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! |
019894,000002: ## Copyright: Public domain.
019895,000003: ## Filename: R60_R62.agc
019896,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
019897,000005: ## It is part of the source code for the Lunar Module's (LM)
019898,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
019899,000007: ## Assembler: yaYUL
019900,000008: ## Contact: Ron Burkey <info@sandroid.org>.
019901,000009: ## Website: www.ibiblio.org/apollo.
019902,000010: ## Pages: 472-485
019903,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
019904,000012: ## Luminary131 file, using page
019905,000013: ## images from Luminary 1A.
019906,000014: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
019907,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
019908,000016: ## and corrected the errors found.
019909,000017: ## 2017-01-27 RSB Back-ported a comment-text fix identified in Luminary 69.
019910,000018: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
019911,000019: ## 2017-03-09 RSB Comment text fixes noted in proofing Luminary 116.
019912,000020:
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Page 472 |
019914,000022: # MOD NO: 0 DATE: 1 MAY 1968
019915,000023: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
019916,000024:
019917,000025: # FUNCTIONAL DESCRIPTION:
019918,000026:
019919,000027: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019920,000028: # ATTITUDE.
019921,000029:
019922,000030: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
019923,000031: # CALCULATED (VECPOINT).
019924,000032:
019925,000033: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019926,000034:
019927,000035: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
019928,000036:
019929,000037: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
019930,000038: # ASTRONAUT RESPONSE.
019931,000039:
019932,000040: # 5. DISPLAY RESPONSE RETURNS:
019933,000041:
019934,000042: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
019935,000043:
019936,000044: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
019937,000045: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
019938,000046: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
019939,000047:
019940,000048: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
019941,000049:
019942,000050: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
019943,000051: # (VECPOINT).
019944,000052:
019945,000053: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019946,000054:
019947,000055: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
019948,000056: #
019949,000057: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
019950,000058:
019951,000059: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
019952,000060:
019953,000061: # 11. DO A PHASECHANGE.
019954,000062:
019955,000063: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
019956,000064: # GIMBAL ANGLES (GOMANUR).
019957,000065:
019958,000066: # 13. AT END OF MANEUVER GO TO STEP 3.
019959,000067:
019960,000068: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
019961,000069: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
019962,000070: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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019964,000072: # STEP 5C.
019965,000073:
019966,000074: # CALLING SEQUENCE: TC BANKCALL
019967,000075: # CADR R60LEM
019968,000076:
019969,000077: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
019970,000078: # 3AXISFLG.
019971,000079:
019972,000080: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
019973,000081: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
019974,000082:
019975,000083: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
019976,000084: # TC BANKJUMP
019977,000085:
019978,000086: # ALARMS: NONE
019979,000087:
019980,000088: # OUTPUT: NONE
019981,000089:
019982,000090: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
019983,000091:
019984,000092: 34,2000 BANK 34
019985,000093: 26,2000 SETLOC MANUVER
019986,000094: 26,2000 BANK
019987,000095:
019988,000096: 26,2123 1164 EBANK= TEMPR60
019989,000097:
019990,000098: 26,2123 COUNT* $$/R06
019991,000099: 26,2123 04645 R60LEM TC MAKECADR
019992,000100: 26,2124 55164 TS TEMPR60
019993,000101:
019994,000102: 26,2125 34746 REDOMANN CAF 3AXISBIT
019995,000103: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019996,000104: 26,2127 10000 CCS A
019997,000105: 26,2130 12136 TCF TOBALL # YES
019998,000106: 26,2131 06037 TC INTPRET
019999,000107: 26,2132 77624 CALL
020000,000108: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020001,000109: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020002,000110: 26,2135 77776 EXIT
020003,000111:
020004,000112: 26,2136 04616 TOBALL TC BANKCALL
020005,000113: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020006,000114: 26,2140 32254 TOBALLA CAF V06N18
020007,000115: 26,2141 04616 TC BANKCALL
020008,000116: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020009,000117: 26,2143 02242 TC R61TEST
020010,000118: 26,2144 02150 TC REDOMANC # PROCEED
020011,000119: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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020013,000121: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020014,000122: 26,2147 05155 TC ENDOFJOB
020015,000123:
020016,000124: 26,2150 34746 REDOMANC CAF 3AXISBIT
020017,000125: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020018,000126: 26,2152 10000 CCS A
020019,000127: 26,2153 12161 TCF TOBALLC # YES
020020,000128: 26,2154 06037 TC INTPRET
020021,000129: 26,2155 77624 CALL
020022,000130: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020023,000131: 26,2157 00322 STORE CPHI # STORE ANGLES
020024,000132: 26,2160 77776 EXIT
020025,000133:
020026,000134: 26,2161 04616 TOBALLC TC BANKCALL
020027,000135: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020028,000136: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
020029,000137: 26,2164 10000 CCS A
020030,000138: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020031,000139:
020032,000140: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020033,000141: 26,2167 04616 TC BANKCALL # -
020034,000142: 26,2170 20451 CADR GODSPR # -
020035,000143: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020036,000144:
020037,000145: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020038,000146: 26,2173 17750 CADR GOMANUR
020039,000147:
020040,000148: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020041,000149: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020042,000150: 26,2176 00124 ADRES 3AXISFLG
020043,000151: 26,2177 31164 CAE TEMPR60 # -
020044,000152: 26,2200 04640 TC BANKJUMP # -
020045,000153:
020046,000154: 26,2201 40100 CHKLINUS CS FLAGWRD4
020047,000155: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020048,000156: 26,2203 10000 CCS A # -
020049,000157: 26,2204 00002 TC Q # NO - EXIT
020050,000158: 26,2205 30002 CA Q
020051,000159: 26,2206 54156 TS MPAC +2 # SAVE RETURN
020052,000160: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
020053,000161: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020054,000162: 26,2211 55055 TS TBASE2
020055,000163:
020056,000164: 26,2212 05353 TC PHASCHNG
020057,000165: 26,2213 00132 OCT 00132
020058,000166:
020059,000167: 26,2214 34745 CAF BIT7
020060,000168: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020061,000169: 26,2216 00156 TC MPAC +2
020062,000170:
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020064,000172: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020065,000173: 26,2220 05146 TC PRIOCHNG
020066,000174:
020067,000175: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020068,000176: 26,2222 70075 MASK FLAGWRD1
020069,000177: 26,2223 10000 CCS A
020070,000178: 26,2224 12237 TCF RER60
020071,000179:
020072,000180: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
020073,000181: 26,2226 70074 MASK FLAGWRD0
020074,000182: 26,2227 10000 CCS A
020075,000183: 26,2230 02234 TC +4 # YES
020076,000184: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020077,000185: 26,2232 40112 OCT 40112
020078,000186:
020079,000187: 26,2233 05155 TC ENDOFJOB
020080,000188:
020081,000189: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020082,000190: 26,2235 40072 OCT 40072
020083,000191:
020084,000192: 26,2236 05155 TC ENDOFJOB
020085,000193:
020086,000194: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020087,000195: 26,2240 00077 ADRES PDSPFLAG
020088,000196:
020089,000197: 26,2241 01055 TC TBASE2
020090,000198:
020091,000199: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020092,000200: 26,2243 00006 EXTEND
020093,000201: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020094,000202:
020095,000203: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020096,000204: 26,2246 74740 MASK PDSPFBIT
020097,000205: 26,2247 00006 EXTEND
020098,000206: 26,2250 16001 BZF GOTOPOOH # NO
020099,000207: 26,2251 06022 TC GOTOV56 # YES
020100,000208:
020101,000209: 26,2252 20100 BIT14+7 OCT 20100 # -
020102,000210: 26,2253 00203 OCT203 OCT 203
020103,000211: 26,2254 01422 V06N18 VN 0618
020104,000212:
020105,000213: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020106,000214:
020107,000215: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020108,000216: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020109,000217:
020110,000218: 26,2255 00006 G+N,AUTO EXTEND
020111,000219: 26,2256 00030 READ CHAN30
020112,000220: 26,2257 74742 MASK BIT10
020113,000221: 26,2260 10000 CCS A
020114,000222: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
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020116,000224: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020117,000225: 26,2263 00031 READ CHAN31
020118,000226: 26,2264 74736 MASK BIT14
020119,000227: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020120,000228:
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020122,000230: # PROGRAM DESCRIPTION BALLANGS
020123,000231: # MOD NO. LOG SECTION R60,R62
020124,000232:
020125,000233: # WRITTEN BY RAMA M. AIYAWAR
020126,000234:
020127,000235: # FUNCTIONAL DESCRIPTION
020128,000236:
020129,000237: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020130,000238:
020131,000239: # CALLING SEQUENCE
020132,000240:
020133,000241: # TC BALLANGS
020134,000242:
020135,000243: # NORMAL EXIT MODE
020136,000244:
020137,000245: # TC BALLEXIT (SAVED Q)
020138,000246:
020139,000247: # ALARM OR EXIT MODE NIL
020140,000248:
020141,000249: # SUBROUTINES CALLED
020142,000250:
020143,000251: # CD*TR*G
020144,000252: # ARCTAN
020145,000253:
020146,000254: # INPUT
020147,000255:
020148,000256: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020149,000257: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020150,000258:
020151,000259: # OUTPUT
020152,000260:
020153,000261: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020154,000262: # SP,2S COMPLIMENT.
