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PX4-Autopilot/docs/en/msg_docs/InternalCombustionEngineStatus.md
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---
pageClass: is-wide-page
---
# InternalCombustionEngineStatus (UORB message)
**TOPICS:** internal_combustion_engine_status
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------------- | --------- | ------------ | ------------------------- | ----------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_state"></a>state | `uint8` | | [STATE](#STATE) | Engine state |
| <a id="fld_substate"></a>substate | `uint8` | | [SUBSTATE](#SUBSTATE) | Engine substate |
| <a id="fld_flags"></a>flags | `uint32` | | [FLAG](#FLAG) | Engine status flags bitmap |
| <a id="fld_engine_load_percent"></a>engine_load_percent | `uint8` | % | [0 : 127] | Engine load estimate |
| <a id="fld_engine_speed_rpm"></a>engine_speed_rpm | `uint32` | rpm | [0 : inf] | Engine speed |
| <a id="fld_spark_dwell_time_ms"></a>spark_dwell_time_ms | `float32` | ms | [0 : inf] | Spark dwell time |
| <a id="fld_atmospheric_pressure_kpa"></a>atmospheric_pressure_kpa | `float32` | kPa | [0 : inf] | Atmospheric (barometric) pressure |
| <a id="fld_intake_manifold_pressure_kpa"></a>intake_manifold_pressure_kpa | `float32` | kPa | [0 : inf] | Engine intake manifold pressure |
| <a id="fld_intake_manifold_temperature"></a>intake_manifold_temperature | `float32` | K | [0 : inf] | Engine intake manifold temperature |
| <a id="fld_coolant_temperature"></a>coolant_temperature | `float32` | K | [0 : inf] | Engine coolant temperature |
| <a id="fld_oil_pressure"></a>oil_pressure | `float32` | kPa | [0 : inf] | Oil pressure |
| <a id="fld_oil_temperature"></a>oil_temperature | `float32` | K | [0 : inf] | Oil temperature |
| <a id="fld_fuel_pressure"></a>fuel_pressure | `float32` | kPa | [0 : inf] | Fuel pressure |
| <a id="fld_fuel_consumption_rate_cm3pm"></a>fuel_consumption_rate_cm3pm | `float32` | cm^3/min | [0 : inf] | Instant fuel consumption estimate |
| <a id="fld_estimated_consumed_fuel_volume_cm3"></a>estimated_consumed_fuel_volume_cm3 | `float32` | cm^3 | [0 : inf] | Estimate of the consumed fuel since the start of the engine |
| <a id="fld_throttle_position_percent"></a>throttle_position_percent | `uint8` | % | [0 : 100] | Throttle position |
| <a id="fld_ecu_index"></a>ecu_index | `uint8` | | [0 : 255] | The index of the publishing ECU |
| <a id="fld_spark_plug_usage"></a>spark_plug_usage | `uint8` | | [SPARK_PLUG](#SPARK_PLUG) | Spark plug activity report |
| <a id="fld_ignition_timing_deg"></a>ignition_timing_deg | `float32` | deg | [-inf : inf] | Cylinder ignition timing, angular degrees of the crankshaft |
| <a id="fld_injection_time_ms"></a>injection_time_ms | `float32` | ms | [0 : inf] | Fuel injection time |
| <a id="fld_cylinder_head_temperature"></a>cylinder_head_temperature | `float32` | K | [0 : inf] | Cylinder head temperature (CHT) |
| <a id="fld_exhaust_gas_temperature"></a>exhaust_gas_temperature | `float32` | K | [0 : inf] | Exhaust gas temperature (EGT) |
| <a id="fld_lambda_coefficient"></a>lambda_coefficient | `float32` | | [0 : inf] | Estimated lambda coefficient, dimensionless ratio |
| <a id="fld_pid_idle_rpm_integral"></a>pid_idle_rpm_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop idle RPM controller |
## Enums
### STATE {#STATE}
Used in field(s): [state](#fld_state)
| Name | Type | Value | Description |
| ------------------------------------------- | ------- | ----- | ----------------------------------------------------- |
| <a id="#STATE_STOPPED"></a> STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. |
| <a id="#STATE_STARTING"></a> STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. |
| <a id="#STATE_RUNNING"></a> STATE_RUNNING | `uint8` | 2 | The engine is running normally. |
| <a id="#STATE_FAULT"></a> STATE_FAULT | `uint8` | 3 | The engine can no longer function. |
### SUBSTATE {#SUBSTATE}
Used in field(s): [substate](#fld_substate)
| Name | Type | Value | Description |
| ----------------------------------------- | ------- | ----- | ------------------------------------------------- |
| <a id="#SUBSTATE_RUN"></a> SUBSTATE_RUN | `uint8` | 0 | The engine is running. This is the default state. |
| <a id="#SUBSTATE_IDLE"></a> SUBSTATE_IDLE | `uint8` | 1 | The engine idle rpm controller is running. |
| <a id="#SUBSTATE_REST"></a> SUBSTATE_REST | `uint8` | 2 | The engine is at rest. |
### FLAG {#FLAG}
Used in field(s): [flags](#fld_flags)
| Name | Type | Value | Description |
| ------------------------------------------------------------------------------------------- | -------- | ------ | ------------------------------------------------------ |
| <a id="#FLAG_GENERAL_ERROR"></a> FLAG_GENERAL_ERROR | `uint32` | 1 | General error. |
| <a id="#FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED"></a> FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. |
| <a id="#FLAG_CRANKSHAFT_SENSOR_ERROR"></a> FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 |
| <a id="#FLAG_TEMPERATURE_SUPPORTED"></a> FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional |
| <a id="#FLAG_TEMPERATURE_BELOW_NOMINAL"></a> FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning |
| <a id="#FLAG_TEMPERATURE_ABOVE_NOMINAL"></a> FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning |
| <a id="#FLAG_TEMPERATURE_OVERHEATING"></a> FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating |
| <a id="#FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL"></a> FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning |
| <a id="#FLAG_FUEL_PRESSURE_SUPPORTED"></a> FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional |
| <a id="#FLAG_FUEL_PRESSURE_BELOW_NOMINAL"></a> FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning |
| <a id="#FLAG_FUEL_PRESSURE_ABOVE_NOMINAL"></a> FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning |
| <a id="#FLAG_DETONATION_SUPPORTED"></a> FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. |
| <a id="#FLAG_DETONATION_OBSERVED"></a> FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning |
| <a id="#FLAG_MISFIRE_SUPPORTED"></a> FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. |
| <a id="#FLAG_MISFIRE_OBSERVED"></a> FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning |
| <a id="#FLAG_OIL_PRESSURE_SUPPORTED"></a> FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional |
| <a id="#FLAG_OIL_PRESSURE_BELOW_NOMINAL"></a> FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning |
| <a id="#FLAG_OIL_PRESSURE_ABOVE_NOMINAL"></a> FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning |
| <a id="#FLAG_DEBRIS_SUPPORTED"></a> FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional |
| <a id="#FLAG_DEBRIS_DETECTED"></a> FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning |
### SPARK_PLUG {#SPARK_PLUG}
Used in field(s): [spark_plug_usage](#fld_spark_plug_usage)
| Name | Type | Value | Description |
| --------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#SPARK_PLUG_SINGLE"></a> SPARK_PLUG_SINGLE | `uint8` | 0 |
| <a id="#SPARK_PLUG_FIRST_ACTIVE"></a> SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 |
| <a id="#SPARK_PLUG_SECOND_ACTIVE"></a> SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 |
| <a id="#SPARK_PLUG_BOTH_ACTIVE"></a> SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # [us] Time since system start
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 # [@enum STATE] Engine state
uint8 SUBSTATE_RUN = 0 # The engine is running. This is the default state.
uint8 SUBSTATE_IDLE = 1 # The engine idle rpm controller is running.
uint8 SUBSTATE_REST = 2 # The engine is at rest.
uint8 substate # [@enum SUBSTATE] Engine substate
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 # [@enum FLAG] Engine status flags bitmap
uint8 engine_load_percent # [%] [@range 0, 127] Engine load estimate
uint32 engine_speed_rpm # [rpm] [@range 0, inf] Engine speed
float32 spark_dwell_time_ms # [ms] [@range 0, inf] Spark dwell time
float32 atmospheric_pressure_kpa # [kPa] [@range 0, inf] Atmospheric (barometric) pressure
float32 intake_manifold_pressure_kpa # [kPa] [@range 0, inf] Engine intake manifold pressure
float32 intake_manifold_temperature # [K] [@range 0, inf] Engine intake manifold temperature
float32 coolant_temperature # [K] [@range 0, inf] Engine coolant temperature
float32 oil_pressure # [kPa] [@range 0, inf] Oil pressure
float32 oil_temperature # [K] [@range 0, inf] Oil temperature
float32 fuel_pressure # [kPa] [@range 0, inf] Fuel pressure
float32 fuel_consumption_rate_cm3pm # [cm^3/min] [@range 0, inf] Instant fuel consumption estimate
float32 estimated_consumed_fuel_volume_cm3 # [cm^3] [@range 0, inf] Estimate of the consumed fuel since the start of the engine
uint8 throttle_position_percent # [%] [@range 0, 100] Throttle position
uint8 ecu_index # [-] [@range 0, 255] 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 # [@enum SPARK_PLUG] Spark plug activity report
float32 ignition_timing_deg # [deg] [@range -inf, inf] Cylinder ignition timing, angular degrees of the crankshaft
float32 injection_time_ms # [ms] [@range 0, inf] Fuel injection time
float32 cylinder_head_temperature # [K] [@range 0, inf] Cylinder head temperature (CHT)
float32 exhaust_gas_temperature # [K] [@range 0, inf] Exhaust gas temperature (EGT)
float32 lambda_coefficient # [-] [@range 0, inf] Estimated lambda coefficient, dimensionless ratio
float32 pid_idle_rpm_integral # [-] [@range -1, 1] Integral of the PID for the closed loop idle RPM controller
```
:::
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