Source Code

044447,000001: # Copyright: Public domain. 044448,000002: # Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc 044449,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 044450,000004: # It is part of the source code for the Command Module's (CM) 044451,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 044452,000006: # Assembler: yaYUL 044453,000007: # Contact: Ron Burkey <info@sandroid.org>. 044454,000008: # Website: www.ibiblio.org/apollo. 044455,000009: # Pages: 1002-1024 044456,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the 044457,000011: # same name, using Comanche055 page images. 044458,000012: 044459,000013: # This source code has been transcribed or otherwise adapted from digitized 044460,000014: # images of a hardcopy from the MIT Museum. The digitization was performed 044461,000015: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 044462,000016: # thanks to both. The images (with suitable reduction in storage size and 044463,000017: # consequent reduction in image quality as well) are available online at 044464,000018: # www.ibiblio.org/apollo. If for some reason you find that the images are 044465,000019: # illegible, contact me at info@sandroid.org about getting access to the 044466,000020: # (much) higher-quality images which Paul actually created. 044467,000021: 044468,000022: # Notations on the hardcopy document read, in part: 044469,000023: 044470,000024: # Assemble revision 055 of AGC program Comanche by NASA 044471,000025: # 2021113-051. 10:28 APR. 1, 1969 044472,000026: 044473,000027: # This AGC program shall also be referred to as 044474,000028: # Colossus 2A 044475,000029: 044476,000030: # Page 1002 044477,000031: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT 044478,000032: 044479,000033: # START OF T5 INTERRUPT PROGRAM 044480,000034: 044481,000035: 20,3612 BANK 20 044482,000036: 21,2000 SETLOC DAPS3 044483,000037: 21,2000 BANK 044484,000038: 044485,000039: 21,2105 COUNT 21/DAPRC 044486,000040: 044487,000041: 21,2105 E6,1510 EBANK= KMPAC 044488,000042: 21,2105 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE 044489,000043: 21,2106 31465 CA T5PHASE # ON A T5 RUPT 044490,000044: 21,2107 00006 EXTEND 044491,000045: 21,2110 62112 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO - 044492,000046: 21,2111 12114 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP 044493,000047: 21,2112 45017 CS ONE 044494,000048: 21,2113 55465 TS T5PHASE 044495,000049: 21,2114 00006 EXTEND 044496,000050: 21,2115 32121 DCA RCSLOC 044497,000051: 21,2116 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT 044498,000052: 21,2117 12123 TCF RCSATT +1 044499,000053: 21,2120 E6,1510 EBANK= KMPAC 044500,000054: 21,2120 02122 42066 RCSLOC 2CADR RCSATT 044501,000055: 044502,000056: 21,2122 22016 RCSATT LXCH BANKRUPT # SAVE BB 044503,000057: 21,2123 00006 EXTEND # SAVE Q 044504,000058: 21,2124 22012 QXCH QRUPT 044505,000059: 21,2125 35001 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND 044506,000060: 21,2126 00006 EXTEND # S/C CONT SW IS IN CMC (I.E., IF G/C AUTO 044507,000061: 21,2127 02031 RAND CHAN31 # PILOT IS FULLY ENABLED) 044508,000062: 21,2130 00006 EXTEND 044509,000063: 21,2131 12160 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED, 044510,000064: # GO TO SETT5 044511,000065: 044512,000066: 21,2132 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED, 044513,000067: 21,2133 75002 MASK BIT14 044514,000068: 21,2134 27501 ADS RCSFLAGS # SET NORATE FLAG, 044515,000069: 21,2135 34777 CAF POSMAX 044516,000070: 21,2136 55332 TS HOLDFLAG # SET HOLDFLAG +, 044517,000071: 21,2137 35021 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ, 044518,000072: 21,2140 55567 TS ERRORX 044519,000073: 21,2141 55570 TS ERRORY 044520,000074: 21,2142 55571 TS ERRORZ 044521,000075: 21,2143 35002 CAF BIT14 044522,000076: 21,2144 00006 EXTEND 044523,000077: 21,2145 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31). 044524,000078: 21,2146 00006 EXTEND 044525,000079: # Page 1003 044526,000080: 21,2147 12160 BZF SETT5 # IF IN FREE MODE, GO TO SETT5. 044527,000081: 044528,000082: 21,2150 55465 TS T5PHASE # IF NOT IN FREE MODE, 044529,000083: 21,2151 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP) 044530,000084: 21,2152 54030 TS TIME5 # IN 100 MS VIA T5RUPT 044531,000085: 044532,000086: 21,2153 02632 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET 044533,000087: 044534,000088: 21,2154 12350 TCF KMATRIX 044535,000089: 21,2155 37770 DELTATT OCT 37770 # 80MS (TIME5) 044536,000090: 21,2156 37776 DELTATT2 OCT 37776 # 20MS (TIME5) 044537,000091: 21,2157 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5) 044538,000092: 21,2160 CHAN5 EQUALS 5 044539,000093: 21,2160 CHAN6 EQUALS 6 044540,000094: 21,2160 7671 PRIO34A = PRIO34 044541,000095: 044542,000096: # CHECK PHASE OF T5 PROGRAM 044543,000097: 044544,000098: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO 044545,000099: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC, 044546,000100: # TO ALLOW FOR THE EXECUTION OF OTHER 044547,000101: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT 044548,000102: # VARIABLES AT TURN ON. 044549,000103: 044550,000104: # THE CODING OF T5PHASE IS... 044551,000105: 044552,000106: # + = INITIALIZE T5 RCS-CSM AUTOPILOT 044553,000107: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM 044554,000108: # - = RESTART DAP 044555,000109: # -0 = PHASE1 OF THE T5 PROGRAM 044556,000110: 044557,000111: 21,2160 11465 SETT5 CCS T5PHASE 044558,000112: 21,2161 12544 TCF FRESHDAP # TURN ON AUTOPILOT 044559,000113: 21,2162 12661 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM 044560,000114: 21,2163 12546 TCF REDAP # RESTART AUTOPILOT 044561,000115: 044562,000116: 21,2164 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2 044563,000117: 21,2165 30030 CA TIME5 044564,000118: 21,2166 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5 044565,000119: 21,2167 32156 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2 044566,000120: 21,2170 54030 TS TIME5 # OF PROGRAM 044567,000121: 044568,000122: # Page 1004 044569,000123: # IMU STATUS CHECK 044570,000124: 044571,000125: 21,2171 41321 CS IMODES33 # CHECK IMU STATUS 044572,000126: 21,2172 75012 MASK BIT6 # BIT6 = 0 IMU OK 044573,000127: 21,2173 10000 CCS A # BIT6 = 1 NO IMU 044574,000128: 21,2174 12210 TCF RATEFILT 044575,000129: 21,2175 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN 044576,000130: 21,2176 75002 MASK BIT14 # INITIALIZED 044577,000131: 21,2177 27501 ADS RCSFLAGS 044578,000132: 21,2200 35002 CAF BIT14 # NO ATTITUDE REFERENCE 044579,000133: 21,2201 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE 044580,000134: # TO PICK UP CDU ANGLES UPON RESUMPTION OF 044581,000135: # ATTITUDE HOLD 044582,000136: 21,2202 00006 EXTEND 044583,000137: 21,2203 02031 RAND CHAN31 # CHECK FOR FREE MODE 044584,000138: 21,2204 00006 EXTEND 044585,000139: 21,2205 12417 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY 044586,000140: 21,2206 12534 TCF REINIT # .....TILT............................... 044587,000141: 21,2207 00030 BITS4,5 OCT 30 044588,000142: 044589,000143: 21,2210 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED 044590,000144: 21,2211 75002 MASK BIT14 044591,000145: 21,2212 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION 044592,000146: 21,2213 12215 BZF +2 044593,000147: 21,2214 12350 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION 044594,000148: 044595,000149: # RATE FILTER TIMING = 7.72 MS 044596,000150: 044597,000151: # RATE FILTER EQUATIONS 044598,000152: 044599,000153: 044600,000154: # DRHO = DELRHO - (.1)ADOT + (1 = GAIN1)DRHO 044601,000155: # -1 044602,000156: 044603,000157: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT 044604,000158: # -1 044605,000159: # _ * _ _ 044606,000160: # WHERE DELRHO = AMGB (CDU - CDU ) 044607,000161: # -1 044608,000162: 044609,000163: 21,2215 35016 CAF TWO 044610,000164: 21,2216 55506 DRHOLOOP TS SPNDX 044611,000165: 21,2217 60000 DOUBLE 044612,000166: 21,2220 55507 TS DPNDX 044613,000167: 21,2221 51507 INDEX DPNDX 044614,000168: 21,2222 41552 CS DRHO # DRHO SCALED 180 DEGS 044615,000169: 21,2223 00006 EXTEND 044616,000170: 21,2224 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN 044617,000171: 21,2225 73077 MP GAIN1 044618,000172: 21,2226 51507 INDEX DPNDX 044619,000173: 21,2227 21553 DAS DRHO # (1 -.064) DRHO 044620,000174: 21,2230 00006 EXTEND 044621,000175: # Page 1005 044622,000176: 21,2231 51507 INDEX DPNDX 044623,000177: 21,2232 41534 DCS ADOT 044624,000178: 21,2233 53511 DXCH KMPAC # -(.1)ADOT 044625,000179: 21,2234 35003 CA QUARTER 044626,000180: 21,2235 02042 TC SMALLMP 044627,000181: 21,2236 53511 DXCH KMPAC 044628,000182: 21,2237 51507 INDEX DPNDX 044629,000183: 21,2240 21553 DAS DRHO 044630,000184: 21,2241 11506 CCS SPNDX 044631,000185: 21,2242 12216 TCF DRHOLOOP 044632,000186: 044633,000187: 21,2243 30032 CA CDUX # MEASURED BODY RATES-- 044634,000188: 21,2244 57635 XCH RHO 044635,000189: 21,2245 00006 EXTEND 044636,000190: 21,2246 21635 MSU RHO # _ * _ _ 044637,000191: 21,2247 40000 COM # DELRHO = AMGB (CDU - CDU ) 044638,000192: # -1 044639,000193: 21,2250 22007 ZL 044640,000194: 21,2251 53516 DXCH DELTEMPX 044641,000195: 21,2252 30033 CA CDUY 044642,000196: 21,2253 57636 XCH RHO1 044643,000197: 21,2254 00006 EXTEND 044644,000198: 21,2255 21636 MSU RHO1 044645,000199: 21,2256 40000 COM 044646,000200: 21,2257 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS 044647,000201: 21,2260 00006 EXTEND 044648,000202: 21,2261 71640 MP AMGB1 044649,000203: 21,2262 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1) 044650,000204: # MUST BE DOUBLE PRECISION OR WILL LOSE 044651,000205: # PULSES 044652,000206: 21,2263 31641 CA AMGB4 044653,000207: 21,2264 00006 EXTEND 044654,000208: 21,2265 71502 MP T5TEMP 044655,000209: 21,2266 53520 DXCH DELTEMPY 044656,000210: 21,2267 31643 CA AMGB7 044657,000211: 21,2270 00006 EXTEND 044658,000212: 21,2271 71502 MP T5TEMP 044659,000213: 21,2272 53522 DXCH DELTEMPZ 044660,000214: 21,2273 30034 CA CDUZ 044661,000215: 21,2274 57637 XCH RHO2 044662,000216: 21,2275 00006 EXTEND 044663,000217: 21,2276 21637 MSU RHO2 044664,000218: 21,2277 40000 COM 044665,000219: 21,2300 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS 044666,000220: 21,2301 00006 EXTEND 044667,000221: 21,2302 71642 MP AMGB5 044668,000222: 21,2303 21520 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1) 044669,000223: # + AMGB5(CDUZ-RHO2) 044670,000224: 21,2304 31644 CA AMGB8 044671,000225: 21,2305 00006 EXTEND 044672,000226: 044673,000227: # Page 1006 044674,000228: 21,2306 71502 MP T5TEMP 044675,000229: 21,2307 21522 DAS DELTEMPZ # DELTEMPZ = AMBG7(CDUY-RHO1) 044676,000230: # + AMGB8(CDUZ-RHO2) 044677,000231: 21,2310 35016 CAF TWO 044678,000232: 21,2311 55506 ADOTLOOP TS SPNDX 044679,000233: 21,2312 60000 DOUBLE 044680,000234: 21,2313 55507 TS DPNDX 044681,000235: 21,2314 00006 EXTEND 044682,000236: 21,2315 51507 INDEX DPNDX 044683,000237: 21,2316 31516 DCA DELTEMPX 044684,000238: 21,2317 51507 INDEX DPNDX 044685,000239: 21,2320 21553 DAS DRHO 044686,000240: 21,2321 00006 EXTEND 044687,000241: 21,2322 51507 INDEX DPNDX 044688,000242: 21,2323 31516 DCA DELTEMPX 044689,000243: 21,2324 51507 INDEX DPNDX 044690,000244: 21,2325 21542 DAS MERRORX 044691,000245: 21,2326 51507 INDEX DPNDX 044692,000246: 21,2327 31552 CA DRHO 044693,000247: 21,2330 60000 DOUBLE # N.B. 044694,000248: 21,2331 60000 DOUBLE # N.B. 044695,000249: 21,2332 00006 EXTEND 044696,000250: 21,2333 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS 044697,000251: 21,2334 73115 MP GAIN2 044698,000252: 21,2335 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO 044699,000253: 21,2336 21534 DAS ADOT # -1 044700,000254: 21,2337 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO 044701,000255: 21,2340 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3 044702,000256: 21,2341 00006 EXTEND 044703,000257: 21,2342 51506 INDEX SPNDX 044704,000258: 21,2343 71547 MP DFT 044705,000259: 21,2344 51507 INDEX DPNDX 044706,000260: 21,2345 21534 DAS ADOT # KMJ(DFT) 044707,000261: 21,2346 11506 CCS SPNDX 044708,000262: 21,2347 12311 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES 044709,000263: 21,2350 31560 KMATRIX CA ATTSEC 044710,000264: 21,2351 75026 MASK LOW4 044711,000265: 21,2352 10000 CCS A 044712,000266: 21,2353 12361 TCF TENTHSEK 044713,000267: 21,2354 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION 044714,000268: 21,2355 05134 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES 044715,000269: 21,2356 E6,1510 EBANK= KMPAC 044716,000270: 21,2356 03447 44066 2CADR AMBGUPDT 044717,000271: 044718,000272: 21,2360 34334 CAF NINE 044719,000273: 044720,000274: 21,2361 55560 TENTHSEK TS ATTSEC 044721,000275: 044722,000276: # Page 1007 044723,000277: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH 044724,000278: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT-- 044725,000279: 044726,000280: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION) 044727,000281: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION) 044728,000282: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION) 044729,000283: 044730,000284: # THE STEERING PROGRAMS: 044731,000285: # 1) ATTITUDE MANEUVER ROUTINE 044732,000286: # 2) LEM TRACKING 044733,000287: 044734,000288: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY, 044735,000289: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES. 044736,000290: 044737,000291: # HOLDFLAG CODING: 044738,000292: 044739,000293: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ 044740,000294: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES 044741,000295: # ALSO IGNORE AUTOMATIC STEERING 044742,000296: # SET = + BY 044743,000297: # 1) INITIALIZATION PHASE OF AUTOPILOT 044744,000298: # 2) OCCURANCE OF RHC COMMANDS 044745,000299: # 3) FREE MODE 044746,000300: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO 044747,000301: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE 044748,000302: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC 044749,000303: # FUNCTIONS AS IF IT WERE.) 044750,000304: # 5) S/C CONTROL SWITCH IS SCS 044751,000305: # 6) IMU POWER OFF 044752,000306: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE 044753,000307: # - = PERFORMING AUTOMATIC MANEUVER 044754,000308: # -0 = NOT USED AT PRESENT 044755,000309: 044756,000310: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT. 044757,000311: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO 044758,000312: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE THE APPROPRIATE ACTION. 044759,000313: 044760,000314: 21,2362 41332 CS HOLDFLAG 044761,000315: 21,2363 00006 EXTEND 044762,000316: 21,2364 62411 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC 044763,000317: # COMMANDS. 044764,000318: 21,2365 35016 DCDUINCR CAF TWO 044765,000319: 21,2366 55506 DELOOP TS SPNDX 044766,000320: 21,2367 60000 DOUBLE 044767,000321: 21,2370 55507 TS DPNDX 044768,000322: 21,2371 00006 EXTEND 044769,000323: 21,2372 50000 INDEX A 044770,000324: 21,2373 31647 DCA CDUXD 044771,000325: # Page 1008 044772,000326: 21,2374 53511 DXCH KMPAC 044773,000327: 21,2375 00006 EXTEND 044774,000328: 21,2376 51507 INDEX DPNDX 044775,000329: 21,2377 31576 DCA DELCDUX 044776,000330: 21,2400 02054 TC DPADD 044777,000331: 21,2401 00006 EXTEND 044778,000332: 21,2402 31511 DCA KMPAC 044779,000333: 21,2403 51506 INDEX SPNDX 044780,000334: 21,2404 55572 TS THETADX 044781,000335: 21,2405 51507 INDEX DPNDX 044782,000336: 21,2406 53647 DXCH CDUXD 044783,000337: 21,2407 11506 CCS SPNDX 044784,000338: 21,2410 12366 TCF DELOOP 044785,000339: 044786,000340: # Page 1009 044787,000341: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY 044788,000342: 044789,000343: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI: 044790,000344: 044791,000345: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E 044792,000346: # GENERATED INTERNALLY BY THE AUTOPILOT 044793,000347: 044794,000348: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E 044795,000349: # WITH RESPECT TO THE CONTENTS OF N22 044796,000350: 044797,000351: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E 044798,000352: # WITH RESPECT TO THE CONTENTS OF N17 044799,000353: 044800,000354: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS 044801,000355: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE. 044802,000356: 044803,000357: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED 044804,000358: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES 044805,000359: # AS A FLY-TO INDICATOR. 044806,000360: 044807,000361: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED 044808,000362: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES 044809,000363: # AS A FLY-TO INDICATOR. 044810,000364: 044811,000365: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY 044812,000366: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME. 044813,000367: 044814,000368: # THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN 044815,000369: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA 044816,000370: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME. 044817,000371: 044818,000372: 21,2411 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2 044819,000373: 21,2412 75014 MASK BIT4 044820,000374: 21,2413 00006 EXTEND 044821,000375: 21,2414 13160 BZF FDAIDSP2 044822,000376: 044823,000377: 21,2415 27501 FDAIDSP1 ADS RCSFLAGS 044824,000378: 21,2416 02420 TC NEEDLER 044825,000379: 21,2417 15333 KRESUME1 TCF RESUME # END PHASE 1 044826,000380: 044827,000381: # Page 1010 044828,000382: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE 044829,000383: 044830,000384: # PROGRAM DESCRIPTION: D. KEENE 5/24/67 044831,000385: 044832,000386: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) 044833,000387: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT 044834,000388: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES 044835,000389: # THE DACS. 044836,000390: 044837,000391: # CALLING SEQUENCE: 044838,000392: 044839,000393: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE 044840,000394: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM: 044841,000395: 044842,000396: # CS RCSFLAGS # IN EBANK6 044843,000397: # MASK BIT3 044844,000398: # ADS RCSFLAGS 044845,000399: 044846,000400: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANFERRED TO THE FOLLOWING LOCATIONS IN EBANK6: 044847,000401: 044848,000402: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT 044849,000403: # AK1 SCALED 180 DEGREES TO CHANGE 044850,000404: # AK2 SCALED 180 DEGREES 044851,000405: 044852,000406: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR 044853,000407: # (= 384 BITS IN IMU ERROR COUNTER) 044854,000408: 044855,000409: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY: 044856,000410: 044857,000411: # INHINT 044858,000412: # TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6 044859,000413: # CADR NEEDLER 044860,000414: # RELINT 044861,000415: 044862,000416: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PRORAM ARE 044863,000417: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS. 044864,000418: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING. 044865,000419: 044866,000420: # ERASABLE USED: 044867,000421: # AK CDUXCMD 044868,000422: # AK1 CDUYCMD 044869,000423: # AK2 CDUZCMD 044870,000424: # EDRIVEX A,L,Q 044871,000425: # EDRIVEY T5TEMP 044872,000426: # EDRIVEZ SPNDX 044873,000427: 044874,000428: # SWITCHES; RCSFLAGS BITS 3,2 044875,000429: 044876,000430: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY) 044877,000431: # Page 1011 044878,000432: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) 044879,000433: # CHAN14 BIT 13,14,15 (DAC ACTIVITY) 044880,000434: 044881,000435: # SIGN CONVENTION: AK = THETAC - THETA 044882,000436: # WHERE THETAC = COMMAND ANGLE 044883,000437: # THETA = PRESENT ANGLE 044884,000438: 044885,000439: 21,2420 35014 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE 044886,000440: 21,2421 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU 044887,000441: 21,2422 02012 RAND CHAN12 # ERROR COUNTERS. DON'T USE NEEDLES 044888,000442: 21,2423 00006 EXTEND 044889,000443: 21,2424 12431 BZF NEEDLER1 044890,000444: 21,2425 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS 044891,000445: 21,2426 75015 MASK BIT3 044892,000446: 21,2427 27501 ADS RCSFLAGS 044893,000447: 21,2430 00002 TC Q 044894,000448: 044895,000449: 21,2431 31501 NEEDLER1 CA RCSFLAGS 044896,000450: 21,2432 76211 MASK SIX 044897,000451: 21,2433 00006 EXTEND 044898,000452: 21,2434 12471 BZF NEEDLES3 044899,000453: 21,2435 75015 MASK BIT3 044900,000454: 21,2436 00006 EXTEND 044901,000455: 21,2437 12462 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1 044902,000456: 044903,000457: 21,2440 45012 CS BIT6 # FIRST PASS BIT3 = 1 044904,000458: 21,2441 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS 044905,000459: 21,2442 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS. BEFORE 044906,000460: 21,2443 45021 NEEDLE11 CS ZERO # ENABLING COUNTERS. 044907,000461: 21,2444 55476 TS AK # ZERO THE INPUTS ON FIRST PASS 044908,000462: 21,2445 55477 TS AK1 044909,000463: 21,2446 55500 TS AK2 044910,000464: 21,2447 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS 044911,000465: 21,2450 55504 TS EDRIVEY 044912,000466: 21,2451 55505 TS EDRIVEZ 044913,000467: 21,2452 54050 TS CDUXCMD # ZERO THE OUT COUNTERS 044914,000468: 21,2453 54051 TS CDUYCMD 044915,000469: 21,2454 54052 TS CDUZCMD 044916,000470: 21,2455 46211 CS SIX # RESET RCSFLAGS FOR PASS2 044917,000471: 21,2456 71501 MASK RCSFLAGS 044918,000472: 21,2457 65016 AD BIT2 044919,000473: 21,2460 55501 TS RCSFLAGS 044920,000474: 21,2461 00002 TC Q # END PASS1 044921,000475: 044922,000476: 21,2462 35012 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS 044923,000477: 21,2463 00006 EXTEND 044924,000478: 21,2464 05012 WOR CHAN12 044925,000479: 21,2465 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE 044926,000480: # Page 1012 044927,000481: 21,2466 71501 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR 044928,000482: 21,2467 55501 TS RCSFLAGS # RELAY CLOSURE 044929,000483: 21,2470 00002 TC Q 044930,000484: 044931,000485: 21,2471 35012 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER 044932,000486: 21,2472 00006 EXTEND # IS ENABLED 044933,000487: 21,2473 02012 RAND CHAN12 044934,000488: 21,2474 00006 EXTEND # IF NOT RECYCLE NEEDLES 044935,000489: 21,2475 12425 BZF NEEDLER +5 044936,000490: 044937,000491: 21,2476 35016 NEEDLES CAF TWO 044938,000492: 21,2477 55506 DACLOOP TS SPNDX 044939,000493: 21,2500 45003 CS QUARTER 044940,000494: 21,2501 00006 EXTEND 044941,000495: 21,2502 51506 INDEX SPNDX 044942,000496: 21,2503 71476 MP AK 044943,000497: 21,2504 54001 TS L 044944,000498: 21,2505 10000 CCS A 044945,000499: 21,2506 32542 CA DACLIMIT 044946,000500: 21,2507 12511 TCF +2 044947,000501: 21,2510 42542 CS DACLIMIT 044948,000502: 21,2511 60001 AD L 044949,000503: 21,2512 55502 TS T5TEMP # OVFLO CHK 044950,000504: 21,2513 12517 TCF +4 044951,000505: 21,2514 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384 044952,000506: 21,2515 32542 CAF DACLIMIT 044953,000507: 21,2516 54001 TS L 044954,000508: 21,2517 51506 INDEX SPNDX 044955,000509: 21,2520 41503 CS EDRIVEX # CURRENT VALUE OF DAC 044956,000510: 21,2521 60001 AD L 044957,000511: 21,2522 51506 INDEX SPNDX 044958,000512: 21,2523 26050 ADS CDUXCMD 044959,000513: 21,2524 51506 INDEX SPNDX 044960,000514: 21,2525 23503 LXCH EDRIVEX 044961,000515: 21,2526 11506 CCS SPNDX 044962,000516: 21,2527 12477 TCF DACLOOP 044963,000517: 21,2530 37707 CAF 13,14,15 044964,000518: 21,2531 00006 EXTEND 044965,000519: 21,2532 05014 WOR CHAN14 # SET DAC ACTIVITY BITS 044966,000520: 21,2533 00002 TC Q 044967,000521: 044968,000522: 21,2534 32540 REINIT CAF DELAY200 # ........TILT LOGIC 044969,000523: 21,2535 54030 TS TIME5 # REINITIALIZE DAP IN 200MS 044970,000524: 21,2536 55465 TS T5PHASE 044971,000525: 21,2537 15333 TCF RESUME 044972,000526: 21,2540 37754 DELAY200 DEC 16364 B-14 # 200MS 044973,000527: 044974,000528: 21,2541 77177 DEC -384 B-14 044975,000529: 044976,000530: # Page 1013 044977,000531: 21,2542 37200 DACLIMIT DEC 16000 B-14 044978,000532: 21,2543 00600 DEC 384 B-14 044979,000533: 044980,000534: # Page 1014 044981,000535: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT 044982,000536: 044983,000537: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY 044984,000538: 044985,000539: # WBODY (+1) DFT TAU2 044986,000540: # WBODY1 (+1) DFT1 BIAS 044987,000541: # WBODY2 (+1) DFT2 BIAS1 044988,000542: # ADOT (+1) DRHO (+1) BIAS2 044989,000543: # ADOT1 (+1) DRHO1 (+1) ERRORX 044990,000544: # ADOT2 (+1) DRHO2 (+1) ERRORY 044991,000545: # MERRORX (+1) ATTSEC ERRORZ 044992,000546: # MERRORY (+1) TAU 044993,000547: # MERRORZ (+1) TAU1 044994,000548: 044995,000549: 21,2544 35017 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC 044996,000550: 21,2545 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN 044997,000551: # ATTITUDE HOLD REFERENCE 044998,000552: 044999,000553: 21,2546 04740 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS 045000,000554: 21,2547 40347 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT 045001,000555: 045002,000556: 21,2550 04740 TC IBNKCALL # DECODE IXX, IAVG, AND CONVERT 045003,000557: 21,2551 40500 CADR S40.14 # TO AUTOPILOT GAINS 045004,000558: 045005,000559: 21,2552 32623 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE 045006,000560: 21,2553 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS 045007,000561: 21,2554 35021 CAF ZERO 045008,000562: 21,2555 51506 INDEX SPNDX 045009,000563: 21,2556 55525 TS WBODY 045010,000564: 21,2557 11506 CCS SPNDX 045011,000565: 21,2560 12553 TCF ZEROT5 045012,000566: 21,2561 02632 TCR ZEROJET 045013,000567: 045014,000568: 21,2562 45021 CS ZERO 045015,000569: 21,2563 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL 045016,000570: 045017,000571: 21,2564 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR 045018,000572: # MANUAL RATE MODES 045019,000573: 045020,000574: 21,2565 32624 CAF =.24 045021,000575: 21,2566 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE 045022,000576: 045023,000577: 21,2567 35015 CAF FOUR 045024,000578: 21,2570 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN 045025,000579: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT 045026,000580: # IN (80MS - T5TIME(40MS)). THEREFORE 045027,000581: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100 045028,000582: # MS FROM NOW AND EVERY 100MS THEREAFTER. 045029,000583: 045030,000584: 21,2571 35024 CAF ELEVEN 045031,000585: 21,2572 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER TAINS 045032,000586: # TO INITIALIZE THE S/C ANGULAR RATES 045033,000587: # Page 1015 045034,000588: 21,2573 30032 CA CDUX 045035,000589: 21,2574 55635 TS RHO 045036,000590: 21,2575 30033 CA CDUY 045037,000591: 21,2576 55636 TS RHO1 045038,000592: 21,2577 30034 CA CDUZ 045039,000593: 21,2600 55637 TS RHO2 045040,000594: 21,2601 35021 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING 045041,000595: 21,2602 55465 TS T5PHASE # PHASE2 OF PROGRAM 045042,000596: 045043,000597: 21,2603 41321 CS IMODES33 # CHECK IMU STATUS 045044,000598: 21,2604 75012 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN 045045,000599: 21,2605 10000 CCS A # IF BIT6 = 1 IMU NOT READY 045046,000600: 21,2606 12612 TCF IMUAOK 045047,000601: 21,2607 55617 TS ATTKALMN # CANNOT USE IMU 045048,000602: 21,2610 32626 CAF RCSINITB # PROVIDE FREE CONTROL ONLY 045049,000603: 21,2611 12617 TCF RCSSWIT # DON'T START UP RATE FILTER 045050,000604: # SIGNAL NO RATE FILTER 045051,000605: 045052,000606: 21,2612 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION 045053,000607: 21,2613 05134 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN 045054,000608: 21,2614 E6,1510 EBANK= KMPAC 045055,000609: 21,2614 03447 44066 2CADR AMBGUPDT 045056,000610: 045057,000611: 21,2616 32625 CAF RCSINIT # CLEAR BIT14 --ASSUME WE HAVE A GOOD IMU 045058,000612: 21,2617 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM 045059,000613: # SET BIT3 --INITIALIZE NEEDLES 045060,000614: # CLEAR BIT4 --RESET FOR FDAIDSP1 045061,000615: 21,2620 32627 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU 045062,000616: # ERROR COUNTER TO ZERO. 045063,000617: # (MINIMUM DELAY = 15 MS) 045064,000618: 21,2621 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN 045065,000619: 21,2622 05333 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE 045066,000620: # FILTER WILL BEGIN OPERATING ZOOMS FROM 045067,000621: # NOW 045068,000622: 045069,000623: # CONSTANTS USED IN INITIALIZATION PROGRAM 045070,000624: 045071,000625: 21,2623 00044 NO.T5VAR DEC 36 B-14 045072,000626: 21,2624 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC 045073,000627: 21,2625 00004 RCSINIT OCT 00004 045074,000628: 21,2626 20004 RCSINITB OCT 20004 045075,000629: 21,2627 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS 045076,000630: 21,2630 E6,1510 EBANK= KMPAC 045077,000631: 21,2630 03617 36066 T6ADDR 2CADR T6START 045078,000632: 045079,000633: 21,2632 35024 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2, 045080,000634: 21,2633 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2, 045081,000635: 21,2634 35021 CAF ZERO # AND RWORD1 045082,000636: 045083,000637: # Page 1016 045084,000638: 21,2635 51506 INDEX SPNDX 045085,000639: 21,2636 55451 TS RWORD1 045086,000640: 21,2637 11506 CCS SPNDX 045087,000641: 21,2640 12633 TCF ZEROJET +1 045088,000642: 045089,000643: 21,2641 35015 CAF FOUR 045090,000644: 21,2642 55462 TS BLAST1 +1 045091,000645: 21,2643 35024 CAF ELEVEN 045092,000646: 21,2644 55464 TS BLAST2 +1 045093,000647: 045094,000648: 21,2645 45017 CS BIT1 045095,000649: 21,2646 71501 MASK RCSFLAGS 045096,000650: 21,2647 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0 045097,000651: 045098,000652: 21,2650 00006 EXTEND 045099,000653: 21,2651 32631 DCA T6ADDR 045100,000654: 21,2652 53311 DXCH T6LOC 045101,000655: 21,2653 33050 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS. 045102,000656: 21,2654 54031 TS TIME6 045103,000657: 21,2655 35001 CAF BIT15 045104,000658: 21,2656 00006 EXTEND 045105,000659: 21,2657 05013 WOR CHAN13 045106,000660: 045107,000661: 21,2660 00002 TC Q 045108,000662: 045109,000663: 21,2661 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE 045110,000664: 21,2662 13146 TCF KALUPDT 045111,000665: 045112,000666: 21,2663 12665 TCF +2 # ONLY IF ATTKALMN POSITIVE 045113,000667: 21,2664 12665 TCF +1 045114,000668: 21,2665 32156 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS 045115,000669: 21,2666 56030 XCH TIME5 # (JET SELECTION LOGIC) 045116,000670: 21,2667 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT 045117,000671: 045118,000672: 21,2670 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN 045119,000673: 21,2671 75001 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET 045120,000674: 21,2672 00006 EXTEND # ATTKALMN TO -1 045121,000675: 21,2673 12675 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0. 045122,000676: 21,2674 45017 CS ONE 045123,000677: 21,2675 55617 NOHIAUTO TS ATTKALMN 045124,000678: 045125,000679: # Page 1017 045126,000680: # MANUAL ROTATION COMMANDS 045127,000681: 045128,000682: 21,2676 43032 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5 045129,000683: 21,2677 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO 045130,000684: 21,2700 55501 TS RCSFLAGS 045131,000685: 045132,000686: 21,2701 00006 EXTEND 045133,000687: 21,2702 00031 READ CHAN31 045134,000688: 21,2703 54001 TS L 045135,000689: 21,2704 31632 CA CH31TEMP 045136,000690: 21,2705 00006 EXTEND 045137,000691: 21,2706 06001 RXOR LCHAN 045138,000692: 21,2707 73036 MASK MANROT # = OCT00077 045139,000693: 21,2710 00006 EXTEND 045140,000694: 21,2711 62724 BZMF NOCHANGE 045141,000695: 045142,000696: 21,2712 22000 LXCH A 045143,000697: 21,2713 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP 045144,000698: 045145,000699: 21,2714 30001 CA L 045146,000700: 21,2715 00006 EXTEND 045147,000701: 21,2716 75013 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L 045148,000702: 21,2717 30001 CA L 045149,000703: 21,2720 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH 045150,000704: # CHANGES IN COMMAND. BITS 10,9 FOR 045151,000705: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR 045152,000706: # PITCH 045153,000707: 045154,000708: 21,2721 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND 045155,000709: 21,2722 73037 MASK OCT16000 # 11 OF RCSFLAGS) 045156,000710: 21,2723 27501 ADS RCSFLAGS 045157,000711: 045158,000712: 21,2724 41632 NOCHANGE CS CH31TEMP 045159,000713: 21,2725 73036 MASK MANROT 045160,000714: 21,2726 00006 EXTEND 045161,000715: 21,2727 63250 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT 045162,000716: 045163,000717: 21,2730 55332 TS HOLDFLAG # SET HOLDFLAG + 045164,000718: 045165,000719: 21,2731 03130 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX, 045166,000720: # YMANNDX, AND RMANNDX ARE ALL SET, BY 045167,000721: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO, 045168,000722: # +, OR - ROTATION RESPECTIVELY AS 045169,000723: # COMMANDED BY THE RHC. 045170,000724: 045171,000725: # HOWEVER, IT IS WELL TO NOTE THAT AFTER 045172,000726: # THE RHC IS RETURNED TO DETENT, THE 045173,000727: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS 045174,000728: # STICKCHK SO PMANNDX, YMANNDX, AND 045175,000729: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER 045176,000730: # LEFT SET TO THEIR LAST OUT OF DETENT 045177,000731: # Page 1018 045178,000732: # VALUES. 045179,000733: 045180,000734: 21,2732 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING 045181,000735: 21,2733 75002 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS 045182,000736: 21,2734 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT 045183,000737: 045184,000738: 21,2735 35002 CAF BIT14 045185,000739: 21,2736 00006 EXTEND 045186,000740: 21,2737 02031 RAND CHAN31 045187,000741: 21,2740 00006 EXTEND 045188,000742: 21,2741 63051 BZMF FREEFUNC 045189,000743: 045190,000744: 21,2742 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER 045191,000745: 21,2743 75002 MASK BIT14 # HAS BEEN INITIALIZED 045192,000746: 21,2744 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS 045193,000747: 21,2745 12534 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER 045194,000748: 045195,000749: 21,2746 45022 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RTE, SET 045196,000750: 21,2747 61130 AD RATEINDX # ATTKALMN TO -1. 045197,000751: 21,2750 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE. 045198,000752: 21,2751 62754 BZMF +3 045199,000753: 21,2752 45017 CS ONE 045200,000754: 21,2753 55617 TS ATTKALMN 045201,000755: 045202,000756: 21,2754 35016 CAF TWO # AUTO-HOLD MANUAL ROTATION 045203,000757: 21,2755 55506 SETWBODY TS SPNDX 045204,000758: 21,2756 60000 DOUBLE 045205,000759: 21,2757 55507 TS DPNDX 045206,000760: 21,2760 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION 045207,000761: 21,2761 31656 CA RMANNDX # = 1 + ROTATION 045208,000762: 21,2762 00006 EXTEND # = 2 - ROTATION 045209,000763: 21,2763 13005 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS, 045210,000764: # GO TO NORATE. 045211,000765: 045212,000766: 21,2764 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC 045213,000767: 21,2765 54002 TS Q # = 2 0.2 DEG/SEC 045214,000768: 21,2766 50002 INDEX Q # = 4 0.5 DEG/SEC 045215,000769: 21,2767 33037 CA MANTABLE -1 # = 6 2.0 DEG/SEC 045216,000770: 21,2770 00006 EXTEND 045217,000771: 21,2771 75007 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6 045218,000772: 21,2772 51507 INDEX DPNDX # TO GET COMMANDED RATE. 045219,000773: 21,2773 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE. 045220,000774: 045221,000775: 21,2774 31501 CA RCSFLAGS 045222,000776: 21,2775 73037 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND 045223,000777: 21,2776 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO 045224,000778: 21,2777 13015 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE 045225,000779: # ERROR. 045226,000780: 045227,000781: # Page 1019 045228,000782: 21,3000 35021 ZEROER CA ZERO # ZEROER ZEROS MERRORS 045229,000783: 21,3001 22007 ZL 045230,000784: 21,3002 51507 INDEX DPNDX 045231,000785: 21,3003 53542 DXCH MERRORX 045232,000786: 21,3004 13023 TCF SPNDXCHK 045233,000787: 045234,000788: 21,3005 22007 NORATE ZL 045235,000789: 21,3006 51507 INDEX DPNDX 045236,000790: 21,3007 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS 045237,000791: 21,3010 31501 CA RCSFLAGS 045238,000792: 21,3011 73037 MASK OCT16000 045239,000793: 21,3012 00006 EXTEND # IS RATE DAMPING COMPLETED 045240,000794: 21,3013 13023 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK 045241,000795: 21,3014 13000 TCF ZEROER # NO, GO TO ZEROER 045242,000796: 045243,000797: 21,3015 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE 045244,000798: 21,3016 43037 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE 045245,000799: 21,3017 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE 045246,000800: 21,3020 75011 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER 045247,000801: 21,3021 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES 045248,000802: 21,3022 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8 045249,000803: 045250,000804: 21,3023 51507 SPNDXCHK INDEX DPNDX 045251,000805: 21,3024 31541 CA MERRORX 045252,000806: 21,3025 51506 INDEX SPNDX 045253,000807: 21,3026 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX 045254,000808: 21,3027 11506 CCS SPNDX 045255,000809: 21,3030 12755 TCF SETWBODY 045256,000810: 21,3031 13441 TCF JETS 045257,000811: 045258,000812: 21,3032 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK 045259,000813: 045260,000814: 21,3033 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF 045261,000815: 21,3034 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION 045262,000816: 21,3035 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE 045263,000817: # PRESERVED 045264,000818: # FOR INDEXING 045265,000819: 21,3036 00077 MANROT OCT 77 045266,000820: 21,3037 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK 045267,000821: 21,3040 00165 MANTABLE DEC .0071111 045268,000822: 21,3041 77612 DEC -.0071111 045269,000823: 21,3042 00722 DEC .028444 045270,000824: 21,3043 77055 DEC -0.028444 045271,000825: 21,3044 02215 DEC .071111 045272,000826: 21,3045 75562 DEC -.071111 045273,000827: 21,3046 11064 DEC .284444 045274,000828: 21,3047 66713 DEC -.284444 045275,000829: 21,3050 00027 =+14MS DEC 23 B-14 045276,000830: 21,3051 51656 FREEFUNC INDEX RMANNDX # ACCELERATION 045277,000831: # Page 1020 045278,000832: 21,3052 33063 CA FREETAU # COMMANDS 045279,000833: 21,3053 55561 TS TAU 045280,000834: 21,3054 51657 INDEX PMANNDX 045281,000835: 21,3055 33063 CA FREETAU # FREETAU 0 SEC 045282,000836: 21,3056 55562 TS TAU1 # +1 +0.10 SEC 045283,000837: 21,3057 51660 INDEX YMANNDX # +2 -0.10 SEC 045284,000838: 21,3060 33063 CA FREETAU # (+3) 0 SEC 045285,000839: 21,3061 55563 TS TAU2 045286,000840: 21,3062 13067 TCF T6PROGM 045287,000841: 045288,000842: 21,3063 00000 FREETAU DEC 0 B-14 045289,000843: 21,3064 00740 DEC 480 B-14 045290,000844: 21,3065 77037 DEC -480 B-14 045291,000845: 21,3066 00000 DEC 0 B-14 045292,000846: 045293,000847: 21,3067 35021 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS 045294,000848: 21,3070 55567 TS ERRORX 045295,000849: 21,3071 55570 TS ERRORY 045296,000850: 21,3072 55571 TS ERRORZ 045297,000851: 21,3073 13757 TCF T6PROG 045298,000852: 045299,000853: # Page 1021 045300,000854: 21,3074 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON 045301,000855: 21,3075 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT 045302,000856: 21,3076 06604 DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS 045303,000857: 21,3077 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION 045304,000858: 21,3100 12132 DEC .3180 # OF ATTITUDE RATES 045305,000859: 21,3101 13030 DEC .3452 045306,000860: 21,3102 14047 DEC .3774 045307,000861: 21,3103 15241 DEC .4161 045308,000862: 21,3104 16650 DEC .4634 045309,000863: 21,3105 20555 DEC .5223 045310,000864: 21,3106 23065 DEC .5970 045311,000865: 21,3107 26137 DEC .6933 045312,000866: 21,3110 32053 DEC .8151 045313,000867: 21,3111 35712 DEC .9342 045314,000868: 045315,000869: 21,3112 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON 045316,000870: 21,3113 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT 045317,000871: 21,3114 00435 DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS 045318,000872: 21,3115 00032 GAIN2 DEC .0016 # SCALED 10 045319,000873: 21,3116 01350 DEC .0454 045320,000874: 21,3117 01575 DEC .0545 045321,000875: 21,3120 02103 DEC .0666 045322,000876: 21,3121 02523 DEC .0832 045323,000877: 21,3122 03327 DEC .1069 045324,000878: 21,3123 04432 DEC .1422 045325,000879: 21,3124 06264 DEC .1985 045326,000880: 21,3125 11351 DEC .2955 045327,000881: 21,3126 17324 DEC .4817 045328,000882: 21,3127 33622 DEC .8683 045329,000883: 21,3130 55502 STICKCHK TS T5TEMP 045330,000884: 21,3131 76214 MASK THREE # INDICES FOR MANUAL ROTATION 045331,000885: 21,3132 55657 TS PMANNDX 045332,000886: 21,3133 31502 CA T5TEMP 045333,000887: 21,3134 00006 EXTEND # MAN RATE 0 0 RATE (DP) 045334,000888: 21,3135 75003 MP QUARTER # +1 + RATE (DP) 045335,000889: 21,3136 55502 TS T5TEMP # +2 - RATE (DP) 045336,000890: 21,3137 76214 MASK THREE # (+3) 0 RATE (DP) 045337,000891: 21,3140 55660 TS YMANNDX 045338,000892: 21,3141 31502 CA T5TEMP 045339,000893: 21,3142 00006 EXTEND 045340,000894: 21,3143 75003 MP QUARTER 045341,000895: 21,3144 55656 TS RMANNDX 045342,000896: 21,3145 00002 TC Q 045343,000897: 21,3146 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING 045344,000898: # KALMAN FILTER TAKES 1.1 SEC 045345,000899: 045346,000900: 21,3147 32155 CA DELTATT # =1SEC - 80MS 045347,000901: 21,3150 61634 AD T5TIME # + DELAYS 045348,000902: # Page 1022 045349,000903: 21,3151 54030 TS TIME5 045350,000904: 21,3152 13155 TCF +3 045351,000905: 21,3153 32156 CAF DELTATT2 # SAFETY PLAY TO ASSURE 045352,000906: 21,3154 54030 TS TIME5 # A T5RUPT 045353,000907: 045354,000908: 21,3155 45021 KRESUME2 CS ZERO # RESET FOR PHASE1 045355,000909: 21,3156 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM 045356,000910: 21,3157 15333 TCF RESUME 045357,000911: 045358,000912: 21,3160 45014 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1 045359,000913: 21,3161 71501 MASK RCSFLAGS 045360,000914: 21,3162 55501 TS RCSFLAGS 045361,000915: 045362,000916: 21,3163 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE 045363,000917: 21,3164 75007 MASK BIT9 # ERRORS 045364,000918: 21,3165 00006 EXTEND 045365,000919: 21,3166 13175 BZF FDAITOTL 045366,000920: 21,3167 00006 EXTEND 045367,000921: 21,3170 41570 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR 045368,000922: 21,3171 53477 DXCH AK 045369,000923: 21,3172 41571 CS ERRORZ 045370,000924: 21,3173 55500 TS AK2 045371,000925: 21,3174 15333 TCF RESUME # END PHASE 1 045372,000926: 045373,000927: 21,3175 30105 FDAITOTL CA FLAGWRD9 045374,000928: 21,3176 75012 MASK BIT6 045375,000929: 21,3177 00006 EXTEND 045376,000930: 21,3200 13243 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0 045377,000931: # IF SO, GO TO WRTN17 045378,000932: 21,3201 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND 045379,000933: 21,3202 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE 045380,000934: 21,3203 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE 045381,000935: 21,3204 31155 CA CPHI # COMPONENTS OF N22 045382,000936: 045383,000937: 21,3205 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR 045384,000938: 21,3206 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES 045385,000939: 21,3207 55476 TS AK 045386,000940: 21,3210 31513 CA WTEMP 045387,000941: 21,3211 00006 EXTEND 045388,000942: 21,3212 20033 MSU CDUY 045389,000943: 21,3213 55502 TS T5TEMP 045390,000944: 21,3214 00006 EXTEND 045391,000945: 21,3215 71640 MP AMGB1 045392,000946: 21,3216 27476 ADS AK 045393,000947: 21,3217 31502 CA T5TEMP 045394,000948: 21,3220 00006 EXTEND 045395,000949: 21,3221 71641 MP AMGB4 045396,000950: # Page 1023 045397,000951: 21,3222 55477 TS AK1 045398,000952: 21,3223 31502 CA T5TEMP 045399,000953: 21,3224 00006 EXTEND 045400,000954: 21,3225 71643 MP AMGB7 045401,000955: 21,3226 55500 TS AK2 045402,000956: 21,3227 31514 CA WTEMP +1 045403,000957: 21,3230 00006 EXTEND 045404,000958: 21,3231 20034 MSU CDUZ 045405,000959: 21,3232 55502 TS T5TEMP 045406,000960: 21,3233 00006 EXTEND 045407,000961: 21,3234 71642 MP AMGB5 045408,000962: 21,3235 27477 ADS AK1 045409,000963: 21,3236 31502 CA T5TEMP 045410,000964: 21,3237 00006 EXTEND 045411,000965: 21,3240 71644 MP AMGB8 045412,000966: 21,3241 27500 ADS AK2 045413,000967: 21,3242 15333 TCF RESUME # END PHASE1 OF RCS DAP 045414,000968: 045415,000969: 21,3243 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT 045416,000970: 21,3244 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP 045417,000971: 21,3245 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17 045418,000972: 21,3246 31333 CA CPHIX 045419,000973: 21,3247 13205 TCF GETAKS 045420,000974: 045421,000975: # Page 1024 (empty page) 045422,000976: End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc