mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
bcbaaa3a18
Disabled if ICE_IDLE_RPM is 0. The idle state is entered when the commanded throttle is close to zero or the measured RPM drops below the idle threshold. The idle state is exited if the commanded thrust is increased to above the last needed throttle to keep idle. Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>
72 lines
4.1 KiB
Plaintext
72 lines
4.1 KiB
Plaintext
uint64 timestamp # [us] Time since system start
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uint8 STATE_STOPPED = 0 # The engine is not running. This is the default state.
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uint8 STATE_STARTING = 1 # The engine is starting. This is a transient state.
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uint8 STATE_RUNNING = 2 # The engine is running normally.
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uint8 STATE_FAULT = 3 # The engine can no longer function.
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uint8 state # [@enum STATE] Engine state
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uint8 SUBSTATE_RUN = 0 # The engine is running. This is the default state.
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uint8 SUBSTATE_IDLE = 1 # The engine idle rpm controller is running.
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uint8 SUBSTATE_REST = 2 # The engine is at rest.
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uint8 substate # [@enum SUBSTATE] Engine substate
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uint32 FLAG_GENERAL_ERROR = 1 # General error.
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uint32 FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED = 2 # Error of the crankshaft sensor. This flag is optional.
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uint32 FLAG_CRANKSHAFT_SENSOR_ERROR = 4
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uint32 FLAG_TEMPERATURE_SUPPORTED = 8 # Temperature levels. These flags are optional
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uint32 FLAG_TEMPERATURE_BELOW_NOMINAL = 16 # Under-temperature warning
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uint32 FLAG_TEMPERATURE_ABOVE_NOMINAL = 32 # Over-temperature warning
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uint32 FLAG_TEMPERATURE_OVERHEATING = 64 # Critical overheating
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uint32 FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL = 128 # Exhaust gas over-temperature warning
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uint32 FLAG_FUEL_PRESSURE_SUPPORTED = 256 # Fuel pressure. These flags are optional
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uint32 FLAG_FUEL_PRESSURE_BELOW_NOMINAL = 512 # Under-pressure warning
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uint32 FLAG_FUEL_PRESSURE_ABOVE_NOMINAL = 1024 # Over-pressure warning
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uint32 FLAG_DETONATION_SUPPORTED = 2048 # Detonation warning. This flag is optional.
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uint32 FLAG_DETONATION_OBSERVED = 4096 # Detonation condition observed warning
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uint32 FLAG_MISFIRE_SUPPORTED = 8192 # Misfire warning. This flag is optional.
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uint32 FLAG_MISFIRE_OBSERVED = 16384 # Misfire condition observed warning
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uint32 FLAG_OIL_PRESSURE_SUPPORTED = 32768 # Oil pressure. These flags are optional
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uint32 FLAG_OIL_PRESSURE_BELOW_NOMINAL = 65536 # Under-pressure warning
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uint32 FLAG_OIL_PRESSURE_ABOVE_NOMINAL = 131072 # Over-pressure warning
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uint32 FLAG_DEBRIS_SUPPORTED = 262144 # Debris warning. This flag is optional
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uint32 FLAG_DEBRIS_DETECTED = 524288 # Detection of debris warning
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uint32 flags # [@enum FLAG] Engine status flags bitmap
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uint8 engine_load_percent # [%] [@range 0, 127] Engine load estimate
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uint32 engine_speed_rpm # [rpm] [@range 0, inf] Engine speed
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float32 spark_dwell_time_ms # [ms] [@range 0, inf] Spark dwell time
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float32 atmospheric_pressure_kpa # [kPa] [@range 0, inf] Atmospheric (barometric) pressure
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float32 intake_manifold_pressure_kpa # [kPa] [@range 0, inf] Engine intake manifold pressure
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float32 intake_manifold_temperature # [K] [@range 0, inf] Engine intake manifold temperature
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float32 coolant_temperature # [K] [@range 0, inf] Engine coolant temperature
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float32 oil_pressure # [kPa] [@range 0, inf] Oil pressure
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float32 oil_temperature # [K] [@range 0, inf] Oil temperature
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float32 fuel_pressure # [kPa] [@range 0, inf] Fuel pressure
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float32 fuel_consumption_rate_cm3pm # [cm^3/min] [@range 0, inf] Instant fuel consumption estimate
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float32 estimated_consumed_fuel_volume_cm3 # [cm^3] [@range 0, inf] Estimate of the consumed fuel since the start of the engine
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uint8 throttle_position_percent # [%] [@range 0, 100] Throttle position
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uint8 ecu_index # [-] [@range 0, 255] The index of the publishing ECU
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uint8 SPARK_PLUG_SINGLE = 0
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uint8 SPARK_PLUG_FIRST_ACTIVE = 1
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uint8 SPARK_PLUG_SECOND_ACTIVE = 2
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uint8 SPARK_PLUG_BOTH_ACTIVE = 3
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uint8 spark_plug_usage # [@enum SPARK_PLUG] Spark plug activity report
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float32 ignition_timing_deg # [deg] [@range -inf, inf] Cylinder ignition timing, angular degrees of the crankshaft
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float32 injection_time_ms # [ms] [@range 0, inf] Fuel injection time
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float32 cylinder_head_temperature # [K] [@range 0, inf] Cylinder head temperature (CHT)
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float32 exhaust_gas_temperature # [K] [@range 0, inf] Exhaust gas temperature (EGT)
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float32 lambda_coefficient # [-] [@range 0, inf] Estimated lambda coefficient, dimensionless ratio
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float32 pid_idle_rpm_integral # [-] [@range -1, 1] Integral of the PID for the closed loop idle RPM controller
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