Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
013898,000002: ## Copyright: Public domain.
013899,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
013900,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
013901,000005: ## It is part of the source code for the Lunar Module's (LM)
013902,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
013903,000007: ## Assembler: yaYUL
013904,000008: ## Contact: Ron Burkey <info@sandroid.org>.
013905,000009: ## Website: www.ibiblio.org/apollo.
013906,000010: ## Pages: 342-363
013907,000011: ## Mod history: 2009-05-16 RSB Adapted from the corresponding
013908,000012: ## Luminary131 file, using page
013909,000013: ## images from Luminary 1A.
013910,000014: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
013911,000015: ## and corrected the errors found.
013912,000016: ## 2017-01-19 MAS Corrected some USER'S to USER:S
013913,000017: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
013914,000018: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
013915,000019: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
013916,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
013917,000021:
013918,000022: ## Notations on the hardcopy document read, in part:
013919,000023: ##
013920,000024: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
013921,000025: ## 16:27 JULY 14, 1969
013922,000026:
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013924,000028: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
013925,000029:
013926,000030: # MOD 2 DATE 5/1/67 BY DON KEENE
013927,000031:
013928,000032: # PROGRAM DESCRIPTION
013929,000033:
013930,000034: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
013931,000035: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
013932,000036: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
013933,000037: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
013934,000038: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
013935,000039:
013936,000040: # CPHI = COMMANDED OUTER GIMBAL ANGLE
013937,000041: # CTHETA = COMMANDED INNER GIMBAL ANGLE
013938,000042: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
013939,000043:
013940,000044: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
013941,000045: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
013942,000046: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
013943,000047: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
013944,000048: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
013945,000049: # -
013946,000050: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
013947,000051: # -
013948,000052: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
013949,000053: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
013950,000054: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
013951,000055:
013952,000056: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
013953,000057: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
013954,000058: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
013955,000059: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
013956,000060: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
013957,000061: # -
013958,000062: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
013959,000063:
013960,000064: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
013961,000065: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
013962,000066: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
013963,000067: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
013964,000068: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
013965,000069: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
013966,000070: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
013967,000071: # DESIRED FINAL GIMBAL ANGLES.
013968,000072:
013969,000073: # PROGRAM LOGIC FLOW
013970,000074:
013971,000075: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
013972,000076: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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013974,000078: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
013975,000079: # * * *
013976,000080: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
013977,000081: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
013978,000082:
013979,000083: # A) AM LESS THAN .25 DEGREES (MINANG)
013980,000084: # B) AM GREATER THAN 170 DEGREES (MAXANG)
013981,000085:
013982,000086: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
013983,000087: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
013984,000088:
013985,000089: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
013986,000090: # - *
013987,000091: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
013988,000092: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
013989,000093: # -
013990,000094: # TO DETERMINE COF.
013991,000095:
013992,000096: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
013993,000097: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
013994,000098: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
013995,000099: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
013996,000100: # YAW.
013997,000101:
013998,000102: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
013999,000103: # -
014000,000104: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014001,000105: # DESIRED REFERENCE MATRIX IS THEN,
014002,000106: # * * *
014003,000107: # MIS = MIS DEL
014004,000108: # N+1 N
014005,000109: # *
014006,000110: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014007,000111: # *
014008,000112: # FROM MIS.
014009,000113:
014010,000114: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014011,000115: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014012,000116: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014013,000117: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014014,000118: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014015,000119: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014016,000120:
014017,000121: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014018,000122: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014019,000123:
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014021,000125: # CALLING SEQUENCE
014022,000126:
014023,000127: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014024,000128: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014025,000129: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014026,000130: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014027,000131: # *
014028,000132: # CAF PRIO XX
014029,000133: # --
014030,000134: # INHINT
014031,000135: # TC FINDVAC
014032,000136: # 2CADR KALCMAN3
014033,000137: # RELINT
014034,000138:
014035,000139: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014036,000140: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014037,000141:
014038,000142: # L TC BANKCALL
014039,000143: # L+1 CADR ATTSTALL
014040,000144: # L+2 (BAD RETURN)
014041,000145: # L+3 (GOOD RETURN)
014042,000146:
014043,000147: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014044,000148: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014045,000149: # WAS IN GIMBAL LOCK.
014046,000150:
014047,000151: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014048,000152: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014049,000153: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014050,000154: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014051,000155: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014052,000156: # SUBROUTINES
014053,000157:
014054,000158: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014055,000159: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014056,000160:
014057,000161: # MXM3
014058,000162: # ----
014059,000163:
014060,000164: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014061,000165: # DOWN LIST, I.E.,
014062,000166: # ( M M M )
014063,000167: # ( 0 1 2 )
014064,000168: # * ( ) * *
014065,000169: # M = ( M M M ) = M1 X M2
014066,000170: # ( 3 4 5 )
014067,000171: # ( )
014068,000172: # ( M M M )
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014070,000174: # ( 6 7 8 )
014071,000175: # *
014072,000176: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014073,000177: # *
014074,000178: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014075,000179: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014076,000180: # 8
014077,000181: # TRANSPOS
014078,000182: # --------
014079,000183:
014080,000184: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014081,000185: #
014082,000186: # * * T
014083,000187: # M = M1
014084,000188:
014085,000189: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014086,000190: # *
014087,000191: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014088,000192:
014089,000193: # CDU TO DCM
014090,000194: # ----------
014091,000195:
014092,000196: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014093,000197: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014094,000198:
014095,000199: # M = COSY COSZ
014096,000200: # 0
014097,000201:
014098,000202: # M = -COSY SINZ COSX + SINY SINX
014099,000203: # 1
014100,000204:
014101,000205: # M = COSY SINZ SINX + SINY COSX
014102,000206: # 2
014103,000207:
014104,000208: # M = SINZ
014105,000209: # 3
014106,000210:
014107,000211: # M = COSZ COSX
014108,000212: # 4
014109,000213:
014110,000214: # M = -COSZ SINX
014111,000215: # 5
014112,000216:
014113,000217: # M = -SINY COSZ
014114,000218: # 6
014115,000219: #
014116,000220: # M = SINY SINZ COSX + COSY SINX
014117,000221: # 7
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014119,000223: # M = -SINY SINZ SINX + COSY COSX
014120,000224: # 8
014121,000225:
014122,000226: # WHERE X = OUTER GIMBAL ANGLE
014123,000227: # Y = INNER GIMBAL ANGLE
014124,000228: # Z = MIDDLE GIMBAL ANGLE
014125,000229:
014126,000230: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014127,000231:
014128,000232: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014129,000233: # X Y Z
014130,000234: # STABLE MEMBER AXES (B , B , B ) ARE
014131,000235: # X Y Z
014132,000236:
014133,000237: # ( B ) ( A )
014134,000238: # ( X ) ( X )
014135,000239: # ( ) ( )
014136,000240: # ( ) * ( )
014137,000241: # ( B ) = M ( A )
014138,000242: # ( Y ) ( Y )
014139,000243: # ( ) ( )
014140,000244: # ( B ) ( A )
014141,000245: # ( Z ) ( Z )
014142,000246:
014143,000247: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014144,000248: # *
014145,000249: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014146,000250:
014147,000251: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014148,000252: # REGISTER X2.
014149,000253:
014150,000254: # DCM TO CDU
014151,000255: # ----------
014152,000256: # *
014153,000257: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014154,000258: # *
014155,000259: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014156,000260: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014157,000261: # FOR THIS CONVERSION ARE
014158,000262:
014159,000263: # Z = ARCSIN (M )
014160,000264: # 3
014161,000265:
014162,000266: # Y = ARCSIN (-M /COSZ)
014163,000267: # 6
014164,000268:
014165,000269: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014166,000270: # 0
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014168,000272: # X = ARCSIN (-M /COSZ)
014169,000273: # 5
014170,000274:
014171,000275: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014172,000276: # 4
014173,000277:
014174,000278: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014175,000279: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014176,000280: # THE PUSH DOWN LIST.
014177,000281:
014178,000282: # DELCOMP
014179,000283: # -------
014180,000284: # *
014181,000285: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014182,000286: # -
014183,000287: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014184,000288:
014185,000289: # * * - -T *
014186,000290: # DEL = I COSA + U U (1 - COSA) + V SINA
014187,000291: # X
014188,000292:
014189,000293: # WHERE * ( 1 0 0 )
014190,000294: # I = ( 0 1 0 )
014191,000295: # ( 0 0 1 )
014192,000296:
014193,000297: # 2
014194,000298: # ( U U U U U )
014195,000299: # ( X X Y X Z )
014196,000300: # ( )
014197,000301: # - -T ( 2 )
014198,000302: # U U = ( U U U U U )
014199,000303: # ( Y X Y Y Z )
014200,000304: # ( )
014201,000305: # ( 2 )
014202,000306: # ( U U U U U )
014203,000307: # ( Z X Z Y Z )
014204,000308:
014205,000309:
014206,000310: # ( 0 -U U )
014207,000311: # ( Z Y )
014208,000312: # * ( )
014209,000313: # V = ( U 0 -U )
014210,000314: # X ( Z X )
014211,000315: # ( )
014212,000316: # ( -U U 0 )
014213,000317: # ( Y X )
014214,000318:
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014216,000320: # -
014217,000321: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014218,000322: # A = ROTATION ANGLE
014219,000323:
014220,000324: # *
014221,000325: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014222,000326:
014223,000327: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014224,000328: # X Y Z
014225,000329: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014226,000330: # X Y Z
014227,000331:
014228,000332: # ( B ) ( A )
014229,000333: # ( X ) ( X )
014230,000334: # ( ) * ( )
014231,000335: # ( B ) = DEL ( A )
014232,000336: # ( Y ) ( Y )
014233,000337: # ( ) ( )
014234,000338: # ( B ) ( A )
014235,000339: # ( Z ) ( Z )
014236,000340:
014237,000341: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014238,000342: # -
014239,000343: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014240,000344: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014241,000345: # MUST THEN BE LOADED INTO D(MPAC).
