mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-03-24 02:24:09 +08:00
12 KiB
12 KiB
pageClass
| pageClass |
|---|
| is-wide-page |
InternalCombustionEngineStatus (UORB message)
TOPICS: internal_combustion_engine_status
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 |
time since system start (microseconds) | ||
| state | uint8 |
|||
| flags | uint32 |
|||
| engine_load_percent | uint8 |
Engine load estimate, percent, [0, 127] | ||
| engine_speed_rpm | uint32 |
Engine speed, revolutions per minute | ||
| spark_dwell_time_ms | float32 |
Spark dwell time, millisecond | ||
| atmospheric_pressure_kpa | float32 |
Atmospheric (barometric) pressure, kilopascal | ||
| intake_manifold_pressure_kpa | float32 |
Engine intake manifold pressure, kilopascal | ||
| intake_manifold_temperature | float32 |
Engine intake manifold temperature, kelvin | ||
| coolant_temperature | float32 |
Engine coolant temperature, kelvin | ||
| oil_pressure | float32 |
Oil pressure, kilopascal | ||
| oil_temperature | float32 |
Oil temperature, kelvin | ||
| fuel_pressure | float32 |
Fuel pressure, kilopascal | ||
| fuel_consumption_rate_cm3pm | float32 |
Instant fuel consumption estimate, (centimeter^3)/minute | ||
| estimated_consumed_fuel_volume_cm3 | float32 |
Estimate of the consumed fuel since the start of the engine, centimeter^3 | ||
| throttle_position_percent | uint8 |
Throttle position, percent | ||
| ecu_index | uint8 |
The index of the publishing ECU | ||
| spark_plug_usage | uint8 |
Spark plug activity report. | ||
| ignition_timing_deg | float32 |
Cylinder ignition timing, angular degrees of the crankshaft | ||
| injection_time_ms | float32 |
Fuel injection time, millisecond | ||
| cylinder_head_temperature | float32 |
Cylinder head temperature (CHT), kelvin | ||
| exhaust_gas_temperature | float32 |
Exhaust gas temperature (EGT), kelvin | ||
| lambda_coefficient | float32 |
Estimated lambda coefficient, dimensionless ratio |
Constants
Source Message
::: details Click here to see original file
uint64 timestamp # time since system start (microseconds)
uint8 STATE_STOPPED = 0 # The engine is not running. This is the default state.
uint8 STATE_STARTING = 1 # The engine is starting. This is a transient state.
uint8 STATE_RUNNING = 2 # The engine is running normally.
uint8 STATE_FAULT = 3 # The engine can no longer function.
uint8 state
uint32 FLAG_GENERAL_ERROR = 1 # General error.
uint32 FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED = 2 # Error of the crankshaft sensor. This flag is optional.
uint32 FLAG_CRANKSHAFT_SENSOR_ERROR = 4
uint32 FLAG_TEMPERATURE_SUPPORTED = 8 # Temperature levels. These flags are optional
uint32 FLAG_TEMPERATURE_BELOW_NOMINAL = 16 # Under-temperature warning
uint32 FLAG_TEMPERATURE_ABOVE_NOMINAL = 32 # Over-temperature warning
uint32 FLAG_TEMPERATURE_OVERHEATING = 64 # Critical overheating
uint32 FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL = 128 # Exhaust gas over-temperature warning
uint32 FLAG_FUEL_PRESSURE_SUPPORTED = 256 # Fuel pressure. These flags are optional
uint32 FLAG_FUEL_PRESSURE_BELOW_NOMINAL = 512 # Under-pressure warning
uint32 FLAG_FUEL_PRESSURE_ABOVE_NOMINAL = 1024 # Over-pressure warning
uint32 FLAG_DETONATION_SUPPORTED = 2048 # Detonation warning. This flag is optional.
uint32 FLAG_DETONATION_OBSERVED = 4096 # Detonation condition observed warning
uint32 FLAG_MISFIRE_SUPPORTED = 8192 # Misfire warning. This flag is optional.
uint32 FLAG_MISFIRE_OBSERVED = 16384 # Misfire condition observed warning
uint32 FLAG_OIL_PRESSURE_SUPPORTED = 32768 # Oil pressure. These flags are optional
uint32 FLAG_OIL_PRESSURE_BELOW_NOMINAL = 65536 # Under-pressure warning
uint32 FLAG_OIL_PRESSURE_ABOVE_NOMINAL = 131072 # Over-pressure warning
uint32 FLAG_DEBRIS_SUPPORTED = 262144 # Debris warning. This flag is optional
uint32 FLAG_DEBRIS_DETECTED = 524288 # Detection of debris warning
uint32 flags
uint8 engine_load_percent # Engine load estimate, percent, [0, 127]
uint32 engine_speed_rpm # Engine speed, revolutions per minute
float32 spark_dwell_time_ms # Spark dwell time, millisecond
float32 atmospheric_pressure_kpa # Atmospheric (barometric) pressure, kilopascal
float32 intake_manifold_pressure_kpa # Engine intake manifold pressure, kilopascal
float32 intake_manifold_temperature # Engine intake manifold temperature, kelvin
float32 coolant_temperature # Engine coolant temperature, kelvin
float32 oil_pressure # Oil pressure, kilopascal
float32 oil_temperature # Oil temperature, kelvin
float32 fuel_pressure # Fuel pressure, kilopascal
float32 fuel_consumption_rate_cm3pm # Instant fuel consumption estimate, (centimeter^3)/minute
float32 estimated_consumed_fuel_volume_cm3 # Estimate of the consumed fuel since the start of the engine, centimeter^3
uint8 throttle_position_percent # Throttle position, percent
uint8 ecu_index # The index of the publishing ECU
uint8 SPARK_PLUG_SINGLE = 0
uint8 SPARK_PLUG_FIRST_ACTIVE = 1
uint8 SPARK_PLUG_SECOND_ACTIVE = 2
uint8 SPARK_PLUG_BOTH_ACTIVE = 3
uint8 spark_plug_usage # Spark plug activity report.
float32 ignition_timing_deg # Cylinder ignition timing, angular degrees of the crankshaft
float32 injection_time_ms # Fuel injection time, millisecond
float32 cylinder_head_temperature # Cylinder head temperature (CHT), kelvin
float32 exhaust_gas_temperature # Exhaust gas temperature (EGT), kelvin
float32 lambda_coefficient # Estimated lambda coefficient, dimensionless ratio
:::