Source Code
042691,000001: # Copyright: Public domain.
042692,000002: # Filename: TVCDAPS.agc
042693,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
042694,000004: # It is part of the source code for the Command Module's (CM)
042695,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
042696,000006: # Assembler: yaYUL
042697,000007: # Contact: Ron Burkey <info@sandroid.org>.
042698,000008: # Website: www.ibiblio.org/apollo.
042699,000009: # Pages: 961-978
042700,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
042701,000011: # same name, using Comanche055 page images.
042702,000012: # 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND,
042703,000013: # added a missing instruction to PFORWARD.
042704,000014: # 2000-05-21 RSB Wrong opcode was used with DELBRTMP and
042705,000015: # DELBRTMP +1 operands in 4 places. Corrected
042706,000016: # an MP operation in 2CASFLTR.
042707,000017:
042708,000018: # This source code has been transcribed or otherwise adapted from digitized
042709,000019: # images of a hardcopy from the MIT Museum. The digitization was performed
042710,000020: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
042711,000021: # thanks to both. The images (with suitable reduction in storage size and
042712,000022: # consequent reduction in image quality as well) are available online at
042713,000023: # www.ibiblio.org/apollo. If for some reason you find that the images are
042714,000024: # illegible, contact me at info@sandroid.org about getting access to the
042715,000025: # (much) higher-quality images which Paul actually created.
042716,000026:
042717,000027: # Notations on the hardcopy document read, in part:
042718,000028:
042719,000029: # Assemble revision 055 of AGC program Comanche by NASA
042720,000030: # 2021113-051. 10:28 APR. 1, 1969
042721,000031:
042722,000032: # This AGC program shall also be referred to as
042723,000033: # Colossus 2A
042724,000034:
042725,000035: # Page 961
042726,000036: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
042727,000037: # LOG SECTION....TVCDAPS SUBROUTINE....DAPCSM
042728,000038: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
042729,000039:
042730,000040: # FUNCTIONAL DESCRIPTION
042731,000041:
042732,000042: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
042733,000043: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
042734,000044: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
042735,000045: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
042736,000046: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
042737,000047:
042738,000048: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
042739,000049: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
042740,000050: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
042741,000051: # INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTERS
042742,000052: # FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER.
042743,000053: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
042744,000054:
042745,000055: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
042746,000056: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
042747,000057: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
042748,000058: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
042749,000059: # MODING.
042750,000060:
042751,000061: # CALLING SEQUENCE.... (TYPICALLY)
042752,000062:
042753,000063: # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
042754,000064: # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
042755,000065: # T5 CALL OF PITCHDAP BY DAPINIT
042756,000066: # T5 CALL OF YAWDAP BY PITCHDAP
042757,000067: # T5 CALL OF PITCHDAP BY YAWDAP
042758,000068: # ETC.
042759,000069: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
042760,000070:
042761,000071: # NORMAL EXIT MODE....RESUME
042762,000072:
042763,000073: # ALARM OR ABORT EXIT MODES....NONE
042764,000074:
042765,000075: # SUBROUTINES CALLED....
042766,000076:
042767,000077: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
042768,000078: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
042769,000079: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
042770,000080: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
042771,000081: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
042772,000082: # YAW DAPS
042773,000083: # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
042774,000084: # OUTPUTS AND STORAGE VALUES
042775,000085: # RESUME
042776,000086:
042777,000087: # Page 962
042778,000088: # OTHER INTERFACES
042779,000089:
042780,000090: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
042781,000091: # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
042782,000092: # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
042783,000093: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
042784,000094:
042785,000095: # ERASABLE INITIALIZATION REQUIRED....
042786,000096:
042787,000097: # PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
042788,000098: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
042789,000099: # ENGINE-ON BIT (11.13) FOR RESTARTS
042790,000100: # TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
042791,000101: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
042792,000102: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
042793,000103: # INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
042794,000104: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY QUICTRIG1 (WITH
042795,000105: # UPDATES EVERY 1/2 SECOND)
042796,000106: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
042797,000107: # UNLESS BENCH-TESTING.
042798,000108:
042799,000109: # OUTPUT....
042800,000110:
042801,000111: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL
042802,000112: # COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
042803,000113: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
042804,000114: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
042805,000115:
042806,000116: # DEBRIS....
042807,000117:
042808,000118: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042809,000119:
042810,000120: 17,2552 BANK 17
042811,000121: 20,2000 SETLOC DAPS2
042812,000122: 20,2000 BANK
042813,000123:
042814,000124: 20,2530 E6,1702 EBANK= BZERO
042815,000125:
042816,000126: 20,2530 COUNT* $$/DAPS
042817,000127:
042818,000128: # Page 963
042819,000129: # PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
042820,000130:
042821,000131: 20,2530 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
042822,000132: 20,2531 00006 EXTEND
042823,000133: 20,2532 22012 QXCH QRUPT
042824,000134:
042825,000135: 20,2533 33475 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
042826,000136: 20,2534 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
042827,000137: 20,2535 31625 CAE T5TVCDT
042828,000138: 20,2536 54030 TS TIME5
042829,000139:
042830,000140: 20,2537 11574 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
042831,000141: 20,2540 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS
042832,000142: 20,2541 12543 TCF +2 # NO-TEST
042833,000143: 20,2542 03533 TC HACK # TEST-IN-PROGRESS
042834,000144:
042835,000145: 20,2543 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
042836,000146: 20,2544 57645 XCH PCDUYPST
042837,000147: 20,2545 00006 EXTEND
042838,000148: 20,2546 21645 MSU PCDUYPST
042839,000149: 20,2547 02560 TCR RLIMTEST # RATE TEST
042840,000150: 20,2550 55647 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042841,000151:
042842,000152: 20,2551 30034 CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW)
042843,000153: 20,2552 57646 XCH PCDUZPST
042844,000154: 20,2553 00006 EXTEND
042845,000155: 20,2554 21646 MSU PCDUZPST
042846,000156: 20,2555 02560 TCR RLIMTEST # RATE TEST
042847,000157: 20,2556 55650 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042848,000158: 20,2557 12571 TCF PINTEGRL
042849,000159:
042850,000160: 20,2560 55611 RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
042851,000161: 20,2561 00006 EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD
042852,000162: 20,2562 73476 MP 1/RTLIM
042853,000163: 20,2563 00006 EXTEND
042854,000164: 20,2564 12567 BZF +3
042855,000165: 20,2565 35021 CAF ZERO
042856,000166: 20,2566 55611 TS TTMP1
042857,000167: 20,2567 31611 CAE TTMP1
042858,000168: 20,2570 00002 TC Q
042859,000169:
042860,000170: 20,2571 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
042861,000171: 20,2572 31576 DCA PERRB # ERROR, SC.AT B-1 REVS
042862,000172: 20,2573 53703 DXCH ERRBTMP
042863,000173:
042864,000174: 20,2574 00006 EXTEND
042865,000175: 20,2575 31530 DCA OMEGAYC
042866,000176: 20,2576 21703 DAS ERRBTMP
042867,000177:
042868,000178: # Page 964
042869,000179: 20,2577 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
042870,000180: 20,2600 00006 EXTEND
042871,000181: 20,2601 70750 MP COSCDUX
042872,000182: 20,2602 20001 DDOUBL
042873,000183: 20,2603 00006 EXTEND
042874,000184: 20,2604 71647 MP MCDUYDOT
042875,000185: 20,2605 20001 DDOUBL
042876,000186: 20,2606 53536 DXCH OMEGAYB
042877,000187:
042878,000188: 20,2607 41650 CS MCDUZDOT
042879,000189: 20,2610 00006 EXTEND
042880,000190: 20,2611 70742 MP SINCDUX
042881,000191: 20,2612 20001 DDOUBL
042882,000192: 20,2613 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
042883,000193:
042884,000194: 20,2614 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
042885,000195: 20,2615 41536 DCS OMEGAYB
042886,000196: 20,2616 21703 DAS ERRBTMP
042887,000197:
042888,000198: 20,2617 03124 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
042889,000199:
042890,000200: 20,2620 00006 PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
042891,000201: 20,2621 31542 DCA PTMP1 # FOR THE PITCH CHANNEL
042892,000202: 20,2622 53707 DXCH TMP1
042893,000203: 20,2623 00006 EXTEND
042894,000204: 20,2624 31546 DCA PTMP3
042895,000205: 20,2625 53713 DXCH TMP3
042896,000206: 20,2626 00006 EXTEND
042897,000207: 20,2627 31552 DCA PTMP5
042898,000208: 20,2630 53717 DXCH TMP5
042899,000209:
042900,000210: 20,2631 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
042901,000211: # (INCLUDES VARIABLE GAIN PACKAGE)
042902,000212:
042903,000213: 20,2632 00006 POFFSET EXTEND
042904,000214: 20,2633 31606 DCA PDELOFF
042905,000215: 20,2634 21705 DAS CMDTMP # NO SCALED AT B+0 ASCREV
042906,000216:
042907,000217: 20,2635 03137 PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
042908,000218:
042909,000219: 20,2636 41623 POUT CS PCMD # INCREMENTAL PITCH COMMAND
042910,000220: 20,2637 61704 AD CMDTMP
042911,000221: 20,2640 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
042912,000222: # PROTECT. SINCE ERROR CNTR ZEROED)
042913,000223:
042914,000224: 20,2641 35005 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
042915,000225: 20,2642 00006 EXTEND
042916,000226: 20,2643 05014 WOR CHAN14
042917,000227:
042918,000228: 20,2644 00006 PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
042919,000229: # Page 965
042920,000230: 20,2645 31544 DCA PTMP2
042921,000231: 20,2646 53711 DXCH TMP2
042922,000232: 20,2647 00006 EXTEND
042923,000233: 20,2650 31550 DCA PTMP4
042924,000234: 20,2651 53715 DXCH TMP4
042925,000235: 20,2652 00006 EXTEND
042926,000236: 20,2653 31554 DCA PTMP6
042927,000237: 20,2654 53721 DXCH TMP6
042928,000238:
042929,000239: 20,2655 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
042930,000240:
042931,000241: 20,2656 31602 DELBARP CAE DELPBAR +1
042932,000242: 20,2657 00006 EXTEND
042933,000243: 20,2660 73500 MP E(-AT)
042934,000244: 20,2661 55701 TS DELBRTMP +1
042935,000245: 20,2662 31601 CAE DELPBAR
042936,000246: 20,2663 00006 EXTEND
042937,000247: 20,2664 73500 MP E(-AT)
042938,000248: 20,2665 21701 DAS DELBRTMP
042939,000249: 20,2666 31704 CAE CMDTMP
042940,000250: 20,2667 00006 EXTEND
042941,000251: 20,2670 73477 MP 1-E(-AT)
042942,000252: 20,2671 21701 DAS DELBRTMP
042943,000253:
042944,000254: 20,2672 02674 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
042945,000255:
042946,000256: 20,2673 15333 PDAPEND TCF RESUME # PITCH DAP COMPLETED
042947,000257: # Page 966
042948,000258: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
042949,000259:
042950,000260: 20,2674 25644 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
042951,000261: # NOTE POSSIBLE RE-ENTRY FROM RESTART
042952,000262: # PACKAGE, SHOULD A RESTART OCCUR
042953,000263: # DURING PITCH COPYCYCLE.
042954,000264:
042955,000265: 20,2675 00006 EXTEND
042956,000266: 20,2676 31707 DCA TMP1
042957,000267: 20,2677 53542 DXCH PTMP1
042958,000268: 20,2700 00006 EXTEND
042959,000269: 20,2701 31711 DCA TMP2
042960,000270: 20,2702 53544 DXCH PTMP2
042961,000271: 20,2703 00006 EXTEND
042962,000272: 20,2704 31713 DCA TMP3
042963,000273: 20,2705 53546 DXCH PTMP3
042964,000274: 20,2706 00006 EXTEND
042965,000275: 20,2707 31715 DCA TMP4
042966,000276: 20,2710 53550 DXCH PTMP4
042967,000277: 20,2711 00006 EXTEND
042968,000278: 20,2712 31717 DCA TMP5
042969,000279: 20,2713 53552 DXCH PTMP5
042970,000280: 20,2714 00006 EXTEND
042971,000281: 20,2715 31721 DCA TMP6
042972,000282: 20,2716 53554 DXCH PTMP6
042973,000283:
042974,000284: 20,2717 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
042975,000285: 20,2720 31703 DCA ERRBTMP
042976,000286: 20,2721 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
042977,000287: 20,2722 53576 DXCH PERRB
042978,000288:
042979,000289: 20,2723 31704 CAE CMDTMP # PITCH ACTUATOR COMMAND
042980,000290: 20,2724 55623 TS PCMD
042981,000291:
042982,000292: 20,2725 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
042983,000293: 20,2726 31701 DCA DELBRTMP
042984,000294: 20,2727 53602 DXCH DELPBAR
042985,000295:
042986,000296: 20,2730 25644 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2)
042987,000297:
042988,000298: 20,2731 00002 TC Q
042989,000299:
042990,000300: # Page 967
042991,000301: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
042992,000302:
042993,000303: 20,2732 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
042994,000304: 20,2733 00006 EXTEND
042995,000305: 20,2734 22012 QXCH QRUPT
042996,000306:
042997,000307: 20,2735 33473 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
042998,000308: 20,2736 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
042999,000309: 20,2737 31625 CAE T5TVCDT
043000,000310: 20,2740 54030 TS TIME5
043001,000311:
043002,000312: 20,2741 11574 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
043003,000313: 20,2742 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS
043004,000314: 20,2743 12745 TCF +2 # NO-TEST
043005,000315: 20,2744 03533 TC HACK # TEST-IN-PROGRESS
043006,000316:
043007,000317: # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
043008,000318:
043009,000319: 20,2745 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
043010,000320: 20,2746 31600 DCA YERRB # ERROR, SC.AT B-1 REVS
043011,000321: 20,2747 53703 DXCH ERRBTMP
043012,000322:
043013,000323: 20,2750 00006 EXTEND
043014,000324: 20,2751 31532 DCA OMEGAZC
043015,000325: 20,2752 21703 DAS ERRBTMP
043016,000326:
043017,000327: 20,2753 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
043018,000328: 20,2754 00006 EXTEND
043019,000329: 20,2755 70742 MP SINCDUX
043020,000330: 20,2756 20001 DDOUBL
043021,000331: 20,2757 00006 EXTEND
043022,000332: 20,2760 71647 MP MCDUYDOT
043023,000333: 20,2761 20001 DDOUBL
043024,000334: 20,2762 53540 DXCH OMEGAZB
043025,000335:
043026,000336: 20,2763 41650 CS MCDUZDOT
043027,000337: 20,2764 00006 EXTEND
043028,000338: 20,2765 70750 MP COSCDUX
043029,000339: 20,2766 20001 DDOUBL
043030,000340: 20,2767 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
043031,000341:
043032,000342: 20,2770 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
043033,000343: 20,2771 41540 DCS OMEGAZB
043034,000344: 20,2772 21703 DAS ERRBTMP
043035,000345:
043036,000346: 20,2773 03124 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
043037,000347:
043038,000348: 20,2774 00006 YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
043039,000349: 20,2775 31556 DCA YTMP1 # FOR THE YAW CHANNEL
043040,000350: # Page 968
043041,000351: 20,2776 53707 DXCH TMP1
043042,000352: 20,2777 00006 EXTEND
043043,000353: 20,3000 31562 DCA YTMP3
043044,000354: 20,3001 53713 DXCH TMP3
043045,000355: 20,3002 00006 EXTEND
043046,000356: 20,3003 31566 DCA YTMP5
043047,000357: 20,3004 53717 DXCH TMP5
043048,000358:
043049,000359: 20,3005 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
043050,000360: # (INCLUDES VARIABLE GAIN PACKAGE)
043051,000361:
043052,000362: 20,3006 00006 YOFFSET EXTEND
043053,000363: 20,3007 31610 DCA YDELOFF
043054,000364: 20,3010 21705 DAS CMDTMP # NOW SCALED AT B+0 ASCREV
043055,000365:
043056,000366: 20,3011 03137 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
043057,000367:
043058,000368: 20,3012 41624 YOUT CS YCMD # INCRMENTAL YAW COMMAND
043059,000369: 20,3013 61704 AD CMDTMP
043060,000370: 20,3014 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
043061,000371: # PROTECT, SINCE ERROR CNTR ZEROED)
043062,000372:
043063,000373: 20,3015 35004 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
043064,000374: 20,3016 00006 EXTEND
043065,000375: 20,3017 05014 WOR CHAN14
043066,000376:
043067,000377: 20,3020 00006 YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW
043068,000378: 20,3021 31560 DCA YTMP2
043069,000379: 20,3022 53711 DXCH TMP2
043070,000380: 20,3023 00006 EXTEND
043071,000381: 20,3024 31564 DCA YTMP4
043072,000382: 20,3025 53715 DXCH TMP4
043073,000383: 20,3026 00006 EXTEND
043074,000384: 20,3027 31570 DCA YTMP6
043075,000385: 20,3030 53721 DXCH TMP6
043076,000386:
043077,000387: 20,3031 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
043078,000388:
043079,000389: 20,3032 31604 DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER
043080,000390: 20,3033 00006 EXTEND
043081,000391: 20,3034 73500 MP E(-AT)
043082,000392: 20,3035 55701 TS DELBRTMP +1
043083,000393: 20,3036 31603 CAE DELYBAR
043084,000394: 20,3037 00006 EXTEND
043085,000395: 20,3040 73500 MP E(-AT)
043086,000396: 20,3041 21701 DAS DELBRTMP
043087,000397: 20,3042 31704 CAE CMDTMP
043088,000398: 20,3043 00006 EXTEND
043089,000399: 20,3044 73477 MP 1-E(-AT)
043090,000400: 20,3045 21701 DAS DELBRTMP
043091,000401:
043092,000402: # Page 969
043093,000403: 20,3046 03050 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
043094,000404:
043095,000405: 20,3047 15333 YDAPEND TCF RESUME # YAW DAP COMPLETED
043096,000406:
043097,000407: # Page 970
043098,000408: # TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
043099,000409:
043100,000410: 20,3050 25644 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3)
043101,000411: # NOTE POSSIBLE RE-ENTRY FROM RESTART
043102,000412: # PACKAGE, SHOULD A RESTART OCCUR
043103,000413: # DURING YAW COPYCYCLE.
043104,000414:
043105,000415: 20,3051 00006 EXTEND
043106,000416: 20,3052 31707 DCA TMP1
043107,000417: 20,3053 53556 DXCH YTMP1
043108,000418: 20,3054 00006 EXTEND
043109,000419: 20,3055 31711 DCA TMP2
043110,000420: 20,3056 53560 DXCH YTMP2
043111,000421: 20,3057 00006 EXTEND
043112,000422: 20,3060 31713 DCA TMP3
043113,000423: 20,3061 53562 DXCH YTMP3
043114,000424: 20,3062 00006 EXTEND
043115,000425: 20,3063 31715 DCA TMP4
043116,000426: 20,3064 53564 DXCH YTMP4
043117,000427: 20,3065 00006 EXTEND
043118,000428: 20,3066 31717 DCA TMP5
043119,000429: 20,3067 53566 DXCH YTMP5
043120,000430: 20,3070 00006 EXTEND
043121,000431: 20,3071 31721 DCA TMP6
043122,000432: 20,3072 53570 DXCH YTMP6
043123,000433:
043124,000434: 20,3073 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
043125,000435: 20,3074 31703 DCA ERRBTMP
043126,000436: 20,3075 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
043127,000437: 20,3076 53600 DXCH YERRB
043128,000438:
043129,000439: 20,3077 31704 CAE CMDTMP
043130,000440: 20,3100 55624 TS YCMD
043131,000441:
043132,000442: 20,3101 00006 EXTEND
043133,000443: 20,3102 31701 DCA DELBRTMP
043134,000444: 20,3103 53604 DXCH DELYBAR
043135,000445:
043136,000446: 20,3104 35021 CAF ZERO # YAW COPYCYCLE COMPLETED
043137,000447: 20,3105 55644 TS TVCPHASE # RESET TVCPHASE
043138,000448:
043139,000449: 20,3106 00002 TC Q
043140,000450:
043141,000451: # Page 971
043142,000452: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
043143,000453:
043144,000454: # INITIALIZATION PACKAGE FOR CDURATES....
043145,000455:
043146,000456: 20,3107 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
043147,000457:
043148,000458: 20,3110 37716 CAF NEGONE # SET UP
043149,000459: 20,3111 61625 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
043150,000460: 20,3112 65001 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
043151,000461: 20,3113 61625 AD T5TVCDT
043152,000462: 20,3114 54030 TS TIME5
043153,000463: 20,3115 33473 CAF PITCHT5 # (BBCON ALREADY THERE)
043154,000464: 20,3116 55312 TS T5LOC
043155,000465:
043156,000466: 20,3117 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
043157,000467: 20,3120 55645 TS PCDUYPST # PAST-VALUES
043158,000468: 20,3121 30034 CAE CDUZ
043159,000469: 20,3122 55646 TS PCDUZPST
043160,000470:
043161,000471: 20,3123 15335 TCF NOQRSM
043162,000472:
043163,000473: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
043164,000474:
043165,000475: 20,3124 31702 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
043166,000476: 20,3125 00006 EXTEND # CHECKS UPPER WORD ONLY
043167,000477: 20,3126 75015 MP 1/ERRLIM
043168,000478: 20,3127 00006 EXTEND
043169,000479: 20,3130 13136 BZF +6
043170,000480: 20,3131 11702 CCS ERRBTMP
043171,000481: 20,3132 35003 CAF ERRLIM
043172,000482: 20,3133 13135 TCF +2
043173,000483: 20,3134 45003 CS ERRLIM
043174,000484: 20,3135 55702 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
043175,000485:
043176,000486: 20,3136 00002 TC Q
043177,000487:
043178,000488: # ACTUATOR-COMMAND LIMITER PACKAGE....
043179,000489:
043180,000490: 20,3137 31705 ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
043181,000491: 20,3140 60000 DOUBLE
043182,000492: 20,3141 54001 TS L
043183,000493: 20,3142 35021 CAF ZERO
043184,000494: 20,3143 61704 AD CMDTMP
043185,000495:
043186,000496: 20,3144 00006 EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
043187,000497: 20,3145 73472 MP 1/ACTSAT
043188,000498: 20,3146 00006 EXTEND
043189,000499: # Page 972
043190,000500: 20,3147 13155 BZF +6
043191,000501: 20,3150 11704 CCS CMDTMP # APPLY LIMITS
043192,000502: 20,3151 33471 CAF ACTSAT
043193,000503: 20,3152 13154 TCF +2
043194,000504: 20,3153 43471 CS ACTSAT
043195,000505: 20,3154 55704 TS CMDTMP # LIMITS WRITE OVER CMDTMP
043196,000506:
043197,000507: 20,3155 00002 TC Q
043198,000508:
043199,000509: # FILTER COMPUTATIONS FOR PRESENT OUTPUT................
043200,000510:
043201,000511: 20,3156 35021 FWDFLTR CAF ZERO
043202,000512: 20,3157 55615 TS DAP1
043203,000513: 20,3160 55617 TS DAP2
043204,000514: 20,3161 55621 TS DAP3
043205,000515: 20,3162 55704 TS CMDTMP
043206,000516:
043207,000517: 20,3163 55700 TS DELBRTMP
043208,000518:
043209,000519: 20,3164 31703 1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE
043210,000520: 20,3165 00006 EXTEND
043211,000521: 20,3166 71723 MP N10 # N10
043212,000522: 20,3167 55616 TS DAP1 +1
043213,000523: 20,3170 31702 CA ERRBTMP
043214,000524: 20,3171 00006 EXTEND
043215,000525: 20,3172 71723 MP N10 # N10
043216,000526: 20,3173 21616 DAS DAP1
043217,000527: 20,3174 53707 DXCH TMP1
043218,000528: 20,3175 21616 DAS DAP1
043219,000529:
043220,000530: 20,3176 31616 2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE
043221,000531: 20,3177 00006 EXTEND
043222,000532: 20,3200 71730 MP N10 +5 # N20
043223,000533: 20,3201 55620 TS DAP2 +1
043224,000534: 20,3202 31615 CA DAP1
043225,000535: 20,3203 00006 EXTEND
043226,000536: 20,3204 71730 MP N10 +5 # N20
043227,000537: 20,3205 21620 DAS DAP2
043228,000538: 20,3206 53713 DXCH TMP3
043229,000539: 20,3207 21620 DAS DAP2
043230,000540:
043231,000541: 20,3210 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
043232,000542: 20,3211 75002 MASK BIT14
043233,000543: 20,3212 10000 CCS A
043234,000544: 20,3213 13220 TCF 3DAPCAS # LEM ON
043235,000545: 20,3214 00006 EXTEND # LEM OFF
043236,000546: 20,3215 31620 DCA DAP2
043237,000547: 20,3216 53622 DXCH DAP3
043238,000548: 20,3217 13232 TCF OPTVARK
043239,000549:
043240,000550: # Page 973
043241,000551: 20,3220 31620 3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE
043242,000552: 20,3221 00006 EXTEND
043243,000553: 20,3222 71735 MP N10 +10D # N30
043244,000554: 20,3223 55622 TS DAP3 +1
043245,000555: 20,3224 31617 CA DAP2
043246,000556: 20,3225 00006 EXTEND
043247,000557: 20,3226 71735 MP N10 +10D # N30
043248,000558: 20,3227 21622 DAS DAP3
043249,000559: 20,3230 53717 DXCH TMP5
043250,000560: 20,3231 21622 DAS DAP3
043251,000561:
043252,000562: 20,3232 41622 OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
043253,000563: 20,3233 00006 EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP)
043254,000564: 20,3234 71641 MP VARK # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE
043255,000565: 20,3235 55705 TS CMDTMP +1
043256,000566: 20,3236 41621 CS DAP3
043257,000567: 20,3237 00006 EXTEND
043258,000568: 20,3240 71641 MP VARK
043259,000569: 20,3241 21705 DAS CMDTMP
043260,000570:
043261,000571: 20,3242 53705 DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS
043262,000572: 20,3243 20001 DDOUBL
043263,000573: 20,3244 20001 DDOUBL
043264,000574: 20,3245 53705 DXCH CMDTMP # -- SCALED B+1 ASCREVS
043265,000575: # NOTE -- THERE IS AN INHERENT GAIN OF
043266,000576: # (B+1 ASCREVS) ON THE OUTPUT DACS.
043267,000577:
043268,000578: 20,3246 00002 TC Q
043269,000579:
043270,000580: # FILTER PRECOMPUTATIONS FOR NEXT PASS................
043271,000581:
043272,000582: 20,3247 35021 PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
043273,000583: 20,3250 55611 TS TTMP1
043274,000584: 20,3251 55613 TS TTMP2
043275,000585:
043276,000586: 20,3252 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY
043277,000587: 20,3253 00006 EXTEND
043278,000588: 20,3254 71724 MP N10 +1 # N11/2
043279,000589: 20,3255 55612 TS TTMP1 +1
043280,000590: 20,3256 31702 CA ERRBTMP
043281,000591: 20,3257 00006 EXTEND
043282,000592: 20,3260 71724 MP N10 +1 # N11/2
043283,000593: 20,3261 21612 DAS TTMP1
043284,000594:
043285,000595: 20,3262 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
043286,000596: 20,3263 00006 EXTEND
043287,000597: 20,3264 71726 MP N10 +3 # D11/2
043288,000598: 20,3265 55614 TS TTMP2 +1
043289,000599: 20,3266 41615 CS DAP1
043290,000600:
043291,000601: # Page 974
043292,000602: 20,3267 00006 EXTEND
043293,000603: 20,3270 71726 MP N10 +3 # D11/2
043294,000604: 20,3271 21614 DAS TTMP2
043295,000605:
043296,000606: 20,3272 53614 DXCH TTMP2
043297,000607: 20,3273 21612 DAS TTMP1
043298,000608: 20,3274 53612 DXCH TTMP1
043299,000609: 20,3275 20001 DDOUBL
043300,000610: 20,3276 21711 DAS TMP2
043301,000611:
043302,000612: 20,3277 53711 DXCH TMP2
043303,000613: 20,3300 53707 DXCH TMP1
043304,000614:
043305,000615: 20,3301 35021 CAF ZERO
043306,000616: 20,3302 55611 TS TTMP1
043307,000617: 20,3303 55710 TS TMP2
043308,000618:
043309,000619: 20,3304 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY
043310,000620: 20,3305 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF.
043311,000621: 20,3306 71725 MP N10 +2 # N12
043312,000622: 20,3307 55612 TS TTMP1 +1
043313,000623: 20,3310 31702 CA ERRBTMP
043314,000624: 20,3311 00006 EXTEND
043315,000625: 20,3312 71725 MP N10 +2 # N12
043316,000626: 20,3313 21612 DAS TTMP1
043317,000627:
043318,000628: 20,3314 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
043319,000629: 20,3315 00006 EXTEND
043320,000630: 20,3316 71727 MP N10 +4 # D12
043321,000631: 20,3317 55711 TS TMP2 +1
043322,000632: 20,3320 41615 CS DAP1
043323,000633: 20,3321 00006 EXTEND
043324,000634: 20,3322 71727 MP N10 +4 # D12
043325,000635: 20,3323 21711 DAS TMP2
043326,000636:
043327,000637: 20,3324 53612 DXCH TTMP1
043328,000638: 20,3325 21711 DAS TMP2
043329,000639:
043330,000640: 20,3326 35021 2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER **********
043331,000641: 20,3327 55611 TS TTMP1
043332,000642: 20,3330 55613 TS TTMP2
043333,000643:
043334,000644: 20,3331 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043335,000645: 20,3332 00006 EXTEND
043336,000646: 20,3333 71731 MP N10 +6 # N21/2
043337,000647: 20,3334 55612 TS TTMP1 +1
043338,000648: 20,3335 31615 CA DAP1
043339,000649: 20,3336 00006 EXTEND
043340,000650: 20,3337 71731 MP N10 +6 # N21/2
043341,000651: # Page 975
043342,000652: 20,3340 21612 DAS TTMP1
043343,000653:
043344,000654: 20,3341 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043345,000655: 20,3342 00006 EXTEND
043346,000656: 20,3343 71733 MP N10 +8D # D21/2
043347,000657: 20,3344 55614 TS TTMP2 +1
043348,000658: 20,3345 41617 CS DAP2
043349,000659: 20,3346 00006 EXTEND
043350,000660: 20,3347 71733 MP N10 +8D # D21/2
043351,000661: 20,3350 21614 DAS TTMP2
043352,000662:
043353,000663: 20,3351 53614 DXCH TTMP2
043354,000664: 20,3352 21612 DAS TTMP1
043355,000665: 20,3353 53612 DXCH TTMP1
043356,000666: 20,3354 20001 DDOUBL
043357,000667: 20,3355 21715 DAS TMP4
043358,000668:
043359,000669: 20,3356 53715 DXCH TMP4
043360,000670: 20,3357 53713 DXCH TMP3
043361,000671:
043362,000672: 20,3360 35021 CAF ZERO
043363,000673: 20,3361 55611 TS TTMP1
043364,000674: 20,3362 55714 TS TMP4
043365,000675:
043366,000676: 20,3363 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043367,000677: 20,3364 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF.
043368,000678: 20,3365 71732 MP N10 +7 # N22
043369,000679: 20,3366 55612 TS TTMP1 +1
043370,000680: 20,3367 31615 CA DAP1
043371,000681: 20,3370 00006 EXTEND
043372,000682: 20,3371 71732 MP N10 +7 # N22
043373,000683: 20,3372 21612 DAS TTMP1
043374,000684:
043375,000685: 20,3373 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043376,000686: 20,3374 00006 EXTEND
043377,000687: 20,3375 71734 MP N10 +9D # D22
043378,000688: 20,3376 55715 TS TMP4 +1
043379,000689: 20,3377 41617 CS DAP2
043380,000690: 20,3400 00006 EXTEND
043381,000691: 20,3401 71734 MP N10 +9D # D22
043382,000692: 20,3402 21715 DAS TMP4
043383,000693:
043384,000694: 20,3403 53612 DXCH TTMP1
043385,000695: 20,3404 21715 DAS TMP4
043386,000696:
043387,000697: 20,3405 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
043388,000698: 20,3406 75003 MASK BIT13
043389,000699: 20,3407 10000 CCS A
043390,000700: 20,3410 00002 TC Q # EXIT IF LEM OFF
043391,000701:
043392,000702: # Page 976
043393,000703: 20,3411 35021 3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER **********
043394,000704: 20,3412 55611 TS TTMP1
043395,000705: 20,3413 55613 TS TTMP2
043396,000706:
043397,000707: 20,3414 31620 CA DAP2 +1 # MULTIPLY INPUT BY (1/2)
043398,000708: 20,3415 00006 EXTEND
043399,000709: 20,3416 71736 MP N10 +11D # N31/2
043400,000710: 20,3417 55612 TS TTMP1 +1
043401,000711: 20,3420 31617 CA DAP2
043402,000712: 20,3421 00006 EXTEND
043403,000713: 20,3422 71736 MP N10 +11D # N31/2
043404,000714: 20,3423 21612 DAS TTMP1
043405,000715:
043406,000716: 20,3424 41622 CS DAP3 +1
043407,000717: 20,3425 00006 EXTEND
043408,000718: 20,3426 71740 MP N10 +13D # D31/2
043409,000719: 20,3427 55614 TS TTMP2 +1
043410,000720: 20,3430 41621 CS DAP3
043411,000721: 20,3431 00006 EXTEND
043412,000722: 20,3432 71740 MP N10 +13D # D31/2
043413,000723: 20,3433 21614 DAS TTMP2
043414,000724:
043415,000725: 20,3434 53614 DXCH TTMP2
043416,000726: 20,3435 21612 DAS TTMP1
043417,000727: 20,3436 53612 DXCH TTMP1
043418,000728: 20,3437 20001 DDOUBL
043419,000729: 20,3440 21721 DAS TMP6
043420,000730:
043421,000731: 20,3441 53721 DXCH TMP6
043422,000732: 20,3442 53717 DXCH TMP5
043423,000733:
043424,000734: 20,3443 35021 CAF ZERO
043425,000735: 20,3444 55611 TS TTMP1
043426,000736: 20,3445 55720 TS TMP6
043427,000737:
043428,000738: 20,3446 31620 CA DAP2 +1 # MULTIPLY INPUT BY
043429,000739: 20,3447 00006 EXTEND
043430,000740: 20,3450 71737 MP N10 +12D # N32
043431,000741: 20,3451 55612 TS TTMP1 +1
043432,000742: 20,3452 31617 CA DAP2
043433,000743: 20,3453 00006 EXTEND
043434,000744: 20,3454 71737 MP N10 +12D # N32
043435,000745: 20,3455 21612 DAS TTMP1
043436,000746:
043437,000747: 20,3456 41622 CS DAP3 +1
043438,000748: 20,3457 00006 EXTEND
043439,000749: 20,3460 71741 MP N10 +14D # D32
043440,000750: 20,3461 55721 TS TMP6 +1
043441,000751: 20,3462 41621 CS DAP3
043442,000752: 20,3463 00006 EXTEND
043443,000753: # Page 977
043444,000754: 20,3464 71741 MP N10 +14D # D32
043445,000755: 20,3465 21721 DAS TMP6
043446,000756:
043447,000757: 20,3466 53612 DXCH TTMP1
043448,000758: 20,3467 21721 DAS TMP6
043449,000759:
043450,000760: 20,3470 00002 TC Q
043451,000761:
043452,000762: # Page 978
043453,000763: # CONSTANTS FOR AUTOPILOTS
043454,000764:
043455,000765: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)
043456,000766: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043457,000767:
043458,000768: 20,3471 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
043459,000769: 20,3472 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
043460,000770:
043461,000771: 20,3473 5003 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
043462,000772: 20,3473 5015 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
043463,000773:
043464,000774: 20,3473 02530 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
043465,000775: 20,3474 03107 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
043466,000776: 20,3475 02732 YAWT5 GENADR YAWDAP # REQUIRED.
043467,000777:
043468,000778: 20,3476 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG
043469,000779: 20,3477 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043470,000780: 20,3500 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
043471,000781:
End of include-file TVCDAPS.agc. Parent file is MAIN.agc