Source Code
016997,000001: # Copyright: Public domain.
016998,000002: # Filename: ANGLFIND.agc
016999,000003: # Purpose: Part of the source code for Colossus, build 249.
017000,000004: # It is part of the source code for the Command Module's (CM)
017001,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9.
017002,000006: # Assembler: yaYUL
017003,000007: # Reference: pp. 394-406 of 1701.pdf.
017004,000008: # Contact: Ron Burkey <info@sandroid.org>.
017005,000009: # Website: www.ibiblio.org/apollo.
017006,000010: # Mod history: 08/10/04 RSB. Began transcribing.
017007,000011:
017008,000012: # The contents of the "Colossus249" files, in general, are transcribed
017009,000013: # from a scanned document obtained from MIT's website,
017010,000014: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this
017011,000015: # document read, in part:
017012,000016:
017013,000017: # Assemble revision 249 of AGC program Colossus by NASA
017014,000018: # 2021111-041. October 28, 1968.
017015,000019:
017016,000020: # This AGC program shall also be referred to as
017017,000021: # Colossus 1A
017018,000022:
017019,000023: # Prepared by
017020,000024: # Massachusetts Institute of Technology
017021,000025: # 75 Cambridge Parkway
017022,000026: # Cambridge, Massachusetts
017023,000027: # under NASA contract NAS 9-4065.
017024,000028:
017025,000029: # Refer directly to the online document mentioned above for further information.
017026,000030: # Please report any errors (relative to 1701.pdf) to info@sandroid.org.
017027,000031:
017028,000032: # In some cases, where the source code for Luminary 131 overlaps that of
017029,000033: # Colossus 249, this code is instead copied from the corresponding Luminary 131
017030,000034: # source file, and then is proofed to incorporate any changes.
017031,000035:
017032,000036: # Page 394
017033,000037: 15,2000 BANK 15
017034,000038: 22,2000 SETLOC KALCMON1
017035,000039: 22,2000 BANK
017036,000040:
017037,000041: 22,2000 E6,1661 EBANK= BCDU
017038,000042:
017039,000043: 22,2000 COUNT 22/KALC
017040,000044:
017041,000045: 22,2000 06006 KALCMAN3 TC INTPRET
017042,000046: 22,2001 77634 RTB
017043,000047: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
017044,000048: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017045,000049: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017046,000050: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017047,000051: 22,2006 03262 BCDU # (MIS)
017048,000052: 22,2007 77624 CALL
017049,000053: 22,2010 44405 CDUTODCM
017050,000054: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017051,000055: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017052,000056: 22,2013 01156 CPHI # (MFS)
017053,000057: 22,2014 77624 CALL
017054,000058: 22,2015 44405 CDUTODCM
017055,000059: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED
017056,000060: 22,2017 03320 MIS
017057,000061: 22,2020 44334 TRANSPOS
017058,000062: 22,2021 77775 VLOAD
017059,000063: 22,2022 77626 STADR
017060,000064: 22,2023 50474 STOVL TMIS +12D
017061,000065: 22,2024 77626 STADR
017062,000066: 22,2025 50502 STOVL TMIS +6
017063,000067: 22,2026 77626 STADR
017064,000068: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017065,000069: 22,2030 75160 AXC,1 AXC,2
017066,000070: 22,2031 03266 TMIS
017067,000071: 22,2032 03425 MFS
017068,000072: 22,2033 77624 CALL
017069,000073: 22,2034 44304 MXM3
017070,000074: 22,2035 45575 VLOAD STADR
017071,000075: 22,2036 50335 STOVL MFI +12D
017072,000076: 22,2037 77626 STADR
017073,000077: 22,2040 50343 STOVL MFI +6
017074,000078: 22,2041 77626 STADR
017075,000079: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017076,000080: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017077,000081: 22,2044 00023 18D
017078,000082: 22,2045 44343 TRNSPSPD
017079,000083: 22,2046 45575 VLOAD STADR
017080,000084: 22,2047 50474 STOVL TMFI +12D
017081,000085: 22,2050 77626 STADR
017082,000086: 22,2051 50502 STOVL TMFI +6
017083,000087: # Page 395
017084,000088: 22,2052 77626 STADR
017085,000089: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
017086,000090:
017087,000091: # CALCULATE COFSKEW AND MFISYM
017088,000092:
017089,000093: 22,2054 45345 DLOAD DSU
017090,000094: 22,2055 03271 TMFI +2
017091,000095: 22,2056 03430 MFI +2
017092,000096: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017093,000097: 22,2060 03432 MFI +4
017094,000098: 22,2061 03273 TMFI +4
017095,000099: 22,2062 45325 PDDL DSU
017096,000100: 22,2063 03301 TMFI +10D
017097,000101: 22,2064 03440 MFI +10D
017098,000102: 22,2065 77666 VDEF
017099,000103: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017100,000104:
017101,000105: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017102,000106:
017103,000107: 22,2067 43345 DLOAD DAD
017104,000108: 22,2070 03426 MFI
017105,000109: 22,2071 03446 MFI +16D
017106,000110: 22,2072 43225 DSU DAD
017107,000111: 22,2073 15322 DP1/4TH
017108,000112: 22,2074 03436 MFI +8D
017109,000113: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF-SCALE
017110,000114: 22,2076 77726 ARCCOS
017111,000115: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017112,000116: 22,2100 51025 DSU BPL
017113,000117: 22,2101 04367 MINANG
017114,000118: 22,2102 44111 CHECKMAX
017115,000119: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017116,000120: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017117,000121: 22,2105 44712 CS ONE # ABOUT COMMANDED ANGLES
017118,000122: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017119,000123: 22,2107 03301 TC LOADCDUD # GOOD RETURN
017120,000124: 22,2110 12727 TCF NOGO
017121,000125:
017122,000126: 22,2111 45345 CHECKMAX DLOAD DSU
017123,000127: 22,2112 03365 AM
017124,000128: 22,2113 04370 MAXANG
017125,000129: 22,2114 77244 BPL VLOAD
017126,000130: 22,2115 44123 ALTCALC # UNIT
017127,000131: 22,2116 03311 COFSKEW # COFSKEW
017128,000132: 22,2117 77656 UNIT
017129,000133: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017130,000134: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017131,000135: 22,2122 44736 LOCSKIRT
017132,000136: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017133,000137: 22,2124 03426 MFI
017134,000138: # Page 396
017135,000139: 22,2125 03267 TMFI
017136,000140: 22,2126 77762 VSR1
017137,000141: 22,2127 27267 STOVL MFISYM
017138,000142: 22,2130 03434 MFI +6
017139,000143: 22,2131 74455 VAD VSR1
017140,000144: 22,2132 03275 TMFI +6
017141,000145: 22,2133 27275 STOVL MFISYM +6
017142,000146: 22,2134 03442 MFI +12D
017143,000147: 22,2135 74455 VAD VSR1
017144,000148: 22,2136 03303 TMFI +12D
017145,000149: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017146,000150:
017147,000151: # CALCULATE COF
017148,000152:
017149,000153: 22,2140 70545 DLOAD SR1
017150,000154: 22,2141 03317 CAM
017151,000155: 22,2142 45325 PDDL DSU # PD0 CAM
017152,000156: 22,2143 15330 DPHALF
017153,000157: 22,2144 03317 CAM
017154,000158: 22,2145 65204 BOVB PDDL # PDL 1 - CAM
017155,000159: 22,2146 45707 SIGNMPAC
017156,000160: 22,2147 03307 MFISYM +16D
017157,000161: 22,2150 56225 DSU DDV
017158,000162: 22,2151 00001 0
017159,000163: 22,2152 00003 2
017160,000164: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
017161,000165: 22,2154 03277 MFISYM +8D
017162,000166: 22,2155 56225 DSU DDV
017163,000167: 22,2156 00001 0
017164,000168: 22,2157 00003 2
017165,000169: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM)
017166,000170: 22,2161 03267 MFISYM
017167,000171: 22,2162 56225 DSU DDV
017168,000172: 22,2163 00001 0
017169,000173: 22,2164 00003 2
017170,000174: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM)
017171,000175: 22,2166 77656 UNIT
017172,000176: 22,2167 03343 STORE COF
017173,000177:
017174,000178: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017175,000179:
017176,000180: 22,2170 45345 COFMAXGO DLOAD DSU
017177,000181: 22,2171 03343 COF
017178,000182: 22,2172 03345 COF +2
017179,000183: 22,2173 71240 BMN DLOAD # COFY G COFX
017180,000184: 22,2174 44203 COMP12
017181,000185: 22,2175 03343 COF
017182,000186: 22,2176 50025 DSU BMN
017183,000187: 22,2177 03347 COF +4
017184,000188: # Page 397
017185,000189: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017186,000190: 22,2201 77650 GOTO
017187,000191: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017188,000192: 22,2203 45345 COMP12 DLOAD DSU
017189,000193: 22,2204 03345 COF +2
017190,000194: 22,2205 03347 COF +4
017191,000195: 22,2206 77640 BMN
017192,000196: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017193,000197:
017194,000198: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017195,000199: 22,2211 03313 COFSKEW +2 # UY
017196,000200: 22,2212 44216 U2POS
017197,000201: 22,2213 57575 VLOAD VCOMP
017198,000202: 22,2214 03343 COF
017199,000203: 22,2215 03343 STORE COF
017200,000204: 22,2216 51145 U2POS DLOAD BPL
017201,000205: 22,2217 03271 MFISYM +2 # UX UY
017202,000206: 22,2220 44224 CKU21
017203,000207: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017204,000208: 22,2222 03343 COF
017205,000209: 22,2223 03343 STORE COF
017206,000210: 22,2224 51145 CKU21 DLOAD BPL
017207,000211: 22,2225 03301 MFISYM +10D # UY UZ
017208,000212: 22,2226 44736 LOCSKIRT
017209,000213: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017210,000214: 22,2230 03347 COF +4
017211,000215: 22,2231 03347 STORE COF +4
017212,000216: 22,2232 77650 GOTO
017213,000217: 22,2233 44736 LOCSKIRT
017214,000218: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017215,000219: 22,2235 03311 COFSKEW # UX
017216,000220: 22,2236 44242 U1POS
017217,000221: 22,2237 57575 VLOAD VCOMP
017218,000222: 22,2240 03343 COF
017219,000223: 22,2241 03343 STORE COF
017220,000224: 22,2242 51145 U1POS DLOAD BPL
017221,000225: 22,2243 03271 MFISYM +2 # UX UY
017222,000226: 22,2244 44250 CKU12
017223,000227: 22,2245 57545 DLOAD DCOMP
017224,000228: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017225,000229: 22,2247 03345 STORE COF +2
017226,000230: 22,2250 51145 CKU12 DLOAD BPL
017227,000231: 22,2251 03273 MFISYM +4 # UX UZ
017228,000232: 22,2252 44736 LOCSKIRT
017229,000233: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017230,000234: 22,2254 03347 COF +4
017231,000235: 22,2255 03347 STORE COF +4
017232,000236: 22,2256 77650 GOTO
017233,000237: 22,2257 44736 LOCSKIRT
017234,000238: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
017235,000239: # Page 398
017236,000240: 22,2261 03315 COFSKEW +4 # UZ
017237,000241: 22,2262 44266 U3POS
017238,000242: 22,2263 57575 VLOAD VCOMP
017239,000243: 22,2264 03343 COF
017240,000244: 22,2265 03343 STORE COF
017241,000245: 22,2266 51145 U3POS DLOAD BPL
017242,000246: 22,2267 03273 MFISYM +4 # UX UZ
017243,000247: 22,2270 44274 CKU31
017244,000248: 22,2271 57545 DLOAD DCOMP
017245,000249: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017246,000250: 22,2273 03343 STORE COF
017247,000251: 22,2274 51145 CKU31 DLOAD BPL
017248,000252: 22,2275 03301 MFISYM +10D # UY UZ
017249,000253: 22,2276 44736 LOCSKIRT
017250,000254: 22,2277 57545 DLOAD DCOMP
017251,000255: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017252,000256: 22,2301 03345 STORE COF +2
017253,000257: 22,2302 77650 GOTO
017254,000258: 22,2303 44736 LOCSKIRT
017255,000259:
017256,000260: # Page 399
017257,000261: # MATRIX OPERATIONS
017258,000262:
017259,000263: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017260,000264: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017261,000265: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017262,000266: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017263,000267: 22,2310 77770 6,2
017264,000268: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017265,000269: 22,2312 77776 0,2
017266,000270: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017267,000271: 22,2314 00001 0,1
017268,000272: 22,2315 77760 14D,2
017269,000273: 22,2316 64723 PDDL* PDDL*
017270,000274: 22,2317 77766 8D,2
017271,000275: 22,2320 77774 2,2
017272,000276: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017273,000277: 22,2322 00001 0,1
017274,000278: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017275,000279: 22,2324 77756 16D,2
017276,000280: 22,2325 77764 10D,2
017277,000281: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017278,000282: 22,2327 77772 4,2
017279,000283: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017280,000284: 22,2331 00001 0,1
017281,000285: 22,2332 77650 GOTO
017282,000286: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017283,000287: # RETURN WITH M1XM2 IN PD LIST
017284,000288: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017285,000289: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017286,000290: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017287,000291: 22,2337 62713 PDVL* PDVL*
017288,000292: 22,2340 00007 6,1
017289,000293: 22,2341 00015 12D,1
017290,000294: 22,2342 77606 PUSH # MATRIX IN PD
017291,000295: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017292,000296: 22,2344 00003 2
017293,000297: 22,2345 00007 6
017294,000298: 22,2346 14003 STODL 2
017295,000299: 22,2347 77626 STADR
017296,000300: 22,2350 63770 STODL 6
017297,000301: 22,2351 00005 4
017298,000302: 22,2352 77725 PDDL
017299,000303: 22,2353 00015 12D
017300,000304: 22,2354 14005 STODL 4
017301,000305: 22,2355 77626 STADR
017302,000306: 22,2356 63762 STODL 12D
017303,000307: 22,2357 00013 10D
017304,000308: 22,2360 77725 PDDL
017305,000309: # Page 400
017306,000310: 22,2361 00017 14D
017307,000311: 22,2362 14013 STODL 10D
017308,000312: 22,2363 77626 STADR
017309,000313: 22,2364 77760 STORE 14D
017310,000314: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017311,000315: 22,2366 00013 MINANG DEC .00069375
017312,000316: 22,2367 17071 MAXANG DEC .472222
017313,000317:
017314,000318: # GIMBAL LOCK CONSTANTS
017315,000319:
017316,000320: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017317,000321: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017318,000322:
017319,000323: 22,2370 15667 SD DEC .433015 # = SIN(D)
017320,000324: 22,2371 33555 K3S1 DEC .86603 # = SIN(D)
017321,000325: 22,2372 67777 K4 DEC -.25 # = -COS(D)
017322,000326: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D)
017323,000327: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D)
017324,000328: 22,2375 17773 CNGL DEC .499695 # = COS(NGL)
017325,000329: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017326,000330: 22,2377 30034 CA CDUZ
017327,000331: 22,2400 54156 TS MPAC +2
017328,000332: 22,2401 00006 EXTEND
017329,000333: 22,2402 30033 DCA CDUX
017330,000334: 22,2403 00003 RELINT
017331,000335: 22,2404 16445 TCF TLOAD +6
017332,000336: 16,2000 BANK 16
017333,000337: 22,2000 SETLOC KALCMON2
017334,000338: 22,2000 BANK
017335,000339:
017336,000340: 22,2405 COUNT* $$/KALC
017337,000341:
017338,000342: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017339,000343: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STARLE
017340,000344: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017341,000345: 22,2410 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
017342,000346: 22,2411 00010 STORE 7
017343,000347: 22,2412 77601 SETPD
017344,000348: 22,2413 00001 0
017345,000349: 22,2414 47133 LOOPSIN SLOAD* RTB
017346,000350: 22,2415 00013 10D,1
017347,000351: 22,2416 45510 CDULOGIC
017348,000352: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017349,000353: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017350,000354: 22,2421 00013 10D # 4 SIN(THETA)
017351,000355: 22,2422 41546 COS PUSH # 6 COS(THETA)
017352,000356: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017353,000357: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017354,000358: 22,2425 00007 6
017355,000359: 22,2426 72405 DMP SL1
017356,000360: 22,2427 00013 10D
017357,000361: # Page 401
017358,000362: 22,2430 10001 STORE 0,2
017359,000363: 22,2431 77745 DLOAD
017360,000364: 22,2432 00005 4
017361,000365: 22,2433 65205 DMP PDDL
017362,000366: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017363,000367: 22,2435 00007 6
017364,000368: 22,2436 41205 DMP DMP
017365,000369: 22,2437 00011 8D
017366,000370: 22,2440 00003 2
017367,000371: 22,2441 44352 SL1 BDSU
017368,000372: 22,2442 00015 12D
017369,000373: 22,2443 77752 SL1
017370,000374: 22,2444 10003 STORE 2,2
017371,000375: 22,2445 77745 DLOAD
017372,000376: 22,2446 00003 2
017373,000377: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017374,000378: 22,2450 00005 4
017375,000379: 22,2451 00007 6
017376,000380: 22,2452 41205 DMP DMP
017377,000381: 22,2453 00011 8D
017378,000382: 22,2454 00001 0
017379,000383: 22,2455 77752 SL1
017380,000384: 22,2456 72415 DAD SL1
017381,000385: 22,2457 00017 14D
017382,000386: 22,2460 10005 STORE 4,2
017383,000387: 22,2461 77745 DLOAD
017384,000388: 22,2462 00011 8D
017385,000389: 22,2463 10007 STORE 6,2
017386,000390: 22,2464 77745 DLOAD
017387,000391: 22,2465 00013 10D
017388,000392: 22,2466 72405 DMP SL1
017389,000393: 22,2467 00003 2
017390,000394: 22,2470 10011 STORE 8D,2
017391,000395: 22,2471 77745 DLOAD
017392,000396: 22,2472 00013 10D
017393,000397: 22,2473 57405 DMP DCOMP
017394,000398: 22,2474 00001 0
017395,000399: 22,2475 77752 SL1
017396,000400: 22,2476 10013 STORE 10D,2
017397,000401: 22,2477 77745 DLOAD
017398,000402: 22,2500 00005 4
017399,000403: 22,2501 57405 DMP DCOMP
017400,000404: 22,2502 00013 10D
017401,000405: 22,2503 77752 SL1
017402,000406: 22,2504 10015 STORE 12D,2
017403,000407: 22,2505 77745 DLOAD
017404,000408: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017405,000409: 22,2507 00011 8D
017406,000410: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017407,000411: 22,2511 00007 6
017408,000412: # Page 402
017409,000413: 22,2512 00001 0
017410,000414: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017411,000415: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017412,000416: 22,2515 67760 STORE 14D,2
017413,000417: 22,2516 77745 DLOAD
017414,000418: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017415,000419: 22,2520 00011 8D
017416,000420: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017417,000421: 22,2522 00007 6
017418,000422: 22,2523 00003 2
017419,000423: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017420,000424: 22,2525 77626 STADR
017421,000425: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017422,000426: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017423,000427: 22,2530 ENDOCM EQUALS
017424,000428: 15,2000 BANK 15
017425,000429: 22,2000 SETLOC KALCMON1
017426,000430: 22,2000 BANK
017427,000431:
017428,000432: # CALCULATION OF THE MATRIX DEL.......
017429,000433:
017430,000434: # * * __T *
017431,000435: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017432,000436:
017433,000437: # _
017434,000438: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017435,000439: # A IS THE ANGLE OF ROTATION (DP SCALED 2).
017436,000440: # _
017437,000441: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC.
017438,000442:
017439,000443: 22,2530 COUNT 22/KALC
017440,000444:
017441,000445: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017442,000446: 22,2531 00001 0
017443,000447: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017444,000448: 22,2533 41546 COS PUSH # PD2 = COS(A)
017445,000449: 22,2534 65302 SR2 PDDL # PD2 = COS(A)
017446,000450: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A)
017447,000451: 22,2536 15330 DPHALF
017448,000452: 22,2537 45707 SIGNMPAC
017449,000453:
017450,000454: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017451,000455:
017452,000456: 22,2540 77725 PDDL
017453,000457: 22,2541 03343 COF
017454,000458: 22,2542 41316 DSQ DMP
017455,000459: 22,2543 00005 4
017456,000460: 22,2544 52415 DAD SL3
017457,000461: # Page 403
017458,000462: 22,2545 00003 2
017459,000463: 22,2546 77604 BOVB
017460,000464: 22,2547 45707 SIGNMPAC
017461,000465: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A)
017462,000466: 22,2551 03345 COF +2
017463,000467: 22,2552 41316 DSQ DMP
017464,000468: 22,2553 00005 4
017465,000469: 22,2554 52415 DAD SL3
017466,000470: 22,2555 00003 2
017467,000471: 22,2556 77604 BOVB
017468,000472: 22,2557 45707 SIGNMPAC
017469,000473: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A)
017470,000474: 22,2561 03347 COF +4
017471,000475: 22,2562 41316 DSQ DMP
017472,000476: 22,2563 00005 4
017473,000477: 22,2564 52415 DAD SL3
017474,000478: 22,2565 00003 2
017475,000479: 22,2566 77604 BOVB
017476,000480: 22,2567 45707 SIGNMPAC
017477,000481: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A)
017478,000482:
017479,000483: # COMPUTE THE OFF-DIAGONAL TERMS OF DEL
017480,000484:
017481,000485: 22,2571 41345 DLOAD DMP
017482,000486: 22,2572 03343 COF
017483,000487: 22,2573 03345 COF +2
017484,000488: 22,2574 72405 DMP SL1
017485,000489: 22,2575 00005 4
017486,000490: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A)
017487,000491: 22,2577 03347 COF +4
017488,000492: 22,2600 00001 0
017489,000493: 22,2601 43206 PUSH DAD # D8 UZ SIN A
017490,000494: 22,2602 00007 6
017491,000495: 22,2603 41112 SL2 BOVB
017492,000496: 22,2604 45707 SIGNMPAC
017493,000497: 22,2605 17434 STODL DEL +6
017494,000498: 22,2606 62421 BDSU SL2
017495,000499: 22,2607 77604 BOVB
017496,000500: 22,2610 45707 SIGNMPAC
017497,000501: 22,2611 17430 STODL DEL +2
017498,000502: 22,2612 03343 COF
017499,000503: 22,2613 41205 DMP DMP
017500,000504: 22,2614 03347 COF +4
017501,000505: 22,2615 00005 4
017502,000506: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A)
017503,000507: 22,2617 03345 COF +2
017504,000508: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017505,000509: 22,2621 00001 0
017506,000510: 22,2622 62415 DAD SL2
017507,000511: 22,2623 00007 6
017508,000512: # Page 404
017509,000513: 22,2624 77604 BOVB
017510,000514: 22,2625 45707 SIGNMPAC
017511,000515: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017512,000516: 22,2627 62421 BDSU SL2
017513,000517: 22,2630 77604 BOVB
017514,000518: 22,2631 45707 SIGNMPAC
017515,000519: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIGN(A)
017516,000520: 22,2633 03345 COF +2
017517,000521: 22,2634 41205 DMP DMP
017518,000522: 22,2635 03347 COF +4
017519,000523: 22,2636 00005 4
017520,000524: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A))
017521,000525: 22,2640 03343 COF
017522,000526: 22,2641 41405 DMP PUSH # D6 UX SIN(A)
017523,000527: 22,2642 00001 0
017524,000528: 22,2643 62415 DAD SL2
017525,000529: 22,2644 00007 6
017526,000530: 22,2645 77604 BOVB
017527,000531: 22,2646 45707 SIGNMPAC
017528,000532: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017529,000533: 22,2650 62421 BDSU SL2
017530,000534: 22,2651 77604 BOVB
017531,000535: 22,2652 45707 SIGNMPAC
017532,000536: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017533,000537: 22,2654 77616 RVQ
017534,000538:
017535,000539: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017536,000540: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017537,000541: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017538,000542: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017539,000543:
017540,000544: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017541,000545:
017542,000546: # C =COS(THETA)COS(PSI)
017543,000547: # 0
017544,000548:
017545,000549: # C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI)
017546,000550: # 1
017547,000551:
017548,000552: # C =COS(THETA)SIN(PSI)SIN(PHI)+SIN(THETA)COS(PHI)
017549,000553: # 2
017550,000554:
017551,000555: # C =SIN(PSI)
017552,000556: # 3
017553,000557:
017554,000558: # C =COS(PSI)COS(PHI)
017555,000559: # 4
017556,000560:
017557,000561: # C =-COS(PSI)SIN(PHI)
017558,000562: # 5
017559,000563:
017560,000564: # C =-SIN(THETA)COS(PSI)
017561,000565: # 6
017562,000566:
017563,000567: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI)
017564,000568: # 7
017565,000569: # Page 405
017566,000570: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI)
017567,000571: # 8
017568,000572:
017569,000573: # WHERE PHI = OGA
017570,000574: # THETA = IGA
017571,000575: # PSI = MGA
017572,000576:
017573,000577: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017574,000578: 22,2656 00007 6,1
017575,000579: 22,2657 71406 PUSH COS # PD +0 PSI
017576,000580: 22,2660 41152 SL1 BOVB
017577,000581: 22,2661 45707 SIGNMPAC
017578,000582: 22,2662 00051 STORE S1
017579,000583: 22,2663 57543 DLOAD* DCOMP
017580,000584: 22,2664 00015 12D,1
017581,000585: 22,2665 67471 DDV ARCSIN
017582,000586: 22,2666 00051 S1
017583,000587: 22,2667 51123 PDDL* BPL # PD +2 THETA
017584,000588: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
017585,000589: 22,2671 44703 CKTHETA # TO DETERMINE THE PROPER QUADRANT
017586,000590: 22,2672 57545 DLOAD DCOMP
017587,000591: 22,2673 43244 BPL DAD
017588,000592: 22,2674 44700 SUHALFA
017589,000593: 22,2675 15330 DPHALF
017590,000594: 22,2676 77650 GOTO
017591,000595: 22,2677 44702 CALCPHI
017592,000596: 22,2700 77625 SUHALFA DSU
017593,000597: 22,2701 15330 DPHALF
017594,000598: 22,2702 77606 CALCPHI PUSH
017595,000599: 22,2703 57543 CKTHETA DLOAD* DCOMP
017596,000600: 22,2704 00013 10D,1
017597,000601: 22,2705 67471 DDV ARCSIN
017598,000602: 22,2706 00051 S1
017599,000603: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
017600,000604: 22,2710 00011 8D,1
017601,000605: 22,2711 44723 CKPHI
017602,000606: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
017603,000607: 22,2713 43244 BPL DAD
017604,000608: 22,2714 44720 SUHALFAP
017605,000609: 22,2715 15330 DPHALF
017606,000610: 22,2716 77650 GOTO
017607,000611: 22,2717 44724 VECOFANG
017608,000612: 22,2720 52025 SUHALFAP DSU GOTO
017609,000613: 22,2721 15330 DPHALF
017610,000614: 22,2722 44724 VECOFANG
017611,000615: 22,2723 77745 CKPHI DLOAD # PUSH UP PHI
017612,000616: 22,2724 43466 VECOFANG VDEF RVQ
017613,000617:
017614,000618: # Page 406
017615,000619: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017616,000620:
017617,000621: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
017618,000622: 22,2726 03272 TC ZEROERROR
017619,000623:
017620,000624: 22,2727 00004 NOGO INHINT
017621,000625: 22,2730 03245 TC STOPRATE
017622,000626:
017623,000627: # TERMINATE MANEUVER
017624,000628: 22,2731 34711 CAF TWO # NOTE: ALL RETURNS ARE NOW MADE VIA
017625,000629: 22,2732 05140 TC WAITLIST # GOODEND
017626,000630: 22,2733 40,2000 SBANK= PINSUPER
017627,000631: 22,2733 E6,1661 EBANK= BCDU
017628,000632: 22,2733 03237 44106 2CADR ENDMANU
017629,000633:
017630,000634: 22,2735 15112 TCF ENDOFJOB
017631,000635:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc