{"id":495,"date":"2026-06-11T10:57:50","date_gmt":"2026-06-11T02:57:50","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/optical-flow-drone-indoor-hover-without-gps-farsi\/"},"modified":"2026-06-11T10:57:51","modified_gmt":"2026-06-11T02:57:51","slug":"optical-flow-drone-indoor-hover-without-gps-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/optical-flow-drone-indoor-hover-without-gps-farsi\/","title":{"rendered":"\u0631\u0627\u0647\u0646\u0645\u0627\u06cc Optical Flow \u0628\u0631\u0627\u06cc Drone: \u067e\u0631\u0648\u0627\u0632 \u062f\u0642\u06cc\u0642 \u0628\u062f\u0648\u0646 GPS \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0633\u062a\u0647 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nOptical Flow \u067e\u0631\u0648\u0627\u0632 \u0628\u062f\u0648\u0646 GPS Drone \u0641\u0636\u0627\u06cc \u0628\u0633\u062a\u0647\n<\/div>\n
\n

Optical Flow \u0686\u06cc\u0633\u062a\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u062f\u0631 \u0641\u0636\u0627\u0647\u0627\u06cc \u0628\u0633\u062a\u0647 (\u062f\u0627\u062e\u0644 \u0633\u0627\u062e\u062a\u0645\u0627\u0646)\u060c GPS \u0633\u06cc\u06af\u0646\u0627\u0644 \u0636\u0639\u06cc\u0641\u06cc \u062f\u0627\u0631\u062f \u06cc\u0627 \u0627\u0635\u0644\u0627\u064b \u06a9\u0627\u0631 \u0646\u0645\u06cc\u200c\u06a9\u0646\u062f. Optical Flow<\/strong> \u06cc\u06a9 \u0633\u0646\u0633\u0648\u0631 \u0627\u0633\u062a \u06a9\u0647 \u0645\u062b\u0644 \u0645\u0627\u0648\u0633 \u06a9\u0627\u0645\u067e\u06cc\u0648\u062a\u0631\u06cc\u060c \u062d\u0631\u06a9\u062a \u062a\u0635\u0648\u06cc\u0631 \u0632\u0645\u06cc\u0646 \u0631\u0627 \u0632\u06cc\u0631 \u067e\u0647\u067e\u0627\u062f \u062a\u0634\u062e\u06cc\u0635 \u0645\u06cc\u200c\u062f\u0647\u062f \u2014 \u0627\u06af\u0631 \u067e\u0647\u067e\u0627\u062f \u0628\u0647 \u0686\u067e \u0628\u0631\u0648\u062f\u060c \u0633\u0646\u0633\u0648\u0631 \u0622\u0646 \u0631\u0627 \u0645\u06cc\u200c\u0641\u0647\u0645\u062f \u0648 FC \u062c\u0628\u0631\u0627\u0646 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u0633\u0646\u0633\u0648\u0631 PMW3901<\/strong> \u06cc\u06a9 \u0686\u06cc\u067e Optical Flow \u0631\u0627\u06cc\u062c \u0648 \u0627\u0631\u0632\u0627\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u06cc\u06a9 \u0633\u0646\u0633\u0648\u0631 \u0641\u0627\u0635\u0644\u0647 (\u0645\u062b\u0644 VL53L1X \u06cc\u0627 \u06cc\u06a9 \u0633\u0648\u0646\u0627\u0631) \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0633\u0646\u0633\u0648\u0631 \u0641\u0627\u0635\u0644\u0647 \u0627\u0631\u062a\u0641\u0627\u0639 \u0648\u0627\u0642\u0639\u06cc \u0631\u0627 \u0627\u0646\u062f\u0627\u0632\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f \u062a\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u0633\u0631\u0639\u062a \u062f\u0642\u06cc\u0642 \u0628\u0627\u0634\u062f. \u0627\u06cc\u0646 \u062a\u0631\u06a9\u06cc\u0628 \u0628\u0647 \u067e\u0647\u067e\u0627\u062f \u0627\u062c\u0627\u0632\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f \u062f\u0631 \u062d\u0627\u0644\u062a Loiter<\/strong> \u0628\u062f\u0648\u0646 GPS \u062f\u0631 \u062c\u0627\u06cc \u062e\u0648\u062f \u062b\u0627\u0628\u062a \u0628\u0645\u0627\u0646\u062f.<\/p>\n<\/div>\n

\n

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

\u0646\u0635\u0628 PMW3901 + VL53L1X \u0631\u0648\u06cc \u067e\u0647\u067e\u0627\u062f \u0648 \u062a\u0646\u0638\u06cc\u0645 ArduPilot \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u0627\u0632 Loiter \u0628\u062f\u0648\u0646 GPS \u062f\u0631 \u0641\u0636\u0627\u06cc \u062f\u0627\u062e\u0644\u06cc.<\/p>\n

    \n
  • \u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632:<\/strong> \u067e\u0647\u067e\u0627\u062f mini-quad \u0628\u0627 ArduPilot \u06cc\u0627 iNAV<\/li>\n
  • \u0632\u0645\u0627\u0646:<\/strong> \u06f2 \u062a\u0627 \u06f3 \u0633\u0627\u0639\u062a<\/li>\n<\/ul>\n<\/div>\n

    \n\nFC + PMW3901<\/text>\nVL53L1X \u2193<\/text>\n\nLaser Range \u2193<\/text>\n\n\u0632\u0645\u06cc\u0646 (\u06a9\u0641 \u0627\u062a\u0627\u0642)<\/text>\n\nFlow \u2193<\/text>\nOptical Flow \u2014 \u062d\u0631\u06a9\u062a \u062a\u0635\u0648\u06cc\u0631 \u06a9\u0641 + \u0641\u0627\u0635\u0644\u0647 \u0644\u06cc\u0632\u0631 = \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0642\u06cc\u0642<\/text>\n<\/svg><\/p>\n

    \u062a\u0646\u0638\u06cc\u0645 ArduPilot \u0628\u0631\u0627\u06cc Optical Flow<\/h2>\n
    \n\/\/ \u0627\u062a\u0635\u0627\u0644 PMW3901:\n\/\/ SPI: MISO=MISO, MOSI=MOSI, SCK=SCK, CS=CS\n\/\/ \u06cc\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0645\u0627\u0698\u0648\u0644 \u0627\u0632 \u067e\u06cc\u0634 \u0633\u0648\u0627\u0631 (Matek 3901-L0X)\n\n\/\/ \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc ArduPilot (Mission Planner):\nFLOW_TYPE = 6       \/\/ PMW3901 \u0627\u0632 \u0637\u0631\u06cc\u0642 SPI\nFLOW_FXSCALER = 0   \/\/ scaling \u062e\u0648\u062f\u06a9\u0627\u0631\nFLOW_FYSCALER = 0\nFLOW_ORIENT_YAW = 0 \/\/ \u062c\u0647\u062a \u0633\u0646\u0633\u0648\u0631 (\u0686\u0631\u062e\u0634 \u0646\u0635\u0628)\n\n\/\/ \u0633\u0646\u0633\u0648\u0631 \u0641\u0627\u0635\u0644\u0647 VL53L1X \u0627\u0632 \u0637\u0631\u06cc\u0642 I2C:\nRNGFND1_TYPE = 16   \/\/ VL53L1X\nRNGFND1_ADDR = 41   \/\/ \u0622\u062f\u0631\u0633 I2C\n\n\/\/ \u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632\u06cc Optical Flow Fusion:\nEK3_SRC1_VELXY = 5  \/\/ Optical Flow\nEK3_SRC1_POSZ  = 6  \/\/ Range Finder \u0628\u0631\u0627\u06cc Z\n\n\/\/ Loiter \u0628\u062f\u0648\u0646 GPS:\n\/\/ \u0646\u06cc\u0627\u0632 \u0628\u0647 EK3 + \u0627\u0631\u062a\u0641\u0627\u0639 \u062b\u0627\u0628\u062a \u0632\u06cc\u0631 \u06f5 \u0645\u062a\u0631\n\/\/ GPS_TYPE = 0 (\u063a\u06cc\u0631\u0641\u0639\u0627\u0644) \u0628\u0631\u0627\u06cc \u0641\u0636\u0627\u06cc \u062f\u0627\u062e\u0644\u06cc\n<\/code><\/pre>\n
    \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 Optical Flow<\/h2>\n
    \n\/\/ \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 FLOW_FXSCALER\/FYSCALER:\n\/\/ \u067e\u0647\u067e\u0627\u062f \u0631\u0627 \u06f1 \u0645\u062a\u0631 \u0628\u0627\u0644\u0627\u06cc \u06cc\u06a9 \u0633\u0637\u062d \u0628\u0627 \u0628\u0627\u0641\u062a \u067e\u0631\u0648\u0627\u0632 \u062f\u0647\u06cc\u062f\n\/\/ \u062f\u0631 \u062d\u0627\u0644\u062a ALT_HOLD \u0628\u0627 Throttle \u062b\u0627\u0628\u062a \u0628\u0647 \u062c\u0644\u0648 \u0628\u0631\u0648\u06cc\u062f\n\/\/ \u062f\u0631 MissionPlanner\u060c FLOW.bodyX \u0631\u0627 \u0628\u0627 GPS.vx \u0645\u0642\u0627\u06cc\u0633\u0647 \u06a9\u0646\u06cc\u062f\n\/\/ \u0646\u0633\u0628\u062a = \u0636\u0631\u06cc\u0628 calibration\n\/\/ \u0645\u062b\u0627\u0644: \u0627\u06af\u0631 FLOW.bodyX = 0.8 \u00d7 GPS.vx \u2192 FLOW_FXSCALER = 20 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/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
    FLOW_TYPE \u062f\u0631 MP \u062e\u0648\u0627\u0646\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\nSensor Health = OK<\/td>\n<\/tr>\n
    Range Finder \u0627\u0631\u062a\u0641\u0627\u0639 \u0635\u062d\u06cc\u062d \u0645\u06cc\u200c\u062f\u0647\u062f\u061f<\/td>\n\u0628\u0644\u0647 \u2014 \u0646\u0633\u0628\u062a \u0628\u0647 \u06a9\u0641<\/td>\n<\/tr>\n
    \u062f\u0631 ALT_HOLD \u067e\u0647\u067e\u0627\u062f Drift \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u06a9\u0645\u062a\u0631 \u0627\u0632 \u06f0.\u06f5m\/min = \u062e\u0648\u0628<\/td>\n<\/tr>\n
    \u062f\u0631 Loiter \u062f\u0631 \u062c\u0627 \u0645\u06cc\u200c\u0645\u0627\u0646\u062f\u061f<\/td>\n\u00b1\u06f3\u06f0cm \u0642\u0627\u0628\u0644 \u0642\u0628\u0648\u0644<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nPMW3901<\/text>\nFlow + Range<\/text>\nEKF3<\/text>\nFusion Position<\/text>\nArduPilot<\/text>\nLoiter Mode<\/text>\n\u067e\u0631\u0648\u0627\u0632 \u062b\u0627\u0628\u062a<\/text>\n\u0628\u062f\u0648\u0646 GPS<\/text>\nOptical Flow \u2014 PMW3901 \u2192 EKF \u2192 Loiter \u0628\u062f\u0648\u0646 GPS<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n