The combustion engine is being started or stopped
What ArduPilot says:
- Takeoff height set to N.Nm
- Stopped engine
- Engine running
- Starting engine
- Starting height reached N.N
With ICE_ENABLE 1, ArduPilot runs the ignition and the starter of a combustion engine. “Starting engine”: the start switch (RCn_OPTION 179) went high, or the engine is being started again after it stopped; the starter runs for ICE_STARTER_TIME (3 s by default). “Engine running” follows when that time is over; it is assumed, not measured. “Stopped engine”: the switch went low, or a parachute release or an emergency stop ended it (a radio failsafe or a disarm too, when ICE_OPTIONS says so). “Takeoff height set to …”: a command asked for the engine to start only after climbing that far (a VTOL take-off); “Starting height reached” is that moment.
Without an RPM sensor (ICE_RPM_CHAN 0) ArduPilot cannot tell whether the engine caught: “Engine running” appears even if it did not. Stay clear of the propeller whenever the start switch is high.
Parameters to look at
| Parameter | What it is |
|---|---|
ICE_ENABLE | Enable ICEngine control |
ICE_STARTER_TIME | Time to run starter |
ICE_START_DELAY | Time to wait between starts |
ICE_RPM_CHAN | RPM instance channel to use |
ICE_OPTIONS | ICE options |
The code that sends it
Takeoff height set to N.Nm
libraries/AP_ICEngine/AP_ICEngine.cpp AP_ICEngine::engine_control() · Open in ArduPilot Copter-4.7.1
Stopped engine
libraries/AP_ICEngine/AP_ICEngine.cpp AP_ICEngine::update() · Open in ArduPilot Copter-4.7.1
Engine running
libraries/AP_ICEngine/AP_ICEngine.cpp AP_ICEngine::update() · Open in ArduPilot Copter-4.7.1
Starting engine
libraries/AP_ICEngine/AP_ICEngine.cpp AP_ICEngine::update() · Open in ArduPilot Copter-4.7.1
And 1 more messages, sent from the same places.