{"id":508,"date":"2026-06-11T11:00:06","date_gmt":"2026-06-11T03:00:06","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/rc-boat-autopilot-gps-ardupilot-rover-farsi\/"},"modified":"2026-06-11T11:00:06","modified_gmt":"2026-06-11T03:00:06","slug":"rc-boat-autopilot-gps-ardupilot-rover-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/rc-boat-autopilot-gps-ardupilot-rover-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0633\u06cc\u0633\u062a\u0645 Autopilot \u0633\u0627\u062f\u0647 \u0628\u0631\u0627\u06cc \u0642\u0627\u06cc\u0642 RC \u0628\u0627 GPS \u0648 ArduPilot Rover (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0642\u0627\u06cc\u0642 RC Autopilot ArduPilot Rover GPS\n<\/div>\n
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Autopilot \u0642\u0627\u06cc\u0642 \u0628\u0627 ArduPilot Rover \u0686\u06cc\u0633\u062a\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

ArduPilot Rover<\/strong> \u0633\u0648\u0645\u06cc\u0646 branch \u0627\u0635\u0644\u06cc ArduPilot \u0627\u0633\u062a (\u0628\u0639\u062f \u0627\u0632 Copter \u0648 Plane) \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0648\u0633\u0627\u06cc\u0644 \u0646\u0642\u0644\u06cc\u0647 \u0632\u0645\u06cc\u0646\u06cc \u0648 \u0622\u0628\u06cc \u0637\u0631\u0627\u062d\u06cc \u0634\u062f\u0647. \u06cc\u06a9 \u0642\u0627\u06cc\u0642 RC \u0631\u0627 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0628\u0627 \u06cc\u06a9 FC \u0645\u062b\u0644 Pixhawk \u06cc\u0627 Matek F405 \u0628\u0647 \u06cc\u06a9 \u0642\u0627\u06cc\u0642 Autopilot \u062a\u0628\u062f\u06cc\u0644 \u06a9\u0631\u062f \u06a9\u0647 \u0645\u0633\u06cc\u0631\u0647\u0627\u06cc GPS \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u062e\u0648\u062f\u06a9\u0627\u0631 RTH \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u0648 PID \u0641\u0631\u0645\u0627\u0646 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u062f\u0631 ArduPilot Rover\u060c \u0641\u0631\u0645\u0627\u0646\u200c\u062f\u0647\u06cc \u0628\u0627 \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 \u0641\u0631\u0645\u0627\u0646<\/strong> (\u0645\u062b\u0644 \u0627\u062a\u0648\u0645\u0628\u06cc\u0644) \u06cc\u0627 \u0628\u0627 Skid Steering<\/strong> (\u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u0645\u0633\u062a\u0642\u0644 \u2014 \u0645\u062b\u0644 \u062a\u0627\u0646\u06a9) \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0628\u0631\u0627\u06cc \u0642\u0627\u06cc\u0642 \u0645\u0639\u0645\u0648\u0644\u06cc \u0628\u0627 \u06cc\u06a9 \u0645\u0648\u062a\u0648\u0631 \u0648 \u06cc\u06a9 \u0633\u0631\u0648 \u0641\u0631\u0645\u0627\u0646\u060c \u062d\u0627\u0644\u062a \u0627\u0648\u0644 \u0645\u0646\u0627\u0633\u0628 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u0642\u0627\u06cc\u0642 RC \u0628\u0627 Autopilot ArduPilot Rover \u06a9\u0647 Waypoint \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 RTH \u062f\u0627\u0631\u062f.<\/p>\n

    \n
  • \u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632:<\/strong> \u0642\u0627\u06cc\u0642 RC \u0628\u0627 \u0633\u0631\u0648 \u0641\u0631\u0645\u0627\u0646 + \u0645\u0648\u062a\u0648\u0631<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647 \u0627\u0636\u0627\u0641\u06cc:<\/strong> \u06f1.\u06f5 \u062a\u0627 \u06f3 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646 (FC + GPS)<\/li>\n
  • \u0632\u0645\u0627\u0646:<\/strong> \u06f5 \u062a\u0627 \u06f8 \u0633\u0627\u0639\u062a<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\u0642\u0627\u06cc\u0642 + ArduPilot<\/text>\n\n\n\n\n\nHome<\/text>\nWP1<\/text>\nWP2<\/text>\nWP3<\/text>\nArduPilot Rover \u2014 \u0642\u0627\u06cc\u0642 Waypoint Navigation \u0631\u0648\u06cc \u0622\u0628<\/text>\n<\/svg><\/p>\n

    \u062a\u0646\u0638\u06cc\u0645 ArduPilot Rover \u0628\u0631\u0627\u06cc \u0642\u0627\u06cc\u0642<\/h2>\n
    \n\/\/ \u062f\u0631 Mission Planner \u2192 Full Parameter List:\n\n\/\/ \u0646\u0648\u0639 \u0648\u0633\u06cc\u0644\u0647:\nFRAME_CLASS = 2     \/\/ Boat\n\n\/\/ \u0641\u0631\u0645\u0627\u0646 \u0633\u0631\u0648\u0648:\nSERVO1_FUNCTION = 26  \/\/ Ground Steering (\u0641\u0631\u0645\u0627\u0646)\nSERVO3_FUNCTION = 70  \/\/ Throttle (\u0645\u0648\u062a\u0648\u0631)\n\n\/\/ GPS:\nGPS_TYPE = 1         \/\/ Auto\nCOMPASS_USE = 1      \/\/ \u0642\u0637\u0628\u200c\u0646\u0645\u0627 \u0641\u0639\u0627\u0644\n\n\/\/ \u062a\u0646\u0638\u06cc\u0645 PID \u0641\u0631\u0645\u0627\u0646:\nATC_STR_RAT_P = 0.2  \/\/ \u0628\u0632\u0631\u06af\u200c\u062a\u0631 = \u0648\u0627\u06a9\u0646\u0634 \u0633\u0631\u06cc\u0639\u200c\u062a\u0631\nATC_STR_RAT_I = 0.1\nATC_STR_RAT_D = 0.01\n\n\/\/ \u0633\u0631\u0639\u062a \u062f\u0631 Auto Mode:\nWP_SPEED = 1.5       \/\/ \u0645\u062a\u0631 \u0628\u0631 \u062b\u0627\u0646\u06cc\u0647\nWP_RADIUS = 1.0      \/\/ \u0634\u0639\u0627\u0639 \u0631\u0633\u06cc\u062f\u0646 \u0628\u0647 WP (\u0645\u062a\u0631)\n\n\/\/ RTH:\nRTL_SPEED = 1.5\nRTL_RADIUS = 1.0\n<\/code><\/pre>\n
    \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u06af\u0627\u0645\u200c\u0628\u0647\u200c\u06af\u0627\u0645<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u0645\u0631\u062d\u0644\u0647<\/th>\n\u062a\u0648\u0636\u06cc\u062d<\/th>\n<\/tr>\n<\/thead>\n
    \u06f1. \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0642\u0637\u0628\u200c\u0646\u0645\u0627<\/td>\nInitial Setup \u2192 Compass \u2192 Start<\/td>\n<\/tr>\n
    \u06f2. \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0631\u0627\u062f\u06cc\u0648<\/td>\nRadio Calibration \u2192 \u0645\u06cc\u0646\u200c\/\u0645\u0627\u06a9\u0633 \u06a9\u0627\u0646\u0627\u0644\u200c\u0647\u0627<\/td>\n<\/tr>\n
    \u06f3. \u062a\u0646\u0638\u06cc\u0645 Reverse \u0641\u0631\u0645\u0627\u0646<\/td>\nSERVO1_REVERSED = 0 \u06cc\u0627 1<\/td>\n<\/tr>\n
    \u06f4. \u062a\u0633\u062a Manual Mode<\/td>\n\u0641\u0631\u0645\u0627\u0646 \u0648 \u06af\u0627\u0632 \u062f\u0631\u0633\u062a \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n<\/tr>\n
    \u06f5. \u062a\u0646\u0638\u06cc\u0645 PID \u0628\u0627 AutoTune<\/td>\nAuto Mode \u2192 \u062f\u0627\u06cc\u0631\u0647 \u06a9\u0648\u0686\u06a9 \u067e\u0631\u0648\u0627\u0632<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nGPS + Compass<\/text>\n\u0645\u0648\u0642\u0639\u06cc\u062a<\/text>\nArduPilot Rover<\/text>\nPID Steering<\/text>\n\u0633\u0631\u0648 + \u0645\u0648\u062a\u0648\u0631<\/text>\n\u0641\u0631\u0645\u0627\u0646 + \u06af\u0627\u0632<\/text>\n\u0642\u0627\u06cc\u0642 Autopilot<\/text>\nWaypoint RTH<\/text>\nArduPilot Rover Boat \u2014 GPS \u2192 PID \u2192 \u0633\u0631\u0648\/\u0645\u0648\u062a\u0648\u0631 \u2192 Autopilot<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n