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25 lines
1.3 KiB
Markdown
25 lines
1.3 KiB
Markdown
# Gain compression
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<Badge type="tip" text="PX4 v1.17" />
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Automatic gain compression reduces the gains of the angular-rate PID whenever oscillations are detected.
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It monitors the angular-rate controller output through a band-pass filter to identify these oscillations.
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This approach is a safe adaptive mechanism for stable aircraft: the PID gains remain unchanged when no oscillations are present, they are never increased beyond their nominal values, and they are bounded by a minimum limit.
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Gain compression can help prevent actuator damage and even loss of the vehicle in cases such as airspeed-sensor failure (loss of airspeed scaling) or in-flight changes in dynamics (e.g.: CG shifts, inertia changes), or other failures that could cause the angular-rate loop to become oscillatory.
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## 사용법
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Gain compression is enabled by default ([FW_GC_EN](../advanced_config/parameter_reference.md#FW_GC_EN)).
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It should be disabled during fixed wing [manual tuning](../config_fw/pid_tuning_guide_fixedwing.md) to avoid over-tuning.
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It does not need to be disabled when autotuning.
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## 매개변수
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- [FW_GC_EN](../advanced_config/parameter_reference.md#FW_GC_EN)
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- [FW_GC_GAIN_MIN](../advanced_config/parameter_reference.md#FW_GC_GAIN_MIN)
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