{"id":614,"date":"2026-06-11T13:28:41","date_gmt":"2026-06-11T05:28:41","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/antenna-tracker-auto-uav-esp32-servo-farsi\/"},"modified":"2026-06-11T13:28:42","modified_gmt":"2026-06-11T05:28:42","slug":"antenna-tracker-auto-uav-esp32-servo-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/antenna-tracker-auto-uav-esp32-servo-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u067e\u06cc\u06af\u0631\u062f \u062e\u0648\u062f\u06a9\u0627\u0631 \u0622\u0646\u062a\u0646 (Antenna Tracker) \u0628\u0631\u0627\u06cc UAV \u0628\u0627 ESP32 \u0648 \u0633\u0631\u0648 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nAntenna Tracker \u062e\u0648\u062f\u06a9\u0627\u0631 UAV ESP32 \u0633\u0631\u0648\n<\/div>\n
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Antenna Tracker \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u062f\u0631 \u067e\u0631\u0648\u0627\u0632\u0647\u0627\u06cc \u062f\u0648\u0631\u0628\u0631\u062f UAV\u060c \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0627\u0632 \u0622\u0646\u062a\u0646 \u062c\u0647\u062a\u200c\u062f\u0627\u0631<\/strong> (\u0645\u062b\u0644 Yagi \u06cc\u0627 Patch) \u0628\u0631\u0627\u06cc \u062f\u0631\u06cc\u0627\u0641\u062a \u0628\u0647\u062a\u0631 \u0633\u06cc\u06af\u0646\u0627\u0644 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0645\u0634\u06a9\u0644: \u0628\u0627\u06cc\u062f \u0622\u0646\u062a\u0646 \u0631\u0627 \u062f\u0633\u062a\u06cc \u0628\u0647 \u0633\u0645\u062a \u067e\u0647\u067e\u0627\u062f \u0646\u06af\u0647 \u062f\u0627\u0631\u06cc\u062f. \u06cc\u06a9 Antenna Tracker<\/strong> \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0631\u0627 \u062e\u0648\u062f\u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0645\u0648\u0642\u0639\u06cc\u062a GPS \u067e\u0647\u067e\u0627\u062f \u0631\u0627 \u062f\u0631\u06cc\u0627\u0641\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0633\u0631\u0648\u0647\u0627\u06cc Pan (\u0686\u067e\/\u0631\u0627\u0633\u062a) \u0648 Tilt (\u0628\u0627\u0644\u0627\/\u067e\u0627\u06cc\u06cc\u0646) \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

ESP32 \u0645\u0648\u0642\u0639\u06cc\u062a \u067e\u0647\u067e\u0627\u062f \u0631\u0627 \u0627\u0632 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc MAVLink \u062f\u0631\u06cc\u0627\u0641\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u0633\u067e\u0633 Azimuth<\/strong> (\u0632\u0627\u0648\u06cc\u0647 \u0627\u0641\u0642\u06cc) \u0648 Elevation<\/strong> (\u0632\u0627\u0648\u06cc\u0647 \u0639\u0645\u0648\u062f\u06cc) \u0631\u0627 \u0627\u0632 \u0645\u0648\u0642\u0639\u06cc\u062a \u062e\u0648\u062f \u0646\u0633\u0628\u062a \u0628\u0647 \u067e\u0647\u067e\u0627\u062f \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0633\u0631\u0648\u0647\u0627 \u0631\u0627 \u0645\u06cc\u200c\u0686\u0631\u062e\u0627\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 Antenna Tracker Pan-Tilt \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0627 \u062f\u0642\u062a \u00b1\u06f5 \u062f\u0631\u062c\u0647.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f5\u06f0\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0648\u0645\u0627\u0646 (\u0633\u0631\u0648+ESP32+Pan-Tilt)<\/li>\n
  • \u062f\u0642\u062a:<\/strong> \u00b1\u06f5 \u062f\u0631\u062c\u0647 Azimuth<\/li>\n
  • \u067e\u0631\u0648\u062a\u06a9\u0644:<\/strong> MAVLink \u0631\u0648\u06cc Serial<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\nTracker \u0632\u0645\u06cc\u0646<\/text>\nESP32+\u0633\u0631\u0648<\/text>\n\n\n\n\n\nElevation \u03b8<\/text>\n\n\nUAV<\/text>\n\nAzimuth \u03c6<\/text>\n\nAntenna Tracker \u2014 \u0622\u0646\u062a\u0646 \u062f\u0646\u0628\u0627\u0644 \u067e\u0647\u067e\u0627\u062f \u0645\u06cc\u200c\u06af\u0631\u062f\u062f<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f ESP32 \u2014 Antenna Tracker<\/h2>\n
    \n#include <ESP32Servo.h>\n#include <TinyGPS++.h>\n#include <HardwareSerial.h>\n\nServo pan, tilt;\nHardwareSerial mavSerial(1);  \/\/ \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc MAVLink\nTinyGPSPlus gpsHome;          \/\/ GPS \u0632\u0645\u06cc\u0646 (\u0645\u0648\u0642\u0639\u06cc\u062a tracker)\n\n\/\/ \u0645\u0648\u0642\u0639\u06cc\u062a \u062e\u0627\u0646\u0647 (tracker):\ndouble homeLat = 35.7448;  \/\/ \u062a\u0647\u0631\u0627\u0646\ndouble homeLon = 51.3753;\n\nvoid setup() {\n  pan.attach(13);   \/\/ \u0633\u0631\u0648 Pan (Azimuth)\n  tilt.attach(14);  \/\/ \u0633\u0631\u0648 Tilt (Elevation)\n  pan.write(90); tilt.write(45);  \/\/ \u0645\u0642\u062f\u0627\u0631 \u0627\u0648\u0644\u06cc\u0647\n\n  Serial.begin(115200);\n  mavSerial.begin(57600, SERIAL_8N1, 16, 17);  \/\/ UART2\n}\n\ndouble calcAzimuth(double lat1,double lon1,double lat2,double lon2) {\n  double dLon = (lon2-lon1)*PI\/180;\n  lat1*=PI\/180; lat2*=PI\/180;\n  double y = sin(dLon)*cos(lat2);\n  double x = cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(dLon);\n  return fmod(atan2(y,x)*180\/PI + 360, 360);\n}\n\ndouble calcElevation(double dist, double alt) {\n  return atan2(alt, dist*1000)*180\/PI;  \/\/ alt \u0645\u062a\u0631\u060c dist km\n}\n\nvoid loop() {\n  \/\/ \u062f\u0631\u06cc\u0627\u0641\u062a GPS \u0647\u0648\u0627\u067e\u06cc\u0645\u0627 \u0627\u0632 MAVLink\n  \/\/ (\u0633\u0627\u062f\u0647\u200c\u0634\u062f\u0647 \u2014 \u062f\u0631 \u067e\u0631\u0648\u0698\u0647 \u0648\u0627\u0642\u0639\u06cc MAVLink parse \u06a9\u0646\u06cc\u062f)\n  double uavLat = 35.7500;  \/\/ \u0627\u0632 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc\n  double uavLon = 51.3800;\n  double uavAlt = 100;      \/\/ \u0645\u062a\u0631\n\n  double dist = TinyGPSPlus::distanceBetween(homeLat,homeLon,uavLat,uavLon)\/1000.0;\n  double az = calcAzimuth(homeLat,homeLon,uavLat,uavLon);\n  double el = calcElevation(dist, uavAlt);\n\n  \/\/ \u0646\u06af\u0627\u0634\u062a \u0628\u0647 \u0633\u0631\u0648:\n  int panAngle  = map(az, 0, 360, 0, 180);  \/\/ \u0645\u062d\u062f\u0648\u062f \u0628\u0647 \u06f1\u06f8\u06f0\u00b0 \u0633\u0631\u0648\n  int tiltAngle = constrain(map(el, 0, 90, 45, 135), 0, 180);\n\n  pan.write(panAngle);\n  tilt.write(tiltAngle);\n  delay(200);\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646<\/h2>\n\n\n\n\n\n\n\n\n
    \u0628\u0631\u0631\u0633\u06cc<\/th>\n\u0631\u0648\u0634<\/th>\n<\/tr>\n<\/thead>\n
    \u0645\u0648\u0642\u0639\u06cc\u062a Home \u062f\u0642\u06cc\u0642 \u0627\u0633\u062a\u061f<\/td>\nGPS \u062e\u0627\u0646\u0647 \u0631\u0627 \u062f\u0631 \u06a9\u062f \u0648\u0627\u0631\u062f \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0633\u0631\u0648 Pan \u062f\u0631 \u06f9\u06f0\u00b0 \u0628\u0647 \u0634\u0645\u0627\u0644 \u0627\u0634\u0627\u0631\u0647 \u062f\u0627\u0631\u062f\u061f<\/td>\n\u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0645\u06a9\u0627\u0646\u06cc\u06a9\u06cc<\/td>\n<\/tr>\n
    \u0648\u0642\u062a\u06cc \u067e\u0647\u067e\u0627\u062f \u062f\u0631 \u06f1\u06f0\u06f0\u00b0 \u0634\u0631\u0642 \u2192 Pan \u0628\u0647 \u06f1\u06f0\u06f0\u00b0\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n
    Tilt \u062f\u0631 \u06f4\u06f5\u00b0 \u0627\u0641\u0642 \u0627\u0641\u0642\u06cc \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nMAVLink UAV<\/text>\nGPS lat\/lon\/alt<\/text>\nESP32<\/text>\nAzimuth\/Elevation<\/text>\n\u0633\u0631\u0648 Pan+Tilt<\/text>\nMG996R\u00d72<\/text>\n\u0622\u0646\u062a\u0646 \u062c\u0647\u062a\u200c\u062f\u0627\u0631<\/text>\nYagi\/Patch<\/text>\nTracker \u2014 MAVLink \u2192 ESP32 \u2192 \u0633\u0631\u0648 \u2192 \u0622\u0646\u062a\u0646 \u062f\u0646\u0628\u0627\u0644 UAV<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
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