{"id":629,"date":"2026-06-11T13:30:13","date_gmt":"2026-06-11T05:30:13","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/mavlink-lora-bridge-e32-telemetry-no-rfd900-farsi\/"},"modified":"2026-06-11T13:30:14","modified_gmt":"2026-06-11T05:30:14","slug":"mavlink-lora-bridge-e32-telemetry-no-rfd900-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/mavlink-lora-bridge-e32-telemetry-no-rfd900-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u067e\u0644 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc MAVLink \u0628\u0647 LoRa: \u0627\u0631\u062a\u0628\u0627\u0637 \u0628\u062f\u0648\u0646 RFD900 \u0628\u0627 \u0645\u0627\u0698\u0648\u0644 E32 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nMAVLink LoRa E32 ESP32 \u067e\u0644 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc\n<\/div>\n
\n

\u067e\u0644 MAVLink-LoRa \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0645\u0627\u0698\u0648\u0644 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc RFD900 \u06a9\u0647 \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0628\u0631\u0627\u06cc \u0627\u0631\u062a\u0628\u0627\u0637 MAVLink \u0628\u0627 ArduPilot \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f\u060c \u062d\u062f\u0648\u062f \u06f1\u06f5\u06f0-\u06f2\u06f0\u06f0 \u062f\u0644\u0627\u0631 \u0642\u06cc\u0645\u062a \u062f\u0627\u0631\u062f. \u0627\u0645\u0627 \u0628\u0627 \u06cc\u06a9 ESP32<\/strong> \u0648 \u062f\u0648 \u0645\u0627\u0698\u0648\u0644 E32-433T30D<\/strong> (LoRa\u060c \u0632\u06cc\u0631 \u06f2\u06f0 \u062f\u0644\u0627\u0631 \u0647\u0631 \u06a9\u062f\u0627\u0645) \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u06cc\u06a9 \u067e\u0644 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc \u0627\u0631\u0632\u0627\u0646 \u0633\u0627\u062e\u062a \u06a9\u0647 MAVLink \u0631\u0627 \u0627\u0632 UART \u067e\u0647\u067e\u0627\u062f \u06af\u0631\u0641\u062a\u0647\u060c \u0627\u0632 \u0637\u0631\u06cc\u0642 LoRa \u0628\u0647 GCS \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u0627\u06cc\u0646 \u067e\u0644 \u0634\u0641\u0627\u0641<\/strong> \u0627\u0633\u062a \u2014 \u06cc\u0639\u0646\u06cc Mission Planner \u0641\u06a9\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0645\u0633\u062a\u0642\u06cc\u0645 \u0628\u0627 \u067e\u0647\u067e\u0627\u062f \u0635\u062d\u0628\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f. \u067e\u06a9\u062a\u200c\u0647\u0627\u06cc MAVLink (Heartbeat\u060c GPS\u060c Battery) \u0628\u062f\u0648\u0646 \u062a\u063a\u06cc\u06cc\u0631 \u0627\u0632 \u0637\u0631\u06cc\u0642 LoRa \u062c\u0627\u0628\u062c\u0627 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f. \u062f\u0631 \u0647\u0631 \u062f\u0648 \u0637\u0631\u0641 (\u067e\u0647\u067e\u0627\u062f \u0648 GCS) \u06cc\u06a9 ESP32+E32 \u0646\u06cc\u0627\u0632 \u0627\u0633\u062a.<\/p>\n<\/div>\n

\n

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

\u067e\u0644 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc MAVLink \u0628\u0627 LoRa 433MHz \u2014 \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 RFD900.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f2 \u00d7 \u06f2\u06f0 \u062f\u0644\u0627\u0631 = \u06f4\u06f0 \u062f\u0644\u0627\u0631 (\u062f\u0631 \u0628\u0631\u0627\u0628\u0631 \u06f1\u06f5\u06f0-\u06f2\u06f0\u06f0 \u062f\u0644\u0627\u0631)<\/li>\n
  • \u0628\u0631\u062f:<\/strong> \u062a\u0627 \u06f3km \u0628\u0627 E32-433T30D<\/li>\n
  • \u062a\u0623\u062e\u06cc\u0631:<\/strong> \u06f2\u06f0-\u06f5\u06f0ms<\/li>\n<\/ul>\n<\/div>\n

    \n\nUAV \u067e\u0647\u067e\u0627\u062f<\/text>\nFC Pixhawk\/APM<\/text>\nUART MAVLink<\/text>\n\u2193 ESP32+E32<\/text>\n\nLoRa 433<\/text>\n\u062a\u0627 \u06f3km<\/text>\n\nGCS \u0644\u067e\u200c\u062a\u0627\u067e<\/text>\nMission Planner<\/text>\nSerial Port<\/text>\n\u2193 ESP32+E32<\/text>\n\u067e\u0644 MAVLink-LoRa \u2014 E32+ESP32 \u00d7 \u06f2 = \u06f4\u06f0 \u062f\u0644\u0627\u0631 \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 RFD900<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f ESP32 \u2014 \u067e\u0644 \u0634\u0641\u0627\u0641 MAVLink<\/h2>\n
    \n#include <HardwareSerial.h>\n\n\/\/ \u0637\u0631\u0641 \u067e\u0647\u067e\u0627\u062f: UART1 \u0628\u0647 FC\u060c UART2 \u0628\u0647 E32\n\/\/ \u0637\u0631\u0641 GCS: UART2 \u0628\u0647 E32\u060c USB Serial \u0628\u0647 Mission Planner\n\nHardwareSerial fcSerial(1);   \/\/ UART1: \u2190 FC (MAVLink)\nHardwareSerial loraSerial(2); \/\/ UART2: \u2190 E32 (LoRa)\n\n\/\/ \u0627\u0646\u062f\u0627\u0632\u0647 \u0628\u0627\u0641\u0631 LoRa E32 \u0645\u062d\u062f\u0648\u062f \u0627\u0633\u062a \u2014 \u067e\u06a9\u062a\u200c\u0647\u0627\u06cc MAVLink \u0631\u0627 \u0628\u0627 \u062f\u0642\u062a \u062a\u0642\u0633\u06cc\u0645 \u06a9\u0646\u06cc\u062f\nuint8_t buf[256];\nint bufLen = 0;\n\nvoid setup() {\n  Serial.begin(115200);     \/\/ USB Debug\n  fcSerial.begin(57600, SERIAL_8N1, 16, 17);    \/\/ FC: Telem1\n  loraSerial.begin(9600,  SERIAL_8N1, 26, 25);  \/\/ E32 \u067e\u06cc\u0634\u200c\u0641\u0631\u0636 9600\n\n  \/\/ \u062a\u0646\u0638\u06cc\u0645 E32 \u0631\u0648\u06cc 115200 (\u0628\u0647\u062a\u0631):\n  \/\/ loraSerial.println(\"AT+BAUD8\");  \/\/ \u0627\u06af\u0631 \u0627\u0632 HC-12 \u0645\u0634\u0627\u0628\u0647 \u0628\u0627\u0634\u062f\n}\n\nvoid loop() {\n  \/\/ FC \u2192 LoRa (Forward to GCS):\n  while(fcSerial.available()) {\n    uint8_t b = fcSerial.read();\n    buf[bufLen++] = b;\n    if(bufLen >= 64 || bufLen == 0) {\n      loraSerial.write(buf, bufLen);\n      bufLen = 0;\n    }\n  }\n\n  \/\/ LoRa \u2192 FC (Commands from GCS):\n  while(loraSerial.available()) {\n    fcSerial.write(loraSerial.read());\n  }\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0646\u0638\u06cc\u0645<\/h2>\n\n\n\n\n\n\n\n\n
    \u0628\u0631\u0631\u0633\u06cc<\/th>\n\u062a\u0648\u0636\u06cc\u062d<\/th>\n<\/tr>\n<\/thead>\n
    Baud Rate FC = Baud E32\u061f<\/td>\n\u0647\u0631 \u062f\u0648 \u06f5\u06f7\u06f6\u06f0\u06f0 \u06cc\u0627 \u06f9\u06f6\u06f0\u06f0<\/td>\n<\/tr>\n
    \u0647\u0645\u0627\u0646 Channel \u0648 Address \u062f\u0631 E32\u0647\u0627\u061f<\/td>\nAT Commands \u0628\u0631\u0627\u06cc \u062a\u0646\u0638\u06cc\u0645<\/td>\n<\/tr>\n
    Heartbeat \u062f\u0631 Mission Planner\u061f<\/td>\n\u0647\u0631 \u06f1 \u062b\u0627\u0646\u06cc\u0647<\/td>\n<\/tr>\n
    GPS Location \u0631\u0648\u06cc \u0646\u0642\u0634\u0647 MP\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nFC Pixhawk<\/text>\nUART MAVLink<\/text>\nESP32+E32 TX<\/text>\n\u067e\u0647\u067e\u0627\u062f<\/text>\nESP32+E32 RX<\/text>\n\u0632\u0645\u06cc\u0646<\/text>\nMission Planner<\/text>\n\u0646\u0642\u0634\u0647+GPS<\/text>\n\u067e\u0644 MAVLink \u2014 FC \u2192 E32 LoRa \u2192 ESP32 \u2192 Mission Planner<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n