{"id":968,"date":"2026-06-21T15:03:36","date_gmt":"2026-06-21T07:03:36","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ardupilot-rtl-return-to-launch-setup-farsi\/"},"modified":"2026-06-21T15:03:37","modified_gmt":"2026-06-21T07:03:37","slug":"ardupilot-rtl-return-to-launch-setup-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ardupilot-rtl-return-to-launch-setup-farsi\/","title":{"rendered":"\u062a\u0646\u0638\u06cc\u0645 RTL (\u0628\u0627\u0632\u06af\u0634\u062a \u0628\u0647 \u062e\u0627\u0646\u0647) \u0627\u06cc\u0645\u0646 \u062f\u0631 ArduPilot (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u062a\u0646\u0638\u06cc\u0645 RTL \u0628\u0627\u0632\u06af\u0634\u062a \u0628\u0647 \u062e\u0627\u0646\u0647 ArduPilot\n<\/div>\n
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RTL \u0686\u06cc\u0633\u062a\u061f<\/h2>\n

RTL (Return to Launch)<\/strong> \u06cc\u0639\u0646\u06cc \u0628\u0627\u0632\u06af\u0634\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0647 \u0646\u0642\u0637\u0647 \u0634\u0631\u0648\u0639 (Home). \u0648\u0642\u062a\u06cc RTL \u0631\u0627 \u0641\u0639\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u062f\u060c \u067e\u0647\u067e\u0627\u062f \u0627\u0628\u062a\u062f\u0627 \u0628\u0647 \u0627\u0631\u062a\u0641\u0627\u0639 \u062a\u0639\u06cc\u06cc\u0646\u200c\u0634\u062f\u0647 \u0645\u06cc\u200c\u0631\u0648\u062f\u060c \u0633\u067e\u0633 \u0628\u0647\u200c\u0633\u0645\u062a \u062e\u0627\u0646\u0647 \u067e\u0631\u0648\u0627\u0632 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u062f\u0631 \u0646\u0647\u0627\u06cc\u062a \u0641\u0631\u0648\u062f \u0645\u06cc\u200c\u0622\u06cc\u062f. \u0627\u06cc\u0646 \u0645\u0647\u0645\u200c\u062a\u0631\u06cc\u0646 \u0642\u0627\u0628\u0644\u06cc\u062a \u0627\u06cc\u0645\u0646\u06cc \u0628\u0631\u0627\u06cc \u0632\u0645\u0627\u0646\u06cc \u0627\u0633\u062a \u06a9\u0647 \u067e\u0647\u067e\u0627\u062f \u0631\u0627 \u06af\u0645 \u06a9\u0631\u062f\u0647\u200c\u0627\u06cc\u062f \u06cc\u0627 \u06a9\u0646\u062a\u0631\u0644 \u0631\u0627 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0647\u200c\u0627\u06cc\u062f.<\/p>\n

\u0646\u0642\u0637\u0647 Home<\/strong> \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0647\u0645\u0627\u0646 \u062c\u0627\u06cc\u06cc \u0627\u0633\u062a \u06a9\u0647 \u067e\u0647\u067e\u0627\u062f \u0622\u0631\u0645 \u0634\u062f\u0647 \u0648 GPS \u0642\u0641\u0644 \u062f\u0627\u0634\u062a\u0647 \u0627\u0633\u062a. \u0628\u0647 \u0647\u0645\u06cc\u0646 \u062f\u0644\u06cc\u0644 \u0647\u0645\u06cc\u0634\u0647 \u0642\u0628\u0644 \u0627\u0632 \u067e\u0631\u0648\u0627\u0632 \u0645\u0646\u062a\u0638\u0631 \u0642\u0641\u0644 \u06a9\u0627\u0645\u0644 GPS \u0628\u0645\u0627\u0646\u06cc\u062f \u062a\u0627 Home \u062f\u0631\u0633\u062a \u062b\u0628\u062a \u0634\u0648\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632<\/td>\nGPS \u0628\u0627 \u0642\u0641\u0644 \u06f3D \u0648 \u0642\u0637\u0628\u200c\u0646\u0645\u0627\u06cc \u06a9\u0627\u0644\u06cc\u0628\u0631\u0647<\/td>\n<\/tr>\n
\u0645\u062d\u0644 \u062a\u0646\u0638\u06cc\u0645<\/td>\nConfig \u2192 Full Parameter List<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u06a9\u0644\u06cc\u062f\u06cc RTL<\/h2>\n
RTL_ALT       = 1500   (\u0627\u0631\u062a\u0641\u0627\u0639 \u0628\u0627\u0632\u06af\u0634\u062a \u0628\u0647 \u0633\u0627\u0646\u062a\u06cc\u200c\u0645\u062a\u0631 = 15 \u0645\u062a\u0631)\nRTL_ALT_FINAL = 0      (0 = \u0641\u0631\u0648\u062f \u06a9\u0627\u0645\u0644 \u067e\u0633 \u0627\u0632 \u0631\u0633\u06cc\u062f\u0646)\nRTL_LOIT_TIME = 5000   (\u0645\u06a9\u062b ms \u0628\u0627\u0644\u0627\u06cc \u062e\u0627\u0646\u0647 \u0642\u0628\u0644 \u0627\u0632 \u0641\u0631\u0648\u062f)\nRTL_SPEED     = 0      (0 = \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 WPNAV_SPEED)\nRTL_CONE_SLOPE = 3     (\u0634\u06cc\u0628 \u0645\u062e\u0631\u0648\u0637 \u0628\u0631\u0627\u06cc \u0628\u0627\u0632\u06af\u0634\u062a \u0628\u0647\u06cc\u0646\u0647)<\/code><\/pre>\n
SmartRTL \u2014 \u0628\u0627\u0632\u06af\u0634\u062a \u0627\u0632 \u0645\u0633\u06cc\u0631 \u0637\u06cc\u200c\u0634\u062f\u0647<\/h2>\n
SmartRTL<\/strong> \u0628\u0647\u200c\u062c\u0627\u06cc \u0645\u0633\u06cc\u0631 \u0645\u0633\u062a\u0642\u06cc\u0645\u060c \u0627\u0632 \u0647\u0645\u0627\u0646 \u0645\u0633\u06cc\u0631\u06cc \u06a9\u0647 \u0622\u0645\u062f\u0647 \u0628\u0631\u0645\u06cc\u200c\u06af\u0631\u062f\u062f. \u0627\u06cc\u0646 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u0627\u0632 \u0628\u06cc\u0646 \u0645\u0648\u0627\u0646\u0639 (\u062f\u0631\u062e\u062a\u060c \u0633\u0627\u062e\u062a\u0645\u0627\u0646) \u0627\u0645\u0646\u200c\u062a\u0631 \u0627\u0633\u062a:<\/p>\n
SRTL_POINTS = 300   (\u062a\u0639\u062f\u0627\u062f \u0646\u0642\u0627\u0637 \u0645\u0633\u06cc\u0631 \u0630\u062e\u06cc\u0631\u0647\u200c\u0634\u062f\u0647)\n# SmartRTL \u0631\u0627 \u0631\u0648\u06cc \u06cc\u06a9 \u062d\u0627\u0644\u062a \u067e\u0631\u0648\u0627\u0632 \u06cc\u0627 Failsafe \u0642\u0631\u0627\u0631 \u062f\u0647\u06cc\u062f<\/code><\/pre>\n
\u062c\u062f\u0648\u0644 \u0627\u0646\u062a\u062e\u0627\u0628 \u0627\u0631\u062a\u0641\u0627\u0639 RTL<\/h2>\n\n\n\n\n\n
\u0645\u062d\u06cc\u0637<\/th>\nRTL_ALT \u067e\u06cc\u0634\u0646\u0647\u0627\u062f\u06cc<\/th>\n<\/tr>\n
\u0632\u0645\u06cc\u0646 \u0628\u0627\u0632<\/td>\n\u06f1\u06f5\u2013\u06f3\u06f0 \u0645\u062a\u0631<\/td>\n<\/tr>\n
\u0645\u0646\u0637\u0642\u0647 \u0628\u0627 \u062f\u0631\u062e\u062a<\/td>\n\u06f3\u06f0\u2013\u06f5\u06f0 \u0645\u062a\u0631 (\u0628\u0627\u0644\u0627\u062a\u0631 \u0627\u0632 \u0645\u0648\u0627\u0646\u0639)<\/td>\n<\/tr>\n
\u06a9\u0646\u0627\u0631 \u0633\u0627\u062e\u062a\u0645\u0627\u0646<\/td>\n\u0628\u0627\u0644\u0627\u062a\u0631 \u0627\u0632 \u0628\u0644\u0646\u062f\u062a\u0631\u06cc\u0646 \u0645\u0627\u0646\u0639<\/td>\n<\/tr>\n<\/table>\n
\n\u062a\u0633\u062a RTL:<\/strong> \u062f\u0631 \u0627\u0648\u0644\u06cc\u0646 \u067e\u0631\u0648\u0627\u0632\u0647\u0627\u060c \u067e\u0647\u067e\u0627\u062f \u0631\u0627 \u06a9\u0645\u06cc \u062f\u0648\u0631 \u06a9\u0646\u06cc\u062f\u060c \u0627\u0631\u062a\u0641\u0627\u0639 \u0628\u06af\u06cc\u0631\u06cc\u062f \u0648 RTL \u0631\u0627 \u0641\u0639\u0627\u0644 \u06a9\u0646\u06cc\u062f \u062a\u0627 \u0645\u0637\u0645\u0626\u0646 \u0634\u0648\u06cc\u062f \u062f\u0631\u0633\u062a \u0628\u0647 \u062e\u0627\u0646\u0647 \u0628\u0631\u0645\u06cc\u200c\u06af\u0631\u062f\u062f. \u0627\u06cc\u0646 \u0627\u0639\u062a\u0645\u0627\u062f \u0631\u0627 \u0628\u0631\u0627\u06cc \u067e\u0631\u0648\u0627\u0632\u0647\u0627\u06cc \u062f\u0648\u0631\u062a\u0631 \u0645\u06cc\u200c\u0633\u0627\u0632\u062f.\n<\/div>\n
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