Source Code

016997,000001: # Copyright: Public domain. 016998,000002: # Filename: ANGLFIND.agc 016999,000003: # Purpose: Part of the source code for Colossus, build 249. 017000,000004: # It is part of the source code for the Command Module's (CM) 017001,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. 017002,000006: # Assembler: yaYUL 017003,000007: # Reference: pp. 394-406 of 1701.pdf. 017004,000008: # Contact: Ron Burkey <info@sandroid.org>. 017005,000009: # Website: www.ibiblio.org/apollo. 017006,000010: # Mod history: 08/10/04 RSB. Began transcribing. 017007,000011: 017008,000012: # The contents of the "Colossus249" files, in general, are transcribed 017009,000013: # from a scanned document obtained from MIT's website, 017010,000014: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this 017011,000015: # document read, in part: 017012,000016: 017013,000017: # Assemble revision 249 of AGC program Colossus by NASA 017014,000018: # 2021111-041. October 28, 1968. 017015,000019: 017016,000020: # This AGC program shall also be referred to as 017017,000021: # Colossus 1A 017018,000022: 017019,000023: # Prepared by 017020,000024: # Massachusetts Institute of Technology 017021,000025: # 75 Cambridge Parkway 017022,000026: # Cambridge, Massachusetts 017023,000027: # under NASA contract NAS 9-4065. 017024,000028: 017025,000029: # Refer directly to the online document mentioned above for further information. 017026,000030: # Please report any errors (relative to 1701.pdf) to info@sandroid.org. 017027,000031: 017028,000032: # In some cases, where the source code for Luminary 131 overlaps that of 017029,000033: # Colossus 249, this code is instead copied from the corresponding Luminary 131 017030,000034: # source file, and then is proofed to incorporate any changes. 017031,000035: 017032,000036: # Page 394 017033,000037: 15,2000 BANK 15 017034,000038: 22,2000 SETLOC KALCMON1 017035,000039: 22,2000 BANK 017036,000040: 017037,000041: 22,2000 E6,1661 EBANK= BCDU 017038,000042: 017039,000043: 22,2000 COUNT 22/KALC 017040,000044: 017041,000045: 22,2000 06006 KALCMAN3 TC INTPRET 017042,000046: 22,2001 77634 RTB 017043,000047: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES 017044,000048: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES 017045,000049: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM 017046,000050: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES 017047,000051: 22,2006 03262 BCDU # (MIS) 017048,000052: 22,2007 77624 CALL 017049,000053: 22,2010 44405 CDUTODCM 017050,000054: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM 017051,000055: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES 017052,000056: 22,2013 01156 CPHI # (MFS) 017053,000057: 22,2014 77624 CALL 017054,000058: 22,2015 44405 CDUTODCM 017055,000059: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED 017056,000060: 22,2017 03320 MIS 017057,000061: 22,2020 44334 TRANSPOS 017058,000062: 22,2021 77775 VLOAD 017059,000063: 22,2022 77626 STADR 017060,000064: 22,2023 50474 STOVL TMIS +12D 017061,000065: 22,2024 77626 STADR 017062,000066: 22,2025 50502 STOVL TMIS +6 017063,000067: 22,2026 77626 STADR 017064,000068: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2 017065,000069: 22,2030 75160 AXC,1 AXC,2 017066,000070: 22,2031 03266 TMIS 017067,000071: 22,2032 03425 MFS 017068,000072: 22,2033 77624 CALL 017069,000073: 22,2034 44304 MXM3 017070,000074: 22,2035 45575 VLOAD STADR 017071,000075: 22,2036 50335 STOVL MFI +12D 017072,000076: 22,2037 77626 STADR 017073,000077: 22,2040 50343 STOVL MFI +6 017074,000078: 22,2041 77626 STADR 017075,000079: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4) 017076,000080: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST 017077,000081: 22,2044 00023 18D 017078,000082: 22,2045 44343 TRNSPSPD 017079,000083: 22,2046 45575 VLOAD STADR 017080,000084: 22,2047 50474 STOVL TMFI +12D 017081,000085: 22,2050 77626 STADR 017082,000086: 22,2051 50502 STOVL TMFI +6 017083,000087: # Page 395 017084,000088: 22,2052 77626 STADR 017085,000089: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4 017086,000090: 017087,000091: # CALCULATE COFSKEW AND MFISYM 017088,000092: 017089,000093: 22,2054 45345 DLOAD DSU 017090,000094: 22,2055 03271 TMFI +2 017091,000095: 22,2056 03430 MFI +2 017092,000096: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM) 017093,000097: 22,2060 03432 MFI +4 017094,000098: 22,2061 03273 TMFI +4 017095,000099: 22,2062 45325 PDDL DSU 017096,000100: 22,2063 03301 TMFI +10D 017097,000101: 22,2064 03440 MFI +10D 017098,000102: 22,2065 77666 VDEF 017099,000103: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW 017100,000104: 017101,000105: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE 017102,000106: 017103,000107: 22,2067 43345 DLOAD DAD 017104,000108: 22,2070 03426 MFI 017105,000109: 22,2071 03446 MFI +16D 017106,000110: 22,2072 43225 DSU DAD 017107,000111: 22,2073 15322 DP1/4TH 017108,000112: 22,2074 03436 MFI +8D 017109,000113: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF-SCALE 017110,000114: 22,2076 77726 ARCCOS 017111,000115: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2) 017112,000116: 22,2100 51025 DSU BPL 017113,000117: 22,2101 04367 MINANG 017114,000118: 22,2102 44111 CHECKMAX 017115,000119: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG 017116,000120: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD 017117,000121: 22,2105 44712 CS ONE # ABOUT COMMANDED ANGLES 017118,000122: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A 017119,000123: 22,2107 03301 TC LOADCDUD # GOOD RETURN 017120,000124: 22,2110 12727 TCF NOGO 017121,000125: 017122,000126: 22,2111 45345 CHECKMAX DLOAD DSU 017123,000127: 22,2112 03365 AM 017124,000128: 22,2113 04370 MAXANG 017125,000129: 22,2114 77244 BPL VLOAD 017126,000130: 22,2115 44123 ALTCALC # UNIT 017127,000131: 22,2116 03311 COFSKEW # COFSKEW 017128,000132: 22,2117 77656 UNIT 017129,000133: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS 017130,000134: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK 017131,000135: 22,2122 44736 LOCSKIRT 017132,000136: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES 017133,000137: 22,2124 03426 MFI 017134,000138: # Page 396 017135,000139: 22,2125 03267 TMFI 017136,000140: 22,2126 77762 VSR1 017137,000141: 22,2127 27267 STOVL MFISYM 017138,000142: 22,2130 03434 MFI +6 017139,000143: 22,2131 74455 VAD VSR1 017140,000144: 22,2132 03275 TMFI +6 017141,000145: 22,2133 27275 STOVL MFISYM +6 017142,000146: 22,2134 03442 MFI +12D 017143,000147: 22,2135 74455 VAD VSR1 017144,000148: 22,2136 03303 TMFI +12D 017145,000149: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4 017146,000150: 017147,000151: # CALCULATE COF 017148,000152: 017149,000153: 22,2140 70545 DLOAD SR1 017150,000154: 22,2141 03317 CAM 017151,000155: 22,2142 45325 PDDL DSU # PD0 CAM 017152,000156: 22,2143 15330 DPHALF 017153,000157: 22,2144 03317 CAM 017154,000158: 22,2145 65204 BOVB PDDL # PDL 1 - CAM 017155,000159: 22,2146 45707 SIGNMPAC 017156,000160: 22,2147 03307 MFISYM +16D 017157,000161: 22,2150 56225 DSU DDV 017158,000162: 22,2151 00001 0 017159,000163: 22,2152 00003 2 017160,000164: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM) 017161,000165: 22,2154 03277 MFISYM +8D 017162,000166: 22,2155 56225 DSU DDV 017163,000167: 22,2156 00001 0 017164,000168: 22,2157 00003 2 017165,000169: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) 017166,000170: 22,2161 03267 MFISYM 017167,000171: 22,2162 56225 DSU DDV 017168,000172: 22,2163 00001 0 017169,000173: 22,2164 00003 2 017170,000174: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) 017171,000175: 22,2166 77656 UNIT 017172,000176: 22,2167 03343 STORE COF 017173,000177: 017174,000178: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY 017175,000179: 017176,000180: 22,2170 45345 COFMAXGO DLOAD DSU 017177,000181: 22,2171 03343 COF 017178,000182: 22,2172 03345 COF +2 017179,000183: 22,2173 71240 BMN DLOAD # COFY G COFX 017180,000184: 22,2174 44203 COMP12 017181,000185: 22,2175 03343 COF 017182,000186: 22,2176 50025 DSU BMN 017183,000187: 22,2177 03347 COF +4 017184,000188: # Page 397 017185,000189: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY 017186,000190: 22,2201 77650 GOTO 017187,000191: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ 017188,000192: 22,2203 45345 COMP12 DLOAD DSU 017189,000193: 22,2204 03345 COF +2 017190,000194: 22,2205 03347 COF +4 017191,000195: 22,2206 77640 BMN 017192,000196: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX 017193,000197: 017194,000198: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX 017195,000199: 22,2211 03313 COFSKEW +2 # UY 017196,000200: 22,2212 44216 U2POS 017197,000201: 22,2213 57575 VLOAD VCOMP 017198,000202: 22,2214 03343 COF 017199,000203: 22,2215 03343 STORE COF 017200,000204: 22,2216 51145 U2POS DLOAD BPL 017201,000205: 22,2217 03271 MFISYM +2 # UX UY 017202,000206: 22,2220 44224 CKU21 017203,000207: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY 017204,000208: 22,2222 03343 COF 017205,000209: 22,2223 03343 STORE COF 017206,000210: 22,2224 51145 CKU21 DLOAD BPL 017207,000211: 22,2225 03301 MFISYM +10D # UY UZ 017208,000212: 22,2226 44736 LOCSKIRT 017209,000213: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY 017210,000214: 22,2230 03347 COF +4 017211,000215: 22,2231 03347 STORE COF +4 017212,000216: 22,2232 77650 GOTO 017213,000217: 22,2233 44736 LOCSKIRT 017214,000218: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX 017215,000219: 22,2235 03311 COFSKEW # UX 017216,000220: 22,2236 44242 U1POS 017217,000221: 22,2237 57575 VLOAD VCOMP 017218,000222: 22,2240 03343 COF 017219,000223: 22,2241 03343 STORE COF 017220,000224: 22,2242 51145 U1POS DLOAD BPL 017221,000225: 22,2243 03271 MFISYM +2 # UX UY 017222,000226: 22,2244 44250 CKU12 017223,000227: 22,2245 57545 DLOAD DCOMP 017224,000228: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX 017225,000229: 22,2247 03345 STORE COF +2 017226,000230: 22,2250 51145 CKU12 DLOAD BPL 017227,000231: 22,2251 03273 MFISYM +4 # UX UZ 017228,000232: 22,2252 44736 LOCSKIRT 017229,000233: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY 017230,000234: 22,2254 03347 COF +4 017231,000235: 22,2255 03347 STORE COF +4 017232,000236: 22,2256 77650 GOTO 017233,000237: 22,2257 44736 LOCSKIRT 017234,000238: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX 017235,000239: # Page 398 017236,000240: 22,2261 03315 COFSKEW +4 # UZ 017237,000241: 22,2262 44266 U3POS 017238,000242: 22,2263 57575 VLOAD VCOMP 017239,000243: 22,2264 03343 COF 017240,000244: 22,2265 03343 STORE COF 017241,000245: 22,2266 51145 U3POS DLOAD BPL 017242,000246: 22,2267 03273 MFISYM +4 # UX UZ 017243,000247: 22,2270 44274 CKU31 017244,000248: 22,2271 57545 DLOAD DCOMP 017245,000249: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ 017246,000250: 22,2273 03343 STORE COF 017247,000251: 22,2274 51145 CKU31 DLOAD BPL 017248,000252: 22,2275 03301 MFISYM +10D # UY UZ 017249,000253: 22,2276 44736 LOCSKIRT 017250,000254: 22,2277 57545 DLOAD DCOMP 017251,000255: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ 017252,000256: 22,2301 03345 STORE COF +2 017253,000257: 22,2302 77650 GOTO 017254,000258: 22,2303 44736 LOCSKIRT 017255,000259: 017256,000260: # Page 399 017257,000261: # MATRIX OPERATIONS 017258,000262: 017259,000263: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES 017260,000264: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST 017261,000265: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1 017262,000266: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2 017263,000267: 22,2310 77770 6,2 017264,000268: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1) 017265,000269: 22,2312 77776 0,2 017266,000270: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD 017267,000271: 22,2314 00001 0,1 017268,000272: 22,2315 77760 14D,2 017269,000273: 22,2316 64723 PDDL* PDDL* 017270,000274: 22,2317 77766 8D,2 017271,000275: 22,2320 77774 2,2 017272,000276: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2) 017273,000277: 22,2322 00001 0,1 017274,000278: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD 017275,000279: 22,2324 77756 16D,2 017276,000280: 22,2325 77764 10D,2 017277,000281: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3) 017278,000282: 22,2327 77772 4,2 017279,000283: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD 017280,000284: 22,2331 00001 0,1 017281,000285: 22,2332 77650 GOTO 017282,000286: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND 017283,000287: # RETURN WITH M1XM2 IN PD LIST 017284,000288: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX 017285,000289: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST 017286,000290: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1 017287,000291: 22,2337 62713 PDVL* PDVL* 017288,000292: 22,2340 00007 6,1 017289,000293: 22,2341 00015 12D,1 017290,000294: 22,2342 77606 PUSH # MATRIX IN PD 017291,000295: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST 017292,000296: 22,2344 00003 2 017293,000297: 22,2345 00007 6 017294,000298: 22,2346 14003 STODL 2 017295,000299: 22,2347 77626 STADR 017296,000300: 22,2350 63770 STODL 6 017297,000301: 22,2351 00005 4 017298,000302: 22,2352 77725 PDDL 017299,000303: 22,2353 00015 12D 017300,000304: 22,2354 14005 STODL 4 017301,000305: 22,2355 77626 STADR 017302,000306: 22,2356 63762 STODL 12D 017303,000307: 22,2357 00013 10D 017304,000308: 22,2360 77725 PDDL 017305,000309: # Page 400 017306,000310: 22,2361 00017 14D 017307,000311: 22,2362 14013 STODL 10D 017308,000312: 22,2363 77626 STADR 017309,000313: 22,2364 77760 STORE 14D 017310,000314: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST 017311,000315: 22,2366 00013 MINANG DEC .00069375 017312,000316: 22,2367 17071 MAXANG DEC .472222 017313,000317: 017314,000318: # GIMBAL LOCK CONSTANTS 017315,000319: 017316,000320: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES 017317,000321: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES 017318,000322: 017319,000323: 22,2370 15667 SD DEC .433015 # = SIN(D) 017320,000324: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) 017321,000325: 22,2372 67777 K4 DEC -.25 # = -COS(D) 017322,000326: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) 017323,000327: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) 017324,000328: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) 017325,000329: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES 017326,000330: 22,2377 30034 CA CDUZ 017327,000331: 22,2400 54156 TS MPAC +2 017328,000332: 22,2401 00006 EXTEND 017329,000333: 22,2402 30033 DCA CDUX 017330,000334: 22,2403 00003 RELINT 017331,000335: 22,2404 16445 TCF TLOAD +6 017332,000336: 16,2000 BANK 16 017333,000337: 22,2000 SETLOC KALCMON2 017334,000338: 22,2000 BANK 017335,000339: 017336,000340: 22,2405 COUNT* $$/KALC 017337,000341: 017338,000342: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE 017339,000343: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STARLE 017340,000344: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC) 017341,000345: 22,2410 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP 017342,000346: 22,2411 00010 STORE 7 017343,000347: 22,2412 77601 SETPD 017344,000348: 22,2413 00001 0 017345,000349: 22,2414 47133 LOOPSIN SLOAD* RTB 017346,000350: 22,2415 00013 10D,1 017347,000351: 22,2416 45510 CDULOGIC 017348,000352: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI) 017349,000353: 22,2420 65356 SIN PDDL # 2 COS(PHI) 017350,000354: 22,2421 00013 10D # 4 SIN(THETA) 017351,000355: 22,2422 41546 COS PUSH # 6 COS(THETA) 017352,000356: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI) 017353,000357: 22,2424 44414 LOOPSIN # 10 COS(PSI) 017354,000358: 22,2425 00007 6 017355,000359: 22,2426 72405 DMP SL1 017356,000360: 22,2427 00013 10D 017357,000361: # Page 401 017358,000362: 22,2430 10001 STORE 0,2 017359,000363: 22,2431 77745 DLOAD 017360,000364: 22,2432 00005 4 017361,000365: 22,2433 65205 DMP PDDL 017362,000366: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI)) 017363,000367: 22,2435 00007 6 017364,000368: 22,2436 41205 DMP DMP 017365,000369: 22,2437 00011 8D 017366,000370: 22,2440 00003 2 017367,000371: 22,2441 44352 SL1 BDSU 017368,000372: 22,2442 00015 12D 017369,000373: 22,2443 77752 SL1 017370,000374: 22,2444 10003 STORE 2,2 017371,000375: 22,2445 77745 DLOAD 017372,000376: 22,2446 00003 2 017373,000377: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4 017374,000378: 22,2450 00005 4 017375,000379: 22,2451 00007 6 017376,000380: 22,2452 41205 DMP DMP 017377,000381: 22,2453 00011 8D 017378,000382: 22,2454 00001 0 017379,000383: 22,2455 77752 SL1 017380,000384: 22,2456 72415 DAD SL1 017381,000385: 22,2457 00017 14D 017382,000386: 22,2460 10005 STORE 4,2 017383,000387: 22,2461 77745 DLOAD 017384,000388: 22,2462 00011 8D 017385,000389: 22,2463 10007 STORE 6,2 017386,000390: 22,2464 77745 DLOAD 017387,000391: 22,2465 00013 10D 017388,000392: 22,2466 72405 DMP SL1 017389,000393: 22,2467 00003 2 017390,000394: 22,2470 10011 STORE 8D,2 017391,000395: 22,2471 77745 DLOAD 017392,000396: 22,2472 00013 10D 017393,000397: 22,2473 57405 DMP DCOMP 017394,000398: 22,2474 00001 0 017395,000399: 22,2475 77752 SL1 017396,000400: 22,2476 10013 STORE 10D,2 017397,000401: 22,2477 77745 DLOAD 017398,000402: 22,2500 00005 4 017399,000403: 22,2501 57405 DMP DCOMP 017400,000404: 22,2502 00013 10D 017401,000405: 22,2503 77752 SL1 017402,000406: 22,2504 10015 STORE 12D,2 017403,000407: 22,2505 77745 DLOAD 017404,000408: 22,2506 72405 DMP SL1 # (PUSH UP 7) 017405,000409: 22,2507 00011 8D 017406,000410: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4 017407,000411: 22,2511 00007 6 017408,000412: # Page 402 017409,000413: 22,2512 00001 0 017410,000414: 22,2513 72415 DAD SL1 # (PUSH UP 7) 017411,000415: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI) 017412,000416: 22,2515 67760 STORE 14D,2 017413,000417: 22,2516 77745 DLOAD 017414,000418: 22,2517 72405 DMP SL1 # (PUSH UP 6) 017415,000419: 22,2520 00011 8D 017416,000420: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4 017417,000421: 22,2522 00007 6 017418,000422: 22,2523 00003 2 017419,000423: 22,2524 72425 DSU SL1 # (PUSH UP 6) 017420,000424: 22,2525 77626 STADR 017421,000425: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI) 017422,000426: 22,2527 77616 RVQ # +COS(THETA)COS(PHI) 017423,000427: 22,2530 ENDOCM EQUALS 017424,000428: 15,2000 BANK 15 017425,000429: 22,2000 SETLOC KALCMON1 017426,000430: 22,2000 BANK 017427,000431: 017428,000432: # CALCULATION OF THE MATRIX DEL....... 017429,000433: 017430,000434: # * * __T * 017431,000435: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1 017432,000436: 017433,000437: # _ 017434,000438: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION. 017435,000439: # A IS THE ANGLE OF ROTATION (DP SCALED 2). 017436,000440: # _ 017437,000441: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC. 017438,000442: 017439,000443: 22,2530 COUNT 22/KALC 017440,000444: 017441,000445: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A 017442,000446: 22,2531 00001 0 017443,000447: 22,2532 65356 SIN PDDL # PD0 = SIN(A) 017444,000448: 22,2533 41546 COS PUSH # PD2 = COS(A) 017445,000449: 22,2534 65302 SR2 PDDL # PD2 = COS(A) 017446,000450: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) 017447,000451: 22,2536 15330 DPHALF 017448,000452: 22,2537 45707 SIGNMPAC 017449,000453: 017450,000454: # COMPUTE THE DIAGONAL COMPONENTS OF DEL 017451,000455: 017452,000456: 22,2540 77725 PDDL 017453,000457: 22,2541 03343 COF 017454,000458: 22,2542 41316 DSQ DMP 017455,000459: 22,2543 00005 4 017456,000460: 22,2544 52415 DAD SL3 017457,000461: # Page 403 017458,000462: 22,2545 00003 2 017459,000463: 22,2546 77604 BOVB 017460,000464: 22,2547 45707 SIGNMPAC 017461,000465: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) 017462,000466: 22,2551 03345 COF +2 017463,000467: 22,2552 41316 DSQ DMP 017464,000468: 22,2553 00005 4 017465,000469: 22,2554 52415 DAD SL3 017466,000470: 22,2555 00003 2 017467,000471: 22,2556 77604 BOVB 017468,000472: 22,2557 45707 SIGNMPAC 017469,000473: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) 017470,000474: 22,2561 03347 COF +4 017471,000475: 22,2562 41316 DSQ DMP 017472,000476: 22,2563 00005 4 017473,000477: 22,2564 52415 DAD SL3 017474,000478: 22,2565 00003 2 017475,000479: 22,2566 77604 BOVB 017476,000480: 22,2567 45707 SIGNMPAC 017477,000481: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) 017478,000482: 017479,000483: # COMPUTE THE OFF-DIAGONAL TERMS OF DEL 017480,000484: 017481,000485: 22,2571 41345 DLOAD DMP 017482,000486: 22,2572 03343 COF 017483,000487: 22,2573 03345 COF +2 017484,000488: 22,2574 72405 DMP SL1 017485,000489: 22,2575 00005 4 017486,000490: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) 017487,000491: 22,2577 03347 COF +4 017488,000492: 22,2600 00001 0 017489,000493: 22,2601 43206 PUSH DAD # D8 UZ SIN A 017490,000494: 22,2602 00007 6 017491,000495: 22,2603 41112 SL2 BOVB 017492,000496: 22,2604 45707 SIGNMPAC 017493,000497: 22,2605 17434 STODL DEL +6 017494,000498: 22,2606 62421 BDSU SL2 017495,000499: 22,2607 77604 BOVB 017496,000500: 22,2610 45707 SIGNMPAC 017497,000501: 22,2611 17430 STODL DEL +2 017498,000502: 22,2612 03343 COF 017499,000503: 22,2613 41205 DMP DMP 017500,000504: 22,2614 03347 COF +4 017501,000505: 22,2615 00005 4 017502,000506: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A) 017503,000507: 22,2617 03345 COF +2 017504,000508: 22,2620 41405 DMP PUSH # D8 UY SIN(A) 017505,000509: 22,2621 00001 0 017506,000510: 22,2622 62415 DAD SL2 017507,000511: 22,2623 00007 6 017508,000512: # Page 404 017509,000513: 22,2624 77604 BOVB 017510,000514: 22,2625 45707 SIGNMPAC 017511,000515: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A) 017512,000516: 22,2627 62421 BDSU SL2 017513,000517: 22,2630 77604 BOVB 017514,000518: 22,2631 45707 SIGNMPAC 017515,000519: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIGN(A) 017516,000520: 22,2633 03345 COF +2 017517,000521: 22,2634 41205 DMP DMP 017518,000522: 22,2635 03347 COF +4 017519,000523: 22,2636 00005 4 017520,000524: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) 017521,000525: 22,2640 03343 COF 017522,000526: 22,2641 41405 DMP PUSH # D6 UX SIN(A) 017523,000527: 22,2642 00001 0 017524,000528: 22,2643 62415 DAD SL2 017525,000529: 22,2644 00007 6 017526,000530: 22,2645 77604 BOVB 017527,000531: 22,2646 45707 SIGNMPAC 017528,000532: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A) 017529,000533: 22,2650 62421 BDSU SL2 017530,000534: 22,2651 77604 BOVB 017531,000535: 22,2652 45707 SIGNMPAC 017532,000536: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A) 017533,000537: 22,2654 77616 RVQ 017534,000538: 017535,000539: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE 017536,000540: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2) 017537,000541: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC) 017538,000542: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1) 017539,000543: 017540,000544: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS *** 017541,000545: 017542,000546: # C =COS(THETA)COS(PSI) 017543,000547: # 0 017544,000548: 017545,000549: # C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI) 017546,000550: # 1 017547,000551: 017548,000552: # C =COS(THETA)SIN(PSI)SIN(PHI)+SIN(THETA)COS(PHI) 017549,000553: # 2 017550,000554: 017551,000555: # C =SIN(PSI) 017552,000556: # 3 017553,000557: 017554,000558: # C =COS(PSI)COS(PHI) 017555,000559: # 4 017556,000560: 017557,000561: # C =-COS(PSI)SIN(PHI) 017558,000562: # 5 017559,000563: 017560,000564: # C =-SIN(THETA)COS(PSI) 017561,000565: # 6 017562,000566: 017563,000567: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI) 017564,000568: # 7 017565,000569: # Page 405 017566,000570: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI) 017567,000571: # 8 017568,000572: 017569,000573: # WHERE PHI = OGA 017570,000574: # THETA = IGA 017571,000575: # PSI = MGA 017572,000576: 017573,000577: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN 017574,000578: 22,2656 00007 6,1 017575,000579: 22,2657 71406 PUSH COS # PD +0 PSI 017576,000580: 22,2660 41152 SL1 BOVB 017577,000581: 22,2661 45707 SIGNMPAC 017578,000582: 22,2662 00051 STORE S1 017579,000583: 22,2663 57543 DLOAD* DCOMP 017580,000584: 22,2664 00015 12D,1 017581,000585: 22,2665 67471 DDV ARCSIN 017582,000586: 22,2666 00051 S1 017583,000587: 22,2667 51123 PDDL* BPL # PD +2 THETA 017584,000588: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA) 017585,000589: 22,2671 44703 CKTHETA # TO DETERMINE THE PROPER QUADRANT 017586,000590: 22,2672 57545 DLOAD DCOMP 017587,000591: 22,2673 43244 BPL DAD 017588,000592: 22,2674 44700 SUHALFA 017589,000593: 22,2675 15330 DPHALF 017590,000594: 22,2676 77650 GOTO 017591,000595: 22,2677 44702 CALCPHI 017592,000596: 22,2700 77625 SUHALFA DSU 017593,000597: 22,2701 15330 DPHALF 017594,000598: 22,2702 77606 CALCPHI PUSH 017595,000599: 22,2703 57543 CKTHETA DLOAD* DCOMP 017596,000600: 22,2704 00013 10D,1 017597,000601: 22,2705 67471 DDV ARCSIN 017598,000602: 22,2706 00051 S1 017599,000603: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI 017600,000604: 22,2710 00011 8D,1 017601,000605: 22,2711 44723 CKPHI 017602,000606: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI 017603,000607: 22,2713 43244 BPL DAD 017604,000608: 22,2714 44720 SUHALFAP 017605,000609: 22,2715 15330 DPHALF 017606,000610: 22,2716 77650 GOTO 017607,000611: 22,2717 44724 VECOFANG 017608,000612: 22,2720 52025 SUHALFAP DSU GOTO 017609,000613: 22,2721 15330 DPHALF 017610,000614: 22,2722 44724 VECOFANG 017611,000615: 22,2723 77745 CKPHI DLOAD # PUSH UP PHI 017612,000616: 22,2724 43466 VECOFANG VDEF RVQ 017613,000617: 017614,000618: # Page 406 017615,000619: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS 017616,000620: 017617,000621: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2 017618,000622: 22,2726 03272 TC ZEROERROR 017619,000623: 017620,000624: 22,2727 00004 NOGO INHINT 017621,000625: 22,2730 03245 TC STOPRATE 017622,000626: 017623,000627: # TERMINATE MANEUVER 017624,000628: 22,2731 34711 CAF TWO # NOTE: ALL RETURNS ARE NOW MADE VIA 017625,000629: 22,2732 05140 TC WAITLIST # GOODEND 017626,000630: 22,2733 40,2000 SBANK= PINSUPER 017627,000631: 22,2733 E6,1661 EBANK= BCDU 017628,000632: 22,2733 03237 44106 2CADR ENDMANU 017629,000633: 017630,000634: 22,2735 15112 TCF ENDOFJOB 017631,000635: End of include-file ANGLFIND.agc. Parent file is MAIN.agc