Source Code
![]() |
These source-code files were obtained by digitally photographing the
Colossus 237 program listing from the private collection of original
AGC developer Fred Martin, and then modifying pre-existing Colossus 249
(Apollo 9) source files to incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
are 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 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968 |
039825,000002: # Copyright: Public domain.
039826,000003: # Filename: TVCDAPS.agc
039827,000004: # Purpose: Part of the source code for Colossus build 237.
039828,000005: # This is for the Command Module's (CM) Apollo Guidance
039829,000006: # Computer (AGC), we believe for Apollo 8.
039830,000007: # Assembler: yaYUL
039831,000008: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
039832,000009: # Website: www.ibiblio.org/apollo/index.html
039833,000010: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
039834,000011: # Mod history: 2011-03-06 JL Adapted from corresponding Colossus 249 file.
039835,000012:
039836,000013: # # Page 918
039837,000014: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
039838,000015: # LOG SECTION....TVCDAP SUBROUTINE....DAPCSM
039839,000016: # MOD BY ENGEL DATE....27 OCT, 1967
039840,000017:
039841,000018: # FUNCTIONAL DESCRIPTION....
039842,000019:
039843,000020: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
039844,000021: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
039845,000022: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
039846,000023: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
039847,000024: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
039848,000025:
039849,000026: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
039850,000027: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
039851,000028: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
039852,000029: # INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER OR THE BRANCH
039853,000030: # POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER, OUTPUT LIMITER,
039854,000031: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
039855,000032:
039856,000033: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
039857,000034: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
039858,000035: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
039859,000036: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
039860,000037: # MODING.
039861,000038:
039862,000039: # REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY STUBBS
039863,000040: # (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
039864,000041: # REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
039865,000042: # LU (MIT IL JUNE 1966).
039866,000043:
039867,000044: # OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
039868,000045: # NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
039869,000046: # (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
039870,000047:
039871,000048: # CALLING SEQUENCE.... (TYPICALLY)
039872,000049:
039873,000050: # T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
039874,000051: # T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
039875,000052: # T5 CALL OF DAPINIT BY DAPINIT
039876,000053: # T5 CALL OF PITCHDAP BY DAPINIT
039877,000054: # T5 CALL OF YAWDAP BY PITCHDAP
039878,000055: # T5 CALL OF PITCHDAP BY YAWDAP
039879,000056: # ETC.
039880,000057: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
039881,000058:
039882,000059: # NORMAL EXIT MODE....RESUME
039883,000060:
039884,000061: # ALARM OR ABORT EXIT MODES....NONE
039885,000062:
039886,000063: # SUBROUTINES CALLED....
039887,000064: # # Page 919
039888,000065: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
039889,000066: # NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
039890,000067: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
039891,000068: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
039892,000069: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
039893,000070: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
039894,000071: # YAW DAPS
039895,000072: # OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
039896,000073: # PITCH AND YAW DAPS
039897,000074: # RESUME
039898,000075:
039899,000076: # OTHER INTERFACES....
039900,000077:
039901,000078: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
039902,000079: # S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
039903,000080: # TVCEXECUTIVE FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
039904,000081: # GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
039905,000082: # AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
039906,000083: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
039907,000084:
039908,000085: # ERASABLE INITIALIZATION REQUIRED....
039909,000086:
039910,000087: # 29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
039911,000088: # KP/KPDN (KPGEN3) AS IN S40.15 (R03)
039912,000089: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
039913,000090: # ENGINE-ON BIT (11.13) FOR RESTARTS
039914,000091: # TVCPHASE FOR RESTARTS (SEE IGNOVER, AND TVCINIT4)
039915,000092: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
039916,000093: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
039917,000094: # INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
039918,000095: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
039919,000096: # UPDATES EVERY 1/2 SECOND)
039920,000097: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
039921,000098: # UNLESS BENCH-TESTING.
039922,000099:
039923,000100: # OUTPUT....
039924,000101:
039925,000102: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
039926,000103: # TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
039927,000104: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
039928,000105: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
039929,000106: # DEBRIS....
039930,000107:
039931,000108: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
039932,000109:
039933,000110:
039934,000111: 17,2215 BANK 17
039935,000112: 20,2000 SETLOC DAPS2
039936,000113: 20,2000 BANK
039937,000114:
039938,000115: # # Page 920
039939,000116: 20,2326 E6,1742 EBANK= BZERO
039940,000117:
039941,000118:
039942,000119: 20,2326 COUNT* $$/DAPS
039943,000120:
039944,000121: # # Page 921
039945,000122: # PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
039946,000123:
039947,000124:
039948,000125: 20,2326 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
039949,000126: 20,2327 00006 EXTEND
039950,000127: 20,2330 22012 QXCH QRUPT
039951,000128:
039952,000129: 20,2331 33403 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
039953,000130: 20,2332 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
039954,000131: 20,2333 31635 CAE T5TVCDT
039955,000132: 20,2334 54030 TS TIME5
039956,000133:
039957,000134: 20,2335 11614 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
039958,000135: 20,2336 03471 TC HACK # TEST-START OR TEST-IN-PROGRESS
039959,000136: 20,2337 12341 TCF +2 # NO-TEST
039960,000137: 20,2340 03471 TC HACK # TEST-IN-PROGRESS
039961,000138:
039962,000139: 20,2341 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT
039963,000140: 20,2342 57655 XCH PCDUYPST # FOR PITCH AUTOPILOT
039964,000141: 20,2343 00006 EXTEND
039965,000142: 20,2344 21655 MSU PCDUYPST
039966,000143: 20,2345 55657 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
039967,000144:
039968,000145: 20,2346 30034 CAE CDUZ # COMPUTE CDUZDOT
039969,000146: 20,2347 57656 XCH PCDUZPST # FOR PITCH AUTOPILOT
039970,000147: 20,2350 00006 EXTEND
039971,000148: 20,2351 21656 MSU PCDUZPST
039972,000149: 20,2352 55660 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
039973,000150:
039974,000151: 20,2353 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
039975,000152: 20,2354 31616 DCA PERRB # ERROR, SC.AT B-1 REVS
039976,000153: 20,2355 53743 DXCH ERRBTMP
039977,000154:
039978,000155: 20,2356 00006 EXTEND
039979,000156: 20,2357 31530 DCA OMEGAYC
039980,000157: 20,2360 21743 DAS ERRBTMP
039981,000158:
039982,000159: 20,2361 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
039983,000160: 20,2362 00006 EXTEND
039984,000161: 20,2363 70750 MP COSCDUX
039985,000162: 20,2364 20001 DDOUBL
039986,000163: 20,2365 00006 EXTEND
039987,000164: 20,2366 71657 MP MCDUYDOT
039988,000165: 20,2367 20001 DDOUBL
039989,000166: 20,2370 53536 DXCH OMEGAYB
039990,000167:
039991,000168: 20,2371 41660 CS MCDUZDOT
039992,000169: 20,2372 00006 EXTEND
039993,000170: 20,2373 70742 MP SINCDUX
039994,000171: 20,2374 20001 DDOUBL
039995,000172: # # Page 922
039996,000173: 20,2375 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
039997,000174:
039998,000175: 20,2376 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
039999,000176: 20,2377 41536 DCS OMEGAYB
040000,000177: 20,2400 21743 DAS ERRBTMP
040001,000178:
040002,000179: 20,2401 03112 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
040003,000180:
040004,000181: 20,2402 31466 P1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040005,000182: 20,2403 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040006,000183: 20,2404 10000 CCS A
040007,000184: 20,2405 12410 TCF +3 # USE LEM-ON FILTER
040008,000185: 20,2406 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040009,000186: 20,2407 36215 CADR NP0NODE
040010,000187:
040011,000188: 20,2410 00006 PFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS.
040012,000189: 20,2411 41544 DCS PDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040013,000190: 20,2412 53745 DXCH JZERO
040014,000191:
040015,000192: 20,2413 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
040016,000193: 20,2414 61541 AD PNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
040017,000194: 20,2415 00006 EXTEND
040018,000195: 20,2416 74727 MP KPDN # KPDN, SC.AT B+1 SPASCREV
040019,000196: 20,2417 21745 DAS JZERO
040020,000197: 20,2420 31542 CAE PNSUM +1
040021,000198: 20,2421 00006 EXTEND
040022,000199: 20,2422 74727 MP KPDN
040023,000200: 20,2423 27745 ADS JZERO +1
040024,000201: 20,2424 54001 TS L
040025,000202: 20,2425 12427 TCF +2
040026,000203: 20,2426 27744 ADS JZERO # (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
040027,000204:
040028,000205: 20,2427 00006 JZSTORE EXTEND # PREPARE JZERO FOR DENOMINATOR LADDER
040029,000206: 20,2430 31745 DCA JZERO # SC.AT B+0 SPASCREV
040030,000207: 20,2431 20001 DDOUBL
040031,000208: 20,2432 20001 DDOUBL
040032,000209: 20,2433 20001 DDOUBL
040033,000210: 20,2434 53727 DXCH J1TMP # SC.AT B-3 SPASCREV
040034,000211:
040035,000212: 20,2435 03125 OPTVARKP TCR OPTVARK # PITCH VARIABLE-GAIN PACKAGE
040036,000213:
040037,000214: 20,2436 00006 POFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
040038,000215: 20,2437 41745 DCS CMDTMP # (GEN3DAP RETURNS AT POFFSET)
040039,000216: 20,2440 53745 DXCH CMDTMP
040040,000217: 20,2441 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
040041,000218: 20,2442 31626 DCA PDELOFF
040042,000219: 20,2443 21745 DAS CMDTMP
040043,000220:
040044,000221: 20,2444 31745 PROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
040045,000222: 20,2445 60000 DOUBLE
040046,000223: # # Page 923
040047,000224: 20,2446 54001 TS L
040048,000225: 20,2447 34714 CAF ZERO
040049,000226: 20,2450 61744 AD CMDTMP
040050,000227:
040051,000228: 20,2451 03145 PACLIM TCR ACTLIM # PITCH ACTUATOR-COMMAND-LIMITER
040052,000229:
040053,000230: 20,2452 41631 POUT CS PCMD # INCREMENTAL PITCH COMMAND
040054,000231: 20,2453 61744 AD CMDTMP
040055,000232: 20,2454 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
040056,000233: # PROTECT, SINCE ERROR CNTR ZEROED)
040057,000234:
040058,000235: 20,2455 34700 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
040059,000236: 20,2456 00006 EXTEND
040060,000237: 20,2457 05014 WOR CHAN14
040061,000238: 20,2460 31466 P2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040062,000239: 20,2461 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040063,000240: 20,2462 10000 CCS A
040064,000241: 20,2463 12466 TCF +3 # USE LEM-ON FILTER
040065,000242: 20,2464 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040066,000243: 20,2465 36250 CADR NP1NODE
040067,000244:
040068,000245:
040069,000246: 20,2466 31742 BZSTORE CAE ERRBTMP # PREPARE BZERO (UPPER WORD OF ERRBTMP)
040070,000247: 20,2467 60000 DOUBLE # FOR NUMERATOR LATTER....SC.AT B-1
040071,000248: 20,2470 55717 TS B1TMP # SC.AT B-2 REVS FOR LADDER
040072,000249:
040073,000250:
040074,000251: 20,2471 00006 PNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
040075,000252: 20,2472 31546 DCA B1 # NUMERATOR LADDER
040076,000253: 20,2473 53721 DXCH B2TMP
040077,000254: 20,2474 00006 EXTEND
040078,000255: 20,2475 31550 DCA B3
040079,000256: 20,2476 53723 DXCH B4TMP
040080,000257: 20,2477 00006 EXTEND
040081,000258: 20,2500 31552 DCA B5
040082,000259: 20,2501 53725 DXCH B6TMP
040083,000260:
040084,000261: 20,2502 03157 PNSUMC TCR NSUM # PITCH NUMERATOR SUM
040085,000262:
040086,000263: 20,2503 00006 PDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
040087,000264: 20,2504 31554 DCA J1 # DENOMINATOR LADDER
040088,000265: 20,2505 53731 DXCH J2TMP
040089,000266: 20,2506 00006 EXTEND
040090,000267: 20,2507 31556 DCA J2
040091,000268: 20,2510 53733 DXCH J3TMP
040092,000269: 20,2511 00006 EXTEND
040093,000270: 20,2512 31560 DCA J3
040094,000271: 20,2513 53735 DXCH J4TMP
040095,000272: 20,2514 00006 EXTEND
040096,000273: # # Page 924
040097,000274: 20,2515 31562 DCA J4
040098,000275: 20,2516 53737 DXCH J5TMP
040099,000276: 20,2517 00006 EXTEND
040100,000277: 20,2520 31564 DCA J5
040101,000278: 20,2521 53741 DXCH J6TMP
040102,000279:
040103,000280: 20,2522 03217 PDSUMC TCR DSUM # PITCH DENOMINATOR SUM
040104,000281:
040105,000282: 20,2523 31744 DELBARP CAE CMDTMP # UPDATE PITCH OFFSET-TRACKER-FILTER
040106,000283: 20,2524 00006 EXTEND # (GEN3DAP RETURNS AT ..DELBARP.. )
040107,000284: 20,2525 73404 MP 1-E(-AT)
040108,000285: 20,2526 53716 DXCH DELBRTMP
040109,000286: 20,2527 31621 CAE DELPBAR
040110,000287: 20,2530 00006 EXTEND
040111,000288: 20,2531 73405 MP E(-AT)
040112,000289: 20,2532 21716 DAS DELBRTMP
040113,000290: 20,2533 31622 CAE DELPBAR +1
040114,000291: 20,2534 00006 EXTEND
040115,000292: 20,2535 73405 MP E(-AT)
040116,000293: 20,2536 27716 ADS DELBRTMP +1
040117,000294: 20,2537 54001 TS L
040118,000295: 20,2540 12542 TCF +2
040119,000296: 20,2541 27715 ADS DELBRTMP
040120,000297:
040121,000298: 20,2542 02544 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
040122,000299:
040123,000300: 20,2543 15222 PDAPEND TCF RESUME # PITCH DAP COMPLETED
040124,000301:
040125,000302: # # Page 925
040126,000303: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
040127,000304:
040128,000305: 20,2544 25654 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
040129,000306: # NOTE POSSIBLE RE-ENTRY FROM RESTART
040130,000307: # PACKAGE, SHOULD A RESTART OCCUR
040131,000308: # DURING PITCH COPYCYCLE.
040132,000309:
040133,000310: 20,2545 00006 NEWB(S) EXTEND # UPDATE PITCH NUMERATOR LADDER FROM
040134,000311: 20,2546 31720 DCA B1TMP # TEMPORARIES
040135,000312: 20,2547 53546 DXCH B1
040136,000313: 20,2550 00006 EXTEND
040137,000314: 20,2551 31722 DCA B3TMP
040138,000315: 20,2552 53550 DXCH B3
040139,000316: 20,2553 00006 EXTEND
040140,000317: 20,2554 31724 DCA B5TMP
040141,000318: 20,2555 53552 DXCH B5
040142,000319:
040143,000320: 20,2556 00006 NEWJ(S) EXTEND # UPDATE PITCH DENOMINATOR LADDER FROM
040144,000321: 20,2557 31727 DCA J1TMP # TEMPORARIES
040145,000322: 20,2560 53554 DXCH J1
040146,000323: 20,2561 00006 EXTEND
040147,000324: 20,2562 31731 DCA J2TMP
040148,000325: 20,2563 53556 DXCH J2
040149,000326: 20,2564 00006 EXTEND
040150,000327: 20,2565 31733 DCA J3TMP
040151,000328: 20,2566 53560 DXCH J3
040152,000329: 20,2567 00006 EXTEND
040153,000330: 20,2570 31735 DCA J4TMP
040154,000331: 20,2571 53562 DXCH J4
040155,000332: 20,2572 00006 EXTEND # (ALSO NP1TMP,+1 TO NP1,+1)
040156,000333: 20,2573 31737 DCA J5TMP
040157,000334: 20,2574 53564 DXCH J5
040158,000335:
040159,000336: 20,2575 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
040160,000337: 20,2576 31743 DCA ERRBTMP
040161,000338: 20,2577 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
040162,000339: 20,2600 53616 DXCH PERRB
040163,000340:
040164,000341: 20,2601 00006 EXTEND # PITCH NUMERATOR SUM
040165,000342: 20,2602 31712 DCA NSUMTMP # (ALSO NP2TMP,+1 TO NP2,+1)
040166,000343: 20,2603 53542 DXCH PNSUM
040167,000344:
040168,000345: 20,2604 00006 EXTEND # PITCH DENOMINATOR SUM
040169,000346: 20,2605 31714 DCA DSUMTMP # (ALSO NP3TMP,+1 TO NP3,+1)
040170,000347: 20,2606 53544 DXCH PDSUM
040171,000348:
040172,000349: 20,2607 31744 CAE CMDTMP # PITCH ACTUATOR COMMAND
040173,000350: 20,2610 55631 TS PCMD
040174,000351:
040175,000352: 20,2611 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
040176,000353: # # Page 926
040177,000354: 20,2612 31716 DCA DELBRTMP
040178,000355: 20,2613 53622 DXCH DELPBAR
040179,000356:
040180,000357: 20,2614 25654 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED
040181,000358:
040182,000359: 20,2615 00002 TC Q
040183,000360:
040184,000361: # # Page 927
040185,000362: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
040186,000363:
040187,000364: 20,2616 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
040188,000365: 20,2617 00006 EXTEND
040189,000366: 20,2620 22012 QXCH QRUPT
040190,000367:
040191,000368: 20,2621 33401 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
040192,000369: 20,2622 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
040193,000370: 20,2623 31635 CAE T5TVCDT
040194,000371: 20,2624 54030 TS TIME5
040195,000372:
040196,000373: 20,2625 11614 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
040197,000374: 20,2626 03471 TC HACK # TEST-START OR TEST-IN-PROGRESS
040198,000375: 20,2627 12631 TCF +2 # NO-TEST
040199,000376: 20,2630 03471 TC HACK # TEST-IN-PROGRESS
040200,000377:
040201,000378: # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
040202,000379:
040203,000380: 20,2631 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
040204,000381: 20,2632 31620 DCA YERRB # ERROR, SC.AT B-1 REVS
040205,000382: 20,2633 53743 DXCH ERRBTMP
040206,000383:
040207,000384: 20,2634 00006 EXTEND
040208,000385: 20,2635 31532 DCA OMEGAZC
040209,000386: 20,2636 21743 DAS ERRBTMP
040210,000387:
040211,000388: 20,2637 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
040212,000389: 20,2640 00006 EXTEND
040213,000390: 20,2641 70742 MP SINCDUX
040214,000391: 20,2642 20001 DDOUBL
040215,000392: 20,2643 00006 EXTEND
040216,000393: 20,2644 71657 MP MCDUYDOT
040217,000394: 20,2645 20001 DDOUBL
040218,000395: 20,2646 53540 DXCH OMEGAZB
040219,000396:
040220,000397: 20,2647 41660 CS MCDUZDOT
040221,000398: 20,2650 00006 EXTEND
040222,000399: 20,2651 70750 MP COSCDUX
040223,000400: 20,2652 20001 DDOUBL
040224,000401: 20,2653 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
040225,000402:
040226,000403: 20,2654 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
040227,000404: 20,2655 41540 DCS OMEGAZB
040228,000405: 20,2656 21743 DAS ERRBTMP
040229,000406:
040230,000407: 20,2657 03112 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
040231,000408:
040232,000409: 20,2660 31466 Y1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040233,000410: 20,2661 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040234,000411:
040235,000412: # # Page 928
040236,000413: 20,2662 10000 CCS A
040237,000414: 20,2663 12666 TCF +3 # USE LEM-ON FILTER
040238,000415: 20,2664 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040239,000416: 20,2665 36407 CADR NY0NODE
040240,000417:
040241,000418: 20,2666 00006 YFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS
040242,000419: 20,2667 41570 DCS YDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040243,000420: 20,2670 53745 DXCH YZERO
040244,000421:
040245,000422: 20,2671 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
040246,000423: 20,2672 61565 AD YNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
040247,000424: 20,2673 00006 EXTEND
040248,000425: 20,2674 74727 MP KYDN # KYDN, SC.AT B+1 SPASCREV
040249,000426: 20,2675 21745 DAS YZERO
040250,000427: 20,2676 31566 CAE YNSUM +1
040251,000428: 20,2677 00006 EXTEND
040252,000429: 20,2700 74727 MP KYDN
040253,000430: 20,2701 27745 ADS YZERO +1
040254,000431: 20,2702 54001 TS L
040255,000432: 20,2703 12705 TCF +2
040256,000433: 20,2704 27744 ADS YZERO # (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
040257,000434:
040258,000435: 20,2705 00006 YZSTORE EXTEND # PREPARE YZERO FOR DENOMINATOR LADDER
040259,000436: 20,2706 31745 DCA YZERO # SC.AT B+0 SPASCREV
040260,000437: 20,2707 20001 DDOUBL
040261,000438: 20,2710 20001 DDOUBL
040262,000439: 20,2711 20001 DDOUBL
040263,000440: 20,2712 53727 DXCH Y1TMP # SC.AT B-3 SPASCREV
040264,000441:
040265,000442: 20,2713 03125 OPTVARKY TCR OPTVARK # YAW VARIABLE-GAIN PACKAGE
040266,000443:
040267,000444: 20,2714 00006 YOFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
040268,000445: 20,2715 41745 DCS CMDTMP # (GEN3DAP RETURNS AT YOFFSET)
040269,000446: 20,2716 53745 DXCH CMDTMP
040270,000447: 20,2717 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
040271,000448: 20,2720 31630 DCA YDELOFF
040272,000449: 20,2721 21745 DAS CMDTMP
040273,000450:
040274,000451: 20,2722 31745 YROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
040275,000452: 20,2723 60000 DOUBLE
040276,000453: 20,2724 54001 TS L
040277,000454: 20,2725 34714 CAF ZERO
040278,000455: 20,2726 61744 AD CMDTMP
040279,000456:
040280,000457: 20,2727 03145 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
040281,000458:
040282,000459: 20,2730 41632 YOUT CS YCMD # INCRMENTAL YAW COMMAND
040283,000460: 20,2731 61744 AD CMDTMP
040284,000461: 20,2732 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
040285,000462: # PROTECT, SINCE ERROR CNTR ZEROED)
040286,000463:
040287,000464: # # Page 929
040288,000465: 20,2733 34677 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
040289,000466: 20,2734 00006 EXTEND
040290,000467: 20,2735 05014 WOR CHAN14
040291,000468: 20,2736 31466 Y2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040292,000469: 20,2737 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040293,000470: 20,2740 10000 CCS A
040294,000471: 20,2741 12744 TCF +3 # USE LEM-ON FILTER
040295,000472: 20,2742 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040296,000473: 20,2743 36442 CADR NY1NODE
040297,000474:
040298,000475:
040299,000476: 20,2744 31742 CZSTORE CAE ERRBTMP # PREPARE CZERO (UPPER WORD OF ERRBTMP)
040300,000477: 20,2745 60000 DOUBLE # FOR NUMERATOR LATTER....SC.AT B-1
040301,000478: 20,2746 55717 TS C1TMP # SC.AT B-2 REVS FOR LADDER
040302,000479:
040303,000480:
040304,000481: 20,2747 00006 YNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
040305,000482: 20,2750 31572 DCA C1 # NUMERATOR LADDER
040306,000483: 20,2751 53721 DXCH C2TMP
040307,000484: 20,2752 00006 EXTEND
040308,000485: 20,2753 31574 DCA C3
040309,000486: 20,2754 53723 DXCH C4TMP
040310,000487: 20,2755 00006 EXTEND
040311,000488: 20,2756 31576 DCA C5
040312,000489: 20,2757 53725 DXCH C6TMP
040313,000490:
040314,000491: 20,2760 03157 YNSUMC TCR NSUM # YAW NUMERATOR SUM
040315,000492:
040316,000493:
040317,000494: 20,2761 00006 YDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
040318,000495: 20,2762 31600 DCA Y1 # DENOMINATOR LADDER
040319,000496: 20,2763 53731 DXCH Y2TMP
040320,000497: 20,2764 00006 EXTEND
040321,000498: 20,2765 31602 DCA Y2
040322,000499: 20,2766 53733 DXCH Y3TMP
040323,000500: 20,2767 00006 EXTEND
040324,000501: 20,2770 31604 DCA Y3
040325,000502: 20,2771 53735 DXCH Y4TMP
040326,000503: 20,2772 00006 EXTEND
040327,000504: 20,2773 31606 DCA Y4
040328,000505: 20,2774 53737 DXCH Y5TMP
040329,000506: 20,2775 00006 EXTEND
040330,000507: 20,2776 31610 DCA Y5
040331,000508: 20,2777 53741 DXCH Y6TMP
040332,000509:
040333,000510: 20,3000 03217 YDSUMC TCR DSUM # YAW DENOMINATOR SUM
040334,000511:
040335,000512: 20,3001 31744 DELBARY CAE CMDTMP # UPDATE YAW OFFSET-TRACKER-FILTER
040336,000513: 20,3002 00006 EXTEND # (GEN3DAP RETURNS AT ..DELBARY.. )
040337,000514: 20,3003 73404 MP 1-E(-AT)
040338,000515: # # Page 930
040339,000516: 20,3004 53716 DXCH DELBRTMP
040340,000517: 20,3005 31623 CAE DELYBAR
040341,000518: 20,3006 00006 EXTEND
040342,000519: 20,3007 73405 MP E(-AT)
040343,000520: 20,3010 21716 DAS DELBRTMP
040344,000521: 20,3011 31624 CAE DELYBAR +1
040345,000522: 20,3012 00006 EXTEND
040346,000523: 20,3013 73405 MP E(-AT)
040347,000524: 20,3014 27716 ADS DELBRTMP +1
040348,000525: 20,3015 54001 TS L
040349,000526: 20,3016 13020 TCF +2
040350,000527: 20,3017 27715 ADS DELBRTMP
040351,000528:
040352,000529: 20,3020 03022 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
040353,000530:
040354,000531: 20,3021 15222 YDAPEND TCF RESUME # YAW DAP COMPLETED
040355,000532:
040356,000533: # # Page 931
040357,000534: # YAW TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
040358,000535:
040359,000536: 20,3022 25654 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
040360,000537: # NOTE POSSIBLE RE-ENTRY FROM RESTART
040361,000538: # PACKAGE, SHOULD A RESTART OCCUR
040362,000539: # DURING YAW COPYCYCLE.
040363,000540:
040364,000541: 20,3023 00006 NEWC(S) EXTEND # UPDATE YAW NUMERATOR LADDER FROM
040365,000542: 20,3024 31720 DCA C1TMP # TEMPORARIES
040366,000543: 20,3025 53572 DXCH C1
040367,000544: 20,3026 00006 EXTEND
040368,000545: 20,3027 31722 DCA C3TMP
040369,000546: 20,3030 53574 DXCH C3
040370,000547: 20,3031 00006 EXTEND
040371,000548: 20,3032 31724 DCA C5TMP
040372,000549: 20,3033 53576 DXCH C5
040373,000550:
040374,000551: 20,3034 00006 NEWY(S) EXTEND # UPDATE YAW DENOMINATOR LADDER FROM
040375,000552: 20,3035 31727 DCA Y1TMP # TEMPORARIES
040376,000553: 20,3036 53600 DXCH Y1
040377,000554: 20,3037 00006 EXTEND
040378,000555: 20,3040 31731 DCA Y2TMP
040379,000556: 20,3041 53602 DXCH Y2
040380,000557: 20,3042 00006 EXTEND
040381,000558: 20,3043 31733 DCA Y3TMP
040382,000559: 20,3044 53604 DXCH Y3
040383,000560: 20,3045 00006 EXTEND
040384,000561: 20,3046 31735 DCA Y4TMP
040385,000562: 20,3047 53606 DXCH Y4
040386,000563: 20,3050 00006 EXTEND # (ALSO NY1TMP,+1 TO NY1,+1)
040387,000564: 20,3051 31737 DCA Y5TMP
040388,000565: 20,3052 53610 DXCH Y5
040389,000566:
040390,000567: 20,3053 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
040391,000568: 20,3054 31743 DCA ERRBTMP
040392,000569: 20,3055 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
040393,000570: 20,3056 53620 DXCH YERRB
040394,000571:
040395,000572: 20,3057 00006 EXTEND # YAW NUMERATOR SUM
040396,000573: 20,3060 31712 DCA NSUMTMP # (ALSO NY2TMP,+1 TO NY2,+1)
040397,000574: 20,3061 53566 DXCH YNSUM
040398,000575:
040399,000576: 20,3062 00006 EXTEND # YAW DENOMINATOR SUM
040400,000577: 20,3063 31714 DCA DSUMTMP # (ALSO NY3TMP,+1 TO NY3,+1)
040401,000578: 20,3064 53570 DXCH YDSUM
040402,000579:
040403,000580: 20,3065 31744 CAE CMDTMP # YAW ACTUATOR COMMAND
040404,000581: 20,3066 55632 TS YCMD
040405,000582:
040406,000583: 20,3067 00006 EXTEND # YAW OFFSET-TRACKER-FILTER
040407,000584: # # Page 932
040408,000585: 20,3070 31716 DCA DELBRTMP
040409,000586: 20,3071 53624 DXCH DELYBAR
040410,000587:
040411,000588: 20,3072 34714 CAF ZERO # YAW COPYCYCLE COMPLETED
040412,000589: 20,3073 55654 TS TVCPHASE # RESET TVCPHASE
040413,000590:
040414,000591: 20,3074 00002 TC Q
040415,000592:
040416,000593: # # Page 933
040417,000594: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
040418,000595:
040419,000596:
040420,000597: # INITIALIZATION PACKAGE FOR CDURATES....
040421,000598:
040422,000599: 20,3075 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
040423,000600:
040424,000601: 20,3076 37716 CAF NEGONE # SET UP
040425,000602: 20,3077 61635 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
040426,000603: 20,3100 64674 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
040427,000604: 20,3101 61635 AD T5TVCDT
040428,000605: 20,3102 54030 TS TIME5
040429,000606: 20,3103 33401 CAF PITCHT5 # (BBCON ALREADY THERE)
040430,000607: 20,3104 55312 TS T5LOC
040431,000608:
040432,000609: 20,3105 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
040433,000610: 20,3106 55655 TS PCDUYPST # PAST-VALUES
040434,000611: 20,3107 30034 CAE CDUZ
040435,000612: 20,3110 55656 TS PCDUZPST
040436,000613:
040437,000614: 20,3111 15224 TCF NOQRSM
040438,000615:
040439,000616:
040440,000617: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
040441,000618:
040442,000619: 20,3112 31742 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
040443,000620: 20,3113 00006 EXTEND # CHECKS UPPER WORD ONLY
040444,000621: 20,3114 74710 MP 1/ERRLIM
040445,000622: 20,3115 00006 EXTEND
040446,000623: 20,3116 13124 BZF +6
040447,000624: 20,3117 11742 CCS ERRBTMP
040448,000625: 20,3120 34676 CAF ERRLIM
040449,000626: 20,3121 13123 TCF +2
040450,000627: 20,3122 44676 CS ERRLIM
040451,000628: 20,3123 55742 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
040452,000629:
040453,000630: 20,3124 00002 TC Q
040454,000631:
040455,000632:
040456,000633: # VARIABLE-GAIN PACKAGE....
040457,000634:
040458,000635: 20,3125 31744 OPTVARK CAE CMDTMP # VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
040459,000636: 20,3126 00006 EXTEND # JZERO OR YZERO
040460,000637: 20,3127 71651 MP VARK # VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
040461,000638: 20,3130 53745 DXCH CMDTMP
040462,000639: 20,3131 22000 LXCH A # LO-ORDER WORD OF INPUT CMDTMP
040463,000640: 20,3132 00006 EXTEND
040464,000641: 20,3133 71651 MP VARK
040465,000642: 20,3134 27745 ADS CMDTMP +1
040466,000643: 20,3135 54001 TS L
040467,000644: # # Page 934
040468,000645: 20,3136 13140 TCF +2
040469,000646: 20,3137 27744 ADS CMDTMP
040470,000647:
040471,000648: 20,3140 53745 DXCH CMDTMP # FIX UP SCALING
040472,000649: 20,3141 20001 DDOUBL
040473,000650: 20,3142 20001 DDOUBL
040474,000651: 20,3143 53745 DXCH CMDTMP
040475,000652:
040476,000653: 20,3144 00002 TC Q
040477,000654:
040478,000655:
040479,000656: # ACTUATOR-COMMAND LIMITER PACKAGE....
040480,000657:
040481,000658: 20,3145 00006 ACTLIM EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
040482,000659: 20,3146 73400 MP 1/ACTSAT
040483,000660: 20,3147 00006 EXTEND
040484,000661: 20,3150 13156 BZF +6
040485,000662: 20,3151 11744 CCS CMDTMP # APPLY LIMITS
040486,000663: 20,3152 33377 CAF ACTSAT
040487,000664: 20,3153 13155 TCF +2
040488,000665: 20,3154 43377 CS ACTSAT
040489,000666: 20,3155 55744 TS CMDTMP # LIMITS WRITE OVER CMDTMP
040490,000667:
040491,000668: 20,3156 00002 TC Q
040492,000669:
040493,000670:
040494,000671: # NUMERATOR-SUM COMPUTATION....
040495,000672:
040496,000673: 20,3157 31717 NSUM CAE B1TMP # PREPARE NUMERATOR SUM, SCALING IS AT
040497,000674: 20,3160 00006 EXTEND # B+0 REVS ( = B+2 x B-2 )
040498,000675: 20,3161 73406 MP N1
040499,000676: 20,3162 53712 DXCH NSUMTMP
040500,000677:
040501,000678: 20,3163 31720 CAE B2TMP
040502,000679: 20,3164 00006 EXTEND
040503,000680: 20,3165 73407 MP N2
040504,000681: 20,3166 21712 DAS NSUMTMP
040505,000682:
040506,000683: 20,3167 31721 CAE B3TMP
040507,000684: 20,3170 00006 EXTEND
040508,000685: 20,3171 73410 MP N3
040509,000686: 20,3172 21712 DAS NSUMTMP
040510,000687:
040511,000688: 20,3173 31722 CAE B4TMP
040512,000689: 20,3174 00006 EXTEND
040513,000690: 20,3175 73411 MP N4
040514,000691: 20,3176 21712 DAS NSUMTMP
040515,000692:
040516,000693: 20,3177 31723 CAE B5TMP
040517,000694: 20,3200 00006 EXTEND
040518,000695: # # Page 935
040519,000696: 20,3201 73412 MP N5
040520,000697: 20,3202 21712 DAS NSUMTMP
040521,000698:
040522,000699: 20,3203 31724 CAE B6TMP
040523,000700: 20,3204 00006 EXTEND
040524,000701: 20,3205 73413 MP N6
040525,000702: 20,3206 21712 DAS NSUMTMP
040526,000703:
040527,000704: 20,3207 31725 CAE B7TMP
040528,000705: 20,3210 00006 EXTEND
040529,000706: 20,3211 73414 MP N7
040530,000707: 20,3212 21712 DAS NSUMTMP
040531,000708:
040532,000709: 20,3213 53712 NSUMSC DXCH NSUMTMP # FIX UP SCALING (NOW AT B+0 REVS)
040533,000710: 20,3214 20001 DDOUBL
040534,000711: 20,3215 53712 DXCH NSUMTMP # SC.AT B-1 REV
040535,000712:
040536,000713: 20,3216 00002 TC Q
040537,000714:
040538,000715:
040539,000716: # DENOMINATOR-SUM COMPUTATION....
040540,000717:
040541,000718: 20,3217 31726 DSUM CAE J1TMP # PREPARE DENOMINATOR SUM, SCALED
040542,000719: 20,3220 00006 EXTEND # AT B+1 SPASCREVS ( = B+4 X B-3 )
040543,000720: 20,3221 73415 MP D1 # (J1TMP = J,YZERO, SC.AT B-3 REVS)
040544,000721: 20,3222 53714 DXCH DSUMTMP
040545,000722: 20,3223 31726 CAE J1TMP
040546,000723: 20,3224 00006 EXTEND
040547,000724: 20,3225 73416 MP D1 +1
040548,000725: 20,3226 27714 ADS DSUMTMP +1
040549,000726: 20,3227 54001 TS L
040550,000727: 20,3230 13232 TCF +2
040551,000728: 20,3231 27713 ADS DSUMTMP
040552,000729: 20,3232 31727 CAE J1TMP +1
040553,000730: 20,3233 00006 EXTEND
040554,000731: 20,3234 73415 MP D1
040555,000732: 20,3235 27714 ADS DSUMTMP +1
040556,000733: 20,3236 54001 TS L
040557,000734: 20,3237 13241 TCF +2
040558,000735: 20,3240 27713 ADS DSUMTMP
040559,000736:
040560,000737: 20,3241 31730 D2J2 CAE J2TMP
040561,000738: 20,3242 00006 EXTEND
040562,000739: 20,3243 73417 MP D2
040563,000740: 20,3244 21714 DAS DSUMTMP
040564,000741: 20,3245 31730 CAE J2TMP
040565,000742: 20,3246 00006 EXTEND
040566,000743: 20,3247 73420 MP D2 +1
040567,000744: 20,3250 27714 ADS DSUMTMP +1
040568,000745: 20,3251 54001 TS L
040569,000746: # # Page 936
040570,000747: 20,3252 13254 TCF +2
040571,000748: 20,3253 27713 ADS DSUMTMP
040572,000749: 20,3254 31731 CAE J2TMP +1
040573,000750: 20,3255 00006 EXTEND
040574,000751: 20,3256 73417 MP D2
040575,000752: 20,3257 27714 ADS DSUMTMP +1
040576,000753: 20,3260 54001 TS L
040577,000754: 20,3261 13263 TCF +2
040578,000755: 20,3262 27713 ADS DSUMTMP
040579,000756:
040580,000757: 20,3263 31732 D3J3 CAE J3TMP
040581,000758: 20,3264 00006 EXTEND
040582,000759: 20,3265 73421 MP D3
040583,000760: 20,3266 21714 DAS DSUMTMP
040584,000761: 20,3267 31732 CAE J3TMP
040585,000762: 20,3270 00006 EXTEND
040586,000763: 20,3271 73422 MP D3 +1
040587,000764: 20,3272 27714 ADS DSUMTMP +1
040588,000765: 20,3273 54001 TS L
040589,000766: 20,3274 13276 TCF +2
040590,000767: 20,3275 27713 ADS DSUMTMP
040591,000768: 20,3276 31733 CAE J3TMP +1
040592,000769: 20,3277 00006 EXTEND
040593,000770: 20,3300 73421 MP D3
040594,000771: 20,3301 27714 ADS DSUMTMP +1
040595,000772: 20,3302 54001 TS L
040596,000773: 20,3303 13305 TCF +2
040597,000774: 20,3304 27713 ADS DSUMTMP
040598,000775:
040599,000776: 20,3305 31734 D4J4 CAE J4TMP
040600,000777: 20,3306 00006 EXTEND
040601,000778: 20,3307 73423 MP D4
040602,000779: 20,3310 21714 DAS DSUMTMP
040603,000780: 20,3311 31734 CAE J4TMP
040604,000781: 20,3312 00006 EXTEND
040605,000782: 20,3313 73424 MP D4 +1
040606,000783: 20,3314 27714 ADS DSUMTMP +1
040607,000784: 20,3315 54001 TS L
040608,000785: 20,3316 13320 TCF +2
040609,000786: 20,3317 27713 ADS DSUMTMP
040610,000787: 20,3320 31735 CAE J4TMP +1
040611,000788: 20,3321 00006 EXTEND
040612,000789: 20,3322 73423 MP D4
040613,000790: 20,3323 27714 ADS DSUMTMP +1
040614,000791: 20,3324 54001 TS L
040615,000792: 20,3325 13327 TCF +2
040616,000793: 20,3326 27713 ADS DSUMTMP
040617,000794:
040618,000795: 20,3327 31736 D5J5 CAE J5TMP
040619,000796: 20,3330 00006 EXTEND
040620,000797: # # Page 937
040621,000798: 20,3331 73425 MP D5
040622,000799: 20,3332 21714 DAS DSUMTMP
040623,000800: 20,3333 31736 CAE J5TMP
040624,000801: 20,3334 00006 EXTEND
040625,000802: 20,3335 73426 MP D5 +1
040626,000803: 20,3336 27714 ADS DSUMTMP +1
040627,000804: 20,3337 54001 TS L
040628,000805: 20,3340 13342 TCF +2
040629,000806: 20,3341 27713 ADS DSUMTMP
040630,000807: 20,3342 31737 CAE J5TMP +1
040631,000808: 20,3343 00006 EXTEND
040632,000809: 20,3344 73425 MP D5
040633,000810: 20,3345 27714 ADS DSUMTMP +1
040634,000811: 20,3346 54001 TS L
040635,000812: 20,3347 13351 TCF +2
040636,000813: 20,3350 27713 ADS DSUMTMP
040637,000814:
040638,000815: 20,3351 31740 D6J6 CAE J6TMP
040639,000816: 20,3352 00006 EXTEND
040640,000817: 20,3353 73427 MP D6
040641,000818: 20,3354 21714 DAS DSUMTMP
040642,000819: 20,3355 31740 CAE J6TMP
040643,000820: 20,3356 00006 EXTEND
040644,000821: 20,3357 73430 MP D6 +1
040645,000822: 20,3360 27714 ADS DSUMTMP +1
040646,000823: 20,3361 54001 TS L
040647,000824: 20,3362 13364 TCF +2
040648,000825: 20,3363 27713 ADS DSUMTMP
040649,000826: 20,3364 31741 CAE J6TMP +1
040650,000827: 20,3365 00006 EXTEND
040651,000828: 20,3366 73427 MP D6
040652,000829: 20,3367 27714 ADS DSUMTMP +1
040653,000830: 20,3370 54001 TS L
040654,000831: 20,3371 13373 TCF +2
040655,000832: 20,3372 27713 ADS DSUMTMP
040656,000833:
040657,000834: 20,3373 53714 DSUMSC DXCH DSUMTMP # FIX UP SCALING (NOW AT B+1 SPASCREV)
040658,000835: 20,3374 20001 DDOUBL
040659,000836: 20,3375 53714 DXCH DSUMTMP # SC.AT B+0 SPASCREV
040660,000837:
040661,000838: 20,3376 00002 TC Q
040662,000839:
040663,000840: # # Page 938
040664,000841: # CONSTANTS FOR AUTOPILOTS
040665,000842:
040666,000843:
040667,000844: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
040668,000845:
040669,000846: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
040670,000847:
040671,000848: 20,3377 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
040672,000849: 20,3400 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
040673,000850:
040674,000851: 20,3401 4676 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
040675,000852: 20,3401 4710 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
040676,000853:
040677,000854: 20,3401 4727 KPDN = DEC45 # DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
040678,000855: 20,3401 4727 KYDN = KPDN # SPASCREV (FOR DEC45 BITS EXACTLY)
040679,000856: # KPDN = .005747 DEG/DEG
040680,000857: # SCALED KPDN = DEC45
040681,000858: # 1SPASCREV = KPDN(B+14)/(2X45)
040682,000859: # = 1.04620942 REVS
040683,000860:
040684,000861:
040685,000862: 20,3401 02326 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
040686,000863: 20,3402 03075 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
040687,000864: 20,3403 02616 YAWT5 GENADR YAWDAP # REQUIRED.
040688,000865:
040689,000866:
040690,000867: 20,3404 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
040691,000868: 20,3405 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
040692,000869:
040693,000870: 20,3406 50166 N1 DEC -2.9708385 B-2 # NUMERATOR COEFS (CSM/LEM), SC.AT B+2
040694,000871: 20,3407 31436 N2 DEC 3.1947342 B-2
040695,000872: 20,3410 74561 N3 DEC -0.40962906 B-2
040696,000873: 20,3411 53277 N4 DEC -2.5780275 B-2
040697,000874: 20,3412 27550 N5 DEC 2.9629319 B-2
040698,000875: 20,3413 63725 N6 DEC -1.5101470 B-2
040699,000876: 20,3414 02400 N7 DEC 0.31243224 B-2
040700,000877:
040701,000878: 20,3415 66341 54237 D1 2DEC -4.7798977 B-4 # DENOMINATOR COEFS (CSM/LEM), SC.AT B+4
040702,000879:
040703,000880: 20,3417 22707 36641 D2 2DEC 9.4452763 B-4
040704,000881: # # Page 939
040705,000882: 20,3421 54220 40714 D3 2DEC -9.8593475 B-4
040706,000883: 20,3423 13344 21146 D4 2DEC 5.7231811 B-4
040707,000884: 20,3425 74401 61760 D5 2DEC -1.7484750 B-4
040708,000885: 20,3427 00340 23073 D6 2DEC 0.21933335 B-4
End of include-file TVCDAPS.agc. Parent file is MAIN.agc