014242,000346: #
014243,000347: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014244,000348:
014245,000349: # READCDUK
014246,000350: # --------
014247,000351:
014248,000352: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014249,000353:
014250,000354: # SIGNMPAC
014251,000355: # --------
014252,000356:
014253,000357: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014254,000358:
014255,000359: # PROGRAM STORAGE ALLOCATION
014256,000360:
014257,000361: # 1) FIXED MEMORY 1059 WORDS
014258,000362: # 2) ERASABLE MEMORY 98
014259,000363: # 3) STATE SWITCHES 3
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Page 349 |
014261,000365: # 4) FLAGS 1
014262,000366:
014263,000367: # JOB PRIORITIES
014264,000368:
014265,000369: # 1) KALCMANU TBD
014266,000370: # 2) ONE SECOND UPDATE TBD
014267,000371:
014268,000372: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014269,000373:
014270,000374: # STATE FLAGWRD 2 SETTING MEANING
014271,000375: # SWITCH NO. BIT NO.
014272,000376:
014273,000377: # *
014274,000378: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014275,000379: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014276,000380: # *
014277,000381: # 32 13 0 CONTINUE UPDATE PROCESS
014278,000382: # 1 START UPDATE PROCESS
014279,000383:
014280,000384: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014281,000385: # 1 IGNORE ANY FINAL P-AXIS YAW
014282,000386:
014283,000387: # 34 11 0 SIGNAL END OF KALCMANU
014284,000388: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014285,000389:
014286,000390: # * INTERNAL TO KALCMANU
014287,000391:
014288,000392: # SUGGESTIONS FOR PROGRAM INTEGRATION
014289,000393:
014290,000394: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014291,000395:
014292,000396: # CPHI
014293,000397: # CTHETA
014294,000398: # CPSI
014295,000399: # POINTVSM +5
014296,000400: # SCAXIS +5
014297,000401: # DELDCDU
014298,000402: # DELDCDU1
014299,000403: # DELDCDU2
014300,000404: # RATEINDX
014301,000405:
014302,000406: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014303,000407:
014304,000408: # MXM3
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Page 350 |
014306,000410: # TRANSPOS
014307,000411: # SIGNMPAC
014308,000412: # READCDUK
014309,000413: # CDUTODCM
014310,000414:
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Page 351 |
014312,000416: 15,2050 BANK 15
014313,000417: 22,2000 SETLOC KALCMON1
014314,000418: 22,2000 BANK
014315,000419:
014316,000420: 22,2004 E6,1676 EBANK= BCDU
014317,000421:
014318,000422: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014319,000423: # LOCATIONS, CPHI, CTHETA, CPSI.
014320,000424:
014321,000425: 22,2004 COUNT* $$/KALC
014322,000426: 22,2004 06037 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014323,000427: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014324,000428: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014325,000429: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES
014326,000430: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014327,000431: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014328,000432: 22,2012 51025 DSU BPL
014329,000433: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014330,000434: 22,2014 44724 TOOBADF
014331,000435: 22,2015 72364 AXC,2 TLOAD
014332,000436: 22,2016 03246 MIS
014333,000437: 22,2017 03277 BCDU
014334,000438: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014335,000439: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014336,000440: 22,2022 72364 AXC,2 TLOAD
014337,000441: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014338,000442: 22,2024 00322 CPHI
014339,000443: 22,2025 77624 CALL
014340,000444: 22,2026 44410 CDUTODCM
014341,000445: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014342,000446: 22,2030 03246 MIS
014343,000447: 22,2031 44326 TRANSPOS
014344,000448: 22,2032 45575 VLOAD STADR
014345,000449: 22,2033 50457 STOVL TMIS +12D
014346,000450: 22,2034 77626 STADR
014347,000451: 22,2035 50465 STOVL TMIS +6
014348,000452: 22,2036 77626 STADR
014349,000453: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014350,000454: 22,2040 75160 AXC,1 AXC,2
014351,000455: 22,2041 03303 TMIS
014352,000456: 22,2042 02230 MFS
014353,000457: 22,2043 77624 CALL
014354,000458: 22,2044 44312 MXM3
014355,000459: 22,2045 45575 VLOAD STADR
014356,000460: 22,2046 51532 STOVL MFI +12D
014357,000461: 22,2047 77626 STADR
014358,000462: 22,2050 51540 STOVL MFI +6
014359,000463: 22,2051 77626 STADR
014360,000464: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014361,000465: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 352 |
014363,000467: 22,2054 00023 18D
014364,000468: 22,2055 44335 TRNSPSPD
014365,000469: 22,2056 45575 VLOAD STADR
014366,000470: 22,2057 50457 STOVL TMFI +12D
014367,000471: 22,2060 77626 STADR
014368,000472: 22,2061 50465 STOVL TMFI +6
014369,000473: 22,2062 77626 STADR
014370,000474: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014371,000475:
014372,000476: # CALCULATE COFSKEW AND MFISYM
014373,000477:
014374,000478: 22,2064 45345 DLOAD DSU
014375,000479: 22,2065 03306 TMFI +2
014376,000480: 22,2066 02233 MFI +2
014377,000481: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014378,000482: 22,2070 02235 MFI +4
014379,000483: 22,2071 03310 TMFI +4
014380,000484: 22,2072 45325 PDDL DSU
014381,000485: 22,2073 03316 TMFI +10D
014382,000486: 22,2074 02243 MFI +10D
014383,000487: 22,2075 77666 VDEF
014384,000488: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW
014385,000489:
014386,000490: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014387,000491:
014388,000492: 22,2077 43345 DLOAD DAD
014389,000493: 22,2100 02231 MFI
014390,000494: 22,2101 02251 MFI +16D
014391,000495: 22,2102 43225 DSU DAD
014392,000496: 22,2103 06512 DP1/4TH
014393,000497: 22,2104 02241 MFI +8D
014394,000498: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014395,000499: 22,2106 77726 ARCCOS
014396,000500: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014397,000501: 22,2110 51025 DSU BPL
014398,000502: 22,2111 04363 MINANG
014399,000503: 22,2112 44117 CHECKMAX
014400,000504: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014401,000505: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014402,000506: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES
014403,000507: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014404,000508:
014405,000509: 22,2117 45345 CHECKMAX DLOAD DSU
014406,000510: 22,2120 03336 AM
014407,000511: 22,2121 04365 MAXANG
014408,000512: 22,2122 77244 BPL VLOAD
014409,000513: 22,2123 44131 ALTCALC # UNIT
014410,000514: 22,2124 03326 COFSKEW # COFSKEW
014411,000515: 22,2125 77656 UNIT
014412,000516: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS
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Page 353 |
014414,000518: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014415,000519: 22,2130 44744 LOCSKIRT
014416,000520: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014417,000521: 22,2132 02231 MFI
014418,000522: 22,2133 03304 TMFI
014419,000523: 22,2134 77762 VSR1
014420,000524: 22,2135 27304 STOVL MFISYM
014421,000525: 22,2136 02237 MFI +6
014422,000526: 22,2137 74455 VAD VSR1
014423,000527: 22,2140 03312 TMFI +6
014424,000528: 22,2141 27312 STOVL MFISYM +6
014425,000529: 22,2142 02245 MFI +12D
014426,000530: 22,2143 74455 VAD VSR1
014427,000531: 22,2144 03320 TMFI +12D
014428,000532: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014429,000533:
014430,000534: # CALCULATE COF
014431,000535:
014432,000536: 22,2146 70545 DLOAD SR1
014433,000537: 22,2147 03334 CAM
014434,000538: 22,2150 45325 PDDL DSU # PDO CAM $4
014435,000539: 22,2151 06520 DPHALF
014436,000540: 22,2152 03334 CAM
014437,000541: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014438,000542: 22,2154 21712 SIGNMPAC
014439,000543: 22,2155 03324 MFISYM +16D
014440,000544: 22,2156 56225 DSU DDV
014441,000545: 22,2157 00001 0
014442,000546: 22,2160 00003 2
014443,000547: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014444,000548: 22,2162 03314 MFISYM +8D # $ ROOT 2
014445,000549: 22,2163 56225 DSU DDV
014446,000550: 22,2164 00001 0
014447,000551: 22,2165 00003 2
014448,000552: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014449,000553: 22,2167 03304 MFISYM
014450,000554: 22,2170 56225 DSU DDV
014451,000555: 22,2171 00001 0
014452,000556: 22,2172 00003 2
014453,000557: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014454,000558: 22,2174 77656 UNIT
014455,000559: 22,2175 03271 STORE COF
014456,000560:
014457,000561: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014458,000562:
014459,000563: 22,2176 45345 COFMAXGO DLOAD DSU
014460,000564: 22,2177 03271 COF
014461,000565: 22,2200 03273 COF +2
014462,000566: 22,2201 71240 BMN DLOAD # COFY G COFX
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Page 354 |
014464,000568: 22,2202 44211 COMP12
014465,000569: 22,2203 03271 COF
014466,000570: 22,2204 50025 DSU BMN
014467,000571: 22,2205 03275 COF +4
014468,000572: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014469,000573: 22,2207 77650 GOTO
014470,000574: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014471,000575: 22,2211 45345 COMP12 DLOAD DSU
014472,000576: 22,2212 03273 COF +2
014473,000577: 22,2213 03275 COF +4
014474,000578: 22,2214 77640 BMN
014475,000579: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014476,000580:
014477,000581: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014478,000582: 22,2217 03330 COFSKEW +2 # UY
014479,000583: 22,2220 44224 U2POS
014480,000584: 22,2221 57575 VLOAD VCOMP
014481,000585: 22,2222 03271 COF
014482,000586: 22,2223 03271 STORE COF
014483,000587: 22,2224 51145 U2POS DLOAD BPL
014484,000588: 22,2225 03306 MFISYM +2 # UX UY
014485,000589: 22,2226 44232 OKU21
014486,000590: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014487,000591: 22,2230 03271 COF
014488,000592: 22,2231 03271 STORE COF
014489,000593: 22,2232 51145 OKU21 DLOAD BPL
014490,000594: 22,2233 03316 MFISYM +10D # UY UZ
014491,000595: 22,2234 44744 LOCSKIRT
014492,000596: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014493,000597: 22,2236 03275 COF +4
014494,000598: 22,2237 03275 STORE COF +4
014495,000599: 22,2240 77650 GOTO
014496,000600: 22,2241 44744 LOCSKIRT
014497,000601: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014498,000602: 22,2243 03326 COFSKEW # UX
014499,000603: 22,2244 44250 U1POS
014500,000604: 22,2245 57575 VLOAD VCOMP
014501,000605: 22,2246 03271 COF
014502,000606: 22,2247 03271 STORE COF
014503,000607: 22,2250 51145 U1POS DLOAD BPL
014504,000608: 22,2251 03306 MFISYM +2 # UX UY
014505,000609: 22,2252 44256 OKU12
014506,000610: 22,2253 57545 DLOAD DCOMP
014507,000611: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX
014508,000612: 22,2255 03273 STORE COF +2
014509,000613: 22,2256 51145 OKU12 DLOAD BPL
014510,000614: 22,2257 03310 MFISYM +4 # UX UZ
014511,000615: 22,2260 44744 LOCSKIRT
014512,000616: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014513,000617: 22,2262 03275 COF +4
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Page 355 |
014515,000619: 22,2263 03275 STORE COF +4
014516,000620: 22,2264 77650 GOTO
014517,000621: 22,2265 44744 LOCSKIRT
014518,000622: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014519,000623: 22,2267 03332 COFSKEW +4 # UZ
014520,000624: 22,2270 44274 U3POS
014521,000625: 22,2271 57575 VLOAD VCOMP
014522,000626: 22,2272 03271 COF
014523,000627: 22,2273 03271 STORE COF
014524,000628: 22,2274 51145 U3POS DLOAD BPL
014525,000629: 22,2275 03310 MFISYM +4 # UX UZ
014526,000630: 22,2276 44302 OKU31
014527,000631: 22,2277 57545 DLOAD DCOMP
014528,000632: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ
014529,000633: 22,2301 03271 STORE COF
014530,000634: 22,2302 51145 OKU31 DLOAD BPL
014531,000635: 22,2303 03316 MFISYM +10D # UY UZ
014532,000636: 22,2304 44744 LOCSKIRT
014533,000637: 22,2305 57545 DLOAD DCOMP
014534,000638: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ
014535,000639: 22,2307 03273 STORE COF +2
014536,000640: 22,2310 77650 GOTO
014537,000641: 22,2311 44744 LOCSKIRT
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Page 356 |
014539,000643: # MATRIX OPERATIONS
014540,000644:
014541,000645: 13,2207 BANK 13
014542,000646: 22,2000 SETLOC KALCMON2
014543,000647: 22,2000 BANK
014544,000648:
014545,000649: 22,2312 E6,1676 EBANK= BCDU
014546,000650:
014547,000651: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014548,000652: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014549,000653: 22,2314 00001 0,1 # AND MPAC
014550,000654: 22,2315 62703 VXM* PDVL*
014551,000655: 22,2316 77776 0,2
014552,000656: 22,2317 00007 6,1
014553,000657: 22,2320 62703 VXM* PDVL*
014554,000658: 22,2321 77776 0,2
014555,000659: 22,2322 00015 12D,1
014556,000660: 22,2323 41503 VXM* PUSH
014557,000661: 22,2324 77776 0,2
014558,000662: 22,2325 77616 RVQ
014559,000663:
014560,000664: # RETURN WITH M1XM2 IN PD LIST
014561,000665:
014562,000666: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014563,000667: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014564,000668: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014565,000669: 22,2331 62713 PDVL* PDVL*
014566,000670: 22,2332 00007 6,1
014567,000671: 22,2333 00015 12D,1
014568,000672: 22,2334 77606 PUSH # MATRIX IN PD
014569,000673: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014570,000674: 22,2336 50120 INDEX FIXLOC
014571,000675: 22,2337 52013 DXCH 12
014572,000676: 22,2340 50120 INDEX FIXLOC
014573,000677: 22,2341 52017 DXCH 16
014574,000678: 22,2342 50120 INDEX FIXLOC
014575,000679: 22,2343 52013 DXCH 12
014576,000680: 22,2344 50120 INDEX FIXLOC
014577,000681: 22,2345 52015 DXCH 14
014578,000682: 22,2346 50120 INDEX FIXLOC
014579,000683: 22,2347 52005 DXCH 4
014580,000684: 22,2350 50120 INDEX FIXLOC
014581,000685: 22,2351 52015 DXCH 14
014582,000686: 22,2352 50120 INDEX FIXLOC
014583,000687: 22,2353 52003 DXCH 2
014584,000688: 22,2354 50120 INDEX FIXLOC
014585,000689: 22,2355 52007 DXCH 6
014586,000690: 22,2356 50120 INDEX FIXLOC
014587,000691: 22,2357 52003 DXCH 2
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Page 357 |
014589,000693: 22,2360 06037 TC INTPRET
014590,000694: 22,2361 77616 RVQ
014591,000695:
014592,000696: 15,2050 BANK 15
014593,000697: 22,2000 SETLOC KALCMON1
014594,000698: 22,2000 BANK
014595,000699:
014596,000700: 22,2362 E6,1676 EBANK= BCDU
014597,000701:
014598,000702: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014599,000703:
014600,000704: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014601,000705:
014602,000706: # GIMBAL LOCK CONSTANTS
014603,000707:
014604,000708: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014605,000709: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014606,000710:
014607,000711: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014608,000712:
014609,000713: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014610,000714:
014611,000715: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014612,000716:
014613,000717: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014614,000718:
014615,000719: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014616,000720:
014617,000721: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014618,000722:
014619,000723: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014620,000724:
014621,000725: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014622,000726:
014623,000727: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014624,000728: 22,2404 54156 TS MPAC +2
014625,000729: 22,2405 00006 EXTEND
014626,000730: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014627,000731: 22,2407 16476 TCF TLOAD +6
014628,000732:
014629,000733: 22,2410 66370 CDUTODCM AXT,1 SSP
014630,000734: 22,2411 00003 OCT 3
014631,000735: 22,2412 00051 S1
014632,000736: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014633,000737: 22,2414 00010 STORE 7
014634,000738: 22,2415 77601 SETPD
014635,000739: 22,2416 00001 0
014636,000740: 22,2417 47133 LOOPSIN SLOAD* RTB
014637,000741: 22,2420 00013 10D,1
014638,000742: 22,2421 21576 CDULOGIC
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Page 358 |
014640,000744: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014641,000745: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014642,000746: 22,2424 00013 10D # 4 SIN(THETA)
014643,000747: 22,2425 41546 COS PUSH # 6 COS(THETA)
014644,000748: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014645,000749: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014646,000750: 22,2430 00007 6
014647,000751: 22,2431 72405 DMP SL1
014648,000752: 22,2432 00013 10D
014649,000753: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014650,000754: 22,2434 41345 DLOAD DMP
014651,000755: 22,2435 00005 4
014652,000756: 22,2436 00001 0
014653,000757: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014654,000758: 22,2440 00007 6
014655,000759: 22,2441 00011 8D
014656,000760: 22,2442 72405 DMP SL1
014657,000761: 22,2443 00003 2
014658,000762: 22,2444 72421 BDSU SL1
014659,000763: 22,2445 00015 12D
014660,000764: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014661,000765: 22,2447 41345 DLOAD DMP
014662,000766: 22,2450 00003 2
014663,000767: 22,2451 00005 4
014664,000768: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
014665,000769: 22,2453 00007 6
014666,000770: 22,2454 00011 8D
014667,000771: 22,2455 72405 DMP SL1
014668,000772: 22,2456 00001 0
014669,000773: 22,2457 72415 DAD SL1
014670,000774: 22,2460 00017 14D
014671,000775: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
014672,000776: 22,2462 77745 DLOAD
014673,000777: 22,2463 00011 8D
014674,000778: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
014675,000779: 22,2465 77745 DLOAD
014676,000780: 22,2466 00013 10D
014677,000781: 22,2467 72405 DMP SL1
014678,000782: 22,2470 00003 2
014679,000783: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
014680,000784: 22,2472 41345 DLOAD DMP
014681,000785: 22,2473 00013 10D
014682,000786: 22,2474 00001 0
014683,000787: 22,2475 72476 DCOMP SL1
014684,000788: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
014685,000789: 22,2477 41345 DLOAD DMP
014686,000790: 22,2500 00005 4
014687,000791: 22,2501 00013 10D
014688,000792: 22,2502 72476 DCOMP SL1
014689,000793: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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014691,000795: 22,2504 77745 DLOAD
014692,000796: 22,2505 72405 DMP SL1 # (PUSH UP 7)
014693,000797: 22,2506 00011 8D
014694,000798: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
014695,000799: 22,2510 00007 6
014696,000800: 22,2511 00001 0
014697,000801: 22,2512 72415 DAD SL1 # (PUSH UP 7)
014698,000802: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
014699,000803: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
014700,000804: 22,2515 77745 DLOAD
014701,000805: 22,2516 72405 DMP SL1 # (PUSH UP 6)
014702,000806: 22,2517 00011 8D
014703,000807: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
014704,000808: 22,2521 00007 6
014705,000809: 22,2522 00003 2
014706,000810: 22,2523 72425 DSU SL1 # (PUSH UP 6)
014707,000811: 22,2524 77626 STADR
014708,000812: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
014709,000813: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
014710,000814:
014711,000815: # CALCULATION OF THE MATRIX DEL......
014712,000816:
014713,000817: # * * --T *
014714,000818: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
014715,000819: # -
014716,000820: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
014717,000821: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
014718,000822: # -
014719,000823: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
014720,000824:
014721,000825: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
014722,000826: 22,2530 00001 0
014723,000827: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
014724,000828: 22,2532 41546 COS PUSH # PD2 = COS(A)
014725,000829: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
014726,000830: 22,2534 41021 BDSU BOVB
014727,000831: 22,2535 06520 DPHALF
014728,000832: 22,2536 21712 SIGNMPAC
014729,000833: 22,2537 77725 PDDL # PD4 = 1-COS(A)
014730,000834:
014731,000835: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
014732,000836:
014733,000837: 22,2540 03271 COF
014734,000838: 22,2541 41316 DSQ DMP
014735,000839: 22,2542 00005 4
014736,000840: 22,2543 52415 DAD SL3
014737,000841: 22,2544 00003 2
014738,000842: 22,2545 77604 BOVB
014739,000843: 22,2546 21712 SIGNMPAC
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014741,000845: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
014742,000846: 22,2550 03273 COF +2
014743,000847: 22,2551 41316 DSQ DMP
014744,000848: 22,2552 00005 4
014745,000849: 22,2553 52415 DAD SL3
014746,000850: 22,2554 00003 2
014747,000851: 22,2555 77604 BOVB
014748,000852: 22,2556 21712 SIGNMPAC
014749,000853: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
014750,000854: 22,2560 03275 COF +4
014751,000855: 22,2561 41316 DSQ DMP
014752,000856: 22,2562 00005 4
014753,000857: 22,2563 52415 DAD SL3
014754,000858: 22,2564 00003 2
014755,000859: 22,2565 77604 BOVB
014756,000860: 22,2566 21712 SIGNMPAC
014757,000861: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
014758,000862:
014759,000863: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
014760,000864:
014761,000865: 22,2570 41345 DLOAD DMP
014762,000866: 22,2571 03271 COF
014763,000867: 22,2572 03273 COF +2
014764,000868: 22,2573 72405 DMP SL1
014765,000869: 22,2574 00005 4
014766,000870: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
014767,000871: 22,2576 03275 COF +4
014768,000872: 22,2577 00001 0
014769,000873: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
014770,000874: 22,2601 00007 6
014771,000875: 22,2602 41112 SL2 BOVB
014772,000876: 22,2603 21712 SIGNMPAC
014773,000877: 22,2604 16237 STODL KEL +6
014774,000878: 22,2605 62421 BDSU SL2
014775,000879: 22,2606 77604 BOVB
014776,000880: 22,2607 21712 SIGNMPAC
014777,000881: 22,2610 16233 STODL KEL +2
014778,000882: 22,2611 03271 COF
014779,000883: 22,2612 41205 DMP DMP
014780,000884: 22,2613 03275 COF +4
014781,000885: 22,2614 00005 4
014782,000886: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
014783,000887: 22,2616 03273 COF +2
014784,000888: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
014785,000889: 22,2620 00001 0
014786,000890: 22,2621 62415 DAD SL2
014787,000891: 22,2622 00007 6
014788,000892: 22,2623 77604 BOVB
014789,000893: 22,2624 21712 SIGNMPAC
014790,000894: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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Page 361 |
014792,000896: 22,2626 62421 BDSU SL2
014793,000897: 22,2627 77604 BOVB
014794,000898: 22,2630 21712 SIGNMPAC
014795,000899: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
014796,000900: 22,2632 03273 COF +2
014797,000901: 22,2633 41205 DMP DMP
014798,000902: 22,2634 03275 COF +4
014799,000903: 22,2635 00005 4
014800,000904: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
014801,000905: 22,2637 03271 COF
014802,000906: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
014803,000907: 22,2641 00001 0
014804,000908: 22,2642 62415 DAD SL2
014805,000909: 22,2643 00007 6
014806,000910: 22,2644 77604 BOVB
014807,000911: 22,2645 21712 SIGNMPAC
014808,000912: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
014809,000913: 22,2647 62421 BDSU SL2
014810,000914: 22,2650 77604 BOVB
014811,000915: 22,2651 21712 SIGNMPAC
014812,000916: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
014813,000917: 22,2653 77616 RVQ
014814,000918:
014815,000919: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
014816,000920: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
014817,000921: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
014818,000922: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
014819,000923:
014820,000924: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
014821,000925:
014822,000926: # C = COS(THETA) COS(PSI)
014823,000927: # 0
014824,000928:
014825,000929: # C = -COS(THETA) SIN(PSI) COS(PHI) + SI (THETA) SIN(PHI)
014826,000930: # 1
014827,000931:
014828,000932: # C = COS(THETA) SIN(PSI) SIN(PHI) + S N(THETA) COS(PHI)
014829,000933: # 2
014830,000934:
014831,000935: # C = SIN(PSI)
014832,000936: # 3
014833,000937:
014834,000938: # C = COS(PSI) COS(PHI)
014835,000939: # 4
014836,000940:
014837,000941: # C = -COS(PSI) SIN(PHI)
014838,000942: # 5
014839,000943:
014840,000944: # C = -SIN(THETA) COS(PSI)
014841,000945: # 6
014842,000946:
014843,000947: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS THETA) SIN(PHI)
014844,000948: # 7
014845,000949:
014846,000950: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + CO (THETA)COS(PHI)
014847,000951: # 8
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014849,000953:
014850,000954: # WHERE PHI = OGA
014851,000955: # THETA = IGA
014852,000956: # PSI = MGA
014853,000957:
014854,000958: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
014855,000959: 22,2655 00007 6,1
014856,000960: 22,2656 71406 PUSH COS # PD +0 PSI
014857,000961: 22,2657 41152 SL1 BOVB
014858,000962: 22,2660 21712 SIGNMPAC
014859,000963: 22,2661 00051 STORE S1
014860,000964: 22,2662 57543 DLOAD* DCOMP
014861,000965: 22,2663 00015 12D,1
014862,000966: 22,2664 67471 DDV ARCSIN
014863,000967: 22,2665 00051 S1
014864,000968: 22,2666 51123 PDDL* BPL # PD +2 THETA
014865,000969: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
014866,000970: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
014867,000971: 22,2671 57545 DLOAD DCOMP
014868,000972: 22,2672 43244 BPL DAD
014869,000973: 22,2673 44677 SUHALFA
014870,000974: 22,2674 06520 DPHALF
014871,000975: 22,2675 77650 GOTO
014872,000976: 22,2676 44701 CALCPHI
014873,000977: 22,2677 77625 SUHALFA DSU
014874,000978: 22,2700 06520 DPHALF
014875,000979: 22,2701 77606 CALCPHI PUSH
014876,000980: 22,2702 57543 OKTHETA DLOAD* DCOMP
014877,000981: 22,2703 00013 10D,1
014878,000982: 22,2704 67471 DDV ARCSIN
014879,000983: 22,2705 00051 S1
014880,000984: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
014881,000985: 22,2707 00011 8D,1
014882,000986: 22,2710 44722 OKPHI
014883,000987: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
014884,000988: 22,2712 43244 BPL DAD
014885,000989: 22,2713 44717 SUHALFAP
014886,000990: 22,2714 06520 DPHALF
014887,000991: 22,2715 77650 GOTO
014888,000992: 22,2716 44723 VECOFANG
014889,000993: 22,2717 52025 SUHALFAP DSU GOTO
014890,000994: 22,2720 06520 DPHALF
014891,000995: 22,2721 44723 VECOFANG
014892,000996: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
014893,000997: 22,2723 43466 VECOFANG VDEF RVQ
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014895,000999: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
014896,001000:
014897,001001: 22,2724 77776 TOOBADF EXIT
014898,001002: 22,2725 05567 TC ALARM
014899,001003: 22,2726 00401 OCT 00401
014900,001004:
014901,001005: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
014902,001006:
014903,001007: 22,2730 04616 TC BANKCALL
014904,001008: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
014905,001009:
014906,001010: 22,2732 04616 NOGO TC BANKCALL
014907,001011: 22,2733 40165 CADR STOPRATE # STOP RATES
014908,001012:
014909,001013: 22,2734 34752 CAF TWO
014910,001014: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
014911,001015: 22,2736 05203 TC WAITLIST
014912,001016: 22,2737 E6,1676 EBANK= BCDU
014913,001017: 22,2737 03234 44066 2CADR GOODMANU
014914,001018:
014915,001019: 22,2741 15155 TCF ENDOFJOB
014916,001020:
014917,001021: 22,2742 77776 TOOBADI EXIT
014918,001022: 22,2743 12732 TCF NOGO
014919,001023:
014920,001024:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc