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