{"id":662,"date":"2026-06-11T13:43:52","date_gmt":"2026-06-11T05:43:52","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/follow-me-drone-gps-ardupilot-smartphone-farsi\/"},"modified":"2026-06-11T13:43:53","modified_gmt":"2026-06-11T05:43:53","slug":"follow-me-drone-gps-ardupilot-smartphone-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/follow-me-drone-gps-ardupilot-smartphone-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a Follow-Me Drone \u0628\u0627 GPS: \u067e\u0647\u067e\u0627\u062f \u06a9\u0647 \u062f\u0646\u0628\u0627\u0644 \u0634\u0645\u0627 \u0645\u06cc\u200c\u0622\u06cc\u062f (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nFollow Me Drone GPS ArduPilot \u0645\u0648\u0628\u0627\u06cc\u0644 \u062f\u0646\u0628\u0627\u0644\n<\/div>\n
\n

Follow Me Drone \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u062d\u0627\u0644\u062a Follow Me<\/strong> \u062f\u0631 ArduPilot \u0628\u0647 \u067e\u0647\u067e\u0627\u062f \u0627\u0645\u06a9\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f \u06a9\u0647 \u0628\u0647 \u0637\u0648\u0631 \u062e\u0648\u062f\u06a9\u0627\u0631 \u0645\u0648\u0642\u0639\u06cc\u062a \u06cc\u06a9 \u0647\u062f\u0641 \u0645\u062a\u062d\u0631\u06a9 (\u0645\u062b\u0644 GPS \u0645\u0648\u0628\u0627\u06cc\u0644 \u0634\u0645\u0627) \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u06a9\u0646\u062f \u0648 \u0647\u0645\u06cc\u0634\u0647 \u062f\u0631 \u0641\u0627\u0635\u0644\u0647 \u0648 \u0627\u0631\u062a\u0641\u0627\u0639 \u0645\u0634\u062e\u0635 \u0646\u06af\u0647 \u062f\u0627\u0631\u062f. \u0627\u06cc\u0646 \u06cc\u06a9 \u0648\u06cc\u0698\u06af\u06cc \u0627\u0633\u062a\u0627\u0646\u062f\u0627\u0631\u062f \u062f\u0631 ArduCopter \u0627\u0633\u062a \u06a9\u0647 \u0646\u06cc\u0627\u0632\u06cc \u0628\u0647 \u06a9\u062f \u0627\u0636\u0627\u0641\u0647 \u0646\u062f\u0627\u0631\u062f.<\/p>\n

\u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u06a9\u0627\u0631\u060c QGroundControl<\/strong> \u0631\u0648\u06cc \u0645\u0648\u0628\u0627\u06cc\u0644 \u0627\u0646\u062f\u0631\u0648\u06cc\u062f GPS \u0634\u0645\u0627 \u0631\u0627 \u0647\u0631 \u0686\u0646\u062f \u062b\u0627\u0646\u06cc\u0647 \u0627\u0632 \u0637\u0631\u06cc\u0642 MAVLink \u0628\u0647 \u067e\u0647\u067e\u0627\u062f \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u067e\u0647\u067e\u0627\u062f \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a\u200c\u0647\u0627\u06cc \u0631\u0633\u06cc\u062f\u0647 Follow Target \u062a\u0628\u062f\u06cc\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0628\u0647 \u0633\u0645\u062a \u0622\u0646 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0641\u0627\u0635\u0644\u0647 \u0646\u06af\u0647\u200c\u062f\u0627\u0634\u062a\u0646\u060c \u0627\u0631\u062a\u0641\u0627\u0639\u060c \u0648 \u0633\u0631\u0639\u062a \u0642\u0627\u0628\u0644 \u062a\u0646\u0638\u06cc\u0645 \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\u0647\u067e\u0627\u062f Follow Me \u06a9\u0647 \u06f5 \u0645\u062a\u0631 \u067e\u0634\u062a \u0633\u0631 \u0648 \u06f3 \u0645\u062a\u0631 \u0628\u0627\u0644\u0627\u062a\u0631 \u0627\u0632 \u0634\u0645\u0627 \u067e\u0631\u0648\u0627\u0632 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

    \n
  • \u067e\u0631\u0648\u062a\u06a9\u0644:<\/strong> MAVLink Follow Target Message<\/li>\n
  • \u062f\u0642\u062a:<\/strong> \u00b1\u06f2-\u06f5 \u0645\u062a\u0631 (GPS \u0645\u0648\u0628\u0627\u06cc\u0644)<\/li>\n
  • \u0646\u0631\u0645\u200c\u0627\u0641\u0632\u0627\u0631:<\/strong> QGroundControl \u0631\u0627\u06cc\u06af\u0627\u0646<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\u0634\u0645\u0627<\/text>\n\n\n\u067e\u0647\u067e\u0627\u062f<\/text>\n\n\n\u06f3m<\/text>\n\n\n\u062d\u0631\u06a9\u062a<\/text>\n\n\n\u0628\u0639\u062f<\/text>\n\u06f5m \u0639\u0642\u0628<\/text>\nFollow Me \u2014 \u067e\u0647\u067e\u0627\u062f \u06f5m \u0639\u0642\u0628 \u0648 \u06f3m \u0628\u0627\u0644\u0627\u062a\u0631 \u0627\u0632 \u0634\u0645\u0627<\/text>\n<\/svg><\/p>\n

    \u062a\u0646\u0638\u06cc\u0645 Follow Me \u062f\u0631 ArduPilot<\/h2>\n
    \n\/\/ ArduPilot Parameters \u0628\u0631\u0627\u06cc Follow Mode:\n\/\/ \u062f\u0631 Mission Planner \u2192 Full Parameter List:\n\nFOLL_ENABLE = 1      \/\/ \u0641\u0639\u0627\u0644 \u06a9\u0631\u062f\u0646 Follow\nFOLL_DIST_MAX = 50   \/\/ \u0645\u062a\u0631 \u2014 \u0628\u06cc\u0634\u062a\u0631 \u0627\u0632 \u0627\u06cc\u0646 \u2192 RTH\nFOLL_ALT_TYPE = 1    \/\/ \u0627\u0631\u062a\u0641\u0627\u0639 \u0646\u0633\u0628\u06cc \u0628\u0647 \u0647\u062f\u0641\nFOLL_OFS_X = 0       \/\/ \u062c\u0644\u0648\/\u0639\u0642\u0628 \u0645\u062a\u0631 (\u0645\u0646\u0641\u06cc = \u0639\u0642\u0628)\nFOLL_OFS_Y = 0       \/\/ \u0686\u067e\/\u0631\u0627\u0633\u062a\nFOLL_OFS_Z = -3.0    \/\/ \u0628\u0627\u0644\u0627\/\u067e\u0627\u06cc\u06cc\u0646 (\u0645\u0646\u0641\u06cc = \u0628\u0627\u0644\u0627\u062a\u0631)\nFOLL_YAW_BEHAVE = 1  \/\/ \u0647\u0645\u06cc\u0634\u0647 \u0628\u0647 \u0633\u0645\u062a \u0647\u062f\u0641 \u0646\u06af\u0627\u0647\n\n\/\/ \u062a\u0646\u0638\u06cc\u0645 Mode Switch:\n\/\/ \u06cc\u06a9 \u0633\u0648\u0626\u06cc\u0686 \u0631\u0627 \u0628\u0647 FOLLOW mode \u0648\u0635\u0644 \u06a9\u0646\u06cc\u062f\n\/\/ \u062f\u0631 QGroundControl \u2192 Vehicle Setup \u2192 Flight Modes\n\n\/\/ \u062f\u0631 QGroundControl Android:\n\/\/ Settings \u2192 Telemetry \u2192 Enable Telemetry\n\/\/ Vehicle Setup \u2192 Follow Me \u2192 Enable\n\/\/ \u067e\u0647\u067e\u0627\u062f \u0628\u0627\u06cc\u062f \u0627\u0632 \u0642\u0628\u0644 Arm \u0648 \u062f\u0631 Loiter \u0628\u0627\u0634\u062f\n<\/code><\/pre>\n
    \u0627\u0631\u0633\u0627\u0644 Follow Target \u0628\u0627 Python<\/h2>\n
    \n# \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 QGroundControl \u2014 \u0627\u0631\u0633\u0627\u0644 Follow Target \u062f\u0633\u062a\u06cc\nfrom pymavlink import mavutil\nimport time\n\n# \u0627\u062a\u0635\u0627\u0644 \u0628\u0647 \u067e\u0647\u067e\u0627\u062f (UDP \u06cc\u0627 Serial):\nmaster = mavutil.mavlink_connection(\"udp:127.0.0.1:14550\")\nmaster.wait_heartbeat()\nprint(f\"Connected to {master.target_system}\")\n\n# \u062a\u0646\u0638\u06cc\u0645 Follow Mode:\nmaster.mav.set_mode_send(master.target_system,\n    mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, 23)  # 23 = FOLLOW\n\ndef send_follow_target(lat, lon, alt):\n    \"\"\"\u0627\u0631\u0633\u0627\u0644 \u0645\u0648\u0642\u0639\u06cc\u062a \u0647\u062f\u0641\"\"\"\n    master.mav.follow_target_send(\n        int(time.time()*1000),  # timestamp ms\n        1,                       # valid_bitmask: lat\/lon\/alt\n        int(lat*1e7),\n        int(lon*1e7),\n        alt,                     # altitude (meters MSL)\n        [0,0,0],                # velocity\n        [0,0,0],                # acceleration\n        [1,0,0,0],              # quaternion\n        0,                       # rates\n        [0,0,0],                # position_cov\n        0                        # est_capabilities\n    )\n\n# \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc \u062d\u0631\u06a9\u062a \u0634\u0645\u0627:\nlat, lon = 35.7448, 51.3753\nfor i in range(30):\n    lat += 0.00001  # \u0634\u0645\u0627\u0644 \u0645\u06cc\u200c\u0631\u0648\u06cc\u062f\n    send_follow_target(lat, lon, 50)\n    time.sleep(1)\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a Follow Me<\/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
    FOLL_ENABLE = 1\u061f<\/td>\n\u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u062f\u0631 Mission Planner<\/td>\n<\/tr>\n
    GPS \u0645\u0648\u0628\u0627\u06cc\u0644 \u0642\u0628\u0644 \u0627\u0632 \u067e\u0631\u0648\u0627\u0632 Fix \u062f\u0627\u0631\u062f\u061f<\/td>\n\u062f\u0631 QGC \u0686\u06a9 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0627\u0648\u0644\u06cc\u0646 \u062a\u0633\u062a \u0628\u0627 \u0627\u0631\u062a\u0641\u0627\u0639 \u06f5 \u0645\u062a\u0631\u061f<\/td>\n\u0627\u062d\u062a\u06cc\u0627\u0637 \u062f\u0631 \u0627\u0631\u062a\u0641\u0627\u0639 \u067e\u0627\u06cc\u06cc\u0646<\/td>\n<\/tr>\n
    \u0627\u06af\u0631 \u0645\u0648\u0628\u0627\u06cc\u0644 GPS \u0631\u0627 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f \u2192 RTH\u061f<\/td>\nFOLL_DIST_MAX \u062a\u0646\u0638\u06cc\u0645<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nAndroid GPS<\/text>\nQGroundControl<\/text>\nMAVLink<\/text>\nFollow Target<\/text>\nPixhawk<\/text>\nFOLLOW Mode<\/text>\n\u067e\u0647\u067e\u0627\u062f<\/text>\n\u062f\u0646\u0628\u0627\u0644 \u0634\u0645\u0627<\/text>\nFollow Me \u2014 QGC GPS \u2192 MAVLink \u2192 ArduPilot \u2192 \u067e\u0647\u067e\u0627\u062f \u062f\u0646\u0628\u0627\u0644<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n