Source Code
014145,000001: # Copyright: Public domain.
014146,000002: # Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014147,000003: # Purpose: Part of the source code for Luminary 1A build 099.
014148,000004: # It is part of the source code for the Lunar Module's (LM)
014149,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
014150,000006: # Assembler: yaYUL
014151,000007: # Contact: Ron Burkey <info@sandroid.org>.
014152,000008: # Website: www.ibiblio.org/apollo.
014153,000009: # Pages: 342-363
014154,000010: # Mod history: 2009-05-16 RSB Adapted from the corresponding
014155,000011: # Luminary131 file, using page
014156,000012: # images from Luminary 1A.
014157,000013:
014158,000014: # This source code has been transcribed or otherwise adapted from
014159,000015: # digitized images of a hardcopy from the MIT Museum. The digitization
014160,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
014161,000017: # the Museum. Many thanks to both. The images (with suitable reduction
014162,000018: # in storage size and consequent reduction in image quality as well) are
014163,000019: # available online at www.ibiblio.org/apollo. If for some reason you
014164,000020: # find that the images are illegible, contact me at info@sandroid.org
014165,000021: # about getting access to the (much) higher-quality images which Paul
014166,000022: # actually created.
014167,000023:
014168,000024: # Notations on the hardcopy document read, in part:
014169,000025:
014170,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
014171,000027: # 16:27 JULY 14, 1969
014172,000028:
014173,000029: # Page 342
014174,000030: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU
014175,000031:
014176,000032: # MOD 2 DATE 5/1/67 BY DON KEENE
014177,000033:
014178,000034: # PROGRAM DESCRIPTION
014179,000035:
014180,000036: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014181,000037: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014182,000038: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014183,000039: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT
014184,000040: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014185,000041:
014186,000042: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014187,000043: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014188,000044: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014189,000045:
014190,000046: # WHEN POINTING A SPACECRAFT AXIS (I.E., X, Y, Z, THE AOT, THRUST AXIS, ETC.) THE SUBROUTINE VECPOINT MAY BE
014191,000047: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60).
014192,000048:
014193,000049: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALEN ROTATION (COF ALSO U) AND THE
014194,000050: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014195,000051: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014196,000052: # _
014197,000053: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014198,000054: # _
014199,000055: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014200,000056: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014201,000057: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014202,000058:
014203,000059: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014204,000060: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014205,000061: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014206,000062: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014207,000063: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014208,000064: # _
014209,000065: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014210,000066:
014211,000067: # AUTOMATIC MANEUVERS ARE TIMED WTH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014212,000068: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014213,000069: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014214,000070: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014215,000071: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014216,000072: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014217,000073: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014218,000074: # DESIRED GIMBAL ANGLES.
014219,000075:
014220,000076: # PROGRAM LOGIC FLOW
014221,000077:
014222,000078: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014223,000079: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
014224,000080: # Page 343
014225,000081: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014226,000082: # * * *
014227,000083: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014228,000084: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TEST ARE MADE TO DETERMINE IF
014229,000085:
014230,000086: # A) AM LESS THAN .25 DEGREES (MINANG)
014231,000087: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014232,000088:
014233,000089: # IF AM IS LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THREFORE, WE CAN SIMPLY
014234,000090: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014235,000091:
014236,000092: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES THE AXES OF THE SINGLE EQUIVALENT ROTATION
014237,000093: # _ *
014238,000094: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI.
014239,000095: # * *
014240,000096: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014241,000097: # _
014242,000098: # TO DETERMINE COF.
014243,000099:
014244,000100: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014245,000101: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014246,000102: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014247,000103: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014248,000104: # YAW.
014249,000105:
014250,000106: # AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014251,000107: # _
014252,000108: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014253,000109: # DESIRED REFERENCE MATRIX IS THEN,
014254,000110: # * * *
014255,000111: # MIS = MIS DEL
014256,000112: # N+1 N
014257,000113: # *
014258,000114: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014259,000115: # *
014260,000116: # FROM MIS.
014261,000117:
014262,000118: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014263,000119: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014264,000120: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014265,000121: # (TIME1 AND TIME2) ARE THEN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014266,000122: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014267,000123: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014268,000124:
014269,000125: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014270,000126: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014271,000127:
014272,000128: # Page 344
014273,000129: # CALLING SEQUENCE
014274,000130:
014275,000131: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014276,000132: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014277,000133: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014278,000134: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014279,000135: # *
014280,000136: # CAF PRIO XX
014281,000137: # --
014282,000138: # INHINT
014283,000139: # TC FINDVAC
014284,000140: # 2CADR KALCMAN3
014285,000141: # RELINT
014286,000142:
014287,000143: # THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014288,000144: # WAIT, HE MAY PUT HIS JOB TO SLEEP WTH THE FOLLOWING INSTRUCTIONS:
014289,000145:
014290,000146: # L TC BANKCALL
014291,000147: # L+1 CADR ATTSTALL
014292,000148: # L+2 (BAD RETURN)
014293,000149: # L+3 (GOOD RETURN)
014294,000150:
014295,000151: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014296,000152: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014297,000153: # WAS IN GIMBAL LOCK.
014298,000154:
014299,000155: # *** NOTA BENE *** IF IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY
014300,000156: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014301,000157:
014302,000158: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014303,000159: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014304,000160: # SUBROUTINES.
014305,000161:
014306,000162: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014307,000163: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014308,000164:
014309,000165: # MXM3
014310,000166: # ----
014311,000167:
014312,000168: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014313,000169: # DOWN LIST, I.E.,
014314,000170: # [ M M M ]
014315,000171: # [ 0 1 2 ]
014316,000172: # * [ ] * *
014317,000173: # M = [ M M M ] = M1 X M2
014318,000174: # [ 3 4 5 ]
014319,000175: # [ ]
014320,000176: # [ M M M ]
014321,000177: # [ 6 7 8 ]
014322,000178: # Page 345
014323,000179: # *
014324,000180: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014325,000181: # *
014326,000182: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014327,000183: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014328,000184: # 8
014329,000185: # TRANSPOS
014330,000186: # --------
014331,000187:
014332,000188: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014333,000189: #
014334,000190: # * * T
014335,000191: # M = M1
014336,000192:
014337,000193: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014338,000194: # *
014339,000195: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014340,000196:
014341,000197: # CDU TO DCM
014342,000198: # ----------
014343,000199:
014344,000200: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014345,000201: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014346,000202:
014347,000203: # M = COSY COSZ
014348,000204: # 0
014349,000205:
014350,000206: # M = -COSY SINZ COSX + SINY SINX
014351,000207: # 1
014352,000208:
014353,000209: # M = COSY SINZ SINX + SINY COSX
014354,000210: # 2
014355,000211:
014356,000212: # M = SINZ
014357,000213: # 3
014358,000214:
014359,000215: # M = COSZ COSX
014360,000216: # 4
014361,000217:
014362,000218: # M = -COSZ SINX
014363,000219: # 5
014364,000220:
014365,000221: # M = -SINY COSZ
014366,000222: # 6
014367,000223: #
014368,000224: # M = SINY SINZ COSX + COSY SINX
014369,000225: # 7
014370,000226: # Page 346
014371,000227: # M = -SINY SINZ SINX + COSY COSX
014372,000228: # 8
014373,000229:
014374,000230: # WHERE X = OUTER GIMBAL ANGLE
014375,000231: # Y = INNER GIMBAL ANGLE
014376,000232: # Z = MIDDLE GIMBAL ANGLE
014377,000233:
014378,000234: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS:
014379,000235:
014380,000236: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014381,000237: # X Y Z
014382,000238: # STABLE MEMBER AXES (B , B , B ) ARE
014383,000239: # X Y Z
014384,000240:
014385,000241: # [ B ] [ A ]
014386,000242: # [ X ] [ X ]
014387,000243: # [ ] [ ]
014388,000244: # [ B ] * [ A ]
014389,000245: # [ Y ] = M [ Y ]
014390,000246: # [ ] [ ]
014391,000247: # [ B ] [ B ]
014392,000248: # [ Z ] [ Z ]
014393,000249:
014394,000250: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014395,000251: # *
014396,000252: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014397,000253:
014398,000254: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014399,000255: # REGISTER X2.
014400,000256:
014401,000257: # DCM TO CDU
014402,000258: # ----------
014403,000259: # *
014404,000260: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014405,000261: # *
014406,000262: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014407,000263: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1'S COMPLEMENT ANGLES ACALED BY 2PI. THE FORMULAS
014408,000264: # FOR THIS CONVERSION ARE
014409,000265:
014410,000266: # Z = ARCSIN (M )
014411,000267: # 3
014412,000268:
014413,000269: # Y = ARCSIN (-M /COSZ)
014414,000270: # 6
014415,000271:
014416,000272: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y.
014417,000273: # 0
014418,000274: # Page 347
014419,000275: # X = ARCSIN (-M /COSZ)
014420,000276: # 5
014421,000277:
014422,000278: # IF M IS NEGATIVE, X IS REPLACED BY PI SGN X - X.
014423,000279: # 4
014424,000280:
014425,000281: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014426,000282: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014427,000283: # THE PUSH DOWN LIST.
014428,000284:
014429,000285: # DELCOMP
014430,000286: # -------
014431,000287: # *
014432,000288: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014433,000289: # _
014434,000290: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR U. THE FORMULA FOR THIS MATRIX IS
014435,000291:
014436,000292: # * * _ _T *
014437,000293: # DEL = I COSA + U U (1 - COSA) + V SINA
014438,000294: # X
014439,000295:
014440,000296: # WHERE * [ 1 0 0 ]
014441,000297: # I = [ 0 1 0 ]
014442,000298: # [ 0 0 1 ]
014443,000299:
014444,000300: # [ 2 ]
014445,000301: # [ U U U U U ]
014446,000302: # [ X X Y X Z ]
014447,000303: # [ ]
014448,000304: # _ _T [ 2 ]
014449,000305: # U U = [ U U U U U ]
014450,000306: # [ Y X Y Y Z ]
014451,000307: # [ ]
014452,000308: # [ 2 ]
014453,000309: # [ U U U U U ]
014454,000310: # [ Z X Z Y Z ]
014455,000311:
014456,000312:
014457,000313: # [ 0 -U U ]
014458,000314: # [ Z Y ]
014459,000315: # * [ ]
014460,000316: # V = [ U 0 -U ]
014461,000317: # X [ Z X ]
014462,000318: # [ ]
014463,000319: # [ -U U 0 ]
014464,000320: # [ Y X ]
014465,000321:
014466,000322: # Page 348
014467,000323: # _
014468,000324: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES.
014469,000325: # A = ROTATION ANGLE
014470,000326:
014471,000327: # *
014472,000328: # THE INTERPRETATION OF DEL IS AS FOLLOWS:
014473,000329:
014474,000330: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014475,000331: # X Y Z
014476,000332: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014477,000333: # X Y Z
014478,000334:
014479,000335: # [ B ] [ A ]
014480,000336: # [ X ] [ X ]
014481,000337: # [ ] [ ]
014482,000338: # [ B ] * [ A ]
014483,000339: # [ Y ] = DEL [ Y ]
014484,000340: # [ ] [ ]
014485,000341: # [ B ] [ B ]
014486,000342: # [ Z ] [ Z ]
014487,000343:
014488,000344: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014489,000345: # _
014490,000346: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014491,000347: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014492,000348: # MUST THEN BE LOADED INTO D(MPAC).
014493,000349: #
014494,000350: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014495,000351:
014496,000352: # READCDUK
014497,000353: # --------
014498,000354:
014499,000355: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014500,000356:
014501,000357: # SIGNMPAC
014502,000358: # --------
014503,000359:
014504,000360: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014505,000361:
014506,000362: # PROGRAM STORAGE ALLOCATION
014507,000363:
014508,000364: # 1) FIXED MEMORY 1059 WORDS
014509,000365: # 2) ERASABLE MEMORY 98
014510,000366: # 3) STATE SWITCHES 3
014511,000367: # Page 349
014512,000368: # 4) FLAGS 1
014513,000369:
014514,000370: # JOB PRIORITIES
014515,000371:
014516,000372: # 1) KALCMANU TBD
014517,000373: # 2) ONE SECOND UPDATE TBD
014518,000374:
014519,000375: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014520,000376:
014521,000377: # STATE FLAGWRD 2 SETTING MEANING
014522,000378: # SWITCH NO. BIT NO.
014523,000379:
014524,000380: # *
014525,000381: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014526,000382: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014527,000383: # *
014528,000384: # 32 13 0 CONTINUE UPDATE PROCESS
014529,000385: # 1 START UPDATE PROCESS
014530,000386:
014531,000387: # 33 12 0 PERFORM FINAL P AXIS YAW IF REQUIRED
014532,000388: # 1 IGNORE ANY FINAL P-AXIS YAW
014533,000389:
014534,000390: # 34 11 0 SIGNAL END OF KALCMANU
014535,000391: # 1 KALCMANU IN PROCESS. USER MUST SET SWITCH BEFORE INITIATING
014536,000392:
014537,000393: # * INTERNAL TO KALCMANU
014538,000394:
014539,000395: # SUGGESTIONS FOR PROGRAM INTEGRATION
014540,000396:
014541,000397: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE:
014542,000398:
014543,000399: # CPHI
014544,000400: # CTHETA
014545,000401: # CPSI
014546,000402: # POINTVSM +5
014547,000403: # SCAXIS +5
014548,000404: # DELDCDU
014549,000405: # DELDCDU1
014550,000406: # DELDCDU2
014551,000407: # RATEINDX
014552,000408:
014553,000409: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014554,000410:
014555,000411: # MXM3
014556,000412: # Page 350
014557,000413: # TRANSPGS
014558,000414: # SIGNMPAC
014559,000415: # READCDUK
014560,000416: # CDUTODCM
014561,000417:
014562,000418: # Page 351
014563,000419: 15,2050 BANK 15
014564,000420: 22,2000 SETLOC KALCMON1
014565,000421: 22,2000 BANK
014566,000422:
014567,000423: 22,2004 E6,1676 EBANK= BCDU
014568,000424:
014569,000425: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWO'S COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014570,000426: # LOCATIONS, CPHI, CTHETA, CPSI.
014571,000427:
014572,000428: 22,2004 COUNT* $$/KALC
014573,000429: 22,2004 06037 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014574,000430: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014575,000431: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES.
