Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 program listing from a private collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
may be 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 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971 THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS COLOSSUS 3 THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER OSR PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, CAMBRIDGE, MASS. |
043180,000002: # Copyright: Public domain.
043181,000003: # Filename: TVCROLLDAP.agc
043182,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
043183,000005: # build 072. This is for the Command Module's (CM)
043184,000006: # Apollo Guidance Computer (AGC), we believe for
043185,000007: # Apollo 15-17.
043186,000008: # Assembler: yaYUL
043187,000009: # Contact: Steve Case <case1780@adelphia.net>
043188,000010: # Website: www.ibiblio.org/apollo/index.html
043189,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
043190,000012: # Mod history: 2009-09-13 SMC Adapted from Comanche055 files.
043191,000013: # 2009-09-15 JL Fix typos. Fix page numbers. Remove change comments. Restore hard tabs.
043192,000014: # 2010-02-15 JL Temporary workaround for an error on p996.
043193,000015: # 2010-02-20 RSB Un-##'d this header.
043194,000016: # 2011-05-07 JL Removed workaround.
043195,000017:
043196,000018: # # Page 982
043197,000019:
043198,000020: # PROGRAM NAME...TVC ROLL AUTOPILOT
043199,000021: # LOG SECTION...TVCROLLDAP SUBROUTINE...DAPCSM
043200,000022: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
043201,000023:
043202,000024:
043203,000025: # FUNCTIONAL DESCRIPTION....
043204,000026:
043205,000027: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
043206,000028: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
043207,000029: # BY IGNITION (P40)
043208,000030: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
043209,000031: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
043210,000032: # *USES T6 CLOCK TO TIME JET FIRINGS
043211,000033: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
043212,000034: # *MINIMUM JET FIRING TIME = 15 MS
043213,000035: # *JET PAIRS FIRE ALTERNATELY
043214,000036: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
043215,000037: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
043216,000038: # OF A JET FIRING TIME IS MADE ON A LATER PASS
043217,000039:
043218,000040: # CALLING SEQUENCE....
043219,000041:
043220,000042: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
043221,000043: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
043222,000044:
043223,000045: # NORMAL EXIT MODES.... ENDOFJOB
043224,000046:
043225,000047: # ALARM OR ABORT EXIT MODES.... NONE
043226,000048:
043227,000049: # SUBROUTINES CALLED.....NONE
043228,000050:
043229,000051: # OTHER INTERFACES....
043230,000052:
043231,000053: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
043232,000054: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
043233,000055: # *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC
043234,000056: # SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS
043235,000057: # NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
043236,000058:
043237,000059: # ERASABLE INITIALIZATION REQUIRED....
043238,000060:
043239,000061: # *1/CONACC (S40.15)
043240,000062: # *OGAD (CDUX AT IGNITION)
043241,000063: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
043242,000064: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
043243,000065: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
043244,000066: # OUTPUT....
043245,000067:
043246,000068: # *ROLL JET PAIR FIRINGS
043247,000069:
043248,000070: # # Page 983
043249,000071: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
043250,000072:
043251,000073: # # Page 984
043252,000074: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
043253,000075: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
043254,000076:
043255,000077: # SWITCHING LOGIC IN THE PHASE PLANE....
043256,000078:
043257,000079: # OGARATE
043258,000080: # *
043259,000081: # *
043260,000082: # * * * * * * * * * * * *
043261,000083: # * (REGION 1, SEE TEXT BELOW)
043262,000084: # * *
043263,000085: # *
043264,000086: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
043265,000087: # * * .
043266,000088: # * * *
043267,000089: # * * (FIRE NEG ROLL JETS)
043268,000090: # * * *
043269,000091: # (-DB,+LMCRATE)....* *
043270,000092: # * * *
043271,000093: # * * OGAERROR
043272,000094: # ************************************************************************
043273,000095: # * * (-AK, OGAERR)
043274,000096: # * * * (REGION 6-PRIME)
043275,000097: # * * (SEE TEXT BELOW)
043276,000098: # * * *
043277,000099: # * * ...STRAIGHT LINE
043278,000100: # (FIRE POS ROLL JETS) * * * .
043279,000101: # * (COAST) *
043280,000102: # * * * * * * * * * * *
043281,000103: # * -MINLIM
043282,000104: # * *
043283,000105: # *
043284,000106: # * * * * * * * * * * * * * * * *
043285,000107: # * -MAXLIM
043286,000108: # *
043287,000109: # *
043288,000110:
043289,000111: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
043290,000112: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
043291,000113: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
043292,000114: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
043293,000115: # SUBJECT TO TEH LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
043294,000116: # ABOVE.
043295,000117:
043296,000118: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
043297,000119: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
043298,000120: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
043299,000121: # # Page 985
043300,000122:
043301,000123: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
043302,000124: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
043303,000125: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
043304,000126: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
043305,000127: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
043306,000128: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
043307,000129: # INSTEAD. TAKE AN OPERATING POINT IN REGION 6' . PASS A TANGENT TO
043308,000130: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
043309,000131: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
043310,000132: # THE INTERSECTION DEFINES THE DESIRED OGARATE. IF THE OPERATING POINT IS
043311,000133: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
043312,000134: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
043313,000135: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
043314,000136: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
043315,000137: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
043316,000138: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
043317,000139: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
043318,000140: # APPROXIMATION.
043319,000141:
043320,000142: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
043321,000143: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
043322,000144: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
043323,000145: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
043324,000146: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
043325,000147: # THE DESIRED INTERSECTION (I.E., IN THE REGION BETWEEN THE MINLIM
043326,000148: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
043327,000149: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
043328,000150: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
043329,000151: # FAILED-ON.
043330,000152:
043331,000153: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
043332,000154: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
043333,000155: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
043334,000156: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
043335,000157: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
043336,000158: # FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,
043337,000159: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
043338,000160:
043339,000161:
043340,000162: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
043341,000163: # 2
043342,000164: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
043343,000165:
043344,000166:
043345,000167: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
043346,000168:
043347,000169: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
043348,000170:
043349,000171: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
043350,000172: # # Page 986
043351,000173:
043352,000174: # EQUATION FOR INTERSECTION, CONTROL PARABOLA, AND STRAIGHT SWITCH LINE....
043353,000175:
043354,000176: # DOGADOT = NUM/DEN, WHERE
043355,000177: # 2
043356,000178: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
043357,000179: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
043358,000180: # +LMCRATE
043359,000181:
043360,000182: # DEN = (-SLOPE)(LMCRATE)(1/CONACC) - SGN(DELOGA)
043361,000183:
043362,000184: # 2
043363,000185: # DELOGA = OGAERROR - (DB - OGARATE (1/CONACC)/2) SGN(OGARATE)
043364,000186:
043365,000187:
043366,000188: # FOR REGIONS 6 AND 6-PRIME, USE ACTUAL OPERATING POINT (OGA, OGARATE)
043367,000189: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
043368,000190: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
043369,000191: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
043370,000192: # OGAERROR= DELOGA + DB SGN(OGARATE)
043371,000193: # OGARATE= -LMCRATE SGN(OGARATE)
043372,000194:
043373,000195: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
043374,000196: # ALSO, AT POINT WHERE DOGARATE IS COMPUTED, REGISTER DELOGA IS USED
043375,000197: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE.
043376,000198: # # Page 987
043377,000199:
043378,000200: # ROLLDAP CODING....
043379,000201:
043380,000202: 16,2000 SETLOC DAPROLL
043381,000203: 16,2000 BANK
043382,000204: 16,3342 E6,1645 EBANK= OGANOW
043383,000205: 16,3342 COUNT* $$/ROLL
043384,000206: 16,3342 31645 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
043385,000207: 16,3343 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
043386,000208: 16,3344 21646 MSU OGAPAST
043387,000209: 16,3345 00006 EXTEND
043388,000210: 16,3346 74764 MP BIT5
043389,000211: 16,3347 22000 LXCH A
043390,000212: 16,3350 55533 TS OGARATE # SC.AT B-4 REV/SEC
043391,000213:
043392,000214: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
043393,000215: # EXAMINE DURATION OF LAST JET FIRING IF JETS NOW ON.
043394,000216:
043395,000217: 16,3351 31571 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
043396,000218: 16,3352 00006 EXTEND
043397,000219: 16,3353 13355 BZF +2 # ROLL JETS ARE NOW OFF.
043398,000220: 16,3354 13363 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
043399,000221:
043400,000222: 16,3355 31573 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
043401,000223: 16,3356 00006 EXTEND # IF POSITIVE, DONT FIRE
043402,000224: 16,3357 13363 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
043403,000225:
043404,000226: 16,3360 34772 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
043405,000227: 16,3361 55573 TS TEMREG # RESET TEMREG
043406,000228: 16,3362 15314 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
043407,000229:
043408,000230: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
043409,000231:
043410,000232: 16,3363 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
043411,000233: 16,3364 00006 EXTEND
043412,000234: 16,3365 71631 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
043413,000235: 16,3366 00006 EXTEND
043414,000236: 16,3367 71533 MP OGARATE
043415,000237: 16,3370 63756 AD DB # SCALED AT 2(+0) REV
043416,000238: 16,3371 55573 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
043417,000239:
043418,000240: # GET SIGN OF OGARATE
043419,000241:
043420,000242: 16,3372 31533 CA OGARATE
043421,000243: 16,3373 00006 EXTEND
043422,000244: 16,3374 63377 BZMF +3 # LET SGN(0) BE NEGATIVE
043423,000245: 16,3375 34770 CA BIT1
043424,000246: 16,3376 13400 TCF +2
043425,000247: 16,3377 44770 CS BIT1
043426,000248: 16,3400 55651 TS SGNRT # + OR - 2(-14)
043427,000249:
043428,000250: # # Page 988
043429,000251: # CALCULATE DISTANCE FROM SWITCH PARABOLA (DELOGA)
043430,000252:
043431,000253: 16,3401 00006 EXTEND
043432,000254: 16,3402 71573 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
043433,000255: 16,3403 40001 CS L
043434,000256: 16,3404 61647 AD OGA # SCALED AT 2(+0) REV
043435,000257: 16,3405 55652 DELOGAC TS DELOGA # SCALE B+0 REV, PLUS TO RIGHT OF C-PARAB
043436,000258:
043437,000259: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
043438,000260:
043439,000261: 16,3406 00006 EXTEND
043440,000262: 16,3407 63412 BZMF +3
043441,000263: 16,3410 34346 CAF PRIO30 # =CA (30000)
043442,000264: 16,3411 13413 TCF +2
043443,000265: 16,3412 34752 CAF BIT15 # =CS (40000)
043444,000266: 16,3413 55653 TS I
043445,000267:
043446,000268: 16,3414 51653 INDEX I # TSET ON I SGN(OGARATE)
043447,000269: 16,3415 01651 0 SGNRT # CA OR CS
043448,000270: 16,3416 40000 COM
043449,000271: 16,3417 00006 EXTEND
043450,000272: 16,3420 63471 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
043451,000273:
043452,000274: # NO JET FIRE YET, TEST FOR MAX OGARATE
043453,000275:
043454,000276: 16,3421 51653 INDEX I
043455,000277: 16,3422 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
043456,000278: 16,3423 55654 TS IOGARATE # I.E. I OGARATE
043457,000279: 16,3424 63763 AD MAXLIM # SCALED AT 2(-4) REV/SEC
043458,000280: 16,3425 00006 EXTEND
043459,000281: 16,3426 63550 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
043460,000282:
043461,000283: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT...NOTE THAT STR. LINE
043462,000284: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG QUANTITY
043463,000285:
043464,000286: 16,3427 31533 CA OGARATE
043465,000287: 16,3430 00006 EXTEND
043466,000288: 16,3431 74753 MP BIT14
043467,000289: 16,3432 55573 TS TEMREG
043468,000290: 16,3433 31647 CA OGA
043469,000291: 16,3434 00006 EXTEND
043470,000292: 16,3435 73757 MP -SLOPE
043471,000293: 16,3436 20001 DDOUBL
043472,000294: 16,3437 20001 DDOUBL
043473,000295: 16,3440 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
043474,000296: 16,3441 61573 AD TEMREG
043475,000297:
043476,000298: 16,3442 51653 INDEX I
043477,000299: 16,3443 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
043478,000300: 16,3444 40000 COM
043479,000301: # # Page 989
043480,000302: 16,3445 63761 AD INTERCEP # SCALED AT 2(-3) REV.
043481,000303: 16,3446 40000 COM
043482,000304: 16,3447 00006 EXTEND
043483,000305: 16,3450 63661 REG2TST BZMF NOROLL # IP REGION 2 (COAST SIDE OF STRT LINE)
043484,000306:
043485,000307: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM BOUNDARY
043486,000308:
043487,000309: 16,3451 31654 CA IOGARATE # ALWAYS NEGATIVE
043488,000310: 16,3452 63762 AD MINLIM # SCALED AT 2(-4) REV/SEC
043489,000311: 16,3453 00006 EXTEND
043490,000312: 16,3454 63661 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
043491,000313:
043492,000314: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
043493,000315:
043494,000316: 16,3455 51653 INDEX I
043495,000317: 16,3456 01647 0 OGA
043496,000318: 16,3457 40000 COM
043497,000319: 16,3460 63756 AD DB
043498,000320: 16,3461 40000 COM
043499,000321: 16,3462 00006 EXTEND
043500,000322: 16,3463 63661 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
043501,000323:
043502,000324: # JETS MUST FIRE NOW. OGARATE IS NEG. (OR VICE VERSA). USE DIRECT STR. LINE.
043503,000325: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
043504,000326: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
043505,000327: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
043506,000328: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
043507,000329: # OPERATING POINTS IN REGIONS 6 AND 6')
043508,000330:
043509,000331: 16,3464 31647 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
043510,000332: 16,3465 55652 TS DELOGA # ACTUAL STATE
043511,000333: 16,3466 31533 CA OGARATE
043512,000334: 16,3467 55650 TS DELOGART # ACTUAL STATE, I.E. DEL OGARATE
043513,000335: 16,3470 13500 TCF ONROLL
043514,000336:
043515,000337: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VICE VERSA), USE INDIRECT
043516,000338: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
043517,000339: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
043518,000340: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1')
043519,000341:
043520,000342: 16,3471 51653 ROLLON INDEX I
043521,000343: 16,3472 03756 0 DB
043522,000344: 16,3473 27652 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
043523,000345:
043524,000346: 16,3474 43760 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
043525,000347: 16,3475 51653 INDEX I
043526,000348: 16,3476 00000 0 A
043527,000349: 16,3477 55650 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
043528,000350:
043529,000351: # # Page 990
043530,000352:
043531,000353: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
043532,000354:
043533,000355: 16,3500 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
043534,000356: 16,3501 71631 MP 1/CONACC
043535,000357: 16,3502 60000 DOUBLE
043536,000358: 16,3503 00006 EXTEND
043537,000359: 16,3504 73757 MP -SLOPE
043538,000360: 16,3505 55573 TS TEMREG # 2(-SLOPE)RATE /CONACC
043539,000361: 16,3506 00006 EXTEND
043540,000362: 16,3507 71650 MP DELOGART
043541,000363: 16,3510 55650 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
043542,000364: 16,3511 44756 CS BIT11
043543,000365: 16,3512 51653 INDEX I
043544,000366: 16,3513 00000 0 A
043545,000367: 16,3514 27573 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
043546,000368:
043547,000369: 16,3515 51653 INDEX I
043548,000370: 16,3516 01652 0 DELOGA
043549,000371: 16,3517 40000 COM
043550,000372: 16,3520 63756 AD DB
043551,000373: 16,3521 40000 COM
043552,000374: 16,3522 00006 EXTEND
043553,000375: 16,3523 73757 MP -SLOPE
043554,000376: 16,3524 27650 ADS DELOGART
043555,000377: 16,3525 33760 CA LMCRATE
043556,000378: 16,3526 00006 EXTEND
043557,000379: 16,3527 74756 MP BIT11
043558,000380: 16,3530 61650 RATENUM AD DELOGART # NUMERATOR COMPLETED
043559,000381:
043560,000382: 16,3531 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
043561,000383: 16,3532 34772 CA ZERO
043562,000384: 16,3533 00006 EXTEND
043563,000385: 16,3534 11573 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
043564,000386: 16,3535 00006 EXTEND
043565,000387: 16,3536 13544 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
043566,000388:
043567,000389: 16,3537 10000 MINLIMAP CCS A
043568,000390: 16,3540 34750 CAF POSMAX # POSITIVE OVERFLOW
043569,000391: 16,3541 13553 TCF ROLLSET
043570,000392: 16,3542 44750 CS POSMAX # NEGATIVE OVERFLOW
043571,000393: 16,3543 13553 TCF ROLLSET
043572,000394:
043573,000395: 16,3544 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 IN L
043574,000396: 16,3545 00006 EXTEND
043575,000397: 16,3546 11573 DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
043576,000398: 16,3547 13553 TCF ROLLSET # (SCALED AT B-4 REV/SEC)
043577,000399:
043578,000400: 16,3550 43763 RATELIM CS MAXLIM
043579,000401: 16,3551 51653 INDEX I
043580,000402: # # Page 991
043581,000403: 16,3552 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
043582,000404:
043583,000405: # COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE
043584,000406:
043585,000407: 16,3553 55573 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
043586,000408: 16,3554 00006 EXTEND
043587,000409: 16,3555 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
043588,000410: 16,3556 55573 TS TEMREG # OVERFLOW PROTECT
043589,000411: 16,3557 13562 TCF +3 # " "
043590,000412: 16,3560 50000 INDEX A # " "
043591,000413: 16,3561 44751 CS LIMITS # " "
043592,000414: 16,3562 00006 EXTEND
043593,000415: 16,3563 77652 MP T6SCALE # T6SCALE = 8/10.24
043594,000416: 16,3564 00006 EXTEND
043595,000417: 16,3565 71631 MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60)
043596,000418: 16,3566 20001 DDOUBL
043597,000419: 16,3567 20001 DDOUBL
043598,000420: 16,3570 55573 TS TEMREG # OVERFLOW PROTECT
043599,000421: 16,3571 13574 TCF +3 # " "
043600,000422: 16,3572 50000 INDEX A # " "
043601,000423: 16,3573 44751 CS LIMITS # " "
043602,000424: 16,3574 55573 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
043603,000425: 16,3575 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
043604,000426: 16,3576 13661 BZF NOROLL
043605,000427:
043606,000428: # JET FIRE TIME IS NZ, TEST FOR JETS NOW ON.
043607,000429:
043608,000430: 16,3577 31573 CAE TEMREG # DESIRED CHANGE IN OGARATE
043609,000431: 16,3600 00006 EXTEND
043610,000432: 16,3601 71571 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
043611,000433: 16,3602 10000 CCS A
043612,000434: 16,3603 13607 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
043613,000435: 16,3604 13612 TCF NEWROLL # START NEW FIRING NOW, PLUS
043614,000436: 16,3605 13661 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
043615,000437: 16,3606 13612 TCF NEWROLL # START NEW FIRING NOW, MINUS
043616,000438:
043617,000439: # CONTINUE PRESENT FIRING
043618,000440:
043619,000441: 16,3607 34772 MOREROLL CAF ZERO
043620,000442: 16,3610 55653 TS I # USE TEMP. AS MOREROLL SWITCH
043621,000443: 16,3611 13623 TCF MAXTFIRE
043622,000444:
043623,000445: # START NEW FIRING BUT CHECK IF GREATER THAN MIN FIRE TIME.
043624,000446:
043625,000447: 16,3612 11573 NEWROLL CCS TEMREG # CALL THIS T6FIRE
043626,000448: 16,3613 64770 AD ONE
043627,000449: 16,3614 13616 TCF +2
043628,000450: 16,3615 64770 AD ONE
043629,000451: 16,3616 40000 COM # -MAG(T6FIRE)
043630,000452: 16,3617 65001 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
043631,000453: # # Page 992
043632,000454: 16,3620 40000 COM
043633,000455: 16,3621 00006 EXTEND
043634,000456: 16,3622 63661 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
043635,000457:
043636,000458: # PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE.
043637,000459:
043638,000460: 16,3623 31573 MAXTFIRE CA TEMREG
043639,000461: 16,3624 00006 EXTEND
043640,000462: 16,3625 74766 MP 1/TMXFIR # I.E. 1/TMAXFIRE
043641,000463: 16,3626 00006 EXTEND
043642,000464: 16,3627 13635 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
043643,000465:
043644,000466: 16,3630 10000 CCS A
043645,000467: 16,3631 33764 CAF TMAXFIRE # USE MAXIMUM
043646,000468: 16,3632 13634 TCF +2
043647,000469: 16,3633 43764 CS TMAXFIRE # USE MAXIMUM
043648,000470: 16,3634 55573 TS TEMREG
043649,000471:
043650,000472: # SET UP SIGN OF REQUIRED TORQUE.
043651,000473:
043652,000474: 16,3635 11573 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
043653,000475: 16,3636 34750 CA POSMAX # POSITIVE TORQUE REQUIRED
043654,000476: 16,3637 13641 TCF +2
043655,000477: 16,3640 34752 CA NEGMAX # NEGATIVE TORQUE REQUIRED
043656,000478: 16,3641 55571 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
043657,000479:
043658,000480: 16,3642 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
043659,000481: 16,3643 00006 EXTEND
043660,000482: 16,3644 63647 BZMF +3 # POSITIVE TORQUE REQUIRED
043661,000483: 16,3645 41573 CS TEMREG
043662,000484: 16,3646 55573 TS TEMREG
043663,000485:
043664,000486: 16,3647 31653 FIRELOOK CA I # IS IT MOREROLL
043665,000487: 16,3650 00006 EXTEND
043666,000488: 16,3651 13653 BZF FIREPLUG # YES
043667,000489: 16,3652 13664 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
043668,000490:
043669,000491: 16,3653 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
043670,000492: 16,3654 00006 EXTEND
043671,000493: 16,3655 61573 SU TEMREG
043672,000494: 16,3656 00006 EXTEND
043673,000495: 16,3657 65314 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
043674,000496: 16,3660 13664 TCF JETROLL
043675,000497:
043676,000498: 16,3661 44772 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
043677,000499: 16,3662 55571 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
043678,000500: 16,3663 55573 TS TEMREG
043679,000501:
043680,000502: 16,3664 00006 JETROLL EXTEND
043681,000503: 16,3665 33755 DCA NOROL1T6
043682,000504: # # Page 993
043683,000505: 16,3666 52111 DXCH T6LOC
043684,000506: 16,3667 31573 CA TEMREG # ENTER JET FIRING TIME
043685,000507: 16,3670 54031 TS TIME6
043686,000508:
043687,000509: 16,3671 31653 CA I # I=0 IF MOREROLL,KEEP SAME JETS ON
043688,000510: 16,3672 00006 EXTEND
043689,000511: 16,3673 15314 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
043690,000512:
043691,000513: 16,3674 11571 CCS ROLLFIRE
043692,000514: 16,3675 13701 TCF +TORQUE
043693,000515: 16,3676 13742 TCF T6ENABL
043694,000516: 16,3677 13722 TCF -TORQUE
043695,000517: 16,3700 13742 TCF T6ENABL
043696,000518:
043697,000519: # PROCEED WITH PLUS TORQUE.
043698,000520:
043699,000521: 16,3701 31572 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
043700,000522: 16,3702 74770 MASK BIT1 # WAS IT NO.9-11
043701,000523: 16,3703 00006 EXTEND
043702,000524: 16,3704 13714 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
043703,000525:
043704,000526: 16,3705 44770 NO.13-15 CS BIT1
043705,000527: 16,3706 71572 MASK ROLLWORD
043706,000528: 16,3707 55572 TS ROLLWORD # CHANGE BIT 1 TO ZERO
043707,000529: 16,3710 35014 CAF +ROLL2
043708,000530: 16,3711 00006 EXTEND
043709,000531: 16,3712 01006 WRITE CHAN6
043710,000532: 16,3713 13742 TCF T6ENABL
043711,000533:
043712,000534: 16,3714 34770 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
043713,000535: 16,3715 27572 ADS ROLLWORD # CHANGE BIT 1 TO ONE
043714,000536: 16,3716 34773 CAF +ROLL1
043715,000537: 16,3717 00006 EXTEND
043716,000538: 16,3720 01006 WRITE CHAN6
043717,000539: 16,3721 13742 TCF T6ENABL
043718,000540:
043719,000541: 16,3722 31572 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
043720,000542: 16,3723 74767 MASK BIT2 # WAS IT NO.12-10
043721,000543: 16,3724 00006 EXTEND
043722,000544: 16,3725 13735 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
043723,000545:
043724,000546: 16,3726 44767 NO.16-14 CS BIT2
043725,000547: 16,3727 71572 MASK ROLLWORD
043726,000548: 16,3730 55572 TS ROLLWORD # CHANGE BIT 2 TO ZERO
043727,000549: 16,3731 33765 CAF -ROLL2
043728,000550: 16,3732 00006 EXTEND
043729,000551: 16,3733 01006 WRITE CHAN6
043730,000552: 16,3734 13742 TCF T6ENABL
043731,000553:
043732,000554: 16,3735 34767 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
043733,000555: # # Page 994
043734,000556: 16,3736 27572 ADS ROLLWORD # CHANGE BIT 2 TO ONE
043735,000557: 16,3737 34355 CAF -ROLL1
043736,000558: 16,3740 00006 EXTEND
043737,000559: 16,3741 01006 WRITE CHAN6
043738,000560:
043739,000561: 16,3742 34752 T6ENABL CAF BIT15
043740,000562: 16,3743 00006 EXTEND
043741,000563: 16,3744 05013 WOR CHAN13
043742,000564: 16,3745 15314 RDAPEND TCF TASKOVER # EXIT ROLL DAP
043743,000565:
043744,000566: # # Page 995
043745,000567:
043746,000568: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
043747,000569:
043748,000570: 16,3746 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
043749,000571: 16,3747 34772 CAF ZERO # CALLED BY ''JETROLL'')
043750,000572: 16,3750 55571 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
043751,000573: 16,3751 00006 EXTEND
043752,000574: 16,3752 01006 KILLJETS WRITE CHAN6
043753,000575: 16,3753 15325 TCF NOQRSM
043754,000576:
043755,000577: # # Page 996
043756,000578:
043757,000579: # CONSTANTS FOR ROLL AUTOPILOT....
043758,000580:
043759,000581: 16,3754 E6,1446 EBANK= CNTR
043760,000582: 16,3754 03746 34066 NOROL1T6 2CADR NOROLL1
043761,000583:
043762,000584: 16,3756 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
043763,000585:
043764,000586: 16,3757 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
043765,000587: # PER SEC
043766,000588: 16,3760 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
043767,000589: # B-4 REV/SEC
043768,000590: 16,3761 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
043769,000591:
043770,000592: 16,3762 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
043771,000593:
043772,000594: 16,3763 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
043773,000595:
043774,000596: # TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
043775,000597: 16,3764 5001 TMINFIRE = BITS4&5
043776,000598:
043777,000599: 16,3764 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
043778,000600:
043779,000601: 16,3765 4766 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
043780,000602: # ROUNDS TO OCT00004, SO ALLOWS 2.56
043781,000603: # SEC FIRINGS BEFORE APPLYING LIMIT
043782,000604: 16,3765 7652 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
043783,000605:
043784,000606: 16,3765 4773 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
043785,000607: 16,3765 5014 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
043786,000608: 16,3765 4355 -ROLL1 = TEN # ONBITS FOR JETS 12 AND 10
043787,000609: 16,3765 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc