Source Code

061649,000001: # Copyright: Public domain. 061650,000002: # Filename: Q_R-AXIS_RCS_AUTOPILOT.agc 061651,000003: # Purpose: Part of the source code for Luminary 1A build 099. 061652,000004: # It is part of the source code for the Lunar Module's (LM) 061653,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 061654,000006: # Assembler: yaYUL 061655,000007: # Contact: Ron Burkey <info@sandroid.org>. 061656,000008: # Website: www.ibiblio.org/apollo. 061657,000009: # Pages: 1442-1459 061658,000010: # Mod history: 2009-05-27 RSB Adapted from the corresponding 061659,000011: # Luminary131 file, using page 061660,000012: # images from Luminary 1A. 061661,000013: # 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since 061662,000014: # the former is not compatible with yaYUL. 061663,000015: # 2011-01-06 JL Fixed pseudo-label indentation. 061664,000016: 061665,000017: # This source code has been transcribed or otherwise adapted from 061666,000018: # digitized images of a hardcopy from the MIT Museum. The digitization 061667,000019: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 061668,000020: # the Museum. Many thanks to both. The images (with suitable reduction 061669,000021: # in storage size and consequent reduction in image quality as well) are 061670,000022: # available online at www.ibiblio.org/apollo. If for some reason you 061671,000023: # find that the images are illegible, contact me at info@sandroid.org 061672,000024: # about getting access to the (much) higher-quality images which Paul 061673,000025: # actually created. 061674,000026: 061675,000027: # Notations on the hardcopy document read, in part: 061676,000028: 061677,000029: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 061678,000030: # 16:27 JULY 14, 1969 061679,000031: 061680,000032: # Page 1442 061681,000033: 17,2072 BANK 17 061682,000034: 17,2000 SETLOC DAPS2 061683,000035: 17,2000 BANK 061684,000036: 061685,000037: 17,2072 E6,1635 EBANK= CDUXD 061686,000038: 061687,000039: 17,2072 COUNT* $$/DAPQR 061688,000040: 061689,000041: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES 061690,000042: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND. 061691,000043: 17,2074 02031 RAND CHAN31 061692,000044: 17,2075 10000 CCS A 061693,000045: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS 061694,000046: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND? 061695,000047: 17,2100 74740 MASK OURRCBIT 061696,000048: 17,2101 00006 EXTEND 061697,000049: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERROS. 061698,000050: 17,2103 02626 TC QERRCALC 061699,000051: 061700,000052: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS: 061701,000053: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED) 061702,000054: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS 061703,000055: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE) 061704,000056: 17,2110 55631 TS COTROLER 061705,000057: 061706,000058: 17,2111 53437 DXCH EDOTQ 061707,000059: 17,2112 03146 TC ROT-TOUV 061708,000060: 17,2113 53427 DXCH OMEGAU 061709,000061: 061710,000062: # X - TRANSLATION 061711,000063: 061712,000064: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER) 061713,000065: # ULLAGER 061714,000066: # APSFLAG, DRIFTBIT 061715,000067: # ACC40R2X, ACRBTRAN 061716,000068: 061717,000069: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION 061718,000070: # SENSETYP TELL ROTATION DIRECTION AND DESIRE 061719,000071: 061720,000072: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE 061721,000073: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES. 061722,000074: 061723,000075: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS 061724,000076: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS 061725,000077: 17,2116 02031 RAND CHAN31 061726,000078: 17,2117 00006 EXTEND 061727,000079: 17,2120 12146 BZF +X0RULGE 061728,000080: # Page 1443 061729,000081: 17,2121 34744 CA BIT8 061730,000082: 17,2122 00006 EXTEND 061731,000083: 17,2123 02031 RAND CHAN31 061732,000084: 17,2124 00006 EXTEND 061733,000085: 17,2125 12147 BZF -XTRANS 061734,000086: 061735,000087: 17,2126 34746 CA ULLAGER 061736,000088: 17,2127 70111 MASK DAPBOOLS 061737,000089: 17,2130 10000 CCS A 061738,000090: 17,2131 12146 TCF +X0RULGE 061739,000091: 061740,000092: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES 061741,000093: 17,2133 55474 TS NEXTV 061742,000094: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING? 061743,000095: 17,2135 74744 MASK DRIFTBIT 061744,000096: 17,2136 00006 EXTEND 061745,000097: 17,2137 12144 BZF TSENSE 061746,000098: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS? 061747,000099: 17,2141 74737 MASK APSFLBIT 061748,000100: 17,2142 10000 CCS A 061749,000101: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN. 061750,000102: 17,2144 55500 TSENSE TS SENSETYP 061751,000103: 17,2145 12200 TCF QRCONTRL 061752,000104: 061753,000105: 17,2146 34753 +X0RULGE CAF ONE 061754,000106: 17,2147 64751 -XTRANS AD FOUR 061755,000107: 17,2150 55744 TS ROTINDEX 061756,000108: 17,2151 67745 AD NEG3 061757,000109: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS. 061758,000110: 17,2153 30111 CA DAPBOOLS 061759,000111: 17,2154 74741 MASK ACC4OR2X 061760,000112: 17,2155 10000 CCS A 061761,000113: 17,2156 12321 TCF TRANS4 061762,000114: 061763,000115: 17,2157 30111 CA DAPBOOLS 061764,000116: 17,2160 74742 MASK AORBTRAN 061765,000117: 17,2161 10000 CCS A 061766,000118: 17,2162 34753 CA ONE # THREE FOR B 061767,000119: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS 061768,000120: 17,2164 55743 TSNUMBRT TS NUMBERT 061769,000121: 061770,000122: 17,2165 03173 TC SELCTSUB 061771,000123: 061772,000124: 17,2166 11741 CCS POLYTEMP 061773,000125: 17,2167 12172 TCF +3 061774,000126: 17,2170 05567 TC ALARM 061775,000127: 17,2171 02002 OCT 02002 061776,000128: 17,2172 35774 CA 00314OCT 061777,000129: 17,2173 71741 MASK POLYTEMP 061778,000130: 17,2174 55473 TSNEXTS TS NEXTU 061779,000131: # Page 1444 061780,000132: 17,2175 45774 CS 00314OCT 061781,000133: 17,2176 71741 MASK POLYTEMP 061782,000134: 17,2177 55474 TS NEXTV 061783,000135: 061784,000136: # Q,R-AXES RCS CONTROL MODE SELECTION 061785,000137: # SWITCHES INDICATION WHEN SET 061786,000138: # BIT13/CHAN31 AUTO, GO TO ATTSTEER 061787,000139: # PULSES MINIMUM IMPULSE MODE 061788,000140: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE 061789,000141: 061790,000142: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH. 061791,000143: 17,2201 00006 EXTEND 061792,000144: 17,2202 02031 RAND CHAN31 # BITS INVERTED 061793,000145: 17,2203 10000 CCS A 061794,000146: 17,2204 12661 TCF ATTSTEER 061795,000147: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC 061796,000148: 17,2206 70111 MASK DAPBOOLS 061797,000149: 17,2207 00006 EXTEND 061798,000150: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0 061799,000151: 061800,000152: # MINIMUM IMPULSE MODE 061801,000153: 061802,000154: 17,2211 00004 INHINT 061803,000155: 17,2212 04674 TC IBNKCALL 061804,000156: 17,2213 40153 CADR ZATTEROR 061805,000157: 17,2214 34755 CA ZERO 061806,000158: 17,2215 55450 TS QERROR 061807,000159: 17,2216 55452 TS RERROR # FOR DISPLAYS 061808,000160: 17,2217 00003 RELINT 061809,000161: 061810,000162: 17,2220 00006 EXTEND 061811,000163: 17,2221 00031 READ CHAN31 061812,000164: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1 061813,000165: 17,2223 11461 CCS OLDQRMIN 061814,000166: 17,2224 12246 TCF CHECKIN 061815,000167: 061816,000168: 17,2225 31737 FIREQR CA TEMP31 061817,000169: 17,2226 74753 MASK BIT1 061818,000170: 17,2227 00006 EXTEND 061819,000171: 17,2230 12252 BZF +QMIN 061820,000172: 061821,000173: 17,2231 31737 CA TEMP31 061822,000174: 17,2232 74752 MASK BIT2 061823,000175: 17,2233 00006 EXTEND 061824,000176: 17,2234 12256 BZF -QMIN 061825,000177: 061826,000178: 17,2235 31737 CA TEMP31 061827,000179: 17,2236 74747 MASK BIT5 061828,000180: # Page 1445 061829,000181: 17,2237 00006 EXTEND 061830,000182: 17,2240 12262 BZF +RMIN 061831,000183: 061832,000184: 17,2241 31737 CA TEMP31 061833,000185: 17,2242 74746 MASK BIT6 061834,000186: 17,2243 00006 EXTEND 061835,000187: 17,2244 12264 BZF -RMIN 061836,000188: 061837,000189: 17,2245 13063 TCF XTRANS 061838,000190: 061839,000191: 17,2246 41737 CHECKIN CS TEMP31 061840,000192: 17,2247 72320 MASK OCT63 061841,000193: 17,2250 55461 TS OLDQRMIN 061842,000194: 17,2251 13063 TCF XTRANS 061843,000195: 061844,000196: 17,2252 33107 +QMIN CA 14MS 061845,000197: 17,2253 55525 TS TJU 061846,000198: 17,2254 43107 CS 14MS 061847,000199: 17,2255 12266 TCF MINQR 061848,000200: 17,2256 43107 -QMIN CS 14MS 061849,000201: 17,2257 55525 TS TJU 061850,000202: 17,2260 33107 CA 14MS 061851,000203: 17,2261 12266 TCF MINQR 061852,000204: 17,2262 33107 +RMIN CA 14MS 061853,000205: 17,2263 12265 TCF +2 061854,000206: 17,2264 43107 -RMIN CS 14MS 061855,000207: 17,2265 55525 TS TJU 061856,000208: 17,2266 55526 MINQR TS TJV 061857,000209: 17,2267 32317 CA MINADR 061858,000210: 17,2270 55477 TS RETJADR 061859,000211: 17,2271 34753 CA ONE 061860,000212: 17,2272 55461 TS OLDQRMIN 061861,000213: 17,2273 55505 MINRTN TS AXISCTR 061862,000214: 17,2274 30111 CA DAPBOOLS 061863,000215: 17,2275 74737 MASK CSMDOCKD 061864,000216: 17,2276 00006 EXTEND 061865,000217: 17,2277 12307 BZF MIMRET 061866,000218: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE 061867,000219: 17,2301 11525 CCS TJU 061868,000220: 17,2302 32316 CA 60MS 061869,000221: 17,2303 12305 TCF +2 061870,000222: 17,2304 42316 CS 60MS 061871,000223: 17,2305 51505 INDEX AXISCTR 061872,000224: 17,2306 55525 TS TJU 061873,000225: 17,2307 30111 MIMRET CA DAPBOOLS 061874,000226: 17,2310 74742 MASK AORBTRAN 061875,000227: 17,2311 10000 CCS A 061876,000228: 17,2312 34753 CA ONE 061877,000229: 17,2313 64752 AD TWO 061878,000230: 17,2314 55743 TS NUMBERT 061879,000231: # Page 1446 061880,000232: 17,2315 12727 TCF AFTERTJ 061881,000233: 061882,000234: 17,2316 00140 60MS DEC 96.0 061883,000235: 17,2317 02273 MINADR GENADR MINRTN 061884,000236: 17,2320 00063 OCT63 OCT 63 061885,000237: 17,2321 17,3107 14MS = +TJMINT6 061886,000238: 061887,000239: 17,2321 34751 TRANS4 CA FOUR 061888,000240: 17,2322 12164 TCF TSNUMBRT 061889,000241: 061890,000242: # RATE COMMAND MODE: 061891,000243: 061892,000244: # DESCRIPTION (SAME AS P-AXIS) 061893,000245: 061894,000246: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD 061895,000247: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES 061896,000248: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME 061897,000249: 17,2326 34735 CA BIT15 061898,000250: 17,2327 71443 MASK CH31TEMP 061899,000251: 17,2330 00006 EXTEND 061900,000252: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT. 061901,000253: 17,2332 34740 CA OURRCBIT # *********** 061902,000254: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL 061903,000255: 17,2334 00006 EXTEND # *********** LAST TIME. 061904,000256: 17,2335 12661 BZF STILLRCS 061905,000257: 17,2336 44743 CS BIT9 061906,000258: 17,2337 71273 MASK RCSFLAGS 061907,000259: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0. 061908,000260: 17,2341 12345 TCF DAMPING 061909,000261: 17,2342 00050 40CYCL OCT 50 061910,000262: 17,2343 00001 1/10S OCT 1 061911,000263: 17,2344 00056 LINRAT DEC 46 B-14 061912,000264: 061913,000265: # =========================================================== 061914,000266: 061915,000267: 17,2345 34755 DAMPING CA ZERO 061916,000268: 17,2346 55462 TS SAVEHAND 061917,000269: 17,2347 55463 TS SAVEHAND +1 061918,000270: 17,2350 11462 RHCACTIV CCS SAVEHAND # ****************** 061919,000271: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D 061920,000272: 17,2352 12354 TCF +2 # ****************** 061921,000273: 17,2353 12354 TCF +1 061922,000274: 17,2354 60000 DOUBLE # WHERE 061923,000275: 17,2355 60000 DOUBLE 061924,000276: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE 061925,000277: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR 061926,000278: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY 061927,000279: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION 061928,000280: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION 061929,000281: 17,2363 71444 MP STIKSENS 061930,000282: 17,2364 57455 XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC 061931,000283: 17,2365 40000 COM 061932,000284: # Page 1447 061933,000285: 17,2366 61455 AD QLAST 061934,000286: 17,2367 55741 TS DAPTEMP3 061935,000287: 17,2370 11463 CCS SAVEHAND +1 061936,000288: 17,2371 12374 TCF +3 061937,000289: 17,2372 12374 TCF +2 061938,000290: 17,2373 12374 TCF +1 061939,000291: 17,2374 60000 DOUBLE 061940,000292: 17,2375 60000 DOUBLE 061941,000293: 17,2376 62344 AD LINRAT 061942,000294: 17,2377 00006 EXTEND 061943,000295: 17,2400 71463 MP SAVEHAND +1 061944,000296: 17,2401 30001 CA L 061945,000297: 17,2402 00006 EXTEND 061946,000298: 17,2403 71444 MP STIKSENS 061947,000299: 17,2404 57456 XCH RLAST 061948,000300: 17,2405 40000 COM 061949,000301: 17,2406 61456 AD RLAST 061950,000302: 17,2407 55742 TS DAPTEMP4 061951,000303: 17,2410 41455 CS QLAST # INTERVAL. 061952,000304: 17,2411 61422 AD OMEGAQ 061953,000305: 17,2412 55436 TS QRATEDIF 061954,000306: 17,2413 41456 CS RLAST 061955,000307: 17,2414 61423 AD OMEGAR 061956,000308: 17,2415 55437 TS RRATEDIF 061957,000309: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES 061958,000310: 17,2417 03146 TC ROT-TOUV 061959,000311: 17,2420 53427 DXCH URATEDIF 061960,000312: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS 061961,000313: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R. 061962,000314: 17,2423 02425 TC +2 061963,000315: 17,2424 02425 TC +1 061964,000316: 17,2425 61476 AD -RATEDB 061965,000317: 17,2426 00006 EXTEND 061966,000318: 17,2427 62431 BZMF +2 061967,000319: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE. 061968,000320: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK. 061969,000321: 17,2432 02435 TC +3 061970,000322: 17,2433 02435 TC +2 061971,000323: 17,2434 02435 TC +1 061972,000324: 17,2435 61476 AD -RATEDB 061973,000325: 17,2436 00006 EXTEND 061974,000326: 17,2437 62441 BZMF +2 061975,000327: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE. 061976,000328: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR 061977,000329: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME. 061978,000330: 17,2443 00006 EXTEND 061979,000331: 17,2444 12446 BZF +2 061980,000332: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL. 061981,000333: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL. 061982,000334: 17,2447 32342 CA 40CYCL 061983,000335: # Page 1448 061984,000336: 17,2450 55457 TS TCQR 061985,000337: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL 061986,000338: 17,2452 04674 TC IBNKCALL 061987,000339: 17,2453 40153 FCADR ZATTEROR 061988,000340: 17,2454 00003 RELINT 061989,000341: 17,2455 34755 CA ZERO 061990,000342: 17,2456 55450 TS DYERROR 061991,000343: 17,2457 55451 TS DYERROR +1 061992,000344: 17,2460 55452 TS DZERROR 061993,000345: 17,2461 55453 TS DZERROR +1 061994,000346: 17,2462 11426 CCS URATEDIF 061995,000347: 17,2463 12466 TCF +3 061996,000348: 17,2464 12466 TCF +2 061997,000349: 17,2465 12466 TCF +1 061998,000350: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE 061999,000351: 17,2467 00006 EXTEND # DIRECT RATE CONTROL. 062000,000352: 17,2470 62504 BZMF VDB 062001,000353: 17,2471 11427 CCS VRATEDIF 062002,000354: 17,2472 12475 TCF +3 062003,000355: 17,2473 12475 TCF +2 062004,000356: 17,2474 12475 TCF +1 062005,000357: 17,2475 61476 AD TARGETDB 062006,000358: 17,2476 00006 EXTEND 062007,000359: 17,2477 62501 BZMF +2 062008,000360: 17,2500 12515 TCF QRTIME 062009,000361: 17,2501 34755 CA ZERO 062010,000362: 17,2502 55427 TS VRATEDIF 062011,000363: 17,2503 12515 TCF QRTIME 062012,000364: 17,2504 11427 VDB CCS VRATEDIF 062013,000365: 17,2505 02510 TC +3 062014,000366: 17,2506 02510 TC +2 062015,000367: 17,2507 02510 TC +1 062016,000368: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE 062017,000369: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND 062018,000370: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT 062019,000371: 17,2513 34755 CA ZERO # PASS. 062020,000372: 17,2514 55426 TS URATEDIF 062021,000373: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK. 062022,000374: 17,2516 00006 EXTEND 062023,000375: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC. 062024,000376: 17,2520 41273 CS RCSFLAGS 062025,000377: 17,2521 74741 MASK QRBIT 062026,000378: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1. 062027,000379: 17,2523 02527 TC +4 062028,000380: 17,2524 44741 TOPSEUDO CS QRBIT 062029,000381: 17,2525 71273 MASK RCSFLAGS 062030,000382: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0. 062031,000383: 17,2527 32573 CA HANDADR 062032,000384: 17,2530 55477 TS RETJADR 062033,000385: 17,2531 34753 CA ONE 062034,000386: 062035,000387: # Page 1449 062036,000388: 17,2532 55505 BACKHAND TS AXISCTR 062037,000389: 062038,000390: 17,2533 34751 CA FOUR 062039,000391: 17,2534 55743 TS NUMBERT 062040,000392: 062041,000393: 17,2535 51505 INDEX AXISCTR 062042,000394: 17,2536 51535 INDEX SKIPU 062043,000395: 17,2537 12540 TCF +1 062044,000396: 17,2540 34751 CA FOUR 062045,000397: 17,2541 51505 INDEX AXISCTR 062046,000398: 17,2542 55535 TS SKIPU 062047,000399: 17,2543 13005 TCF LOOPER 062048,000400: 062049,000401: 17,2544 51505 INDEX AXISCTR 062050,000402: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANTITY 062051,000403: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU 062052,000404: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU 062053,000405: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV 062054,000406: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV 062055,000407: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL) 062056,000408: 062057,000409: 17,2553 50000 INDEX A 062058,000410: 17,2554 41571 CS 1/ANET2 +1 062059,000411: 17,2555 00006 EXTEND 062060,000412: 17,2556 51505 INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC 062061,000413: 17,2557 71426 MP URATEDIF # JET TIME IN A, SCALED 32 SEC 062062,000414: 17,2560 54002 TS Q 062063,000415: 17,2561 20001 DAS A 062064,000416: 17,2562 60002 AD Q 062065,000417: 17,2563 54000 TS A # OVERFLOW SKIP 062066,000418: 17,2564 12566 TCF +2 062067,000419: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS 062068,000420: 17,2566 51505 SETTIME INDEX AXISCTR 062069,000421: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24 062070,000422: 17,2570 12727 TCF AFTERTJ 062071,000423: 062072,000424: 17,2571 34755 ZEROTJ CA ZERO 062073,000425: 17,2572 12566 TCF SETTIME 062074,000426: 062075,000427: 17,2573 02532 HANDADR GENADR BACKHAND 062076,000428: 062077,000429: # GTS WILL BE TRIED IF 062078,000430: # 1. USEQRJTS = 0, 062079,000431: # 2. ALLOWGTS POS, 062080,000432: # 3. JETS ARE OFF (Q,R-AXES) 062081,000433: 062082,000434: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS 062083,000435: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.) 062084,000436: 17,2576 10000 CCS A 062085,000437: 17,2577 12107 TCF RCS 062086,000438: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS? 062087,000439: # Page 1450 062088,000440: 17,2601 12603 TCF +2 062089,000441: 17,2602 12107 TCF RCS 062090,000442: 17,2603 00006 EXTEND 062091,000443: 17,2604 00005 READ CHAN5 062092,000444: 17,2605 10000 CCS A 062093,000445: 17,2606 12612 TCF CHKINGTS 062094,000446: 17,2607 00006 GOTOGTS EXTEND 062095,000447: 17,2610 32625 DCA GTSCADR 062096,000448: 17,2611 52006 DTCB 062097,000449: 062098,000450: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING 062099,000451: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE. 062100,000452: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS. 062101,000453: 17,2615 00004 INHINT 062102,000454: 17,2616 04674 TC IBNKCALL 062103,000455: 17,2617 43330 CADR TIMEGMBL 062104,000456: 17,2620 00003 RELINT 062105,000457: 17,2621 34755 CAF ZERO 062106,000458: 17,2622 55633 TS INGTS 062107,000459: 17,2623 12107 TCF RCS 062108,000460: 062109,000461: 17,2624 E6,1635 EBANK= CDUXD 062110,000462: 17,2624 03077 42106 GTSCADR 2CADR GTS 062111,000463: 062112,000464: # Page 1451 062113,000465: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS. 062114,000466: 062115,000467: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION 062116,000468: 17,2627 00006 EXTEND 062117,000469: 17,2630 21636 MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS) 062118,000470: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC 062119,000471: 17,2632 00006 EXTEND 062120,000472: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS 062121,000473: 17,2634 55752 TS E 062122,000474: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION: 062123,000475: 17,2636 00006 EXTEND 062124,000476: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS) 062125,000477: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC 062126,000478: 17,2641 00006 EXTEND 062127,000479: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS 062128,000480: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR 062129,000481: 17,2644 61752 AD E 062130,000482: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY. 062131,000483: 062132,000484: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION: 062133,000485: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS) 062134,000486: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS 062135,000487: 17,2651 55752 TS E 062136,000488: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION: 062137,000489: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS) 062138,000490: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS 062139,000491: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR 062140,000492: 17,2656 61752 AD E 062141,000493: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY. 062142,000494: 17,2660 00002 TC Q 062143,000495: 062144,000496: # Page 1452 062145,000497: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM 062146,000498: 062147,000499: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS. 062148,000500: 062149,000501: 17,2661 31452 STILLRCS CA RERROR 062150,000502: 17,2662 22000 LXCH A 062151,000503: 17,2663 31450 CA QERROR 062152,000504: 17,2664 03146 TC ROT-TOUV 062153,000505: 17,2665 53752 DXCH UERROR 062154,000506: 062155,000507: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED)) 062156,000508: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED. 062157,000509: 062158,000510: 17,2666 33113 TJLAW CA TJLAWADR 062159,000511: 17,2667 55477 TS RETJADR 062160,000512: 17,2670 34753 CA ONE 062161,000513: 17,2671 55505 TS AXISCTR 062162,000514: 17,2672 51505 INDEX AXISCTR 062163,000515: 17,2673 51535 INDEX SKIPU 062164,000516: 17,2674 12675 TCF +1 062165,000517: 17,2675 34751 CA FOUR 062166,000518: 17,2676 51505 INDEX AXISCTR 062167,000519: 17,2677 55535 TS SKIPU 062168,000520: 17,2700 13005 TCF LOOPER 062169,000521: 17,2701 51505 INDEX AXISCTR 062170,000522: 17,2702 31751 CA UERROR 062171,000523: 17,2703 55752 TS E 062172,000524: 17,2704 51505 INDEX AXISCTR 062173,000525: 17,2705 31426 CA OMEGAU 062174,000526: 17,2706 55427 TS EDOT 062175,000527: 17,2707 30111 CA DAPBOOLS 062176,000528: 17,2710 74737 MASK CSMDOCKD 062177,000529: 17,2711 10000 CCS A 062178,000530: 17,2712 12715 TCF +3 062179,000531: 17,2713 03252 TC TJETLAW 062180,000532: 17,2714 12727 TCF AFTERTJ 062181,000533: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL 062182,000534: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS. 062183,000535: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15. 062184,000536: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE. 062185,000537: 17,2721 00004 INHINT 062186,000538: 17,2722 04674 TC IBNKCALL 062187,000539: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL 062188,000540: 17,2724 00003 RELINT 062189,000541: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V. 062190,000542: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SLECTION, ETC. 062191,000543: 062192,000544: # Q,R-JET-SELECTION-LOGIC 062193,000545: 062194,000546: # INPUT: AXISCTR 0,1 FOR U,V 062195,000547: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN 062196,000548: # Page 1453 062197,000549: # TJU,TJV JET TIME SCALED 10.24 SEC. 062198,000550: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY 062199,000551: # RETJADR WHERE TO RETURN TO 062200,000552: 062201,000553: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK 062202,000554: # CHANNEL 5 062203,000555: # SKIPU,SKIPV FOR LESS THAN 150MS FIRING 062204,000556: 062205,000557: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED 062206,000558: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY 062207,000559: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT 062208,000560: # IF NONE CAN BE FOUND. 062209,000561: 062210,000562: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET 062211,000563: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY. 062212,000564: 062213,000565: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO 062214,000566: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL. 062215,000567: 17,2731 00006 EXTEND 062216,000568: 17,2732 12743 BZF DOROTAT 062217,000569: 17,2733 40106 CS FLGWRD10 062218,000570: 17,2734 74737 MASK APSFLBIT 062219,000571: 17,2735 00006 EXTEND 062220,000572: 17,2736 12743 BZF DOROTAT 062221,000573: 17,2737 30111 CA DAPBOOLS 062222,000574: 17,2740 74744 MASK DRIFTBIT 062223,000575: 17,2741 00006 EXTEND 062224,000576: 17,2742 13063 BZF XTRANS 062225,000577: 062226,000578: 17,2743 34752 DOROTAT CAF TWO 062227,000579: 17,2744 54001 TS L 062228,000580: 17,2745 51505 INDEX AXISCTR 062229,000581: 17,2746 11525 CCS TJU 062230,000582: 17,2747 12754 TCF +5 062231,000583: 17,2750 12777 TCF NOROTAT 062232,000584: 17,2751 12753 TCF +2 062233,000585: 17,2752 12777 TCF NOROTAT 062234,000586: 17,2753 22007 ZL 062235,000587: 17,2754 64753 AD ONE 062236,000588: 17,2755 55737 TS ABSTJ 062237,000589: 062238,000590: 17,2756 31505 CA AXISCTR 062239,000591: 17,2757 60001 AD L 062240,000592: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V +U +V 062241,000593: 062242,000594: 17,2761 31737 CA ABSTJ 062243,000595: 17,2762 63110 AD -150MS 062244,000596: 17,2763 00006 EXTEND 062245,000597: 17,2764 63010 BZMF DOSKIP 062246,000598: # Page 1454 062247,000599: 17,2765 03173 TC SELCTSUB 062248,000600: 062249,000601: 17,2766 51505 INDEX AXISCTR 062250,000602: 17,2767 33105 CA INDEXES 062251,000603: 17,2770 54001 TS L 062252,000604: 062253,000605: 17,2771 31741 CA POLYTEMP 062254,000606: 17,2772 00004 INHINT 062255,000607: 17,2773 50001 INDEX L 062256,000608: 17,2774 05754 TC WRITEP 062257,000609: 062258,000610: 17,2775 00003 RELINT 062259,000611: 17,2776 13051 TCF FEEDBACK 062260,000612: 062261,000613: 17,2777 51505 NOROTAT INDEX AXISCTR 062262,000614: 17,3000 33105 CA INDEXES 062263,000615: 17,3001 00004 INHINT 062264,000616: 17,3002 50000 INDEX A 062265,000617: 17,3003 05753 TC WRITEP -1 062266,000618: 062267,000619: 17,3004 00003 RELINT 062268,000620: 17,3005 11505 LOOPER CCS AXISCTR 062269,000621: 17,3006 01477 TC RETJADR 062270,000622: 17,3007 13236 TCF CLOSEOUT 062271,000623: 17,3010 41737 DOSKIP CS ABSTJ 062272,000624: 17,3011 63107 AD +TJMINT6 # 14MS 062273,000625: 17,3012 00006 EXTEND 062274,000626: 17,3013 63032 BZMF NOTMIN 062275,000627: 062276,000628: 17,3014 27737 ADS ABSTJ 062277,000629: 17,3015 51505 INDEX AXISCTR 062278,000630: 17,3016 11525 CCS TJU 062279,000631: 17,3017 33107 CA +TJMINT6 062280,000632: 17,3020 13022 TCF +2 062281,000633: 17,3021 43107 CS +TJMINT6 062282,000634: 17,3022 51505 INDEX AXISCTR 062283,000635: 17,3023 55525 TS TJU 062284,000636: 062285,000637: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS 062286,000638: 17,3025 13031 TCF NOTMIN -1 062287,000639: 17,3026 00006 EXTEND 062288,000640: 17,3027 00004 READ LOSCALAR 062289,000641: 17,3030 74753 MASK ONE 062290,000642: 17,3031 55743 TS NUMBERT 062291,000643: 062292,000644: 17,3032 03173 NOTMIN TC SELCTSUB 062293,000645: 062294,000646: 17,3033 51505 INDEX AXISCTR 062295,000647: 17,3034 33105 CA INDEXES 062296,000648: 17,3035 00004 INHINT 062297,000649: # Page 1455 062298,000650: 17,3036 55471 TS T6FURTHA +1 062299,000651: 17,3037 31741 CA POLYTEMP 062300,000652: 17,3040 51471 INDEX T6FURTHA +1 062301,000653: 17,3041 05754 TC WRITEP 062302,000654: 062303,000655: 17,3042 31737 CA ABSTJ 062304,000656: 17,3043 55470 TS T6FURTHA 062305,000657: 17,3044 03114 TC JTLST # IN QR BANK BY NOW 062306,000658: 062307,000659: 17,3045 00003 RELINT 062308,000660: 062309,000661: 17,3046 34755 CA ZERO 062310,000662: 17,3047 51505 INDEX AXISCTR 062311,000663: 17,3050 55535 TS SKIPU 062312,000664: 062313,000665: 17,3051 46245 FEEDBACK CS THREE 062314,000666: 17,3052 61743 AD NUMBERT 062315,000667: 17,3053 00006 EXTEND 062316,000668: 17,3054 63057 BZMF +3 062317,000669: 062318,000670: 17,3055 34752 CA TWO 062319,000671: 17,3056 13060 TCF +2 062320,000672: 17,3057 34753 CA ONE 062321,000673: 17,3060 51505 INDEX AXISCTR 062322,000674: 17,3061 55522 TS NO.UJETS 062323,000675: 17,3062 13005 TCF LOOPER 062324,000676: 062325,000677: 17,3063 34755 XTRANS CA ZERO 062326,000678: 17,3064 55525 TS TJU 062327,000679: 17,3065 55526 TS TJV 062328,000680: 17,3066 34751 CA FOUR 062329,000681: 17,3067 00004 INHINT 062330,000682: 17,3070 57535 XCH SKIPU 062331,000683: 17,3071 00006 EXTEND 062332,000684: 17,3072 13074 BZF +2 062333,000685: 17,3073 05757 TC WRITEU -1 062334,000686: 17,3074 34751 CA FOUR 062335,000687: 17,3075 57536 XCH SKIPV 062336,000688: 17,3076 00003 RELINT 062337,000689: 062338,000690: 17,3077 00006 EXTEND 062339,000691: 17,3100 13236 BZF CLOSEOUT 062340,000692: 17,3101 00004 INHINT 062341,000693: 17,3102 05770 TC WRITEV -1 062342,000694: 17,3103 00003 RELINT 062343,000695: 062344,000696: 17,3104 13236 TCF CLOSEOUT 062345,000697: 17,3105 00004 INDEXES DEC 4 B-14 062346,000698: 17,3106 00015 DEC 13 B-14 062347,000699: 17,3107 00026 +TJMINT6 DEC 22 B-14 062348,000700: # Page 1456 062349,000701: 17,3110 77417 -150MS DEC -240 B-14 062350,000702: 17,3111 00600 BIT8,9 OCT 00600 062351,000703: 17,3112 00266 SCLNORM OCT 266 062352,000704: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL 062353,000705: 062354,000706: # THE JET LIST: 062355,000707: # THIS IS A WAITLIST FOR T6RUPTS. 062356,000708: 062357,000709: # CALLED BY: 062358,000710: # CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN 062359,000711: # TS T6FURTHA 062360,000712: # CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW) 062361,000713: # TS T6FURTHA +1 062362,000714: # TC JTLST 062363,000715: 062364,000716: # EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF 062365,000717: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN 062366,000718: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA 062367,000719: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX 062368,000720: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO. 062369,000721: 062370,000722: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT) 062371,000723: # THE INPUT IS THE LAST MEMBER OF THE LIST. 062372,000724: 062373,000725: # RETURNS BY: 062374,000726: # + TC Q 062375,000727: 062376,000728: # DEFINITIONS: (OUTPUT) 062377,000729: # TIME6 TIME OF NEXT RUPT 062378,000730: # T6NEXT DELTA TIME TO NEXT RUPT 062379,000731: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT 062380,000732: # NXT6ADR AXIS INDEX 0 -- P-AXIS 062381,000733: # T6NEXT +1 AXIS INDEX 4 -- U-AXIS 062382,000734: # T6FURTHA +1 AXIS INDEX 13 -- V-AXIS 062383,000735: 062384,000736: 17,3114 41470 JTLST CS T6FURTHA 062385,000737: 17,3115 60031 AD TIME6 062386,000738: 17,3116 00006 EXTEND 062387,000739: 17,3117 63131 BZMF MIDORLST # TIME6 -- TI IS IN A 062388,000740: 062389,000741: 17,3120 23465 LXCH NXT6ADR 062390,000742: 17,3121 53467 DXCH T6NEXT 062391,000743: 17,3122 53471 DXCH T6FURTHA 062392,000744: 17,3123 54031 TS TIME6 062393,000745: 17,3124 23465 LXCH NXT6ADR 062394,000746: 062395,000747: 17,3125 34735 TURNON CA BIT15 062396,000748: 17,3126 00006 EXTEND 062397,000749: 17,3127 05013 WOR CHAN13 062398,000750: 17,3130 00002 TC Q 062399,000751: 062400,000752: # Page 1457 062401,000753: 17,3131 61466 MIDORLST AD T6NEXT 062402,000754: 17,3132 00006 EXTEND 062403,000755: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A 062404,000756: 062405,000757: 17,3134 23467 LXCH T6NEXT +1 062406,000758: 17,3135 53471 DXCH T6FURTHA 062407,000759: 17,3136 00006 EXTEND 062408,000760: 17,3137 60031 SU TIME6 062409,000761: 17,3140 53467 DXCH T6NEXT 062410,000762: 062411,000763: 17,3141 00002 TC Q 062412,000764: 062413,000765: 17,3142 40000 LASTCHG CS A 062414,000766: 17,3143 64754 AD NEG0 062415,000767: 17,3144 55470 TS T6FURTHA 062416,000768: 062417,000769: 17,3145 00002 TC Q 062418,000770: 062419,000771: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L. 062420,000772: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS 062421,000773: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN 062422,000774: # A AND THE V-COMPONENT IS IN L. 062423,000775: 062424,000776: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2 062425,000777: 17,3147 00006 EXTEND 062426,000778: 17,3150 71627 MP COEFFQ 062427,000779: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2 062428,000780: 17,3152 00006 EXTEND 062429,000781: 17,3153 71630 MP COEFFR 062430,000782: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L 062431,000783: 17,3155 61740 AD ROTEMP2 062432,000784: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1 062433,000785: 17,3157 13163 TCF +4 062434,000786: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED 062435,000787: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX 062436,000788: 17,3162 55737 TS ROTEMP1 062437,000789: 17,3163 41740 CS ROTEMP2 062438,000790: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A 062439,000791: 17,3165 54007 TS 7 062440,000792: 17,3166 13171 TCF +3 062441,000793: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED 062442,000794: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX 062443,000795: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L 062444,000796: 17,3172 00002 TC Q 062445,000797: 17,3173 51744 SELCTSUB INDEX ROTINDEX 062446,000798: 17,3174 33225 CA ALLJETS 062447,000799: 17,3175 51743 INDEX NUMBERT 062448,000800: 17,3176 73231 MASK TYPEPOLY 062449,000801: 17,3177 55741 TS POLYTEMP 062450,000802: # Page 1458 062451,000803: 17,3200 71262 MASK CH5MASK 062452,000804: 17,3201 10000 CCS A 062453,000805: 17,3202 13204 TCF +2 062454,000806: 062455,000807: 17,3203 00002 TC Q 062456,000808: 062457,000809: 17,3204 36245 CA THREE 062458,000810: 17,3205 55743 FAILOOP TS NUMBERT 062459,000811: 17,3206 51744 INDEX ROTINDEX 062460,000812: 17,3207 33225 CA ALLJETS 062461,000813: 17,3210 51743 INDEX NUMBERT 062462,000814: 17,3211 73231 MASK TYPEPOLY 062463,000815: 17,3212 55741 TS POLYTEMP 062464,000816: 17,3213 71262 MASK CH5MASK 062465,000817: 17,3214 00006 EXTEND 062466,000818: 17,3215 13203 BZF FAILOOP -2 062467,000819: 17,3216 11743 CCS NUMBERT 062468,000820: 17,3217 13205 TCF FAILOOP 062469,000821: 17,3220 51505 INDEX AXISCTR 062470,000822: 17,3221 55525 TS TJU 062471,000823: 17,3222 05567 TC ALARM 062472,000824: 17,3223 02004 OCT 02004 062473,000825: 17,3224 12777 TCF NOROTAT 062474,000826: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13 062475,000827: 17,3226 00022 OCT 00022 # -V 2 9 062476,000828: 17,3227 00204 OCT 00204 # +U 5 14 062477,000829: 17,3230 00041 OCT 00041 # +V 1 10 062478,000830: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13 062479,000831: 17,3232 00252 OCT 00252 # +X 2 6 10 14 062480,000832: 17,3233 00146 OCT 00146 # A 2 5 10 13 062481,000833: 17,3234 00231 OCT 00231 # B 1 6 9 14 062482,000834: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14 062483,000835: 062484,000836: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB. 062485,000837: 062486,000838: 17,3236 33240 CLOSEOUT CA ADRRUPT 062487,000839: 17,3237 07754 TC MAKERUPT 062488,000840: 062489,000841: 17,3240 03241 ADRRUPT ADRES ENDJASK 062490,000842: 062491,000843: 17,3241 53754 ENDJASK DXCH DAPARUPT 062492,000844: 17,3242 52011 DXCH ARUPT 062493,000845: 17,3243 53756 DXCH DAPBQRPT 062494,000846: 17,3244 56017 XCH BRUPT 062495,000847: 17,3245 22002 LXCH Q 062496,000848: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER. 062497,000849: 17,3247 53760 DXCH DAPZRUPT 062498,000850: 17,3250 52016 DXCH ZRUPT 062499,000851: 17,3251 15272 TCF NOQRSM 062500,000852: # Page 1459 062501,000853: 7754 BLOCK 3 062502,000854: 6000 SETLOC FFTAG6 062503,000855: 6000 BANK 062504,000856: 062505,000857: 7754 COUNT* $$/DAP 062506,000858: 062507,000859: 7754 00006 MAKERUPT EXTEND 062508,000860: 7755 07754 EDRUPT MAKERUPT 062509,000861: End of include-file Q_R-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc