Source Code

063032,000001: # Copyright: Public domain. 063033,000002: # Filename: KALMAN_FILTER.agc 063034,000003: # Purpose: Part of the source code for Luminary 1A build 099. 063035,000004: # It is part of the source code for the Lunar Module's (LM) 063036,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 063037,000006: # Assembler: yaYUL 063038,000007: # Contact: Ron Burkey <info@sandroid.org>. 063039,000008: # Website: www.ibiblio.org/apollo. 063040,000009: # Pages: 1470-1471 063041,000010: # Mod history: 2009-05-27 RSB Adapted from the corresponding 063042,000011: # Luminary131 file, using page 063043,000012: # images from Luminary 1A. 063044,000013: 063045,000014: # This source code has been transcribed or otherwise adapted from 063046,000015: # digitized images of a hardcopy from the MIT Museum. The digitization 063047,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 063048,000017: # the Museum. Many thanks to both. The images (with suitable reduction 063049,000018: # in storage size and consequent reduction in image quality as well) are 063050,000019: # available online at www.ibiblio.org/apollo. If for some reason you 063051,000020: # find that the images are illegible, contact me at info@sandroid.org 063052,000021: # about getting access to the (much) higher-quality images which Paul 063053,000022: # actually created. 063054,000023: 063055,000024: # Notations on the hardcopy document read, in part: 063056,000025: 063057,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 063058,000027: # 16:27 JULY 14, 1969 063059,000028: 063060,000029: # Page 1470 063061,000030: 17,3744 E6,1522 EBANK= NO.UJETS 063062,000031: 16,3641 BANK 16 063063,000032: 16,2000 SETLOC DAPS1 063064,000033: 16,2000 BANK 063065,000034: 063066,000035: 16,3641 COUNT* $$/DAP 063067,000036: 063068,000037: 16,3641 34752 RATELOOP CA TWO 063069,000038: 16,3642 55744 TS DAPTEMP6 063070,000039: 16,3643 60000 DOUBLE 063071,000040: 16,3644 54002 TS Q 063072,000041: 16,3645 51744 INDEX DAPTEMP6 063073,000042: 16,3646 11524 CCS TJP 063074,000043: 16,3647 13651 TCF +2 063075,000044: 16,3650 13670 TCF LOOPRATE 063076,000045: 16,3651 63731 AD -100MST6 063077,000046: 16,3652 00006 EXTEND 063078,000047: 16,3653 63707 BZMF SMALLTJU 063079,000048: 16,3654 51744 INDEX DAPTEMP6 063080,000049: 16,3655 11524 CCS TJP 063081,000050: 16,3656 33731 CA -100MST6 063082,000051: 16,3657 13661 TCF +2 063083,000052: 16,3660 43731 CS -100MST6 063084,000053: 16,3661 51744 INDEX DAPTEMP6 063085,000054: 16,3662 27524 ADS TJP 063086,000055: 16,3663 51744 INDEX DAPTEMP6 063087,000056: 16,3664 11524 CCS TJP 063088,000057: 16,3665 43615 CS -100MS # 0.1 AT 1 063089,000058: 16,3666 13670 TCF +2 063090,000059: 16,3667 33615 CA -100MS 063091,000060: 16,3670 00006 LOOPRATE EXTEND 063092,000061: 16,3671 51744 INDEX DAPTEMP6 063093,000062: 16,3672 71521 MP NO.PJETS 063094,000063: 16,3673 30001 CA L 063095,000064: 16,3674 51744 INDEX DAPTEMP6 063096,000065: 16,3675 55737 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER 063097,000066: 16,3676 00006 EXTEND 063098,000067: 16,3677 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC 063099,000068: 16,3700 00006 EXTEND 063100,000069: 16,3701 63732 BZMF NEGTORK 063101,000070: 16,3702 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER. 063102,000071: 16,3703 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS. 063103,000072: 063104,000073: 16,3704 11744 CCS DAPTEMP6 063105,000074: 16,3705 13642 TCF RATELOOP +1 063106,000075: 16,3706 13716 TCF ROTORQUE 063107,000076: 16,3707 34755 SMALLTJU CA ZERO 063108,000077: 16,3710 51744 INDEX DAPTEMP6 063109,000078: 16,3711 57524 XCH TJP 063110,000079: 16,3712 00006 EXTEND 063111,000080: # Page 1471 063112,000081: 16,3713 74760 MP ELEVEN # 10.24 PLUS 063113,000082: 16,3714 30001 CA L 063114,000083: 16,3715 13670 TCF LOOPRATE 063115,000084: 16,3716 31740 ROTORQUE CA DAPTEMP2 063116,000085: 16,3717 61741 AD DAPTEMP3 063117,000086: 16,3720 00006 EXTEND 063118,000087: 16,3721 71532 MP 1JACCR 063119,000088: 16,3722 55747 TS JETRATER 063120,000089: 16,3723 41741 CS DAPTEMP3 063121,000090: 16,3724 61740 AD DAPTEMP2 063122,000091: 16,3725 00006 EXTEND 063123,000092: 16,3726 71531 MP 1JACCQ 063124,000093: 16,3727 55746 TS JETRATEQ 063125,000094: 16,3730 12316 TCF BACKP 063126,000095: 16,3731 77537 -100MST6 DEC -160 B-14 063127,000096: 063128,000097: 16,3732 40000 NEGTORK COM 063129,000098: 16,3733 24002 INCR Q 063130,000099: 16,3734 13702 TCF STORTORK 063131,000100: 063132,000101: End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc