Source Code
020191,000001: # Copyright: Public domain.
020192,000002: # Filename: R60_R62.agc
020193,000003: # Purpose: Part of the source code for Luminary 1A build 099.
020194,000004: # It is part of the source code for the Lunar Module's (LM)
020195,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
020196,000006: # Assembler: yaYUL
020197,000007: # Contact: Ron Burkey <info@sandroid.org>.
020198,000008: # Website: www.ibiblio.org/apollo.
020199,000009: # Pages: 472-485
020200,000010: # Mod history: 2009-05-17 RSB Adapted from the corresponding
020201,000011: # Luminary131 file, using page
020202,000012: # images from Luminary 1A.
020203,000013:
020204,000014: # This source code has been transcribed or otherwise adapted from
020205,000015: # digitized images of a hardcopy from the MIT Museum. The digitization
020206,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
020207,000017: # the Museum. Many thanks to both. The images (with suitable reduction
020208,000018: # in storage size and consequent reduction in image quality as well) are
020209,000019: # available online at www.ibiblio.org/apollo. If for some reason you
020210,000020: # find that the images are illegible, contact me at info@sandroid.org
020211,000021: # about getting access to the (much) higher-quality images which Paul
020212,000022: # actually created.
020213,000023:
020214,000024: # Notations on the hardcopy document read, in part:
020215,000025:
020216,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
020217,000027: # 16:27 JULY 14, 1969
020218,000028:
020219,000029: # Page 472
020220,000030: # MOD NO: 0 DATE: 1 MAY 1968
020221,000031: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020222,000032:
020223,000033: # FUNCTIONAL DESCRIPTION:
020224,000034:
020225,000035: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020226,000036: # ATTITUDE.
020227,000037:
020228,000038: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020229,000039: # CALCULATED (VECPOINT).
020230,000040:
020231,000041: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020232,000042:
020233,000043: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020234,000044:
020235,000045: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020236,000046: # ASTRONAUT RESPONSE.
020237,000047:
020238,000048: # 5. DISPLAY RESPONSE RETURNS.
020239,000049:
020240,000050: # A. ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020241,000051:
020242,000052: # B. TERMINATE -- IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020243,000053: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020244,000054: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020245,000055:
020246,000056: # C. PROCEED -- CONTINUE WITH PROGRAM AT STEP 6.
020247,000057:
020248,000058: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020249,000059: # (VECPOINT).
020250,000060:
020251,000061: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020252,000062:
020253,000063: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020254,000064: #
020255,000065: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020256,000066:
020257,000067: # 10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES).
020258,000068:
020259,000069: # 11. DO A PHASE-CHANGE.
020260,000070:
020261,000071: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020262,000072: # GIMBAL ANGLES (GOMANUR).
020263,000073:
020264,000074: # 13. AT END OF MANEUVER TO TO STEP 3.
020265,000075:
020266,000076: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020267,000077: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020268,000078: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
020269,000079: # Page 473
020270,000080: # STEP 5C.
020271,000081:
020272,000082: # CALLING SEQUENCE: TC BANKCALL
020273,000083: # CADR R60LEM
020274,000084:
020275,000085: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
020276,000086: # 3AXISFLG.
020277,000087:
020278,000088: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF24, LINUS, GODSPER,
020279,000089: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020280,000090:
020281,000091: # NORMAL EXIT MODES: CAE TEMPR60 (CALLER'S RETURN ADDRESS)
020282,000092: # TC BANKJUMP
020283,000093:
020284,000094: # ALARMS: NONE
020285,000095:
020286,000096: # OUTPUT: NONE
020287,000097:
020288,000098: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020289,000099:
020290,000100: 34,2000 BANK 34
020291,000101: 26,2000 SETLOC MANUVER
020292,000102: 26,2000 BANK
020293,000103:
020294,000104: 26,2123 1164 EBANK= TEMPR60
020295,000105:
020296,000106: 26,2123 COUNT* $$/R06
020297,000107: 26,2123 04645 R60LEM TC MAKECADR
020298,000108: 26,2124 55164 TS TEMPR60
020299,000109:
020300,000110: 26,2125 34746 REDOMANN CAF 3AXISBIT
020301,000111: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020302,000112: 26,2127 10000 CCS A
020303,000113: 26,2130 12136 TCF TOBALL # YES
020304,000114: 26,2131 06037 TC INTPRET
020305,000115: 26,2132 77624 CALL
020306,000116: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020307,000117: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
020308,000118: 26,2135 77776 EXIT
020309,000119:
020310,000120: 26,2136 04616 TOBALL TC BANKCALL
020311,000121: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020312,000122: 26,2140 32254 TOBALLA CAF V06N18
020313,000123: 26,2141 04616 TC BANKCALL
020314,000124: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020315,000125: 26,2143 02242 TC R61TEST
020316,000126: 26,2144 02150 TC REDOMANC # PROCEED
020317,000127: 26,2145 02175 TC ENDMANU1 # ENTER I.E., FINISHED WITH R60
020318,000128: # Page 474
020319,000129: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020320,000130: 26,2147 05155 TC ENDOFJOB
020321,000131:
020322,000132: 26,2150 34746 REDOMANC CAF 3AXISBIT
020323,000133: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020324,000134: 26,2152 10000 CCS A
020325,000135: 26,2153 12161 TCF TOBALLC # YES
020326,000136: 26,2154 06037 TC INTPRET
020327,000137: 26,2155 77624 CALL
020328,000138: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020329,000139: 26,2157 00322 STORE CPHI # STORE ANGLES
020330,000140: 26,2160 77776 EXIT
020331,000141:
020332,000142: 26,2161 04616 TOBALLC TC BANKCALL
020333,000143: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020334,000144: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
020335,000145: 26,2164 10000 CCS A
020336,000146: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020337,000147:
020338,000148: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020339,000149: 26,2167 04616 TC BANKCALL
020340,000150: 26,2170 20451 CADR GODSPR
020341,000151: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020342,000152:
020343,000153: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020344,000154: 26,2173 17750 CADR GOMANUR
020345,000155:
020346,000156: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020347,000157: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020348,000158: 26,2176 00124 ADRES 3AXISFLG
020349,000159: 26,2177 31164 CAE TEMPR60
020350,000160: 26,2200 04640 TC BANKJUMP
020351,000161:
020352,000162: 26,2201 40100 CHKLINUS CS FLAGWRD4
020353,000163: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020354,000164: 26,2203 10000 CCS A
020355,000165: 26,2204 00002 TC Q # NO -- EXIT
020356,000166: 26,2205 30002 CA Q
020357,000167: 26,2206 54156 TS MPAC +2 # SAVE RETURN
020358,000168: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
020359,000169: 26,2210 60133 AD BUF2 # HOLD Q OF LAST DISPLAY
020360,000170: 26,2211 55055 TS TBASE2
020361,000171:
020362,000172: 26,2212 05353 TC PHASCHNG
020363,000173: 26,2213 00132 OCT 00132
020364,000174:
020365,000175: 26,2214 34745 CAF BIT7
020366,000176: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY
020367,000177: 26,2216 00156 TC MPAC +2
020368,000178:
020369,000179: # Page 475
020370,000180: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020371,000181: 26,2220 05146 TC PRIOCHNG
020372,000182:
020373,000183: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020374,000184: 26,2222 70075 MASK FLAGWRD1
020375,000185: 26,2223 10000 CCS A
020376,000186: 26,2224 12237 TCF RER60
020377,000187:
020378,000188: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
020379,000189: 26,2226 70074 MASK FLAGWRD0
020380,000190: 26,2227 10000 CCS A
020381,000191: 26,2230 02234 TC +4 # YES
020382,000192: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020383,000193: 26,2232 40112 OCT 40112
020384,000194:
020385,000195: 26,2233 05155 TC ENDOFJOB
020386,000196:
020387,000197: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020388,000198: 26,2235 40072 OCT 40072
020389,000199:
020390,000200: 26,2236 05155 TC ENDOFJOB
020391,000201:
020392,000202: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020393,000203: 26,2240 00077 ADRES PDSPFLAG
020394,000204:
020395,000205: 26,2241 01055 TC TBASE2
020396,000206:
020397,000207: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020398,000208: 26,2243 00006 EXTEND
020399,000209: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020400,000210:
020401,000211: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020402,000212: 26,2246 74740 MASK PDSPFBIT
020403,000213: 26,2247 00006 EXTEND
020404,000214: 26,2250 16001 BZF GOTOP00H # NO
020405,000215: 26,2251 06022 TC GOTOV56 # YES
020406,000216:
020407,000217: 26,2252 20100 BIT14+7 OCT 20100
020408,000218: 26,2253 00203 OCT203 OCT 203
020409,000219: 26,2254 01422 V06N18 VN 0618
020410,000220:
020411,000221: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020412,000222:
020413,000223: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020414,000224: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020415,000225:
020416,000226: 26,2255 00006 G+N,AUTO EXTEND
020417,000227: 26,2256 00030 READ CHAN30
020418,000228: 26,2257 74742 MASK BIT10
020419,000229: 26,2260 10000 CCS A
020420,000230: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
020421,000231: # Page 476
020422,000232: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020423,000233: 26,2263 00031 READ CHAN31
020424,000234: 26,2264 74736 MASK BIT14
020425,000235: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020426,000236:
020427,000237: # Page 477
020428,000238: # PROGRAM DESCRIPTION BALLANGS
020429,000239: # MOD NO. LOG SECTION R60,R62
020430,000240:
020431,000241: # WRITTEN BY RAMA M. AIYAWAR
020432,000242:
020433,000243: # FUNCTIONAL DESCRIPTION
020434,000244:
020435,000245: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020436,000246:
020437,000247: # CALLING SEQUENCE
020438,000248:
020439,000249: # TC BALLANGS
020440,000250:
020441,000251: # NORMAL EXIT MODE
020442,000252:
020443,000253: # TC BALLEXIT # (SAVED Q)
020444,000254:
020445,000255: # ALARM OR EXIT MODE: NIL
020446,000256:
020447,000257: # SUBROUTINES CALLED
020448,000258:
020449,000259: # CD*TR*G
020450,000260: # ARCTAN
020451,000261:
020452,000262: # INPUT
020453,000263:
020454,000264: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020455,000265: # SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION.
020456,000266:
020457,000267: # OUTPUT
020458,000268:
020459,000269: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020460,000270: # SP,2'S COMPEMENT.
020461,000271:
020462,000272: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020463,000273:
020464,000274: # ERASABLE INITIALIZATION REQUIRED
020465,000275:
020466,000276: # CPHI, CTHETA, CPSI EACH AN SP REGISTER
020467,000277:
020468,000278: # DEBRIS
020469,000279:
020470,000280: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020471,000281:
020472,000282: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020473,000283: # EQUIVALENTLY, CDUX, CDUY, AND CDUZ.
020474,000284:
020475,000285: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020476,000286:
020477,000287: 26,2000 SETLOC BAWLANGS
020478,000288: 26,2000 BANK
020479,000289:
020480,000290: 26,2266 COUNT* $$/BALL
020481,000291: 26,2266 04645 BALLANGS TC MAKECADR
020482,000292: 26,2267 55342 TS BALLEXIT
020483,000293: 26,2270 30321 CA CPHI
020484,000294: # Page 478
020485,000295: 26,2271 54772 TS CDUSPOT +4
020486,000296: 26,2272 30322 CA CTHETA
020487,000297: 26,2273 54766 TS CDUSPOT
020488,000298: 26,2274 30323 CA CPSI
020489,000299: 26,2275 54770 TS CDUSPOT +2
020490,000300:
020491,000301: 26,2276 06037 TC INTPRET
020492,000302: 26,2277 45001 SETPD CALL
020493,000303: 26,2300 00001 0D
020494,000304: 26,2301 47543 CD*TR*G
020495,000305:
020496,000306: 26,2302 41345 DLOAD DMP
020497,000307: 26,2303 00743 SINCDUX # SIN (OGA)
020498,000308: 26,2304 00747 COSCDUZ # COS (MGA)
020499,000309:
020500,000310: 26,2305 57552 SL1 DCOMP # SCALE
020501,000311: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020502,000312: 26,2307 00741 SINCDUZ
020503,000313: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020504,000314: 26,2311 00747 COSCDUZ
020505,000315: 26,2312 72405 DMP SL1 # RESCALE
020506,000316: 26,2313 00751 COSCDUX
020507,000317: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020508,000318: 26,2315 26510 ARCTAN
020509,000319: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020510,000320: 26,2317 00741 SINCDUZ
020511,000321: 26,2320 00743 SINCDUX
020512,000322: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020513,000323: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020514,000324: 26,2323 00745 COSCDUY
020515,000325: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020516,000326: 26,2325 00737 SINCDUY
020517,000327: 26,2326 00751 COSCDUX
020518,000328: 26,2327 72405 DMP SL1 # CXCY
020519,000329: 26,2330 00745 COSCDUY
020520,000330: 26,2331 45425 DSU STADR # PULL UP FORM 6 PD
020521,000331: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020522,000332: 26,2333 00737 SINCDUY
020523,000333: 26,2334 72405 DMP SL1
020524,000334: 26,2335 00751 COSCDUX # CXSY
020525,000335: 26,2336 45415 DAD STADR # PULL UP FORM 4 PD
020526,000336: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020527,000337: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020528,000338: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020529,000339: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020530,000340: 26,2343 21620 V1STO2S
020531,000341: 26,2344 02345 STORE FDAIX # MODE IS TP
020532,000342: 26,2345 77776 EXIT
020533,000343:
020534,000344: 26,2346 31342 ENDBALL CA BALLEXIT
020535,000345:
020536,000346: # Page 479
020537,000347: 26,2347 04640 TC BANKJUMP
020538,000348:
020539,000349: # Page 480
020540,000350: # PROGRAM DESCRIPTION -- VECPOINT
020541,000351:
020542,000352: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020543,000353: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020544,000354: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020545,000355: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020546,000356: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020547,000357: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
020548,000358: # ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020549,000359: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020550,000360:
020551,000361: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020552,000362: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020553,000363: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020554,000364: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020555,000365: # THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
020556,000366: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020557,000367: # STORED AS 2'S COMPLEMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020558,000368:
020559,000369: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020560,000370: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020561,000371: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020562,000372: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020563,000373:
020564,000374: # CALLING SEQUENCE
020565,000375:
020566,000376: # 1) LOAD SCAXIS, POINTVSM
020567,000377: # 2) CALL
020568,000378: # VECPOINT
020569,000379:
020570,000380: # RETURNS WITH
020571,000381:
020572,000382: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020573,000383: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020574,000384: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020575,000385:
020576,000386: # ERASABLES USED --
020577,000387:
020578,000388: # 1) SCAXIS 6
020579,000389: # 2) POINTVSM 6
020580,000390: # 3) MIS 18
020581,000391: # 4) DEL 18
020582,000392: # 5) COF 6
020583,000393: # 6) VECQTEMP 1
020584,000394: # 7) ALL OF VAC AREA 43
020585,000395:
020586,000396: # TOTAL 99
020587,000397:
020588,000398: 27,2000 SETLOC VECPT
020589,000399: 27,2000 BANK
020590,000400: # Page 481
020591,000401: 27,2032 COUNT* $$/VECPT
020592,000402:
020593,000403: 27,2032 E6,1676 EBANK= BCDU
020594,000404:
020595,000405: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020596,000406: 27,2033 03325 VECQTEMP # NOT PRESENT -- ENTER WITH CDUD'S IN MPAC
020597,000407: 27,2034 56035 VECPNT2
020598,000408: 27,2035 52164 VECPNT2 AXC,2 GOTO
020599,000409: 27,2036 03246 MIS
020600,000410: 27,2037 56046 STORANG
020601,000411: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020602,000412: 27,2041 03325 VECQTEMP
020603,000413: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020604,000414: 27,2043 47164 VECLEAR AXC,2 RTB
020605,000415: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020606,000416: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020607,000417: 27,2046 34032 STORANG STCALL 25D
020608,000418: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020609,000419: 27,2050 61375 VLOAD VXM
020610,000420: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020611,000421: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020612,000422: 27,2053 77656 UNIT
020613,000423: 27,2054 00035 STORE 28D
020614,000424: # PD 28 29 30 31 32 33
020615,000425: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020616,000426: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020617,000427: 27,2057 57400 BOV VCOMP
020618,000428: 27,2060 56170 PICKAXIS
020619,000429: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020620,000430: 27,2062 00045 36D # OF CROSS PRODUCT
020621,000431: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020622,000432: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020623,000433: 27,2065 56170 PICKAXIS # UNIT OPERATION
020624,000434: 27,2066 50375 VLOAD DOT # INVALID.
020625,000435: 27,2067 03765 SCAXIS
020626,000436: 27,2070 00035 28D
020627,000437: 27,2071 65552 SL1 ARCCOS
020628,000438: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020629,000439: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020630,000440: 27,2074 75160 AXC,1 AXC,2
020631,000441: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020632,000442: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020633,000443: 27,2077 77624 CALL # MFS = MIS MFI
020634,000444: 27,2100 44312 MXM3 # (IN PD LIST)
020635,000445:
020636,000446: 27,2101 51545 DLOAD ABS
020637,000447: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020638,000448: 27,2103 50025 DSU BMN
020639,000449: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020640,000450: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS.
020641,000451: # Page 482
020642,000452: # I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
020643,000453:
020644,000454: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020645,000455: 27,2107 03765 SCAXIS # THE THRUST AXIS
020646,000456: 27,2110 51025 DSU BPL
020647,000457: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020648,000458: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020649,000459: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020650,000460: 27,2114 77626 STADR
020651,000461: 27,2115 50514 STOVL MIS +12D
020652,000462: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020653,000463: 27,2117 50522 STOVL MIS +6
020654,000464: 27,2120 77626 STADR
020655,000465: 27,2121 50530 STOVL MIS
020656,000466: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020657,000467: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020658,000468: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020659,000469:
020660,000470: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020661,000471: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020662,000472: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3)
020663,000473: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020664,000474: # OTHERWISE U = -SCAXIS.
020665,000475:
020666,000476: 27,2130 57575 VLOAD VCOMP
020667,000477: 27,2131 03765 SCAXIS
020668,000478: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020669,000479: 27,2133 56137 CHEKAXIS
020670,000480: 27,2134 77775 U=SCAXIS VLOAD
020671,000481: 27,2135 03765 SCAXIS
020672,000482: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020673,000483: 27,2137 51545 CHEKAXIS DLOAD ABS
020674,000484: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020675,000485: 27,2141 51025 DSU BPL
020676,000486: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020677,000487: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020678,000488: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020679,000489: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020680,000490: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020681,000491: # OF GIMBAL LOCK (VECANG2 $360)
020682,000492: 27,2147 77745 PICKANG1 DLOAD
020683,000493: 27,2150 14404 VECANG1 # = 50 DEGS. $360
020684,000494: 27,2151 77624 COMPMFSN CALL
020685,000495: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020686,000496: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020687,000497: 27,2154 03246 MIS
020688,000498: 27,2155 02230 KEL
020689,000499: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020690,000500: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020691,000501: # WHICH WILL ALIGN VI WITH VF AND AVOID
020692,000502: # Page 483
020693,000503: # GIMBAL LOCK
020694,000504: 27,2160 45160 FINDGIMB AXC,1 CALL
020695,000505: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020696,000506: 27,2162 44654 DCMTOCDU # THIS MATRIX
020697,000507: 27,2163 40234 RTB SETPD
020698,000508: 27,2164 21620 V1STO2S # CONVERT TO 2'S COMPLEMENT
020699,000509: 27,2165 00001 0
020700,000510: 27,2166 77650 GOTO
020701,000511: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020702,000512:
020703,000513: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
020704,000514: 27,2171 00035 28D
020705,000515: 27,2172 03765 SCAXIS
020706,000516: 27,2173 72240 BMN TLOAD
020707,000517: 27,2174 54350 ROT180
020708,000518: 27,2175 00032 25D
020709,000519: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020710,000520: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020711,000521:
020712,000522: 35,2000 BANK 35
020713,000523: 26,2000 SETLOC MANUVER1
020714,000524: 26,2000 BANK
020715,000525: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
020716,000526: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020717,000527: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020718,000528: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020719,000529: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020720,000530: 26,2355 40056 UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I),
020721,000531: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020722,000532: 26,2357 17271 STODL COF
020723,000533: 26,2360 00045 36D # CHECK MAGNITUDE
020724,000534: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020725,000535: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020726,000536: 26,2363 54372 PICKX # PICK X-AXIS.
020727,000537: 26,2364 77775 VLOAD
020728,000538: 26,2365 03271 COF
020729,000539: 26,2366 17271 XROT STODL COF
020730,000540: 26,2367 06520 HIDPHALF
020731,000541: 26,2370 77650 GOTO
020732,000542: 26,2371 56072 COMPMATX
020733,000543: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020734,000544: 26,2373 06520 HIDPHALF
020735,000545: 26,2374 54366 XROT
020736,000546: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020737,000547:
020738,000548: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020739,000549:
020740,000550: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020741,000551:
020742,000552: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
020743,000553: # Page 484
020744,000554: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020745,000555:
020746,000556: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ************
020747,000557: 26,2410 00001 DPB-14 OCT 00001
020748,000558: 26,2411 00000 OCT 00000
020749,000559:
020750,000560: # Page 485
020751,000561: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020752,000562:
020753,000563: 34,2000 BANK 34
020754,000564: 23,2000 SETLOC R62
020755,000565: 23,2000 BANK
020756,000566: 23,2103 E6,1676 EBANK= BCDU
020757,000567:
020758,000568: 23,2103 COUNT* $$/R62
020759,000569:
020760,000570: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020761,000571:
020762,000572: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020763,000573: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020764,000574: 23,2105 20476 CADR GOFLASH
020765,000575: 23,2106 15472 TCF ENDEXT # TERMINATE
020766,000576: 23,2107 12111 TCF GOMOVE # PROCEED
020767,000577: 23,2110 12103 TCF R62FLASH # ENTER
020768,000578:
020769,000579: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020770,000580: # POINT.
020771,000581: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020772,000582: 23,2112 00124 ADRES 3AXISFLG
020773,000583:
020774,000584: 23,2113 04616 TC BANKCALL
020775,000585: 23,2114 54123 CADR R60LEM
020776,000586: 23,2115 15472 TCF ENDEXT # END R62
020777,000587:
End of include-file R60_62.agc. Parent file is MAIN.agc