Source Code

040738,000001: # Copyright: Public domain. 040739,000002: # Filename: TVCDAPS.agc 040740,000003: # Purpose: Part of the source code for Colossus, build 249. 040741,000004: # It is part of the source code for the Command Module's (CM) 040742,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. 040743,000006: # Assembler: yaYUL 040744,000007: # Reference: Begins at p. 925 of 1701.pdf. 040745,000008: # Contact: Ron Burkey <info@sandroid.org>. 040746,000009: # Website: www.ibiblio.org/apollo. 040747,000010: # Mod history: 08/23/04 RSB. Began transcribing. 040748,000011: # 2010-10-25 JL Fixed page number. 040749,000012: 040750,000013: # The contents of the "Colossus249" files, in general, are transcribed 040751,000014: # from a scanned document obtained from MIT's website, 040752,000015: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this 040753,000016: # document read, in part: 040754,000017: 040755,000018: # Assemble revision 249 of AGC program Colossus by NASA 040756,000019: # 2021111-041. October 28, 1968. 040757,000020: 040758,000021: # This AGC program shall also be referred to as 040759,000022: # Colossus 1A 040760,000023: 040761,000024: # Prepared by 040762,000025: # Massachusetts Institute of Technology 040763,000026: # 75 Cambridge Parkway 040764,000027: # Cambridge, Massachusetts 040765,000028: # under NASA contract NAS 9-4065. 040766,000029: 040767,000030: # Refer directly to the online document mentioned above for further information. 040768,000031: # Please report any errors (relative to 1701.pdf) to info@sandroid.org. 040769,000032: 040770,000033: # In some cases, where the source code for Luminary 131 overlaps that of 040771,000034: # Colossus 249, this code is instead copied from the corresponding Luminary 131 040772,000035: # source file, and then is proofed to incorporate any changes. 040773,000036: 040774,000037: # Page 925 040775,000038: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC. 040776,000039: # LOG SECTION....TVCDAP SUBROUTINE....DAPCSM 040777,000040: # MOD BY ENGEL DATE....27 OCT, 1967 040778,000041: 040779,000042: # FUNCTIONAL DESCRIPTION 040780,000043: 040781,000044: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS 040782,000045: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS, 040783,000046: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING 040784,000047: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD 040785,000048: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS). 040786,000049: 040787,000050: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY. 040788,000051: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION, 040789,000052: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR 040790,000053: # INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER OR THE BRANCH 040791,000054: # POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER, OUTPUT LIMITER, 040792,000055: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP. 040793,000056: 040794,000057: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE 040795,000058: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE 040796,000059: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH 040797,000060: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU 040798,000061: # MODING. 040799,000062: 040800,000063: # REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY STUBBS 040801,000064: # (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965). 040802,000065: # REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY 040803,000066: # LU (MIT IL JUNE 1966). 040804,000067: 040805,000068: # OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN- 040806,000069: # NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL 040807,000070: # (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967) 040808,000071: 040809,000072: # CALLING SEQUENCE.... (TYPICALLY) 040810,000073: 040811,000074: # T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47) 040812,000075: # T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47) 040813,000076: # T5 CALL OF DAPINIT BY DAPINIT 040814,000077: # T5 CALL OF PITCHDAP BY DAPINIT 040815,000078: # T5 CALL OF YAWDAP BY PITCHDAP 040816,000079: # T5 CALL OF PITCHDAP BY YAWDAP 040817,000080: # ETC. 040818,000081: # (AUTOMATIC SEQUENCING FROM TVCDAPON) 040819,000082: 040820,000083: # NORMAL EXIT MODE....RESUME 040821,000084: 040822,000085: # ALARM OR ABORT EXIT MODES....NONE 040823,000086: 040824,000087: # SUBROUTINES CALLED.... 040825,000088: # Page 926 040826,000089: 040827,000090: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION 040828,000091: # NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS 040829,000092: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE) 040830,000093: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS 040831,000094: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND 040832,000095: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND 040833,000096: # YAW DAPS 040834,000097: # OPTVAR, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO 040835,000098: # PITCH AND YAW DAPS 040836,000099: # RESUME 040837,000100: 040838,000101: # OTHER INTERFACES 040839,000102: 040840,000103: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC 040841,000104: # S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF) 040842,000105: # TVCEXECUTIVE FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND 040843,000106: # GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION 040844,000107: # AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER. 040845,000108: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION. 040846,000109: 040847,000110: # ERASABLE INITIALIZATION REQUIRED.... 040848,000111: 040849,000112: # 29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1 040850,000113: # KP/KPDN (KPGEN3) AS IN S40.15 (R03) 040851,000114: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03 040852,000115: # ENGINE-ON BIT (11.13) FOR RESTARTS 040853,000116: # TVCPHASE FOR RESTARTS (SEE IGNOVER, AND TVCINIT4) 040854,000117: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS 040855,000118: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4, 040856,000119: # INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN 040857,000120: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH 040858,000121: # UPDATES EVERY 1/2 SECOND) 040859,000122: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE 040860,000123: # UNLESS BENCH-TESTING. 040861,000124: 040862,000125: # OUTPUT.... 040863,000126: 040864,000127: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL 040865,000128: # COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY- 040866,000129: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS, 040867,000130: # OFFSET-TRACKER-FILTER OUTPUTS, ETC. 040868,000131: 040869,000132: # DEBRIS.... 040870,000133: 040871,000134: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY 040872,000135: 040873,000136: 17,2213 BANK 17 040874,000137: 20,2000 SETLOC DAPS2 040875,000138: 20,2000 BANK 040876,000139: # Page 927 040877,000140: 20,2327 E6,1742 EBANK= BZERO 040878,000141: 20,2327 COUNT* $$/DAPS 040879,000142: 040880,000143: # Page 928 040881,000144: # PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN) 040882,000145: 040883,000146: 20,2327 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT 040884,000147: 20,2330 00006 EXTEND 040885,000148: 20,2331 22012 QXCH QRUPT 040886,000149: 040887,000150: 20,2332 33420 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW- 040888,000151: 20,2333 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) 040889,000152: 20,2334 31635 CAE T5TVCDT 040890,000153: 20,2335 54030 TS TIME5 040891,000154: 040892,000155: 20,2336 11614 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST 040893,000156: 20,2337 03506 TC HACK # TEST-START OR TEST-IN-PROGRESS 040894,000157: 20,2340 12342 TCF +2 # NO-TEST 040895,000158: 20,2341 03506 TC HACK # TEST-IN-PROGRESS 040896,000159: 040897,000160: 20,2342 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT 040898,000161: 20,2343 57655 XCH PCDUYPST # FOR PITCH AUTOPILOT 040899,000162: 20,2344 00006 EXTEND 040900,000163: 20,2345 21655 MSU PCDUYPST 040901,000164: 20,2346 02547 TCR RLIMTEST # RATE TEST 040902,000165: 20,2347 55657 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC) 040903,000166: 040904,000167: 20,2350 30034 CAE CDUZ # COMPUTE CDUZDOT 040905,000168: 20,2351 57656 XCH PCDUZPST # FOR PITCH AUTOPILOT 040906,000169: 20,2352 00006 EXTEND 040907,000170: 20,2353 21656 MSU PCDUZPST 040908,000171: 20,2354 02547 TCR RLIMTEST # RATE TEST 040909,000172: 20,2355 55660 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC) 040910,000173: 040911,000174: 20,2356 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE 040912,000175: 20,2357 31616 DCA PERRB # ERROR, SC.AT B-1 REVS 040913,000176: 20,2360 53743 DXCH ERRBTMP 040914,000177: 040915,000178: 20,2361 00006 EXTEND 040916,000179: 20,2362 31530 DCA OMEGAYC 040917,000180: 20,2363 21743 DAS ERRBTMP 040918,000181: 040919,000182: 20,2364 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB 040920,000183: 20,2365 00006 EXTEND 040921,000184: 20,2366 70750 MP COSCDUX 040922,000185: 20,2367 20001 DDOUBL 040923,000186: 20,2370 00006 EXTEND 040924,000187: 20,2371 71657 MP MCDUYDOT 040925,000188: 20,2372 20001 DDOUBL 040926,000189: 20,2373 53536 DXCH OMEGAYB 040927,000190: 040928,000191: 20,2374 41660 CS MCDUZDOT 040929,000192: 20,2375 00006 EXTEND 040930,000193: # Page 929 040931,000194: 20,2376 70742 MP SINCDUX 040932,000195: 20,2377 20001 DDOUBL 040933,000196: 20,2400 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS) 040934,000197: 040935,000198: 20,2401 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE) 040936,000199: 20,2402 41536 DCS OMEGAYB 040937,000200: 20,2403 21743 DAS ERRBTMP 040938,000201: 040939,000202: 20,2404 03126 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER 040940,000203: 040941,000204: 20,2405 31466 P1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF 040942,000205: 20,2406 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON) 040943,000206: 20,2407 10000 CCS A 040944,000207: 20,2410 12413 TCF +3 # USE LEM-ON FILTER 040945,000208: 20,2411 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER 040946,000209: 20,2412 36213 CADR NP0NODE 040947,000210: 040948,000211: 20,2413 00006 PFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS. 040949,000212: 20,2414 41544 DCS PDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS 040950,000213: 20,2415 53745 DXCH JZERO 040951,000214: 040952,000215: 20,2416 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS 040953,000216: 20,2417 61541 AD PNSUM # NUMERATOR TERMS, SC.AT B-1 REVS 040954,000217: 20,2420 00006 EXTEND 040955,000218: 20,2421 74727 MP KPDN # KPDN, SC.AT B+1 SPASCREV 040956,000219: 20,2422 21745 DAS JZERO 040957,000220: 20,2423 31542 CAE PNSUM +1 040958,000221: 20,2424 00006 EXTEND 040959,000222: 20,2425 74727 MP KPDN 040960,000223: 20,2426 27745 ADS JZERO +1 040961,000224: 20,2427 54001 TS L 040962,000225: 20,2430 12432 TCF +2 040963,000226: 20,2431 27744 ADS JZERO # (SC.AT B+0 SPASCREV), (JZERO = CMDTMP) 040964,000227: 040965,000228: 20,2432 00006 JZSTORE EXTEND # PREPARE JZERO FOR DENOMINATOR LADDER 040966,000229: 20,2433 31745 DCA JZERO # SC.AT B+0 SPASCREV 040967,000230: 20,2434 20001 DDOUBL 040968,000231: 20,2435 20001 DDOUBL 040969,000232: 20,2436 20001 DDOUBL 040970,000233: 20,2437 53727 DXCH J1TMP # SC.AT B-3 SPASCREV 040971,000234: 040972,000235: 20,2440 03141 OPTVARKP TCR OPTVARK # PITCH VARIABLE-GAIN PACKAGE 040973,000236: 040974,000237: 20,2441 00006 POFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP 040975,000238: 20,2442 41745 DCS CMDTMP # (GEN3DAP RETURNS AT POFFSET) 040976,000239: 20,2443 53745 DXCH CMDTMP 040977,000240: 20,2444 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS 040978,000241: 20,2445 31626 DCA PDELOFF 040979,000242: 20,2446 21745 DAS CMDTMP 040980,000243: 040981,000244: # Page 930 040982,000245: 20,2447 31745 PROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT 040983,000246: 20,2450 60000 DOUBLE 040984,000247: 20,2451 54001 TS L 040985,000248: 20,2452 34714 CAF ZERO 040986,000249: 20,2453 61744 AD CMDTMP 040987,000250: 040988,000251: 20,2454 03161 PACLIM TCR ACTLIM # PITCH ACTUATOR-COMMAND-LIMITER 040989,000252: 040990,000253: 20,2455 41631 POUT CS PCMD # INCREMENTAL PITCH COMMAND 040991,000254: 20,2456 61744 AD CMDTMP 040992,000255: 20,2457 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART- 040993,000256: # PROTECT, SINCE ERROR CNTR ZEROED) 040994,000257: 040995,000258: 20,2460 34700 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE 040996,000259: 20,2461 00006 EXTEND 040997,000260: 20,2462 05014 WOR CHAN14 040998,000261: 20,2463 31466 P2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF 040999,000262: 20,2464 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON) 041000,000263: 20,2465 10000 CCS A 041001,000264: 20,2466 12471 TCF +3 # USE LEM-ON FILTER 041002,000265: 20,2467 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER 041003,000266: 20,2470 36246 CADR NP1NODE 041004,000267: 20,2471 31742 BZSTORE CAE ERRBTMP # PREPARE BZERO (UPPER WORD OF ERRBTMP) 041005,000268: 20,2472 60000 DOUBLE # FOR NUMERATOR LATTER....SC.AT B-1 041006,000269: 20,2473 55717 TS B1TMP # SC.AT B-2 REVS FOR LADDER 041007,000270: 20,2474 00006 PNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH 041008,000271: 20,2475 31546 DCA B1 # NUMERATOR LADDER 041009,000272: 20,2476 53721 DXCH B2TMP 041010,000273: 20,2477 00006 EXTEND 041011,000274: 20,2500 31550 DCA B3 041012,000275: 20,2501 53723 DXCH B4TMP 041013,000276: 20,2502 00006 EXTEND 041014,000277: 20,2503 31552 DCA B5 041015,000278: 20,2504 53725 DXCH B6TMP 041016,000279: 041017,000280: 20,2505 03173 PNSUMC TCR NSUM # PITCH NUMERATOR SUM 041018,000281: 20,2506 00006 PDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH 041019,000282: 20,2507 31554 DCA J1 # DENOMINATOR LADDER 041020,000283: 20,2510 53731 DXCH J2TMP 041021,000284: 20,2511 00006 EXTEND 041022,000285: 20,2512 31556 DCA J2 041023,000286: 20,2513 53733 DXCH J3TMP 041024,000287: 20,2514 00006 EXTEND 041025,000288: 20,2515 31560 DCA J3 041026,000289: # Page 931 041027,000290: 20,2516 53735 DXCH J4TMP 041028,000291: 20,2517 00006 EXTEND 041029,000292: 20,2520 31562 DCA J4 041030,000293: 20,2521 53737 DXCH J5TMP 041031,000294: 20,2522 00006 EXTEND 041032,000295: 20,2523 31564 DCA J5 041033,000296: 20,2524 53741 DXCH J6TMP 041034,000297: 041035,000298: 20,2525 03233 PDSUMC TCR DSUM # PITCH DENOMINATOR SUM 041036,000299: 041037,000300: 20,2526 31744 DELBARP CAE CMDTMP # UPDATE PITCH OFFSET-TRACKER-FILTER 041038,000301: 20,2527 00006 EXTEND # (GEN3DAP RETURNS AT "DELBARP") 041039,000302: 20,2530 73421 MP 1-E(-AT) 041040,000303: 20,2531 53716 DXCH DELBRTMP 041041,000304: 20,2532 31621 CAE DELPBAR 041042,000305: 20,2533 00006 EXTEND 041043,000306: 20,2534 73422 MP E(-AT) 041044,000307: 20,2535 21716 DAS DELBRTMP 041045,000308: 20,2536 31622 CAE DELPBAR +1 041046,000309: 20,2537 00006 EXTEND 041047,000310: 20,2540 73422 MP E(-AT) 041048,000311: 20,2541 27716 ADS DELBRTMP +1 041049,000312: 20,2542 54001 TS L 041050,000313: 20,2543 12545 TCF +2 041051,000314: 20,2544 27715 ADS DELBRTMP 041052,000315: 041053,000316: 20,2545 02560 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE 041054,000317: 041055,000318: 20,2546 15222 PDAPEND TCF RESUME # PITCH DAP COMPLETED 041056,000319: 20,2547 55744 RLIMTEST TS CMDTMP # TEST FOR EXCESSIVE CDU RATES 041057,000320: 20,2550 00006 EXTEND # IF CDU DIFFERENCE EXCEEDS 2.33 DEG 041058,000321: 20,2551 73415 MP 1/RTLIM # IF ONE SAMPLE PERIOD, SET CDURATE=0 041059,000322: 20,2552 00006 EXTEND 041060,000323: 20,2553 12556 BZF +3 041061,000324: 20,2554 34714 CAF ZERO 041062,000325: 20,2555 55744 TS CMDTMP 041063,000326: 20,2556 31744 CAE CMDTMP 041064,000327: 20,2557 00002 TC Q 041065,000328: 041066,000329: # Page 932 041067,000330: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE) 041068,000331: 041069,000332: 20,2560 25654 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. 041070,000333: # NOTE POSSIBLE RE-ENTRY FROM RESTART 041071,000334: # PACKAGE, SHOULD A RESTART OCCUR 041072,000335: # DURING PITCH COPYCYCLE. 041073,000336: 041074,000337: 20,2561 00006 NEWB(S) EXTEND # UPDATE PITCH NUMERATOR LADDER FROM 041075,000338: 20,2562 31720 DCA B1TMP # TEMPORARIES 041076,000339: 20,2563 53546 DXCH B1 041077,000340: 20,2564 00006 EXTEND 041078,000341: 20,2565 31722 DCA B3TMP 041079,000342: 20,2566 53550 DXCH B3 041080,000343: 20,2567 00006 EXTEND 041081,000344: 20,2570 31724 DCA B5TMP 041082,000345: 20,2571 53552 DXCH B5 041083,000346: 041084,000347: 20,2572 00006 NEWJ(S) EXTEND # UPDATE PITCH DENOMINATOR LADDER FROM 041085,000348: 20,2573 31727 DCA J1TMP # TEMPORARIES 041086,000349: 20,2574 53554 DXCH J1 041087,000350: 20,2575 00006 EXTEND 041088,000351: 20,2576 31731 DCA J2TMP 041089,000352: 20,2577 53556 DXCH J2 041090,000353: 20,2600 00006 EXTEND 041091,000354: 20,2601 31733 DCA J3TMP 041092,000355: 20,2602 53560 DXCH J3 041093,000356: 20,2603 00006 EXTEND 041094,000357: 20,2604 31735 DCA J4TMP 041095,000358: 20,2605 53562 DXCH J4 041096,000359: 20,2606 00006 EXTEND # (ALSO NP1TMP,+1 TO NP1,+1) 041097,000360: 20,2607 31737 DCA J5TMP 041098,000361: 20,2610 53564 DXCH J5 041099,000362: 041100,000363: 20,2611 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR 041101,000364: 20,2612 31743 DCA ERRBTMP 041102,000365: 20,2613 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS 041103,000366: 20,2614 53616 DXCH PERRB 041104,000367: 041105,000368: 20,2615 00006 EXTEND # PITCH NUMERATOR SUM 041106,000369: 20,2616 31712 DCA NSUMTMP # (ALSO NP2TMP,+1 TO NP2,+1) 041107,000370: 20,2617 53542 DXCH PNSUM 041108,000371: 041109,000372: 20,2620 00006 EXTEND # PITCH DENOMINATOR SUM 041110,000373: 20,2621 31714 DCA DSUMTMP # (ALSO NP3TMP,+1 TO NP3,+1) 041111,000374: 20,2622 53544 DXCH PDSUM 041112,000375: 041113,000376: 20,2623 31744 CAE CMDTMP # PITCH ACTUATOR COMMAND 041114,000377: 20,2624 55631 TS PCMD 041115,000378: 041116,000379: 20,2625 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER 041117,000380: # Page 933 041118,000381: 20,2626 31716 DCA DELBRTMP 041119,000382: 20,2627 53622 DXCH DELPBAR 041120,000383: 041121,000384: 20,2630 25654 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED 041122,000385: 041123,000386: 20,2631 00002 TC Q 041124,000387: 041125,000388: # Page 934 041126,000389: # TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN) 041127,000390: 041128,000391: 20,2632 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL 041129,000392: 20,2633 00006 EXTEND 041130,000393: 20,2634 22012 QXCH QRUPT 041131,000394: 041132,000395: 20,2635 33416 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW- 041133,000396: 20,2636 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) 041134,000397: 20,2637 31635 CAE T5TVCDT 041135,000398: 20,2640 54030 TS TIME5 041136,000399: 041137,000400: 20,2641 11614 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST 041138,000401: 20,2642 03506 TC HACK # TEST-START OR TEST-IN-PROGRESS 041139,000402: 20,2643 12645 TCF +2 # NO-TEST 041140,000403: 20,2644 03506 TC HACK # TEST-IN-PROGRESS 041141,000404: 041142,000405: # USE BODY RATES FROM PITCHDAP (PCDUDOTS) 041143,000406: 041144,000407: 20,2645 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE 041145,000408: 20,2646 31620 DCA YERRB # ERROR, SC.AT B-1 REVS 041146,000409: 20,2647 53743 DXCH ERRBTMP 041147,000410: 041148,000411: 20,2650 00006 EXTEND 041149,000412: 20,2651 31532 DCA OMEGAZC 041150,000413: 20,2652 21743 DAS ERRBTMP 041151,000414: 041152,000415: 20,2653 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB 041153,000416: 20,2654 00006 EXTEND 041154,000417: 20,2655 70742 MP SINCDUX 041155,000418: 20,2656 20001 DDOUBL 041156,000419: 20,2657 00006 EXTEND 041157,000420: 20,2660 71657 MP MCDUYDOT 041158,000421: 20,2661 20001 DDOUBL 041159,000422: 20,2662 53540 DXCH OMEGAZB 041160,000423: 041161,000424: 20,2663 41660 CS MCDUZDOT 041162,000425: 20,2664 00006 EXTEND 041163,000426: 20,2665 70750 MP COSCDUX 041164,000427: 20,2666 20001 DDOUBL 041165,000428: 20,2667 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS) 041166,000429: 041167,000430: 20,2670 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE) 041168,000431: 20,2671 41540 DCS OMEGAZB 041169,000432: 20,2672 21743 DAS ERRBTMP 041170,000433: 041171,000434: 20,2673 03126 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER 041172,000435: 041173,000436: 20,2674 31466 Y1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF 041174,000437: 20,2675 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON) 041175,000438: 041176,000439: # Page 935 041177,000440: 20,2676 10000 CCS A 041178,000441: 20,2677 12702 TCF +3 # USE LEM-ON FILTER 041179,000442: 20,2700 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER 041180,000443: 20,2701 36405 CADR NY0NODE 041181,000444: 041182,000445: 20,2702 00006 YFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS 041183,000446: 20,2703 41570 DCS YDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS 041184,000447: 20,2704 53745 DXCH YZERO 041185,000448: 041186,000449: 20,2705 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS 041187,000450: 20,2706 61565 AD YNSUM # NUMERATOR TERMS, SC.AT B-1 REVS 041188,000451: 20,2707 00006 EXTEND 041189,000452: 20,2710 74727 MP KYDN # KYDN, SC.AT B+1 SPASCREV 041190,000453: 20,2711 21745 DAS YZERO 041191,000454: 20,2712 31566 CAE YNSUM +1 041192,000455: 20,2713 00006 EXTEND 041193,000456: 20,2714 74727 MP KYDN 041194,000457: 20,2715 27745 ADS YZERO +1 041195,000458: 20,2716 54001 TS L 041196,000459: 20,2717 12721 TCF +2 041197,000460: 20,2720 27744 ADS YZERO # (SC.AT B+0 SPASCREV), (YZERO = CMDTMP) 041198,000461: 041199,000462: 20,2721 00006 YZSTORE EXTEND # PREPARE YZERO FOR DENOMINATOR LADDER 041200,000463: 20,2722 31745 DCA YZERO # SC.AT B+0 SPASCREV 041201,000464: 20,2723 20001 DDOUBL 041202,000465: 20,2724 20001 DDOUBL 041203,000466: 20,2725 20001 DDOUBL 041204,000467: 20,2726 53727 DXCH Y1TMP # SC.AT B-3 SPASCREV 041205,000468: 041206,000469: 20,2727 03141 OPTVARKY TCR OPTVARK # YAW VARIABLE-GAIN PACKAGE 041207,000470: 041208,000471: 20,2730 00006 YOFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP 041209,000472: 20,2731 41745 DCS CMDTMP # (GEN3DAP RETURNS AT YOFFSET) 041210,000473: 20,2732 53745 DXCH CMDTMP 041211,000474: 20,2733 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS 041212,000475: 20,2734 31630 DCA YDELOFF 041213,000476: 20,2735 21745 DAS CMDTMP 041214,000477: 041215,000478: 20,2736 31745 YROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT 041216,000479: 20,2737 60000 DOUBLE 041217,000480: 20,2740 54001 TS L 041218,000481: 20,2741 34714 CAF ZERO 041219,000482: 20,2742 61744 AD CMDTMP 041220,000483: 041221,000484: 20,2743 03161 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER 041222,000485: 041223,000486: 20,2744 41632 YOUT CS YCMD # INCRMENTAL YAW COMMAND 041224,000487: 20,2745 61744 AD CMDTMP 041225,000488: 20,2746 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART- 041226,000489: # PROTECT, SINCE ERROR CNTR ZEROED) 041227,000490: # Page 936 041228,000491: 20,2747 34677 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE 041229,000492: 20,2750 00006 EXTEND 041230,000493: 20,2751 05014 WOR CHAN14 041231,000494: 20,2752 31466 Y2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF 041232,000495: 20,2753 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON) 041233,000496: 20,2754 10000 CCS A 041234,000497: 20,2755 12760 TCF +3 # USE LEM-ON FILTER 041235,000498: 20,2756 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER 041236,000499: 20,2757 36440 CADR NY1NODE 041237,000500: 20,2760 31742 CZSTORE CAE ERRBTMP # PREPARE CZERO (UPPER WORD OF ERRBTMP) 041238,000501: 20,2761 60000 DOUBLE # FOR NUMERATOR LATTER....SC.AT B-1 041239,000502: 20,2762 55717 TS C1TMP # SC.AT B-2 REVS FOR LADDER 041240,000503: 20,2763 00006 YNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW 041241,000504: 20,2764 31572 DCA C1 # NUMERATOR LADDER 041242,000505: 20,2765 53721 DXCH C2TMP 041243,000506: 20,2766 00006 EXTEND 041244,000507: 20,2767 31574 DCA C3 041245,000508: 20,2770 53723 DXCH C4TMP 041246,000509: 20,2771 00006 EXTEND 041247,000510: 20,2772 31576 DCA C5 041248,000511: 20,2773 53725 DXCH C6TMP 041249,000512: 041250,000513: 20,2774 03173 YNSUMC TCR NSUM # YAW NUMERATOR SUM 041251,000514: 20,2775 00006 YDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW 041252,000515: 20,2776 31600 DCA Y1 # DENOMINATOR LADDER 041253,000516: 20,2777 53731 DXCH Y2TMP 041254,000517: 20,3000 00006 EXTEND 041255,000518: 20,3001 31602 DCA Y2 041256,000519: 20,3002 53733 DXCH Y3TMP 041257,000520: 20,3003 00006 EXTEND 041258,000521: 20,3004 31604 DCA Y3 041259,000522: 20,3005 53735 DXCH Y4TMP 041260,000523: 20,3006 00006 EXTEND 041261,000524: 20,3007 31606 DCA Y4 041262,000525: 20,3010 53737 DXCH Y5TMP 041263,000526: 20,3011 00006 EXTEND 041264,000527: 20,3012 31610 DCA Y5 041265,000528: 20,3013 53741 DXCH Y6TMP 041266,000529: 041267,000530: 20,3014 03233 YDSUMC TCR DSUM # YAW DENOMINATOR SUM 041268,000531: 041269,000532: 20,3015 31744 DELBARY CAE CMDTMP # UPDATE YAW OFFSET-TRACKER-FILTER 041270,000533: 20,3016 00006 EXTEND # (GEN3DAP RETURNS AT "DELBARY") 041271,000534: 20,3017 73421 MP 1-E(-AT) 041272,000535: # Page 937 041273,000536: 20,3020 53716 DXCH DELBRTMP 041274,000537: 20,3021 31623 CAE DELYBAR 041275,000538: 20,3022 00006 EXTEND 041276,000539: 20,3023 73422 MP E(-AT) 041277,000540: 20,3024 21716 DAS DELBRTMP 041278,000541: 20,3025 31624 CAE DELYBAR +1 041279,000542: 20,3026 00006 EXTEND 041280,000543: 20,3027 73422 MP E(-AT) 041281,000544: 20,3030 27716 ADS DELBRTMP +1 041282,000545: 20,3031 54001 TS L 041283,000546: 20,3032 13034 TCF +2 041284,000547: 20,3033 27715 ADS DELBRTMP 041285,000548: 041286,000549: 20,3034 03036 YCOPYCYC TCR YCOPY # YAW COPYCYCLE 041287,000550: 041288,000551: 20,3035 15222 YDAPEND TCF RESUME # YAW DAP COMPLETED 041289,000552: 041290,000553: # Page 938 041291,000554: # TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE) 041292,000555: 041293,000556: 20,3036 25654 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. 041294,000557: # NOTE POSSIBLE RE-ENTRY FROM RESTART 041295,000558: # PACKAGE, SHOULD A RESTART OCCUR 041296,000559: # DURING YAW COPYCYCLE. 041297,000560: 041298,000561: 20,3037 00006 NEWC(S) EXTEND # UPDATE YAW NUMERATOR LADDER FROM 041299,000562: 20,3040 31720 DCA C1TMP # TEMPORARIES 041300,000563: 20,3041 53572 DXCH C1 041301,000564: 20,3042 00006 EXTEND 041302,000565: 20,3043 31722 DCA C3TMP 041303,000566: 20,3044 53574 DXCH C3 041304,000567: 20,3045 00006 EXTEND 041305,000568: 20,3046 31724 DCA C5TMP 041306,000569: 20,3047 53576 DXCH C5 041307,000570: 041308,000571: 20,3050 00006 NEWY(S) EXTEND # UPDATE YAW DENOMINATOR LADDER FROM 041309,000572: 20,3051 31727 DCA Y1TMP # TEMPORARIES 041310,000573: 20,3052 53600 DXCH Y1 041311,000574: 20,3053 00006 EXTEND 041312,000575: 20,3054 31731 DCA Y2TMP 041313,000576: 20,3055 53602 DXCH Y2 041314,000577: 20,3056 00006 EXTEND 041315,000578: 20,3057 31733 DCA Y3TMP 041316,000579: 20,3060 53604 DXCH Y3 041317,000580: 20,3061 00006 EXTEND 041318,000581: 20,3062 31735 DCA Y4TMP 041319,000582: 20,3063 53606 DXCH Y4 041320,000583: 20,3064 00006 EXTEND # (ALSO NYTMMP,+1 TO NY1,+1) 041321,000584: 20,3065 31737 DCA Y5TMP 041322,000585: 20,3066 53610 DXCH Y5 041323,000586: 041324,000587: 20,3067 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR 041325,000588: 20,3070 31743 DCA ERRBTMP 041326,000589: 20,3071 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS 041327,000590: 20,3072 53620 DXCH YERRB 041328,000591: 041329,000592: 20,3073 00006 EXTEND # YAW NUMERATOR SUM 041330,000593: 20,3074 31712 DCA NSUMTMP # (ALSO NY2TMP,+1 TO NY2,+1) 041331,000594: 20,3075 53566 DXCH YNSUM 041332,000595: 041333,000596: 20,3076 00006 EXTEND # YAW DENOMINATOR SUM 041334,000597: 20,3077 31714 DCA DSUMTMP # (ALSO NY3TMP,+1 TO NY3,+1) 041335,000598: 20,3100 53570 DXCH YDSUM 041336,000599: 041337,000600: 20,3101 31744 CAE CMDTMP # YAW ACTUATOR COMMAND 041338,000601: 20,3102 55632 TS YCMD 041339,000602: 041340,000603: 20,3103 00006 EXTEND # YAW OFFSET-TRACKER-FILTER 041341,000604: # Page 939 041342,000605: 20,3104 31716 DCA DELBRTMP 041343,000606: 20,3105 53624 DXCH DELYBAR 041344,000607: 20,3106 34714 CAF ZERO # YAW COPYCYCLE COMPLETED 041345,000608: 20,3107 55654 TS TVCPHASE # RESET TVCPHASE 041346,000609: 041347,000610: 20,3110 00002 TC Q 041348,000611: 041349,000612: # Page 940 041350,000613: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS.... 041351,000614: # INITIALIZATION PACKAGE FOR CDURATES.... 041352,000615: 041353,000616: 20,3111 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4) 041354,000617: 041355,000618: 20,3112 37716 CAF NEGONE # SET UP 041356,000619: 20,3113 61635 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS 041357,000620: 20,3114 64674 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1) 041358,000621: 20,3115 61635 AD T5TVCDT 041359,000622: 20,3116 54030 TS TIME5 041360,000623: 20,3117 33416 CAF PITCHT5 # (BBCON ALREADY THERE) 041361,000624: 20,3120 55312 TS T5LOC 041362,000625: 041363,000626: 20,3121 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR 041364,000627: 20,3122 55655 TS PCDUYPST # PAST-VALUES 041365,000628: 20,3123 30034 CAE CDUZ 041366,000629: 20,3124 55656 TS PCDUZPST 041367,000630: 041368,000631: 20,3125 15224 TCF NOQRSM 041369,000632: 041370,000633: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE.... 041371,000634: 041372,000635: 20,3126 31742 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT 041373,000636: 20,3127 00006 EXTEND # CHECKS UPPER WORD ONLY 041374,000637: 20,3130 74710 MP 1/ERRLIM 041375,000638: 20,3131 00006 EXTEND 041376,000639: 20,3132 13140 BZF +6 041377,000640: 20,3133 11742 CCS ERRBTMP 041378,000641: 20,3134 34676 CAF ERRLIM 041379,000642: 20,3135 13137 TCF +2 041380,000643: 20,3136 44676 CS ERRLIM 041381,000644: 20,3137 55742 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY 041382,000645: 041383,000646: 20,3140 00002 TC Q 041384,000647: 041385,000648: # VARIABLE-GAIN PACKAGE.... 041386,000649: 041387,000650: 20,3141 31744 OPTVARK CAE CMDTMP # VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS 041388,000651: 20,3142 00006 EXTEND # JZERO OR YZERO 041389,000652: 20,3143 71651 MP VARK # VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV 041390,000653: 20,3144 53745 DXCH CMDTMP 041391,000654: 20,3145 22000 LXCH A # LO-ORDER WORD OF INPUT CMDTMP 041392,000655: 20,3146 00006 EXTEND 041393,000656: 20,3147 71651 MP VARK 041394,000657: 20,3150 27745 ADS CMDTMP +1 041395,000658: 20,3151 54001 TS L 041396,000659: # Page 941 041397,000660: 20,3152 13154 TCF +2 041398,000661: 20,3153 27744 ADS CMDTMP 041399,000662: 041400,000663: 20,3154 53745 DXCH CMDTMP # FIX UP SCALING 041401,000664: 20,3155 20001 DDOUBL 041402,000665: 20,3156 20001 DDOUBL 041403,000666: 20,3157 53745 DXCH CMDTMP 041404,000667: 041405,000668: 20,3160 00002 TC Q 041406,000669: 041407,000670: # ACTUATOR-COMMAND LIMITER PACKAGE.... 041408,000671: 041409,000672: 20,3161 00006 ACTLIM EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT 041410,000673: 20,3162 73414 MP 1/ACTSAT 041411,000674: 20,3163 00006 EXTEND 041412,000675: 20,3164 13172 BZF +6 041413,000676: 20,3165 11744 CCS CMDTMP # APPLY LIMITS 041414,000677: 20,3166 33413 CAF ACTSAT 041415,000678: 20,3167 13171 TCF +2 041416,000679: 20,3170 43413 CS ACTSAT 041417,000680: 20,3171 55744 TS CMDTMP # LIMITS WRITE OVER CMDTMP 041418,000681: 041419,000682: 20,3172 00002 TC Q 041420,000683: 041421,000684: # NUMERATOR-SUM COMPUTATION.... 041422,000685: 041423,000686: 20,3173 31717 NSUM CAE B1TMP # PREPARE NUMERATOR SUM, SCALING IS AT 041424,000687: 20,3174 00006 EXTEND # B+0 REVS ( = B+2 x B-2 ) 041425,000688: 20,3175 73423 MP N1 041426,000689: 20,3176 53712 DXCH NSUMTMP 041427,000690: 041428,000691: 20,3177 31720 CAE B2TMP 041429,000692: 20,3200 00006 EXTEND 041430,000693: 20,3201 73424 MP N2 041431,000694: 20,3202 21712 DAS NSUMTMP 041432,000695: 041433,000696: 20,3203 31721 CAE B3TMP 041434,000697: 20,3204 00006 EXTEND 041435,000698: 20,3205 73425 MP N3 041436,000699: 20,3206 21712 DAS NSUMTMP 041437,000700: 041438,000701: 20,3207 31722 CAE B4TMP 041439,000702: 20,3210 00006 EXTEND 041440,000703: 20,3211 73426 MP N4 041441,000704: 20,3212 21712 DAS NSUMTMP 041442,000705: 041443,000706: 20,3213 31723 CAE B5TMP 041444,000707: 20,3214 00006 EXTEND 041445,000708: # Page 942 041446,000709: 20,3215 73427 MP N5 041447,000710: 20,3216 21712 DAS NSUMTMP 041448,000711: 041449,000712: 20,3217 31724 CAE B6TMP 041450,000713: 20,3220 00006 EXTEND 041451,000714: 20,3221 73430 MP N6 041452,000715: 20,3222 21712 DAS NSUMTMP 041453,000716: 041454,000717: 20,3223 31725 CAE B7TMP 041455,000718: 20,3224 00006 EXTEND 041456,000719: 20,3225 73431 MP N7 041457,000720: 20,3226 21712 DAS NSUMTMP 041458,000721: 041459,000722: 20,3227 53712 NSUMSC DXCH NSUMTMP # FIX UP SCALING (NOW AT B+0 REVS) 041460,000723: 20,3230 20001 DDOUBL 041461,000724: 20,3231 53712 DXCH NSUMTMP # SC.AT B-1 REV 041462,000725: 041463,000726: 20,3232 00002 TC Q 041464,000727: 041465,000728: # DENOMINATOR-SUM COMPUTATION.... 041466,000729: 041467,000730: 20,3233 31726 DSUM CAE J1TMP # PREPARE DENOMINATOR SUM, SCALED 041468,000731: 20,3234 00006 EXTEND # AT B+1 SPASCREVS ( = B+4 x B-3) 041469,000732: 20,3235 73432 MP D1 # (J1TMP = J,YZERO, SC.AT B-3 REVS) 041470,000733: 20,3236 53714 DXCH DSUMTMP 041471,000734: 20,3237 31726 CAE J1TMP 041472,000735: 20,3240 00006 EXTEND 041473,000736: 20,3241 73433 MP D1 +1 041474,000737: 20,3242 27714 ADS DSUMTMP +1 041475,000738: 20,3243 54001 TS L 041476,000739: 20,3244 13246 TCF +2 041477,000740: 20,3245 27713 ADS DSUMTMP 041478,000741: 20,3246 31727 CAE J1TMP +1 041479,000742: 20,3247 00006 EXTEND 041480,000743: 20,3250 73432 MP D1 041481,000744: 20,3251 27714 ADS DSUMTMP +1 041482,000745: 20,3252 54001 TS L 041483,000746: 20,3253 13255 TCF +2 041484,000747: 20,3254 27713 ADS DSUMTMP 041485,000748: 041486,000749: 20,3255 31730 D2J2 CAE J2TMP 041487,000750: 20,3256 00006 EXTEND 041488,000751: 20,3257 73434 MP D2 041489,000752: 20,3260 21714 DAS DSUMTMP 041490,000753: 20,3261 31730 CAE J2TMP 041491,000754: 20,3262 00006 EXTEND 041492,000755: 20,3263 73435 MP D2 +1 041493,000756: 20,3264 27714 ADS DSUMTMP +1 041494,000757: 20,3265 54001 TS L 041495,000758: # Page 943 041496,000759: 20,3266 13270 TCF +2 041497,000760: 20,3267 27713 ADS DSUMTMP 041498,000761: 20,3270 31731 CAE J2TMP +1 041499,000762: 20,3271 00006 EXTEND 041500,000763: 20,3272 73434 MP D2 041501,000764: 20,3273 27714 ADS DSUMTMP +1 041502,000765: 20,3274 54001 TS L 041503,000766: 20,3275 13277 TCF +2 041504,000767: 20,3276 27713 ADS DSUMTMP 041505,000768: 041506,000769: 20,3277 31732 D3J3 CAE J3TMP 041507,000770: 20,3300 00006 EXTEND 041508,000771: 20,3301 73436 MP D3 041509,000772: 20,3302 21714 DAS DSUMTMP 041510,000773: 20,3303 31732 CAE J3TMP 041511,000774: 20,3304 00006 EXTEND 041512,000775: 20,3305 73437 MP D3 +1 041513,000776: 20,3306 27714 ADS DSUMTMP +1 041514,000777: 20,3307 54001 TS L 041515,000778: 20,3310 13312 TCF +2 041516,000779: 20,3311 27713 ADS DSUMTMP 041517,000780: 20,3312 31733 CAE J3TMP +1 041518,000781: 20,3313 00006 EXTEND 041519,000782: 20,3314 73436 MP D3 041520,000783: 20,3315 27714 ADS DSUMTMP +1 041521,000784: 20,3316 54001 TS L 041522,000785: 20,3317 13321 TCF +2 041523,000786: 20,3320 27713 ADS DSUMTMP 041524,000787: 041525,000788: 20,3321 31734 D4J4 CAE J4TMP 041526,000789: 20,3322 00006 EXTEND 041527,000790: 20,3323 73440 MP D4 041528,000791: 20,3324 21714 DAS DSUMTMP 041529,000792: 20,3325 31734 CAE J4TMP 041530,000793: 20,3326 00006 EXTEND 041531,000794: 20,3327 73441 MP D4 +1 041532,000795: 20,3330 27714 ADS DSUMTMP +1 041533,000796: 20,3331 54001 TS L 041534,000797: 20,3332 13334 TCF +2 041535,000798: 20,3333 27713 ADS DSUMTMP 041536,000799: 20,3334 31735 CAE J4TMP +1 041537,000800: 20,3335 00006 EXTEND 041538,000801: 20,3336 73440 MP D4 041539,000802: 20,3337 27714 ADS DSUMTMP +1 041540,000803: 20,3340 54001 TS L 041541,000804: 20,3341 13343 TCF +2 041542,000805: 20,3342 27713 ADS DSUMTMP 041543,000806: 041544,000807: 20,3343 31736 D5J5 CAE J5TMP 041545,000808: 20,3344 00006 EXTEND 041546,000809: # Page 944 041547,000810: 20,3345 73442 MP D5 041548,000811: 20,3346 21714 DAS DSUMTMP 041549,000812: 20,3347 31736 CAE J5TMP 041550,000813: 20,3350 00006 EXTEND 041551,000814: 20,3351 73443 MP D5 +1 041552,000815: 20,3352 27714 ADS DSUMTMP +1 041553,000816: 20,3353 54001 TS L 041554,000817: 20,3354 13356 TCF +2 041555,000818: 20,3355 27713 ADS DSUMTMP 041556,000819: 20,3356 31737 CAE J5TMP +1 041557,000820: 20,3357 00006 EXTEND 041558,000821: 20,3360 73442 MP D5 041559,000822: 20,3361 27714 ADS DSUMTMP +1 041560,000823: 20,3362 54001 TS L 041561,000824: 20,3363 13365 TCF +2 041562,000825: 20,3364 27713 ADS DSUMTMP 041563,000826: 041564,000827: 20,3365 31740 D6J6 CAE J6TMP 041565,000828: 20,3366 00006 EXTEND 041566,000829: 20,3367 73444 MP D6 041567,000830: 20,3370 21714 DAS DSUMTMP 041568,000831: 20,3371 31740 CAE J6TMP 041569,000832: 20,3372 00006 EXTEND 041570,000833: 20,3373 73445 MP D6 +1 041571,000834: 20,3374 27714 ADS DSUMTMP +1 041572,000835: 20,3375 54001 TS L 041573,000836: 20,3376 13400 TCF +2 041574,000837: 20,3377 27713 ADS DSUMTMP 041575,000838: 20,3400 31741 CAE J6TMP +1 041576,000839: 20,3401 00006 EXTEND 041577,000840: 20,3402 73444 MP D6 041578,000841: 20,3403 27714 ADS DSUMTMP +1 041579,000842: 20,3404 54001 TS L 041580,000843: 20,3405 13407 TCF +2 041581,000844: 20,3406 27713 ADS DSUMTMP 041582,000845: 041583,000846: 20,3407 53714 DSUMSC DXCH DSUMTMP # FIX UP SCALING (NOW AT B+1 SPASCREV) 041584,000847: 20,3410 20001 DDOUBL 041585,000848: 20,3411 53714 DXCH DSUMTMP # SC.AT B+0 SPASCREV 041586,000849: 041587,000850: 20,3412 00002 TC Q 041588,000851: 041589,000852: # Page 945 041590,000853: # CONSTANTS FOR AUTOPILOTS 041591,000854: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 65.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360) 041592,000855: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS 041593,000856: 041594,000857: 20,3413 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV 041595,000858: 20,3414 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253) 041596,000859: 041597,000860: 20,3415 4676 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG), 041598,000861: 20,3415 4710 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL 041599,000862: 041600,000863: 20,3415 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) =0 IF CDUDIF < 2.33 DEG 041601,000864: 041602,000865: 20,3416 4727 KPDN = DEC45 # DESIGN-NOMINAL FILTER GAIN, SC.AT B+1 041603,000866: 20,3416 4727 KYDN = KPDN # SPASCREV (FOR DEC45 BITS EXACTLY) 041604,000867: # KPDN = .005747 DEG/DEG 041605,000868: # SCALED KPDN = DEC45 041606,000869: # 1SPASCREV = KPDN(B+14)/(2x45) 041607,000870: # = 1.04620942 REVS 041608,000871: 041609,000872: 20,3416 02327 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS 041610,000873: 20,3417 03111 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS 041611,000874: 20,3420 02632 YAWT5 GENADR YAWDAP # REQUIRED. 041612,000875: 20,3421 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS), 041613,000876: 20,3422 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS) 041614,000877: 041615,000878: 20,3423 50166 N1 DEC -2.9708385 B-2 # NUMERATOR COEFS (CSM/LEM), SC.AT B+2 041616,000879: 20,3424 31436 N2 DEC 3.1947342 B-2 041617,000880: 20,3425 74561 N3 DEC -0.40962906 B-2 041618,000881: 20,3426 53277 N4 DEC -2.5780275 B-2 041619,000882: 20,3427 27550 N5 DEC 2.9629319 B-2 041620,000883: 20,3430 63725 N6 DEC -1.5101470 B-2 041621,000884: 20,3431 02400 N7 DEC 0.31243224 B-2 041622,000885: 041623,000886: 20,3432 66341 54237 D1 2DEC -4.7798977 B-4 # DENOMINATOR COEFS (CSM/LEM), SC.AT B+4 041624,000887: # Page 946 041625,000888: 20,3434 22707 36641 D2 2DEC 9.4452763 B-4 041626,000889: 20,3436 54220 40714 D3 2DEC -9.8593475 B-4 041627,000890: 20,3440 13344 21146 D4 2DEC 5.7231811 B-4 041628,000891: 20,3442 74401 61760 D5 2DEC -1.7484750 B-4 041629,000892: 20,3444 00340 23073 D6 2DEC 0.21933335 B-4 041630,000893: End of include-file TVCDAPS.agc. Parent file is MAIN.agc