Source Code

045424,000001: # Copyright: Public domain. 045425,000002: # Filename: AUTOMATIC_MANEUVERS.agc 045426,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 045427,000004: # It is part of the source code for the Command Module's (CM) 045428,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 045429,000006: # Assembler: yaYUL 045430,000007: # Contact: Ron Burkey <info@sandroid.org>. 045431,000008: # Website: www.ibiblio.org/apollo. 045432,000009: # Pages: 1025-1036 045433,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the 045434,000011: # same name, using Comanche055 page images. 045435,000012: 045436,000013: # This source code has been transcribed or otherwise adapted from digitized 045437,000014: # images of a hardcopy from the MIT Museum. The digitization was performed 045438,000015: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 045439,000016: # thanks to both. The images (with suitable reduction in storage size and 045440,000017: # consequent reduction in image quality as well) are available online at 045441,000018: # www.ibiblio.org/apollo. If for some reason you find that the images are 045442,000019: # illegible, contact me at info@sandroid.org about getting access to the 045443,000020: # (much) higher-quality images which Paul actually created. 045444,000021: 045445,000022: # Notations on the hardcopy document read, in part: 045446,000023: 045447,000024: # Assemble revision 055 of AGC program Comanche by NASA 045448,000025: # 2021113-051. 10:28 APR. 1, 1969 045449,000026: 045450,000027: # This AGC program shall also be referred to as 045451,000028: # Colossus 2A 045452,000029: 045453,000030: # Page 1025 045454,000031: 21,3250 BANK 21 045455,000032: 21,2000 SETLOC DAPS3 045456,000033: 21,2000 BANK 045457,000034: 045458,000035: 21,3250 COUNT 21/DAPAM 045459,000036: 045460,000037: 21,3250 E6,1510 EBANK= KMPAC 045461,000038: 21,3250 00006 AHFNOROT EXTEND 045462,000039: 21,3251 00031 READ CHAN31 045463,000040: 21,3252 75002 MASK BIT14 045464,000041: 21,3253 00006 EXTEND 045465,000042: 21,3254 63272 BZMF FREECONT 045466,000043: 21,3255 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED 045467,000044: 21,3256 75002 MASK BIT14 045468,000045: 21,3257 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL 045469,000046: 21,3260 12534 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER 045470,000047: # AUTOMATIC CONTROL YET 045471,000048: 21,3261 00006 EXTEND 045472,000049: 21,3262 00031 READ CHAN31 045473,000050: 21,3263 75003 MASK BIT13 045474,000051: 21,3264 00006 EXTEND 045475,000052: 21,3265 63372 BZMF HOLDFUNC 045476,000053: 045477,000054: 21,3266 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG. 045478,000055: 21,3267 00006 EXTEND # OTHERWISE, GO TO ATTHOLD. 045479,000056: 21,3270 63322 BZMF ATTHOLD 045480,000057: 21,3271 13376 TCF GRABANG 045481,000058: 045482,000059: # MINIMUM IMPULSE CONTROL 045483,000060: 045484,000061: 21,3272 35017 FREECONT CAF ONE 045485,000062: 21,3273 55332 TS HOLDFLAG # RESET HOLDFLAG 045486,000063: # INHIBIT AUTOMATIC STEERING 045487,000064: 21,3274 00006 EXTEND 045488,000065: 21,3275 00032 READ CHAN32 045489,000066: 21,3276 54001 TS L 045490,000067: 21,3277 40000 COM 045491,000068: 21,3300 73036 MASK MANROT 045492,000069: 21,3301 71633 MASK CHANTEMP 045493,000070: 21,3302 23633 LXCH CHANTEMP 045494,000071: 21,3303 03130 TC STICKCHK 045495,000072: 21,3304 51656 INDEX RMANNDX 045496,000073: 21,3305 