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docs/en/msg_docs/GainCompression.md
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@@ -1,6 +1,25 @@
---
pageClass: is-wide-page
---
# GainCompression (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg)
**TOPICS:** gain_compression
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------- |
| timestamp | `uint64` | | | Time since system start (microseconds) |
| compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis |
| spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter |
| spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg)
::: details Click here to see original file
```c
uint64 timestamp # Time since system start (microseconds)
@@ -8,5 +27,6 @@ uint64 timestamp # Time since system start (microseconds)
float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis
float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter
float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared
```
:::