{"id":407,"date":"2026-06-11T10:14:58","date_gmt":"2026-06-11T02:14:58","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/failsafe-rc-ardupilot-rth-land-farsi\/"},"modified":"2026-06-11T10:14:59","modified_gmt":"2026-06-11T02:14:59","slug":"failsafe-rc-ardupilot-rth-land-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/failsafe-rc-ardupilot-rth-land-farsi\/","title":{"rendered":"\u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u06a9\u0627\u0645\u0644 Failsafe \u062f\u0631 RC \u0648 ArduPilot: \u062a\u0646\u0638\u06cc\u0645 RTH \u0648 Land \u062e\u0648\u062f\u06a9\u0627\u0631 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u062a\u0646\u0638\u06cc\u0645 Failsafe \u062f\u0631 ArduPilot \u0648 RC\n<\/div>\n
\n

Failsafe \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f \u0686\u0631\u0627 \u062d\u06cc\u0627\u062a\u06cc \u0627\u0633\u062a\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

Failsafe<\/strong> \u0631\u0641\u062a\u0627\u0631 \u062e\u0648\u062f\u06a9\u0627\u0631 \u067e\u0647\u067e\u0627\u062f \u06cc\u0627 UGV \u0627\u0633\u062a \u0648\u0642\u062a\u06cc \u0627\u0631\u062a\u0628\u0627\u0637 RC \u0642\u0637\u0639 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0628\u062f\u0648\u0646 Failsafe \u062f\u0631\u0633\u062a\u060c \u067e\u0647\u067e\u0627\u062f \u0634\u0645\u0627 \u062f\u0631 \u0647\u0646\u06af\u0627\u0645 \u0642\u0637\u0639 \u0633\u06cc\u06af\u0646\u0627\u0644 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0628\u062f\u0648\u0646 \u06a9\u0646\u062a\u0631\u0644 \u0631\u0647\u0627 \u0634\u0648\u062f \u2014 \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u062e\u0637\u0631\u0646\u0627\u06a9 \u0628\u0627\u0634\u062f. \u0628\u0627 Failsafe \u0635\u062d\u06cc\u062d\u060c \u067e\u0647\u067e\u0627\u062f \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0628\u0647 \u0646\u0642\u0637\u0647 \u067e\u0631\u0648\u0627\u0632 \u0628\u0631\u06af\u0631\u062f\u062f (RTH = Return to Home<\/strong>)\u060c \u062f\u0631 \u062c\u0627\u06cc \u062e\u0648\u062f \u0628\u0645\u0627\u0646\u062f (Position Hold<\/strong>)\u060c \u06cc\u0627 \u0641\u0631\u0648\u062f \u0628\u06cc\u0627\u06cc\u062f (Land<\/strong>).<\/p>\n

Failsafe \u062f\u0631 \u062f\u0648 \u0644\u0627\u06cc\u0647 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f: \u0644\u0627\u06cc\u0647 \u0627\u0648\u0644 \u062f\u0631 \u06af\u06cc\u0631\u0646\u062f\u0647 RC<\/strong> (Receiver) \u06a9\u0647 \u0648\u0642\u062a\u06cc \u0633\u06cc\u06af\u0646\u0627\u0644 TX \u0642\u0637\u0639 \u0634\u062f \u0645\u0642\u0627\u062f\u06cc\u0631 \u0627\u0632 \u067e\u06cc\u0634 \u062a\u0639\u0631\u06cc\u0641\u200c\u0634\u062f\u0647\u200c\u0627\u06cc \u0631\u0627 \u0628\u0647 FC \u0645\u06cc\u200c\u0641\u0631\u0633\u062a\u062f. \u0644\u0627\u06cc\u0647 \u062f\u0648\u0645 \u062f\u0631 ArduPilot \/ INAV<\/strong> \u06a9\u0647 \u0648\u0642\u062a\u06cc \u0627\u06cc\u0646 \u0645\u0642\u0627\u062f\u06cc\u0631 \u062e\u0627\u0635 \u0631\u0627 \u062f\u06cc\u062f\u060c \u0627\u06a9\u0634\u0646 Failsafe \u0631\u0627 \u0627\u062c\u0631\u0627 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc ELRS<\/strong>: Failsafe \u062f\u0631 Lua Script \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0628\u0631\u0627\u06cc FlySky \/ FrSky<\/strong>: \u062f\u0631 \u06af\u06cc\u0631\u0646\u062f\u0647 \u0628\u0627 \u062f\u06a9\u0645\u0647 Failsafe \u06cc\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 TX.<\/p>\n<\/div>\n

\n

\u0647\u062f\u0641 \u0627\u06cc\u0646 \u0631\u0627\u0647\u0646\u0645\u0627<\/h2>\n