014576,000432: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES
014577,000433: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014578,000434: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014579,000435: 22,2012 51025 DSU BPL
014580,000436: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014581,000437: 22,2014 44724 TOOBADF
014582,000438: 22,2015 72364 AXC,2 TLOAD
014583,000439: 22,2016 03246 MIS
014584,000440: 22,2017 03277 BCDU
014585,000441: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014586,000442: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014587,000443: 22,2022 72364 AXC,2 TLOAD
014588,000444: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014589,000445: 22,2024 00322 CPHI
014590,000446: 22,2025 77624 CALL
014591,000447: 22,2026 44410 CDUTODCM
014592,000448: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014593,000449: 22,2030 03246 MIS
014594,000450: 22,2031 44326 TRANSPOS
014595,000451: 22,2032 45575 VLOAD STADR
014596,000452: 22,2033 50457 STOVL TMIS +12D
014597,000453: 22,2034 77626 STADR
014598,000454: 22,2035 50465 STOVL TMIS +6
014599,000455: 22,2036 77626 STADR
014600,000456: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014601,000457: 22,2040 75160 AXC,1 AXC,2
014602,000458: 22,2041 03303 TMIS
014603,000459: 22,2042 02230 MFS
014604,000460: 22,2043 77624 CALL
014605,000461: 22,2044 44312 MXM3
014606,000462: 22,2045 45575 VLOAD STADR
014607,000463: 22,2046 51532 STOVL MFI +12D
014608,000464: 22,2047 77626 STADR
014609,000465: 22,2050 51540 STOVL MFI +6
014610,000466: 22,2051 77626 STADR
014611,000467: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014612,000468: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
014613,000469: # Page 352
014614,000470: 22,2054 00023 18D
014615,000471: 22,2055 44335 TRNSPSPD
014616,000472: 22,2056 45575 VLOAD STADR
014617,000473: 22,2057 50457 STOVL TMFI +12D
014618,000474: 22,2060 77626 STADR
014619,000475: 22,2061 50465 STOVL TMFI +6
014620,000476: 22,2062 77626 STADR
014621,000477: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014622,000478:
014623,000479: # CALCULATE COFSKEW AND MFISYM
014624,000480:
014625,000481: 22,2064 45345 DLOAD DSU
014626,000482: 22,2065 03306 TMFI +2
014627,000483: 22,2066 02233 MFI +2
014628,000484: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014629,000485: 22,2070 02235 MFI +4
014630,000486: 22,2071 03310 TMFI +4
014631,000487: 22,2072 45325 PDDL DSU
014632,000488: 22,2073 03316 TMFI +10D
014633,000489: 22,2074 02243 MFI +10D
014634,000490: 22,2075 77666 VDEF
014635,000491: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW
014636,000492:
014637,000493: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014638,000494:
014639,000495: 22,2077 43345 DLOAD DAD
014640,000496: 22,2100 02231 MFI
014641,000497: 22,2101 02251 MFI +16D
014642,000498: 22,2102 43225 DSU DAD
014643,000499: 22,2103 06512 DP1/4TH
014644,000500: 22,2104 02241 MFI +8D
014645,000501: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014646,000502: 22,2106 77726 ARCCOS
014647,000503: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014648,000504: 22,2110 51025 DSU BPL
014649,000505: 22,2111 04363 MINANG
014650,000506: 22,2112 44117 CHECKMAX
014651,000507: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014652,000508: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014653,000509: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES
014654,000510: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014655,000511:
014656,000512: 22,2117 45345 CHECKMAX DLOAD DSU
014657,000513: 22,2120 03336 AM
014658,000514: 22,2121 04365 MAXANG
014659,000515: 22,2122 77244 BPL VLOAD
014660,000516: 22,2123 44131 ALTCALC # UNIT
014661,000517: 22,2124 03326 COFSKEW # COFSKEW
014662,000518: 22,2125 77656 UNIT
014663,000519: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS
014664,000520: # Page 353
014665,000521: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014666,000522: 22,2130 44744 LOCSKIRT
014667,000523: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014668,000524: 22,2132 02231 MFI
014669,000525: 22,2133 03304 TMFI
014670,000526: 22,2134 77762 VSR1
014671,000527: 22,2135 27304 STOVL MFISYM
014672,000528: 22,2136 02237 MFI +6
014673,000529: 22,2137 74455 VAD VSR1
014674,000530: 22,2140 03312 TMFI +6
014675,000531: 22,2141 27312 STOVL MFISYM +6
014676,000532: 22,2142 02245 MFI +12D
014677,000533: 22,2143 74455 VAD VSR1
014678,000534: 22,2144 03320 TMFI +12D
014679,000535: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014680,000536:
014681,000537: # CALCULATE COF
014682,000538:
014683,000539: 22,2146 70545 DLOAD SR1
014684,000540: 22,2147 03334 CAM
014685,000541: 22,2150 45325 PDDL DSU # PDO CAM $4
014686,000542: 22,2151 06520 DPHALF
014687,000543: 22,2152 03334 CAM
014688,000544: 22,2153 65204 BOVB PDDL # PS2 1 - CAM $2
014689,000545: 22,2154 21712 SIGNMPAC
014690,000546: 22,2155 03324 MFISYM +16D
014691,000547: 22,2156 56225 DSU DDV
014692,000548: 22,2157 00001 0
014693,000549: 22,2160 00003 2
014694,000550: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
014695,000551: 22,2162 03314 MFISYM +8D # $ ROOT 2
014696,000552: 22,2163 56225 DSU DDV
014697,000553: 22,2164 00001 0
014698,000554: 22,2165 00003 2
014699,000555: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014700,000556: 22,2167 03304 MFISYM
014701,000557: 22,2170 56225 DSU DDV
014702,000558: 22,2171 00001 0
014703,000559: 22,2172 00003 2
014704,000560: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014705,000561: 22,2174 77656 UNIT
014706,000562: 22,2175 03271 STORE COF
014707,000563:
014708,000564: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014709,000565:
014710,000566: 22,2176 45345 COFMAXGO DLOAD DSU
014711,000567: 22,2177 03271 COF
014712,000568: 22,2200 03273 COF +2
014713,000569: 22,2201 71240 BMN DLOAD # COFY G COFX
014714,000570: # Page 354
014715,000571: 22,2202 44211 COMP12
014716,000572: 22,2203 03271 COF
014717,000573: 22,2204 50025 DSU BMN
014718,000574: 22,2205 03275 COF +4
014719,000575: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014720,000576: 22,2207 77650 GOTO
014721,000577: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014722,000578: 22,2211 45345 COMP12 DLOAD DSU
014723,000579: 22,2212 03273 COF +2
014724,000580: 22,2213 03275 COF +4
014725,000581: 22,2214 77640 BMN
014726,000582: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014727,000583:
014728,000584: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014729,000585: 22,2217 03330 COFSKEW +2 # UY
014730,000586: 22,2220 44224 U2POS
014731,000587: 22,2221 57575 VLOAD VCOMP
014732,000588: 22,2222 03271 COF
014733,000589: 22,2223 03271 STORE COF
014734,000590: 22,2224 51145 U2POS DLOAD BPL
014735,000591: 22,2225 03306 MFISYM +2 # UX UY
014736,000592: 22,2226 44232 OKU21
014737,000593: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE garbled
014738,000594: 22,2230 03271 COF
014739,000595: 22,2231 03271 STORE COF
014740,000596: 22,2232 51145 OKU21 DLOAD BPL
014741,000597: 22,2233 03316 MFISYM +10D # UY UZ
014742,000598: 22,2234 44744 LOCSKIRT
014743,000599: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014744,000600: 22,2236 03275 COF +4
014745,000601: 22,2237 03275 STORE COF +4
014746,000602: 22,2240 77650 GOTO
014747,000603: 22,2241 44744 LOCSKIRT
014748,000604: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014749,000605: 22,2243 03326 COFSKEW # UX
014750,000606: 22,2244 44250 U1POS
014751,000607: 22,2245 57575 VLOAD VCOMP
014752,000608: 22,2246 03271 COF
014753,000609: 22,2247 03271 STORE COF
014754,000610: 22,2250 51145 U1POS DLOAD BPL
014755,000611: 22,2251 03306 MFISYM +2 # UX UY
014756,000612: 22,2252 44256 OKU12
014757,000613: 22,2253 57545 DLOAD DCOMP
014758,000614: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX
014759,000615: 22,2255 03273 STORE COF +2
014760,000616: 22,2256 51145 OKU12 DLOAD BPL
014761,000617: 22,2257 03310 MFISYM +4 # UX UZ
014762,000618: 22,2260 44744 LOCSKIRT
014763,000619: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014764,000620: 22,2262 03275 COF +4
014765,000621: # Page 355
014766,000622: 22,2263 03275 STORE COF +4
014767,000623: 22,2264 77650 GOTO
014768,000624: 22,2265 44744 LOCSKIRT
014769,000625: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014770,000626: 22,2267 03332 COFSKEW +4 # UZ
014771,000627: 22,2270 44274 U3POS
014772,000628: 22,2271 57575 VLOAD VCOMP
014773,000629: 22,2272 03271 COF
014774,000630: 22,2273 03271 STORE COF
014775,000631: 22,2274 51145 U3POS DLOAD BPL
014776,000632: 22,2275 03310 MFISYM +4 # UX UZ
014777,000633: 22,2276 44302 OKU31
014778,000634: 22,2277 57545 DLOAD DCOMP
014779,000635: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ
014780,000636: 22,2301 03271 STORE COF
014781,000637: 22,2302 51145 OKU31 DLOAD BPL
014782,000638: 22,2303 03316 MFISYM +10D # UY UZ
014783,000639: 22,2304 44744 LOCSKIRT
014784,000640: 22,2305 57545 DLOAD DCOMP
014785,000641: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ
014786,000642: 22,2307 03273 STORE COF +2
014787,000643: 22,2310 77650 GOTO
014788,000644: 22,2311 44744 LOCSKIRT
014789,000645: # Page 356
014790,000646: # MATRIX OPERATIONS
014791,000647:
014792,000648: 13,2207 BANK 13
014793,000649: 22,2000 SETLOC KALCMON2
014794,000650: 22,2000 BANK
014795,000651:
014796,000652: 22,2312 E6,1676 EBANK= BCDU
014797,000653:
014798,000654: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014799,000655: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014800,000656: 22,2314 00001 0,1 # AND MPAC
014801,000657: 22,2315 62703 VXM* PDVL*
014802,000658: 22,2316 77776 0,2
014803,000659: 22,2317 00007 6,1
014804,000660: 22,2320 62703 VXM* PDVL*
014805,000661: 22,2321 77776 0,2
014806,000662: 22,2322 00015 12D,1
014807,000663: 22,2323 41503 VXM* PUSH
014808,000664: 22,2324 77776 0,2
014809,000665: 22,2325 77616 RVQ
014810,000666:
014811,000667: # RETURN WITH MIXM2 IN PD LIST
014812,000668:
014813,000669: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014814,000670: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014815,000671: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014816,000672: 22,2331 62713 PDVL* PDVL*
014817,000673: 22,2332 00007 6,1
014818,000674: 22,2333 00015 12D,1
014819,000675: 22,2334 77606 PUSH # MATRIX IN PD
014820,000676: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014821,000677: 22,2336 50120 INDEX FIXLOC
014822,000678: 22,2337 52013 DXCH 12
014823,000679: 22,2340 50120 INDEX FIXLOC
014824,000680: 22,2341 52017 DXCH 16
014825,000681: 22,2342 50120 INDEX FIXLOC
014826,000682: 22,2343 52013 DXCH 12
014827,000683: 22,2344 50120 INDEX FIXLOC
014828,000684: 22,2345 52015 DXCH 14
014829,000685: 22,2346 50120 INDEX FIXLOC
014830,000686: 22,2347 52005 DXCH 4
014831,000687: 22,2350 50120 INDEX FIXLOC
014832,000688: 22,2351 52015 DXCH 14
014833,000689: 22,2352 50120 INDEX FIXLOC
014834,000690: 22,2353 52003 DXCH 2
014835,000691: 22,2354 50120 INDEX FIXLOC
014836,000692: 22,2355 52007 DXCH 6
014837,000693: 22,2356 50120 INDEX FIXLOC
014838,000694: 22,2357 52003 DXCH 2
014839,000695: # Page 357
014840,000696: 22,2360 06037 TC INTPRET
014841,000697: 22,2361 77616 RVQ
014842,000698:
014843,000699: 15,2050 BANK 15
014844,000700: 22,2000 SETLOC KALCMON1
014845,000701: 22,2000 BANK
014846,000702:
014847,000703: 22,2362 E6,1676 EBANK= BCDU
014848,000704:
014849,000705: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014850,000706:
014851,000707: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014852,000708:
014853,000709: # GIMBAL LOCK CONSTANTS
014854,000710:
014855,000711: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014856,000712: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014857,000713:
014858,000714: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014859,000715:
014860,000716: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014861,000717:
014862,000718: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014863,000719:
014864,000720: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014865,000721:
014866,000722: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014867,000723:
014868,000724: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014869,000725:
014870,000726: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014871,000727:
014872,000728: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014873,000729:
014874,000730: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014875,000731: 22,2404 54156 TS MPAC +2
014876,000732: 22,2405 00006 EXTEND
014877,000733: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014878,000734: 22,2407 16476 TCF TLOAD +6
014879,000735:
014880,000736: 22,2410 66370 CDUTODCM AXT,1 SSP
014881,000737: 22,2411 00003 OCT 3
014882,000738: 22,2412 00051 S1
014883,000739: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014884,000740: 22,2414 00010 STORE 7
014885,000741: 22,2415 77601 SETPD
014886,000742: 22,2416 00001 0
014887,000743: 22,2417 47133 LOOPSIN SLOAD* RTB
014888,000744: 22,2420 00013 10D,1
014889,000745: 22,2421 21576 CDULOGIC
014890,000746: # Page 358
014891,000747: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014892,000748: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014893,000749: 22,2424 00013 10D # 4 SIN(THETA)
014894,000750: 22,2425 41546 COS PUSH # 6 COS(THETA)
014895,000751: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014896,000752: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014897,000753: 22,2430 00007 6
014898,000754: 22,2431 72405 DMP SL1
014899,000755: 22,2432 00013 10D
014900,000756: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014901,000757: 22,2434 41345 DLOAD DMP
014902,000758: 22,2435 00005 4
014903,000759: 22,2436 00001 0
014904,000760: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014905,000761: 22,2440 00007 6
014906,000762: 22,2441 00011 8D
014907,000763: 22,2442 72405 DMP SL1
014908,000764: 22,2443 00003 2
014909,000765: 22,2444 72421 BDSU SL1
014910,000766: 22,2445 00015 12D
014911,000767: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014912,000768: 22,2447 41345 DLOAD DMP
014913,000769: 22,2450 00003 2
014914,000770: 22,2451 00005 4
014915,000771: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
014916,000772: 22,2453 00007 6
014917,000773: 22,2454 00011 8D
014918,000774: 22,2455 72405 DMP SL1
014919,000775: 22,2456 00001 0
014920,000776: 22,2457 72415 DAD SL1
014921,000777: 22,2460 00017 14D
014922,000778: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
014923,000779: 22,2462 77745 DLOAD
014924,000780: 22,2463 00011 8D
014925,000781: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
014926,000782: 22,2465 77745 DLOAD
014927,000783: 22,2466 00013 10D
014928,000784: 22,2467 72405 DMP SL1
014929,000785: 22,2470 00003 2
014930,000786: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
014931,000787: 22,2472 41345 DLOAD DMP
014932,000788: 22,2473 00013 10D
014933,000789: 22,2474 00001 0
014934,000790: 22,2475 72476 DCOMP SL1
014935,000791: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
014936,000792: 22,2477 41345 DLOAD DMP
014937,000793: 22,2500 00005 4
014938,000794: 22,2501 00013 10D
014939,000795: 22,2502 72476 DCOMP SL1
014940,000796: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
014941,000797: # Page 359
014942,000798: 22,2504 77745 DLOAD
014943,000799: 22,2505 72405 DMP SL1 # (PUSH UP 7)
014944,000800: 22,2506 00011 8D
014945,000801: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
014946,000802: 22,2510 00007 6
014947,000803: 22,2511 00001 0
014948,000804: 22,2512 72415 DAD SL1 # (PUSH UP 7)
014949,000805: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
014950,000806: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
014951,000807: 22,2515 77745 DLOAD
014952,000808: 22,2516 72405 DMP SL1 # (PUSH UP 6)
014953,000809: 22,2517 00011 8D
014954,000810: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
014955,000811: 22,2521 00007 6
014956,000812: 22,2522 00003 2
014957,000813: 22,2523 72425 DSU SL1 # (PUSH UP 6)
014958,000814: 22,2524 77626 STADR
014959,000815: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
014960,000816: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
014961,000817:
014962,000818: # CALCULATION OF THE MATRIX DEL......
014963,000819:
014964,000820: # * * __T *
014965,000821: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
014966,000822: # _
014967,000823: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
014968,000824: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
014969,000825: # _
014970,000826: # UPON ENTRY, THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
014971,000827:
014972,000828: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
014973,000829: 22,2530 00001 0
014974,000830: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
014975,000831: 22,2532 41546 COS PUSH # PD2 = COS(A)
014976,000832: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
014977,000833: 22,2534 41021 BDSU BOVB
014978,000834: 22,2535 06520 DPHALF
014979,000835: 22,2536 21712 SIGNMPAC
014980,000836: 22,2537 77725 PDDL # PDA = 1-COS(A)
014981,000837:
014982,000838: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
014983,000839:
014984,000840: 22,2540 03271 COF
014985,000841: 22,2541 41316 DSQ DMP
014986,000842: 22,2542 00005 4
014987,000843: 22,2543 52415 DAD SL3
014988,000844: 22,2544 00003 2
014989,000845: 22,2545 77604 BOVB
014990,000846: 22,2546 21712 SIGNMPAC
014991,000847: # Page 360
014992,000848: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
014993,000849: 22,2550 03273 COF +2
014994,000850: 22,2551 41316 DSQ DMP
014995,000851: 22,2552 00005 4
014996,000852: 22,2553 52415 DAD SL3
014997,000853: 22,2554 00003 2
014998,000854: 22,2555 77604 BOVB
014999,000855: 22,2556 21712 SIGNMPAC
015000,000856: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015001,000857: 22,2560 03275 COF +4
015002,000858: 22,2561 41316 DSQ DMP
015003,000859: 22,2562 00005 4
015004,000860: 22,2563 52415 DAD SL3
015005,000861: 22,2564 00003 2
015006,000862: 22,2565 77604 BOVB
015007,000863: 22,2566 21712 SIGNMPAC
015008,000864: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015009,000865:
015010,000866: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015011,000867:
015012,000868: 22,2570 41345 DLOAD DMP
015013,000869: 22,2571 03271 COF
015014,000870: 22,2572 03273 COF +2
015015,000871: 22,2573 72405 DMP SL1
015016,000872: 22,2574 00005 4
015017,000873: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
015018,000874: 22,2576 03275 COF +4
015019,000875: 22,2577 00001 0
015020,000876: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
015021,000877: 22,2601 00007 6
015022,000878: 22,2602 41112 SL2 BOVB
015023,000879: 22,2603 21712 SIGNMPAC
015024,000880: 22,2604 16237 STODL KEL +6
015025,000881: 22,2605 62421 BDSU SL2
015026,000882: 22,2606 77604 BOVB
015027,000883: 22,2607 21712 SIGNMPAC
015028,000884: 22,2610 16233 STODL KEL +2
015029,000885: 22,2611 03271 COF
015030,000886: 22,2612 41205 DMP DMP
015031,000887: 22,2613 03275 COF +4
015032,000888: 22,2614 00005 4
015033,000889: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
015034,000890: 22,2616 03273 COF +2
015035,000891: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015036,000892: 22,2620 00001 0
015037,000893: 22,2621 62415 DAD SL2
015038,000894: 22,2622 00007 6
015039,000895: 22,2623 77604 BOVB
015040,000896: 22,2624 21712 SIGNMPAC
015041,000897: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
015042,000898: # Page 361
015043,000899: 22,2626 62421 BDSU SL2
015044,000900: 22,2627 77604 BOVB
015045,000901: 22,2630 21712 SIGNMPAC
015046,000902: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015047,000903: 22,2632 03273 COF +2
015048,000904: 22,2633 41205 DMP DMP
015049,000905: 22,2634 03275 COF +4
015050,000906: 22,2635 00005 4
015051,000907: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
015052,000908: 22,2637 03271 COF
015053,000909: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015054,000910: 22,2641 00001 0
015055,000911: 22,2642 62415 DAD SL2
015056,000912: 22,2643 00007 6
015057,000913: 22,2644 77604 BOVB
015058,000914: 22,2645 21712 SIGNMPAC
015059,000915: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015060,000916: 22,2647 62421 BDSU SL2
015061,000917: 22,2650 77604 BOVB
015062,000918: 22,2651 21712 SIGNMPAC
015063,000919: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015064,000920: 22,2653 77616 RVQ
015065,000921:
015066,000922: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015067,000923: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2).
015068,000924: # LEAVE CDU ANGLES SCALED 2PI IN V(MPAC).
015069,000925: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1).
015070,000926:
015071,000927: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS:
015072,000928:
015073,000929: # C = COS(THETA) COS(PSI
015074,000930: # 0
015075,000931:
015076,000932: # C = -COS(THETA) SIN(PSI) COS(PHI) + SIN(THETA) SIN(PHI)
015077,000933: # 1
015078,000934:
015079,000935: # C = COS(THETA) SIN(PSI) SIN(PHI) + SIN(THETA) COS(PHI)
015080,000936: # 2
015081,000937:
015082,000938: # C = SIN(PSI)
015083,000939: # 3
015084,000940:
015085,000941: # C = COS(PSI) COS(PHI)
015086,000942: # 4
015087,000943:
015088,000944: # C = -COS(PSI) SIN(PHI)
015089,000945: # 5
015090,000946:
015091,000947: # C = -SIN(THETA) COS(PSI)
015092,000948: # 6
015093,000949:
015094,000950: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS (THETA) SIN(PHI)
015095,000951: # 7
015096,000952:
015097,000953: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + COS(THETA)COS(PHI)
015098,000954: # 8
015099,000955: # Page 362
015100,000956:
015101,000957: # WHERE PHI = OGA
015102,000958: # THETA = IGA
015103,000959: # PSI = MGA
015104,000960:
015105,000961: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015106,000962: 22,2655 00007 6,1
015107,000963: 22,2656 71406 PUSH COS # PD +0 PSI
015108,000964: 22,2657 41152 SL1 BOVB
015109,000965: 22,2660 21712 SIGNMPAC
015110,000966: 22,2661 00051 STORE S1
015111,000967: 22,2662 57543 DLOAD* DCOMP
015112,000968: 22,2663 00015 12D,1
015113,000969: 22,2664 67471 DDV ARCSIN
015114,000970: 22,2665 00051 S1
015115,000971: 22,2666 51123 PDDL* BPL # PD +2 THETA
015116,000972: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015117,000973: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT.
015118,000974: 22,2671 57545 DLOAD DCOMP
015119,000975: 22,2672 43244 BPL DAD
015120,000976: 22,2673 44677 SUHALFA
015121,000977: 22,2674 06520 DPHALF
015122,000978: 22,2675 77650 GOTO
015123,000979: 22,2676 44701 CALCPHI
015124,000980: 22,2677 77625 SUHALFA DSU
015125,000981: 22,2700 06520 DPHALF
015126,000982: 22,2701 77606 CALCPHI PUSH
015127,000983: 22,2702 57543 OKTHETA DLOAD* DCOMP
015128,000984: 22,2703 00013 10D,1
015129,000985: 22,2704 67471 DDV ARCSIN
015130,000986: 22,2705 00051 S1
015131,000987: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015132,000988: 22,2707 00011 8D,1
015133,000989: 22,2710 44722 OKPHI
015134,000990: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015135,000991: 22,2712 43244 BPL DAD
015136,000992: 22,2713 44717 SUHALFAP
015137,000993: 22,2714 06520 DPHALF
015138,000994: 22,2715 77650 GOTO
015139,000995: 22,2716 44723 VECOFANG
015140,000996: 22,2717 52025 SUHALFAP DSU GOTO
015141,000997: 22,2720 06520 DPHALF
015142,000998: 22,2721 44723 VECOFANG
015143,000999: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015144,001000: 22,2723 43466 VECOFANG VDEF RVQ
015145,001001: # Page 363
015146,001002: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER.
015147,001003:
015148,001004: 22,2724 77776 TOOBADF EXIT
015149,001005: 22,2725 05567 TC ALARM
015150,001006: 22,2726 00401 OCT 00401
015151,001007:
015152,001008: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015153,001009:
015154,001010: 22,2730 04616 TC BANKCALL
015155,001011: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015156,001012:
015157,001013: 22,2732 04616 NOGO TC BANKCALL
015158,001014: 22,2733 40165 CADR STOPRATE # STOP RATES
015159,001015:
015160,001016: 22,2734 34752 CAF TWO
015161,001017: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015162,001018: 22,2736 05203 TC WAITLIST
015163,001019: 22,2737 E6,1676 EBANK= BCDU
015164,001020: 22,2737 03234 44066 2CADR GOODMANU
015165,001021:
015166,001022: 22,2741 15155 TCF ENDOFJOB
015167,001023:
015168,001024: 22,2742 77776 TOOBADI EXIT
015169,001025: 22,2743 12732 TCF NOGO
015170,001026:
015171,001027:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc