Source Code

044055,000001: # Copyright: Public domain. 044056,000002: # Filename: AUTOMATIC_MANEUVERS.agc 044057,000003: # Purpose: Part of the source code for Colossus, build 249. 044058,000004: # It is part of the source code for the Command Module's (CM) 044059,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. 044060,000006: # Assembler: yaYUL 044061,000007: # Reference: Starts on p. 1000 of 1701.pdf. 044062,000008: # Contact: Ron Burkey <info@sandroid.org>. 044063,000009: # Website: www.ibiblio.org/apollo. 044064,000010: # Mod history: 08/25/04 RSB. Began transcribing. 044065,000011: 044066,000012: # The contents of the "Colossus249" files, in general, are transcribed 044067,000013: # from a scanned document obtained from MIT's website, 044068,000014: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this 044069,000015: # document read, in part: 044070,000016: 044071,000017: # Assemble revision 249 of AGC program Colossus by NASA 044072,000018: # 2021111-041. October 28, 1968. 044073,000019: 044074,000020: # This AGC program shall also be referred to as 044075,000021: # Colossus 1A 044076,000022: 044077,000023: # Prepared by 044078,000024: # Massachusetts Institute of Technology 044079,000025: # 75 Cambridge Parkway 044080,000026: # Cambridge, Massachusetts 044081,000027: # under NASA contract NAS 9-4065. 044082,000028: 044083,000029: # Refer directly to the online document mentioned above for further information. 044084,000030: # Please report any errors (relative to 1701.pdf) to info@sandroid.org. 044085,000031: 044086,000032: # In some cases, where the source code for Luminary 131 overlaps that of 044087,000033: # Colossus 249, this code is instead copied from the corresponding Luminary 131 044088,000034: # source file, and then is proofed to incorporate any changes. 044089,000035: 044090,000036: # Page 1000 044091,000037: 21,3234 BANK 21 044092,000038: 21,2000 SETLOC DAPS3 044093,000039: 21,2000 BANK 044094,000040: 044095,000041: 21,3234 COUNT 21/DAPAM 044096,000042: 044097,000043: 21,3234 E6,1510 EBANK= KMPAC 044098,000044: 21,3234 00006 AHFNOROT EXTEND 044099,000045: 21,3235 00031 READ CHAN31 044100,000046: 21,3236 74675 MASK BIT14 044101,000047: 21,3237 00006 EXTEND 044102,000048: 21,3240 63256 BZMF FREECONT 044103,000049: 21,3241 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED 044104,000050: 21,3242 74675 MASK BIT14 044105,000051: 21,3243 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL 044106,000052: 21,3244 12520 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER 044107,000053: # AUTOMATIC CONTROL YET 044108,000054: 21,3245 00006 EXTEND 044109,000055: 21,3246 00031 READ CHAN31 044110,000056: 21,3247 74676 MASK BIT13 044111,000057: 21,3250 00006 EXTEND 044112,000058: 21,3251 63356 BZMF HOLDFUNC 044113,000059: 21,3252 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG. 044114,000060: 21,3253 00006 EXTEND # OTHERWISE, GO TO ATTHOLD. 044115,000061: 21,3254 63306 BZMF ATTHOLD 044116,000062: 21,3255 13362 TCF GRABANG 044117,000063: 044118,000064: # MINIMUM IMPULSE CONTROL 044119,000065: 044120,000066: 21,3256 34712 FREECONT CAF ONE 044121,000067: 21,3257 55332 TS HOLDFLAG # RESET HOLDFLAG 044122,000068: # INHIBIT AUTOMATIC STEERING 044123,000069: 21,3260 00006 EXTEND 044124,000070: 21,3261 00032 READ CHAN32 044125,000071: 21,3262 54001 TS L 044126,000072: 21,3263 40000 COM 044127,000073: 21,3264 73022 MASK MANROT 044128,000074: 21,3265 71633 MASK