{"id":632,"date":"2026-06-11T13:30:33","date_gmt":"2026-06-11T05:30:33","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/usv-unmanned-surface-vessel-ardupilot-rover-river-patrol-farsi\/"},"modified":"2026-06-11T13:30:34","modified_gmt":"2026-06-11T05:30:34","slug":"usv-unmanned-surface-vessel-ardupilot-rover-river-patrol-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/usv-unmanned-surface-vessel-ardupilot-rover-river-patrol-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a USV (\u0642\u0627\u06cc\u0642 \u0628\u062f\u0648\u0646 \u0633\u0631\u0646\u0634\u06cc\u0646) \u0628\u0627 ArduPilot Rover: \u06af\u0634\u062a\u200c\u0632\u0646\u06cc \u062e\u0648\u062f\u06a9\u0627\u0631 \u0631\u0648\u062f\u062e\u0627\u0646\u0647 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nUSV \u0642\u0627\u06cc\u0642 \u0628\u062f\u0648\u0646 \u0633\u0631\u0646\u0634\u06cc\u0646 ArduPilot Rover \u0631\u0648\u062f\u062e\u0627\u0646\u0647\n<\/div>\n
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USV \u0648 ArduPilot Rover \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u06cc\u06a9 USV<\/strong> (Unmanned Surface Vessel) \u06cc\u06a9 \u0642\u0627\u06cc\u0642 \u0628\u062f\u0648\u0646 \u0633\u0631\u0646\u0634\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0631\u0648\u06cc \u0622\u0628 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0645\u062b\u0644 UGV \u0627\u0645\u0627 \u0631\u0648\u06cc \u0622\u0628. ArduPilot Rover<\/strong> (\u0647\u0645\u0627\u0646 \u0646\u0631\u0645\u200c\u0627\u0641\u0632\u0627\u0631 ArduPilot \u0628\u0631\u0627\u06cc \u0648\u0633\u0627\u06cc\u0644 \u0632\u0645\u06cc\u0646\u06cc \u0648 \u0622\u0628\u06cc) \u0627\u0632 GPS \u0628\u0631\u0627\u06cc \u0646\u0627\u0648\u0628\u0631\u06cc\u060c Heading Control \u0628\u0631\u0627\u06cc \u062c\u0647\u062a\u060c \u0648 Auto Mode \u0628\u0631\u0627\u06cc \u067e\u06cc\u0645\u0627\u06cc\u0634 \u062e\u0648\u062f\u06a9\u0627\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 USV \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 Brushless \u0622\u0628\u200c\u0628\u0646\u062f (\u0645\u062b\u0644 T200 ThrusterMAX \u06cc\u0627 \u0645\u0648\u062a\u0648\u0631 \u0645\u0627\u0647\u06cc\u200c\u06af\u06cc\u0631\u06cc \u0627\u0644\u06a9\u062a\u0631\u06cc\u06a9\u06cc) \u062f\u0627\u0631\u062f \u06a9\u0647 \u0628\u0627 \u0627\u062e\u062a\u0644\u0627\u0641 \u062f\u0648\u0631 \u0628\u06cc\u0646 \u0645\u0648\u062a\u0648\u0631 \u0686\u067e \u0648 \u0631\u0627\u0633\u062a (Skid Steering<\/strong>) \u0686\u0631\u062e\u0634 \u0645\u06cc\u200c\u06a9\u0646\u062f. ArduPilot \u0628\u0627 PID Heading \u06cc\u06a9 \u0645\u0633\u06cc\u0631 \u0645\u0633\u062a\u0642\u06cc\u0645 \u062f\u0631 \u062c\u0631\u06cc\u0627\u0646 \u0631\u0648\u062f\u062e\u0627\u0646\u0647 \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\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 USV \u06af\u0634\u062a\u200c\u0632\u0646 \u0631\u0648\u062f\u062e\u0627\u0646\u0647 \u0628\u0627 \u0645\u0623\u0645\u0648\u0631\u06cc\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u06f2\u06f0 \u062f\u0642\u06cc\u0642\u0647\u200c\u0627\u06cc.<\/p>\n

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  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f3 \u062a\u0627 \u06f8 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0645\u062f\u062a \u067e\u0631\u0648\u0627\u0632:<\/strong> \u06f2\u06f0-\u06f3\u06f0 \u062f\u0642\u06cc\u0642\u0647 (\u0628\u0627\u062a\u0631\u06cc \u06f1\u06f0Ah)<\/li>\n
  • \u0646\u0627\u0648\u0628\u0631\u06cc:<\/strong> GPS Waypoint \u062e\u0648\u062f\u06a9\u0627\u0631<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\nUSV<\/text>\nFC+GPS+ESC\u00d72<\/text>\n\nWP1<\/text>\nWP2<\/text>\n\n\nUSV ArduPilot \u2014 Skid Steering + GPS Waypoint<\/text>\n<\/svg><\/p>\n

    \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc ArduPilot Rover \u0628\u0631\u0627\u06cc USV<\/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\/\/ Skid Steering (\u06f2 \u0645\u0648\u062a\u0648\u0631):\nSERVO1_FUNCTION = 73  \/\/ ThrottleLeft\nSERVO3_FUNCTION = 74  \/\/ ThrottleRight\n\n\/\/ \u0633\u0631\u0639\u062a\u200c\u0647\u0627:\nCRUISE_SPEED = 1.5     \/\/ m\/s \u0633\u0631\u0639\u062a \u0639\u0627\u062f\u06cc\nWP_SPEED     = 1.5     \/\/ m\/s \u062f\u0631 \u0645\u0633\u06cc\u0631 Waypoint\nTURN_RADIUS  = 1.0     \/\/ \u0645\u062a\u0631 \u0634\u0639\u0627\u0639 \u0686\u0631\u062e\u0634\n\n\/\/ PID Heading:\nATC_STR_RAT_P  = 0.5\nATC_STR_RAT_I  = 0.1\nATC_STR_RAT_D  = 0.02\n\n\/\/ Failsafe:\nFS_THR_ENABLE = 1\nFS_THR_VALUE  = 910    \/\/ \u03bcs\nFS_ACTION     = 1      \/\/ RTL\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u0642\u0628\u0644 \u0627\u0632 \u067e\u0631\u062a\u0627\u0628 \u062f\u0631 \u0622\u0628<\/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
    \u0622\u0628\u200c\u0628\u0646\u062f\u06cc FC \u0648 ESC\u061f<\/td>\nConformal Coating \u06cc\u0627 \u062c\u0639\u0628\u0647 IP67<\/td>\n<\/tr>\n
    \u0634\u0646\u0627\u0648\u0631\u06cc \u0628\u062f\u0648\u0646 \u0628\u0627\u0631 = \u0645\u062b\u0628\u062a\u061f<\/td>\n\u062a\u0633\u062a \u062f\u0631 \u0622\u0628 \u0631\u0627\u06a9\u062f \u0627\u0648\u0644<\/td>\n<\/tr>\n
    GPS Fix \u0628\u0627 \u06f6+ \u0645\u0627\u0647\u0648\u0627\u0631\u0647\u061f<\/td>\n\u0642\u0628\u0644 \u0627\u0632 Auto Mode<\/td>\n<\/tr>\n
    Failsafe RTL \u062a\u0646\u0638\u06cc\u0645\u061f<\/td>\n\u0642\u0628\u0644 \u0627\u0632 \u0648\u0631\u0648\u062f \u0628\u0647 \u062c\u0631\u06cc\u0627\u0646<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nRC + GCS<\/text>\nMAVLink<\/text>\nArduPilot Rover<\/text>\nGPS Waypoint<\/text>\nSkid ESC\u00d72<\/text>\n\u0645\u0648\u062a\u0648\u0631 \u0622\u0628\u200c\u0628\u0646\u062f<\/text>\nUSV \u0631\u0648\u062f\u062e\u0627\u0646\u0647<\/text>\n\u06af\u0634\u062a \u062e\u0648\u062f\u06a9\u0627\u0631<\/text>\nUSV ArduPilot \u2014 Rover Boat \u2192 GPS \u2192 Waypoint \u2192 \u06af\u0634\u062a \u0631\u0648\u062f\u062e\u0627\u0646\u0647<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n