33316 CA MINTAU # MINTAU +0 045497,000074: 21,3306 55561 TS TAU # +1 +14MS MINIMUM IMPULSE 045498,000075: 21,3307 51657 INDEX PMANNDX # +2 -14MS TIME 045499,000076: 21,3310 33316 CA MINTAU # +3 +0 045500,000077: 21,3311 55562 TS TAU1 045501,000078: 21,3312 51660 INDEX YMANNDX 045502,000079: 21,3313 33316 CA MINTAU 045503,000080: # Page 1026 045504,000081: 21,3314 55563 TS TAU2 045505,000082: 21,3315 13067 TCF T6PROGM 045506,000083: 045507,000084: 21,3316 00000 MINTAU DEC 0 B-14 045508,000085: 21,3317 00027 DEC 23 B-14 # = 14MS 045509,000086: 21,3320 77750 DEC -23 B-14 # = -14MS 045510,000087: 21,3321 00000 DEC 0 B-14 045511,000088: 045512,000089: # Page 1027 045513,000090: # CALCULATION OF ATTITUDE ERRORS: 045514,000091: # _ * _ _ _ 045515,000092: # AK = AMGB (CDUX - THETADX) + BIAS 045516,000093: 045517,000094: # I.E., *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS * 045518,000095: # * * * ** * * * 045519,000096: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1* 045520,000097: # * * * ** * * * 045521,000098: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2* 045522,000099: 045523,000100: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD 045524,000101: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES. 045525,000102: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN 045526,000103: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO. 045527,000104: 045528,000105: 21,3322 30032 ATTHOLD CA CDUX 045529,000106: 21,3323 00006 EXTEND 045530,000107: 21,3324 21572 MSU THETADX 045531,000108: 21,3325 55567 TS ERRORX 045532,000109: 21,3326 30033 CA CDUY 045533,000110: 21,3327 00006 EXTEND 045534,000111: 21,3330 21573 MSU THETADY 045535,000112: 21,3331 55502 TS T5TEMP 045536,000113: 21,3332 00006 EXTEND 045537,000114: 21,3333 71640 MP AMGB1 045538,000115: 21,3334 27567 ADS ERRORX 045539,000116: 21,3335 31502 CA T5TEMP 045540,000117: 21,3336 00006 EXTEND 045541,000118: 21,3337 71641 MP AMGB4 045542,000119: 21,3340 55570 TS ERRORY 045543,000120: 21,3341 31502 CA T5TEMP 045544,000121: 21,3342 00006 EXTEND 045545,000122: 21,3343 71643 MP AMGB7 045546,000123: 21,3344 55571 TS ERRORZ 045547,000124: 21,3345 30034 CA CDUZ 045548,000125: 21,3346 00006 EXTEND 045549,000126: 21,3347 21574 MSU THETADZ 045550,000127: 21,3350 55502 TS T5TEMP 045551,000128: 21,3351 00006 EXTEND 045552,000129: 21,3352 71642 MP AMGB5 045553,000130: 21,3353 27570 ADS ERRORY 045554,000131: 21,3354 31502 CA T5TEMP 045555,000132: 21,3355 00006 EXTEND 045556,000133: 21,3356 71644 MP AMGB8 045557,000134: 21,3357 27571 ADS ERRORZ 045558,000135: 21,3360 41332 CS HOLDFLAG 045559,000136: 21,3361 00006 EXTEND 045560,000137: # Page 1028 045561,000138: 21,3362 63441 BZMF JETS 045562,000139: 21,3363 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC 045563,000140: 21,3364 27567 ADS ERRORX 045564,000141: 21,3365 31565 CA BIAS1 045565,000142: 21,3366 27570 ADS ERRORY 045566,000143: 21,3367 31566 CA BIAS2 045567,000144: 21,3370 27571 ADS ERRORZ 045568,000145: 21,3371 13441 TCF JETS 045569,000146: 045570,000147: 21,3372 11332 HOLDFUNC CCS HOLDFLAG 045571,000148: 21,3373 13376 TCF +3 045572,000149: 21,3374 13322 TCF ATTHOLD 045573,000150: 21,3375 13376 TCF +1 045574,000151: 21,3376 35021 GRABANG CAF ZERO # ZERO WBODYS AND BIASES 045575,000152: 21,3377 55525 TS WBODY 045576,000153: 21,3400 55526 TS WBODY +1 045577,000154: 21,3401 55527 TS WBODY1 045578,000155: 21,3402 55530 TS WBODY1 +1 045579,000156: 21,3403 55531 TS WBODY2 045580,000157: 21,3404 55532 TS WBODY2 +1 045581,000158: 21,3405 55564 TS BIAS 045582,000159: 21,3406 55565 TS BIAS1 045583,000160: 21,3407 55566 TS BIAS2 045584,000161: 045585,000162: 21,3410 31501 CA RCSFLAGS 045586,000163: 21,3411 73037 MASK OCT16000 045587,000164: 21,3412 00006 EXTEND # IS RATE DAMPING COMPLETED 045588,000165: 21,3413 13421 BZF ENDDAMP # IF SO, GO TO ENDDAMP 045589,000166: 21,3414 35021 CAF ZERO # OTHERWISE, ZERO ERRORS 045590,000167: 21,3415 55567 TS ERRORX 045591,000168: 21,3416 55570 TS ERRORY 045592,000169: 21,3417 55571 TS ERRORZ 045593,000170: 21,3420 13441 TCF JETS 045594,000171: 045595,000172: 21,3421 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0 045596,000173: 21,3422 00006 EXTEND 045597,000174: 21,3423 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD 045598,000175: 21,3424 53573 DXCH THETADX # REFERENCES 045599,000176: 21,3425 30034 CA CDUZ 045600,000177: 21,3426 55574 TS THETADZ 045601,000178: 21,3427 13322 TCF ATTHOLD 045602,000179: 045603,000180: # Page 1029 045604,000181: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS 045605,000182: 045606,000183: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE 045607,000184: # PLANE. 045608,000185: 045609,000186: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE 045610,000187: # APPROPRIATE DEADZONE. 045611,000188: 045612,000189: # . 045613,000190: # R22 RATE . ERROR 045614,000191: # WL+H . 045615,000192: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES 045616,000193: # R23 WL * . 045617,000194: # ----------------------------------* . ----- DESIRED RATE LINES 045618,000195: # R23 WL-H - *. 045619,000196: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE 045620,000197: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE 045621,000198: # * . * 045622,000199: # *- . * 045623,000200: # R22 R24*- R23 . * 045624,000201: # * . * 045625,000202: # * . * 045626,000203: # + -ADB . * AF ATTITUDE 045627,000204: # ........................+--+---------------+--+........................ 045628,000205: # AF * . +ADB + ERROR 045629,000206: # * . * 045630,000207: # * . -* 045631,000208: # * . -* 045632,000209: # * . -* 045633,000210: # * . * 045634,000211: # *. - * 045635,000212: # . - ***************** 045636,000213: # .*- 045637,000214: # . * -------------------------------- 045638,000215: # . 045639,000216: # . 045640,000217: # FIG. 1 PHASE PLANE SWITCHING LOGIC 045641,000218: 045642,000219: # CONSTANTS FOR JET SWITCHING LOGIC 045643,000220: 045644,000221: 21,3430 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180 045645,000222: 21,3431 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180 045646,000223: 21,3432 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450 045647,000224: 045648,000225: 21,3434 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450 045649,000226: 045650,000227: 21,3436 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450 045651,000228: 045652,000229: # Page 1030 045653,000230: 21,3440 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180 045654,000231: 21,3441 31655 JETS CA ADB 045655,000232: 21,3442 65015 AD FOUR # AF = FLAT REGION = .044 DEG 045656,000233: 21,3443 55502 TS T5TEMP # ADB+AF 045657,000234: 21,3444 35016 CAF TWO 045658,000235: 21,3445 55506 JLOOP TS SPNDX 045659,000236: 21,3446 60000 DOUBLE 045660,000237: 21,3447 55507 TS DPNDX 045661,000238: 21,3450 00006 EXTEND 045662,000239: 21,3451 50000 INDEX A 045663,000240: 21,3452 31534 DCA ADOT 045664,000241: 21,3453 53516 DXCH EDOT 045665,000242: 21,3454 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN 045666,000243: 21,3455 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER. 045667,000244: 21,3456 13463 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION 045668,000245: # OF WBODY AND GO TO INHOLD 045669,000246: 21,3457 00006 EXTEND 045670,000247: 21,3460 51507 INDEX DPNDX 045671,000248: 21,3461 41526 DCS WBODY 045672,000249: 21,3462 21516 DAS EDOT # = ADOT-WBODY 045673,000250: 21,3463 51506 INHOLD INDEX SPNDX 045674,000251: 21,3464 31567 CA ERRORX 045675,000252: 21,3465 55517 TS AERR # AERR = BIAS + AK 045676,000253: 045677,000254: 21,3466 11515 CCS EDOT 045678,000255: 21,3467 13477 TCF POSVEL 045679,000256: 21,3470 13472 TCF SIGNCK1 045680,000257: 21,3471 13507 TCF NEGVEL 045681,000258: 21,3472 11516 SIGNCK1 CCS EDOT +1 045682,000259: 21,3473 13477 TCF POSVEL 045683,000260: 21,3474 13477 TCF POSVEL 045684,000261: 21,3475 13507 TCF NEGVEL 045685,000262: 21,3476 13507 TCF NEGVEL 045686,000263: 21,3477 00006 POSVEL EXTEND 045687,000264: 21,3500 31516 DCA EDOT 045688,000265: 21,3501 53521 DXCH EDOTVEL 045689,000266: 21,3502 31502 CA T5TEMP 045690,000267: 21,3503 55523 TS ADBVEL # +(ADB+AF) 045691,000268: 21,3504 31517 CA AERR 045692,000269: 21,3505 55522 TS AERRVEL 045693,000270: 21,3506 03516 TC J6. 045694,000271: 21,3507 00006 NEGVEL EXTEND 045695,000272: 21,3510 41516 DCS EDOT 045696,000273: 21,3511 53521 DXCH EDOTVEL 045697,000274: 21,3512 41502 CS T5TEMP 045698,000275: 21,3513 55523 TS ADBVEL # -(ADB+AF) 045699,000276: 21,3514 41517 CS AERR 045700,000277: 21,3515 55522 TS AERRVEL 045701,000278: 045702,000279: 21,3516 00006 J6. EXTEND 045703,000280: # Page 1031 045704,000281: 21,3517 61655 SU ADB 045705,000282: 21,3520 63430 AD WLH/SLOP 045706,000283: 21,3521 00006 EXTEND 045707,000284: 21,3522 63551 BZMF J8 045708,000285: 045709,000286: 21,3523 41502 CS T5TEMP # (ADB+AF) 045710,000287: 21,3524 61522 AD AERRVEL 045711,000288: 21,3525 00006 EXTEND 045712,000289: 21,3526 63530 BZMF +2 045713,000290: 21,3527 13542 TCF J7 045714,000291: 21,3530 00006 EXTEND 045715,000292: 21,3531 41521 DCS EDOTVEL 045716,000293: 21,3532 00006 EXTEND 045717,000294: 21,3533 11654 DV SLOPE 045718,000295: 21,3534 00006 EXTEND 045719,000296: 21,3535 61522 SU AERRVEL 045720,000297: 21,3536 61655 AD ADB 045721,000298: 21,3537 00006 EXTEND 045722,000299: 21,3540 63630 BZMF J18 045723,000300: 21,3541 13704 TCF J23 045724,000301: 045725,000302: 21,3542 43431 J7 CS WL-H/SLP 045726,000303: 21,3543 00006 EXTEND 045727,000304: 21,3544 61502 SU T5TEMP # (ADB+AF) 045728,000305: 21,3545 61522 AD AERRVEL 045729,000306: 21,3546 00006 EXTEND 045730,000307: 21,3547 63634 BZMF J20 045731,000308: 21,3550 13645 TCF J21 045732,000309: 045733,000310: 21,3551 00006 J8 EXTEND 045734,000311: 21,3552 43433 DCS WLH 045735,000312: 21,3553 53514 DXCH WTEMP 045736,000313: 21,3554 00006 EXTEND 045737,000314: 21,3555 31521 DCA EDOTVEL 045738,000315: 21,3556 21514 DAS WTEMP 045739,000316: 21,3557 11513 CCS WTEMP 045740,000317: 21,3560 13673 TCF J22 045741,000318: 21,3561 13563 TCF SIGNCK2 045742,000319: 21,3562 13567 TCF NJ22 045743,000320: 21,3563 11514 SIGNCK2 CCS WTEMP +1 045744,000321: 21,3564 13673 TCF J22 045745,000322: 21,3565 13673 TCF J22 045746,000323: 21,3566 13567 TCF NJ22 045747,000324: 045748,000325: 21,3567 00006 NJ22 EXTEND 045749,000326: 21,3570 31521 DCA EDOTVEL 045750,000327: 21,3571 00006 EXTEND 045751,000328: 21,3572 11654 DV SLOPE 045752,000329: 21,3573 61502 AD T5TEMP # (ADB+AF) 045753,000330: 21,3574 61522 AD AERRVEL 045754,000331: # Page 1032 045755,000332: 21,3575 10000 CCS A 045756,000333: 21,3576 13704 TCF J23 045757,000334: 21,3577 13704 TCF J23 045758,000335: 21,3600 13602 TCF +2 045759,000336: 21,3601 13704 TCF J23 045760,000337: 045761,000338: 21,3602 00006 EXTEND 045762,000339: 21,3603 43435 DCS WLMH # WL - H 045763,000340: 21,3604 53514 DXCH WTEMP 045764,000341: 21,3605 00006 EXTEND 045765,000342: 21,3606 31521 DCA EDOTVEL 045766,000343: 21,3607 21514 DAS WTEMP 045767,000344: 21,3610 11513 CCS WTEMP 045768,000345: 21,3611 13704 TCF J23 045769,000346: 21,3612 13614 TCF SIGNCK3 045770,000347: 21,3613 13620 TCF NJ23 045771,000348: 21,3614 11514 SIGNCK3 CCS WTEMP +1 045772,000349: 21,3615 13704 TCF J23 045773,000350: 21,3616 13704 TCF J23 045774,000351: 21,3617 13620 TCF NJ23 045775,000352: 045776,000353: 21,3620 31522 NJ23 CA AERRVEL 045777,000354: 21,3621 61502 AD T5TEMP # (ADB+AF) 045778,000355: 21,3622 63431 AD WL-H/SLP 045779,000356: 21,3623 10000 CCS A 045780,000357: 21,3624 13716 TCF J24 045781,000358: 21,3625 13716 TCF J24 045782,000359: 21,3626 13673 TCF J22 045783,000360: 21,3627 13673 TCF J22 045784,000361: 045785,000362: 21,3630 00006 J18 EXTEND 045786,000363: 21,3631 41516 DCS EDOT 045787,000364: 21,3632 53511 DXCH KMPAC 045788,000365: 21,3633 13727 TCF JTIME 045789,000366: 045790,000367: 21,3634 41517 J20 CS AERR 045791,000368: 21,3635 61523 AD ADBVEL 045792,000369: 21,3636 00006 EXTEND 045793,000370: 21,3637 73440 MP SLOPE2 # (HYSTERESIS SLOPE) 045794,000371: 21,3640 53511 DXCH KMPAC 045795,000372: 21,3641 00006 EXTEND 045796,000373: 21,3642 41516 DCS EDOT 045797,000374: 21,3643 21511 DAS KMPAC 045798,000375: 21,3644 13727 TCF JTIME 045799,000376: 045800,000377: 21,3645 11515 J21 CCS EDOT 045801,000378: 21,3646 13664 TCF JP 045802,000379: 21,3647 13651 TCF SIGNCK4 045803,000380: 21,3650 13655 TCF JN 045804,000381: 21,3651 11516 SIGNCK4 CCS EDOT +1 045805,000382: # Page 1033 045806,000383: 21,3652 13664 TCF JP 045807,000384: 21,3653 13664 TCF JP 045808,000385: 21,3654 13655 TCF JN 045809,000386: 21,3655 00006 JN EXTEND 045810,000387: 21,3656 41516 DCS EDOT 045811,000388: 21,3657 53511 DXCH KMPAC 045812,000389: 21,3660 00006 EXTEND 045813,000390: 21,3661 33437 DCA WL 045814,000391: 21,3662 21511 DAS KMPAC 045815,000392: 21,3663 13727 TCF JTIME 045816,000393: 045817,000394: 21,3664 00006 JP EXTEND 045818,000395: 21,3665 41516 DCS EDOT 045819,000396: 21,3666 53511 DXCH KMPAC 045820,000397: 21,3667 00006 EXTEND 045821,000398: 21,3670 43437 DCS WL 045822,000399: 21,3671 21511 DAS KMPAC 045823,000400: 21,3672 13727 TCF JTIME 045824,000401: 045825,000402: 21,3673 11515 J22 CCS EDOT 045826,000403: 21,3674 13655 TCF JN 045827,000404: 21,3675 13677 TCF SIGNCK5 045828,000405: 21,3676 13664 TCF JP 045829,000406: 21,3677 11516 SIGNCK5 CCS EDOT +1 045830,000407: 21,3700 13655 TCF JN 045831,000408: 21,3701 13655 TCF JN 045832,000409: 21,3702 13664 TCF JP 045833,000410: 21,3703 13664 TCF JP 045834,000411: 045835,000412: 21,3704 51506 J23 INDEX SPNDX 045836,000413: 21,3705 45003 CS BIT13 # RESET RATE DAMPING FLAG 045837,000414: 21,3706 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0) 045838,000415: 21,3707 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1) 045839,000416: # BIT11 FOR YAW (SPNDX = 2) 045840,000417: 045841,000418: 21,3710 51506 INDEX SPNDX 045842,000419: 21,3711 33033 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS 045843,000420: 21,3712 71501 MASK RCSFLAGS # AXIS 045844,000421: 21,3713 00006 EXTEND 045845,000422: 21,3714 13750 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING 045846,000423: 045847,000424: 21,3715 13630 TCF J18 # YES, GO TO J18 AND FORCE A FIRING 045848,000425: 045849,000426: 21,3716 41517 J24 CS AERR 045850,000427: 21,3717 00006 EXTEND 045851,000428: 21,3720 61523 SU ADBVEL 045852,000429: 21,3721 00006 EXTEND 045853,000430: 21,3722 73440 MP SLOPE2 # (HYSTERESIS SLOPE) 045854,000431: 21,3723 53511 DXCH KMPAC 045855,000432: 21,3724 00006 EXTEND 045856,000433: # Page 1034 045857,000434: 21,3725 41516 DCS EDOT 045858,000435: 21,3726 21511 DAS KMPAC 045859,000436: 045860,000437: # Page 1035 045861,000438: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, I.E., 045862,000439: 045863,000440: # T = J/M(DELTA W) 045864,000441: # J 045865,000442: 045866,000443: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE 045867,000444: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC. 045868,000445: 045869,000446: # J/M = S/C INERTIA TO TORQUE RATIO SCALED BY 045870,000447: # (57.3/450)(B24/1600)(1/.8) 045871,000448: # FOR 1 JET OPERATION (M = 700 FT-LB). 045872,000449: # I.E., J/M = J(SLUG-FTFT) x 0.00000085601606 045873,000450: 045874,000451: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY 045875,000452: # KEYBOARD ENTRY ARE 045876,000453: # J/M (ROLL) 045877,000454: # J/M1 (PITCH) 045878,000455: # J/M2 (YAW) 045879,000456: 045880,000457: # T = JET-ON TIME SCALED 16384/1600 SEC 045881,000458: # J 045882,000459: 045883,000460: # THE COMPUTER VARIABLES ARE 045884,000461: # TAU (ROLL) 045885,000462: # TAU1 (PITCH) 045886,000463: # TAU2 (YAW) 045887,000464: 045888,000465: 21,3727 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO 045889,000466: 21,3730 31623 CA J/M # SCALED (57.3/450)(B24/1600) 045890,000467: 21,3731 02042 TC SMALLMP # FOR 1-JET OPERATION 045891,000468: 21,3732 35005 CA BIT11 045892,000469: 21,3733 02042 TC SMALLMP 045893,000470: 21,3734 11510 CCS KMPAC 045894,000471: 21,3735 13741 TCF +4 045895,000472: 21,3736 13745 TCF TAUNORM 045896,000473: 21,3737 13743 TCF +4 045897,000474: 21,3740 13745 TCF TAUNORM 045898,000475: 21,3741 34777 CA POSMAX 045899,000476: 21,3742 13746 TCF DOJET 045900,000477: 21,3743 35001 CA NEGMAX 045901,000478: 21,3744 13746 TCF DOJET 045902,000479: 045903,000480: 21,3745 31511 TAUNORM CA KMPAC +1 045904,000481: 21,3746 51506 DOJET INDEX SPNDX 045905,000482: 21,3747 55561 TS TAU 045906,000483: 21,3750 11506 CCS SPNDX 045907,000484: 21,3751 13445 TCF JLOOP 045908,000485: 21,3752 13757 TCF T6PROG 045909,000486: 045910,000487: # Page 1036 045911,000488: 21,3753 35021 ZEROCMDS CAF ZERO 045912,000489: 21,3754 55561 TS TAU 045913,000490: 21,3755 55562 TS TAU1 045914,000491: 21,3756 55563 TS TAU2 045915,000492: 21,3757 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS) 045916,000493: 21,3760 33764 DCA JETADDR # HAVE BEEN DETERINED 045917,000494: 21,3761 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3 045918,000495: 21,3762 15333 TCF RESUME 045919,000496: 045920,000497: 21,3763 E6,1510 EBANK= KMPAC 045921,000498: 21,3763 02552 36066 JETADDR 2CADR JETSLECT 045922,000499: End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc