n<\/tr>\n
    \u06af\u0631\u0647 \u062f\u06cc\u062f\u0647 \u0646\u0645\u06cc\u200c\u0634\u0648\u062f<\/td>\nCAN_P1_DRIVER \u0648 CAN_D1_PROTOCOL \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    CAN_H \u0648 CAN_L \u0645\u0639\u06a9\u0648\u0633<\/td>\n\u062c\u0627\u0628\u0647\u200c\u062c\u0627 \u0646\u06a9\u0631\u062f\u0646\u061b \u062e\u0637\u0648\u0637 \u0628\u0627\u06cc\u062f H\u2192H \u0648 L\u2192L \u0628\u0627\u0634\u0646\u062f<\/td>\n<\/tr>\n<\/table>\n
    \n\u0646\u06a9\u062a\u0647:<\/strong> \u0628\u0627\u0633 CAN \u0628\u0647 Terminator Resistance \u0646\u06cc\u0627\u0632 \u062f\u0627\u0631\u062f. \u0627\u06a9\u062b\u0631 FC\u0647\u0627 \u0648 \u0645\u0627\u0698\u0648\u0644\u200c\u0647\u0627 \u062a\u0631\u0645\u06cc\u0646\u0627\u062a\u0648\u0631 \u062f\u0627\u062e\u0644\u06cc \u062f\u0627\u0631\u0646\u062f\u060c \u0627\u0645\u0627 \u062f\u0631 \u06a9\u0627\u0628\u0644\u200c\u06a9\u0634\u06cc\u200c\u0647\u0627\u06cc \u0628\u0644\u0646\u062f \u0628\u0627 \u0686\u0646\u062f \u06af\u0631\u0647\u060c \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0646\u06cc\u0627\u0632 \u0628\u0647 \u062a\u0631\u0645\u06cc\u0646\u0627\u062a\u0648\u0631 \u06f1\u06f2\u06f0 \u0627\u0647\u0645\u06cc \u062f\u0631 \u062f\u0648 \u0627\u0646\u062a\u0647\u0627 \u0628\u0627\u0634\u062f.\n<\/div>\n
    \n