Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. 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, 1968Note that the date is the date of the printout, not the date of the program revision. |
042271,000002: ## Copyright: Public domain.
042272,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
042273,000004: ## Purpose: Part of the source code for Colossus build 237.
042274,000005: ## This is for the Command Module's (CM) Apollo Guidance
042275,000006: ## Computer (AGC), for Apollo 8.
042276,000007: ## Assembler: yaYUL
042277,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
042278,000009: ## Website: www.ibiblio.org/apollo/index.html
042279,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
042280,000011: ## Mod history: 2011-03-17 JL Adapted from corresponding Colossus 249 file.
042281,000012: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
042282,000013: ## and fixed errors found.
042283,000014:
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Page 970 |
042285,000016: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
042286,000017: # START OF T5 INTERRUPT PROGRAM
042287,000018:
042288,000019: 20,3550 BANK 20
042289,000020: 21,2000 SETLOC DAPS3
042290,000021: 21,2000 BANK
042291,000022:
042292,000023: 21,2071 COUNT 21/DAPRC
042293,000024:
042294,000025: 21,2071 E6,1510 EBANK= KMPAC
042295,000026: 21,2071 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
042296,000027: 21,2072 31465 CA T5PHASE # ON A T5 RUPT.
042297,000028: 21,2073 00006 EXTEND
042298,000029: 21,2074 62076 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
042299,000030: 21,2075 12100 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
042300,000031: 21,2076 44712 CS ONE
042301,000032: 21,2077 55465 TS T5PHASE
042302,000033: 21,2100 00006 EXTEND
042303,000034: 21,2101 32105 DCA RCSLOC
042304,000035: 21,2102 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
042305,000036: 21,2103 12107 TCF RCSATT +1
042306,000037: 21,2104 E6,1510 EBANK= KMPAC
042307,000038: 21,2104 02106 42066 RCSLOC 2CADR RCSATT
042308,000039:
042309,000040:
042310,000041: 21,2106 22016 RCSATT LXCH BANKRUPT # SAVE BB
042311,000042: 21,2107 00006 EXTEND # SAVE Q
042312,000043: 21,2110 22012 QXCH QRUPT
042313,000044: 21,2111 34674 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
042314,000045: 21,2112 00006 EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
042315,000046: 21,2113 02031 RAND CHAN31 # PILOT IS FULLY ENABLED)
042316,000047: 21,2114 00006 EXTEND
042317,000048: 21,2115 12144 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
042318,000049: # GO TO SETT5
042319,000050:
042320,000051: 21,2116 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
042321,000052: 21,2117 74675 MASK BIT14
042322,000053: 21,2120 27501 ADS RCSFLAGS # SET NORATE FLAG,
042323,000054: 21,2121 34672 CAF POSMAX
042324,000055: 21,2122 55332 TS HOLDFLAG # SET HOLDFLAG +,
042325,000056: 21,2123 34714 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
042326,000057: 21,2124 55567 TS ERRORX
042327,000058: 21,2125 55570 TS ERRORY
042328,000059: 21,2126 55571 TS ERRORZ
042329,000060: 21,2127 34675 CAF BIT14
042330,000061: 21,2130 00006 EXTEND
042331,000062: 21,2131 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
042332,000063: 21,2132 00006 EXTEND
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Page 971 |
042334,000065: 21,2133 12144 BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
042335,000066:
042336,000067: 21,2134 55465 TS T5PHASE # IF NOT IN FREE MODE,
042337,000068: 21,2135 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
042338,000069: 21,2136 54030 TS TIME5 # IN 100 MS VIA T5RUPT
042339,000070:
042340,000071: 21,2137 02616 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
042341,000072:
042342,000073: 21,2140 12334 TCF KMATRIX
042343,000074: 21,2141 37770 DELTATT OCT 37770 # 80MS (TIME5)
042344,000075: 21,2142 37776 DELTATT2 OCT 37776 # 20MS (TIME5)
042345,000076: 21,2143 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5)
042346,000077: 21,2144 CHAN5 EQUALS 5
042347,000078: 21,2144 CHAN6 EQUALS 6
042348,000079: 21,2144 7671 PRIO34A = PRIO34
042349,000080:
042350,000081: # CHECK PHASE OF T5 PROGRAM
042351,000082:
042352,000083: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO
042353,000084: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
042354,000085: # TO ALLOW FOR THE EXECUTION OF OTHER
042355,000086: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
042356,000087: # VARIABLES AT TURN ON.
042357,000088: # THE CODING OF T5PHASE IS...
042358,000089:
042359,000090: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
042360,000091: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
042361,000092: # - = RESTART DAP
042362,000093: # -0 = PHASE1 OF THE T5 PROGRAM
042363,000094:
042364,000095: 21,2144 11465 SETT5 CCS T5PHASE
042365,000096: 21,2145 12530 TCF FRESHDAP # TURN ON AUTOPILOT
042366,000097: 21,2146 12645 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
042367,000098: 21,2147 12532 TCF REDAP # RESTART AUTOPILOT
042368,000099:
042369,000100:
042370,000101: 21,2150 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
042371,000102: 21,2151 30030 CA TIME5
042372,000103: 21,2152 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
042373,000104: 21,2153 32142 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
042374,000105: 21,2154 54030 TS TIME5 # OF PROGRAM
042375,000106:
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Page 972 |
042377,000108: # IMU STATUS CHECK
042378,000109:
042379,000110: 21,2155 41321 CS IMODES33 # CHECK IMU STATUS
042380,000111: 21,2156 74705 MASK BIT6 # BIT6 = 0 IMU OK
042381,000112: 21,2157 10000 CCS A # BIT6 = 1 NO IMU
042382,000113: 21,2160 12174 TCF RATEFILT
042383,000114: 21,2161 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
042384,000115: 21,2162 74675 MASK BIT14 # INITIALIZED
042385,000116: 21,2163 27501 ADS RCSFLAGS
042386,000117: 21,2164 34675 CAF BIT14 # NO ATTITUDE REFERENCE
042387,000118: 21,2165 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
042388,000119: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
042389,000120: # ATTITUDE HOLD
042390,000121: 21,2166 00006 EXTEND
042391,000122: 21,2167 02031 RAND CHAN31 # CHECK FOR FREE MODE
042392,000123: 21,2170 00006 EXTEND
042393,000124: 21,2171 12403 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
042394,000125: 21,2172 12520 TCF REINIT # .....TILT...............................
042395,000126: 21,2173 00030 BITS4,5 OCT 30
042396,000127:
042397,000128:
042398,000129: 21,2174 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
042399,000130: 21,2175 74675 MASK BIT14
042400,000131: 21,2176 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
042401,000132: 21,2177 12201 BZF +2
042402,000133: 21,2200 12334 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
042403,000134:
042404,000135: # RATE FILTER TIMING = 7.72MS
042405,000136:
042406,000137: # RATE FILTER EQUATIONS
042407,000138: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
042408,000139: # -1
042409,000140: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
042410,000141: # -1
042411,000142: # - * - -
042412,000143: # WHERE DELRHO = AMGB (CDU - CDU )
042413,000144: # -1
042414,000145:
042415,000146: 21,2201 34711 CAF TWO
042416,000147: 21,2202 55506 DRHOLOOP TS SPNDX
042417,000148: 21,2203 60000 DOUBLE
042418,000149: 21,2204 55507 TS DPNDX
042419,000150: 21,2205 51507 INDEX DPNDX
042420,000151: 21,2206 41552 CS DRHO # DRHO SCALED 180 DEGS
042421,000152: 21,2207 00006 EXTEND
042422,000153: 21,2210 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
042423,000154: 21,2211 73063 MP GAIN1
042424,000155: 21,2212 51507 INDEX DPNDX
042425,000156: 21,2213 21553 DAS DRHO # (1 -.064)DRHO
042426,000157: 21,2214 00006 EXTEND
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Page 973 |
042428,000159: 21,2215 51507 INDEX DPNDX
042429,000160: 21,2216 41534 DCS ADOT
042430,000161: 21,2217 53511 DXCH KMPAC # -(.1)ADOT
042431,000162: 21,2220 34676 CA QUARTER
042432,000163: 21,2221 02026 TC SMALLMP
042433,000164: 21,2222 53511 DXCH KMPAC
042434,000165: 21,2223 51507 INDEX DPNDX
042435,000166: 21,2224 21553 DAS DRHO
042436,000167: 21,2225 11506 CCS SPNDX
042437,000168: 21,2226 12202 TCF DRHOLOOP
042438,000169:
042439,000170: 21,2227 30032 CA CDUX # MEASURED BODY RATES--
042440,000171: 21,2230 57635 XCH RHO
042441,000172: 21,2231 00006 EXTEND
042442,000173: 21,2232 21635 MSU RHO # - * - -
042443,000174: 21,2233 40000 COM # DELRHO = AMGB (CDU - CDU )
042444,000175: # -1
042445,000176: 21,2234 22007 ZL
042446,000177: 21,2235 53516 DXCH DELTEMPX
042447,000178: 21,2236 30033 CA CDUY
042448,000179: 21,2237 57636 XCH RHO1
042449,000180: 21,2240 00006 EXTEND
042450,000181: 21,2241 21636 MSU RHO1
042451,000182: 21,2242 40000 COM
042452,000183: 21,2243 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
042453,000184: 21,2244 00006 EXTEND
042454,000185: 21,2245 71640 MP AMGB1
042455,000186: 21,2246 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
042456,000187: # MUST BE DOUBLE PRECISION OR WILL LOSE
042457,000188: # PULSES
042458,000189: 21,2247 31641 CA AMGB4
042459,000190: 21,2250 00006 EXTEND
042460,000191: 21,2251 71502 MP T5TEMP
042461,000192: 21,2252 53520 DXCH DELTEMPY
042462,000193: 21,2253 31643 CA AMGB7
042463,000194: 21,2254 00006 EXTEND
042464,000195: 21,2255 71502 MP T5TEMP
042465,000196: 21,2256 53522 DXCH DELTEMPZ
042466,000197: 21,2257 30034 CA CDUZ
042467,000198: 21,2260 57637 XCH RHO2
042468,000199: 21,2261 00006 EXTEND
042469,000200: 21,2262 21637 MSU RHO2
042470,000201: 21,2263 40000 COM
042471,000202: 21,2264 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
042472,000203: 21,2265 00006 EXTEND
042473,000204: 21,2266 71642 MP AMGB5
042474,000205: 21,2267 21520 DAS DELTEMPY # DELTEMPY =AMGB4(CDUY-RHO1)
042475,000206: # + AMGB5(CDUZ-RHO2)
042476,000207: 21,2270 31644 CA AMGB8
042477,000208: 21,2271 00006 EXTEND
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Page 974 |
042479,000210: 21,2272 71502 MP T5TEMP
042480,000211: 21,2273 21522 DAS DELTEMPZ # DELTEMPZ =AMGB7(CDUY-RHO1)
042481,000212: # + AMGB8(CDUZ-RHO2)
042482,000213: 21,2274 34711 CAF TWO
042483,000214: 21,2275 55506 ADOTLOOP TS SPNDX
042484,000215: 21,2276 60000 DOUBLE
042485,000216: 21,2277 55507 TS DPNDX
042486,000217: 21,2300 00006 EXTEND
042487,000218: 21,2301 51507 INDEX DPNDX
042488,000219: 21,2302 31516 DCA DELTEMPX
042489,000220: 21,2303 51507 INDEX DPNDX
042490,000221: 21,2304 21553 DAS DRHO
042491,000222: 21,2305 00006 EXTEND
042492,000223: 21,2306 51507 INDEX DPNDX
042493,000224: 21,2307 31516 DCA DELTEMPX
042494,000225: 21,2310 51507 INDEX DPNDX
042495,000226: 21,2311 21542 DAS MERRORX
042496,000227: 21,2312 51507 INDEX DPNDX
042497,000228: 21,2313 31552 CA DRHO
042498,000229: 21,2314 60000 DOUBLE # N.B.
042499,000230: 21,2315 60000 DOUBLE # N.B.
042500,000231: 21,2316 00006 EXTEND
042501,000232: 21,2317 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
042502,000233: 21,2320 73101 MP GAIN2
042503,000234: 21,2321 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
042504,000235: 21,2322 21534 DAS ADOT # -1
042505,000236: 21,2323 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
042506,000237: 21,2324 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
042507,000238: 21,2325 00006 EXTEND
042508,000239: 21,2326 51506 INDEX SPNDX
042509,000240: 21,2327 71547 MP DFT
042510,000241: 21,2330 51507 INDEX DPNDX
042511,000242: 21,2331 21534 DAS ADOT # KMJ(DFT)
042512,000243: 21,2332 11506 CCS SPNDX
042513,000244: 21,2333 12275 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
042514,000245: 21,2334 31560 KMATRIX CA ATTSEC
042515,000246: 21,2335 74721 MASK LOW4
042516,000247: 21,2336 10000 CCS A
042517,000248: 21,2337 12345 TCF TENTHSEK
042518,000249: 21,2340 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
042519,000250: 21,2341 05027 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
042520,000251: 21,2342 E6,1510 EBANK= KMPAC
042521,000252: 21,2342 03444 44066 2CADR AMBGUPDT
042522,000253: 21,2344 34334 CAF NINE
042523,000254:
042524,000255: 21,2345 55560 TENTHSEK TS ATTSEC
042525,000256:
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Page 975 |
042527,000258: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
042528,000259: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
042529,000260:
042530,000261: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
042531,000262: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
042532,000263: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
042533,000264:
042534,000265: # THE STEERING PROGRAMS-
042535,000266: # 1) ATTITUDE MANEUVER ROUTINE
042536,000267: # 2) LEM TRACKING
042537,000268:
042538,000269: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
042539,000270: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
042540,000271:
042541,000272: # HOLDFLAG CODING-
042542,000273:
042543,000274: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
042544,000275: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
042545,000276: # ALSO IGNORE AUTOMATIC STEERING
042546,000277: # SET = + BY
042547,000278: # 1) INITIALIZATION PHASE OF AUTOPILOT
042548,000279: # 2) OCCURANCE OF RHC COMMANDS
042549,000280: # 3) FREE MODE
042550,000281: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
042551,000282: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
042552,000283: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
042553,000284: # FUNCTIONS AS IF IT WERE.)
042554,000285: # 5) S/C CONTROL SWITCH IN SCS
042555,000286: # 6) IMU POWER OFF
042556,000287: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
042557,000288: # - = PERFORMING AUTOMATIC MANEUVER
042558,000289: # -0 = NOT USED AT PRESENT
042559,000290:
042560,000291:
042561,000292: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
042562,000293: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
042563,000294: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
042564,000295:
042565,000296:
042566,000297: 21,2346 41332 CS HOLDFLAG
042567,000298: 21,2347 00006 EXTEND
042568,000299: 21,2350 62375 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
042569,000300: # COMMANDS
042570,000301: 21,2351 34711 DCDUINCR CAF TWO
042571,000302: 21,2352 55506 DELOOP TS SPNDX
042572,000303: 21,2353 60000 DOUBLE
042573,000304: 21,2354 55507 TS DPNDX
042574,000305: 21,2355 00006 EXTEND
042575,000306: 21,2356 50000 INDEX A
042576,000307: 21,2357 31647 DCA CDUXD
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Page 976 |
042578,000309: 21,2360 53511 DXCH KMPAC
042579,000310: 21,2361 00006 EXTEND
042580,000311: 21,2362 51507 INDEX DPNDX
042581,000312: 21,2363 31576 DCA DELCDUX
042582,000313: 21,2364 02040 TC DPADD
042583,000314: 21,2365 00006 EXTEND
042584,000315: 21,2366 31511 DCA KMPAC
042585,000316: 21,2367 51506 INDEX SPNDX
042586,000317: 21,2370 55572 TS THETADX
042587,000318: 21,2371 51507 INDEX DPNDX
042588,000319: 21,2372 53647 DXCH CDUXD
042589,000320: 21,2373 11506 CCS SPNDX
042590,000321: 21,2374 12352 TCF DELOOP
042591,000322:
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Page 977 |
042593,000324: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
042594,000325:
042595,000326: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
042596,000327:
042597,000328: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
042598,000329: # GENERATED INTERNALLY BY THE AUTOPILOT
042599,000330:
042600,000331: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
042601,000332: # WITH RESPECT TO THE CONTENTS OF N22
042602,000333:
042603,000334: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
042604,000335: # WITH RESPECT TO THE CONTENTS OF N17
042605,000336:
042606,000337: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
042607,000338: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
042608,000339:
042609,000340: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042610,000341: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042611,000342: # AS A FLY-TO INDICATOR.
042612,000343:
042613,000344: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042614,000345: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042615,000346: # AS A FLY-TO INDICATOR.
042616,000347:
042617,000348: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
042618,000349: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
042619,000350:
042620,000351: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
042621,000352: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
042622,000353: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
042623,000354:
042624,000355:
042625,000356: 21,2375 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
042626,000357: 21,2376 74707 MASK BIT4
042627,000358: 21,2377 00006 EXTEND
042628,000359: 21,2400 13144 BZF FDAIDSP2
042629,000360:
042630,000361: 21,2401 27501 FDAIDSP1 ADS RCSFLAGS
042631,000362: 21,2402 02404 TC NEEDLER
042632,000363: 21,2403 15222 KRESUME1 TCF RESUME # END PHASE 1
042633,000364:
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Page 978 |
042635,000366: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
042636,000367:
042637,000368: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
042638,000369:
042639,000370: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
042640,000371: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
042641,000372: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
042642,000373: # THE DACS.
042643,000374:
042644,000375:
042645,000376: # CALLING SEQUENCE:
042646,000377:
042647,000378: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
042648,000379: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
042649,000380:
042650,000381: # CS RCSFLAGS IN EBANK6
042651,000382: # MASK BIT3
042652,000383: # ADS RCSFLAGS
042653,000384:
042654,000385: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
042655,000386:
042656,000387: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
042657,000388: # AK1 SCALED 180 DEGREES TO CHANGE
042658,000389: # AK2 SCALED 180 DEGREES
042659,000390:
042660,000391: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
042661,000392: # (= 384 BITS IN IMU ERROR COUNTER)
042662,000393:
042663,000394: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
042664,000395:
042665,000396: # INHINT
042666,000397: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
042667,000398: # CADR NEEDLER
042668,000399: # RELINT
042669,000400:
042670,000401: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
042671,000402: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
042672,000403: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
042673,000404:
042674,000405: # ERASABLE USED:
042675,000406: # AK CDUXCMD
042676,000407: # AK1 CDUYCMD
042677,000408: # AK2 CDUZCMD
042678,000409: # EDRIVEX A,L,Q
042679,000410: # EDRIVEY T5TEMP
042680,000411: # EDRIVEZ SPNDX
042681,000412:
042682,000413: # SWITCHES: RCSFLAGS BITS 3,2
042683,000414:
042684,000415: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
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Page 979 |
042686,000417: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
042687,000418: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
042688,000419:
042689,000420:
042690,000421: # SIGN CONVENTION< AK = THETAC - THETA
042691,000422: # WHERE THETAC = COMMAND ANGLE
042692,000423: # THETA = PRESENT ANGLE
042693,000424:
042694,000425:
042695,000426: 21,2404 34707 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
042696,000427: 21,2405 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
042697,000428: 21,2406 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
042698,000429: 21,2407 00006 EXTEND
042699,000430: 21,2410 12415 BZF NEEDLER1
042700,000431: 21,2411 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
042701,000432: 21,2412 74710 MASK BIT3
042702,000433: 21,2413 27501 ADS RCSFLAGS
042703,000434: 21,2414 00002 TC Q
042704,000435:
042705,000436: 21,2415 31501 NEEDLER1 CA RCSFLAGS
042706,000437: 21,2416 76211 MASK SIX
042707,000438: 21,2417 00006 EXTEND
042708,000439: 21,2420 12455 BZF NEEDLES3
042709,000440: 21,2421 74710 MASK BIT3
042710,000441: 21,2422 00006 EXTEND
042711,000442: 21,2423 12446 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
042712,000443:
042713,000444: 21,2424 44705 CS BIT6 # FIRST PASS BIT3 = 1
042714,000445: 21,2425 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
042715,000446: 21,2426 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
042716,000447: 21,2427 44714 NEEDLE11 CS ZERO # ENABLING COUNTERS.
042717,000448: 21,2430 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
042718,000449: 21,2431 55477 TS AK1
042719,000450: 21,2432 55500 TS AK2
042720,000451: 21,2433 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
042721,000452: 21,2434 55504 TS EDRIVEY
042722,000453: 21,2435 55505 TS EDRIVEZ
042723,000454: 21,2436 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
042724,000455: 21,2437 54051 TS CDUYCMD
042725,000456: 21,2440 54052 TS CDUZCMD
042726,000457: 21,2441 46211 CS SIX # RESET RCSFLAGS FOR PASS2
042727,000458: 21,2442 71501 MASK RCSFLAGS
042728,000459: 21,2443 64711 AD BIT2
042729,000460: 21,2444 55501 TS RCSFLAGS
042730,000461: 21,2445 00002 TC Q # END PASS1
042731,000462:
042732,000463: 21,2446 34705 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
042733,000464: 21,2447 00006 EXTEND
042734,000465: 21,2450 05012 WOR CHAN12
042735,000466: 21,2451 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
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Page 980 |
042737,000468: 21,2452 71501 MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR
042738,000469: 21,2453 55501 TS RCSFLAGS # RELAY CLOSURE
042739,000470: 21,2454 00002 TC Q
042740,000471:
042741,000472:
042742,000473: 21,2455 34705 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
042743,000474: 21,2456 00006 EXTEND # IS ENABLED
042744,000475: 21,2457 02012 RAND CHAN12
042745,000476: 21,2460 00006 EXTEND # IF NOT RECYCLE NEEDLES
042746,000477: 21,2461 12411 BZF NEEDLER +5
042747,000478:
042748,000479: 21,2462 34711 NEEDLES CAF TWO
042749,000480: 21,2463 55506 DACLOOP TS SPNDX
042750,000481: 21,2464 44676 CS QUARTER
042751,000482: 21,2465 00006 EXTEND
042752,000483: 21,2466 51506 INDEX SPNDX
042753,000484: 21,2467 71476 MP AK
042754,000485: 21,2470 54001 TS L
042755,000486: 21,2471 10000 CCS A
042756,000487: 21,2472 32526 CA DACLIMIT
042757,000488: 21,2473 12475 TCF +2
042758,000489: 21,2474 42526 CS DACLIMIT
042759,000490: 21,2475 60001 AD L
042760,000491: 21,2476 55502 TS T5TEMP # OVFLO CHK
042761,000492: 21,2477 12503 TCF +4
042762,000493: 21,2500 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
042763,000494: 21,2501 32526 CAF DACLIMIT
042764,000495: 21,2502 54001 TS L
042765,000496: 21,2503 51506 INDEX SPNDX
042766,000497: 21,2504 41503 CS EDRIVEX # CURRENT VALUE OF DAC
042767,000498: 21,2505 60001 AD L
042768,000499: 21,2506 51506 INDEX SPNDX
042769,000500: 21,2507 26050 ADS CDUXCMD
042770,000501: 21,2510 51506 INDEX SPNDX
042771,000502: 21,2511 23503 LXCH EDRIVEX
042772,000503: 21,2512 11506 CCS SPNDX
042773,000504: 21,2513 12463 TCF DACLOOP
042774,000505: 21,2514 37707 CAF 13,14,15
042775,000506: 21,2515 00006 EXTEND
042776,000507: 21,2516 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
042777,000508: 21,2517 00002 TC Q
042778,000509:
042779,000510: 21,2520 32524 REINIT CAF DELAY200 # ........TILT LOGIC
042780,000511: 21,2521 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
042781,000512: 21,2522 55465 TS T5PHASE
042782,000513: 21,2523 15222 TCF RESUME
042783,000514: 21,2524 37754 DELAY200 DEC 16364 B-14 # 200MS
042784,000515:
042785,000516:
042786,000517: 21,2525 77177 DEC -384 B-14
042787,000518:
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Page 981 |
042789,000520: 21,2526 37200 DACLIMIT DEC 16000 B-14
042790,000521: 21,2527 00600 DEC 384 B-14
042791,000522:
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Page 982 |
042793,000524: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
042794,000525:
042795,000526: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
042796,000527:
042797,000528: # WBODY (+1) DFT TAU2
042798,000529: # WBODY1 (+1) DFT1 BIAS
042799,000530: # WBODY2 (+1) DFT2 BIAS1
042800,000531: # ADOT (+1) DRHO (+1) BIAS2
042801,000532: # ADOT1 (+1) DRHO1 (+1) ERRORX
042802,000533: # ADOT2 (+1) DRHO2 (+1) ERRORY
042803,000534: # MERRORX (+1) ATTSEC ERRORZ
042804,000535: # MERRORY (+1) TAU
042805,000536: # MERRORZ (+1) TAU1
042806,000537: 21,2530 34712 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
042807,000538: 21,2531 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
042808,000539: # ATTITUDE HOLD REFERENCE
042809,000540:
042810,000541: 21,2532 04633 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
042811,000542: 21,2533 40145 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
042812,000543:
042813,000544: 21,2534 04633 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
042814,000545: 21,2535 40276 CADR S40.14 # TO AUTOPILOT GAINS
042815,000546:
042816,000547: 21,2536 32607 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
042817,000548: 21,2537 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
042818,000549: 21,2540 34714 CAF ZERO
042819,000550: 21,2541 51506 INDEX SPNDX
042820,000551: 21,2542 55525 TS WBODY
042821,000552: 21,2543 11506 CCS SPNDX
042822,000553: 21,2544 12537 TCF ZEROT5
042823,000554: 21,2545 02616 TCR ZEROJET
042824,000555:
042825,000556: 21,2546 44714 CS ZERO
042826,000557: 21,2547 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
042827,000558:
042828,000559: 21,2550 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
042829,000560: # MANUAL RATE MODES
042830,000561: 21,2551 32610 CAF =.24
042831,000562: 21,2552 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
042832,000563:
042833,000564: 21,2553 34710 CAF FOUR
042834,000565: 21,2554 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
042835,000566: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
042836,000567: # IN (80MS - T5TIME(40MS)). THEREFORE
042837,000568: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
042838,000569: # MS FROM NOW AND EVERY 100MS THEREAFTER
042839,000570:
042840,000571: 21,2555 34717 CAF ELEVEN
042841,000572: 21,2556 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
042842,000573: # TO INITIALIZE THE S/C ANGULAR RATES
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Page 983 |
042844,000575: 21,2557 30032 CA CDUX
042845,000576: 21,2560 55635 TS RHO
042846,000577: 21,2561 30033 CA CDUY
042847,000578: 21,2562 55636 TS RHO1
042848,000579: 21,2563 30034 CA CDUZ
042849,000580: 21,2564 55637 TS RHO2
042850,000581: 21,2565 34714 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
042851,000582: 21,2566 55465 TS T5PHASE # PHASE2 OF PROGRAM
042852,000583:
042853,000584: 21,2567 41321 CS IMODES33 # CHECK IMU STATUS
042854,000585: 21,2570 74705 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
042855,000586: 21,2571 10000 CCS A # IF BIT6 = 1 IMU NOT READY
042856,000587: 21,2572 12576 TCF IMUAOK
042857,000588: 21,2573 55617 TS ATTKALMN # CANNOT USE IMU
042858,000589: 21,2574 32612 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
042859,000590: 21,2575 12603 TCF RCSSWIT # DONT START UP RATE FILTER
042860,000591: # SIGNAL NO RATE FILTER
042861,000592:
042862,000593: 21,2576 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
042863,000594: 21,2577 05027 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
042864,000595: 21,2600 E6,1510 EBANK= KMPAC
042865,000596: 21,2600 03444 44066 2CADR AMBGUPDT
042866,000597: 21,2602 32611 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
042867,000598: 21,2603 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
042868,000599: # SET BIT3 -INITIALIZE NEEDLES
042869,000600: # CLEAR BIT4 -RESET FOR FDAIDSP1
042870,000601: 21,2604 32613 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
042871,000602: # ERROR COUNTER TO ZERO.
042872,000603: # (MINIMUM DELAY = 15 MS)
042873,000604: 21,2605 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
042874,000605: 21,2606 05222 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
042875,000606: # FILTER WILL BEGIN OPERATING ZOOMS FROM
042876,000607: # NOW
042877,000608:
042878,000609: # CONSTANTS USED IN INITIALIZATION PROGRAM
042879,000610:
042880,000611: 21,2607 00044 NO.T5VAR DEC 36 B-14
042881,000612: 21,2610 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
042882,000613: 21,2611 00004 RCSINIT OCT 00004
042883,000614: 21,2612 20004 RCSINITB OCT 20004
042884,000615: 21,2613 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
042885,000616: 21,2614 E6,1510 EBANK= KMPAC
042886,000617: 21,2614 03646 36066 T6ADDR 2CADR T6START
042887,000618:
042888,000619:
042889,000620: 21,2616 34717 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
042890,000621: 21,2617 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
042891,000622: 21,2620 34714 CAF ZERO # AND RWORD1.
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Page 984 |
042893,000624: 21,2621 51506 INDEX SPNDX
042894,000625: 21,2622 55451 TS RWORD1
042895,000626: 21,2623 11506 CCS SPNDX
042896,000627: 21,2624 12617 TCF ZEROJET +1
042897,000628:
042898,000629: 21,2625 34710 CAF FOUR
042899,000630: 21,2626 55462 TS BLAST1 +1
042900,000631: 21,2627 34717 CAF ELEVEN
042901,000632: 21,2630 55464 TS BLAST2 +1
042902,000633:
042903,000634: 21,2631 44712 CS BIT1
042904,000635: 21,2632 71501 MASK RCSFLAGS
042905,000636: 21,2633 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
042906,000637:
042907,000638: 21,2634 00006 EXTEND
042908,000639: 21,2635 32615 DCA T6ADDR
042909,000640: 21,2636 53311 DXCH T6LOC
042910,000641: 21,2637 33034 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
042911,000642: 21,2640 54031 TS TIME6
042912,000643: 21,2641 34674 CAF BIT15
042913,000644: 21,2642 00006 EXTEND
042914,000645: 21,2643 05013 WOR CHAN13
042915,000646:
042916,000647: 21,2644 00002 TC Q
042917,000648:
042918,000649: 21,2645 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
042919,000650: 21,2646 13132 TCF KALUPDT
042920,000651:
042921,000652:
042922,000653: 21,2647 12651 TCF +2 # ONLY IF ATTKALMN POSITIVE
042923,000654: 21,2650 12651 TCF +1
042924,000655: 21,2651 32142 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
042925,000656: 21,2652 56030 XCH TIME5 # (JET SELECTION LOGIC )
042926,000657: 21,2653 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
042927,000658:
042928,000659:
042929,000660: 21,2654 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
042930,000661: 21,2655 74674 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
042931,000662: 21,2656 00006 EXTEND # ATTKALMN TO -1
042932,000663: 21,2657 12661 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
042933,000664: 21,2660 44712 CS ONE
042934,000665: 21,2661 55617 NOHIAUTO TS ATTKALMN
042935,000666:
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Page 985 |
042937,000668: # MANUAL ROTATION COMMANDS
042938,000669: 21,2662 43016 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
042939,000670: 21,2663 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
042940,000671: 21,2664 55501 TS RCSFLAGS
042941,000672:
042942,000673: 21,2665 00006 EXTEND
042943,000674: 21,2666 00031 READ CHAN31
042944,000675: 21,2667 54001 TS L
042945,000676: 21,2670 31632 CA CH31TEMP
042946,000677: 21,2671 00006 EXTEND
042947,000678: 21,2672 06001 RXOR LCHAN
042948,000679: 21,2673 73022 MASK MANROT # = OCT00077
042949,000680: 21,2674 00006 EXTEND
042950,000681: 21,2675 62710 BZMF NOCHANGE
042951,000682:
042952,000683: 21,2676 22000 LXCH A
042953,000684: 21,2677 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
042954,000685:
042955,000686: 21,2700 30001 CA L
042956,000687: 21,2701 00006 EXTEND
042957,000688: 21,2702 74706 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
042958,000689: 21,2703 30001 CA L
042959,000690: 21,2704 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
042960,000691: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
042961,000692: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
042962,000693: # PITCH
042963,000694:
042964,000695: 21,2705 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND
042965,000696: 21,2706 73023 MASK OCT16000 # 11 OF RCSFLAGS)
042966,000697: 21,2707 27501 ADS RCSFLAGS
042967,000698:
042968,000699: 21,2710 41632 NOCHANGE CS CH31TEMP
042969,000700: 21,2711 73022 MASK MANROT
042970,000701: 21,2712 00006 EXTEND
042971,000702: 21,2713 63234 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
042972,000703:
042973,000704: 21,2714 55332 TS HOLDFLAG # SET HOLDFLAG +
042974,000705:
042975,000706: 21,2715 03114 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
042976,000707: # YMANNDX, AND RMANNDX ARE ALL SET, BY
042977,000708: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
042978,000709: # +, OR - ROTATION RESPECTIVELY AS
042979,000710: # COMMANDED BY THE RHC.
042980,000711:
042981,000712: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
042982,000713: # THE RHC IS RETURNED TO DETENT, THE
042983,000714: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
042984,000715: # STICKCHK SO PMANNDX, YMANNDX, AND
042985,000716: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
042986,000717: # LEFT SET TO THEIR LAST OUT OF DETENT
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Page 986 |
042988,000719: # VALUES.
042989,000720:
042990,000721: 21,2716 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
042991,000722: 21,2717 74675 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
042992,000723: 21,2720 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
042993,000724:
042994,000725: 21,2721 34675 CAF BIT14
042995,000726: 21,2722 00006 EXTEND
042996,000727: 21,2723 02031 RAND CHAN31
042997,000728: 21,2724 00006 EXTEND
042998,000729: 21,2725 63035 BZMF FREEFUNC
042999,000730:
043000,000731: 21,2726 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
043001,000732: 21,2727 74675 MASK BIT14 # HAS BEEN INITIALIZED
043002,000733: 21,2730 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
043003,000734: 21,2731 12520 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
043004,000735:
043005,000736: 21,2732 44715 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
043006,000737: 21,2733 61130 AD RATEINDX # ATTKALMN TO -1.
043007,000738: 21,2734 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
043008,000739: 21,2735 62740 BZMF +3
043009,000740: 21,2736 44712 CS ONE
043010,000741: 21,2737 55617 TS ATTKALMN
043011,000742:
043012,000743:
043013,000744: 21,2740 34711 CAF TWO # AUTO-HOLD MANUAL ROTATION
043014,000745: 21,2741 55506 SETWBODY TS SPNDX
043015,000746: 21,2742 60000 DOUBLE
043016,000747: 21,2743 55507 TS DPNDX
043017,000748: 21,2744 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
043018,000749: 21,2745 31656 CA RMANNDX # = 1 + ROTATION
043019,000750: 21,2746 00006 EXTEND # = 2 - ROTATION
043020,000751: 21,2747 12771 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
043021,000752: # GO TO NORATE.
043022,000753:
043023,000754: 21,2750 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
043024,000755: 21,2751 54002 TS Q # = 2 0.2 DEG/SEC
043025,000756: 21,2752 50002 INDEX Q # = 4 0.5 DEG/SEC
043026,000757: 21,2753 33023 CA MANTABLE -1 # = 6 4.0 DEG/SEC
043027,000758: 21,2754 00006 EXTEND
043028,000759: 21,2755 74702 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
043029,000760: 21,2756 51507 INDEX DPNDX # TO GET COMMANDED RATE.
043030,000761: 21,2757 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
043031,000762:
043032,000763: 21,2760 31501 CA RCSFLAGS
043033,000764: 21,2761 73023 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12AND
043034,000765: 21,2762 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
043035,000766: 21,2763 13001 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
043036,000767: # ERROR.
043037,000768:
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Page 987 |
043039,000770: 21,2764 34714 ZEROER CA ZERO # ZEROER ZEROS MERRORS
043040,000771: 21,2765 22007 ZL
043041,000772: 21,2766 51507 INDEX DPNDX
043042,000773: 21,2767 53542 DXCH MERRORX
043043,000774: 21,2770 13007 TCF SPNDXCHK
043044,000775:
043045,000776: 21,2771 22007 NORATE ZL
043046,000777: 21,2772 51507 INDEX DPNDX
043047,000778: 21,2773 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
043048,000779: 21,2774 31501 CA RCSFLAGS
043049,000780: 21,2775 73023 MASK OCT16000
043050,000781: 21,2776 00006 EXTEND # IS RATE DAMPING COMPLETED
043051,000782: 21,2777 13007 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
043052,000783: 21,3000 12764 TCF ZEROER # NO,GO TO ZEROER
043053,000784:
043054,000785: 21,3001 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
043055,000786: 21,3002 43023 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
043056,000787: 21,3003 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
043057,000788: 21,3004 74704 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
043058,000789: 21,3005 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
043059,000790: 21,3006 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
043060,000791:
043061,000792: 21,3007 51507 SPNDXCHK INDEX DPNDX
043062,000793: 21,3010 31541 CA MERRORX
043063,000794: 21,3011 51506 INDEX SPNDX
043064,000795: 21,3012 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
043065,000796: 21,3013 11506 CCS SPNDX
043066,000797: 21,3014 12741 TCF SETWBODY
043067,000798: 21,3015 13425 TCF JETS
043068,000799:
043069,000800:
043070,000801: 21,3016 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
043071,000802:
043072,000803: 21,3017 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
043073,000804: 21,3020 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
043074,000805: 21,3021 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
043075,000806: # PRESERVED
043076,000807: # FOR INDEXING
043077,000808: 21,3022 00077 MANROT OCT 77
043078,000809: 21,3023 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
043079,000810: 21,3024 00165 MANTABLE DEC .0071111
043080,000811: 21,3025 77612 DEC -.0071111
043081,000812: 21,3026 00722 DEC .028444
043082,000813: 21,3027 77055 DEC -.028444
043083,000814: 21,3030 02215 DEC .071111
043084,000815: 21,3031 75562 DEC -.071111
043085,000816: 21,3032 22151 DEC .568889
043086,000817: 21,3033 55626 DEC -.568889
043087,000818: 21,3034 00027 =+14MS DEC 23 B-14
043088,000819: 21,3035 51656 FREEFUNC INDEX RMANNDX # ACCELERATION
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Page 988 |
043090,000821: 21,3036 33047 CA FREETAU # COMMANDS
043091,000822: 21,3037 55561 TS TAU
043092,000823: 21,3040 51657 INDEX PMANNDX
043093,000824: 21,3041 33047 CA FREETAU # FREETAU 0 SEC
043094,000825: 21,3042 55562 TS TAU1 # +1 +0.10 SEC
043095,000826: 21,3043 51660 INDEX YMANNDX # +2 -0.10 SEC
043096,000827: 21,3044 33047 CA FREETAU # (+3) 0 SEC
043097,000828: 21,3045 55563 TS TAU2
043098,000829: 21,3046 13053 TCF T6PROGM
043099,000830:
043100,000831: 21,3047 00000 FREETAU DEC 0 B-14
043101,000832: 21,3050 00740 DEC 480 B-14
043102,000833: 21,3051 77037 DEC -480 B-14
043103,000834: 21,3052 00000 DEC 0 B-14
043104,000835:
043105,000836: 21,3053 34714 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
043106,000837: 21,3054 55567 TS ERRORX
043107,000838: 21,3055 55570 TS ERRORY
043108,000839: 21,3056 55571 TS ERRORZ
043109,000840: 21,3057 13743 TCF T6PROG
043110,000841:
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Page 989 |
043112,000843: 21,3060 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
043113,000844: 21,3061 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
043114,000845: 21,3062 06604 DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043115,000846: 21,3063 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
043116,000847: 21,3064 12132 DEC .3180 # OF ATTITUDE RATES
043117,000848: 21,3065 13030 DEC .3452
043118,000849: 21,3066 14047 DEC .3774
043119,000850: 21,3067 15241 DEC .4161
043120,000851: 21,3070 16650 DEC .4634
043121,000852: 21,3071 20555 DEC .5223
043122,000853: 21,3072 23065 DEC .5970
043123,000854: 21,3073 26137 DEC .6933
043124,000855: 21,3074 32053 DEC .8151
043125,000856: 21,3075 35712 DEC .9342
043126,000857:
043127,000858: 21,3076 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
043128,000859: 21,3077 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
043129,000860: 21,3100 00435 DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043130,000861: 21,3101 00032 GAIN2 DEC .0016 # SCALED 10
043131,000862: 21,3102 01350 DEC .0454
043132,000863: 21,3103 01575 DEC .0545
043133,000864: 21,3104 02103 DEC .0666
043134,000865: 21,3105 02523 DEC .0832
043135,000866: 21,3106 03327 DEC .1069
043136,000867: 21,3107 04432 DEC .1422
043137,000868: 21,3110 06264 DEC .1985
043138,000869: 21,3111 11351 DEC .2955
043139,000870: 21,3112 17324 DEC .4817
043140,000871: 21,3113 33622 DEC .8683
043141,000872: 21,3114 55502 STICKCHK TS T5TEMP
043142,000873: 21,3115 76214 MASK THREE # INDECES FOR MANUAL ROTATION
043143,000874: 21,3116 55657 TS PMANNDX
043144,000875: 21,3117 31502 CA T5TEMP
043145,000876: 21,3120 00006 EXTEND # MAN RATE 0 0 RATE (DP)
043146,000877: 21,3121 74676 MP QUARTER # +1 +RATE (DP)
043147,000878: 21,3122 55502 TS T5TEMP # +2 -RATE (DP)
043148,000879: 21,3123 76214 MASK THREE # (+3) 0 RATE (DP)
043149,000880: 21,3124 55660 TS YMANNDX
043150,000881: 21,3125 31502 CA T5TEMP
043151,000882: 21,3126 00006 EXTEND
043152,000883: 21,3127 74676 MP QUARTER
043153,000884: 21,3130 55656 TS RMANNDX
043154,000885: 21,3131 00002 TC Q
043155,000886:
043156,000887:
043157,000888: 21,3132 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
043158,000889: # KALMAN FILTER TAKES 1.1 SEC
043159,000890:
043160,000891: 21,3133 32141 CA DELTATT # =1SEC - 80MS
043161,000892: 21,3134 61634 AD T5TIME # + DELAYS
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Page 990 |
043163,000894: 21,3135 54030 TS TIME5
043164,000895: 21,3136 13141 TCF +3
043165,000896: 21,3137 32142 CAF DELTATT2 # SAFETY PLAY TO ASSURE
043166,000897: 21,3140 54030 TS TIME5 # A T5RUPT
043167,000898:
043168,000899:
043169,000900: 21,3141 44714 KRESUME2 CS ZERO # RESET FOR PHASE1
043170,000901: 21,3142 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM
043171,000902: 21,3143 15222 TCF RESUME
043172,000903:
043173,000904:
043174,000905: 21,3144 44707 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
043175,000906: 21,3145 71501 MASK RCSFLAGS
043176,000907: 21,3146 55501 TS RCSFLAGS
043177,000908:
043178,000909: 21,3147 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
043179,000910: 21,3150 74702 MASK BIT9 # ERRORS
043180,000911: 21,3151 00006 EXTEND
043181,000912: 21,3152 13161 BZF FDAITOTL
043182,000913: 21,3153 00006 EXTEND
043183,000914: 21,3154 41570 DCS ERRORX # OFF -DISPLAY AUTOPILOT FOLLOWING ERROR
043184,000915: 21,3155 53477 DXCH AK
043185,000916: 21,3156 41571 CS ERRORZ
043186,000917: 21,3157 55500 TS AK2
043187,000918: 21,3160 15222 TCF RESUME # END PHASE 1
043188,000919:
043189,000920:
043190,000921: 21,3161 30105 FDAITOTL CA FLAGWRD9
043191,000922: 21,3162 74705 MASK BIT6
043192,000923: 21,3163 00006 EXTEND
043193,000924: 21,3164 13227 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
043194,000925: # IF SO, GO TO WRTN17
043195,000926: 21,3165 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
043196,000927: 21,3166 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
043197,000928: 21,3167 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
043198,000929: 21,3170 31155 CA CPHI # COMPONENTS OF N22
043199,000930:
043200,000931: 21,3171 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
043201,000932: 21,3172 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
043202,000933: 21,3173 55476 TS AK
043203,000934: 21,3174 31513 CA WTEMP
043204,000935: 21,3175 00006 EXTEND
043205,000936: 21,3176 20033 MSU CDUY
043206,000937: 21,3177 55502 TS T5TEMP
043207,000938: 21,3200 00006 EXTEND
043208,000939: 21,3201 71640 MP AMGB1
043209,000940: 21,3202 27476 ADS AK
043210,000941: 21,3203 31502 CA T5TEMP
043211,000942: 21,3204 00006 EXTEND
043212,000943: 21,3205 71641 MP AMGB4
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Page 991 |
043214,000945: 21,3206 55477 TS AK1
043215,000946: 21,3207 31502 CA T5TEMP
043216,000947: 21,3210 00006 EXTEND
043217,000948: 21,3211 71643 MP AMGB7
043218,000949: 21,3212 55500 TS AK2
043219,000950: 21,3213 31514 CA WTEMP +1
043220,000951: 21,3214 00006 EXTEND
043221,000952: 21,3215 20034 MSU CDUZ
043222,000953: 21,3216 55502 TS T5TEMP
043223,000954: 21,3217 00006 EXTEND
043224,000955: 21,3220 71642 MP AMGB5
043225,000956: 21,3221 27477 ADS AK1
043226,000957: 21,3222 31502 CA T5TEMP
043227,000958: 21,3223 00006 EXTEND
043228,000959: 21,3224 71644 MP AMGB8
043229,000960: 21,3225 27500 ADS AK2
043230,000961: 21,3226 15222 TCF RESUME # END PHASE1 OF RCS DAP
043231,000962:
043232,000963: 21,3227 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
043233,000964: 21,3230 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
043234,000965: 21,3231 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
043235,000966: 21,3232 31333 CA CPHIX
043236,000967: 21,3233 13171 TCF GETAKS
043237,000968:
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Page 992 Empty page. |
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc