{"id":678,"date":"2026-06-11T13:55:21","date_gmt":"2026-06-11T05:55:21","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/delivery-drone-ardupilot-release-mechanism-farsi\/"},"modified":"2026-06-11T13:55:22","modified_gmt":"2026-06-11T05:55:22","slug":"delivery-drone-ardupilot-release-mechanism-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/delivery-drone-ardupilot-release-mechanism-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u067e\u0647\u067e\u0627\u062f \u062a\u062d\u0648\u06cc\u0644 \u0628\u0627\u0631 \u0628\u0627 ArduPilot \u0648 Release Mechanism (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u067e\u0647\u067e\u0627\u062f \u062a\u062d\u0648\u06cc\u0644 \u0628\u0627\u0631 ArduPilot Servo Release Waypoint\n<\/div>\n
\n

\u067e\u0647\u067e\u0627\u062f \u062a\u062d\u0648\u06cc\u0644 \u0628\u0627\u0631 \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u06cc\u06a9 \u067e\u0647\u067e\u0627\u062f \u062a\u062d\u0648\u06cc\u0644 \u0628\u0627\u0631<\/strong> \u06cc\u06a9 \u06a9\u0648\u0627\u062f\u06a9\u0648\u067e\u062a\u0631 \u06cc\u0627 \u0647\u06af\u0632\u0627\u06a9\u0648\u067e\u062a\u0631 \u0628\u0627 ArduPilot \u0627\u0633\u062a \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u06cc\u06a9 \u0628\u0633\u062a\u0647 \u0631\u0627 \u062f\u0631 \u0647\u0648\u0627 \u062d\u0645\u0644 \u06a9\u0631\u062f\u0647 \u0648 \u0631\u0648\u06cc \u06cc\u06a9 \u0646\u0642\u0637\u0647 GPS \u0645\u0634\u062e\u0635 (Waypoint<\/strong>) \u0622\u0646 \u0631\u0627 \u0631\u0647\u0627 \u06a9\u0646\u062f. \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0628\u0627 \u06cc\u06a9 Servo Release<\/strong> \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f \u2014 \u06cc\u06a9 \u0633\u0631\u0648 \u06a9\u0647 \u06cc\u06a9 \u0642\u0644\u0627\u0628 \u06cc\u0627 \u0628\u0627\u0632 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

\u062f\u0631 ArduPilot \u06cc\u06a9 \u0641\u0631\u0645\u0627\u0646 Mission \u062e\u0627\u0635 \u0628\u0647 \u0646\u0627\u0645 DO_SET_SERVO<\/strong> \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f \u06a9\u0647 \u062f\u0631 \u06cc\u06a9 Waypoint \u0645\u0634\u062e\u0635\u060c \u06cc\u06a9 \u0633\u0631\u0648 \u0631\u0627 \u0628\u0647 \u0632\u0627\u0648\u06cc\u0647 \u062a\u0639\u06cc\u06cc\u0646\u200c\u0634\u062f\u0647 \u0645\u06cc\u200c\u0628\u0631\u062f. \u0627\u06cc\u0646 \u0645\u06a9\u0627\u0646\u06cc\u0632\u0645 \u0633\u0627\u062f\u0647 \u0627\u0645\u0627 \u0642\u0627\u0628\u0644 \u0627\u0637\u0645\u06cc\u0646\u0627\u0646 \u0627\u0633\u062a. \u0638\u0631\u0641\u06cc\u062a \u0628\u0627\u0631 \u0628\u0633\u062a\u06af\u06cc \u0628\u0647 \u0627\u0646\u062f\u0627\u0632\u0647 \u067e\u0647\u067e\u0627\u062f \u062f\u0627\u0631\u062f \u2014 \u0627\u0632 \u06f2\u06f0\u06f0g \u062a\u0627 \u06f3kg.<\/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 \u062a\u062d\u0648\u06cc\u0644 \u0628\u0627 \u0631\u0647\u0627 \u06a9\u0631\u062f\u0646 \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0627\u0631 \u062f\u0631 Waypoint.<\/p>\n

    \n
  • \u0638\u0631\u0641\u06cc\u062a:<\/strong> \u06f3\u06f0\u06f0-\u06f5\u06f0\u06f0g \u0628\u0627 F450<\/li>\n
  • \u062f\u0642\u062a \u062a\u062d\u0648\u06cc\u0644:<\/strong> \u00b1\u06f1-\u06f2 \u0645\u062a\u0631 GPS<\/li>\n
  • \u0645\u06a9\u0627\u0646\u06cc\u0632\u0645:<\/strong> Servo + \u0642\u0644\u0627\u0628 \u0633\u0627\u062f\u0647<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\u067e\u0647\u067e\u0627\u062f<\/text>\n\n\n\n\u0628\u0627\u0631<\/text>\n\n\n\nWaypoint \u062a\u062d\u0648\u06cc\u0644<\/text>\n\n\n\n\u067e\u0647\u067e\u0627\u062f \u062a\u062d\u0648\u06cc\u0644 \u2014 Waypoint \u0631\u0633\u06cc\u062f \u2192 DO_SET_SERVO \u2192 \u0628\u0627\u0631 \u0631\u0647\u0627<\/text>\n<\/svg><\/p>\n

    \u062a\u0646\u0638\u06cc\u0645 Mission \u062f\u0631 Mission Planner<\/h2>\n
    \n\/\/ \u062a\u0631\u062a\u06cc\u0628 Waypoints \u062f\u0631 Mission Planner:\n\n\/\/ WP1: \u067e\u0631\u0648\u0627\u0632 \u0628\u0647 \u0627\u0631\u062a\u0641\u0627\u0639 \u06f2\u06f0 \u0645\u062a\u0631 (TAKEOFF)\n\/\/ WP2: \u0631\u0641\u062a\u0646 \u0628\u0647 \u0645\u062d\u0644 \u062a\u062d\u0648\u06cc\u0644:\n\/\/   NAV_WAYPOINT: lat=XX.XXX, lon=YY.YYY, alt=15m\n\/\/ WP3: \u062a\u0648\u0642\u0641 \u0628\u0627\u0644\u0627\u06cc \u0647\u062f\u0641 (LOITER_TIME):\n\/\/   LOITER_TIME: 3 \u062b\u0627\u0646\u06cc\u0647 \u0628\u0631\u0627\u06cc \u062a\u062b\u0628\u06cc\u062a\n\/\/ WP4: \u0631\u0647\u0627 \u06a9\u0631\u062f\u0646 \u0628\u0627\u0631 (DO_SET_SERVO):\n\/\/   Servo CH: 9 (AUX1 on Pixhawk)\n\/\/   PWM: 1900 \u03bcs (\u0628\u0627\u0632 \u06a9\u0631\u062f\u0646 \u0642\u0644\u0627\u0628)\n\/\/   (\u0635\u0628\u0631 2 \u062b\u0627\u0646\u06cc\u0647 \u0628\u0631\u0627\u06cc \u0631\u0647\u0627 \u0634\u062f\u0646 \u06a9\u0627\u0645\u0644)\n\/\/ WP5: DO_SET_SERVO \u2192 PWM: 1100 (\u0628\u0633\u062a\u0647 \u06a9\u0631\u062f\u0646)\n\/\/ WP6: RTH \u0628\u0631\u06af\u0634\u062a (RETURN_TO_LAUNCH)\n\n\/\/ \u062a\u0646\u0638\u06cc\u0645 \u0633\u0631\u0648 \u062f\u0631 ArduPilot:\n\/\/ SERVO9_FUNCTION = 0 (RC Passthrough)\n\/\/ SERVO9_MIN = 1100, SERVO9_MAX = 1900\n\/\/ SERVO9_TRIM = 1100 (\u062d\u0627\u0644\u062a \u0628\u0633\u062a\u0647)\n<\/code><\/pre>\n
    \u0645\u06a9\u0627\u0646\u06cc\u0632\u0645 Release \u0633\u0627\u062f\u0647<\/h2>\n
    \n\/\/ \u0637\u0631\u0627\u062d\u06cc \u0642\u0644\u0627\u0628 \u0633\u0631\u0648 Release:\n\/\/ - \u06cc\u06a9 \u0633\u0631\u0648 MG996R\n\/\/ - \u06cc\u06a9 \u062a\u06cc\u0631 \u0641\u0646\u0631 (spring pin) 3D Printed\n\/\/ - \u0648\u0642\u062a\u06cc \u0633\u0631\u0648 \u062f\u0631 1100\u03bcs: \u0642\u0644\u0627\u0628 \u0628\u0633\u062a\u0647\n\/\/ - \u0648\u0642\u062a\u06cc \u0633\u0631\u0648 \u062f\u0631 1900\u03bcs: \u0642\u0644\u0627\u0628 \u0628\u0627\u0632 \u2192 \u0628\u0627\u0631 \u0645\u06cc\u200c\u0627\u0641\u062a\u062f\n\n\/\/ \u062a\u0633\u062a Release \u0642\u0628\u0644 \u0627\u0632 \u067e\u0631\u0648\u0627\u0632:\n\/\/ \u062f\u0631 Mission Planner \u2192 Servo Output Tab:\n\/\/ CH9 \u2192 \u0628\u062f\u0647\u06cc\u062f 1900\u03bcs \u2192 \u0628\u0627\u0631 \u0628\u0627\u06cc\u062f \u0628\u06cc\u0641\u062a\u062f\n\/\/ CH9 \u2192 \u0628\u0631\u06af\u0631\u062f\u06cc\u062f 1100\u03bcs \u2192 \u0642\u0644\u0627\u0628 \u0628\u0628\u0646\u062f\u062f\n\n\/\/ \u0627\u06cc\u0645\u0646\u06cc \u0645\u0647\u0645:\n\/\/ \u06f1. \u0647\u0631\u06af\u0632 \u0628\u062f\u0648\u0646 \u0628\u0627\u0631 \u067e\u0631\u0648\u0627\u0632 \u0646\u06a9\u0646\u06cc\u062f (\u062a\u0639\u0627\u062f\u0644 \u067e\u0647\u067e\u0627\u062f \u0639\u0648\u0636 \u0645\u06cc\u200c\u0634\u0648\u062f)\n\/\/ \u06f2. \u062d\u062a\u0645\u0627\u064b \u0622\u0632\u0645\u0627\u06cc\u0634 \u062b\u0627\u0628\u062a \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0627\u0646\u062c\u0627\u0645 \u062f\u0647\u06cc\u062f\n\/\/ \u06f3. \u0627\u0631\u062a\u0641\u0627\u0639 \u0631\u0647\u0627 \u06a9\u0631\u062f\u0646 \u062d\u062f\u0627\u0642\u0644 \u06f1\u06f0 \u0645\u062a\u0631 \u0628\u0627\u0634\u062f\n\/\/ \u06f4. \u062f\u0631 \u0645\u062d\u06cc\u0637 \u0639\u0627\u0631\u06cc \u0627\u0632 \u0627\u0641\u0631\u0627\u062f \u0622\u0632\u0645\u0627\u06cc\u0634 \u06a9\u0646\u06cc\u062f\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u067e\u0631\u0648\u0627\u0632 \u062a\u062d\u0648\u06cc\u0644<\/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
    Release Mechanism \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u062a\u0633\u062a\u061f<\/td>\n\u06f5 \u0628\u0627\u0631 \u0622\u0632\u0645\u0627\u06cc\u0634<\/td>\n<\/tr>\n
    \u0648\u0632\u0646 \u0628\u0627\u0631 \u062f\u0631 \u0645\u062d\u062f\u0648\u062f\u0647 \u0645\u062c\u0627\u0632\u061f<\/td>\n\u0632\u06cc\u0631 \u06f3\u06f0% \u0648\u0632\u0646 \u067e\u0647\u067e\u0627\u062f<\/td>\n<\/tr>\n
    GPS Fix 3D \u0628\u0627 \u06f7+ \u0645\u0627\u0647\u0648\u0627\u0631\u0647\u061f<\/td>\nHDOP \u0632\u06cc\u0631 \u06f1.\u06f5<\/td>\n<\/tr>\n
    Failsafe \u2192 RTH \u062a\u0646\u0638\u06cc\u0645\u061f<\/td>\n\u0628\u0627 \u0628\u0627\u0631 \u06cc\u0627 \u0628\u062f\u0648\u0646 \u0628\u0627\u0631<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nMission Planner<\/text>\nWaypoint Upload<\/text>\nArduPilot<\/text>\nDO_SET_SERVO<\/text>\nServo CH9<\/text>\n1900\u03bcs \u0628\u0627\u0632<\/text>\n\u0628\u0627\u0631 \u0631\u0647\u0627 \u0634\u062f<\/text>\nWaypoint GPS<\/text>\n\u062a\u062d\u0648\u06cc\u0644 \u0628\u0627\u0631 \u2014 Waypoint \u2192 DO_SET_SERVO \u2192 Release \u2192 RTH<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n