{"id":590,"date":"2026-06-11T13:16:53","date_gmt":"2026-06-11T05:16:53","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/vtol-fixed-wing-ardupilot-vertical-takeoff-landing-farsi\/"},"modified":"2026-06-11T13:16:54","modified_gmt":"2026-06-11T05:16:54","slug":"vtol-fixed-wing-ardupilot-vertical-takeoff-landing-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/vtol-fixed-wing-ardupilot-vertical-takeoff-landing-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u067e\u0647\u067e\u0627\u062f \u062b\u0627\u0628\u062a\u200c\u0628\u0627\u0644 VTOL \u0628\u0627 ArduPilot: \u0642\u0627\u0628\u0644\u06cc\u062a takeoff \u0639\u0645\u0648\u062f\u06cc + \u067e\u0631\u0648\u0627\u0632 \u062b\u0627\u0628\u062a (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nVTOL QuadPlane ArduPilot \u067e\u0631\u0648\u0627\u0632 \u0639\u0645\u0648\u062f\u06cc \u062b\u0627\u0628\u062a\u200c\u0628\u0627\u0644\n<\/div>\n
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VTOL \u0648 QuadPlane \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

VTOL<\/strong> (Vertical Take-Off and Landing) \u0628\u0647 \u067e\u0647\u067e\u0627\u062f\u0647\u0627\u06cc\u06cc \u06af\u0641\u062a\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f \u06a9\u0647 \u0645\u062b\u0644 \u06a9\u0648\u0627\u062f\u06a9\u0648\u067e\u062a\u0631 \u0639\u0645\u0648\u062f\u06cc \u0628\u0644\u0646\u062f \u0645\u06cc\u200c\u0634\u0648\u0646\u062f \u0627\u0645\u0627 \u0628\u0639\u062f \u0627\u0632 \u0627\u0646\u062a\u0642\u0627\u0644 \u0645\u062b\u0644 \u0647\u0648\u0627\u067e\u06cc\u0645\u0627 \u067e\u0631\u0648\u0627\u0632 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f. \u0627\u06cc\u0646 \u062a\u0631\u06a9\u06cc\u0628 \u0628\u0647\u062a\u0631\u06cc\u0646 \u0647\u0631 \u062f\u0648 \u062f\u0646\u06cc\u0627 \u0631\u0627 \u062f\u0627\u0631\u062f: \u0628\u0644\u0646\u062f \u0634\u062f\u0646 \u0627\u0632 \u0632\u0645\u06cc\u0646 \u0628\u062f\u0648\u0646 \u0628\u0627\u0646\u062f\u060c \u0648 \u067e\u0631\u0648\u0627\u0632 \u06a9\u0627\u0631\u0622\u0645\u062f \u062b\u0627\u0628\u062a\u200c\u0628\u0627\u0644 \u0628\u0627 \u0645\u0635\u0631\u0641 \u0628\u0627\u062a\u0631\u06cc \u06a9\u0645.<\/p>\n

ArduPilot \u0627\u0632 \u0686\u0646\u062f \u0646\u0648\u0639 VTOL \u067e\u0634\u062a\u06cc\u0628\u0627\u0646\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f. QuadPlane<\/strong> \u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u0627\u0633\u062a \u2014 \u06cc\u06a9 \u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u06cc \u062b\u0627\u0628\u062a\u200c\u0628\u0627\u0644 \u0645\u0639\u0645\u0648\u0644\u06cc \u0628\u0627 \u06f4 \u0645\u0648\u062a\u0648\u0631 \u0627\u0636\u0627\u0641\u0647 \u0628\u0631\u0627\u06cc VTOL. Tiltrotor<\/strong> \u067e\u06cc\u0634\u0631\u0641\u062a\u0647\u200c\u062a\u0631 \u0627\u0633\u062a \u2014 \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u0646\u062f \u0628\u0686\u0631\u062e\u0646\u062f \u0648 \u0628\u0647 \u0647\u0631 \u062f\u0648 \u062c\u0647\u062a \u0646\u06cc\u0631\u0648 \u0628\u062f\u0647\u0646\u062f. \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u06a9\u0644\u06cc\u062f\u06cc \u062f\u0631 ArduPilot \u0628\u0627 \u067e\u06cc\u0634\u0648\u0646\u062f Q_<\/strong> \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f.<\/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 QuadPlane \u0628\u0627 \u0641\u0631\u06cc\u0645 \u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u06cc \u062b\u0627\u0628\u062a\u200c\u0628\u0627\u0644 + \u06f4 \u0645\u0648\u062a\u0648\u0631 VTOL \u0627\u0636\u0627\u0641\u0647.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f5 \u062a\u0627 \u06f1\u06f5 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u067e\u0631\u0648\u0627\u0632 \u062b\u0627\u0628\u062a\u200c\u0628\u0627\u0644:<\/strong> \u06f3\u06f0-\u06f6\u06f0 \u062f\u0642\u06cc\u0642\u0647<\/li>\n
  • Takeoff:<\/strong> \u0627\u0632 \u0647\u0631 \u0645\u06a9\u0627\u0646\u06cc \u0628\u062f\u0648\u0646 \u0628\u0627\u0646\u062f<\/li>\n<\/ul>\n<\/div>\n

    \n\n\nVTOL Mode<\/text>\nQuad Hover<\/text>\nM1<\/text>\nM2<\/text>\nM3<\/text>\nM4<\/text>\n\nTransition<\/text>\n10-15m\/s<\/text>\n\nPlane Mode<\/text>\n\u067e\u0631\u0648\u0627\u0632 \u06a9\u0627\u0631\u0622\u0645\u062f<\/text>\n\n\n\nVTOL \u2192 Transition \u2192 Plane: \u0639\u0645\u0648\u062f\u06cc \u0628\u0644\u0646\u062f\u060c \u0627\u0641\u0642\u06cc \u067e\u0631\u0648\u0627\u0632<\/text>\n<\/svg><\/p>\n

    \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u06a9\u0644\u06cc\u062f\u06cc ArduPilot QuadPlane<\/h2>\n
    \n\/\/ \u062f\u0631 Mission Planner \u2192 Full Parameter List:\n\n\/\/ \u0641\u0639\u0627\u0644 \u06a9\u0631\u062f\u0646 QuadPlane:\nQ_ENABLE = 1\n\n\/\/ \u0646\u0648\u0639 VTOL:\nQ_FRAME_CLASS = 1  \/\/ Quad\nQ_FRAME_TYPE = 1   \/\/ X frame\n\n\/\/ \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc Transition:\nQ_TRANSITION_MS = 1500   \/\/ \u0632\u0645\u0627\u0646 \u0627\u0646\u062a\u0642\u0627\u0644 \u06f1.\u06f5 \u062b\u0627\u0646\u06cc\u0647\nQ_TRANS_AIRSPEED = 12    \/\/ \u0633\u0631\u0639\u062a \u0627\u0646\u062a\u0642\u0627\u0644 m\/s\n\n\/\/ \u0627\u0631\u062a\u0641\u0627\u0639 \u062d\u062f\u0627\u0642\u0644 \u0628\u0631\u0627\u06cc Transition:\nQ_RTL_ALT = 50  \/\/ \u0645\u062a\u0631\n\n\/\/ \u062a\u0646\u0638\u06cc\u0645 \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc VTOL:\nQ_M_SPIN_MIN = 0.15   \/\/ \u06a9\u0645\u062a\u0631\u06cc\u0646 \u062f\u0648\u0631 \u0645\u0648\u062a\u0648\u0631\nQ_M_SPOOL_TIME = 0.5  \/\/ \u0632\u0645\u0627\u0646 spool-up \u062b\u0627\u0646\u06cc\u0647\n\n\/\/ PID VTOL:\nQ_P_RATPID_P = 0.15\nQ_A_RAT_RLL_P = 0.125\n<\/code><\/pre>\n
    \u062a\u0631\u062a\u06cc\u0628 \u062a\u0646\u0638\u06cc\u0645 \u0627\u0632 \u0635\u0641\u0631<\/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. Plane Mode \u06a9\u0627\u0644\u06cc\u0628\u0631\u0647 \u0634\u0648\u062f<\/td>\n\u0627\u0628\u062a\u062f\u0627 \u0645\u062b\u0644 \u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u06cc \u0645\u0639\u0645\u0648\u0644\u06cc<\/td>\n<\/tr>\n
    \u06f2. Q_ENABLE=1 \u0633\u067e\u0633 Q-\u0645\u0648\u062a\u0648\u0631\u0647\u0627<\/td>\n\u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0631\u0627 \u0627\u0632 MotorTest \u0622\u0632\u0645\u0627\u06cc\u0634 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u06f3. \u062a\u0633\u062a Hover \u062f\u0631 QHOVER Mode<\/td>\n\u0627\u0631\u062a\u0641\u0627\u0639 \u06f2 \u0645\u062a\u0631 \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0627\u0632<\/td>\n<\/tr>\n
    \u06f4. QRTL \u0631\u0627 \u062a\u0633\u062a \u06a9\u0646\u06cc\u062f<\/td>\n\u062f\u06a9\u0645\u0647 RTL \u062f\u0631 Hover Mode<\/td>\n<\/tr>\n
    \u06f5. Auto Transition \u0627\u0648\u0644 \u062f\u0631 \u0627\u0631\u062a\u0641\u0627\u0639 \u06f5\u06f0m<\/td>\nFBWA \u2192 QHOVER \u2192 QLAND<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nTakeoff \u0639\u0645\u0648\u062f\u06cc<\/text>\nQHOVER Mode<\/text>\nTransition<\/text>\n12m\/s<\/text>\n\u067e\u0631\u0648\u0627\u0632 Plane<\/text>\nFBWA\/AUTO<\/text>\nLanding<\/text>\nQLAND<\/text>\nQuadPlane VTOL \u2014 Hover \u2192 Transition \u2192 Plane \u2192 QLAND<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n