020155,000263:
020156,000264: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020157,000265:
020158,000266: # ERASABLE INITIALIZATION REQUIRED
020159,000267:
020160,000268: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020161,000269:
020162,000270: # DEBRIS
020163,000271:
020164,000272: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020165,000273:
020166,000274: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020167,000275: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020168,000276:
020169,000277: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020170,000278:
020171,000279: 26,2000 SETLOC BAWLANGS
020172,000280: 26,2000 BANK
020173,000281:
020174,000282: 26,2266 COUNT* $$/BALL
020175,000283: 26,2266 04645 BALLANGS TC MAKECADR
020176,000284: 26,2267 55342 TS BALLEXIT
020177,000285: 26,2270 30321 CA CPHI
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020179,000287: 26,2271 54772 TS CDUSPOT +4
020180,000288: 26,2272 30322 CA CTHETA
020181,000289: 26,2273 54766 TS CDUSPOT
020182,000290: 26,2274 30323 CA CPSI
020183,000291: 26,2275 54770 TS CDUSPOT +2
020184,000292:
020185,000293: 26,2276 06037 TC INTPRET
020186,000294: 26,2277 45001 SETPD CALL
020187,000295: 26,2300 00001 0D
020188,000296: 26,2301 47543 CD*TR*G
020189,000297:
020190,000298: 26,2302 41345 DLOAD DMP
020191,000299: 26,2303 00743 SINCDUX # SIN (OGA)
020192,000300: 26,2304 00747 COSCDUZ # COS (MGA)
020193,000301:
020194,000302: 26,2305 57552 SL1 DCOMP # SCALE
020195,000303: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020196,000304: 26,2307 00741 SINCDUZ
020197,000305: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020198,000306: 26,2311 00747 COSCDUZ
020199,000307: 26,2312 72405 DMP SL1 # RESCALE
020200,000308: 26,2313 00751 COSCDUX
020201,000309: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020202,000310: 26,2315 26510 ARCTAN
020203,000311: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020204,000312: 26,2317 00741 SINCDUZ
020205,000313: 26,2320 00743 SINCDUX
020206,000314: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020207,000315: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020208,000316: 26,2323 00745 COSCDUY
020209,000317: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020210,000318: 26,2325 00737 SINCDUY
020211,000319: 26,2326 00751 COSCDUX
020212,000320: 26,2327 72405 DMP SL1 # CXCY
020213,000321: 26,2330 00745 COSCDUY
020214,000322: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020215,000323: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020216,000324: 26,2333 00737 SINCDUY
020217,000325: 26,2334 72405 DMP SL1
020218,000326: 26,2335 00751 COSCDUX # CXSY
020219,000327: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020220,000328: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020221,000329: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020222,000330: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020223,000331: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020224,000332: 26,2343 21620 V1STO2S
020225,000333: 26,2344 02345 STORE FDAIX # MODE IS TP
020226,000334: 26,2345 77776 EXIT
020227,000335:
020228,000336: 26,2346 31342 ENDBALL CA BALLEXIT
020229,000337:
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020231,000339: 26,2347 04640 TC BANKJUMP
020232,000340:
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020234,000342: # PROGRAM DESCRIPTION - VECPOINT
020235,000343:
020236,000344: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020237,000345: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020238,000346: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020239,000347: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020240,000348: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020241,000349: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020242,000350: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020243,000351: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020244,000352:
020245,000353: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020246,000354: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020247,000355: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020248,000356: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020249,000357: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020250,000358: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020251,000359: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020252,000360:
020253,000361: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020254,000362: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020255,000363: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020256,000364: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020257,000365:
020258,000366: # CALLING SEQUENCE -
020259,000367:
020260,000368: # 1) LOAD SCAXIS, POINTVSM
020261,000369: # 2) CALL