\u062a\u0646\u0638\u06cc\u0645 Failsafe \u06a9\u0627\u0645\u0644 \u0628\u0631\u0627\u06cc \u067e\u0647\u067e\u0627\u062f ArduPilot: \u0642\u0637\u0639 \u0633\u06cc\u06af\u0646\u0627\u0644 RC \u2192 Throttle \u0628\u0647 \u0645\u0642\u062f\u0627\u0631 Failsafe \u2192 ArduPilot RTH \u0631\u0627 \u0641\u0639\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

    \n
  • \u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632:<\/strong> FC \u0628\u0627 ArduPilot\/INAV\u060c \u06af\u06cc\u0631\u0646\u062f\u0647 RC \u0645\u062a\u0635\u0644\u060c GPS \u0641\u0639\u0627\u0644<\/li>\n
  • \u0632\u0645\u0627\u0646:<\/strong> \u06f3\u06f0 \u062a\u0627 \u06f6\u06f0 \u062f\u0642\u06cc\u0642\u0647<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\nTX \u0631\u0648\u0634\u0646<\/text>\n\u0633\u06cc\u06af\u0646\u0627\u0644 OK<\/text>\n\u06af\u06cc\u0631\u0646\u062f\u0647<\/text>\nPWM \u0639\u0627\u062f\u06cc<\/text>\nTX \u062e\u0627\u0645\u0648\u0634!<\/text>\n\u0633\u06cc\u06af\u0646\u0627\u0644 \u0642\u0637\u0639<\/text>\nRTH \u0641\u0639\u0627\u0644<\/text>\n\u0628\u0631\u06af\u0634\u062a \u062e\u0648\u062f\u06a9\u0627\u0631<\/text>\n\nFailsafe \u0627\u06a9\u0634\u0646\u200c\u0647\u0627\u06cc ArduPilot<\/text>\nRTL (Return to Launch) | Land | Hold | Disarm<\/text>\n\u0628\u0633\u062a\u0647 \u0628\u0647 \u0627\u0631\u062a\u0641\u0627\u0639\u060c \u0633\u0631\u0639\u062a \u0648 \u062a\u0646\u0638\u06cc\u0645\u0627\u062a<\/text>\n<\/svg><\/p>\n

    \u0645\u0631\u062d\u0644\u0647 \u06f1 \u2014 \u062a\u0646\u0638\u06cc\u0645 Failsafe \u062f\u0631 \u06af\u06cc\u0631\u0646\u062f\u0647 ELRS<\/h2>\n
    \n\/\/ \u062f\u0631 OpenTX\/EdgeTX \u2192 Lua Script ELRS:\n\/\/ Failsafe Mode \u2192 \"Cut\" (Throttle \u0635\u0641\u0631 \u0645\u06cc\u200c\u0634\u0648\u062f)\n\/\/ \u06cc\u0627 \"Set\" (\u0645\u0642\u0627\u062f\u06cc\u0631 \u0627\u0632 \u067e\u06cc\u0634 \u062a\u0639\u0631\u06cc\u0641\u200c\u0634\u062f\u0647)\n\n\/\/ \u0628\u0631\u0627\u06cc ArduPilot \u062a\u0648\u0635\u06cc\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f:\n\/\/ Channel 3 (Throttle) \u2192 \u0645\u0642\u062f\u0627\u0631 \u06f9\u06f7\u06f5 \u0645\u06cc\u06a9\u0631\u0648\u062b\u0627\u0646\u06cc\u0647 \u0647\u0646\u06af\u0627\u0645 Failsafe\n\/\/ \u0627\u06cc\u0646 \u0645\u0642\u062f\u0627\u0631 \u0632\u06cc\u0631 FS_THR_VALUE \u062f\u0631 ArduPilot \u0627\u0633\u062a\n<\/code><\/pre>\n
    \u0645\u0631\u062d\u0644\u0647 \u06f2 \u2014 \u062a\u0646\u0638\u06cc\u0645 ArduPilot Failsafe<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u067e\u0627\u0631\u0627\u0645\u062a\u0631<\/th>\n\u0645\u0642\u062f\u0627\u0631 \u062a\u0648\u0635\u06cc\u0647\u200c\u0634\u062f\u0647<\/th>\n\u062a\u0648\u0636\u06cc\u062d<\/th>\n<\/tr>\n<\/thead>\n
    FS_THR_ENABLE<\/td>\n1<\/td>\n\u0641\u0639\u0627\u0644 \u06a9\u0631\u062f\u0646 Throttle Failsafe<\/td>\n<\/tr>\n
    FS_THR_VALUE<\/td>\n975<\/td>\n\u062d\u062f \u067e\u0627\u06cc\u06cc\u0646 Throttle \u0628\u0631\u0627\u06cc Failsafe<\/td>\n<\/tr>\n
    FS_THR_ACTION<\/td>\n2 (RTL)<\/td>\n0=\u0627\u0642\u062f\u0627\u0645\u06cc \u0646\u06cc\u0633\u062a\u060c 1=Land\u060c 2=RTL<\/td>\n<\/tr>\n
    RTL_ALT<\/td>\n3000 (30m)<\/td>\n\u0627\u0631\u062a\u0641\u0627\u0639 RTH \u062f\u0631 cm<\/td>\n<\/tr>\n
    FS_GCS_ENABLE<\/td>\n1<\/td>\nFailsafe \u0628\u0631\u0627\u06cc \u0642\u0637\u0639 Telemetry \u0647\u0645<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \u0645\u0631\u062d\u0644\u0647 \u06f3 \u2014 \u062a\u0633\u062a Failsafe (\u0628\u062f\u0648\u0646 \u0645\u0648\u062a\u0648\u0631)<\/h2>\n
    \n\/\/ \u062a\u0633\u062a \u0627\u06cc\u0645\u0646 (\u0631\u0648\u06cc \u0632\u0645\u06cc\u0646\u060c \u0645\u0648\u062a\u0648\u0631 Disarm):\n\/\/ \u06f1. TX \u0631\u0627 \u0631\u0648\u0634\u0646 \u06a9\u0646\u06cc\u062f\u060c FC \u0631\u0627 Boot \u06a9\u0646\u06cc\u062f\n\/\/ \u06f2. \u062f\u0631 Mission Planner Radio Calibration \u2192 \u06a9\u0627\u0646\u0627\u0644\u200c\u0647\u0627 \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u062f\n\/\/ \u06f3. TX \u0631\u0627 \u062e\u0627\u0645\u0648\u0634 \u06a9\u0646\u06cc\u062f\n\/\/ \u06f4. \u0645\u0642\u062f\u0627\u0631 Throttle \u062f\u0631 MP \u0628\u0627\u06cc\u062f \u0628\u0647 975 \u06cc\u0627 \u06a9\u0645\u062a\u0631 \u0628\u0631\u0648\u062f\n\/\/ \u06f5. \u062f\u0631 Flight Data \u2192 HUD \u0628\u0627\u06cc\u062f \"FAILSAFE\" \u0638\u0627\u0647\u0631 \u0634\u0648\u062f\n\/\/ \u06f6. Mode \u0628\u0627\u06cc\u062f \u0628\u0647 RTL \u062a\u063a\u06cc\u06cc\u0631 \u06a9\u0646\u062f (\u062f\u0631 HUD \u062f\u06cc\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f)\n\n\/\/ \u062a\u0633\u062a \u0648\u0627\u0642\u0639\u06cc:\n\/\/ \u062f\u0631 \u0627\u0631\u062a\u0641\u0627\u0639 \u06f3\u06f0 \u0645\u062a\u0631 TX \u0631\u0627 \u062e\u0627\u0645\u0648\u0634 \u06a9\u0646\u06cc\u062f\n\/\/ \u067e\u0647\u067e\u0627\u062f \u0628\u0627\u06cc\u062f \u0628\u0647 Home Point \u0628\u0631\u06af\u0631\u062f\u062f \u0648 \u0641\u0631\u0648\u062f \u0628\u06cc\u0627\u06cc\u062f\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a Failsafe<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    TX \u062e\u0627\u0645\u0648\u0634 \u2192 Throttle \u0628\u0647 975 \u0645\u06cc\u200c\u0631\u0648\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    Mode \u062f\u0631 MP \u0628\u0647 RTL \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    Home Point \u0642\u0628\u0644 \u0627\u0632 \u067e\u0631\u0648\u0627\u0632 \u062b\u0628\u062a \u0634\u062f\u0647\u061f<\/td>\nGPS Fix \u0644\u0627\u0632\u0645 \u0627\u0633\u062a<\/td>\n<\/tr>\n
    RTL_ALT \u06a9\u0627\u0641\u06cc \u0628\u0631\u0627\u06cc \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0627\u0632 \u0628\u0631\u062e\u0648\u0631\u062f\u061f<\/td>\n\u0628\u0627\u0644\u0627\u062a\u0631 \u0627\u0632 \u0628\u0644\u0646\u062f\u062a\u0631\u06cc\u0646 \u0645\u0627\u0646\u0639<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nTX \u062e\u0627\u0645\u0648\u0634<\/text>\n\u0633\u06cc\u06af\u0646\u0627\u0644 \u0642\u0637\u0639<\/text>\nRX Failsafe<\/text>\nTHR=975\u03bcs<\/text>\nArduPilot<\/text>\n\u062a\u0634\u062e\u06cc\u0635 FS<\/text>\nRTH \u062e\u0648\u062f\u06a9\u0627\u0631<\/text>\n\u0628\u0631\u06af\u0634\u062a \u0627\u06cc\u0645\u0646<\/text>\nFailsafe \u2014 \u0644\u0627\u06cc\u0647 \u06af\u06cc\u0631\u0646\u062f\u0647 + \u0644\u0627\u06cc\u0647 FC = \u0627\u06cc\u0645\u0646\u06cc \u062f\u0648\u200c\u0644\u0627\u06cc\u0647<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n