Source Code
014011,000001: # Copyright: Public domain.
014012,000002: # Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014013,000003: # Purpose: A section of Luminary 1C, revision 131.
014014,000004: # It is part of the source code for the Lunar Module's (LM)
014015,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
014016,000006: # This file is intended to be a faithful transcription, except
014017,000007: # that the code format has been changed to conform to the
014018,000008: # requirements of the yaYUL assembler rather than the
014019,000009: # original YUL assembler.
014020,000010: # Reference: pp. 349-370 of 1729.pdf.
014021,000011: # Contact: Ron Burkey <info@sandroid.org>.
014022,000012: # Website: www.ibiblio.org/apollo/index.html
014023,000013: # Mod history: 05/10/03 RSB. Began transcribing.
014024,000014: # 05/14/05 RSB Corrected website reference above.
014025,000015: # 2010-08-24 JL Added missing page number comments.
014026,000016:
014027,000017: # Page 349
014028,000018: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU
014029,000019:
014030,000020: # MOD 2 DATE 5/1/67 BY DONE KEENE
014031,000021:
014032,000022: # PROGRAM DESCRIPTION
014033,000023:
014034,000024: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014035,000025: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014036,000026: # ORIENTATION SPECIFIED BY TEH PROGRAM WHICH CLALS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014037,000027: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT
014038,000028: # SINGLE PRECISION ANGLES IN TEH THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014039,000029:
014040,000030: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014041,000031: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014042,000032: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014043,000033:
014044,000034: # WHEN POINTING A SPACECRAFT AXIS (I.E., X, Y, Z, THE AOT, THRUST AXIS, ETC.) THE SUBROUTINE VECPOINT MAY BE
014045,000035: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60).
014046,000036:
014047,000037: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALEN ROTATION (COF ALSO U) AND THE
014048,000038: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014049,000039: # THIS DIRECTION REMAINS FIXED BOTH IN INERTAIL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014050,000040: # _
014051,000041: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014052,000042: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014053,000043: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014054,000044: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014055,000045:
014056,000046: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014057,000047: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014058,000048: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATED,
014059,000049: # THE PROGRAM ALSO GENEATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014060,000050: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014061,000051: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014062,000052:
014063,000053: # AUTOMATIC MANEUVERS ARE TIMED WTH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014064,000054: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014065,000055: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DU TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW AMNEUVER IS
014066,000056: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014067,000057: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014068,000058: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014069,000059: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014070,000060: # DESIRED GIMBAL ANGLES.
014071,000061:
014072,000062: # PROGRAM LOGIC FLOW
014073,000063:
014074,000064: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014075,000065: # UP THE CURREN CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
014076,000066: # Page 350
014077,000067: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014078,000068: # * * *
014079,000069: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014080,000070: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TEST ARE MADE TO DETERMIN IF
014081,000071:
014082,000072: # A) AM LESS THAN .25 DEGREES (MINANG)
014083,000073: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014084,000074:
014085,000075: # IF AM IS LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THREFORE, WE CAN SIMPLY
014086,000076: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014087,000077:
014088,000078: # IF AM IS GRATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES THE AXES OF TEH SINGLE EQUIVALENT ROTATION
014089,000079: # _ *
014090,000080: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI.
014091,000081: # * *
014092,000082: # IF AM GREATER T;HAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014093,000083: # _
014094,000084: # TO DETERMINE COF.
014095,000085:
014096,000086: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014097,000087: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014098,000088: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014099,000089: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014100,000090: # YAW.
014101,000091:
014102,000092: # AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014103,000093: # _
014104,000094: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014105,000095: # DESIRED REFERENC MATRIX IS THEN,
014106,000096: # * * *
014107,000097: # MIS = MIS DEL
014108,000098: # N+1 N
014109,000099: # *
014110,000100: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014111,000101: # *
014112,000102: # FROM MIS.
014113,000103:
014114,000104: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014115,000105: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014116,000106: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014117,000107: # (TIME1 AND TIME2) ARE THEN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014118,000108: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THSI
014119,000109: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014120,000110:
014121,000111: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014122,000112: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014123,000113:
014124,000114: # Page 351
014125,000115: # CALLING SEQUENCE
014126,000116:
014127,000117: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014128,000118: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014129,000119: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014130,000120: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014131,000121: # *
014132,000122: # CAF PRIO XX
014133,000123: # --
014134,000124: # INHINT
014135,000125: # TC FINDVAC
014136,000126: # 2CADR KALCMAN3
014137,000127: # RELINT
014138,000128:
014139,000129: # THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014140,000130: # WAIT, HE MAY PUT HIS JOB TO SLEEP WTH THE FOLLOWING INSTRUCTIONS:
014141,000131:
014142,000132: # L TC BANKCALL
014143,000133: # L+1 CADR ATTSTALL
014144,000134: # L+2 (BAD RETURN)
014145,000135: # L+3 (GOOD RETURN)
014146,000136:
014147,000137: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014148,000138: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014149,000139: # WAS IN GIMBAL LOCK.
014150,000140:
014151,000141: # *** NOTA BENE *** IF IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY
014152,000142: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014153,000143:
014154,000144: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014155,000145: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014156,000146: # SUBROUTINES.
014157,000147:
014158,000148: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014159,000149: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014160,000150:
014161,000151: # MXM3
014162,000152: # ----
014163,000153:
014164,000154: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014165,000155: # DOWN LIST, I.E.,
014166,000156: # [ M M M ]
014167,000157: # [ 0 1 2 ]
014168,000158: # * [ ] * *
014169,000159: # M = [ M M M ] = M1 X M2
014170,000160: # [ 3 4 5 ]
014171,000161: # [ ]
014172,000162: # [ M M M ]
014173,000163: # [ 6 7 8 ]
014174,000164: # Page 352
014175,000165: # *
014176,000166: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014177,000167: # *
014178,000168: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014179,000169: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014180,000170: # 8
014181,000171: # TRANSPOS
014182,000172: # --------
014183,000173:
014184,000174: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014185,000175: #
014186,000176: # * * T
014187,000177: # M = M1
014188,000178:
014189,000179: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014190,000180: # *
014191,000181: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014192,000182:
014193,000183: # CDU TO DCM
014194,000184: # ----------
014195,000185:
014196,000186: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014197,000187: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014198,000188:
014199,000189: # M = COSY COSZ
014200,000190: # 0
014201,000191:
014202,000192: # M = -COSY SINZ COSX + SINY SINX
014203,000193: # 1
014204,000194:
014205,000195: # M = COSY SINZ SINX + SINY COSX
014206,000196: # 2
014207,000197:
014208,000198: # M = SINZ
014209,000199: # 3
014210,000200:
014211,000201: # M = COSZ COSX
014212,000202: # 4
014213,000203:
014214,000204: # M = -COSZ SINX
014215,000205: # 5
014216,000206:
014217,000207: # M = -SINY COSZ
014218,000208: # 6
014219,000209: #
014220,000210: # M = SINY SINZ COSX + COSY SINX
014221,000211: # 7
014222,000212: # Page 353
014223,000213: # M = -SINY SINZ SINX + COSY COSX
014224,000214: # 8
014225,000215:
014226,000216: # WHERE X = OUTER GIMBAL ANGLE
014227,000217: # Y = INNER GIMBAL ANGLE
014228,000218: # Z = MIDDLE GIMBAL ANGLE
014229,000219:
014230,000220: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS:
014231,000221:
014232,000222: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014233,000223: # X Y Z
014234,000224: # STABLE MEMBER AXES (B , B , B ) ARE
014235,000225: # X Y Z
014236,000226:
014237,000227: # [ B ] [ A ]
014238,000228: # [ X ] [ X ]
014239,000229: # [ ] [ ]
014240,000230: # [ B ] * [ A ]
014241,000231: # [ Y ] = M [ Y ]
014242,000232: # [ ] [ ]
014243,000233: # [ B ] [ B ]
014244,000234: # [ Z ] [ Z ]
014245,000235:
014246,000236: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014247,000237: # *
014248,000238: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014249,000239:
014250,000240: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014251,000241: # REGISTER X2.
014252,000242:
014253,000243: # DCM TO CDU
014254,000244: # ----------
014255,000245:
014256,000246: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROMA DIRECTION COSINE MATRIX (M SCALED BY 2) RELATIVE S/C AXIS TO
014257,000247: # *
014258,000248: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014259,000249: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1'S COMPLEMENT ANGLES ACALED BY 2PI. THE FORMULAS
014260,000250: # FOR THIS CONVERSION ARE
014261,000251:
014262,000252: # Z = ARCSIN (M )
014263,000253: # 3
014264,000254:
014265,000255: # Y = ARCSIN (-M /COSZ)
014266,000256: # 6
014267,000257:
014268,000258: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y.
014269,000259: # 0
014270,000260: # Page 354
014271,000261: # X = ARCSIN (-M /COSZ)
014272,000262: # 5
014273,000263:
014274,000264: # IF M IS NEGATIVE, X IS REPLACED BY PI SGN X - X.
014275,000265: # 4
014276,000266:
014277,000267: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014278,000268: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014279,000269: # THE PUSH DOWN LIST.
014280,000270:
014281,000271: # DELCOMP
014282,000272: # -------
014283,000273: # *
014284,000274: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON (material missing)
014285,000275: # _
014286,000276: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR U. THE FORMULA FOR THIS MATRIX IS
014287,000277:
014288,000278: # * * _ _T *
014289,000279: # DEL = I COSA + U U (1 - COSA) + V SINA
014290,000280: # X
014291,000281:
014292,000282: # WHERE * [ 1 0 0 ]
014293,000283: # I = [ 0 1 0 ]
014294,000284: # [ 0 0 1 ]
014295,000285:
014296,000286: # [ 2 ]
014297,000287: # [ U U U U U ]
014298,000288: # [ X X Y X Z ]
014299,000289: # [ ]
014300,000290: # _ _T [ 2 ]
014301,000291: # U U = [ U U U U U ]
014302,000292: # [ Y X Y Y Z ]
014303,000293: # [ ]
014304,000294: # [ 2 ]
014305,000295: # [ U U U U U ]
014306,000296: # [ Z X X Y Z ]
014307,000297:
014308,000298:
014309,000299: # [ 0 -U U ]
014310,000300: # [ Z Y ]
014311,000301: # * [ ]
014312,000302: # V = [ U 0 -U ]
014313,000303: # X [ Z X ]
014314,000304: # [ ]
014315,000305: # [ -U U 0 ]
014316,000306: # [ Y X ]
014317,000307:
014318,000308: # Page 355
014319,000309: # _
014320,000310: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES.
014321,000311: # A = ROTATION ANGLE
014322,000312:
014323,000313: # *
014324,000314: # THE INTERPRETATION OF DEL IS AS FOLLOWS:
014325,000315:
014326,000316: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014327,000317: # X Y Z
014328,000318: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014329,000319: # X Y Z
014330,000320:
014331,000321: # [ B ] [ A ]
014332,000322: # [ X ] [ X ]
014333,000323: # [ ] [ ]
014334,000324: # [ B ] * [ A ]
014335,000325: # [ Y ] = DEL [ Y ]
014336,000326: # [ ] [ ]
014337,000327: # [ B ] [ B ]
014338,000328: # [ Z ] [ Z ]
014339,000329:
014340,000330: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014341,000331: # _
014342,000332: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (garbled UNIT
014343,000333: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABEL LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014344,000334: # MUST THEN BE LOADED INTO D(MPAC).
014345,000335: #
014346,000336: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014347,000337:
014348,000338: # READCDUK
014349,000339: # --------
014350,000340:
014351,000341: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014352,000342:
014353,000343: # SIGNMPAC
014354,000344: # --------
014355,000345:
014356,000346: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014357,000347:
014358,000348: # PROGRAM STORAGE ALLOCATION
014359,000349:
014360,000350: # 1) FIXED MEMORY 1059 WORDS
014361,000351: # 2) ERASABLE MEMORY 98
014362,000352: # 3) STATE SWITCHES 3
014363,000353: # Page 356
014364,000354: # 4) FLAGS 1
014365,000355:
014366,000356: # JOB PRIORITIES
014367,000357:
014368,000358: # 1) KALCMANU TBD
014369,000359: # 2) ONE SECOND UPDATE TBD
014370,000360:
014371,000361: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014372,000362:
014373,000363: # STATE FLAGWRD 2 SETTING MEANING
014374,000364: # SWITCH NO. BIT NO.
014375,000365:
014376,000366: # *
014377,000367: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014378,000368: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014379,000369: # *
014380,000370: # 32 13 0 CONTINUE UPDATE PROCESS
014381,000371: # 1 START UPDATE PROCESS
014382,000372:
014383,000373: # 33 12 0 PERFORM FINAL P AXIS YAW IF REQUIRED
014384,000374: # 1 IGNORE ANY FINAL P-AXIS YAW
014385,000375:
014386,000376: # 34 11 0 SIGNAL END OF KALCMANU
014387,000377: # 1 KALCMANU IN PROCESS. USER MUST SET SWITCH BEFORE INITIATING
014388,000378:
014389,000379: # * INTERNAL TO KALCMANU
014390,000380:
014391,000381: # SUGGESTIONS FOR PROGRAM INTEGRATION
014392,000382:
014393,000383: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE:
014394,000384:
014395,000385: # CPHI
014396,000386: # CTHETA
014397,000387: # CPSI
014398,000388: # POINTVSM +5
014399,000389: # SCAXIS +5
014400,000390: # DELDCDU
014401,000391: # DELDCDU1
014402,000392: # DELDCDU2
014403,000393: # RATEINDX
014404,000394:
014405,000395: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014406,000396:
014407,000397: # MXM3
014408,000398: # Page 357
014409,000399: # TRANSPGS
014410,000400: # SIGNMPAC
014411,000401: # READCDUK
014412,000402: # CDUTODCM
014413,000403:
014414,000404: # Page 358
014415,000405: 15,2050 BANK 15
014416,000406: 22,2000 SETLOC KALCMON1
014417,000407: 22,2000 BANK
014418,000408:
014419,000409: 22,2004 E6,1675 EBANK= BCDU
014420,000410:
014421,000411: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWO'S COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014422,000412: # LOCATIONS, CPHI, CTHETA, CPSI.
014423,000413:
014424,000414: 22,2004 COUNT* $$/KALC
014425,000415: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014426,000416: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014427,000417: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES.
014428,000418: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
014429,000419: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014430,000420: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014431,000421: 22,2012 51025 DSU BPL
014432,000422: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014433,000423: 22,2014 44724 TOOBADF
014434,000424: 22,2015 72364 AXC,2 TLOAD
014435,000425: 22,2016 03245 MIS
014436,000426: 22,2017 03276 BCDU
014437,000427: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014438,000428: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014439,000429: 22,2022 72364 AXC,2 TLOAD
014440,000430: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014441,000431: 22,2024 00322 CPHI
014442,000432: 22,2025 77624 CALL
014443,000433: 22,2026 44410 CDUTODCM
014444,000434: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED
014445,000435: 22,2030 03245 MIS
014446,000436: 22,2031 44326 TRANSPOS
014447,000437: 22,2032 45575 VLOAD STADR
014448,000438: 22,2033 50460 STOVL TMIS +12D
014449,000439: 22,2034 77626 STADR
014450,000440: 22,2035 50466 STOVL TMIS +6
014451,000441: 22,2036 77626 STADR
014452,000442: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014453,000443: 22,2040 75160 AXC,1 AXC,2
014454,000444: 22,2041 03302 TMIS
014455,000445: 22,2042 02230 MFS
014456,000446: 22,2043 77624 CALL
014457,000447: 22,2044 44312 MXM3
014458,000448: 22,2045 45575 VLOAD STADR
014459,000449: 22,2046 51532 STOVL MFI +12D
014460,000450: 22,2047 77626 STADR
014461,000451: 22,2050 51540 STOVL MFI +6
014462,000452: 22,2051 77626 STADR
014463,000453: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014464,000454: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
014465,000455: # Page 359
014466,000456: 22,2054 00023 18D
014467,000457: 22,2055 44335 TRNSPSPD
014468,000458: 22,2056 45575 VLOAD STADR
014469,000459: 22,2057 50460 STOVL TMFI +12D
014470,000460: 22,2060 77626 STADR
014471,000461: 22,2061 50466 STOVL TMFI +6
014472,000462: 22,2062 77626 STADR
014473,000463: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014474,000464:
014475,000465: # CALCULATE COFSKEW AND MFISYM
014476,000466:
014477,000467: 22,2064 45345 DLOAD DSU
014478,000468: 22,2065 03305 TMFI +2
014479,000469: 22,2066 02233 MFI +2
014480,000470: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014481,000471: 22,2070 02235 MFI +4
014482,000472: 22,2071 03307 TMFI +4
014483,000473: 22,2072 45325 PDDL DSU
014484,000474: 22,2073 03315 TMFI +10D
014485,000475: 22,2074 02243 MFI +10D
014486,000476: 22,2075 77666 VDEF
014487,000477: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
014488,000478:
014489,000479: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014490,000480:
014491,000481: 22,2077 43345 DLOAD DAD
014492,000482: 22,2100 02231 MFI
014493,000483: 22,2101 02251 MFI +16D
014494,000484: 22,2102 43225 DSU DAD
014495,000485: 22,2103 06514 DP1/4TH
014496,000486: 22,2104 02241 MFI +8D
014497,000487: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014498,000488: 22,2106 77726 ARCCOS
014499,000489: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014500,000490: 22,2110 51025 DSU BPL
014501,000491: 22,2111 04363 MINANG
014502,000492: 22,2112 44117 CHECKMAX
014503,000493: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014504,000494: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014505,000495: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
014506,000496: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014507,000497:
014508,000498: 22,2117 45345 CHECKMAX DLOAD DSU
014509,000499: 22,2120 03335 AM
014510,000500: 22,2121 04365 MAXANG
014511,000501: 22,2122 77244 BPL VLOAD
014512,000502: 22,2123 44131 ALTCALC # UNIT
014513,000503: 22,2124 03325 COFSKEW # COFSKEW
014514,000504: 22,2125 77656 UNIT
014515,000505: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
014516,000506: # Page 360
014517,000507: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014518,000508: 22,2130 44744 LOCSKIRT
014519,000509: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014520,000510: 22,2132 02231 MFI
014521,000511: 22,2133 03303 TMFI
014522,000512: 22,2134 77762 VSR1
014523,000513: 22,2135 27303 STOVL MFISYM
014524,000514: 22,2136 02237 MFI +6
014525,000515: 22,2137 74455 VAD VSR1
014526,000516: 22,2140 03311 TMFI +6
014527,000517: 22,2141 27311 STOVL MFISYM +6
014528,000518: 22,2142 02245 MFI +12D
014529,000519: 22,2143 74455 VAD VSR1
014530,000520: 22,2144 03317 TMFI +12D
014531,000521: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014532,000522:
014533,000523: # CALCULATE COF
014534,000524:
014535,000525: 22,2146 70545 DLOAD SR1
014536,000526: 22,2147 03333 CAM
014537,000527: 22,2150 45325 PDDL DSU # PDO CAM
014538,000528: 22,2151 06522 DPHALF
014539,000529: 22,2152 03333 CAM
014540,000530: 22,2153 65204 BOVB PDDL # PS2 1 - CAM
014541,000531: 22,2154 21713 SIGNMPAC
014542,000532: 22,2155 03323 MFISYM +16D
014543,000533: 22,2156 56225 DSU DDV
014544,000534: 22,2157 00001 0
014545,000535: 22,2160 00003 2
014546,000536: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
014547,000537: 22,2162 03313 MFISYM +8D
014548,000538: 22,2163 56225 DSU DDV
014549,000539: 22,2164 00001 0
014550,000540: 22,2165 00003 2
014551,000541: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM)
014552,000542: 22,2167 03303 MFISYM
014553,000543: 22,2170 56225 DSU DDV
014554,000544: 22,2171 00001 0
014555,000545: 22,2172 00003 2
014556,000546: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM)
014557,000547: 22,2174 77656 UNIT
014558,000548: 22,2175 03270 STORE COF
014559,000549:
014560,000550: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014561,000551:
014562,000552: 22,2176 45345 COFMAXGO DLOAD DSU
014563,000553: 22,2177 03270 COF
014564,000554: 22,2200 03272 COF +2
014565,000555: 22,2201 71240 BMN DLOAD # COFY G COFX
014566,000556: # Page 361
014567,000557: 22,2202 44211 COMP12
014568,000558: 22,2203 03270 COF
014569,000559: 22,2204 50025 DSU BMN
014570,000560: 22,2205 03274 COF +4
014571,000561: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014572,000562: 22,2207 77650 GOTO
014573,000563: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014574,000564: 22,2211 45345 COMP12 DLOAD DSU
014575,000565: 22,2212 03272 COF +2
014576,000566: 22,2213 03274 COF +4
014577,000567: 22,2214 77640 BMN
014578,000568: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014579,000569:
014580,000570: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014581,000571: 22,2217 03327 COFSKEW +2 # UY
014582,000572: 22,2220 44224 U2POS
014583,000573: 22,2221 57575 VLOAD VCOMP
014584,000574: 22,2222 03270 COF
014585,000575: 22,2223 03270 STORE COF
014586,000576: 22,2224 51145 U2POS DLOAD BPL
014587,000577: 22,2225 03305 MFISYM +2 # UX UY
014588,000578: 22,2226 44232 OKU21
014589,000579: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE garbled
014590,000580: 22,2230 03270 COF
014591,000581: 22,2231 03270 STORE COF
014592,000582: 22,2232 51145 OKU21 DLOAD BPL
014593,000583: 22,2233 03315 MFISYM +10D # UY UZ
014594,000584: 22,2234 44744 LOCSKIRT
014595,000585: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014596,000586: 22,2236 03274 COF +4
014597,000587: 22,2237 03274 STORE COF +4
014598,000588: 22,2240 77650 GOTO
014599,000589: 22,2241 44744 LOCSKIRT
014600,000590: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014601,000591: 22,2243 03325 COFSKEW
014602,000592: 22,2244 44250 U1POS
014603,000593: 22,2245 57575 VLOAD VCOMP
014604,000594: 22,2246 03270 COF
014605,000595: 22,2247 03270 STORE COF
014606,000596: 22,2250 51145 U1POS DLOAD BPL
014607,000597: 22,2251 03305 MFISYM +2 # UX UY
014608,000598: 22,2252 44256 OKU12
014609,000599: 22,2253 57545 DLOAD DCOMP
014610,000600: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
014611,000601: 22,2255 03272 STORE COF +2
014612,000602: 22,2256 51145 OKU12 DLOAD BPL
014613,000603: 22,2257 03307 MFISYM +4 # UX UZ
014614,000604: 22,2260 44744 LOCSKIRT
014615,000605: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014616,000606: 22,2262 03274 COF +4
014617,000607: # Page 362
014618,000608: 22,2263 03274 STORE COF +4
014619,000609: 22,2264 77650 GOTO
014620,000610: 22,2265 44744 LOCSKIRT
014621,000611: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014622,000612: 22,2267 03331 COFSKEW +4 # UZ
014623,000613: 22,2270 44274 U3POS
014624,000614: 22,2271 57575 VLOAD VCOMP
014625,000615: 22,2272 03270 COF
014626,000616: 22,2273 03270 STORE COF
014627,000617: 22,2274 51145 U3POS DLOAD BPL
014628,000618: 22,2275 03307 MFISYM +4 # UX UZ
014629,000619: 22,2276 44302 OKU31
014630,000620: 22,2277 57545 DLOAD DCOMP
014631,000621: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
014632,000622: 22,2301 03270 STORE COF
014633,000623: 22,2302 51145 OKU31 DLOAD BPL
014634,000624: 22,2303 03315 MFISYM +10D # UY UZ
014635,000625: 22,2304 44744 LOCSKIRT
014636,000626: 22,2305 57545 DLOAD DCOMP
014637,000627: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
014638,000628: 22,2307 03272 STORE COF +2
014639,000629: 22,2310 77650 GOTO
014640,000630: 22,2311 44744 LOCSKIRT
014641,000631: # Page 363
014642,000632: # MATRIX OPERATIONS
014643,000633:
014644,000634: 13,2207 BANK 13
014645,000635: 22,2000 SETLOC KALCMON2
014646,000636: 22,2000 BANK
014647,000637:
014648,000638: 22,2312 E6,1675 EBANK= BCDU
014649,000639:
014650,000640: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014651,000641: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014652,000642: 22,2314 00001 0,1 # AND MPAC
014653,000643: 22,2315 62703 VXM* PDVL*
014654,000644: 22,2316 77776 0,2
014655,000645: 22,2317 00007 6,1
014656,000646: 22,2320 62703 VXM* PDVL*
014657,000647: 22,2321 77776 0,2
014658,000648: 22,2322 00015 12D,1
014659,000649: 22,2323 41503 VXM* PUSH
014660,000650: 22,2324 77776 0,2
014661,000651: 22,2325 77616 RVQ
014662,000652:
014663,000653: # RETURN WITH MIXM2 IN PD LIST
014664,000654:
014665,000655: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014666,000656: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014667,000657: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014668,000658: 22,2331 62713 PDVL* PDVL*
014669,000659: 22,2332 00007 6,1
014670,000660: 22,2333 00015 12D,1
014671,000661: 22,2334 77606 PUSH # MATRIX IN PD
014672,000662: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014673,000663: 22,2336 50120 INDEX FIXLOC
014674,000664: 22,2337 52013 DXCH 12
014675,000665: 22,2340 50120 INDEX FIXLOC
014676,000666: 22,2341 52017 DXCH 16
014677,000667: 22,2342 50120 INDEX FIXLOC
014678,000668: 22,2343 52013 DXCH 12
014679,000669: 22,2344 50120 INDEX FIXLOC
014680,000670: 22,2345 52015 DXCH 14
014681,000671: 22,2346 50120 INDEX FIXLOC
014682,000672: 22,2347 52005 DXCH 4
014683,000673: 22,2350 50120 INDEX FIXLOC
014684,000674: 22,2351 52015 DXCH 14
014685,000675: 22,2352 50120 INDEX FIXLOC
014686,000676: 22,2353 52003 DXCH 2
014687,000677: 22,2354 50120 INDEX FIXLOC
014688,000678: 22,2355 52007 DXCH 6
014689,000679: 22,2356 50120 INDEX FIXLOC
014690,000680: 22,2357 52003 DXCH 2
014691,000681: # Page 364
014692,000682: 22,2360 06042 TC INTPRET
014693,000683: 22,2361 77616 RVQ
014694,000684:
014695,000685: 15,2050 BANK 15
014696,000686: 22,2000 SETLOC KALCMON1
014697,000687: 22,2000 BANK
014698,000688:
014699,000689: 22,2362 E6,1675 EBANK= BCDU
014700,000690:
014701,000691: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014702,000692: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014703,000693:
014704,000694: # GIMBAL LOCK CONSTANTS
014705,000695:
014706,000696: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014707,000697: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014708,000698:
014709,000699: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D)
014710,000700: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D)
014711,000701: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D)
014712,000702: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D)
014713,000703: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D)
014714,000704: 22,2400 17773 00057 CNGL 2DEC .499695 # = COS(NGL)
014715,000705: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014716,000706:
014717,000707: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014718,000708:
014719,000709: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014720,000710: 22,2404 54156 TS MPAC +2
014721,000711: 22,2405 00006 EXTEND
014722,000712: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014723,000713: 22,2407 16501 TCF TLOAD +6
014724,000714:
014725,000715: 22,2410 66370 CDUTODCM AXT,1 SSP
014726,000716: 22,2411 00003 OCT 3
014727,000717: 22,2412 00051 S1
014728,000718: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014729,000719: 22,2414 00010 STORE 7
014730,000720: 22,2415 77601 SETPD
014731,000721: 22,2416 00001 0
014732,000722: 22,2417 47133 LOOPSIN SLOAD* RTB
014733,000723: 22,2420 00013 10D,1
014734,000724: 22,2421 21577 CDULOGIC
014735,000725: # Page 365
014736,000726: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014737,000727: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014738,000728: 22,2424 00013 10D # 4 SIN(THETA)
014739,000729: 22,2425 41546 COS PUSH # 6 COS(THETA)
014740,000730: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014741,000731: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014742,000732: 22,2430 00007 6
014743,000733: 22,2431 72405 DMP SL1
014744,000734: 22,2432 00013 10D
014745,000735: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014746,000736: 22,2434 41345 DLOAD DMP
014747,000737: 22,2435 00005 4
014748,000738: 22,2436 00001 0
014749,000739: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014750,000740: 22,2440 00007 6
014751,000741: 22,2441 00011 8D
014752,000742: 22,2442 72405 DMP SL1
014753,000743: 22,2443 00003 2
014754,000744: 22,2444 72421 BDSU SL1
014755,000745: 22,2445 00015 12D
014756,000746: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014757,000747: 22,2447 41345 DLOAD DMP
014758,000748: 22,2450 00003 2
014759,000749: 22,2451 00005 4
014760,000750: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
014761,000751: 22,2453 00007 6
014762,000752: 22,2454 00011 8D
014763,000753: 22,2455 72405 DMP SL1
014764,000754: 22,2456 00001 0
014765,000755: 22,2457 72415 DAD SL1
014766,000756: 22,2460 00017 14D
014767,000757: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
014768,000758: 22,2462 77745 DLOAD
014769,000759: 22,2463 00011 8D
014770,000760: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
014771,000761: 22,2465 77745 DLOAD
014772,000762: 22,2466 00013 10D
014773,000763: 22,2467 72405 DMP SL1
014774,000764: 22,2470 00003 2
014775,000765: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
014776,000766: 22,2472 41345 DLOAD DMP
014777,000767: 22,2473 00013 10D
014778,000768: 22,2474 00001 0
014779,000769: 22,2475 72476 DCOMP SL1
014780,000770: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
014781,000771: 22,2477 41345 DLOAD DMP
014782,000772: 22,2500 00005 4
014783,000773: 22,2501 00013 10D
014784,000774: 22,2502 72476 DCOMP SL1
014785,000775: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
014786,000776: # Page 366
014787,000777: 22,2504 77745 DLOAD
014788,000778: 22,2505 72405 DMP SL1 # (PUSH UP 7)
014789,000779: 22,2506 00011 8D
014790,000780: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
014791,000781: 22,2510 00007 6
014792,000782: 22,2511 00001 0
014793,000783: 22,2512 72415 DAD SL1 # (PUSH UP 7)
014794,000784: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
014795,000785: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
014796,000786: 22,2515 77745 DLOAD
014797,000787: 22,2516 72405 DMP SL1 # (PUSH UP 6)
014798,000788: 22,2517 00011 8D
014799,000789: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
014800,000790: 22,2521 00007 6
014801,000791: 22,2522 00003 2
014802,000792: 22,2523 72425 DSU SL1 # (PUSH UP 6)
014803,000793: 22,2524 77626 STADR
014804,000794: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
014805,000795: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
014806,000796:
014807,000797: # CALCULATION OF THE MATRIX DEL......
014808,000798:
014809,000799: # * * __T *
014810,000800: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
014811,000801: # _
014812,000802: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
014813,000803: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
014814,000804: # _
014815,000805: # UPON ENTRY, THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
014816,000806:
014817,000807: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
014818,000808: 22,2530 00001 0
014819,000809: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
014820,000810: 22,2532 41546 COS PUSH # PD2 = COS(A)
014821,000811: 22,2533 65302 SR2 PDDL # PD2 = COS(A)
014822,000812: 22,2534 41021 BDSU BOVB
014823,000813: 22,2535 06522 DPHALF
014824,000814: 22,2536 21713 SIGNMPAC
014825,000815: 22,2537 77725 PDDL # PDA = 1-COS(A)
014826,000816:
014827,000817: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
014828,000818:
014829,000819: 22,2540 03270 COF
014830,000820: 22,2541 41316 DSQ DMP
014831,000821: 22,2542 00005 4
014832,000822: 22,2543 52415 DAD SL3
014833,000823: 22,2544 00003 2
014834,000824: 22,2545 77604 BOVB
014835,000825: 22,2546 21713 SIGNMPAC
014836,000826: # Page 367
014837,000827: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A)
014838,000828: 22,2550 03272 COF +2
014839,000829: 22,2551 41316 DSQ DMP
014840,000830: 22,2552 00005 4
014841,000831: 22,2553 52415 DAD SL3
014842,000832: 22,2554 00003 2
014843,000833: 22,2555 77604 BOVB
014844,000834: 22,2556 21713 SIGNMPAC
014845,000835: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A)
014846,000836: 22,2560 03274 COF +4
014847,000837: 22,2561 41316 DSQ DMP
014848,000838: 22,2562 00005 4
014849,000839: 22,2563 52415 DAD SL3
014850,000840: 22,2564 00003 2
014851,000841: 22,2565 77604 BOVB
014852,000842: 22,2566 21713 SIGNMPAC
014853,000843: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A)
014854,000844:
014855,000845: # COMPUTE TEH OFF DIAGONAL TERMS OF DEL
014856,000846:
014857,000847: 22,2570 41345 DLOAD DMP
014858,000848: 22,2571 03270 COF
014859,000849: 22,2572 03272 COF +2
014860,000850: 22,2573 72405 DMP SL1
014861,000851: 22,2574 00005 4
014862,000852: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A)
014863,000853: 22,2576 03274 COF +4
014864,000854: 22,2577 00001 0
014865,000855: 22,2600 43206 PUSH DAD # D8 UZ SIN A
014866,000856: 22,2601 00007 6
014867,000857: 22,2602 41112 SL2 BOVB
014868,000858: 22,2603 21713 SIGNMPAC
014869,000859: 22,2604 16237 STODL KEL +6
014870,000860: 22,2605 62421 BDSU SL2
014871,000861: 22,2606 77604 BOVB
014872,000862: 22,2607 21713 SIGNMPAC
014873,000863: 22,2610 16233 STODL KEL +2
014874,000864: 22,2611 03270 COF
014875,000865: 22,2612 41205 DMP DMP
014876,000866: 22,2613 03274 COF +4
014877,000867: 22,2614 00005 4
014878,000868: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A)
014879,000869: 22,2616 03272 COF +2
014880,000870: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
014881,000871: 22,2620 00001 0
014882,000872: 22,2621 62415 DAD SL2
014883,000873: 22,2622 00007 6
014884,000874: 22,2623 77604 BOVB
014885,000875: 22,2624 21713 SIGNMPAC
014886,000876: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
014887,000877: # Page 368
014888,000878: 22,2626 62421 BDSU SL2
014889,000879: 22,2627 77604 BOVB
014890,000880: 22,2630 21713 SIGNMPAC
014891,000881: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
014892,000882: 22,2632 03272 COF +2
014893,000883: 22,2633 41205 DMP DMP
014894,000884: 22,2634 03274 COF +4
014895,000885: 22,2635 00005 4
014896,000886: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A))
014897,000887: 22,2637 03270 COF
014898,000888: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
014899,000889: 22,2641 00001 0
014900,000890: 22,2642 62415 DAD SL2
014901,000891: 22,2643 00007 6
014902,000892: 22,2644 77604 BOVB
014903,000893: 22,2645 21713 SIGNMPAC
014904,000894: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
014905,000895: 22,2647 62421 BDSU SL2
014906,000896: 22,2650 77604 BOVB
014907,000897: 22,2651 21713 SIGNMPAC
014908,000898: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
014909,000899: 22,2653 77616 RVQ
014910,000900:
014911,000901: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
014912,000902:
014913,000903: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2).
014914,000904: # LEAVE CDU ANGLES SCALED 2PI IN V(MPAC).
014915,000905: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1).
014916,000906: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS:
014917,000907:
014918,000908: # C = COS(THETA) COS(PSI
014919,000909: # 0
014920,000910:
014921,000911: # C = -COS(THETA) SIN(PSI) COS(PHI) + SIN(THETA) SIN(PHI)
014922,000912: # 1
014923,000913:
014924,000914: # C = COS(THETA) SIN(PSI) SIN(PHI + SIN(THETA) COS(PHI)
014925,000915: # 2
014926,000916:
014927,000917: # C = SIN(PSI)
014928,000918: # 3
014929,000919:
014930,000920: # C = COS(PSI) COS(PHI)
014931,000921: # 4
014932,000922:
014933,000923: # C = -COS(PSI) SIN(PHI)
014934,000924: # 5
014935,000925:
014936,000926: # C = -SIN(THETA) COS(PSI)
014937,000927: # 6
014938,000928:
014939,000929: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS (THETA) SIN(PHI)
014940,000930: # 7
014941,000931:
014942,000932: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + COS(THETA)COS(PHI)
014943,000933: # 8
014944,000934: # Page 369
014945,000935:
014946,000936: # WHERE PHI = OGA
014947,000937: # THETA = IGA
014948,000938: # PSI = MGA
014949,000939:
014950,000940: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
014951,000941: 22,2655 00007 6,1
014952,000942: 22,2656 71406 PUSH COS # PD +0 PSI
014953,000943: 22,2657 41152 SL1 BOVB
014954,000944: 22,2660 21713 SIGNMPAC
014955,000945: 22,2661 00051 STORE S1
014956,000946: 22,2662 57543 DLOAD* DCOMP
014957,000947: 22,2663 00015 12D,1
014958,000948: 22,2664 67471 DDV ARCSIN
014959,000949: 22,2665 00051 S1
014960,000950: 22,2666 51123 PDDL* BPL # PD +2 THETA
014961,000951: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
014962,000952: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT.
014963,000953: 22,2671 57545 DLOAD DCOMP
014964,000954: 22,2672 43244 BPL DAD
014965,000955: 22,2673 44677 SUHALFA
014966,000956: 22,2674 06522 DPHALF
014967,000957: 22,2675 77650 GOTO
014968,000958: 22,2676 44701 CALCPHI
014969,000959: 22,2677 77625 SUHALFA DSU
014970,000960: 22,2700 06522 DPHALF
014971,000961: 22,2701 77606 CALCPHI PUSH
014972,000962: 22,2702 57543 OKTHETA DLOAD* DCOMP
014973,000963: 22,2703 00013 10D,1
014974,000964: 22,2704 67471 DDV ARCSIN
014975,000965: 22,2705 00051 S1
014976,000966: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
014977,000967: 22,2707 00011 8D,1
014978,000968: 22,2710 44722 OKPHI
014979,000969: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
014980,000970: 22,2712 43244 BPL DAD
014981,000971: 22,2713 44717 SUHALFAP
014982,000972: 22,2714 06522 DPHALF
014983,000973: 22,2715 77650 GOTO
014984,000974: 22,2716 44723 VECOFANG
014985,000975: 22,2717 52025 SUHALFAP DSU GOTO
014986,000976: 22,2720 06522 DPHALF
014987,000977: 22,2721 44723 VECOFANG
014988,000978: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
014989,000979: 22,2723 43466 VECOFANG VDEF RVQ
014990,000980: # Page 370
014991,000981: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER.
014992,000982:
014993,000983: 22,2724 77776 TOOBADF EXIT
014994,000984: 22,2725 05567 TC ALARM
014995,000985: 22,2726 00401 OCT 00401
014996,000986:
014997,000987: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
014998,000988:
014999,000989: 22,2730 04616 TC BANKCALL
015000,000990: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015001,000991:
015002,000992: 22,2732 04616 NOGO TC BANKCALL
015003,000993: 22,2733 40166 CADR STOPRATE # STOP RATES
015004,000994:
015005,000995: 22,2734 34752 CAF TWO
015006,000996: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015007,000997: 22,2736 05203 TC WAITLIST
015008,000998: 22,2737 E6,1675 EBANK= BCDU
015009,000999: 22,2737 03234 44066 2CADR GOODMANU
015010,001000:
015011,001001: 22,2741 15155 TCF ENDOFJOB
015012,001002:
015013,001003: 22,2742 77776 TOOBADI EXIT
015014,001004: 22,2743 12732 TCF NOGO
015015,001005:
015016,001006:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc