Source Code

046010,000001: # Copyright: Public domain. 046011,000002: # Filename: JET_SELECTION_LOGIC.agc 046012,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 046013,000004: # It is part of the source code for the Command Module's (CM) 046014,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 046015,000006: # Assembler: yaYUL 046016,000007: # Contact: Ron Burkey <info@sandroid.org>. 046017,000008: # Website: www.ibiblio.org/apollo. 046018,000009: # Pages: 1039-1062 046019,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the 046020,000011: # same name, using Comanche055 page images. 046021,000012: 046022,000013: # This source code has been transcribed or otherwise adapted from digitized 046023,000014: # images of a hardcopy from the MIT Museum. The digitization was performed 046024,000015: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 046025,000016: # thanks to both. The images (with suitable reduction in storage size and 046026,000017: # consequent reduction in image quality as well) are available online at 046027,000018: # www.ibiblio.org/apollo. If for some reason you find that the images are 046028,000019: # illegible, contact me at info@sandroid.org about getting access to the 046029,000020: # (much) higher-quality images which Paul actually created. 046030,000021: 046031,000022: # Notations on the hardcopy document read, in part: 046032,000023: 046033,000024: # Assemble revision 055 of AGC program Comanche by NASA 046034,000025: # 2021113-051. 10:28 APR. 1, 1969 046035,000026: 046036,000027: # This AGC program shall also be referred to as 046037,000028: # Colossus 2A 046038,000029: 046039,000030: # Page 1039 046040,000031: 21,3765 BANK 21 046041,000032: 17,2000 SETLOC DAPS4 046042,000033: 17,2000 BANK 046043,000034: 046044,000035: 17,2552 COUNT 17/DAPJS 046045,000036: 046046,000037: 17,2552 E6,1510 EBANK= KMPAC 046047,000038: 046048,000039: # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS 046049,000040: 046050,000041: 17,2552 22016 JETSLECT LXCH BANKRUPT 046051,000042: 17,2553 32634 CAF DELTATT3 # = 60 MS RESET TO EXECUTIVE PHASE1 046052,000043: 17,2554 61634 AD T5TIME 046053,000044: 17,2555 54030 TS TIME5 046054,000045: 17,2556 12561 TCF +3 046055,000046: 17,2557 32635 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT 046056,000047: 17,2560 54030 TS TIME5 046057,000048: 17,2561 33313 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS 046058,000049: 17,2562 54031 TS TIME6 # IN 14 MS 046059,000050: 17,2563 35001 CAF NEGMAX 046060,000051: 17,2564 00006 EXTEND 046061,000052: 17,2565 05013 WOR CHAN13 046062,000053: 17,2566 00006 EXTEND 046063,000054: 17,2567 22012 QXCH QRUPT 046064,000055: 17,2570 32633 CAF XLNMASK # = 7700 OCT 046065,000056: 17,2571 00006 EXTEND # EXAMINE THE TRANSLATION 046066,000057: 17,2572 06031 RXOR CHAN31 # HAND CONTROLLER 046067,000058: 17,2573 72633 MASK XLNMASK 046068,000059: 17,2574 00006 EXTEND 046069,000060: 17,2575 12636 BZF NOXLNCMD 046070,000061: 17,2576 55502 TS T5TEMP 046071,000062: 17,2577 00006 EXTEND 046072,000063: 17,2600 75007 MP BIT9 046073,000064: 17,2601 76214 MASK THREE 046074,000065: 17,2602 55513 TS XNDX1 # AC QUAD X-TRANSLATION INDEX 046075,000066: 17,2603 55514 TS XNDX2 # BD QUAD X-TRANSLATION INDEX 046076,000067: 17,2604 31502 CA T5TEMP 046077,000068: 17,2605 00006 EXTEND # 1 = + XLN 046078,000069: 17,2606 75011 MP BIT7 # 2 = - XLN 046079,000070: 17,2607 76214 MASK THREE # 3 = NO XLN 046080,000071: 17,2610 55515 TS YNDX # Y-TRANSLATION INDEX 046081,000072: 046082,000073: 17,2611 31502 CA T5TEMP 046083,000074: 17,2612 00006 EXTEND 046084,000075: 17,2613 75013 MP BIT5 046085,000076: 17,2614 76214 MASK THREE 046086,000077: 17,2615 55516 TS ZNDX # Z-TRANSLATION INDEX 046087,000078: 046088,000079: 17,2616 31466 CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR 046089,000080: 17,2617 75002 MASK BIT14 # TRANSLATIONS. 046090,000081: 17,2620 00006 EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED. 046091,000082: # Page 1040 046092,000083: 17,2621 12624 BZF NOLEM 046093,000084: 17,2622 46214 CS THREE # IF LEM IS ON, SET ATTKALMN = -3 046094,000085: 17,2623 12625 TCF +2 046095,000086: 17,2624 45016 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2. 046096,000087: 17,2625 55617 TS ATTKALMN 046097,000088: 17,2626 11631 CCS XTRANS # (+, -1, 0) 046098,000089: 17,2627 55513 TS XNDX1 # USING BD-X ZERO XNDX1 046099,000090: 17,2630 12642 TCF PWORD 046100,000091: 17,2631 55514 TS XNDX2 # USING AC-X ZERO XNDX2 046101,000092: 17,2632 12642 TCF PWORD 046102,000093: 17,2633 07700 XLNMASK OCT 7700 046103,000094: 046104,000095: 17,2634 37772 DELTATT3 DEC 16378 B-14 # = 60 MS 046105,000096: 17,2635 37776 DELATT20 DEC 16382 B-14 # = 20 MS 046106,000097: 046107,000098: 17,2636 55513 NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION 046108,000099: 17,2637 55514 TS XNDX2 046109,000100: 17,2640 55515 TS YNDX 046110,000101: 17,2641 55516 TS ZNDX 046111,000102: 046112,000103: # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT 046113,000104: 046114,000105: 17,2642 11562 PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS 046115,000106: 17,2643 35017 CAF ONE 046116,000107: 17,2644 12646 TCF +2 # 0 = NO PITCH 046117,000108: 17,2645 35016 CAF TWO # +1 = + PITCH 046118,000109: 17,2646 55520 TS PINDEX # +2 = - PITCH 046119,000110: 046120,000111: 17,2647 11626 CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES 046121,000112: 17,2650 12654 TCF AFAILP 046122,000113: 17,2651 12664 TCF TABPCOM # 0 = NO REAL AC FAILURES 046123,000114: 17,2652 12656 TCF CFAILP # + = A QUAD FAILED 046124,000115: 17,2653 12664 TCF TABPCOM # - = C QUAD FAILED 046125,000116: # IF FAILURES ARE PRESENT IGNORE 046126,000117: # X-TRANSLATIONS ON THIS AXIS 046127,000118: 046128,000119: 17,2654 34334 AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION 046129,000120: 17,2655 12666 TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION 046130,000121: 17,2656 35771 CFAILP CAF TWELVE 046131,000122: 17,2657 12666 TCF TABPCOM +2 046132,000123: 046133,000124: 17,2660 00000 XLNNDX DEC 0 B-14 # INDICES FOR TRANSLATION COMMANDS 046134,000125: 17,2661 00003 DEC 3 B-14 # FOR USE IN TABLE LOOK UP 046135,000126: 17,2662 00006 DEC 6 B-14 046136,000127: 17,2663 00000 DEC 0 B-14 046137,000128: 046138,000129: 17,2664 5771 TWELVE = OCT14 046139,000130: 046140,000131: # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT. 046141,000132: # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION 046142,000133: # Page 1041 046143,000134: 046144,000135: 17,2664 51513 TABPCOM INDEX XNDX1 046145,000136: 17,2665 32660 CA XLNNDX 046146,000137: 17,2666 61520 AD PINDEX 046147,000138: 17,2667 50000 INDEX A 046148,000139: 17,2670 32714 CA PYTABLE 046149,000140: 17,2671 72733 MASK PJETS # =1417 OCT 046150,000141: 17,2672 55453 TS PWORD1 046151,000142: 17,2673 00006 EXTEND 046152,000143: 17,2674 75011 MP BIT7 046153,000144: 17,2675 55523 TS NPJETS # = NO. OF PITCH JETS 046154,000145: 046155,000146: # YAW JET COMMANDS TIMING(N X-TRANS, NO QUAD FAILURES) 32MCT 046156,000147: 046157,000148: 17,2676 11563 YWORD CCS TAU2 # CHECK FOR YAW COMMANDS 046158,000149: 17,2677 35017 CAF ONE 046159,000150: 17,2700 12702 TCF +2 046160,000151: 17,2701 35016 CAF TWO 046161,000152: 17,2702 55521 TS YINDEX # YAW ROTATION INDEX 046162,000153: 046163,000154: 17,2703 11627 CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES 046164,000155: 17,2704 12710 TCF BFAILY # 0 = NO BD FAILURE 046165,000156: 17,2705 12735 TCF TABYCOM # + - B QUAD FAILED 046166,000157: 17,2706 12712 TCF DFAILY # - = D QUAD FAILED 046167,000158: 17,2707 12735 TCF TABYCOM 046168,000159: 046169,000160: 17,2710 34334 BFAILY CAF NINE 046170,000161: 17,2711 12737 TCF TABYCOM +2 046171,000162: 17,2712 35771 DFAILY CAF TWELVE 046172,000163: 17,2713 12737 TCF TABYCOM +2 046173,000164: 046174,000165: # Page 1042 046175,000166: # TABLE FOR PITCH(YAW) COMMANDS 046176,000167: # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED 046177,000168: # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION 046178,000169: # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED 046179,000170: # BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION 046180,000171: 046181,000172: # ROT TRANS QUAD BIAS 046182,000173: 17,2714 00000 PYTABLE OCT 0 # 0 0 0 046183,000174: 17,2715 05125 OCT 5125 # + 0 0 046184,000175: 17,2716 05252 OCT 5252 # - 0 0 046185,000176: 17,2717 00231 OCT 0231 # 0 + 3 046186,000177: 17,2720 02421 OCT 2421 # + + 3 046187,000178: 17,2721 02610 OCT 2610 # - + 3 046188,000179: 17,2722 00146 OCT 0146 # 0 - 6 046189,000180: 17,2723 02504 OCT 2504 # + - 6 046190,000181: 17,2724 02442 OCT 2442 # - - 6 046191,000182: 17,2725 00000 OCT 0 # 0 A(B) 9 046192,000183: 17,2726 02421 OCT 2421 # + A(B) 9 046193,000184: 17,2727 02442 OCT 2442 # - A(B) 9 046194,000185: 17,2730 00000 OCT 0 # 0 C(D) 12 046195,000186: 17,2731 02504 OCT 2504 # + C(D) 12 046196,000187: 17,2732 02610 OCT 2610 # - C(D) 12 046197,000188: 046198,000189: # MASKS FOR PITCH AND YAW COMMANDS 046199,000190: 046200,000191: 17,2733 01417 PJETS OCT 1417 046201,000192: 17,2734 06360 YJETS OCT 6360 046202,000193: 046203,000194: # TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT 046204,000195: # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION 046205,000196: 046206,000197: 17,2735 51514 TABYCOM INDEX XNDX2 046207,000198: 17,2736 32660 CA XLNNDX 046208,000199: 17,2737 61521 AD YINDEX 046209,000200: 17,2740 50000 INDEX A 046210,000201: 17,2741 32714 CA PYTABLE 046211,000202: 17,2742 72734 MASK YJETS # = 6360 OCT 046212,000203: 17,2743 55455 TS YWORD1 046213,000204: 17,2744 00006 EXTEND 046214,000205: 17,2745 75013 MP BIT5 046215,000206: 17,2746 55524 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION 046216,000207: 046217,000208: # Page 1043 046218,000209: # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT 046219,000210: 046220,000211: 17,2747 11561 RWORD CCS TAU # CHECK FOR ROLL COMMANDS 046221,000212: 17,2750 35017 CAF ONE 046222,000213: 17,2751 12753 TCF +2 046223,000214: 17,2752 35016 CAF TWO 046224,000215: 17,2753 55517 TS RINDEX 046225,000216: 046226,000217: 17,2754 11630 CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR 046227,000218: 17,2755 13046 TCF BDROLL # ROLL COMMANDS 046228,000219: 17,2756 13046 TCF BDROLL # +, +0 = BD ROLL 046229,000220: 17,2757 12760 TCF +1 # -, -0 = AC ROLL 046230,000221: 046231,000222: 17,2760 11626 ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES 046232,000223: 17,2761 12765 TCF RAFAIL # ON AC QUADS 046233,000224: 17,2762 12775 TCF RXLNS 046234,000225: 17,2763 12767 TCF RCFAIL 046235,000226: 17,2764 12775 TCF RXLNS 046236,000227: 046237,000228: 17,2765 34334 RAFAIL CAF NINE # QUAD FAILURE WILL GET 046238,000229: 17,2766 12777 TCF TABRCOM # 1-JET OPERATION 046239,000230: 17,2767 35771 RCFAIL CAF TWELVE 046240,000231: 17,2770 12777 TCF TABRCOM 046241,000232: 046242,000233: 17,2771 00000 XLN1NDX DEC 0 B-14 046243,000234: 17,2772 00001 DEC 1 B-14 # INDICES FOR TRANSLATION 046244,000235: 17,2773 00002 DEC 2 B-14 046245,000236: 17,2774 00000 DEC 0 B-14 046246,000237: 046247,000238: # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT 046248,000239: # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL 046249,000240: 046250,000241: 17,2775 51515 RXLNS INDEX YNDX # NO AC QUAD FAILURES 046251,000242: 17,2776 32660 CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION 046252,000243: 17,2777 61517 TABRCOM AD RINDEX 046253,000244: 17,3000 50000 INDEX A 046254,000245: 17,3001 33130 CA RTABLE 046255,000246: 17,3002 73147 MASK ACRJETS # = 3760 OCT 046256,000247: 17,3003 55451 TS RWORD1 046257,000248: 046258,000249: # CHECK FOR Z-TRANSLATIONS ON BD 046259,000250: 046260,000251: 17,3004 31516 BDZCHECK CA ZNDX 046261,000252: 17,3005 00006 EXTEND 046262,000253: 17,3006 63040 BZMF NOBDZ # NO Z-TRANSLATION 046263,000254: 046264,000255: # Page 1044 046265,000256: # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS- 046266,000257: # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION: IF THE RESULTANT NET ROLL 046267,000258: # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT 046268,000259: # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION 046269,000260: 046270,000261: 17,3007 11627 CCS RBDFAIL 046271,000262: 17,3010 36214 CAF THREE 046272,000263: 17,3011 13013 TCF +2 046273,000264: 17,3012 36211 CAF SIX 046274,000265: 17,3013 51516 INDEX ZNDX 046275,000266: 17,3014 62771 AD XLN1NDX 046276,000267: 17,3015 50000 INDEX A 046277,000268: 17,3016 33151 CA YZTABLE 046278,000269: 17,3017 73162 MASK BDZJETS # = 3417 OCT 046279,000270: 17,3020 61451 AD RWORD1 # ADD TO ROLL COMMANDS 046280,000271: 17,3021 55502 TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST 046281,000272: 046282,000273: 17,3022 00006 EXTEND 046283,000274: 17,3023 75011 MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH 046284,000275: 17,3024 66061 AD =-4 # Z-TRANSLATION ADDED ON 046285,000276: 17,3025 55522 TS NRJETS # NET NO. OF +,- ROLL JETS ON 046286,000277: 17,3026 00006 EXTEND 046287,000278: 17,3027 13033 BZF TAUCHECK 046288,000279: 046289,000280: 17,3030 31502 ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY 046290,000281: 17,3031 55451 TS RWORD1 # HAVE INTRODUCED AN UNDESIRABLE ROLL 046291,000282: 17,3032 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS 046292,000283: 046293,000284: 17,3033 11561 TAUCHECK CCS TAU 046294,000285: 17,3034 13040 TCF NOBDZ 046295,000286: 17,3035 13030 TCF ACRBDZ 046296,000287: 17,3036 13040 TCF NOBDZ 046297,000288: 17,3037 13030 TCF ACRBDZ 046298,000289: 046299,000290: 17,3040 31451 NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED 046300,000291: 17,3041 00006 EXTEND 046301,000292: 17,3042 75011 MP BIT7 046302,000293: 17,3043 67715 AD =-2 046303,000294: 17,3044 55522 TS NRJETS 046304,000295: 17,3045 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION 046305,000296: 046306,000297: # Page 1045 046307,000298: # BD QUAD SELECTION FOR ROLL COMMANDS 046308,000299: 046309,000300: 17,3046 11627 BDROLL CCS RBDFAIL 046310,000301: 17,3047 13053 TCF RBFAIL 046311,000302: 17,3050 13057 TCF RZXLNS 046312,000303: 17,3051 13055 TCF RDFAIL 046313,000304: 17,3052 13057 TCF RZXLNS 046314,000305: 17,3053 34334 RBFAIL CAF NINE 046315,000306: 17,3054 13061 TCF TABRZCMD 046316,000307: 17,3055 35771 RDFAIL CAF TWELVE 046317,000308: 17,3056 13061 TCF TABRZCMD 046318,000309: 046319,000310: 17,3057 51516 RZXLNS INDEX ZNDX # NO BD FAILURES 046320,000311: 17,3060 32660 CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT 046321,000312: 17,3061 61517 TABRZCMD AD RINDEX 046322,000313: 17,3062 50000 INDEX A 046323,000314: 17,3063 33130 CA RTABLE 046324,000315: 17,3064 73150 MASK BDRJETS # = 34017 OCT 046325,000316: 17,3065 55451 TS RWORD1 046326,000317: 046327,000318: 17,3066 31515 ACYCHECK CA YNDX # ANY Y-TRANSLATION 046328,000319: 17,3067 00006 EXTEND 046329,000320: 17,3070 13122 BZF NOACY # NO Y-TRANSLATION 046330,000321: 17,3071 11626 CCS RACFAIL 046331,000322: 17,3072 36214 CAF THREE 046332,000323: 17,3073 13075 TCF +2 046333,000324: 17,3074 36211 CAF SIX 046334,000325: 17,3075 51515 INDEX YNDX 046335,000326: 17,3076 62771 AD XLN1NDX 046336,000327: 17,3077 50000 INDEX A 046337,000328: 17,3100 33151 CA YZTABLE 046338,000329: 17,3101 73163 MASK ACYJETS # = 34360 OCT 046339,000330: 17,3102 61451 AD RWORD1 046340,000331: 17,3103 55502 TS T5TEMP 046341,000332: 17,3104 00006 EXTEND # FOR EXPLANATION SEE CODING ON RTABLE 046342,000333: 17,3105 75014 MP BIT4 046343,000334: 17,3106 66061 AD =-4 046344,000335: 17,3107 55522 TS NRJETS # NO. OF NET ROLL JETS 046345,000336: 17,3110 00006 EXTEND 046346,000337: 17,3111 13115 BZF TAUCHCK # IF NRJETS = 0 046347,000338: 046348,000339: 17,3112 31502 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED 046349,000340: 17,3113 55451 TS RWORD1 046350,000341: 17,3114 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS 046351,000342: 046352,000343: 17,3115 11561 TAUCHCK CCS TAU 046353,000344: 17,3116 13122 TCF NOACY 046354,000345: 17,3117 13112 TCF BDRACZ 046355,000346: 17,3120 13122 TCF NOACY 046356,000347: 17,3121 13112 TCF BDRACZ 046357,000348: 046358,000349: # Page 1046 046359,000350: 17,3122 31451 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED 046360,000351: 17,3123 00006 EXTEND 046361,000352: 17,3124 75014 MP BIT4 046362,000353: 17,3125 67715 AD =-2 046363,000354: 17,3126 55522 TS NRJETS 046364,000355: 17,3127 13274 TCF ROLLTIME 046365,000356: 046366,000357: # Page 1047 046367,000358: # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS 046368,000359: 046369,000360: # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY 046370,000361: # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED, 046371,000362: # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL. 046372,000363: 046373,000364: # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD 046374,000365: # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD 046375,000366: # SWITCH TO AC ROLL. 046376,000367: 046377,000368: # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL 046378,000369: # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC. 046379,000370: 046380,000371: # WORD MAKE UP....RTABLE 046381,000372: 046382,000373: # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPONDING 046383,000374: # TO AC ROLL HAS THE FOLLOWING INTERPRETATION: 046384,000375: 046385,000376: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS: 046386,000377: 046387,000378: # BIT NO. 11 10 9 NO. OF ROLL JETS 046388,000379: 046389,000380: # 0 0 0 -2 046390,000381: # 0 0 1 -1 046391,000382: # 0 1 0 0 046392,000383: # 0 1 1 +1 046393,000384: # 1 0 0 +2 046394,000385: 046395,000386: # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF 046396,000387: # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR. 046397,000388: 046398,000389: # THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTEPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED 046399,000390: # (AS ABOVE) TO GIVE THE NET ROLL TORQUE. 046400,000391: 046401,000392: # ROLL TRANS QUADFAIL BIAS 046402,000393: 046403,000394: 17,3130 11000 RTABLE OCT 11000 # 0 0 046404,000395: 17,3131 22125 OCT 22125 # + 0 046405,000396: 17,3132 00252 OCT 00252 # - 0 046406,000397: 17,3133 11231 OCT 11231 # 0 +Y(+Z) 3 046407,000398: 17,3134 15421 OCT 15421 # + +Y(+Z) 3 046408,000399: 17,3135 04610 OCT 04610 # - +Y(+Z) 3 046409,000400: 17,3136 11146 OCT 11146 # 0 -Y(-Z) 6 046410,000401: 17,3137 15504 OCT 15504 # + -Y(-Z) 6 046411,000402: 17,3140 04442 OCT 04442 # - -Y(-Z) 6 046412,000403: 17,3141 11000 OCT 11000 # 0 A(B) 9 046413,000404: 17,3142 15504 OCT 15504 # + A(B) 9 046414,000405: 17,3143 04610 OCT 04610 # - A(B) 9 046415,000406: 17,3144 11000 OCT 11000 # 0 C(D) 12 046416,000407: 17,3145 15421 OCT 15421 # + C(D) 12 046417,000408: 17,3146 04442 OCT 04442 # - C(D) 12 046418,000409: 046419,000410: # Page 1048 046420,000411: # RTABLE MASKS: 046421,000412: 046422,000413: 17,3147 03760 ACRJETS OCT 03760 046423,000414: 17,3150 34017 BDRJETS OCT 34017 046424,000415: 046425,000416: # Page 1049 046426,000417: # Y, Z TRANSLATION TABLE 046427,000418: 046428,000419: # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE 046429,000420: # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED 046430,000421: # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE 046431,000422: # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN- 046432,000423: # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL. 046433,000424: 046434,000425: # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE 046435,000426: # ABOVE. 046436,000427: 046437,000428: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE 046438,000429: # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILARLY BITS 046439,000430: # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED. 046440,000431: 046441,000432: # TRANSLATION QUADFAIL BIAS 046442,000433: 046443,000434: 17,3151 11000 YZTABLE OCT 11000 # 0 0 046444,000435: 17,3152 11231 OCT 11231 # +Z(+Y) 0 046445,000436: 17,3153 11146 OCT 11146 # -Z(-Y) 0 046446,000437: 17,3154 11000 OCT 11000 # 0 B(A) 3 046447,000438: 17,3155 04610 OCT 04610 # +Z(+Y) B(A) 3 046448,000439: 17,3156 15504 OCT 15504 # -Z(-Y) B(A) 3 046449,000440: 17,3157 11000 OCT 11000 # 0 D(C) 6 046450,000441: 17,3160 15421 OCT 15421 # +Z(+Y) D(C) 6 046451,000442: 17,3161 04442 OCT 04442 # -Z(-Y) D(C) 6 046452,000443: 046453,000444: # YZ-TABLE MASKS: 046454,000445: 046455,000446: 17,3162 03417 BDZJETS OCT 03417 046456,000447: 17,3163 34360 ACYJETS OCT 34360 046457,000448: 046458,000449: # ADDITIONAL CONSTANTS 046459,000450: 046460,000451: 17,3164 7715 =-2 = NEG2 046461,000452: 17,3164 6061 =-4 = NEG4 046462,000453: 046463,000454: # Page 1050 046464,000455: # CALCULATION OF JET ON-TIMES 046465,000456: 046466,000457: # THE ROTATION COMMANDS (TAU'S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET 046467,000458: # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST 046468,000459: # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 046469,000460: # INTERVAL. 046470,000461: 046471,000462: # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES 046472,000463: # (DFT'S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER. 046473,000464: 046474,000465: # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST 046475,000466: # UPDATE DFT. 046476,000467: 046477,000468: # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH 046478,000469: # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS 046479,000470: # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR 046480,000471: # AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL 046481,000472: # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE 046482,000473: # ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC) 046483,000474: 046484,000475: # PITCH JET ON-TIME CALCULATION 046485,000476: 046486,000477: 17,3164 11562 PITCHTIM CCS TAU1 046487,000478: 17,3165 13174 TCF PTAUPOS 046488,000479: 17,3166 13170 TCF +2 046489,000480: 17,3167 13172 TCF PTAUNEG 046490,000481: 17,3170 55550 TS DFT1 # NO PITCH ROTATION 046491,000482: 17,3171 13372 TCF PBYPASS # COMMANDS 046492,000483: 046493,000484: 17,3172 41523 PTAUNEG CS NPJETS 046494,000485: 17,3173 55523 TS NPJETS 046495,000486: 17,3174 31562 PTAUPOS CA TAU1 046496,000487: 17,3175 00006 EXTEND 046497,000488: 17,3176 51523 INDEX NPJETS 046498,000489: 17,3177 73353 MP NJET 046499,000490: 17,3200 55461 TS BLAST1 046500,000491: 17,3201 63306 AD =-.1SEC 046501,000492: 17,3202 00006 EXTEND 046502,000493: 17,3203 63214 BZMF AD14MSP 046503,000494: 17,3204 51523 INDEX NPJETS 046504,000495: 17,3205 33307 CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC 046505,000496: 17,3206 55550 TS DFT1 046506,000497: 17,3207 40000 COM 046507,000498: 17,3210 27562 ADS TAU1 # UPDATE TAU1 046508,000499: 17,3211 33310 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION 046509,000500: 17,3212 55461 TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY 046510,000501: 17,3213 13357 TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH 046511,000502: # OVER TO TVC 046512,000503: 17,3214 41461 AD14MSP CS BLAST1 # SEE IF JET ON TIME IS LESS THAN 046513,000504: 17,3215 63313 AD =14MS # MINIMUM IMPULSE TIME 046514,000505: 17,3216 00006 EXTEND 046515,000506: 17,3217 63222 BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS 046516,000507: 17,3220 33313 CAF =14MS 046517,000508: # Page 1051 046518,000509: 17,3221 55461 TS BLAST1 046519,000510: 17,3222 31461 PBLASTOK CA BLAST1 046520,000511: 17,3223 00006 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED 046521,000512: 17,3224 71523 MP NPJETS # WITHIN THE TS-CYCLE TIME 046522,000513: 17,3225 23550 LXCH DFT1 # FOR USE IN UPDATING RATE FILTER 046523,000514: 17,3226 55562 TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO) 046524,000515: 17,3227 13357 TCF ASMBLWP 046525,000516: 046526,000517: # Page 1052 046527,000518: # YAW JET ON-TIME CALCULATION 046528,000519: 046529,000520: 17,3230 11563 YAWTIME CCS TAU2 046530,000521: 17,3231 13240 TCF YTAUPOS 046531,000522: 17,3232 13234 TCF +2 046532,000523: 17,3233 13236 TCF YTAUNEG 046533,000524: 17,3234 55551 TS DFT2 # NO YAW ROTATION COMMANDS 046534,000525: 17,3235 13536 TCF YBYPASS 046535,000526: 046536,000527: 17,3236 41524 YTAUNEG CS NYJETS 046537,000528: 17,3237 55524 TS NYJETS 046538,000529: 17,3240 31563 YTAUPOS CA TAU2 046539,000530: 17,3241 00006 EXTEND 046540,000531: 17,3242 51524 INDEX NYJETS 046541,000532: 17,3243 73353 MP NJET 046542,000533: 17,3244 55463 TS BLAST2 046543,000534: 17,3245 63306 AD =-.1SEC 046544,000535: 17,3246 00006 EXTEND 046545,000536: 17,3247 63260 BZMF AD14MSY 046546,000537: 17,3250 51524 INDEX NYJETS 046547,000538: 17,3251 33307 CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC 046548,000539: 17,3252 55551 TS DFT2 046549,000540: 17,3253 40000 COM 046550,000541: 17,3254 27563 ADS TAU2 # DECREMENT TAU2 046551,000542: 17,3255 33310 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND 046552,000543: 17,3256 55463 TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION 046553,000544: 17,3257 13523 TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC 046554,000545: 046555,000546: 17,3260 41463 AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN 046556,000547: 17,3261 63313 AD =14MS # MINIMUM IMPULSE TIME 046557,000548: 17,3262 00006 EXTEND 046558,000549: 17,3263 63266 BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS 046559,000550: 17,3264 33313 CAF =14MS 046560,000551: 17,3265 55463 TS BLAST2 046561,000552: 17,3266 31463 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN 046562,000553: 17,3267 00006 EXTEND # THE T5CYCLE TIME 046563,000554: 17,3270 71524 MP NYJETS 046564,000555: 17,3271 23551 LXCH DFT2 046565,000556: 17,3272 55563 TS TAU2 # ZERO TAU2 046566,000557: 17,3273 13523 TCF ASMBLWY 046567,000558: 046568,000559: # Page 1053 046569,000560: # ROLL ON-TIME CALCULATION: 046570,000561: 046571,000562: 17,3274 11561 ROLLTIME CCS TAU 046572,000563: 17,3275 13314 TCF RBLAST 046573,000564: 17,3276 13300 TCF +2 046574,000565: 17,3277 13314 TCF RBLAST 046575,000566: 17,3300 51522 INDEX NRJETS 046576,000567: 17,3301 33307 CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE 046577,000568: 17,3302 55547 TS DFT # PRESENT 046578,000569: 17,3303 13516 TCF RBYPASS 046579,000570: 046580,000571: 17,3304 77037 DEC -480 B-14 # =-.3SEC 046581,000572: 17,3305 77277 DEC -320 B-14 # =-.2SEC 046582,000573: 17,3306 77537 =-.1SEC DEC -160 B-14 # =-.1SEC 046583,000574: 17,3307 00000 DFTMAX DEC 0 B-14 # 0 046584,000575: 17,3310 00240 =+.1SEC DEC 160 B-14 # =+.1SEC 046585,000576: 17,3311 00500 DEC 320 B-14 # =+.2SEC 046586,000577: 17,3312 00740 DEC 480 B-14 # =+.3SEC 046587,000578: 17,3313 00027 =14MS DEC 23 B-14 # =14MS 046588,000579: 046589,000580: 17,3314 31561 RBLAST CA TAU 046590,000581: 17,3315 00006 EXTEND 046591,000582: 17,3316 51522 INDEX NRJETS 046592,000583: 17,3317 73353 MP NJET 046593,000584: 17,3320 55457 TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE 046594,000585: # USED IN DETERMINING THE JET ON-TIMES 046595,000586: 17,3321 63306 AD =-.1SEC 046596,000587: 17,3322 00006 EXTEND 046597,000588: 17,3323 63334 BZMF AD14MSR 046598,000589: 17,3324 51522 INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER 046599,000590: 17,3325 33307 CA DFTMAX # THAN THE T5 CYCLE TIME 046600,000591: 17,3326 55547 TS DFT 046601,000592: 17,3327 40000 COM 046602,000593: 17,3330 27561 ADS TAU 046603,000594: 17,3331 33310 CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION 046604,000595: 17,3332 55457 TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z 046605,000596: 17,3333 13377 TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE 046606,000597: 046607,000598: 17,3334 41457 AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN 046608,000599: 17,3335 63313 AD =14MS # MINIMUM IMPULSE TIME 046609,000600: 17,3336 00006 EXTEND 046610,000601: 17,3337 63342 BZMF RBLASTOK 046611,000602: 17,3340 33313 CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS 046612,000603: 17,3341 55457 TS BLAST 046613,000604: 17,3342 31457 RBLASTOK CA BLAST 046614,000605: 17,3343 00006 EXTEND 046615,000606: 17,3344 71522 MP NRJETS 046616,000607: 17,3345 23547 LXCH DFT 046617,000608: 17,3346 55561 TS TAU # ZERO TAU 046618,000609: 17,3347 13377 TCF ASMBLWR 046619,000610: 046620,000611: # Page 1054 046621,000612: 17,3350 65252 DEC -.333333 # = -1/3 046622,000613: 17,3351 57777 DEC -.500000 # = -1.2 046623,000614: 17,3352 40000 DEC -.999999 # = -1 (NEGMAX) 046624,000615: 17,3353 00000 NJET DEC 0 B-14 046625,000616: 17,3354 37777 DEC .999999 # = +1 (POSMAX) 046626,000617: 17,3355 20000 DEC .500000 # = +1/2 046627,000618: 17,3356 12525 DEC .333333 # = +1/3 046628,000619: 046629,000620: # Page 1055 046630,000621: # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH 046631,000622: # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT. 046632,000623: 046633,000624: # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE 046634,000625: # CORRESPONDING ROTATIONS ARE COMPLETED. 046635,000626: 046636,000627: # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2 046637,000628: 046638,000629: 17,3357 11626 ASMBLWP CCS RACFAIL 046639,000630: 17,3360 13366 TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION 046640,000631: 17,3361 13363 TCF +2 046641,000632: 17,3362 13366 TCF FPX2 046642,000633: 17,3363 51513 INDEX XNDX1 046643,000634: 17,3364 32660 CA XLNNDX 046644,000635: 17,3365 50000 INDEX A 046645,000636: 17,3366 32714 FPX2 CA PYTABLE 046646,000637: 17,3367 72733 MASK PJETS 046647,000638: 17,3370 55454 TS PWORD2 046648,000639: 17,3371 13230 TCF YAWTIME 046649,000640: 046650,000641: 17,3372 31453 PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2 046651,000642: 17,3373 55454 TS PWORD2 # UPON ENTRY 046652,000643: 17,3374 35021 CAF ZERO 046653,000644: 17,3375 55461 TS BLAST1 # THERE IS NO PWORD2 046654,000645: 17,3376 13230 TCF YAWTIME 046655,000646: 046656,000647: # Page 1056 046657,000648: # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2) 046658,000649: 046659,000650: 17,3377 11515 ASMBLWR CCS YNDX # CHECK FOR Y-TRANS 046660,000651: 17,3400 13410 TCF ACBD2Y 046661,000652: 17,3401 35021 NO2Y CAF ZERO 046662,000653: 17,3402 55452 TS RWORD2 046663,000654: 17,3403 11516 CCS ZNDX # CHECK FOR Z-TRANS 046664,000655: 17,3404 13453 TCF ACBD2Z 046665,000656: 17,3405 35021 NO2Z CAF ZERO 046666,000657: 17,3406 27452 ADS RWORD2 046667,000658: 17,3407 13164 TCF PITCHTIM # RWORD2 ASSEMBLED 046668,000659: 046669,000660: 17,3410 11630 ACBD2Y CCS ACORBD 046670,000661: 17,3411 13426 TCF AC2Y # CAN DO Y-TRANS 046671,000662: 17,3412 13426 TCF AC2Y 046672,000663: 17,3413 13414 TCF +1 # USING AC FOR ROLL 046673,000664: 17,3414 11626 CCS RACFAIL 046674,000665: 17,3415 13401 TCF NO2Y # USING AC AND AC HAS FAILED 046675,000666: 17,3416 13420 TCF +2 046676,000667: 17,3417 13401 TCF NO2Y # DITTO 046677,000668: 046678,000669: 17,3420 51515 INDEX YNDX # NO FAILURES, CAN DO Y 046679,000670: 17,3421 32660 CA XLNNDX 046680,000671: 17,3422 50000 INDEX A 046681,000672: 17,3423 33130 CA RTABLE 046682,000673: 17,3424 73147 MASK ACRJETS 046683,000674: 17,3425 13402 TCF NO2Y +1 046684,000675: 046685,000676: 17,3426 11626 AC2Y CCS RACFAIL 046686,000677: 17,3427 36214 CAF THREE 046687,000678: 17,3430 13432 TCF +2 046688,000679: 17,3431 36211 CAF SIX 046689,000680: 17,3432 51515 INDEX YNDX 046690,000681: 17,3433 62771 AD XLN1NDX 046691,000682: 17,3434 50000 INDEX A 046692,000683: 17,3435 33151 CA YZTABLE 046693,000684: 17,3436 73163 MASK ACYJETS 046694,000685: 17,3437 55452 TS RWORD2 046695,000686: 17,3440 00006 EXTEND 046696,000687: 17,3441 75014 MP BIT4 046697,000688: 17,3442 67715 AD =-2 046698,000689: 17,3443 55522 TS NRJETS 046699,000690: 17,3444 41457 CS BLAST 046700,000691: 17,3445 63310 AD =+.1SEC 046701,000692: 17,3446 00006 EXTEND 046702,000693: 17,3447 71522 MP NRJETS 046703,000694: 17,3450 30001 CA L 046704,000695: 17,3451 27547 ADS DFT 046705,000696: 17,3452 13403 TCF NO2Y +2 046706,000697: # Page 1057 046707,000698: 17,3453 11630 ACBD2Z CCS ACORBD 046708,000699: 17,3454 13504 TCF BDF2Z # USING BD-ROLL 046709,000700: 17,3455 13504 TCF BDF2Z # MUST CHECK FOR BD FAILURES 046710,000701: 17,3456 13457 TCF +1 046711,000702: 17,3457 11627 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS 046712,000703: 17,3460 36214 CAF THREE 046713,000704: 17,3461 13463 TCF +2 046714,000705: 17,3462 36211 CAF SIX 046715,000706: 17,3463 51516 INDEX ZNDX 046716,000707: 17,3464 62771 AD XLN1NDX 046717,000708: 17,3465 50000 INDEX A 046718,000709: 17,3466 33151 CA YZTABLE 046719,000710: 17,3467 73162 MASK BDZJETS 046720,000711: 17,3470 27452 ADS RWORD2 046721,000712: 17,3471 00006 EXTEND 046722,000713: 17,3472 75011 MP BIT7 046723,000714: 17,3473 67715 AD =-2 046724,000715: 17,3474 55522 TS NRJETS 046725,000716: 17,3475 41457 CS BLAST 046726,000717: 17,3476 63310 AD =+.1SEC 046727,000718: 17,3477 00006 EXTEND 046728,000719: 17,3500 71522 MP NRJETS 046729,000720: 17,3501 30001 CA L 046730,000721: 17,3502 27547 ADS DFT 046731,000722: 17,3503 13164 TCF PITCHTIM 046732,000723: 046733,000724: 17,3504 11627 BDF2Z CCS RBDFAIL 046734,000725: 17,3505 13405 TCF NO2Z # USING BD-ROLL AND BD HAS FAILED 046735,000726: 17,3506 13510 TCF +2 046736,000727: 17,3507 13405 TCF NO2Z # DITTO 046737,000728: 17,3510 51516 INDEX ZNDX 046738,000729: 17,3511 32660 CA XLNNDX 046739,000730: 17,3512 50000 INDEX A 046740,000731: 17,3513 33130 CA RTABLE 046741,000732: 17,3514 73150 MASK BDRJETS 046742,000733: 17,3515 13406 TCF NO2Z +1 046743,000734: 046744,000735: 17,3516 31451 RBYPASS CA RWORD1 046745,000736: 17,3517 55452 TS RWORD2 046746,000737: 17,3520 35021 CAF ZERO 046747,000738: 17,3521 55457 TS BLAST 046748,000739: 17,3522 13164 TCF PITCHTIM 046749,000740: 046750,000741: # Page 1058 046751,000742: # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2 046752,000743: 046753,000744: 17,3523 11627 ASMBLWY CCS RBDFAIL 046754,000745: 17,3524 13532 TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION 046755,000746: 17,3525 13527 TCF +2 046756,000747: 17,3526 13532 TCF FYX2 046757,000748: 17,3527 51514 INDEX XNDX2 046758,000749: 17,3530 32660 CA XLNNDX 046759,000750: 17,3531 50000 INDEX A 046760,000751: 17,3532 32714 FYX2 CA PYTABLE 046761,000752: 17,3533 72734 MASK YJETS 046762,000753: 17,3534 55456 TS YWORD2 046763,000754: 17,3535 13542 TCF T6SETUP 046764,000755: 046765,000756: 17,3536 31455 YBYPASS CA YWORD1 046766,000757: 17,3537 55456 TS YWORD2 046767,000758: 17,3540 35021 CAF ZERO 046768,000759: 17,3541 55463 TS BLAST2 046769,000760: 046770,000761: # Page 1059 046771,000762: # SORT THE JET ON-TIMES 046772,000763: 046773,000764: # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE: 046774,000765: 046775,000766: # RWORD1 046776,000767: # RWORD2 BLAST 046777,000768: 046778,000769: # PWORD1 046779,000770: # PWORD2 BLAST1 046780,000771: 046781,000772: # YWORD1 046782,000773: # YWORD2 BLAST2 046783,000774: 046784,000775: # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE 046785,000776: # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION 046786,000777: # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER 046787,000778: # ORDER WORD. 046788,000779: 046789,000780: 17,3542 35021 T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL 046790,000781: 17,3543 55460 TS BLAST +1 046791,000782: 17,3544 35015 CAF FOUR # BRANCH INDEX FOR PITCH 046792,000783: 17,3545 55462 TS BLAST1 +1 046793,000784: 17,3546 35024 CAF ELEVEN # BRANCH INDEX FOR YAW 046794,000785: 17,3547 55464 TS BLAST2 +1 046795,000786: 046796,000787: 17,3550 41457 CS BLAST 046797,000788: 17,3551 61461 AD BLAST1 046798,000789: 17,3552 00006 EXTEND 046799,000790: 17,3553 63577 BZMF DXCHT12 # T1 OR T2 046800,000791: 17,3554 41461 CHECKT23 CS BLAST1 046801,000792: 17,3555 61463 AD BLAST2 046802,000793: 17,3556 00006 EXTEND 046803,000794: 17,3557 63603 BZMF DXCHT23 046804,000795: 17,3560 41461 CALCDT6 CS BLAST1 046805,000796: 17,3561 27463 ADS BLAST2 046806,000797: 17,3562 41457 CS BLAST 046807,000798: 17,3563 27461 ADS BLAST1 # END OF SORTING PROCEDURE 046808,000799: 17,3564 00006 EXTEND # RESET T5LOC TO BEGIN PHASE1 046809,000800: 17,3565 33576 DCA RCS2CADR 046810,000801: 17,3566 53313 DXCH T5LOC 046811,000802: 17,3567 45017 ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF 046812,000803: 17,3570 71501 MASK RCSFLAGS # T6 PROGRAM 046813,000804: 17,3571 55501 TS RCSFLAGS 046814,000805: 17,3572 45021 CS ZERO # RESET T5PHASE FOR PHASE1 046815,000806: 17,3573 55465 TS T5PHASE 046816,000807: 17,3574 15333 TCF RESUME # RESUME INTERRUPTED PROGRAM 046817,000808: 046818,000809: 17,3575 E6,1510 EBANK= KMPAC 046819,000810: 17,3575 02122 42066 RCS2CADR 2CADR RCSATT 046820,000811: 046821,000812: # Page 1060 046822,000813: 17,3577 53460 DXCHT12 DXCH BLAST 046823,000814: 17,3600 53462 DXCH BLAST1 046824,000815: 17,3601 53460 DXCH BLAST 046825,000816: 17,3602 13554 TCF CHECKT23 046826,000817: 046827,000818: 17,3603 53462 DXCHT23 DXCH BLAST1 046828,000819: 17,3604 53464 DXCH BLAST2 046829,000820: 17,3605 53462 DXCH BLAST1 046830,000821: 17,3606 41457 CS BLAST 046831,000822: 17,3607 61461 AD BLAST1 046832,000823: 17,3610 00006 EXTEND 046833,000824: 17,3611 63613 BZMF +2 046834,000825: 17,3612 13560 TCF CALCDT6 046835,000826: 17,3613 53460 DXCH BLAST 046836,000827: 17,3614 53462 DXCH BLAST1 046837,000828: 17,3615 53460 DXCH BLAST 046838,000829: 17,3616 13560 TCF CALCDT6 046839,000830: 046840,000831: # Page 1061 046841,000832: # T6 PROGRAM AND CHANNEL SETUP 046842,000833: 046843,000834: 21,3765 BANK 21 046844,000835: 17,2000 SETLOC DAPS5 046845,000836: 17,2000 BANK 046846,000837: 046847,000838: 17,3617 22016 T6START LXCH BANKRUPT 046848,000839: 17,3620 00006 EXTEND 046849,000840: 17,3621 22012 QXCH QRUPT 046850,000841: 17,3622 10031 CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET 046851,000842: 17,3623 15333 TCF RESUME # AFTER T6RUPT OCCURRED (IN T5RUPT) 046852,000843: 17,3624 13626 TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE 046853,000844: 17,3625 15333 TCF RESUME # TAKING ACTION 046854,000845: 046855,000846: 17,3626 41501 CS RCSFLAGS 046856,000847: 17,3627 75017 MASK BIT1 # IF BIT1 IS 0 RESET TO 1 046857,000848: 17,3630 00006 EXTEND # AND INITIALIZE CHANNEL 046858,000849: 17,3631 13642 BZF T6RUPTOR 046859,000850: 17,3632 27501 ADS RCSFLAGS 046860,000851: 17,3633 31451 CA RWORD1 046861,000852: 17,3634 00006 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1 046862,000853: 17,3635 01006 WRITE CHAN6 046863,000854: 17,3636 31453 CA PWORD1 046864,000855: 17,3637 61455 AD YWORD1 046865,000856: 17,3640 00006 EXTEND 046866,000857: 17,3641 01005 WRITE CHAN5 046867,000858: 046868,000859: 17,3642 11457 T6RUPTOR CCS BLAST 046869,000860: 17,3643 13722 TCF ZBLAST # ZERO BLAST1 046870,000861: 17,3644 13661 TCF REPLACE # REPLACE WORD1 046871,000862: 17,3645 13647 TCF +2 046872,000863: 17,3646 13661 TCF REPLACE 046873,000864: 17,3647 11461 T6L1 CCS BLAST1 046874,000865: 17,3650 13725 TCF ZBLAST1 046875,000866: 17,3651 13666 TCF REPLACE1 046876,000867: 17,3652 13654 TCF +2 046877,000868: 17,3653 13666 TCF REPLACE1 046878,000869: 17,3654 11463 T6L2 CCS BLAST2 046879,000870: 17,3655 13730 TCF ZBLAST2 046880,000871: 17,3656 13673 TCF REPLACE2 046881,000872: 17,3657 15333 TCF RESUME 046882,000873: 17,3660 13673 TCF REPLACE2 046883,000874: 046884,000875: 17,3661 51460 REPLACE INDEX BLAST +1 046885,000876: 17,3662 03700 TC REPLACER 046886,000877: 17,3663 45017 CS ONE 046887,000878: 17,3664 55457 TS BLAST 046888,000879: 17,3665 13647 TCF T6L1 046889,000880: 046890,000881: 17,3666 51462 REPLACE1 INDEX BLAST1 +1 046891,000882: # Page 1062 046892,000883: 17,3667 03700 TC REPLACER 046893,000884: 17,3670 45017 CS ONE 046894,000885: 17,3671 55461 TS BLAST1 046895,000886: 17,3672 13654 TCF T6L2 046896,000887: 046897,000888: 17,3673 51464 REPLACE2 INDEX BLAST2 +1 046898,000889: 17,3674 03700 TC REPLACER 046899,000890: 17,3675 45017 CS ONE 046900,000891: 17,3676 55463 TS BLAST2 046901,000892: 17,3677 15333 TCF RESUME 046902,000893: 046903,000894: 17,3700 31452 REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2 046904,000895: 17,3701 00006 EXTEND 046905,000896: 17,3702 01006 WRITE CHAN6 046906,000897: 17,3703 00002 TC Q 046907,000898: 046908,000899: 17,3704 32734 REPLACEP CA YJETS 046909,000900: 17,3705 00006 EXTEND 046910,000901: 17,3706 02005 RAND CHAN5 046911,000902: 17,3707 61454 AD PWORD2 046912,000903: 17,3710 00006 EXTEND 046913,000904: 17,3711 01005 WRITE CHAN5 046914,000905: 17,3712 00002 TC Q 046915,000906: 046916,000907: 17,3713 32733 REPLACEY CA PJETS 046917,000908: 17,3714 00006 EXTEND 046918,000909: 17,3715 02005 RAND CHAN5 046919,000910: 17,3716 61456 AD YWORD2 046920,000911: 17,3717 00006 EXTEND 046921,000912: 17,3720 01005 WRITE CHAN5 046922,000913: 17,3721 00002 TC Q 046923,000914: 046924,000915: 17,3722 35021 ZBLAST CAF ZERO 046925,000916: 17,3723 57457 XCH BLAST 046926,000917: 17,3724 13732 TCF ENABT6 046927,000918: 17,3725 35021 ZBLAST1 CAF ZERO 046928,000919: 17,3726 57461 XCH BLAST1 046929,000920: 17,3727 13732 TCF ENABT6 046930,000921: 17,3730 35021 ZBLAST2 CAF ZERO 046931,000922: 17,3731 57463 XCH BLAST2 046932,000923: 17,3732 54031 ENABT6 TS TIME6 046933,000924: 17,3733 35001 CAF NEGMAX 046934,000925: 17,3734 00006 EXTEND 046935,000926: 17,3735 05013 WOR CHAN13 # ENABLE T6RUPT 046936,000927: 17,3736 15333 TCF RESUME 046937,000928: 046938,000929: # END OF T6 INTERRUPT 046939,000930: 046940,000931: 17,3737 ENDSLECT EQUALS 046941,000932: End of include-file JET_SELECTION_LOGIC.agc. Parent file is MAIN.agc