CHANTEMP 044129,000075: 21,3266 23633 LXCH CHANTEMP 044130,000076: 21,3267 03114 TC STICKCHK 044131,000077: 21,3270 51656 INDEX RMANNDX 044132,000078: 21,3271 33302 CA MINTAU # MINTAU +0 044133,000079: 21,3272 55561 TS TAU # +1 +14MS MINIMUM IMPULSE 044134,000080: 21,3273 51657 INDEX PMANNDX # +2 -14MS TIME 044135,000081: 21,3274 33302 CA MINTAU # +3 +0 044136,000082: 21,3275 55562 TS TAU1 044137,000083: 21,3276 51660 INDEX YMANNDX 044138,000084: 21,3277 33302 CA MINTAU 044139,000085: # Page 1001 044140,000086: 21,3300 55563 TS TAU2 044141,000087: 21,3301 13053 TCF T6PROGM 044142,000088: 21,3302 00000 MINTAU DEC 0 B-14 044143,000089: 21,3303 00027 DEC 23 B-14 # = 14MS 044144,000090: 21,3304 77750 DEC -23 B-14 # = -14MS 044145,000091: 21,3305 00000 DEC 0 B-14 044146,000092: 044147,000093: # Page 1002 044148,000094: # CALCULATION OF ATTITUDE ERRORS: 044149,000095: # _ * _ _ _ 044150,000096: # AK = AMGB (CDUX - THETADX) + BIAS 044151,000097: 044152,000098: # *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS * 044153,000099: # * * * ** * * * 044154,000100: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1* 044155,000101: # * * * ** * * * 044156,000102: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2* 044157,000103: 044158,000104: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD 044159,000105: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES. 044160,000106: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN 044161,000107: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO. 044162,000108: 044163,000109: 21,3306 30032 ATTHOLD CA CDUX 044164,000110: 21,3307 00006 EXTEND 044165,000111: 21,3310 21572 MSU THETADX 044166,000112: 21,3311 55567 TS ERRORX 044167,000113: 21,3312 30033 CA CDUY 044168,000114: 21,3313 00006 EXTEND 044169,000115: 21,3314 21573 MSU THETADY 044170,000116: 21,3315 55502 TS T5TEMP 044171,000117: 21,3316 00006 EXTEND 044172,000118: 21,3317 71640 MP AMGB1 044173,000119: 21,3320 27567 ADS ERRORX 044174,000120: 21,3321 31502 CA T5TEMP 044175,000121: 21,3322 00006 EXTEND 044176,000122: 21,3323 71641 MP AMGB4 044177,000123: 21,3324 55570 TS ERRORY 044178,000124: 21,3325 31502 CA T5TEMP 044179,000125: 21,3326 00006 EXTEND 044180,000126: 21,3327 71643 MP AMGB7 044181,000127: 21,3330 55571 TS ERRORZ 044182,000128: 21,3331 30034 CA CDUZ 044183,000129: 21,3332 00006 EXTEND 044184,000130: 21,3333 21574 MSU THETADZ 044185,000131: 21,3334 55502 TS T5TEMP 044186,000132: 21,3335 00006 EXTEND 044187,000133: 21,3336 71642 MP AMGB5 044188,000134: 21,3337 27570 ADS ERRORY 044189,000135: 21,3340 31502 CA T5TEMP 044190,000136: 21,3341 00006 EXTEND 044191,000137: 21,3342 71644 MP AMGB8 044192,000138: 21,3343 27571 ADS ERRORZ 044193,000139: 21,3344 41332 CS HOLDFLAG 044194,000140: 21,3345 00006 EXTEND 044195,000141: # Page 1003 044196,000142: 21,3346 63425 BZMF JETS 044197,000143: 21,3347 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC 044198,000144: 21,3350 27567 ADS ERRORX 044199,000145: 21,3351 31565 CA BIAS1 044200,000146: 21,3352 27570 ADS ERRORY 044201,000147: 21,3353 31566 CA BIAS2 044202,000148: 21,3354 27571 ADS ERRORZ 044203,000149: 21,3355 13425 TCF JETS 044204,000150: 21,3356 11332 HOLDFUNC CCS HOLDFLAG 044205,000151: 21,3357 13362 TCF +3 044206,000152: 21,3360 13306 TCF ATTHOLD 044207,000153: 21,3361 13362 TCF +1 044208,000154: 21,3362 34714 GRABANG CAF ZERO # ZERO WBODYS AND BIASES 044209,000155: 21,3363 55525 TS WBODY 044210,000156: 21,3364 55526 TS WBODY +1 044211,000157: 21,3365 55527 TS WBODY1 044212,000158: 21,3366 55530 TS WBODY1 +1 044213,000159: 21,3367 55531 TS WBODY2 044214,000160: 21,3370 55532 TS WBODY2 +1 044215,000161: 21,3371 55564 TS BIAS 044216,000162: 21,3372 55565 TS BIAS1 044217,000163: 21,3373 55566 TS BIAS2 044218,000164: 044219,000165: 21,3374 31501 CA RCSFLAGS 044220,000166: 21,3375 73023 MASK OCT16000 044221,000167: 21,3376 00006 EXTEND # IS RATE DAMPING COMPLETED 044222,000168: 21,3377 13405 BZF ENDDAMP # IF SO, GO TO ENDDAMP 044223,000169: 21,3400 34714 CAF ZERO # OTHERWISE, ZERO ERRORS 044224,000170: 21,3401 55567 TS ERRORX 044225,000171: 21,3402 55570 TS ERRORY 044226,000172: 21,3403 55571 TS ERRORZ 044227,000173: 21,3404 13425 TCF JETS 044228,000174: 044229,000175: 21,3405 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0 044230,000176: 21,3406 00006 EXTEND 044231,000177: 21,3407 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD 044232,000178: 21,3410 53573 DXCH THETADX # REFERENCES 044233,000179: 21,3411 30034 CA CDUZ 044234,000180: 21,3412 55574 TS THETADZ 044235,000181: 21,3413 13306 TCF ATTHOLD 044236,000182: 044237,000183: # Page 1004 044238,000184: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS 044239,000185: 044240,000186: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE 044241,000187: # PLANE. 044242,000188: 044243,000189: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE 044244,000190: # APPROPRIATE DEADZONE. 044245,000191: 044246,000192: # . 044247,000193: # R22 RATE . ERROR 044248,000194: # WL+H . 044249,000195: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES 044250,000196: # R23 WL * . 044251,000197: # ----------------------------------* . ----- DESIRED RATE LINES 044252,000198: # R23 WL-H - *. 044253,000199: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE 044254,000200: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE 044255,000201: # * . * 044256,000202: # *- . * 044257,000203: # R22 R24*- . * 044258,000204: # * . * 044259,000205: # * . * 044260,000206: # + -ADB . * AF ATTITUDE 044261,000207: # ........................+--+---------------+--+........................ 044262,000208: # AF * . +ADB + ERROR 044263,000209: # * . * 044264,000210: # * . -* 044265,000211: # * . -* 044266,000212: # * . -* 044267,000213: # * . * 044268,000214: # *. - * 044269,000215: # . - ***************** 044270,000216: # .*- 044271,000217: # . * -------------------------------- 044272,000218: # . 044273,000219: # . 044274,000220: # FIG. 1 PHASE PLANE SWITCHING LOGIC 044275,000221: 044276,000222: # CONSTANTS FOR JET SWITCHING LOGIC 044277,000223: 044278,000224: 21,3414 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG S180 044279,000225: 21,3415 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG S180 044280,000226: 21,3416 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DED/SEC S450 044281,000227: 21,3420 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC S450 044282,000228: 21,3422 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC S450 044283,000229: 044284,000230: # Page 1005 044285,000231: 21,3424 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG S450/180 044286,000232: 21,3425 31655 JETS CA ADB 044287,000233: 21,3426 64710 AD FOUR # AF = FLAT REGION = .044 DEG 044288,000234: 21,3427 55502 TS T5TEMP # ADB+AF 044289,000235: 21,3430 34711 CAF TWO 044290,000236: 21,3431 55506 JLOOP TS SPNDX 044291,000237: 21,3432 60000 DOUBLE 044292,000238: 21,3433 55507 TS DPNDX 044293,000239: 21,3434 00006 EXTEND 044294,000240: 21,3435 50000 INDEX A 044295,000241: 21,3436 31534 DCA ADOT 044296,000242: 21,3437 53516 DXCH EDOT 044297,000243: 21,3440 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN 044298,000244: 21,3441 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER. 044299,000245: 21,3442 13447 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION 044300,000246: # OF WBODY AND GO TO INHOLD 044301,000247: 21,3443 00006 EXTEND 044302,000248: 21,3444 51507 INDEX DPNDX 044303,000249: 21,3445 41526 DCS WBODY 044304,000250: 21,3446 21516 DAS EDOT # = ADOT-WBODY 044305,000251: 21,3447 51506 INHOLD INDEX SPNDX 044306,000252: 21,3450 31567 CA ERRORX 044307,000253: 21,3451 55517 TS AERR # AERR = BIAS + AK 044308,000254: 044309,000255: 21,3452 11515 CCS EDOT 044310,000256: 21,3453 13463 TCF POSVEL 044311,000257: 21,3454 13456 TCF SIGNCK1 044312,000258: 21,3455 13473 TCF NEGVEL 044313,000259: 21,3456 11516 SIGNCK1 CCS EDOT +1 044314,000260: 21,3457 13463 TCF POSVEL 044315,000261: 21,3460 13463 TCF POSVEL 044316,000262: 21,3461 13473 TCF NEGVEL 044317,000263: 21,3462 13473 TCF NEGVEL 044318,000264: 21,3463 00006 POSVEL EXTEND 044319,000265: 21,3464 31516 DCA EDOT 044320,000266: 21,3465 53521 DXCH EDOTVEL 044321,000267: 21,3466 31502 CA T5TEMP 044322,000268: 21,3467 55523 TS ADBVEL # +(ADB+AF) 044323,000269: 21,3470 31517 CA AERR 044324,000270: 21,3471 55522 TS AERRVEL 044325,000271: 21,3472 03502 TC J6. 044326,000272: 21,3473 00006 NEGVEL EXTEND 044327,000273: 21,3474 41516 DCS EDOT 044328,000274: 21,3475 53521 DXCH EDOTVEL 044329,000275: 21,3476 41502 CS T5TEMP 044330,000276: 21,3477 55523 TS ADBVEL # -(ADB+AF) 044331,000277: 21,3500 41517 CS AERR 044332,000278: 21,3501 55522 TS AERRVEL 044333,000279: 044334,000280: 21,3502 00006 J6. EXTEND 044335,000281: # Page 1006 044336,000282: 21,3503 61655 SU ADB 044337,000283: 21,3504 63414 AD WLH/SLOP 044338,000284: 21,3505 00006 EXTEND 044339,000285: 21,3506 63535 BZMF J8 044340,000286: 044341,000287: 21,3507 41502 CS T5TEMP # (ADB+AF) 044342,000288: 21,3510 61522 AD AERRVEL 044343,000289: 21,3511 00006 EXTEND 044344,000290: 21,3512 63514 BZMF +2 044345,000291: 21,3513 13526 TCF J7 044346,000292: 21,3514 00006 EXTEND 044347,000293: 21,3515 41521 DCS EDOTVEL 044348,000294: 21,3516 00006 EXTEND 044349,000295: 21,3517 11654 DV SLOPE 044350,000296: 21,3520 00006 EXTEND 044351,000297: 21,3521 61522 SU AERRVEL 044352,000298: 21,3522 61655 AD ADB 044353,000299: 21,3523 00006 EXTEND 044354,000300: 21,3524 63614 BZMF J18 044355,000301: 21,3525 13670 TCF J23 044356,000302: 044357,000303: 21,3526 43415 J7 CS WL-H/SLP 044358,000304: 21,3527 00006 EXTEND 044359,000305: 21,3530 61502 SU T5TEMP # (ADB+AF) 044360,000306: 21,3531 61522 AD AERRVEL 044361,000307: 21,3532 00006 EXTEND 044362,000308: 21,3533 63620 BZMF J20 044363,000309: 21,3534 13631 TCF J21 044364,000310: 044365,000311: 21,3535 00006 J8 EXTEND 044366,000312: 21,3536 43417 DCS WLH 044367,000313: 21,3537 53514 DXCH WTEMP 044368,000314: 21,3540 00006 EXTEND 044369,000315: 21,3541 31521 DCA EDOTVEL 044370,000316: 21,3542 21514 DAS WTEMP 044371,000317: 21,3543 11513 CCS WTEMP 044372,000318: 21,3544 13657 TCF J22 044373,000319: 21,3545 13547 TCF SIGNCK2 044374,000320: 21,3546 13553 TCF NJ22 044375,000321: 21,3547 11514 SIGNCK2 CCS WTEMP +1 044376,000322: 21,3550 13657 TCF J22 044377,000323: 21,3551 13657 TCF J22 044378,000324: 21,3552 13553 TCF NJ22 044379,000325: 044380,000326: 21,3553 00006 NJ22 EXTEND 044381,000327: 21,3554 31521 DCA EDOTVEL 044382,000328: 21,3555 00006 EXTEND 044383,000329: 21,3556 11654 DV SLOPE 044384,000330: 21,3557 61502 AD T5TEMP # (ADB+AF) 044385,000331: 21,3560 61522 AD AERRVEL 044386,000332: # Page 1007 044387,000333: 21,3561 10000 CCS A 044388,000334: 21,3562 13670 TCF J23 044389,000335: 21,3563 13670 TCF J23 044390,000336: 21,3564 13566 TCF +2 044391,000337: 21,3565 13670 TCF J23 044392,000338: 044393,000339: 21,3566 00006 EXTEND 044394,000340: 21,3567 43421 DCS WLMH # WL - H 044395,000341: 21,3570 53514 DXCH WTEMP 044396,000342: 21,3571 00006 EXTEND 044397,000343: 21,3572 31521 DCA EDOTVEL 044398,000344: 21,3573 21514 DAS WTEMP 044399,000345: 21,3574 11513 CCS WTEMP 044400,000346: 21,3575 13670 TCF J23 044401,000347: 21,3576 13600 TCF SIGNCK3 044402,000348: 21,3577 13604 TCF NJ23 044403,000349: 21,3600 11514 SIGNCK3 CCS WTEMP +1 044404,000350: 21,3601 13670 TCF J23 044405,000351: 21,3602 13670 TCF J23 044406,000352: 21,3603 13604 TCF NJ23 044407,000353: 044408,000354: 21,3604 31522 NJ23 CA AERRVEL 044409,000355: 21,3605 61502 AD T5TEMP # (ADB+AF) 044410,000356: 21,3606 63415 AD WL-H/SLP 044411,000357: 21,3607 10000 CCS A 044412,000358: 21,3610 13702 TCF J24 044413,000359: 21,3611 13702 TCF J24 044414,000360: 21,3612 13657 TCF J22 044415,000361: 21,3613 13657 TCF J22 044416,000362: 044417,000363: 21,3614 00006 J18 EXTEND 044418,000364: 21,3615 41516 DCS EDOT 044419,000365: 21,3616 53511 DXCH KMPAC 044420,000366: 21,3617 13713 TCF JTIME 044421,000367: 044422,000368: 21,3620 41517 J20 CS AERR 044423,000369: 21,3621 61523 AD ADBVEL 044424,000370: 21,3622 00006 EXTEND 044425,000371: 21,3623 73424 MP SLOPE2 # (HYSTERESIS SLOPE) 044426,000372: 21,3624 53511 DXCH KMPAC 044427,000373: 21,3625 00006 EXTEND 044428,000374: 21,3626 41516 DCS EDOT 044429,000375: 21,3627 21511 DAS KMPAC 044430,000376: 21,3630 13713 TCF JTIME 044431,000377: 044432,000378: 21,3631 11515 J21 CCS EDOT 044433,000379: 21,3632 13650 TCF JP 044434,000380: 21,3633 13635 TCF SIGNCK4 044435,000381: 21,3634 13641 TCF JN 044436,000382: 21,3635 11516 SIGNCK4 CCS EDOT +1 044437,000383: # Page 1008 044438,000384: 21,3636 13650 TCF JP 044439,000385: 21,3637 13650 TCF JP 044440,000386: 21,3640 13641 TCF JN 044441,000387: 21,3641 00006 JN EXTEND 044442,000388: 21,3642 41516 DCS EDOT 044443,000389: 21,3643 53511 DXCH KMPAC 044444,000390: 21,3644 00006 EXTEND 044445,000391: 21,3645 33423 DCA WL 044446,000392: 21,3646 21511 DAS KMPAC 044447,000393: 21,3647 13713 TCF JTIME 044448,000394: 044449,000395: 21,3650 00006 JP EXTEND 044450,000396: 21,3651 41516 DCS EDOT 044451,000397: 21,3652 53511 DXCH KMPAC 044452,000398: 21,3653 00006 EXTEND 044453,000399: 21,3654 43423 DCS WL 044454,000400: 21,3655 21511 DAS KMPAC 044455,000401: 21,3656 13713 TCF JTIME 044456,000402: 044457,000403: 21,3657 11515 J22 CCS EDOT 044458,000404: 21,3660 13641 TCF JN 044459,000405: 21,3661 13663 TCF SIGNCK5 044460,000406: 21,3662 13650 TCF JP 044461,000407: 21,3663 11516 SIGNCK5 CCS EDOT +1 044462,000408: 21,3664 13641 TCF JN 044463,000409: 21,3665 13641 TCF JN 044464,000410: 21,3666 13650 TCF JP 044465,000411: 21,3667 13650 TCF JP 044466,000412: 044467,000413: 21,3670 51506 J23 INDEX SPNDX 044468,000414: 21,3671 44676 CS BIT13 # RESET RATE DAMPING FLAG 044469,000415: 21,3672 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0) 044470,000416: 21,3673 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1) 044471,000417: # BIT11 FOR YAW (SPNDX = 2) 044472,000418: 044473,000419: 21,3674 51506 INDEX SPNDX 044474,000420: 21,3675 33017 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS 044475,000421: 21,3676 71501 MASK RCSFLAGS # AXIS 044476,000422: 21,3677 00006 EXTEND 044477,000423: 21,3700 13734 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING 044478,000424: 044479,000425: 21,3701 13614 TCF J18 # YES, GO TO J18 AND FORCE A FIRING 044480,000426: 044481,000427: 21,3702 41517 J24 CS AERR 044482,000428: 21,3703 00006 EXTEND 044483,000429: 21,3704 61523 SU ADBVEL 044484,000430: 21,3705 00006 EXTEND 044485,000431: 21,3706 73424 MP SLOPE2 # (HYSTERESIS SLOPE) 044486,000432: 21,3707 53511 DXCH KMPAC 044487,000433: 21,3710 00006 EXTEND 044488,000434: # Page 1009 044489,000435: 21,3711 41516 DCS EDOT 044490,000436: 21,3712 21511 DAS KMPAC 044491,000437: 044492,000438: # Page 1010 044493,000439: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, I.E., 044494,000440: 044495,000441: # T = J/M(DELTA W) 044496,000442: # J 044497,000443: 044498,000444: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE 044499,000445: # SWITCHING LOGIC, AT THIS PINT STORED IN KMPAC. 044500,000446: 044501,000447: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY 044502,000448: # (57.3/450)(B24/1600)(1/.8) 044503,000449: # FOR 1 JET OPERATION (M = 700 FT-LB). 044504,000450: # I.E., J/M = J(SLUG-FTFT) x 0.00000085601606 044505,000451: 044506,000452: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY 044507,000453: # KEYBOARD ENTRY ARE 044508,000454: # J/M (ROLL) 044509,000455: # J/M1 (PITCH) 044510,000456: # J/M2 (YAW) 044511,000457: 044512,000458: # T = JET-ON TIME SCALED 16384/1600 SEC 044513,000459: # J 044514,000460: 044515,000461: # THE COMPUTER VARIABLES ARE 044516,000462: # TAU (ROLL) 044517,000463: # TAU1 (PITCH) 044518,000464: # TAU2 (YAW) 044519,000465: 044520,000466: 21,3713 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO 044521,000467: 21,3714 31623 CA J/M # SCALED (57.3/450)(B24/1600) 044522,000468: 21,3715 02026 TC SMALLMP # FOR 1-JET OPERATION 044523,000469: 21,3716 34700 CA BIT11 044524,000470: 21,3717 02026 TC SMALLMP 044525,000471: 21,3720 11510 CCS KMPAC 044526,000472: 21,3721 13725 TCF +4 044527,000473: 21,3722 13731 TCF TAUNORM 044528,000474: 21,3723 13727 TCF +4 044529,000475: 21,3724 13731 TCF TAUNORM 044530,000476: 21,3725 34672 CA POSMAX 044531,000477: 21,3726 13732 TCF DOJET 044532,000478: 21,3727 34674 CA NEGMAX 044533,000479: 21,3730 13732 TCF DOJET 044534,000480: 044535,000481: 21,3731 31511 TAUNORM CA KMPAC +1 044536,000482: 21,3732 51506 DOJET INDEX SPNDX 044537,000483: 21,3733 55561 TS TAU 044538,000484: 21,3734 11506 CCS SPNDX 044539,000485: 21,3735 13431 TCF JLOOP 044540,000486: 21,3736 13743 TCF T6PROG 044541,000487: 044542,000488: # Page 1011 044543,000489: 21,3737 34714 ZEROCMDS CAF ZERO 044544,000490: 21,3740 55561 TS TAU 044545,000491: 21,3741 55562 TS TAU1 044546,000492: 21,3742 55563 TS TAU2 044547,000493: 21,3743 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS) 044548,000494: 21,3744 33750 DCA JETADDR # HAVE BEEN DETERINED 044549,000495: 21,3745 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3 044550,000496: 21,3746 15222 TCF RESUME 044551,000497: 044552,000498: 21,3747 E6,1510 EBANK= KMPAC 044553,000499: 21,3747 02577 36066 JETADDR 2CADR JETSLECT 044554,000500: End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc