Source Code

059933,000001: # Copyright: Public domain. 059934,000002: # Filename: Q_R-AXIS_RCS_AUTOPILOT.agc 059935,000003: # Purpose: A section of Luminary 1C, revision 131. 059936,000004: # It is part of the source code for the Lunar Module's (LM) 059937,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. 059938,000006: # This file is intended to be a faithful transcription, except 059939,000007: # that the code format has been changed to conform to the 059940,000008: # requirements of the yaYUL assembler rather than the 059941,000009: # original YUL assembler. 059942,000010: # Reference: pp. 1439-1456 of 1729.pdf. 059943,000011: # Contact: Ron Burkey <info@sandroid.org>. 059944,000012: # Website: www.ibiblio.org/apollo/index.html 059945,000013: # Mod history: 06/07/03 RSB. Began transcribing. 059946,000014: # 05/14/05 RSB Corrected website reference above. 059947,000015: # 2010-10-25 JL Indentation fixes. 059948,000016: 059949,000017: # Page 1439 059950,000018: 17,2124 BANK 17 059951,000019: 17,2000 SETLOC DAPS2 059952,000020: 17,2000 BANK 059953,000021: 059954,000022: 17,2124 E6,1634 EBANK= CDUXD 059955,000023: 059956,000024: 17,2124 COUNT* $$/DAPQR 059957,000025: 059958,000026: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES 059959,000027: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND. 059960,000028: 17,2126 02031 RAND CHAN31 059961,000029: 17,2127 10000 CCS A 059962,000030: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS 059963,000031: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND? 059964,000032: 17,2132 74740 MASK OURRCBIT 059965,000033: 17,2133 00006 EXTEND 059966,000034: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERROS. 059967,000035: 17,2135 02655 TC QERRCALC 059968,000036: 059969,000037: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS: 059970,000038: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED) 059971,000039: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS 059972,000040: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE) 059973,000041: 17,2142 55630 TS COTROLER 059974,000042: 059975,000043: 17,2143 53437 DXCH EDOTQ 059976,000044: 17,2144 03200 TC ROT-TOUV 059977,000045: 17,2145 53427 DXCH OMEGAU 059978,000046: 059979,000047: # X - TRANSLATION 059980,000048: 059981,000049: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER) 059982,000050: # ULLAGER 059983,000051: # APSFLAG, DRIFTBIT 059984,000052: # ACC40R2X, ACRBTRAN 059985,000053: 059986,000054: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION 059987,000055: # SENSETYP TELL ROTATION DIRECTION AND DESIRE 059988,000056: 059989,000057: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE 059990,000058: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES. 059991,000059: 059992,000060: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS 059993,000061: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS 059994,000062: 17,2150 02031 RAND CHAN31 059995,000063: 17,2151 00006 EXTEND 059996,000064: 17,2152 12200 BZF +X0RULGE 059997,000065: # Page 1440 059998,000066: 17,2153 34744 CA BIT8 059999,000067: 17,2154 00006 EXTEND 060000,000068: 17,2155 02031 RAND CHAN31 060001,000069: 17,2156 00006 EXTEND 060002,000070: 17,2157 12201 BZF -XTRANS 060003,000071: 060004,000072: 17,2160 34746 CA ULLAGER 060005,000073: 17,2161 70111 MASK DAPBOOLS 060006,000074: 17,2162 10000 CCS A 060007,000075: 17,2163 12200 TCF +X0RULGE 060008,000076: 060009,000077: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES 060010,000078: 17,2165 55474 TS NEXTV 060011,000079: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING? 060012,000080: 17,2167 74744 MASK DRIFTBIT 060013,000081: 17,2170 00006 EXTEND 060014,000082: 17,2171 12176 BZF TSENSE 060015,000083: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS? 060016,000084: 17,2173 74737 MASK APSFLBIT 060017,000085: 17,2174 10000 CCS A 060018,000086: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN. 060019,000087: 17,2176 55500 TSENSE TS SENSETYP 060020,000088: 17,2177 12232 TCF QRCONTRL 060021,000089: 060022,000090: 17,2200 34753 +X0RULGE CAF ONE 060023,000091: 17,2201 64751 -XTRANS AD FOUR 060024,000092: 17,2202 55743 TS ROTINDEX 060025,000093: 17,2203 67750 AD NEG3 060026,000094: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS. 060027,000095: 17,2205 30111 CA DAPBOOLS 060028,000096: 17,2206 74741 MASK ACC4OR2X 060029,000097: 17,2207 10000 CCS A 060030,000098: 17,2210 12352 TCF TRANS4 060031,000099: 060032,000100: 17,2211 30111 CA DAPBOOLS 060033,000101: 17,2212 74742 MASK AORBTRAN 060034,000102: 17,2213 10000 CCS A 060035,000103: 17,2214 34753 CA ONE # THREE FOR B 060036,000104: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS 060037,000105: 17,2216 55742 TSNUMBRT TS NUMBERT 060038,000106: 060039,000107: 17,2217 03225 TC SELCTSUB 060040,000108: 060041,000109: 17,2220 11740 CCS POLYTEMP 060042,000110: 17,2221 12224 TCF +3 060043,000111: 17,2222 05567 TC ALARM 060044,000112: 17,2223 02002 OCT 02002 060045,000113: 17,2224 35764 CA 00314OCT 060046,000114: 17,2225 71740 MASK POLYTEMP 060047,000115: 17,2226 55473 TSNEXTS TS NEXTU 060048,000116: # Page 1441 060049,000117: 17,2227 45764 CS 00314OCT 060050,000118: 17,2230 71740 MASK POLYTEMP 060051,000119: 17,2231 55474 TS NEXTV 060052,000120: 060053,000121: # Q,R-AXES RCS CONTROL MODE SELECTION 060054,000122: # SWITCHES INDICATION WHEN SET 060055,000123: # BIT13/CHAN31 AUTO, GO TO ATTSTEER 060056,000124: # PULSES MINIMUM IMPULSE MODE 060057,000125: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE 060058,000126: 060059,000127: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH. 060060,000128: 17,2233 00006 EXTEND 060061,000129: 17,2234 02031 RAND CHAN31 # BITS INVERTED 060062,000130: 17,2235 10000 CCS A 060063,000131: 17,2236 12710 TCF ATTSTEER 060064,000132: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC 060065,000133: 17,2240 70111 MASK DAPBOOLS 060066,000134: 17,2241 00006 EXTEND 060067,000135: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0 060068,000136: 060069,000137: # MINIMUM IMPULSE MODE 060070,000138: 060071,000139: 17,2243 00004 INHINT 060072,000140: 17,2244 04674 TC IBNKCALL 060073,000141: 17,2245 40154 CADR ZATTEROR 060074,000142: 17,2246 34755 CA ZERO 060075,000143: 17,2247 55450 TS QERROR 060076,000144: 17,2250 55452 TS RERROR # FOR DISPLAYS 060077,000145: 17,2251 00003 RELINT 060078,000146: 060079,000147: 17,2252 00006 EXTEND 060080,000148: 17,2253 00031 READ CHAN31 060081,000149: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1 060082,000150: 17,2255 11461 CCS OLDQRMIN 060083,000151: 17,2256 12300 TCF CHECKIN 060084,000152: 060085,000153: 17,2257 31736 FIREQR CA TEMP31 060086,000154: 17,2260 74753 MASK BIT1 060087,000155: 17,2261 00006 EXTEND 060088,000156: 17,2262 12304 BZF +QMIN 060089,000157: 060090,000158: 17,2263 31736 CA TEMP31 060091,000159: 17,2264 74752 MASK BIT2 060092,000160: 17,2265 00006 EXTEND 060093,000161: 17,2266 12310 BZF -QMIN 060094,000162: 060095,000163: 17,2267 31736 CA TEMP31 060096,000164: 17,2270 74747 MASK BIT5 060097,000165: # Page 1442 060098,000166: 17,2271 00006 EXTEND 060099,000167: 17,2272 12314 BZF +RMIN 060100,000168: 060101,000169: 17,2273 31736 CA TEMP31 060102,000170: 17,2274 74746 MASK BIT6 060103,000171: 17,2275 00006 EXTEND 060104,000172: 17,2276 12316 BZF -RMIN 060105,000173: 060106,000174: 17,2277 13112 TCF XTRANS 060107,000175: 060108,000176: 17,2300 41736 CHECKIN CS TEMP31 060109,000177: 17,2301 72351 MASK OCT63 060110,000178: 17,2302 55461 TS OLDQRMIN 060111,000179: 17,2303 13112 TCF XTRANS 060112,000180: 060113,000181: 17,2304 33136 +QMIN CA 14MS 060114,000182: 17,2305 55525 TS TJU 060115,000183: 17,2306 43136 CS 14MS 060116,000184: 17,2307 12320 TCF MINQR 060117,000185: 17,2310 43136 -QMIN CS 14MS 060118,000186: 17,2311 55525 TS TJU 060119,000187: 17,2312 33136 CA 14MS 060120,000188: 17,2313 12320 TCF MINQR 060121,000189: 17,2314 33136 +RMIN CA 14MS 060122,000190: 17,2315 12317 TCF +2 060123,000191: 17,2316 43136 -RMIN CS 14MS 060124,000192: 17,2317 55525 TS TJU 060125,000193: 17,2320 55526 MINQR TS TJV 060126,000194: 17,2321 32350 CA MINADR 060127,000195: 17,2322 55477 TS RETJADR 060128,000196: 17,2323 34753 CA ONE 060129,000197: 17,2324 55461 TS OLDQRMIN 060130,000198: 17,2325 55505 MINRTN TS AXISCTR 060131,000199: 17,2326 30111 CA DAPBOOLS 060132,000200: 17,2327 74737 MASK CSMDOCKD 060133,000201: 17,2330 00006 EXTEND 060134,000202: 17,2331 12341 BZF MIMRET 060135,000203: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE 060136,000204: 17,2333 11525 CCS TJU 060137,000205: 17,2334 34776 CA 60MS 060138,000206: 17,2335 12337 TCF +2 060139,000207: 17,2336 44776 CS 60MS 060140,000208: 17,2337 51505 INDEX AXISCTR 060141,000209: 17,2340 55525 TS TJU 060142,000210: 17,2341 30111 MIMRET CA DAPBOOLS 060143,000211: 17,2342 74742 MASK AORBTRAN 060144,000212: 17,2343 10000 CCS A 060145,000213: 17,2344 34753 CA ONE 060146,000214: 17,2345 64752 AD TWO 060147,000215: 17,2346 55742 TS NUMBERT 060148,000216: # Page 1443 060149,000217: 17,2347 12756 TCF AFTERTJ 060150,000218: 060151,000219: 17,2350 4776 60MS = OCT140 060152,000220: 17,2350 02325 MINADR GENADR MINRTN 060153,000221: 17,2351 00063 OCT63 OCT 63 060154,000222: 17,2352 17,3136 14MS = +TJMINT6 060155,000223: 060156,000224: 17,2352 34751 TRANS4 CA FOUR 060157,000225: 17,2353 12216 TCF TSNUMBRT 060158,000226: 060159,000227: # RATE COMMAND MODE: 060160,000228: 060161,000229: # DESCRIPTION (SAME AS P-AXIS) 060162,000230: 060163,000231: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD 060164,000232: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES 060165,000233: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME 060166,000234: 17,2357 34735 CA BIT15 060167,000235: 17,2360 71443 MASK CH31TEMP 060168,000236: 17,2361 00006 EXTEND 060169,000237: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT. 060170,000238: 17,2363 34740 CA OURRCBIT # *********** 060171,000239: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL 060172,000240: 17,2365 00006 EXTEND # *********** LAST TIME. 060173,000241: 17,2366 12710 BZF STILLRCS 060174,000242: 17,2367 44743 CS BIT9 060175,000243: 17,2370 71262 MASK RCSFLAGS 060176,000244: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0. 060177,000245: 17,2372 12374 TCF DAMPING 060178,000246: 17,2373 4771 40CYCL = OCT50 060179,000247: 17,2373 4753 1/10S = BIT1 060180,000248: 17,2373 00056 LINRAT DEC 46 B-14 060181,000249: 060182,000250: # =========================================================== 060183,000251: 060184,000252: 17,2374 34755 DAMPING CA ZERO 060185,000253: 17,2375 55462 TS SAVEHAND 060186,000254: 17,2376 55463 TS SAVEHAND +1 060187,000255: 17,2377 11462 RHCACTIV CCS SAVEHAND # ****************** 060188,000256: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D 060189,000257: 17,2401 12403 TCF +2 # ****************** 060190,000258: 17,2402 12403 TCF +1 060191,000259: 17,2403 60000 DOUBLE # WHERE 060192,000260: 17,2404 60000 DOUBLE 060193,000261: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE 060194,000262: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR 060195,000263: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY 060196,000264: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION 060197,000265: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION 060198,000266: 17,2412 71444 MP STIKSENS 060199,000267: 17,2413 57455 XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC 060200,000268: 17,2414 40000 COM 060201,000269: # Page 1444 060202,000270: 17,2415 61455 AD QLAST 060203,000271: 17,2416 55740 TS DAPTEMP3 060204,000272: 17,2417 11463 CCS SAVEHAND +1 060205,000273: 17,2420 12423 TCF +3 060206,000274: 17,2421 12423 TCF +2 060207,000275: 17,2422 12423 TCF +1 060208,000276: 17,2423 60000 DOUBLE 060209,000277: 17,2424 60000 DOUBLE 060210,000278: 17,2425 62373 AD LINRAT 060211,000279: 17,2426 00006 EXTEND 060212,000280: 17,2427 71463 MP SAVEHAND +1 060213,000281: 17,2430 30001 CA L 060214,000282: 17,2431 00006 EXTEND 060215,000283: 17,2432 71444 MP STIKSENS 060216,000284: 17,2433 57456 XCH RLAST 060217,000285: 17,2434 40000 COM 060218,000286: 17,2435 61456 AD RLAST 060219,000287: 17,2436 55741 TS DAPTEMP4 060220,000288: 17,2437 41455 CS QLAST # INTERVAL. 060221,000289: 17,2440 61422 AD OMEGAQ 060222,000290: 17,2441 55436 TS QRATEDIF 060223,000291: 17,2442 41456 CS RLAST 060224,000292: 17,2443 61423 AD OMEGAR 060225,000293: 17,2444 55437 TS RRATEDIF 060226,000294: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES 060227,000295: 17,2446 03200 TC ROT-TOUV 060228,000296: 17,2447 53427 DXCH URATEDIF 060229,000297: 17,2450 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS 060230,000298: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R. 060231,000299: 17,2452 02454 TC +2 060232,000300: 17,2453 02454 TC +1 060233,000301: 17,2454 61476 AD -RATEDB 060234,000302: 17,2455 00006 EXTEND 060235,000303: 17,2456 62460 BZMF +2 060236,000304: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE. 060237,000305: 17,2460 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK. 060238,000306: 17,2461 02464 TC +3 060239,000307: 17,2462 02464 TC +2 060240,000308: 17,2463 02464 TC +1 060241,000309: 17,2464 61476 AD -RATEDB 060242,000310: 17,2465 00006 EXTEND 060243,000311: 17,2466 62470 BZMF +2 060244,000312: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE. 060245,000313: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR 060246,000314: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME. 060247,000315: 17,2472 00006 EXTEND 060248,000316: 17,2473 12475 BZF +2 060249,000317: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL. 060250,000318: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL. 060251,000319: 17,2476 34771 CA 40CYCL 060252,000320: # Page 1445 060253,000321: 17,2477 55457 TS TCQR 060254,000322: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL 060255,000323: 17,2501 04674 TC IBNKCALL 060256,000324: 17,2502 40154 FCADR ZATTEROR 060257,000325: 17,2503 00003 RELINT 060258,000326: 17,2504 34755 CA ZERO 060259,000327: 17,2505 55450 TS DYERROR 060260,000328: 17,2506 55451 TS DYERROR +1 060261,000329: 17,2507 55452 TS DZERROR 060262,000330: 17,2510 55453 TS DZERROR +1 060263,000331: 17,2511 11426 CCS URATEDIF 060264,000332: 17,2512 12515 TCF +3 060265,000333: 17,2513 12515 TCF +2 060266,000334: 17,2514 12515 TCF +1 060267,000335: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE 060268,000336: 17,2516 00006 EXTEND # DIRECT RATE CONTROL. 060269,000337: 17,2517 62533 BZMF VDB 060270,000338: 17,2520 11427 CCS VRATEDIF 060271,000339: 17,2521 12524 TCF +3 060272,000340: 17,2522 12524 TCF +2 060273,000341: 17,2523 12524 TCF +1 060274,000342: 17,2524 61476 AD TARGETDB 060275,000343: 17,2525 00006 EXTEND 060276,000344: 17,2526 62530 BZMF +2 060277,000345: 17,2527 12544 TCF QRTIME 060278,000346: 17,2530 34755 CA ZERO 060279,000347: 17,2531 55427 TS VRATEDIF 060280,000348: 17,2532 12544 TCF QRTIME 060281,000349: 17,2533 11427 VDB CCS VRATEDIF 060282,000350: 17,2534 02537 TC +3 060283,000351: 17,2535 02537 TC +2 060284,000352: 17,2536 02537 TC +1 060285,000353: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE 060286,000354: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND 060287,000355: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT 060288,000356: 17,2542 34755 CA ZERO # PASS. 060289,000357: 17,2543 55426 TS URATEDIF 060290,000358: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK. 060291,000359: 17,2545 00006 EXTEND 060292,000360: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC. 060293,000361: 17,2547 41262 CS RCSFLAGS 060294,000362: 17,2550 74741 MASK QRBIT 060295,000363: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1. 060296,000364: 17,2552 02556 TC +4 060297,000365: 17,2553 44741 TOPSEUDO CS QRBIT 060298,000366: 17,2554 71262 MASK RCSFLAGS 060299,000367: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0. 060300,000368: 17,2556 32622 CA HANDADR 060301,000369: 17,2557 55477 TS RETJADR 060302,000370: 17,2560 34753 CA ONE 060303,000371: 060304,000372: # Page 1446 060305,000373: 17,2561 55505 BACKHAND TS AXISCTR 060306,000374: 060307,000375: 17,2562 34751 CA FOUR 060308,000376: 17,2563 55742 TS NUMBERT 060309,000377: 060310,000378: 17,2564 51505 INDEX AXISCTR 060311,000379: 17,2565 51534 INDEX SKIPU 060312,000380: 17,2566 12567 TCF +1 060313,000381: 17,2567 34751 CA FOUR 060314,000382: 17,2570 51505 INDEX AXISCTR 060315,000383: 17,2571 55534 TS SKIPU 060316,000384: 17,2572 13034 TCF LOOPER 060317,000385: 060318,000386: 17,2573 51505 INDEX AXISCTR 060319,000387: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANTITY 060320,000388: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU 060321,000389: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU 060322,000390: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV 060323,000391: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV 060324,000392: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL) 060325,000393: 060326,000394: 17,2602 50000 INDEX A 060327,000395: 17,2603 41570 CS 1/ANET2 +1 060328,000396: 17,2604 00006 EXTEND 060329,000397: 17,2605 51505 INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC 060330,000398: 17,2606 71426 MP URATEDIF # JET TIME IN A, SCALED 32 SEC 060331,000399: 17,2607 54002 TS Q 060332,000400: 17,2610 20001 DAS A 060333,000401: 17,2611 60002 AD Q 060334,000402: 17,2612 54000 TS A # OVERFLOW SKIP 060335,000403: 17,2613 12615 TCF +2 060336,000404: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS 060337,000405: 17,2615 51505 SETTIME INDEX AXISCTR 060338,000406: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24 060339,000407: 17,2617 12756 TCF AFTERTJ 060340,000408: 060341,000409: 17,2620 34755 ZEROTJ CA ZERO 060342,000410: 17,2621 12615 TCF SETTIME 060343,000411: 060344,000412: 17,2622 02561 HANDADR GENADR BACKHAND 060345,000413: 060346,000414: # GTS WILL BE TRIED IF 060347,000415: # 1. USEQRJTS = 0, 060348,000416: # 2. ALLOWGTS POS, 060349,000417: # 3. JETS ARE OFF (Q,R-AXES) 060350,000418: 060351,000419: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS 060352,000420: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.) 060353,000421: 17,2625 10000 CCS A 060354,000422: 17,2626 12141 TCF RCS 060355,000423: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK CK CONTROL FOR GTS? 060356,000424: # Page 1447 060357,000425: 17,2630 12632 TCF +2 060358,000426: 17,2631 12141 TCF RCS 060359,000427: 17,2632 00006 EXTEND 060360,000428: 17,2633 00005 READ CHAN5 060361,000429: 17,2634 10000 CCS A 060362,000430: 17,2635 12641 TCF CHKINGTS 060363,000431: 17,2636 00006 GOTOGTS EXTEND 060364,000432: 17,2637 32654 DCA GTSCADR 060365,000433: 17,2640 52006 DTCB 060366,000434: 060367,000435: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING 060368,000436: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE. 060369,000437: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS. 060370,000438: 17,2644 00004 INHINT 060371,000439: 17,2645 04674 TC IBNKCALL 060372,000440: 17,2646 43327 CADR TIMEGMBL 060373,000441: 17,2647 00003 RELINT 060374,000442: 17,2650 34755 CAF ZERO 060375,000443: 17,2651 55632 TS INGTS 060376,000444: 17,2652 12141 TCF RCS 060377,000445: 060378,000446: 17,2653 E6,1634 EBANK= CDUXD 060379,000447: 17,2653 03076 42106 GTSCADR 2CADR GTS 060380,000448: 060381,000449: # Page 1448 060382,000450: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS. 060383,000451: 060384,000452: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION 060385,000453: 17,2656 00006 EXTEND 060386,000454: 17,2657 21635 MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS) 060387,000455: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC 060388,000456: 17,2661 00006 EXTEND 060389,000457: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS 060390,000458: 17,2663 55751 TS E 060391,000459: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION: 060392,000460: 17,2665 00006 EXTEND 060393,000461: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS) 060394,000462: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC 060395,000463: 17,2670 00006 EXTEND 060396,000464: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS 060397,000465: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR 060398,000466: 17,2673 61751 AD E 060399,000467: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY. 060400,000468: 060401,000469: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION: 060402,000470: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS) 060403,000471: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS 060404,000472: 17,2700 55751 TS E 060405,000473: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION: 060406,000474: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS) 060407,000475: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS 060408,000476: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR 060409,000477: 17,2705 61751 AD E 060410,000478: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY. 060411,000479: 17,2707 00002 TC Q 060412,000480: 060413,000481: # Page 1449 060414,000482: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM 060415,000483: 060416,000484: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS. 060417,000485: 060418,000486: 17,2710 31452 STILLRCS CA RERROR 060419,000487: 17,2711 22000 LXCH A 060420,000488: 17,2712 31450 CA QERROR 060421,000489: 17,2713 03200 TC ROT-TOUV 060422,000490: 17,2714 53751 DXCH UERROR 060423,000491: 060424,000492: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED)) 060425,000493: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED. 060426,000494: 060427,000495: 17,2715 33142 TJLAW CA TJLAWADR 060428,000496: 17,2716 55477 TS RETJADR 060429,000497: 17,2717 34753 CA ONE 060430,000498: 17,2720 55505 TS AXISCTR 060431,000499: 17,2721 51505 INDEX AXISCTR 060432,000500: 17,2722 51534 INDEX SKIPU 060433,000501: 17,2723 12724 TCF +1 060434,000502: 17,2724 34751 CA FOUR 060435,000503: 17,2725 51505 INDEX AXISCTR 060436,000504: 17,2726 55534 TS SKIPU 060437,000505: 17,2727 13034 TCF LOOPER 060438,000506: 17,2730 51505 INDEX AXISCTR 060439,000507: 17,2731 31750 CA UERROR 060440,000508: 17,2732 55751 TS E 060441,000509: 17,2733 51505 INDEX AXISCTR 060442,000510: 17,2734 31426 CA OMEGAU 060443,000511: 17,2735 55427 TS EDOT 060444,000512: 17,2736 30111 CA DAPBOOLS 060445,000513: 17,2737 74737 MASK CSMDOCKD 060446,000514: 17,2740 10000 CCS A 060447,000515: 17,2741 12744 TCF +3 060448,000516: 17,2742 03304 TC TJETLAW 060449,000517: 17,2743 12756 TCF AFTERTJ 060450,000518: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL 060451,000519: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS. 060452,000520: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15. 