Source Code
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These source-code files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology". It is believed
that the original listing was preserved by AGC developer Don Eyles, copied/reduced by
AGC developer Hugh Blair-Smith, passed by AGC developer James Kernan to collector David Craig,
scanned by Gary Neff, and then passed to the Dibner Institute
where unfortunately the high-quality scans were reduced in legibility as part of the
online-presentation process, and the original scans discarded.
The source code was transcribed from
those images by Ron Burkey. The images from the Dibner Institute website, and unfortunately not
the discarded original high-quality scans, though with a few high-quality replacement scans
provided directly by Gary Neff, are now available
at the Virtual AGC project website.
Report any conversion errors to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date of the printout, not the date of the program revision. |
038343,000002: ## Copyright: Public domain.
038344,000003: ## Filename: FINDCDUW--GUIDAP_INTERFACE.agc
038345,000004: ## Purpose: A section of Luminary 1C, revision 131.
038346,000005: ## It is part of the source code for the Lunar Module's (LM)
038347,000006: ## Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
038348,000007: ## This file is intended to be a faithful transcription, except
038349,000008: ## that the code format has been changed to conform to the
038350,000009: ## requirements of the yaYUL assembler rather than the
038351,000010: ## original YUL assembler.
038352,000011: ## Reference: pp. 907-925 of 1729.pdf.
038353,000012: ## Contact: Ron Burkey <info@sandroid.org>.
038354,000013: ## Website: www.ibiblio.org/apollo/index.html
038355,000014: ## Mod history: 05/28/03 RSB. Began transcribing.
038356,000015: ## 05/14/05 RSB Corrected website reference above.
038357,000016:
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Page 907 |
038359,000018: # PROGRAM NAME: FINDCDUW
038360,000019: # MOD NUMBER: 1 68-07-15
038361,000020: # MOD AUTHOR: KLUMPP
038362,000021:
038363,000022: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
038364,000023: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
038365,000024: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
038366,000025: # FETCHING FOR THE THRUST DIRECTION FILTER THE
038367,000026: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
038368,000027: # MODES.
038369,000028: # 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL
038370,000029: # AUTOPILOT COMMANDS WHENEVER
038371,000030: # 1) NOT IN PNGCS-AUTO, OR
038372,000031: # 2) ENGINE IS OFF.
038373,000032:
038374,000033: # FUNCTIONAL DESCRIPTION:
038375,000034:
038376,000035: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
038377,000036: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
038378,000037: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
038379,000038: # INCRMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
038380,000039: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR TH ANGLES BY WHICH THE BODY WILL
038381,000040: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
038382,000041: # ACCELERATIONS AVAILABLE).
038383,000042:
038384,000043: # FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
038385,000044: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET,
038386,000045: # ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
038387,000046:
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Page 908 |
038389,000048: # SPECIFICATIONS:
038390,000049:
038391,000050: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
038392,000051: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
038393,000052:
038394,000053: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
038395,000054: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
038396,000055: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
038397,000056:
038398,000057: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
038399,000058: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
038400,000059: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
038401,000060: # WITHOUT ISSUING AUTOPILOT CMDS.
038402,000061: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
038403,000062: # ISSUING AUTOPILOT CMDS.
038404,000063:
038405,000064: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
038406,000065: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
038407,000066: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
038408,000067:
038409,000068: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
038410,000069: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
038411,000070: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
038412,000071:
038413,000072: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038414,000073: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038415,000074: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
038416,000075: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
038417,000076: # CSMDOCKD FLAG DENOTING CSM DOCKED.
038418,000077: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
038419,000078:
038420,000079: # OUTPUTS: DCDUX,Y,Z
038421,000080: # OMEGAPD,+1,+2
038422,000081: # DELPEROR,+1,+2
038423,000082: # CPHI,+1,+2 FOR NOUN22
038424,000083:
038425,000084: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
038426,000085: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
038427,000086: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
038428,000087:
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Page 909 |
038430,000089: # INITIALIZATION FOR FINDCDUW
038431,000090:
038432,000091: 30,3071 BANK 30
038433,000092: 30,2000 SETLOC FCDUW
038434,000093: 30,2000 BANK
038435,000094:
038436,000095: 30,3071 E6,1645 EBANK= ECDUW
038437,000096: 30,3071 COUNT* $$/FCDUW
038438,000097:
038439,000098: 30,3071 77331 INITCDUW SSP VLOAD
038440,000099: 30,3072 03300 OGABIAS
038441,000100: 30,3073 00000 0
038442,000101: 30,3074 06522 UNITX
038443,000102: 30,3075 03267 STORE UNFV/2
038444,000103: 30,3076 03261 STORE UNWC/2
038445,000104: 30,3077 77616 RVQ
038446,000105:
038447,000106: # FINDCDUW PRELIMINARIES
038448,000107:
038449,000108: 30,3100 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
038450,000109: 30,3101 03253 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
038451,000110: 30,3102 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
038452,000111: 30,3103 61102 FINDCDUW # INTERPRETER NOW INITIALIZED
038453,000112: 30,3104 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
038454,000113: 30,3105 77420 STQ EXIT
038455,000114: 30,3106 03246 QCDUWUSR # SAVE RETURN ADDRESS
038456,000115:
038457,000116: # MORE HAUSKEEPING
038458,000117: 30,3107 33752 CA ECDUWL
038459,000118: 30,3110 56003 XCH EBANK # SET EBANK
038460,000119: 30,3111 55645 TS ECDUWUSR # SAVE USER'S EBANK
038461,000120:
038462,000121: 30,3112 30111 CA DAPBOOLS
038463,000122: 30,3113 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
038464,000123: 30,3114 10000 CCS A
038465,000124: 30,3115 34753 CA ONE # INDEX IF CSM DOCKED
038466,000125: 30,3116 55647 TS NDXCDUW
038467,000126:
038468,000127: 30,3117 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
038469,000128: 30,3120 55651 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
038470,000129:
038471,000130: 30,3121 70111 MASK DAPBOOLS
038472,000131: 30,3122 55650 TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD
038473,000132:
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Page 910 |
038475,000134: # FETCH BASIC DATA
038476,000135: 30,3123 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
038477,000136:
038478,000137: 30,3124 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
038479,000138: 30,3125 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
038480,000139: 30,3126 30033 CA CDUY
038481,000140: 30,3127 54765 TS CDUSPOTY
038482,000141: 30,3130 30034 CA CDUZ
038483,000142: 30,3131 54767 TS CDUSPOTZ
038484,000143:
038485,000144: 30,3132 34742 CA BIT10 # PNGCS CONTROL BIT
038486,000145: 30,3133 00006 EXTEND
038487,000146: 30,3134 02030 RAND CHAN30
038488,000147: 30,3135 10000 CCS A
038489,000148: 30,3136 13153 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
038490,000149:
038491,000150: 30,3137 34736 CA BIT14 # AUTO MODE BIT
038492,000151: 30,3140 00006 EXTEND
038493,000152: 30,3141 02031 RAND CHAN31
038494,000153: 30,3142 10000 CCS A
038495,000154: 30,3143 13153 TCF PAUTNO # NOT AUTO (BITS INVERTED)
038496,000155:
038497,000156: 30,3144 55651 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
038498,000157:
038499,000158: 30,3145 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
038500,000159: 30,3146 54771 TS CDUSPOTX
038501,000160: 30,3147 31635 CA CDUYD
038502,000161: 30,3150 54765 TS CDUSPOTY
038503,000162: 30,3151 31636 CA CDUZD
038504,000163: 30,3152 54767 TS CDUSPOTZ
038505,000164:
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Page 911 |
038507,000166: # FETCH INPUTS
038508,000167: 30,3153 06042 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
038509,000168: 30,3154 77634 RTB
038510,000169: 30,3155 21727 NORMUNIT
038511,000170: 30,3156 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
038512,000171: 30,3157 03261 UNWC/2
038513,000172: 30,3160 47034 RTB RTB
038514,000173: 30,3161 21727 NORMUNIT
038515,000174: 30,3162 47617 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
038516,000175: 30,3163 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
038517,000176: 30,3164 00325 DELV
038518,000177: 30,3165 53404 BOVB UNIT
038519,000178: 30,3166 61741 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
038520,000179: 30,3167 45000 BOV CALL
038521,000180: 30,3170 61204 AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER
038522,000181: 30,3171 47673 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
038523,000182:
038524,000183: # THRUST DIRECTION FILTER
038525,000184:
038526,000185: 30,3172 77776 EXIT
038527,000186:
038528,000187: 30,3173 31670 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
038529,000188: 30,3174 22157 LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER,
038530,000189: 30,3175 03474 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
038531,000190: 30,3176 55670 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
038532,000191:
038533,000192: 30,3177 31672 CA UNFVZ/2
038534,000193: 30,3200 22161 LXCH MPAC +5
038535,000194: 30,3201 03474 TC FLTRSUB
038536,000195: 30,3202 55672 TS UNFVZ/2
038537,000196:
038538,000197: 30,3203 06042 TC INTPRET # COMPLETES FILTER
038539,000198:
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Page 912 |
038541,000200: # FIND A SUITABLE WINDOW POINTING VECTOR
038542,000201:
038543,000202: 30,3204 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
038544,000203: 30,3205 03251 FLAGOODW
038545,000204: 30,3206 61212 FETCHZNB
038546,000205: 30,3207 45175 VLOAD CALL
038547,000206: 30,3210 00015 UNZ/2
038548,000207: 30,3211 61514 UNWCTEST
038549,000208:
038550,000209: 30,3212 77775 FETCHZNB VLOAD
038551,000210: 30,3213 02162 ZNBPIP
038552,000211: 30,3214 34015 STCALL UNZ/2
038553,000212: 30,3215 61514 UNWCTEST
038554,000213:
038555,000214: 30,3216 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
038556,000215: 30,3217 02146 XNBPIP
038557,000216: 30,3220 00015 STORE UNZ/2
038558,000217:
038559,000218: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
038560,000219:
038561,000220: 30,3221 47375 DCMCL VLOAD VXV
038562,000221: 30,3222 00015 UNZ/2
038563,000222: 30,3223 00001 UNX/2
038564,000223: 30,3224 41456 UNIT PUSH # UNY/2 FIRST ITERATION
038565,000224: 30,3225 76435 VXV VSL1
038566,000225: 30,3226 00001 UNX/2
038567,000226: 30,3227 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
038568,000227: 30,3230 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
038569,000228: 30,3231 03273 UNFVZ/2 # MUST BE SMALL
038570,000229: 30,3232 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
038571,000230: 30,3233 03271 UNFVY/2 # MUST BE SMALL
038572,000231: 30,3234 53372 VSL1 VAD
038573,000232: 30,3235 00001 UNX/2
038574,000233: 30,3236 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
038575,000234: 30,3237 00001 STORE UNX/2 # UNX/2
038576,000235: 30,3240 76435 VXV VSL1
038577,000236: 30,3241 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
038578,000237: 30,3242 00007 STORE UNY/2 # UNY/2
038579,000238: 30,3243 47276 VCOMP VXV
038580,000239: 30,3244 00001 UNX/2
038581,000240: 30,3245 77772 VSL1
038582,000241: 30,3246 00015 STORE UNZ/2 # UNZ/2
038583,000242:
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Page 913 |
038585,000244: # COMPUTES THE REQUIRED GIMBAL ANGLES
038586,000245:
038587,000246: 30,3247 77624 CALL
038588,000247: 30,3250 61524 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
038589,000248: 30,3251 77776 EXIT
038590,000249:
038591,000250: # BIAS OUTER GIMBAL ANGLE
038592,000251:
038593,000252: 30,3252 31677 CA OGABIAS
038594,000253: 30,3253 26154 ADS MPAC
038595,000254:
038596,000255: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
038597,000256:
038598,000257: 30,3254 30156 CA MPAC +2 # LIMIT THE MGA
038599,000258: 30,3255 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
038600,000259: 30,3256 33764 CA CDUZDLIM
038601,000260: 30,3257 03720 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
038602,000261: 30,3260 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
038603,000262: 30,3261 00006 EXTEND
038604,000263: 30,3262 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
038605,000264: 30,3263 00006 EXTEND
038606,000265: 30,3264 13266 BZF +2
038607,000266: 30,3265 13747 TCF ALARMMGA
038608,000267:
038609,000268: 30,3266 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
038610,000269:
038611,000270: 30,3267 22007 ZL
038612,000271: 30,3270 34752 CA TWO
038613,000272: 30,3271 54142 DELGMBLP TS TEM2
038614,000273:
038615,000274: 30,3272 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
038616,000275: 30,3273 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
038617,000276: 30,3274 70000 SQUARE
038618,000277: 30,3275 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
038619,000278: 30,3276 00006 EXTEND
038620,000279: 30,3277 63302 BZMF +3
038621,000280: 30,3300 34755 CA ZERO
038622,000281: 30,3301 55650 TS FLAGOODW
038623,000282:
038624,000283: 30,3302 50142 INDEX TEM2
038625,000284: 30,3303 30154 CA MPAC
038626,000285: 30,3304 50142 INDEX TEM2
038627,000286: 30,3305 54321 TS CPHI # OUTPUTS TO NOUN22
038628,000287: 30,3306 00006 EXTEND
038629,000288: 30,3307 50142 INDEX TEM2
038630,000289: 30,3310 21634 MSU CDUXD
038631,000290: 30,3311 40000 COM
038632,000291: 30,3312 50142 INDEX TEM2
038633,000292: 30,3313 55674 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
038634,000293: 30,3314 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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Page 914 |
038636,000295: 30,3315 10142 CCS TEM2
038637,000296: 30,3316 13271 TCF DELGMBLP
038638,000297:
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Page 915 |
038640,000299: # BRANCHES TO NOATTCNT
038641,000300: 30,3317 11651 CCS FLPAUTNO
038642,000301: 30,3320 13743 TCF NOATTCNT +2 # NO PNGCS AUTO
038643,000302:
038644,000303: 30,3321 30101 CA FLAGWRD5
038645,000304: 30,3322 74745 MASK ENGONBIT
038646,000305: 30,3323 00006 EXTEND
038647,000306: 30,3324 13743 BZF NOATTCNT +2 # ENGINE NOT ON
038648,000307:
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Page 916 |
038650,000309: # LIMIT THE ATTITUDE ANGLE CHANGES
038651,000310:
038652,000311: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
038653,000312: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
038654,000313: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL
038655,000314: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
038656,000315:
038657,000316: # [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ]
038658,000317: # [ ] [ ] [ ]
038659,000318: # [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ]
038660,000319: # [ ] [ ] [ ]
038661,000320: # [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ]
038662,000321:
038663,000322: 30,3325 23676 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
038664,000323: 30,3326 51647 INDEX NDXCDUW
038665,000324: 30,3327 33760 CA DAZMAX
038666,000325: 30,3330 03720 TC LIMITSUB
038667,000326: 30,3331 55676 TS -DELGMB +2 # -DELGMBZ
038668,000327:
038669,000328: 30,3332 31675 CA -DELGMB +1
038670,000329: 30,3333 00006 EXTEND
038671,000330: 30,3334 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
038672,000331: 30,3335 54001 TS L
038673,000332: 30,3336 51647 INDEX NDXCDUW
038674,000333: 30,3337 33762 CA DAY/2MAX
038675,000334: 30,3340 03720 TC LIMITSUB
038676,000335: 30,3341 00006 EXTEND
038677,000336: 30,3342 10745 DV COSCDUZ
038678,000337: 30,3343 57675 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
038679,000338:
038680,000339: 30,3344 00006 EXTEND
038681,000340: 30,3345 70737 MP SINCDUZ
038682,000341: 30,3346 20001 DDOUBL
038683,000342: 30,3347 40000 COM
038684,000343: 30,3350 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
038685,000344: 30,3351 21674 MSU -DELGMB # BASED ON UNLIMITED DELGMBV.
038686,000345: 30,3352 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
038687,000346: 30,3353 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
038688,000347: 30,3354 33760 CA DAXMAX
038689,000348: 30,3355 03720 TC LIMITSUB
038690,000349: 30,3356 55674 TS -DELGMB # SAVE LIMITED +DELATTX
038691,000350: 30,3357 11650 CCS FLAGOODW
038692,000351: 30,3360 41674 CS -DELGMB # FETCH IT BACK CHNING SIGN IF WINDOW GOOD
038693,000352: 30,3361 55674 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
038694,000353: 30,3362 41675 CS -DELGMB +1
038695,000354: 30,3363 00006 EXTEND
038696,000355: 30,3364 70737 MP SINCDUZ
038697,000356: 30,3365 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
038698,000357: 30,3366 27674 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
038699,000358: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
038700,000359:
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Page 917 |
038702,000361: # COMPLTE COMMANDED ATTITUDE RATES
038703,000362:
038704,000363: # [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ]
038705,000364: # [ ] [ ] [ ]
038706,000365: # [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ]
038707,000366: # [ ] [ ] [ ]
038708,000367: # [ OMEGARD ] [ +0 +9 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ]
038709,000368:
038710,000369: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
038711,000370: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
038712,000371: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
038713,000372:
038714,000373: 30,3367 41674 CS -DELGMB
038715,000374: 30,3370 55642 TS OMEGAPD
038716,000375: 30,3371 41675 CS -DELGMB +1
038717,000376: 30,3372 00006 EXTEND
038718,000377: 30,3373 70737 MP SINCDUZ
038719,000378: 30,3374 20001 DDOUBL
038720,000379: 30,3375 27642 ADS OMEGAPD
038721,000380: 30,3376 27642 ADS OMEGAPD
038722,000381:
038723,000382: 30,3377 41675 CS -DELGMB +1
038724,000383: 30,3400 00006 EXTEND
038725,000384: 30,3401 70747 MP COSCDUX
038726,000385: 30,3402 20001 DDOUBL
038727,000386: 30,3403 00006 EXTEND
038728,000387: 30,3404 70745 MP COSCDUZ
038729,000388: 30,3405 55643 TS OMEGAQD
038730,000389: 30,3406 41676 CS -DELGMB +2
038731,000390: 30,3407 00006 EXTEND
038732,000391: 30,3410 70741 MP SINCDUX
038733,000392: 30,3411 27643 ADS OMEGAQD
038734,000393: 30,3412 27643 ADS OMEGAQD
038735,000394: 30,3413 27643 ADS OMEGAQD
038736,000395:
038737,000396: 30,3414 31675 CA -DELGMB +1
038738,000397: 30,3415 00006 EXTEND
038739,000398: 30,3416 70741 MP SINCDUX
038740,000399: 30,3417 20001 DDOUBL
038741,000400: 30,3420 00006 EXTEND
038742,000401: 30,3421 70745 MP COSCDUZ
038743,000402: 30,3422 55644 TS OMEGARD
038744,000403: 30,3423 41676 CS -DELGMB +2
038745,000404: 30,3424 00006 EXTEND
038746,000405: 30,3425 70747 MP COSCDUX
038747,000406: 30,3426 27644 ADS OMEGARD
038748,000407: 30,3427 27644 ADS OMEGARD
038749,000408: 30,3430 27644 ADS OMEGARD
038750,000409:
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Page 918 |
038752,000411: # FINAL TRANSFER
038753,000412:
038754,000413: 30,3431 34752 CA TWO
038755,000414: 30,3432 54142 CDUWXFR TS TEM2
038756,000415: 30,3433 50142 INDEX TEM2
038757,000416: 30,3434 31674 CA -DELGMB
038758,000417: 30,3435 00006 EXTEND
038759,000418: 30,3436 73765 MP DT/DELT # RATIO OF DAP INTERVAL TC CDUW INTERVAL
038760,000419: 30,3437 03734 TC ONESTO2S
038761,000420: 30,3440 50142 INDEX TEM2
038762,000421: 30,3441 55637 TS DELCDUX # ANGLE INTERFACE
038763,000422:
038764,000423: 30,3442 50142 INDEX TEM2
038765,000424: 30,3443 11642 CCS OMEGAPD
038766,000425: 30,3444 64753 AD ONE
038767,000426: 30,3445 13447 TCF +2
038768,000427: 30,3446 64753 AD ONE
038769,000428: 30,3447 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
038770,000429: 30,3450 50142 INDEX TEM2
038771,000430: 30,3451 71642 MP OMEGAPD
038772,000431: 30,3452 00006 EXTEND
038773,000432: 30,3453 74741 MP BIT11 # 1/16
038774,000433: 30,3454 00006 EXTEND
038775,000434: 30,3455 50142 INDEX TEM2 # 2
038776,000435: 30,3456 11530 DV 1JACC # UNITS P/4 RAD/SEC
038777,000436: 30,3457 54001 TS L
038778,000437: 30,3460 33762 CA DELERLIM
038779,000438: 30,3461 03720 TC LIMITSUB
038780,000439: 30,3462 50142 INDEX TEM2
038781,000440: 30,3463 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
038782,000441: 30,3464 10142 CCS TEM2
038783,000442: 30,3465 13432 TCF CDUWXFR
038784,000443:
038785,000444: # HAUSKEEPING AND RETURN
038786,000445:
038787,000446: 30,3466 31645 TCQCDUW CA ECDUWUSR
038788,000447: 30,3467 54003 TS EBANK # RETURN USER'S EBANK
038789,000448:
038790,000449: 30,3470 06042 TC INTPRET
038791,000450: 30,3471 52001 SETPD GOTO
038792,000451: 30,3472 00001 0
038793,000452: 30,3473 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
038794,000453:
![]() |
Page 919 |
038796,000455: # THRUST VECTOR FILTER SUBROUTINE
038797,000456:
038798,000457: 30,3474 00006 FLTRSUB EXTEND
038799,000458: 30,3475 22142 QXCH TEM2
038800,000459: 30,3476 54143 TS TEM3 # SAVE ORIGINAL OFFSET
038801,000460: 30,3477 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
038802,000461: 30,3500 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
038803,000462: 30,3501 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
038804,000463: 30,3502 51647 INDEX NDXCDUW
038805,000464: 30,3503 73753 MP GAINFLTR
038806,000465: 30,3504 54001 TS L # INCR TO OFFSET, UNLIMITED
038807,000466: 30,3505 33755 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
038808,000467: 30,3506 03720 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
038809,000468: 30,3507 60143 AD TEM3 # ORIGINAL OFFSET
038810,000469: 30,3510 54001 TS L # TOTAL OFFSET, UNLIMITED
038811,000470: 30,3511 33756 CA UNFVLIM # SAME LIMIT FOR Y AND Z
038812,000471: 30,3512 03720 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
038813,000472: 30,3513 00142 TC TEM2
038814,000473:
038815,000474: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
038816,000475:
038817,000476: 30,3514 63441 UNWCTEST DOT DSQ
038818,000477: 30,3515 00001 UNX/2
038819,000478: 30,3516 50025 DSU BMN
038820,000479: 30,3517 21760 DOTSWFMX
038821,000480: 30,3520 61221 DCMCL
038822,000481: 30,3521 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
038823,000482: 30,3522 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
038824,000483: 30,3523 00000 0
038825,000484:
![]() |
Page 920 |
038827,000486: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
038828,000487: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
038829,000488: # NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
038830,000489:
038831,000490: 30,3524 63545 NB2CDUSP DLOAD DSQ
038832,000491: 30,3525 00003 2
038833,000492: 30,3526 51021 BDSU BPL
038834,000493: 30,3527 06514 DP1/4TH
038835,000494: 30,3530 61533 +3
038836,000495: 30,3531 77745 DLOAD
038837,000496: 30,3532 06524 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
038838,000497: 30,3533 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
038839,000498:
038840,000499: 30,3534 00006 EXTEND
038841,000500: 30,3535 30155 DCA MPAC
038842,000501: 30,3536 20001 DDOUBL
038843,000502: 30,3537 54145 TS TEM5
038844,000503: 30,3540 13543 TCF +3
038845,000504: 30,3541 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
038846,000505: 30,3542 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
038847,000506:
038848,000507: 30,3543 50120 INDEX FIXLOC
038849,000508: 30,3544 30002 CA 2
038850,000509: 30,3545 22154 LXCH MPAC
038851,000510: 30,3546 03613 TC ARCTRGSP
038852,000511: 30,3547 54156 TS MPAC +2 # CDUZ
038853,000512:
038854,000513: 30,3550 34755 CA ZERO
038855,000514: 30,3551 03571 TC DVBYCOSM
038856,000515: 30,3552 34751 CA FOUR
038857,000516: 30,3553 03571 TC DVBYCOSM
038858,000517: 30,3554 40141 CS TEM1
038859,000518: 30,3555 03613 TC ARCTRGSP
038860,000519: 30,3556 54155 TS MPAC +1 # CDUY
038861,000520:
038862,000521: 30,3557 34750 CA BIT4
038863,000522: 30,3560 03571 TC DVBYCOSM
038864,000523: 30,3561 33570 CA 16OCT
038865,000524: 30,3562 03571 TC DVBYCOSM
038866,000525: 30,3563 40141 CS TEM1
038867,000526: 30,3564 03613 TC ARCTRGSP
038868,000527: 30,3565 54154 TS MPAC # CDUX
038869,000528:
038870,000529: 30,3566 06042 TC INTPRET
038871,000530: 30,3567 77616 RVQ
038872,000531:
038873,000532: 30,3570 00016 16OCT OCT 16
038874,000533:
![]() |
Page 921 |
038876,000535: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
038877,000536: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
038878,000537: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
038879,000538: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
038880,000539: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
038881,000540: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
038882,000541: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
038883,000542:
038884,000543: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
038885,000544: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
038886,000545: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
038887,000546: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
038888,000547:
038889,000548: 30,3571 60120 DVBYCOSM AD FIXLOC
038890,000549: 30,3572 54116 TS ADDRWD # ADRES OF OPERAND
038891,000550:
038892,000551: 30,3573 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
038893,000552: 30,3574 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
038894,000553: 30,3575 00006 EXTEND
038895,000554: 30,3576 63600 BZMF +2
038896,000555: 30,3577 40000 COM
038897,000556: 30,3600 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
038898,000557: 30,3601 00006 EXTEND
038899,000558: 30,3602 63610 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
038900,000559:
038901,000560: 30,3603 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
038902,000561: 30,3604 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
038903,000562: 30,3605 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
038904,000563: 30,3606 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
038905,000564: 30,3607 10145 DV TEM5
038906,000565: 30,3610 54001 TSL&TCQ TS L
038907,000566: 30,3611 22141 LXCH TEM1
038908,000567: 30,3612 00002 TC Q
038909,000568:
![]() |
Page 922 |
038911,000570: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
038912,000571: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
038913,000572: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
038914,000573:
038915,000574: 30,3613 00006 ARCTRGSP EXTEND
038916,000575: 30,3614 13656 BZF SINZERO # TO AVOID DIVIDING BY ZERO
038917,000576:
038918,000577: 30,3615 00006 EXTEND
038919,000578: 30,3616 22144 QXCH TEM4
038920,000579: 30,3617 54142 TS TEM2
038921,000580: 30,3620 30001 CA L
038922,000581: 30,3621 54143 TS TEM3
038923,000582: 30,3622 34755 CA ZERO
038924,000583: 30,3623 00006 EXTEND
038925,000584: 30,3624 10142 DV TEM2
038926,000585: 30,3625 00006 EXTEND
038927,000586: 30,3626 13645 BZF USECOS
038928,000587:
038929,000588: 30,3627 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
038930,000589: 30,3630 34755 CA ZERO
038931,000590: 30,3631 13635 TCF +4
038932,000591: 30,3632 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
038933,000592: 30,3633 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
038934,000593: 30,3634 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
038935,000594: 30,3635 54143 TS TEM3 # WE NO LONGER NEED COS
038936,000595: 30,3636 30142 CA TEM2
038937,000596: 30,3637 03663 TC SPARCSIN -1
038938,000597: 30,3640 03734 TC ONESTO2S
038939,000598: 30,3641 00006 EXTEND
038940,000599: 30,3642 20143 MSU TEM3
038941,000600: 30,3643 03734 1TO2&TCQ TC ONESTO2S
038942,000601: 30,3644 00144 TC TEM4
038943,000602:
038944,000603: 30,3645 40143 USECOS CS TEM3 # COS IS SMALLER
038945,000604: 30,3646 03663 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS))
038946,000605: 30,3647 64736 AD HALF
038947,000606: 30,3650 54143 TS TEM3 # WE NO LONGER NEED COS
038948,000607: 30,3651 10142 CCS TEM2
038949,000608: 30,3652 30143 CA TEM3
038950,000609: 30,3653 13643 TCF 1TO2&TCQ
038951,000610: 30,3654 40143 CS TEM3
038952,000611: 30,3655 13643 TCF 1TO2&TCQ
038953,000612:
038954,000613: 30,3656 10001 SINZERO CCS L
038955,000614: 30,3657 34755 CA ZERO
038956,000615: 30,3660 00002 TC Q
038957,000616: 30,3661 34735 CA NEGMAX # PI, 2'S COMP
038958,000617: 30,3662 00002 TC Q
038959,000618:
![]() |
Page 923 |
038961,000620: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
038962,000621: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
038963,000622: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
038964,000623: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
038965,000624:
038966,000625: 30,3663 60000 DOUBLE
038967,000626: 30,3664 54021 SPARCSIN TS SR
038968,000627: 30,3665 13671 TCF +4
038969,000628: 30,3666 50000 INDEX A
038970,000629: 30,3667 44734 CS LIMITS
038971,000630: 30,3670 54021 TS SR
038972,000631: 30,3671 00006 EXTEND
038973,000632: 30,3672 70000 MP A
038974,000633: 30,3673 54141 TS TEM1
038975,000634: 30,3674 00006 EXTEND
038976,000635: 30,3675 73717 MP DPL9
038977,000636: 30,3676 63716 AD DPL7
038978,000637: 30,3677 00006 EXTEND
038979,000638: 30,3700 70141 MP TEM1
038980,000639: 30,3701 63715 AD DPL5
038981,000640: 30,3702 00006 EXTEND
038982,000641: 30,3703 70141 MP TEM1
038983,000642: 30,3704 63714 AD DPL3
038984,000643: 30,3705 00006 EXTEND
038985,000644: 30,3706 70141 MP TEM1
038986,000645: 30,3707 63713 AD DPL1
038987,000646: 30,3710 00006 EXTEND
038988,000647: 30,3711 70021 MP SR
038989,000648: 30,3712 00002 TC Q
038990,000649: 30,3713 24406 DPL1 DEC 10502 B-14
038991,000650: 30,3714 00660 DPL3 DEC 432 B-14
038992,000651: 30,3715 16204 DPL5 DEC 7300 B-14
038993,000652: 30,3716 50744 DPL7 DEC -11803 B-14
038994,000653: 30,3717 20315 DPL9 DEC 8397 B-14
038995,000654:
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Page 924 |
038997,000656: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
038998,000657: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
038999,000658: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039000,000659:
039001,000660: # VERSION COUTESY HUGH BLAIR-SMITH
039002,000661:
039003,000662: 30,3720 54141 LIMITSUB TS TEM1
039004,000663: 30,3721 34755 CA ZERO
039005,000664: 30,3722 00006 EXTEND
039006,000665: 30,3723 10141 DV TEM1
039007,000666: 30,3724 10000 CCS A
039008,000667: 30,3725 22141 LXCH TEM1
039009,000668: 30,3726 13730 TCF +2
039010,000669: 30,3727 13732 TCF +3
039011,000670: 30,3730 30001 CA L
039012,000671: 30,3731 00002 TC Q
039013,000672: 30,3732 40141 CS TEM1
039014,000673: 30,3733 00002 TC Q
039015,000674:
039016,000675: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039017,000676:
039018,000677: 30,3734 10000 ONESTO2S CCS A
039019,000678: 30,3735 64753 AD ONE
039020,000679: 30,3736 00002 TC Q
039021,000680: 30,3737 40000 CS A
039022,000681: 30,3740 00002 TC Q
039023,000682:
039024,000683: # NO ATTITUDE CONTROL
039025,000684:
039026,000685: 30,3741 05567 NOATTCNT TC ALARM
039027,000686: 30,3742 00402 OCT 00402 # NO ATTITUDE CONTROL
039028,000687:
039029,000688: 30,3743 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039030,000689: 30,3744 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039031,000690: 30,3745 40166 FCADR STOPRATE
039032,000691: 30,3746 13466 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039033,000692:
039034,000693: # MIDDLE GIMBAL ANGLE ALARM
039035,000694:
039036,000695: 30,3747 05567 ALARMMGA TC ALARM
039037,000696: 30,3750 00401 OCT 00401
039038,000697: 30,3751 13266 TCF MGARET
039039,000698:
![]() |
Page 925 |
039041,000700: # ******************************************************************
039042,000701: # CONSTANTS
039043,000702: # ******************************************************************
039044,000703:
039045,000704: # ADDRESS CONSTANTS
039046,000705:
039047,000706: 30,3752 03245 ECDUWL ECADR ECDUW
039048,000707:
039049,000708: # THRUST DIRECTION FILTER CONSTANTS
039050,000709:
039051,000710: 30,3753 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039052,000711: 30,3754 03146 DEC .1 # GAIN FILTER WITH CSM
039053,000712:
039054,000713: 30,3755 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039055,000714: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039056,000715:
039057,000716: 30,3756 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039058,000717: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039059,000718:
039060,000719: # CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS
039061,000720:
039062,000721: 30,3757 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/W & UNFC/2 TO 85 DEG
039063,000722: # LOWER PART COMES FROM NEXT CONSTANT
039064,000723:
039065,000724: 30,3760 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039066,000725: 30,3761 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039067,000726:
039068,000727: 30,3762 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039069,000728: 30,3763 00133 DEC .0055555555
039070,000729:
039071,000730: 30,3764 30,3760 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039072,000731:
039073,000732: 30,3764 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039074,000733:
039075,000734: # CONSTANTS FOR DATA TRANSFER
039076,000735:
039077,000736: 30,3765 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039078,000737: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039079,000738:
039080,000739: 30,3766 30,3762 DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039081,000740:
039082,000741: # *** END OF FLY .153 ***
End of include-file FINDCDUW--GUIDAP_INTERFACE.agc. Parent file is MAIN.agc