020262,000370: # VECPOINT
020263,000371:
020264,000372: # RETURNS WITH
020265,000373:
020266,000374: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020267,000375: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020268,000376: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020269,000377:
020270,000378: # ERASABLES USED -
020271,000379:
020272,000380: # 1) SCAXIS 6
020273,000381: # 2) POINTVSM 6
020274,000382: # 3) MIS 18
020275,000383: # 4) DEL 18
020276,000384: # 5) COF 6
020277,000385: # 6) VECQTEMP 1
020278,000386: # 7) ALL OF VAC AREA 43
020279,000387:
020280,000388: # TOTAL 99
020281,000389:
020282,000390: 27,2000 SETLOC VECPT
020283,000391: 27,2000 BANK
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020285,000393: 27,2032 COUNT* $$/VECPT
020286,000394:
020287,000395: 27,2032 E6,1676 EBANK= BCDU
020288,000396:
020289,000397: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020290,000398: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020291,000399: 27,2034 56035 VECPNT2
020292,000400: 27,2035 52164 VECPNT2 AXC,2 GOTO
020293,000401: 27,2036 03246 MIS
020294,000402: 27,2037 56046 STORANG
020295,000403: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020296,000404: 27,2041 03325 VECQTEMP
020297,000405: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020298,000406: 27,2043 47164 VECLEAR AXC,2 RTB
020299,000407: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020300,000408: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020301,000409: 27,2046 34032 STORANG STCALL 25D
020302,000410: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020303,000411: 27,2050 61375 VLOAD VXM
020304,000412: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020305,000413: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020306,000414: 27,2053 77656 UNIT
020307,000415: 27,2054 00035 STORE 28D
020308,000416: # PD 28 29 30 31 32 33
020309,000417: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020310,000418: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020311,000419: 27,2057 57400 BOV VCOMP
020312,000420: 27,2060 56170 PICKAXIS
020313,000421: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020314,000422: 27,2062 00045 36D # OF CROSS PRODUCT
020315,000423: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020316,000424: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020317,000425: 27,2065 56170 PICKAXIS # UNIT OPERATION
020318,000426: 27,2066 50375 VLOAD DOT # INVALID.
020319,000427: 27,2067 03765 SCAXIS
020320,000428: 27,2070 00035 28D
020321,000429: 27,2071 65552 SL1 ARCCOS
020322,000430: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020323,000431: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020324,000432: 27,2074 75160 AXC,1 AXC,2
020325,000433: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020326,000434: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020327,000435: 27,2077 77624 CALL # MFS = MIS MFI
020328,000436: 27,2100 44312 MXM3 # (IN PD LIST)
020329,000437:
020330,000438: 27,2101 51545 DLOAD ABS
020331,000439: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020332,000440: 27,2103 50025 DSU BMN
020333,000441: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020334,000442: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 482 |
020336,000444: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020337,000445:
020338,000446: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020339,000447: 27,2107 03765 SCAXIS # THE THRUST AXIS
020340,000448: 27,2110 51025 DSU BPL
020341,000449: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020342,000450: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020343,000451: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020344,000452: 27,2114 77626 STADR
020345,000453: 27,2115 50514 STOVL MIS +12D
020346,000454: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020347,000455: 27,2117 50522 STOVL MIS +6
020348,000456: 27,2120 77626 STADR
020349,000457: 27,2121 50530 STOVL MIS
020350,000458: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020351,000459: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020352,000460: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020353,000461:
020354,000462: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020355,000463: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020356,000464: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020357,000465: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020358,000466: # OTHERWISE U = -SCAXIS
020359,000467:
020360,000468: 27,2130 57575 VLOAD VCOMP
020361,000469: 27,2131 03765 SCAXIS
020362,000470: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020363,000471: 27,2133 56137 CHEKAXIS
020364,000472: 27,2134 77775 U=SCAXIS VLOAD
020365,000473: 27,2135 03765 SCAXIS
020366,000474: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020367,000475: 27,2137 51545 CHEKAXIS DLOAD ABS