060453,000521: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE. 060454,000522: 17,2750 00004 INHINT 060455,000523: 17,2751 04674 TC IBNKCALL 060456,000524: 17,2752 43736 CADR SPSRCS # DETERMINE RCS CONTROL 060457,000525: 17,2753 00003 RELINT 060458,000526: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V. 060459,000527: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SLECTION, ETC. 060460,000528: 060461,000529: # Q,R-JET-SELECTION-LOGIC 060462,000530: 060463,000531: # INPUT: AXISCTR 0,1 FOR U,V 060464,000532: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN 060465,000533: # Page 1450 060466,000534: # TJU,TJV JET TIME SCALED 10.24 SEC. 060467,000535: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY 060468,000536: # RETJADR WHERE TO RETURN TO 060469,000537: 060470,000538: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK 060471,000539: # CHANNEL 5 060472,000540: # SKIPU,SKIPV FOR LESS THAN 150MS FIRING 060473,000541: 060474,000542: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED 060475,000543: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY 060476,000544: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT 060477,000545: # IF NONE CAN BE FOUND. 060478,000546: 060479,000547: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET 060480,000548: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY. 060481,000549: 060482,000550: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO 060483,000551: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL. 060484,000552: 17,2760 00006 EXTEND 060485,000553: 17,2761 12772 BZF DOROTAT 060486,000554: 17,2762 40106 CS FLGWRD10 060487,000555: 17,2763 74737 MASK APSFLBIT 060488,000556: 17,2764 00006 EXTEND 060489,000557: 17,2765 12772 BZF DOROTAT 060490,000558: 17,2766 30111 CA DAPBOOLS 060491,000559: 17,2767 74744 MASK DRIFTBIT 060492,000560: 17,2770 00006 EXTEND 060493,000561: 17,2771 13112 BZF XTRANS 060494,000562: 060495,000563: 17,2772 34752 DOROTAT CAF TWO 060496,000564: 17,2773 54001 TS L 060497,000565: 17,2774 51505 INDEX AXISCTR 060498,000566: 17,2775 11525 CCS TJU 060499,000567: 17,2776 13003 TCF +5 060500,000568: 17,2777 13026 TCF NOROTAT 060501,000569: 17,3000 13002 TCF +2 060502,000570: 17,3001 13026 TCF NOROTAT 060503,000571: 17,3002 22007 ZL 060504,000572: 17,3003 64753 AD ONE 060505,000573: 17,3004 55736 TS ABSTJ 060506,000574: 060507,000575: 17,3005 31505 CA AXISCTR 060508,000576: 17,3006 60001 AD L 060509,000577: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V +U +V 060510,000578: 060511,000579: 17,3010 31736 CA ABSTJ 060512,000580: 17,3011 63137 AD -150MS 060513,000581: 17,3012 00006 EXTEND 060514,000582: 17,3013 63037 BZMF DOSKIP 060515,000583: # Page 1451 060516,000584: 17,3014 03225 TC SELCTSUB 060517,000585: 060518,000586: 17,3015 51505 INDEX AXISCTR 060519,000587: 17,3016 33134 CA INDEXES 060520,000588: 17,3017 54001 TS L 060521,000589: 060522,000590: 17,3020 31740 CA POLYTEMP 060523,000591: 17,3021 00004 INHINT 060524,000592: 17,3022 50001 INDEX L 060525,000593: 17,3023 05744 TC WRITEP 060526,000594: 060527,000595: 17,3024 00003 RELINT 060528,000596: 17,3025 13100 TCF FEEDBACK 060529,000597: 060530,000598: 17,3026 51505 NOROTAT INDEX AXISCTR 060531,000599: 17,3027 33134 CA INDEXES 060532,000600: 17,3030 00004 INHINT 060533,000601: 17,3031 50000 INDEX A 060534,000602: 17,3032 05743 TC WRITEP -1 060535,000603: 060536,000604: 17,3033 00003 RELINT 060537,000605: 17,3034 11505 LOOPER CCS AXISCTR 060538,000606: 17,3035 01477 TC RETJADR 060539,000607: 17,3036 13270 TCF CLOSEOUT 060540,000608: 17,3037 41736 DOSKIP CS ABSTJ 060541,000609: 17,3040 63136 AD +TJMINT6 # 14MS 060542,000610: 17,3041 00006 EXTEND 060543,000611: 17,3042 63061 BZMF NOTMIN 060544,000612: 060545,000613: 17,3043 27736 ADS ABSTJ 060546,000614: 17,3044 51505 INDEX AXISCTR 060547,000615: 17,3045 11525 CCS TJU 060548,000616: 17,3046 33136 CA +TJMINT6 060549,000617: 17,3047 13051 TCF +2 060550,000618: 17,3050 43136 CS +TJMINT6 060551,000619: 17,3051 51505 INDEX AXISCTR 060552,000620: 17,3052 55525 TS TJU 060553,000621: 060554,000622: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS 060555,000623: 17,3054 13060 TCF NOTMIN -1 060556,000624: 17,3055 00006 EXTEND 060557,000625: 17,3056 00004 READ LOSCALAR 060558,000626: 17,3057 74753 MASK ONE 060559,000627: 17,3060 55742 TS NUMBERT 060560,000628: 060561,000629: 17,3061 03225 NOTMIN TC SELCTSUB 060562,000630: 060563,000631: 17,3062 51505 INDEX AXISCTR 060564,000632: 17,3063 33134 CA INDEXES 060565,000633: 17,3064 00004 INHINT 060566,000634: # Page 1452 060567,000635: 17,3065 55471 TS T6FURTHA +1 060568,000636: 17,3066 31740 CA POLYTEMP 060569,000637: 17,3067 51471 INDEX T6FURTHA +1 060570,000638: 17,3070 05744 TC WRITEP 060571,000639: 060572,000640: 17,3071 31736 CA ABSTJ 060573,000641: 17,3072 55470 TS T6FURTHA 060574,000642: 17,3073 03143 TC JTLST # IN QR BANK BY NOW 060575,000643: 060576,000644: 17,3074 00003 RELINT 060577,000645: 060578,000646: 17,3075 34755 CA ZERO 060579,000647: 17,3076 51505 INDEX AXISCTR 060580,000648: 17,3077 55534 TS SKIPU 060581,000649: 060582,000650: 17,3100 46250 FEEDBACK CS THREE 060583,000651: 17,3101 61742 AD NUMBERT 060584,000652: 17,3102 00006 EXTEND 060585,000653: 17,3103 63106 BZMF +3 060586,000654: 060587,000655: 17,3104 34752 CA TWO 060588,000656: 17,3105 13107 TCF +2 060589,000657: 17,3106 34753 CA ONE 060590,000658: 17,3107 51505 INDEX AXISCTR 060591,000659: 17,3110 55522 TS NO.UJETS 060592,000660: 17,3111 13034 TCF LOOPER 060593,000661: 060594,000662: 17,3112 34755 XTRANS CA ZERO 060595,000663: 17,3113 55525 TS TJU 060596,000664: 17,3114 55526 TS TJV 060597,000665: 17,3115 34751 CA FOUR 060598,000666: 17,3116 00004 INHINT 060599,000667: 17,3117 57534 XCH SKIPU 060600,000668: 17,3120 00006 EXTEND 060601,000669: 17,3121 13123 BZF +2 060602,000670: 17,3122 05747 TC WRITEU -1 060603,000671: 17,3123 34751 CA FOUR 060604,000672: 17,3124 57535 XCH SKIPV 060605,000673: 17,3125 00003 RELINT 060606,000674: 060607,000675: 17,3126 00006 EXTEND 060608,000676: 17,3127 13270 BZF CLOSEOUT 060609,000677: 17,3130 00004 INHINT 060610,000678: 17,3131 05760 TC WRITEV -1 060611,000679: 17,3132 00003 RELINT 060612,000680: 060613,000681: 17,3133 13270 TCF CLOSEOUT 060614,000682: 17,3134 00004 INDEXES DEC 4 B-14 060615,000683: 17,3135 00015 DEC 13 B-14 060616,000684: 17,3136 00026 +TJMINT6 DEC 22 B-14 060617,000685: # Page 1453 060618,000686: 17,3137 77417 -150MS DEC -240 B-14 060619,000687: 17,3140 00600 BIT8,9 OCT 00600 060620,000688: 17,3141 00266 SCLNORM OCT 266 060621,000689: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL 060622,000690: 060623,000691: # THE JET LIST: 060624,000692: # THIS IS A WAITLIST FOR T6RUPTS. 060625,000693: 060626,000694: # CALLED BY: 060627,000695: # CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN 060628,000696: # TS T6FURTHA 060629,000697: # CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW) 060630,000698: # TS T6FURTHA +1 060631,000699: # TC JTLST 060632,000700: 060633,000701: # EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF 060634,000702: # JETS INTO CHANNEL 5. IT IT DESIRES TO TURN OFF THIS POLICY WITHIN 060635,000703: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA 060636,000704: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX 060637,000705: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO. 060638,000706: 060639,000707: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT) 060640,000708: # THE INPUT IS THE LAST MEMBER OF THE LIST. 060641,000709: 060642,000710: # RETURNS BY: 060643,000711: # + TC Q 060644,000712: 060645,000713: # DEFINITIONS: (OUTPUT) 060646,000714: # TIME6 TIME OF NEXT RUPT 060647,000715: # T6NEXT DELTA TIME TO NEXT RUPT 060648,000716: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT 060649,000717: # NXT6ADR AXIS INDEX 0 -- P-AXIS 060650,000718: # T6NEXT +1 AXIS INDEX 4 -- U-AXIS 060651,000719: # T6FURTHA +1 AXIS INDEX 13 -- V-AXIS 060652,000720: 060653,000721: 17,3143 41470 JTLST CS T6FURTHA 060654,000722: 17,3144 60031 AD TIME6 060655,000723: 17,3145 00006 EXTEND 060656,000724: 17,3146 63163 BZMF MIDORLST # TIME6 -- TI IS IN A 060657,000725: 060658,000726: 17,3147 23465 LXCH NXT6ADR 060659,000727: 17,3150 53467 DXCH T6NEXT 060660,000728: 17,3151 53471 DXCH T6FURTHA 060661,000729: 17,3152 54031 TS TIME6 060662,000730: 17,3153 23465 LXCH NXT6ADR 060663,000731: 060664,000732: 17,3154 00006 TURNON EXTEND 060665,000733: 17,3155 23265 QXCH C13QSAV 060666,000734: 17,3156 06022 TC C13STALL 060667,000735: 060668,000736: 17,3157 34735 CA BIT15 060669,000737: # Page 1454 060670,000738: 17,3160 00006 EXTEND 060671,000739: 17,3161 05013 WOR CHAN13 060672,000740: 17,3162 01265 TC C13QSAV 060673,000741: 060674,000742: 17,3163 61466 MIDORLST AD T6NEXT 060675,000743: 17,3164 00006 EXTEND 060676,000744: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT -- T IS IN A 060677,000745: 060678,000746: 17,3166 23467 LXCH T6NEXT +1 060679,000747: 17,3167 53471 DXCH T6FURTHA 060680,000748: 17,3170 00006 EXTEND 060681,000749: 17,3171 60031 SU TIME6 060682,000750: 17,3172 53467 DXCH T6NEXT 060683,000751: 060684,000752: 17,3173 00002 TC Q 060685,000753: 060686,000754: 17,3174 40000 LASTCHG CS A 060687,000755: 17,3175 64754 AD NEG0 060688,000756: 17,3176 55470 TS T6FURTHA 060689,000757: 060690,000758: 17,3177 00002 TC Q 060691,000759: 060692,000760: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L. 060693,000761: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS 060694,000762: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN 060695,000763: # A AND THE V-COMPONENT IS IN L. 060696,000764: 060697,000765: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2 060698,000766: 17,3201 00006 EXTEND 060699,000767: 17,3202 71626 MP COEFFQ 060700,000768: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2 060701,000769: 17,3204 00006 EXTEND 060702,000770: 17,3205 71627 MP COEFFR 060703,000771: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L 060704,000772: 17,3207 61737 AD ROTEMP2 060705,000773: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1 060706,000774: 17,3211 13215 TCF +4 060707,000775: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED 060708,000776: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX 060709,000777: 17,3214 55736 TS ROTEMP1 060710,000778: 17,3215 41737 CS ROTEMP2 060711,000779: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A 060712,000780: 17,3217 54007 TS 7 060713,000781: 17,3220 13223 TCF +3 060714,000782: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED 060715,000783: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX 060716,000784: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L 060717,000785: 17,3224 00002 TC Q 060718,000786: 17,3225 51743 SELCTSUB INDEX ROTINDEX 060719,000787: # Page 1455 060720,000788: 17,3226 33257 CA ALLJETS 060721,000789: 17,3227 51742 INDEX NUMBERT 060722,000790: 17,3230 73263 MASK TYPEPOLY 060723,000791: 17,3231 55740 TS POLYTEMP 060724,000792: 060725,000793: 17,3232 71257 MASK CH5MASK 060726,000794: 17,3233 10000 CCS A 060727,000795: 17,3234 13236 TCF +2 060728,000796: 060729,000797: 17,3235 00002 TC Q 060730,000798: 060731,000799: 17,3236 36250 CA THREE 060732,000800: 17,3237 55742 FAILOOP TS NUMBERT 060733,000801: 17,3240 51743 INDEX ROTINDEX 060734,000802: 17,3241 33257 CA ALLJETS 060735,000803: 17,3242 51742 INDEX NUMBERT 060736,000804: 17,3243 73263 MASK TYPEPOLY 060737,000805: 17,3244 55740 TS POLYTEMP 060738,000806: 17,3245 71257 MASK CH5MASK 060739,000807: 17,3246 00006 EXTEND 060740,000808: 17,3247 13235 BZF FAILOOP -2 060741,000809: 17,3250 11742 CCS NUMBERT 060742,000810: 17,3251 13237 TCF FAILOOP 060743,000811: 17,3252 51505 INDEX AXISCTR 060744,000812: 17,3253 55525 TS TJU 060745,000813: 17,3254 05567 TC ALARM 060746,000814: 17,3255 02004 OCT 02004 060747,000815: 17,3256 13026 TCF NOROTAT 060748,000816: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13 060749,000817: 17,3260 00022 OCT 00022 # -V 2 9 060750,000818: 17,3261 00204 OCT 00204 # +U 5 14 060751,000819: 17,3262 00041 OCT 00041 # +V 1 10 060752,000820: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13 060753,000821: 17,3264 00252 OCT 00252 # +X 2 6 10 14 060754,000822: 17,3265 00146 OCT 00146 # A 2 5 9 14 060755,000823: 17,3266 00231 OCT 00231 # B 1 6 9 14 060756,000824: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14 060757,000825: 060758,000826: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB. 060759,000827: 060760,000828: 17,3270 33272 CLOSEOUT CA ADRRUPT 060761,000829: 17,3271 07757 TC MAKERUPT 060762,000830: 060763,000831: 17,3272 03273 ADRRUPT ADRES ENDJASK 060764,000832: 060765,000833: 17,3273 53753 ENDJASK DXCH DAPARUPT 060766,000834: 17,3274 52011 DXCH ARUPT 060767,000835: 17,3275 53755 DXCH DAPBQRPT 060768,000836: 17,3276 56017 XCH BRUPT 060769,000837: # Page 1456 060770,000838: 17,3277 22002 LXCH Q 060771,000839: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER. 060772,000840: 17,3301 53757 DXCH DAPZRUPT 060773,000841: 17,3302 52016 DXCH ZRUPT 060774,000842: 17,3303 15272 TCF NOQRSM 060775,000843: 7757 BLOCK 3 060776,000844: 6000 SETLOC FFTAG6 060777,000845: 6000 BANK 060778,000846: 060779,000847: 7757 COUNT* $$/DAP 060780,000848: 060781,000849: 7757 00006 MAKERUPT EXTEND 060782,000850: 7760 07757 EDRUPT MAKERUPT 060783,000851: End of include-file Q_R-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc