{"id":803,"date":"2026-06-12T15:22:23","date_gmt":"2026-06-12T07:22:23","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/inav-flight-controller-ugv-ground-vehicle-conversion-farsi\/"},"modified":"2026-06-12T15:22:23","modified_gmt":"2026-06-12T07:22:23","slug":"inav-flight-controller-ugv-ground-vehicle-conversion-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/inav-flight-controller-ugv-ground-vehicle-conversion-farsi\/","title":{"rendered":"iNAV \u0631\u0648\u06cc \u0641\u0644\u0627\u06cc\u062a \u06a9\u0646\u062a\u0631\u0644\u0631 \u0628\u0631\u0627\u06cc UGV \u2014 \u062a\u0628\u062f\u06cc\u0644 FC \u0628\u0647 \u06a9\u0646\u062a\u0631\u0644\u0631 \u0632\u0645\u06cc\u0646\u06cc (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\niNAV UGV Rover \u0641\u0644\u0627\u06cc\u062a \u06a9\u0646\u062a\u0631\u0644\u0631 GPS\n<\/div>\n
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iNAV \u0686\u06cc\u0633\u062a \u0648 \u0686\u0631\u0627 \u0628\u0631\u0627\u06cc UGV \u0645\u0646\u0627\u0633\u0628 \u0627\u0633\u062a\u061f<\/h2>\n

iNAV<\/strong> (Integrated Navigation) \u06cc\u06a9 \u0641\u0631\u06cc\u0645\u0648\u0631 \u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u0628\u0631\u0627\u06cc \u0641\u0644\u0627\u06cc\u062a \u06a9\u0646\u062a\u0631\u0644\u0631\u0647\u0627\u06cc F4\/F7\/H7 \u0627\u0633\u062a \u06a9\u0647 \u0627\u0632 \u0646\u0627\u0648\u0628\u0631\u06cc GPS \u062e\u0648\u062f\u06a9\u0627\u0631 \u067e\u0634\u062a\u06cc\u0628\u0627\u0646\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u0635\u0644\u0627\u064b \u0628\u0631\u0627\u06cc \u0647\u0648\u0627\u067e\u06cc\u0645\u0627 \u0648 \u0647\u0644\u06cc\u06a9\u0648\u067e\u062a\u0631 \u0637\u0631\u0627\u062d\u06cc \u0634\u062f\u0647\u060c \u0627\u0645\u0627 \u0627\u0632 \u0646\u0633\u062e\u0647 \u06f6.\u06f0 \u0628\u0647 \u0628\u0639\u062f \u062d\u0627\u0644\u062a Rover<\/strong> (\u0648\u0633\u06cc\u0644\u0647 \u0632\u0645\u06cc\u0646\u06cc) \u0647\u0645 \u062f\u0627\u0631\u062f. \u06cc\u0639\u0646\u06cc \u0647\u0645\u0627\u0646 \u0633\u062e\u062a\u200c\u0627\u0641\u0632\u0627\u0631 \u0627\u0631\u0632\u0627\u0646 FC \u06a9\u0647 \u06f2\u06f0\u06f0\u2013\u06f3\u06f0\u06f0K \u062a\u0648\u0645\u0627\u0646 \u0627\u0633\u062a \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f UGV \u0631\u0627 \u0628\u0627 GPS\u060c Compass\u060c Waypoint \u0648 \u062d\u062a\u06cc Follow Me \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u062f \u2014 \u0628\u062f\u0648\u0646 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648!<\/p>\n

\u0645\u0632\u06cc\u062a iNAV \u0628\u0631\u0627\u06cc UGV: IMU \u062f\u0631\u0648\u0646\u06cc \u062e\u06cc\u0644\u06cc \u062f\u0642\u06cc\u0642\u060c \u0641\u06cc\u0644\u062a\u0631 Kalman \u067e\u06cc\u0634\u0631\u0641\u062a\u0647\u060c \u0627\u062a\u0635\u0627\u0644 \u0645\u0633\u062a\u0642\u06cc\u0645 GPS \u0648 Compass\u060c \u0648 \u0646\u0645\u0627\u06cc\u0634 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc \u062f\u0631 Mission Planner \u06cc\u0627 mwp-tools.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
FC \u062a\u0648\u0635\u06cc\u0647\u200c\u0634\u062f\u0647<\/td>\nMatek F405-SE \/ SpeedyBee F405 (~\u06f3\u06f0\u06f0K)<\/td>\n<\/tr>\n
GPS<\/td>\nNEO-6M \/ M8N \/ M10 (~\u06f1\u06f5\u06f0\u2013\u06f3\u06f0\u06f0K)<\/td>\n<\/tr>\n
\u0646\u0631\u0645\u200c\u0627\u0641\u0632\u0627\u0631 GCS<\/td>\nmwp-tools (Linux) \u06cc\u0627 Mission Planner<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u062a\u0646\u0638\u06cc\u0645 iNAV \u0628\u0631\u0627\u06cc Rover \u2014 \u06af\u0627\u0645 \u0628\u0647 \u06af\u0627\u0645<\/h2>\n
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  1. \u0641\u0631\u06cc\u0645\u0648\u0631 iNAV 7.x \u0631\u0627 \u0627\u0632 GitHub<\/a> \u062f\u0627\u0646\u0644\u0648\u062f \u06a9\u0646.<\/li>\n
  2. \u0628\u0627 iNAV Configurator (Chrome App): FC \u0631\u0627 \u0648\u0635\u0644 \u06a9\u0646 \u0648 \u0641\u0631\u06cc\u0645\u0648\u0631 \u0631\u0627 \u0641\u0644\u0634 \u06a9\u0646.<\/li>\n
  3. \u062f\u0631 \u062a\u0628 Configuration \u2192 Mixer Type<\/strong>: \u06af\u0632\u06cc\u0646\u0647 ROVER<\/strong> \u0631\u0627 \u0627\u0646\u062a\u062e\u0627\u0628 \u06a9\u0646.<\/li>\n
  4. \u062f\u0631 Motors<\/strong>: \u0645\u0648\u062a\u0648\u0631 \u06f1 = \u0645\u0648\u062a\u0648\u0631 \u0627\u0635\u0644\u06cc \u067e\u06cc\u0634\u0631\u0627\u0646\u0634 (ESC\/L298N)\u060c \u0645\u0648\u062a\u0648\u0631 \u06f2 = \u0633\u0631\u0648 \u0641\u0631\u0645\u0627\u0646.<\/li>\n
  5. \u062f\u0631 GPS<\/strong>: \u067e\u0631\u0648\u062a\u06a9\u0644 = u-blox\u060c \u0628\u0648\u062f\u0631\u06cc\u062a = 115200.<\/li>\n
  6. \u062f\u0631 Compass<\/strong>: \u0646\u0648\u0639 HMC5883L \u06cc\u0627 QMC5883L\u060c \u0622\u062f\u0631\u0633 I2C \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646.<\/li>\n
  7. Calibrate Compass: \u062f\u06a9\u0645\u0647 \u0631\u0627 \u0628\u0632\u0646 \u0648 FC \u0631\u0627 \u0622\u0631\u0627\u0645 \u06f3\u06f6\u06f0\u00b0 \u0628\u0686\u0631\u062e\u0627\u0646.<\/li>\n
  8. \u062f\u0631 Modes<\/strong>: \u06cc\u06a9 \u06a9\u0627\u0646\u0627\u0644 RC \u0631\u0627 \u0628\u0647 NAV WAYPOINT<\/em> \u0648 \u06cc\u06a9\u06cc \u0628\u0647 NAV POSHOLD<\/em> \u0627\u062e\u062a\u0635\u0627\u0635 \u0628\u062f\u0647.<\/li>\n<\/ol>\n

    \u062a\u0646\u0638\u06cc\u0645 PID iNAV \u0628\u0631\u0627\u06cc \u0632\u0645\u06cc\u0646<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u067e\u0627\u0631\u0627\u0645\u062a\u0631<\/th>\n\u067e\u06cc\u0634\u200c\u0641\u0631\u0636<\/th>\nUGV \u06a9\u0648\u0686\u06a9<\/th>\n<\/tr>\n<\/thead>\n
    nav_fw_cruise_speed<\/td>\n\u2014<\/td>\n200 (cm\/s)<\/td>\n<\/tr>\n
    nav_fw_min_speed<\/td>\n\u2014<\/td>\n50 (cm\/s)<\/td>\n<\/tr>\n
    nav_fw_max_speed<\/td>\n\u2014<\/td>\n400 (cm\/s)<\/td>\n<\/tr>\n
    nav_fw_heading_p<\/td>\n60<\/td>\n30\u201350 \u0628\u0631\u0627\u06cc \u0634\u0627\u0633\u06cc \u06a9\u0648\u0686\u06a9<\/td>\n<\/tr>\n
    nav_wp_radius<\/td>\n100cm<\/td>\n200cm \u2014 \u0634\u0639\u0627\u0639 \u0642\u0628\u0648\u0644 Waypoint<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u0622\u067e\u0644\u0648\u062f Waypoint \u0627\u0632 Mission Planner<\/h2>\n
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    1. Mission Planner \u0631\u0627 \u0628\u0627\u0632 \u06a9\u0646\u060c \u0628\u0647 FC \u0648\u0635\u0644 \u0634\u0648.<\/li>\n
    2. \u062f\u0631 \u0646\u0642\u0634\u0647 \u06a9\u0644\u06cc\u06a9\u200c\u0631\u0627\u0633\u062a \u2192 Add Waypoint Here<\/em> \u2014 \u0645\u062e\u062a\u0635\u0627\u062a \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646.<\/li>\n
    3. Upload Mission \u2192 UGV \u062f\u0631 \u062d\u0627\u0644\u062a Waypoint \u0645\u0633\u06cc\u0631 \u0631\u0627 \u0637\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/li>\n<\/ol>\n
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