{"id":977,"date":"2026-06-21T15:04:13","date_gmt":"2026-06-21T07:04:13","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/arducopter-loiter-poshold-mode-farsi\/"},"modified":"2026-06-21T15:04:14","modified_gmt":"2026-06-21T07:04:14","slug":"arducopter-loiter-poshold-mode-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/arducopter-loiter-poshold-mode-farsi\/","title":{"rendered":"\u062d\u0627\u0644\u062a Loiter \u0648 Position Hold \u062f\u0631 ArduCopter \u2014 \u0645\u0639\u0644\u0642 \u0645\u0627\u0646\u062f\u0646 \u062f\u0642\u06cc\u0642 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u062d\u0627\u0644\u062a Loiter PosHold ArduCopter\n<\/div>\n
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Loiter \u0648 PosHold \u0686\u0647 \u0641\u0631\u0642\u06cc \u062f\u0627\u0631\u0646\u062f\u061f<\/h2>\n

\u0647\u0631 \u062f\u0648 \u062d\u0627\u0644\u062a Loiter<\/strong> \u0648 PosHold<\/strong> \u0627\u0632 GPS \u0628\u0631\u0627\u06cc \u0646\u06af\u0647\u200c\u062f\u0627\u0634\u062a\u0646 \u067e\u0647\u067e\u0627\u062f \u062f\u0631 \u06cc\u06a9 \u0646\u0642\u0637\u0647 \u062b\u0627\u0628\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f. \u062a\u0641\u0627\u0648\u062a \u062f\u0631 \u062d\u0633 \u06a9\u0646\u062a\u0631\u0644 \u0627\u0633\u062a: \u062f\u0631 Loiter<\/strong> \u0648\u0642\u062a\u06cc \u0627\u0633\u062a\u06cc\u06a9 \u0631\u0627 \u0631\u0647\u0627 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u062f\u060c \u067e\u0647\u067e\u0627\u062f \u0633\u0631\u06cc\u0639 \u0645\u062a\u0648\u0642\u0641 \u0648 \u0642\u0641\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f (\u0646\u0631\u0645\u200c\u062a\u0631). \u062f\u0631 PosHold<\/strong> \u06a9\u0646\u062a\u0631\u0644 \u062f\u0633\u062a\u06cc \u0634\u0628\u06cc\u0647 Stabilize \u0627\u0633\u062a \u0627\u0645\u0627 \u0647\u0646\u06af\u0627\u0645 \u0631\u0647\u0627 \u06a9\u0631\u062f\u0646 \u0627\u0633\u062a\u06cc\u06a9\u060c \u0645\u0648\u0642\u0639\u06cc\u062a \u062d\u0641\u0638 \u0645\u06cc\u200c\u0634\u0648\u062f (\u0645\u0633\u062a\u0642\u06cc\u0645\u200c\u062a\u0631).<\/p>\n

\u0627\u06cc\u0646 \u062d\u0627\u0644\u062a\u200c\u0647\u0627 \u0628\u0647 \u0642\u0641\u0644 \u062e\u0648\u0628 GPS\u060c \u0642\u0637\u0628\u200c\u0646\u0645\u0627\u06cc \u06a9\u0627\u0644\u06cc\u0628\u0631\u0647 \u0648 EKF \u0633\u0627\u0644\u0645 \u0646\u06cc\u0627\u0632 \u062f\u0627\u0631\u0646\u062f. \u0627\u06af\u0631 \u0642\u0637\u0628\u200c\u0646\u0645\u0627 \u0628\u062f \u0628\u0627\u0634\u062f\u060c \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u067e\u062f\u06cc\u062f\u0647 Toilet Bowl<\/strong> (\u0686\u0631\u062e\u0634 \u062f\u0627\u06cc\u0631\u0647\u200c\u0627\u06cc \u0641\u0632\u0627\u06cc\u0646\u062f\u0647) \u0631\u062e \u062f\u0647\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>\n\u0642\u0641\u0644 GPS + \u0642\u0637\u0628\u200c\u0646\u0645\u0627\u06cc \u062f\u0642\u06cc\u0642<\/td>\n<\/tr>\n
\u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u0633\u0631\u0639\u062a<\/td>\nLOIT_SPEED, LOIT_ACC_MAX<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u06a9\u0644\u06cc\u062f\u06cc Loiter<\/h2>\n
LOIT_SPEED   = 1250   (\u062d\u062f\u0627\u06a9\u062b\u0631 \u0633\u0631\u0639\u062a \u0627\u0641\u0642\u06cc cm\/s)\nLOIT_ACC_MAX = 500    (\u0634\u062a\u0627\u0628 \u062d\u062f\u0627\u06a9\u062b\u0631 cm\/s\/s)\nLOIT_BRK_ACC = 250    (\u0634\u062a\u0627\u0628 \u062a\u0631\u0645\u0632 \u0647\u0646\u06af\u0627\u0645 \u0631\u0647\u0627 \u06a9\u0631\u062f\u0646 \u0627\u0633\u062a\u06cc\u06a9)\nLOIT_BRK_DELAY = 1.0  (\u062a\u0623\u062e\u06cc\u0631 \u0634\u0631\u0648\u0639 \u062a\u0631\u0645\u0632)<\/code><\/pre>\n
\u062a\u0633\u062a \u0639\u0645\u0644\u06cc<\/h2>\n
    \n
  1. \u062f\u0631 Stabilize \u0628\u0644\u0646\u062f \u0634\u0648\u06cc\u062f \u0648 \u0628\u0647 \u0627\u0631\u062a\u0641\u0627\u0639 \u0627\u0645\u0646 \u0628\u0631\u0633\u06cc\u062f.<\/li>\n
  2. \u0628\u0647 Loiter \u0633\u0648\u0626\u06cc\u0686 \u06a9\u0646\u06cc\u062f\u061b \u067e\u0647\u067e\u0627\u062f \u0628\u0627\u06cc\u062f \u0633\u0631 \u062c\u0627\u06cc \u062e\u0648\u062f \u0642\u0641\u0644 \u0634\u0648\u062f.<\/li>\n
  3. \u0627\u0633\u062a\u06cc\u06a9\u200c\u0647\u0627 \u0631\u0627 \u0631\u0647\u0627 \u06a9\u0646\u06cc\u062f \u0648 \u0631\u0627\u0646\u0634 (Drift) \u0631\u0627 \u0628\u0633\u0646\u062c\u06cc\u062f. \u0631\u0627\u0646\u0634 \u06a9\u0645 = \u062a\u0646\u0638\u06cc\u0645 \u062e\u0648\u0628.<\/li>\n<\/ol>\n
    \u0631\u0641\u0639 Toilet Bowl (\u0686\u0631\u062e\u0634 \u062f\u0627\u06cc\u0631\u0647\u200c\u0627\u06cc)<\/h2>\n\n\n\n\n\n
    \u0639\u0644\u062a<\/th>\n\u0631\u0627\u0647\u200c\u062d\u0644<\/th>\n<\/tr>\n
    \u0642\u0637\u0628\u200c\u0646\u0645\u0627\u06cc \u0628\u062f<\/td>\n\u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0645\u062c\u062f\u062f\u060c GPS \u0628\u0627\u0644\u0627\u062a\u0631<\/td>\n<\/tr>\n
    \u062c\u0647\u062a GPS \u0627\u0634\u062a\u0628\u0627\u0647<\/td>\n\u0641\u0644\u0634 \u062c\u0644\u0648\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648 \u0628\u0647 \u062c\u0644\u0648<\/td>\n<\/tr>\n
    \u062a\u062f\u0627\u062e\u0644 \u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc<\/td>\n\u062f\u0648\u0631 \u06a9\u0631\u062f\u0646 \u0633\u06cc\u0645 \u0642\u062f\u0631\u062a \u0627\u0632 \u0642\u0637\u0628\u200c\u0646\u0645\u0627<\/td>\n<\/tr>\n<\/table>\n
    \n\u0646\u06a9\u062a\u0647 \u0627\u06cc\u0645\u0646\u06cc:<\/strong> \u0627\u06af\u0631 \u067e\u0647\u067e\u0627\u062f \u062f\u0631 Loiter \u0634\u0631\u0648\u0639 \u0628\u0647 \u062f\u0627\u06cc\u0631\u0647\u200c\u0632\u062f\u0646 \u0641\u0632\u0627\u06cc\u0646\u062f\u0647 \u06a9\u0631\u062f\u060c \u0641\u0648\u0631\u0627\u064b \u0628\u0647 Stabilize \u0628\u0631\u06af\u0631\u062f\u06cc\u062f \u0648 \u062f\u0633\u062a\u06cc \u0641\u0631\u0648\u062f \u0628\u06cc\u0627\u06cc\u06cc\u062f\u061b \u0633\u067e\u0633 \u0642\u0637\u0628\u200c\u0646\u0645\u0627 \u0631\u0627 \u0628\u0627\u0632\u0628\u06cc\u0646\u06cc \u06a9\u0646\u06cc\u062f.\n<\/div>\n
    \n