020368,000476: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020369,000477: 27,2141 51025 DSU BPL
020370,000478: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020371,000479: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020372,000480: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020373,000481: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020374,000482: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020375,000483: # OF GIMBAL LOCK (VECANG2 $360)
020376,000484: 27,2147 77745 PICKANG1 DLOAD
020377,000485: 27,2150 14404 VECANG1 # = 50 DEGS $360
020378,000486: 27,2151 77624 COMPMFSN CALL
020379,000487: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020380,000488: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020381,000489: 27,2154 03246 MIS
020382,000490: 27,2155 02230 KEL
020383,000491: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020384,000492: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020385,000493: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 483 |
020387,000495: # GIMBAL LOCK
020388,000496: 27,2160 45160 FINDGIMB AXC,1 CALL
020389,000497: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020390,000498: 27,2162 44654 DCMTOCDU # THIS MATRIX
020391,000499: 27,2163 40234 RTB SETPD
020392,000500: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020393,000501: 27,2165 00001 0
020394,000502: 27,2166 77650 GOTO
020395,000503: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020396,000504:
020397,000505: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020398,000506: 27,2171 00035 28D
020399,000507: 27,2172 03765 SCAXIS
020400,000508: 27,2173 72240 BMN TLOAD
020401,000509: 27,2174 54350 ROT180
020402,000510: 27,2175 00032 25D
020403,000511: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020404,000512: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020405,000513:
020406,000514: 35,2000 BANK 35
020407,000515: 26,2000 SETLOC MANUVER1
020408,000516: 26,2000 BANK
020409,000517: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020410,000518: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020411,000519: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020412,000520: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020413,000521: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020414,000522: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020415,000523: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020416,000524: 26,2357 17271 STODL COF
020417,000525: 26,2360 00045 36D # CHECK MAGNITUDE
020418,000526: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020419,000527: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020420,000528: 26,2363 54372 PICKX # PICK X-AXIS.
020421,000529: 26,2364 77775 VLOAD
020422,000530: 26,2365 03271 COF
020423,000531: 26,2366 17271 XROT STODL COF
020424,000532: 26,2367 06520 HIDPHALF
020425,000533: 26,2370 77650 GOTO
020426,000534: 26,2371 56072 COMPMATX
020427,000535: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020428,000536: 26,2373 06520 HIDPHALF
020429,000537: 26,2374 54366 XROT
020430,000538: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020431,000539:
020432,000540: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020433,000541:
020434,000542: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020435,000543:
020436,000544: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 484 |
020438,000546: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020439,000547:
020440,000548: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020441,000549: 26,2410 00001 DPB-14 OCT 00001
020442,000550: 26,2411 00000 OCT 00000
020443,000551:
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Page 485 |
020445,000553: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020446,000554:
020447,000555: 34,2000 BANK 34
020448,000556: 23,2000 SETLOC R62
020449,000557: 23,2000 BANK
020450,000558: 23,2103 E6,1676 EBANK= BCDU
020451,000559:
020452,000560: 23,2103 COUNT* $$/R62
020453,000561:
020454,000562: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020455,000563:
020456,000564: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020457,000565: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020458,000566: 23,2105 20476 CADR GOFLASH
020459,000567: 23,2106 15472 TCF ENDEXT # TERMINATE
020460,000568: 23,2107 12111 TCF GOMOVE # PROCEED
020461,000569: 23,2110 12103 TCF R62FLASH # ENTER
020462,000570:
020463,000571: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020464,000572: # POINT
020465,000573: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020466,000574: 23,2112 00124 ADRES 3AXISFLG
020467,000575:
020468,000576: 23,2113 04616 TC BANKCALL
020469,000577: 23,2114 54123 CADR R60LEM
020470,000578: 23,2115 15472 TCF ENDEXT # END R62
020471,000579:
End of include-file R60,R62.agc. Parent file is MAIN.agc