Source Code
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These source-code files were obtained by digitally photographing the
Colossus 237 program listing from the private collection of original
AGC developer Fred Martin, and then modifying pre-existing Colossus 249
(Apollo 9) source files to incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968 |
040964,000002: # Copyright: Public domain.
040965,000003: # Filename: TVCROLLDAP.agc
040966,000004: # Purpose: Part of the source code for Colossus build 237.
040967,000005: # This is for the Command Module's (CM) Apollo Guidance
040968,000006: # Computer (AGC), we believe for Apollo 8.
040969,000007: # Assembler: yaYUL
040970,000008: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
040971,000009: # Website: www.ibiblio.org/apollo/index.html
040972,000010: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
040973,000011: # Mod history: 2011-03-12 JL Adapted from corresponding Colossus 249 file.
040974,000012:
040975,000013: # # Page 945
040976,000014: # PROGRAM NAME....ROLL AUTOPILOT, CONSISTING OF ROLLDAP,DURATION,NOROLL1,E
040977,000015: # ORIGINAL CODING BY F.W.MARTIN, 1965 (SUNDIAL) TC.
040978,000016: # LOC SECTION....ROLL AUTOPILOT SUBROUTINE....DAPCSM
040979,000017: # MOD BY ENGEL DATE 28 DEC, 1967 (SUNDISK TO COLOSSUS)
040980,000018: # FUNCTIONAL DESCRIPTION....
040981,000019:
040982,000020: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
040983,000021: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
040984,000022: # BY IGNOVER (IGNITION)
040985,000023: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
040986,000024: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
040987,000025: # *USES T6 CLOCK TO TIME JET FIRINGS.
040988,000026: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
040989,000027: # *MINIMUM JET FIRING TIME = 15 MS
040990,000028: # *JET PAIRS FIRE ALTERNATELY
040991,000029: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
040992,000030: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
040993,000031: # OF A JET FIRING TIME IS MADE ON A LATER PASS
040994,000032:
040995,000033: # CALLING SEQUENCE....
040996,000034:
040997,000035: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
040998,000036: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
040999,000037:
041000,000038: # NORMAL EXIT MODES.... ENDOFJOG
041001,000039:
041002,000040: # ALARM OR ABORT EXIT MODES.... NONE
041003,000041:
041004,000042: # SUBROUTINES CALLED.....NONE
041005,000043:
041006,000044: # OTHER INTERFACES....
041007,000045:
041008,000046: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
041009,000047: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
041010,000048: # *TVCRESTART PACKAGE WILL RE-START ROLL DAP AFTER A RESTART (PICKING
041011,000049: # UP THE ORIGINAL OGAD)
041012,000050:
041013,000051: # ERASABLE INITIALIZATION REQUIRED....
041014,000052:
041015,000053: # *1/CONACC (S40.15)
041016,000054: # *OGAD (CDUX, AT IGNOVER)
041017,000055: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
041018,000056: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
041019,000057: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
041020,000058: # OUTPUT....
041021,000059:
041022,000060: # *ROLL JET PAIR FIRINGS
041023,000061:
041024,000062: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
041025,000063:
041026,000064: # # Page 946
041027,000065: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
041028,000066: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
041029,000067:
041030,000068: # SWITCHING LOGIC IN THE PHASE PLANE....
041031,000069:
041032,000070: # OGARATE
041033,000071: # *
041034,000072: # *
041035,000073: # * * * * * * * * * * * *
041036,000074: # * (REGION 1, SEE TEXT BELOW)
041037,000075: # * *
041038,000076: # *
041039,000077: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
041040,000078: # * * .
041041,000079: # * * *
041042,000080: # * * (FIRE NEG ROLL JETS)
041043,000081: # * * *
041044,000082: # (-DB,+LMCRATE)....* *
041045,000083: # * * *
041046,000084: # * * OGAERROR
041047,000085: # ************************************************************************
041048,000086: # * * (-AK, OGAERR)
041049,000087: # * * (REGION 6-PRIME)
041050,000088: # * (SEE TEXT BELOW)
041051,000089: # * * *
041052,000090: # * * ...STRAIGHT LINE
041053,000091: # (FIRE POS ROLL JETS) * * * .
041054,000092: # * (COAST) *
041055,000093: # * * * * * * * * * * *
041056,000094: # * -MINLIM
041057,000095: # * *
041058,000096: # *
041059,000097: # * * * * * * * * * * * * * * * *
041060,000098: # * -MAXLIM
041061,000099: # *
041062,000100: # *
041063,000101:
041064,000102: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
041065,000103: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
041066,000104: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
041067,000105: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
041068,000106: # SUBJECT TO TEH LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
041069,000107: # ABOVE.
041070,000108:
041071,000109: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRISED OF
041072,000110: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
041073,000111: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
041074,000112:
041075,000113: # # Page 947
041076,000114: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
041077,000115: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
041078,000116: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
041079,000117: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
041080,000118: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
041081,000119: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
041082,000120: # INSTEAD. CONSIDER AN OPERATING POINT IN REGION 6. PASS A TANGENT TO
041083,000121: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
041084,000122: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
041085,000123: # THE INTERSECTION DEFINES DESIRED OGARATE. IF THE OPERATING POINT IS
041086,000124: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
041087,000125: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
041088,000126: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
041089,000127: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
041090,000128: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
041091,000129: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
041092,000130: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
041093,000131: # APPROXIMATION.
041094,000132:
041095,000133: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
041096,000134: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
041097,000135: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
041098,000136: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
041099,000137: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
041100,000138: # THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
041101,000139: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
041102,000140: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
041103,000141: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
041104,000142: # FAILED-ON.
041105,000143:
041106,000144: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
041107,000145: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
041108,000146: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
041109,000147: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
041110,000148: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
041111,000149: # FROM REGION 1 TO REGION 6, THE DUMMY POINT IS NO LONGER REQUIRED,
041112,000150: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6 POINT.
041113,000151:
041114,000152:
041115,000153: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
041116,000154: # 2
041117,000155: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
041118,000156:
041119,000157:
041120,000158: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
041121,000159:
041122,000160: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
041123,000161:
041124,000162: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
041125,000163:
041126,000164: # # Page 948
041127,000165: # EQUATION FOR INTERSECTION, CONTROL PARABOLA, AND STRAIGHT SWITCH LINE....
041128,000166:
041129,000167: # DOGADOT = NUM/DEN, WHERE
041130,000168: # 2
041131,000169: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
041132,000170: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
041133,000171: # +LMCRATE
041134,000172:
041135,000173: # DEN = (-SLOPE)(OGARATE)(1/CONACC) - SGN(DELOGA)
041136,000174: # 2
041137,000175: # DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2)SGN(OGADOT)
041138,000176:
041139,000177:
041140,000178: # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPEATING POINT (OGA, OGARATE)
041141,000179: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
041142,000180: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
041143,000181: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
041144,000182: # OGAERROR= DELOGA + DB SGN(OGARATE)
041145,000183: # OGARATE= -LMCRATE SGN(OGARATE)
041146,000184:
041147,000185: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
041148,000186: # ALSO,AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
041149,000187: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
041150,000188:
041151,000189: # # Page 949
041152,000190: # ROLLDAP CODING....
041153,000191:
041154,000192: 16,2000 SETLOC DAPROLL
041155,000193: 16,2000 BANK
041156,000194: 16,3312 E6,1672 EBANK= OGANOW
041157,000195: 16,3312 COUNT* $$/ROLL
041158,000196: 16,3312 31672 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
041159,000197: 16,3313 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
041160,000198: 16,3314 21673 MSU OGAPAST
041161,000199: 16,3315 00006 EXTEND
041162,000200: 16,3316 74706 MP BIT5
041163,000201: 16,3317 22000 LXCH A
041164,000202: 16,3320 55533 TS OGARATE # SC.AT B-4 REV/SEC
041165,000203:
041166,000204: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
041167,000205: # EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
041168,000206: 16,3321 31611 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
041169,000207: 16,3322 00006 EXTEND
041170,000208: 16,3323 13325 BZF +2 # ROLL JETS ARE NOW OFF.
041171,000209: 16,3324 13333 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
041172,000210:
041173,000211: 16,3325 31613 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
041174,000212: 16,3326 00006 EXTEND # IF POSITIVE, DONT FIRE
041175,000213: 16,3327 13333 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
041176,000214:
041177,000215: 16,3330 34714 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
041178,000216: 16,3331 55613 TS TEMREG # RESET TEMREG
041179,000217: 16,3332 15213 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
041180,000218:
041181,000219: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
041182,000220: 16,3333 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
041183,000221: 16,3334 00006 EXTEND
041184,000222: 16,3335 71650 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
041185,000223: 16,3336 00006 EXTEND
041186,000224: 16,3337 71533 MP OGARATE
041187,000225: 16,3340 63722 AD DB # SCALED AT 2(+0) REV
041188,000226: 16,3341 55613 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
041189,000227:
041190,000228: # GET SIGN OF OGARATE
041191,000229: 16,3342 31533 CA OGARATE
041192,000230: 16,3343 00006 EXTEND
041193,000231: 16,3344 63347 BZMF +3 # LET SGN(0) BE NEGATIVE
041194,000232: 16,3345 34712 CA BIT1
041195,000233: 16,3346 13350 TCF +2
041196,000234: 16,3347 44712 CS BIT1
041197,000235: 16,3350 55676 TS SGNRT # + OR - 2(-14)
041198,000236:
041199,000237: # CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
041200,000238: 16,3351 00006 EXTEND
041201,000239: 16,3352 71613 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
041202,000240: # # Page 950
041203,000241: 16,3353 40001 CS L
041204,000242: 16,3354 61674 AD OGA # SCALED AT 2(+0) REV
041205,000243: 16,3355 55677 DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
041206,000244: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
041207,000245: 16,3356 00006 EXTEND
041208,000246: 16,3357 63362 BZMF +3
041209,000247: 16,3360 34371 CAF PRIO30 # =CA (30000)
041210,000248: 16,3361 13363 TCF +2
041211,000249: 16,3362 34674 CAF BIT15 # =CS (40000)
041212,000250: 16,3363 55700 TS I
041213,000251:
041214,000252: 16,3364 51700 INDEX I # TSET ON I SGN(OGARATE)
041215,000253: 16,3365 01676 0 SGNRT # CA OR CS
041216,000254: 16,3366 40000 COM
041217,000255: 16,3367 00006 EXTEND
041218,000256: 16,3370 63441 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
041219,000257:
041220,000258: # NO JET FIRE YET. TEST FOR MAX OGARATE
041221,000259: 16,3371 51700 INDEX I
041222,000260: 16,3372 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
041223,000261: 16,3373 55701 TS IOGARATE # I.E. I OGARATE
041224,000262: 16,3374 63730 AD MAXLIM # SCALED AT 2(-4) REV/SEC
041225,000263: 16,3375 00006 EXTEND
041226,000264: 16,3376 63520 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
041227,000265:
041228,000266: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
041229,000267: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG,A NEG. QUANTITY
041230,000268: 16,3377 31533 CA OGARATE
041231,000269: 16,3400 00006 EXTEND
041232,000270: 16,3401 74675 MP BIT14
041233,000271: 16,3402 55613 TS TEMREG
041234,000272: 16,3403 31674 CA OGA
041235,000273: 16,3404 00006 EXTEND
041236,000274: 16,3405 73723 MP -SLOPE
041237,000275: 16,3406 20001 DDOUBL
041238,000276: 16,3407 20001 DDOUBL
041239,000277: 16,3410 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
041240,000278: 16,3411 61613 AD TEMREG
041241,000279:
041242,000280: 16,3412 51700 INDEX I
041243,000281: 16,3413 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
041244,000282: 16,3414 40000 COM
041245,000283: 16,3415 63725 AD INTERCEP # SCALED AT 2(-3) REV.
041246,000284: 16,3416 40000 COM
041247,000285: 16,3417 00006 EXTEND
041248,000286: 16,3420 63625 REG2TST BZMF NOROLL # IP REGION 2 (COAST SIDE OF STRT LINE)
041249,000287:
041250,000288: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM
041251,000289: 16,3421 31701 CA IOGARATE # ALWAYS NEGATIVE
041252,000290: 16,3422 63726 AD MINLIM # SCALED AT 2(-4) REV/SEC.
041253,000291: # # Page 951
041254,000292: 16,3423 00006 EXTEND
041255,000293: 16,3424 63625 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
041256,000294:
041257,000295: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
041258,000296: 16,3425 51700 INDEX I
041259,000297: 16,3426 01674 0 OGA
041260,000298: 16,3427 40000 COM
041261,000299: 16,3430 63722 AD DB
041262,000300: 16,3431 40000 COM
041263,000301: 16,3432 00006 EXTEND
041264,000302: 16,3433 63625 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
041265,000303:
041266,000304:
041267,000305: # JETS MUST FIRE NOW.OGARATE IS NEG.(OR VISA VERSA).USE DIRECT STR. LINE.
041268,000306: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN TEH SOLUTION OF A
041269,000307: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
041270,000308: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
041271,000309: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
041272,000310: # OPERATING POINTS IN REGIONS 6 AND 6-PRIME)
041273,000311: 16,3434 31674 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
041274,000312: 16,3435 55677 TS DELOGA # ACTUAL STATE
041275,000313: 16,3436 31533 CA OGARATE
041276,000314: 16,3437 55675 TS DELOGART # ACTUAL STATE,I.E. DEL OGARATE
041277,000315: 16,3440 13450 TCF ONROLL
041278,000316:
041279,000317: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS(VISA VERSA),USE INDIRECT
041280,000318: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
041281,000319: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
041282,000320: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1-PRIME )
041283,000321: 16,3441 51700 ROLLON INDEX I
041284,000322: 16,3442 03722 0 DB
041285,000323: 16,3443 27677 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
041286,000324:
041287,000325: 16,3444 43724 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
041288,000326: 16,3445 51700 INDEX I
041289,000327: 16,3446 00000 0 A
041290,000328: 16,3447 55675 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
041291,000329:
041292,000330: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
041293,000331: 16,3450 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
041294,000332: 16,3451 71650 MP 1/CONACC
041295,000333: 16,3452 60000 DOUBLE
041296,000334: 16,3453 00006 EXTEND
041297,000335: 16,3454 73723 MP -SLOPE
041298,000336: 16,3455 55613 TS TEMREG # 2(-SLOPE)RATE /CONACC
041299,000337: 16,3456 00006 EXTEND
041300,000338: 16,3457 71675 MP DELOGART
041301,000339: 16,3460 55675 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
041302,000340: 16,3461 44700 CS BIT11
041303,000341: 16,3462 51700 INDEX I
041304,000342: # # Page 952
041305,000343: 16,3463 00000 0 A
041306,000344: 16,3464 27613 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
041307,000345:
041308,000346: 16,3465 51700 INDEX I
041309,000347: 16,3466 01677 0 DELOGA
041310,000348: 16,3467 40000 COM
041311,000349: 16,3470 63722 AD DB
041312,000350: 16,3471 40000 COM
041313,000351: 16,3472 00006 EXTEND
041314,000352: 16,3473 73723 MP -SLOPE
041315,000353: 16,3474 27675 ADS DELOGART
041316,000354: 16,3475 33724 CA LMCRATE
041317,000355: 16,3476 00006 EXTEND
041318,000356: 16,3477 74700 MP BIT11
041319,000357: 16,3500 61675 RATENUM AD DELOGART # NUMERATOR COMPLETED
041320,000358:
041321,000359: 16,3501 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
041322,000360: 16,3502 34714 CA ZERO
041323,000361: 16,3503 00006 EXTEND
041324,000362: 16,3504 11613 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
041325,000363: 16,3505 00006 EXTEND
041326,000364: 16,3506 13514 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
041327,000365:
041328,000366: 16,3507 10000 MINLIMAP CCS A
041329,000367: 16,3510 34672 CAF POSMAX # POSITIVE OVERFLOW
041330,000368: 16,3511 13523 TCF ROLLSET
041331,000369: 16,3512 44672 CS POSMAX # NEGATIVE OVERFLOW
041332,000370: 16,3513 13523 TCF ROLLSET
041333,000371:
041334,000372: 16,3514 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 INTO L
041335,000373: 16,3515 00006 EXTEND
041336,000374: 16,3516 11613 DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
041337,000375: 16,3517 13523 TCF ROLLSET # ( SCALED AT B-4 REV/SEC )
041338,000376:
041339,000377:
041340,000378: 16,3520 43730 RATELIM CS MAXLIM
041341,000379: 16,3521 51700 INDEX I
041342,000380: 16,3522 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
041343,000381:
041344,000382: # BASED ON DESIRED RATE - PRESENT RATE, COMPUTE JET FIRE TIME
041345,000383: 16,3523 55613 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
041346,000384: 16,3524 00006 EXTEND
041347,000385: 16,3525 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
041348,000386: 16,3526 54000 TS A # OVERFLOW PROTECT
041349,000387: 16,3527 55613 TS TEMREG # " """
041350,000388: 16,3530 00006 EXTEND
041351,000389: 16,3531 77665 MP T6SCALE # T6SCALE = 8/10.24
041352,000390: 16,3532 00006 EXTEND
041353,000391: 16,3533 71650 MP 1/CONACC # SCALED AT 2(+9) SECSQ/REV
041354,000392: 16,3534 20001 DDOUBL
041355,000393: # # Page 953
041356,000394: 16,3535 55613 TS TEMREG # OVERFLOW PROTECT
041357,000395: 16,3536 20001 DDOUBL
041358,000396: 16,3537 54000 TS A # OVERFLOW PROTECT
041359,000397: 16,3540 55613 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
041360,000398: 16,3541 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
041361,000399: 16,3542 13625 BZF NOROLL
041362,000400:
041363,000401: # JET FIRE TIME IS NZ, ARE JETS ON NOW.
041364,000402: 16,3543 31613 CAE TEMREG # DESIRED CHANGE IN OGARATE
041365,000403: 16,3544 00006 EXTEND
041366,000404: 16,3545 71611 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
041367,000405: 16,3546 10000 CCS A
041368,000406: 16,3547 13553 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
041369,000407: 16,3550 13556 TCF NEWROLL # START NEW FIRING NOW, PLUS
041370,000408: 16,3551 13625 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
041371,000409: 16,3552 13556 TCF NEWROLL # START NEW FIRING NOW, MINUS
041372,000410:
041373,000411: # CONTINUE PRESENT FIRING
041374,000412: 16,3553 34714 MOREROLL CAF ZERO
041375,000413: 16,3554 55700 TS I # USE TEMP. AS MOREROLL SWITCH
041376,000414: 16,3555 13567 TCF MAXTFIRE
041377,000415:
041378,000416: # START NEW FIRING BUT CHECK IF GREATER THAN MINIMUM FIRE TIME.
041379,000417: 16,3556 11613 NEWROLL CCS TEMREG # CALL THIS T6FIRE
041380,000418: 16,3557 64712 AD ONE
041381,000419: 16,3560 13562 TCF +2
041382,000420: 16,3561 64712 AD ONE
041383,000421: 16,3562 40000 COM # -MAG(T6FIRE)
041384,000422: 16,3563 63731 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
041385,000423: 16,3564 40000 COM
041386,000424: 16,3565 00006 EXTEND
041387,000425: 16,3566 63625 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
041388,000426:
041389,000427: # PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
041390,000428: 16,3567 31613 MAXTFIRE CA TEMREG
041391,000429: 16,3570 00006 EXTEND
041392,000430: 16,3571 74710 MP 1/TMXFIR # I.E. 1/TMAXFIRE
041393,000431: 16,3572 00006 EXTEND
041394,000432: 16,3573 13601 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
041395,000433:
041396,000434: 16,3574 10000 CCS A
041397,000435: 16,3575 33732 CAF TMAXFIRE # USE MAXIMUM
041398,000436: 16,3576 13600 TCF +2
041399,000437: 16,3577 43732 CS TMAXFIRE # USE MAXIMUM
041400,000438: 16,3600 55613 TS TEMREG
041401,000439:
041402,000440: # SET UP SIGN OF REQUIRED TORQUE
041403,000441: 16,3601 11613 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
041404,000442: 16,3602 34672 CA POSMAX # POSITIVE TORQUE REQUIRED
041405,000443: 16,3603 13605 TCF +2
041406,000444: # # Page 954
041407,000445: 16,3604 34674 CA NEGMAX # NEGATIVE TORQUE REQUIRED
041408,000446: 16,3605 55611 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
041409,000447:
041410,000448: 16,3606 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
041411,000449: 16,3607 00006 EXTEND
041412,000450: 16,3610 63613 BZMF +3 # POSITIVE TORQUE REQUIRED
041413,000451: 16,3611 41613 CS TEMREG
041414,000452: 16,3612 55613 TS TEMREG
041415,000453:
041416,000454: 16,3613 31700 FIRELOOK CA I # IS IT MOREROLL
041417,000455: 16,3614 00006 EXTEND
041418,000456: 16,3615 13617 BZF FIREPLUG # YES
041419,000457: 16,3616 13630 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
041420,000458:
041421,000459: 16,3617 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
041422,000460: 16,3620 00006 EXTEND
041423,000461: 16,3621 61613 SU TEMREG
041424,000462: 16,3622 00006 EXTEND
041425,000463: 16,3623 65213 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
041426,000464: 16,3624 13630 TCF JETROLL
041427,000465:
041428,000466: 16,3625 44714 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
041429,000467: 16,3626 55611 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
041430,000468: 16,3627 55613 TS TEMREG
041431,000469:
041432,000470: 16,3630 00006 JETROLL EXTEND
041433,000471: 16,3631 33721 DCA NOROL1T6
041434,000472: 16,3632 53311 DXCH T6LOC
041435,000473: 16,3633 31613 CA TEMREG # ENTER JET FIRING TIME
041436,000474: 16,3634 54031 TS TIME6
041437,000475:
041438,000476: 16,3635 31700 CA I # I=0 IF MOREROLL,KEEP SAME JETS ON
041439,000477: 16,3636 00006 EXTEND
041440,000478: 16,3637 15213 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
041441,000479:
041442,000480: 16,3640 11611 CCS ROLLFIRE
041443,000481: 16,3641 13645 TCF +TORQUE
041444,000482: 16,3642 13706 TCF T6ENABL
041445,000483: 16,3643 13666 TCF -TORQUE
041446,000484: 16,3644 13706 TCF T6ENABL
041447,000485:
041448,000486: # PROCEED WITH + TORQUE
041449,000487: 16,3645 31612 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
041450,000488: 16,3646 74712 MASK BIT1 # WAS IT NO.9-11
041451,000489: 16,3647 00006 EXTEND
041452,000490: 16,3650 13660 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
041453,000491:
041454,000492: 16,3651 44712 NO.13-15 CS BIT1
041455,000493: 16,3652 71612 MASK ROLLWORD
041456,000494: 16,3653 55612 TS ROLLWORD # CHANGE BIT 1 TO ZERO
041457,000495: # # Page 955
041458,000496: 16,3654 34732 CAF +ROLL2
041459,000497: 16,3655 00006 EXTEND
041460,000498: 16,3656 01006 WRITE CHAN6
041461,000499: 16,3657 13706 TCF T6ENABL
041462,000500:
041463,000501: 16,3660 34712 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
041464,000502: 16,3661 27612 ADS ROLLWORD # CHANGE BIT 1 TO ONE
041465,000503: 16,3662 34715 CAF +ROLL1
041466,000504: 16,3663 00006 EXTEND
041467,000505: 16,3664 01006 WRITE CHAN6
041468,000506: 16,3665 13706 TCF T6ENABL
041469,000507:
041470,000508: 16,3666 31612 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
041471,000509: 16,3667 74711 MASK BIT2 # WAS IT NO.12-10
041472,000510: 16,3670 00006 EXTEND
041473,000511: 16,3671 13701 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
041474,000512:
041475,000513: 16,3672 44711 NO.16-14 CS BIT2
041476,000514: 16,3673 71612 MASK ROLLWORD
041477,000515: 16,3674 55612 TS ROLLWORD # CHANGE BIT 2 TO ZERO
041478,000516: 16,3675 33733 CAF -ROLL2
041479,000517: 16,3676 00006 EXTEND
041480,000518: 16,3677 01006 WRITE CHAN6
041481,000519: 16,3700 13706 TCF T6ENABL
041482,000520:
041483,000521: 16,3701 34711 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
041484,000522: 16,3702 27612 ADS ROLLWORD # CHANGE BIT 2 TO ONE
041485,000523: 16,3703 34377 CAF -ROLL1
041486,000524: 16,3704 00006 EXTEND
041487,000525: 16,3705 01006 WRITE CHAN6
041488,000526:
041489,000527: 16,3706 34674 T6ENABL CAF BIT15
041490,000528: 16,3707 00006 EXTEND
041491,000529: 16,3710 05013 WOR CHAN13
041492,000530: 16,3711 15213 RDAPEND TCF TASKOVER # EXIT ROLL DAP
041493,000531:
041494,000532: # # Page 956
041495,000533: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
041496,000534:
041497,000535:
041498,000536: 16,3712 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
041499,000537: 16,3713 34714 CAF ZERO # CALLED BY ..JETROLL..)
041500,000538: 16,3714 55611 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
041501,000539: 16,3715 00006 EXTEND
041502,000540: 16,3716 01006 KILLJETS WRITE CHAN6
041503,000541: 16,3717 15224 TCF NOQRSM
041504,000542:
041505,000543: # # Page 957
041506,000544: # CONSTANTS FOR ROLL AUTOPILOT....
041507,000545:
041508,000546: 16,3720 E6,1742 EBANK= BZERO
041509,000547: 16,3720 03712 34066 NOROL1T6 2CADR NOROLL1
041510,000548:
041511,000549: 16,3722 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
041512,000550: 16,3723 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
041513,000551: # PER SEC
041514,000552: 16,3724 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
041515,000553: # B-4 REV/SEC
041516,000554: 16,3725 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
041517,000555:
041518,000556: 16,3726 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
041519,000557:
041520,000558: 16,3727 00027 1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
041521,000559:
041522,000560: 16,3730 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
041523,000561:
041524,000562: 16,3731 00030 TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
041525,000563:
041526,000564: 16,3732 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
041527,000565:
041528,000566: 16,3733 4710 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
041529,000567: # ROUNDS TO OCT00004, SO ALLOWS 2.56
041530,000568: # SEC FIRINGS BEFORE APPLYING LIMIT
041531,000569: 16,3733 7665 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
041532,000570:
041533,000571: 16,3733 4715 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
041534,000572: 16,3733 4732 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
041535,000573: 16,3733 4377 -ROLL1 = TEN # ONBITS FOR JETS 12 AND 10
041536,000574: 16,3733 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc