GainCompression (UORB message)

TOPICS: gain_compression

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
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

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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