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34 lines
2.0 KiB
Markdown
34 lines
2.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GainCompression (UORB message)
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**TOPICS:** gain_compression
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------- |
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| timestamp | `uint64` | | | Time since system start (microseconds) |
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| compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis |
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| spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter |
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| spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # Time since system start (microseconds)
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float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis
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float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter
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float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared
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```
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:::
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