Source Code

061292,000001: # Copyright: Public domain. 061293,000002: # Filename: KALMAN_FILTER.agc 061294,000003: # Purpose: A section of Luminary 1C, revision 131. 061295,000004: # It is part of the source code for the Lunar Module's (LM) 061296,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. 061297,000006: # This file is intended to be a faithful transcription, except 061298,000007: # that the code format has been changed to conform to the 061299,000008: # requirements of the yaYUL assembler rather than the 061300,000009: # original YUL assembler. 061301,000010: # Reference: pp. 1467-1468 of 1729.pdf. 061302,000011: # Contact: Ron Burkey <info@sandroid.org>. 061303,000012: # Website: www.ibiblio.org/apollo/index.html 061304,000013: # Mod history: 06/08/03 RSB. Began transcribing. 061305,000014: # 05/14/05 RSB Corrected website reference above 061306,000015: 061307,000016: # Page 1467 061308,000017: 17,3777 E6,1522 EBANK= NO.UJETS 061309,000018: 16,3645 BANK 16 061310,000019: 16,2000 SETLOC DAPS1 061311,000020: 16,2000 BANK 061312,000021: 061313,000022: 16,3645 COUNT* $$/DAP 061314,000023: 061315,000024: 16,3645 34752 RATELOOP CA TWO 061316,000025: 16,3646 55743 TS DAPTEMP6 061317,000026: 16,3647 60000 DOUBLE 061318,000027: 16,3650 54002 TS Q 061319,000028: 16,3651 51743 INDEX DAPTEMP6 061320,000029: 16,3652 11524 CCS TJP 061321,000030: 16,3653 13655 TCF +2 061322,000031: 16,3654 13674 TCF LOOPRATE 061323,000032: 16,3655 63735 AD -100MST6 061324,000033: 16,3656 00006 EXTEND 061325,000034: 16,3657 63713 BZMF SMALLTJU 061326,000035: 16,3660 51743 INDEX DAPTEMP6 061327,000036: 16,3661 11524 CCS TJP 061328,000037: 16,3662 33735 CA -100MST6 061329,000038: 16,3663 13665 TCF +2 061330,000039: 16,3664 43735 CS -100MST6 061331,000040: 16,3665 51743 INDEX DAPTEMP6 061332,000041: 16,3666 27524 ADS TJP 061333,000042: 16,3667 51743 INDEX DAPTEMP6 061334,000043: 16,3670 11524 CCS TJP 061335,000044: 16,3671 43621 CS -100MS # 0.1 AT 1 061336,000045: 16,3672 13674 TCF +2 061337,000046: 16,3673 33621 CA -100MS 061338,000047: 16,3674 00006 LOOPRATE EXTEND 061339,000048: 16,3675 51743 INDEX DAPTEMP6 061340,000049: 16,3676 71521 MP NO.PJETS 061341,000050: 16,3677 30001 CA L 061342,000051: 16,3700 51743 INDEX DAPTEMP6 061343,000052: 16,3701 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER 061344,000053: 16,3702 00006 EXTEND 061345,000054: 16,3703 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC 061346,000055: 16,3704 00006 EXTEND 061347,000056: 16,3705 63736 BZMF NEGTORK 061348,000057: 16,3706 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER. 061349,000058: 16,3707 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS. 061350,000059: 061351,000060: 16,3710 11743 CCS DAPTEMP6 061352,000061: 16,3711 13646 TCF RATELOOP +1 061353,000062: 16,3712 13722 TCF ROTORQUE 061354,000063: 16,3713 34755 SMALLTJU CA ZERO 061355,000064: 16,3714 51743 INDEX DAPTEMP6 061356,000065: 16,3715 57524 XCH TJP 061357,000066: 16,3716 00006 EXTEND 061358,000067: # Page 1468 061359,000068: 16,3717 74760 MP ELEVEN # 10.24 PLUS 061360,000069: 16,3720 30001 CA L 061361,000070: 16,3721 13674 TCF LOOPRATE 061362,000071: 16,3722 31737 ROTORQUE CA DAPTEMP2 061363,000072: 16,3723 61740 AD DAPTEMP3 061364,000073: 16,3724 00006 EXTEND 061365,000074: 16,3725 71532 MP 1JACCR 061366,000075: 16,3726 55746 TS JETRATER 061367,000076: 16,3727 41740 CS DAPTEMP3 061368,000077: 16,3730 61737 AD DAPTEMP2 061369,000078: 16,3731 00006 EXTEND 061370,000079: 16,3732 71531 MP 1JACCQ 061371,000080: 16,3733 55745 TS JETRATEQ 061372,000081: 16,3734 12316 TCF BACKP 061373,000082: 16,3735 77537 -100MST6 DEC -160 B-14 061374,000083: 061375,000084: 16,3736 40000 NEGTORK COM 061376,000085: 16,3737 24002 INCR Q 061377,000086: 16,3740 13706 TCF STORTORK 061378,000087: 061379,000088: End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc