{"id":641,"date":"2026-06-11T13:41:25","date_gmt":"2026-06-11T05:41:25","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/betaflight-advanced-pid-filters-rpm-blackbox-analysis-farsi\/"},"modified":"2026-06-11T13:41:26","modified_gmt":"2026-06-11T05:41:26","slug":"betaflight-advanced-pid-filters-rpm-blackbox-analysis-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/betaflight-advanced-pid-filters-rpm-blackbox-analysis-farsi\/","title":{"rendered":"\u062a\u0646\u0638\u06cc\u0645 PID \u067e\u06cc\u0634\u0631\u0641\u062a\u0647 \u062f\u0631 Betaflight: \u0641\u06cc\u0644\u062a\u0631\u200c\u0647\u0627\u060c RPM Filtering\u060c Blackbox \u062a\u062d\u0644\u06cc\u0644 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nBetaflight PID Blackbox RPM Filter \u062a\u0646\u0638\u06cc\u0645\n<\/div>\n
\n

PID \u0648 Blackbox \u062f\u0631 Betaflight \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u062f\u0631 Betaflight\u060c P<\/strong> (Proportional) \u0648\u0627\u06a9\u0646\u0634 \u0641\u0648\u0631\u06cc \u0628\u0647 \u062e\u0637\u0627 \u0627\u0633\u062a\u060c I<\/strong> (Integral) \u062e\u0637\u0627\u0647\u0627\u06cc \u062b\u0627\u0628\u062a \u0631\u0627 \u062d\u0630\u0641 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u0648 D<\/strong> (Derivative) \u0646\u0648\u0633\u0627\u0646 \u0631\u0627 \u06a9\u0627\u0647\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f. \u062a\u0646\u0638\u06cc\u0645 \u0646\u0627\u062f\u0631\u0633\u062a PID \u0645\u0646\u062c\u0631 \u0628\u0647 \u0644\u0631\u0632\u0634 (Oscillation) \u06cc\u0627 \u06a9\u0646\u062f\u06cc \u067e\u0627\u0633\u062e \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

RPM Filter<\/strong> \u06cc\u06a9 \u0641\u06cc\u0644\u062a\u0631 \u0647\u0648\u0634\u0645\u0646\u062f \u0627\u0633\u062a \u06a9\u0647 \u062f\u0642\u06cc\u0642\u0627\u064b \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9\u200c\u0647\u0627\u06cc \u0641\u0631\u06a9\u0627\u0646\u0633 \u0645\u0648\u062a\u0648\u0631 (\u0627\u0632 BLHeli_32) \u0631\u0627 \u062d\u0630\u0641 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0646\u062a\u06cc\u062c\u0647: \u06a9\u0627\u0647\u0634 \u0646\u0648\u06cc\u0632\u060c PID \u067e\u0627\u06a9\u200c\u062a\u0631\u060c \u0648 \u0642\u0627\u0628\u0644\u06cc\u062a \u0627\u0641\u0632\u0627\u06cc\u0634 D. Blackbox<\/strong> \u062a\u0645\u0627\u0645 \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u067e\u0631\u0648\u0627\u0632 \u0631\u0627 \u062f\u0631 Flash \u0630\u062e\u06cc\u0631\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u06a9\u0647 \u0628\u0627 Plasmatree Analyzer \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u062a\u062d\u0644\u06cc\u0644 \u06a9\u0631\u062f.<\/p>\n<\/div>\n

\n

\u0646\u062a\u06cc\u062c\u0647 \u0627\u06cc\u0646 \u0631\u0627\u0647\u0646\u0645\u0627<\/h2>\n

\u06cc\u06a9 \u062a\u06cc\u0648\u0646\u06cc\u0646\u06af PID \u0628\u0627 Blackbox \u0628\u0631\u0627\u06cc FPV Racer \u2014 \u06a9\u0645\u062a\u0631\u06cc\u0646 \u0644\u0631\u0632\u0634\u060c \u0628\u06cc\u0634\u062a\u0631\u06cc\u0646 \u062a\u06cc\u0632\u06cc.<\/p>\n

    \n
  • \u0627\u0628\u0632\u0627\u0631:<\/strong> Betaflight Configurator \u0631\u0627\u06cc\u06af\u0627\u0646<\/li>\n
  • \u0632\u0645\u0627\u0646:<\/strong> \u06f2-\u06f3 \u0633\u0627\u0639\u062a \u067e\u0631\u0648\u0627\u0632 \u0648 \u062a\u062d\u0644\u06cc\u0644<\/li>\n
  • \u0646\u06cc\u0627\u0632:<\/strong> ESC \u0628\u0627 BLHeli_32 \u0628\u0631\u0627\u06cc RPM Filter<\/li>\n<\/ul>\n<\/div>\n

    \n\nGyro Spectrum \u2014 \u0642\u0628\u0644 \u0648 \u0628\u0639\u062f \u0627\u0632 RPM Filter<\/text>\n\n\n\n\n\n\n\u0628\u062f\u0648\u0646 RPM Filter<\/text>\n\u0628\u0627 RPM Filter<\/text>\nRPM Filter \u2014 \u062d\u0630\u0641 \u062f\u0642\u06cc\u0642 \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9 \u0645\u0648\u062a\u0648\u0631<\/text>\n<\/svg><\/p>\n

    \u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632\u06cc RPM Filter<\/h2>\n
    \n\/\/ \u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632: BLHeli_32 ESC + Bidirectional DSHOT\n\n\/\/ \u062f\u0631 Betaflight CLI:\nset dshot_bidir = ON          \/\/ Bidirectional DSHOT \u0641\u0639\u0627\u0644\nset motor_pwm_protocol = DSHOT600\n\n\/\/ \u0631\u06cc\u0633\u062a\u0627\u0631\u062a \u0648 \u0633\u067e\u0633:\nset rpm_filter_harmonics = 3  \/\/ \u06f3 \u0647\u0627\u0631\u0645\u0648\u0646\u06cc\u06a9 \u0641\u06cc\u0644\u062a\u0631 \u0634\u0648\u062f\nset rpm_filter_min_hz = 100   \/\/ \u062d\u062f\u0627\u0642\u0644 \u0641\u0631\u06a9\u0627\u0646\u0633\nset rpm_filter_fade_range_hz = 50\n\n\/\/ \u062a\u0623\u06cc\u06cc\u062f:\nget rpm_filter_harmonics      \/\/ \u0628\u0627\u06cc\u062f \u06f3 \u0628\u0627\u0634\u062f\n\/\/ \u062f\u0631 Sensors Tab\u060c \u062f\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 \u0628\u0627\u06cc\u062f \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0634\u0648\u062f\n\n\/\/ \u0628\u0639\u062f \u0627\u0632 RPM Filter:\n\/\/ \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f D \u0631\u0627 \u06f2\u06f0-\u06f3\u06f0% \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f\n\/\/ D_MIN \u0631\u0627 \u0647\u0645 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f\n<\/code><\/pre>\n
    \u062a\u062d\u0644\u06cc\u0644 Blackbox \u0628\u0627 Plasmatree<\/h2>\n
    \n\/\/ \u06f1. Blackbox \u0631\u0627 \u0631\u0648\u06cc FC \u0641\u0639\u0627\u0644 \u06a9\u0646\u06cc\u062f (Flash \u06cc\u0627 SD Card)\n\/\/ \u06f2. \u067e\u0633 \u0627\u0632 \u067e\u0631\u0648\u0627\u0632\u060c \u0641\u0627\u06cc\u0644 .BBL \u06cc\u0627 .BFL \u0631\u0627 \u062f\u0627\u0646\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f\n\/\/ \u06f3. Blackbox Explorer \u0628\u0627 \u0622\u0646 \u0628\u0627\u0632 \u06a9\u0646\u06cc\u062f\n\/\/    (\u0622\u0646\u0644\u0627\u06cc\u0646: https:\/\/blackbox.betaflight.com)\n\n\/\/ \u0646\u0634\u0627\u0646\u0647\u200c\u0647\u0627\u06cc PID \u0646\u0627\u062f\u0631\u0633\u062a:\n\/\/ P \u0628\u0627\u0644\u0627: Oscillation \u2014 \u062f\u0646\u0628\u0627\u0644 spike \u062f\u0631 Gyro\n\/\/ D \u067e\u0627\u06cc\u06cc\u0646: Bouncing \u0628\u0639\u062f \u0627\u0632 \u0636\u0631\u0628\u0647\n\/\/ I \u0628\u0627\u0644\u0627: \u062f\u0648\u0631\u0627\u0646 \u06a9\u0646\u062f \u0628\u0647 \u0633\u0645\u062a \u0645\u0631\u06a9\u0632\n\n\/\/ \u062f\u0631 Plasmatree:\n\/\/ Yaw PID Analyzer \u2192 https:\/\/git.io\/plasmatree\n\/\/ \u0641\u0627\u06cc\u0644 .BBL \u0631\u0627 \u0628\u0627\u0631\u06af\u0630\u0627\u0631\u06cc \u06a9\u0646\u06cc\u062f\n\/\/ \u0646\u0645\u0648\u062f\u0627\u0631 Step Response \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f \u0686\u0642\u062f\u0631 P\u060c I\u060c D \u062e\u0648\u0628 \u0627\u0633\u062a\n\n\/\/ \u0645\u0642\u0627\u062f\u06cc\u0631 \u0634\u0631\u0648\u0639 \u062e\u0648\u0628 \u0628\u0631\u0627\u06cc 5\" 2306:\n\/\/ P: 45, I: 80, D: 38 (\u0628\u0627 RPM Filter)\n\/\/ D_MIN: 28, D_MAX: 38\n<\/code><\/pre>\n
    \u062c\u062f\u0648\u0644 \u0639\u06cc\u0628\u200c\u06cc\u0627\u0628\u06cc PID<\/h2>\n\n\n\n\n\n\n\n\n
    \u0639\u0644\u0627\u0645\u062a<\/th>\n\u0639\u0644\u062a<\/th>\n\u0631\u0641\u0639<\/th>\n<\/tr>\n<\/thead>\n
    \u0644\u0631\u0632\u0634 \u0633\u0631\u06cc\u0639 (High Freq)<\/td>\nP \u06cc\u0627 D \u062e\u06cc\u0644\u06cc \u0628\u0627\u0644\u0627<\/td>\nP\/D \u0631\u0627 \u06f1\u06f0% \u06a9\u0645 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0628\u0631\u06af\u0634\u062a \u06a9\u0646\u062f (Slow Bounce)<\/td>\nD \u062e\u06cc\u0644\u06cc \u067e\u0627\u06cc\u06cc\u0646<\/td>\nD \u0631\u0627 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n
    \u0686\u0631\u062e\u0634 \u0646\u0627\u062e\u0648\u0627\u0633\u062a\u0647<\/td>\nI \u062e\u06cc\u0644\u06cc \u067e\u0627\u06cc\u06cc\u0646<\/td>\nI \u0631\u0627 \u06f1\u06f5% \u0628\u0627\u0644\u0627 \u0628\u0628\u0631\u06cc\u062f<\/td>\n<\/tr>\n
    \u0645\u0648\u062a\u0648\u0631 \u062f\u0627\u063a<\/td>\n\u0641\u06cc\u0644\u062a\u0631 \u0628\u0633\u06cc\u0627\u0631 \u06a9\u0645<\/td>\nRPM Filter \u0641\u0639\u0627\u0644<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\n\u067e\u0631\u0648\u0627\u0632 \u062a\u0633\u062a<\/text>\nBlackbox \u0636\u0628\u0637<\/text>\nBlackbox<\/text>\nExplorer<\/text>\nPlasmatree<\/text>\nStep Response<\/text>\nPID \u0627\u0635\u0644\u0627\u062d<\/text>\n\u0628\u0647\u062a\u0631\u06cc\u0646 Tune<\/text>\nBlackbox \u2192 Plasmatree \u2192 Step Response \u2192 \u062a\u0646\u0638\u06cc\u0645 PID<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n