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! |
059856,000002: ## Copyright: Public domain.
059857,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
059858,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
059859,000005: ## It is part of the source code for the Lunar Module's (LM)
059860,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
059861,000007: ## Assembler: yaYUL
059862,000008: ## Contact: Ron Burkey <info@sandroid.org>.
059863,000009: ## Website: www.ibiblio.org/apollo.
059864,000010: ## Pages: 1421-1441
059865,000011: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
059866,000012: ## Luminary131 file, using page
059867,000013: ## images from Luminary 1A.
059868,000014: ## 2009-06-05 RSB Corrected a relative jump from
059869,000015: ## +8 to +8D.
059870,000016: ## 2009-06-07 RSB Corrected a typo.
059871,000017: ## 2011-01-06 JL Fixed pseudo-label indentation.
059872,000018: ## 2011-01-06 JL Added missing comment characters.
059873,000019: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
059874,000020: ## and corrected the errors found.
059875,000021: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
059876,000022: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
059877,000023: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
059878,000024: ## side-by-side diff of Luminary 69/99/116/131/210.
059879,000025:
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Page 1421 |
059881,000027: 16,2213 BANK 16
059882,000028: 16,2000 SETLOC DAPS1
059883,000029: 16,2000 BANK
059884,000030:
059885,000031: 16,2213 E6,1464 EBANK= PERROR
059886,000032: 16,2213 COUNT* $$/DAPP
059887,000033:
059888,000034: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
059889,000035: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
059890,000036:
059891,000037: 16,2213 37727 PAXIS CA MS100
059892,000038: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
059893,000039: # CHRONIZATION WITH OTHER INTERRUPTS ***
059894,000040:
059895,000041: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
059896,000042: 16,2216 00006 EXTEND
059897,000043: 16,2217 22012 QXCH QRUPT
059898,000044:
059899,000045: # CHECK IF DAP PASS IS PERMISSIBLE
059900,000046:
059901,000047: 16,2220 11757 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
059902,000048: 16,2221 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
059903,000049: 16,2222 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
059904,000050:
059905,000051: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
059906,000052:
059907,000053: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
059908,000054: 16,2225 55750 TS DAPTREG4
059909,000055: 16,2226 30033 CA CDUY
059910,000056: 16,2227 55751 TS DAPTREG5
059911,000057: 16,2230 30034 CA CDUZ
059912,000058: 16,2231 55752 TS DAPTREG6
059913,000059:
059914,000060: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
059915,000061:
059916,000062: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
059917,000063: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
059918,000064:
059919,000065: 16,2232 31635 CA CDUXD
059920,000066: 16,2233 00006 EXTEND
059921,000067: 16,2234 21640 MSU DELCDUX
059922,000068: 16,2235 02256 TC 1STOTWOS
059923,000069: 16,2236 55635 TS CDUXD
059924,000070: 16,2237 31636 CA CDUYD
059925,000071: 16,2240 00006 EXTEND
059926,000072: 16,2241 21641 MSU DELCDUY
059927,000073: 16,2242 02256 TC 1STOTWOS
059928,000074: 16,2243 55636 TS CDUYD
059929,000075: 16,2244 31637 CA CDUZD
059930,000076: 16,2245 00006 EXTEND
059931,000077: 16,2246 21642 MSU DELCDUZ
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Page 1422 |
059933,000079: 16,2247 02256 TC 1STOTWOS
059934,000080: 16,2250 55637 TS CDUZD
059935,000081: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
059936,000082: 16,2252 27445 DIM TCP # TIME COUNTERS.
059937,000083: 16,2253 00006 EXTEND
059938,000084: 16,2254 27457 DIM TCQR
059939,000085:
059940,000086: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
059941,000087: # RETURNS TO BACKP.
059942,000088:
059943,000089: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
059944,000090: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
059945,000091: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
059946,000092:
059947,000093: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
059948,000094: 16,2256 10000 1STOTWOS CCS A
059949,000095: 16,2257 64753 AD ONE
059950,000096: 16,2260 00002 TC Q
059951,000097: 16,2261 40000 CS A
059952,000098: 16,2262 00002 TC Q
059953,000099: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
059954,000100: 16,2264 71741 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
059955,000101: 16,2265 21427 DAS OMEGAU # OVERFLOW
059956,000102:
059957,000103: 16,2266 00006 +3 EXTEND
059958,000104: 16,2267 31427 DCA OMEGAU
059959,000105: 16,2270 53744 DXCH DAPTEMP5
059960,000106: 16,2271 11426 CCS OMEGAU
059961,000107: 16,2272 12274 TCF +2
059962,000108: 16,2273 12304 TCF DIVIDER
059963,000109: 16,2274 62315 AD -OCT630
059964,000110: 16,2275 00006 EXTEND
059965,000111: 16,2276 62304 BZMF DIVIDER
059966,000112:
059967,000113: 16,2277 11426 CCS OMEGAU
059968,000114: 16,2300 34733 CA POSMAX # 45 DEG/SEC
059969,000115: 16,2301 00002 TC Q
059970,000116: 16,2302 44733 CS POSMAX
059971,000117: 16,2303 00002 TC Q
059972,000118:
059973,000119: 16,2304 53427 DIVIDER DXCH OMEGAU
059974,000120: 16,2305 00006 EXTEND
059975,000121: 16,2306 11750 DV DAPTREG4
059976,000122: 16,2307 00002 TC Q
059977,000123:
059978,000124: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
059979,000125: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
059980,000126: 16,2312 50000 INDEX A
059981,000127: 16,2313 44734 CS BIT15 -1
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Page 1423 |
059983,000129: 16,2314 00002 TC Q
059984,000130:
059985,000131: 16,2315 77147 -OCT630 OCT 77147
059986,000132:
059987,000133: 16,2316 31737 BACKP CA DAPTEMP1
059988,000134: 16,2317 00006 EXTEND
059989,000135: 16,2320 71530 MP 1JACC
059990,000136: 16,2321 55745 TS JETRATE
059991,000137:
059992,000138: # BEGINNING OF THE RATE DERIVATION
059993,000139: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
059994,000140: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
059995,000141: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
059996,000142: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
059997,000143: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
059998,000144: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
059999,000145: # OMEGAU DP-TEMPORARY STORAGE
060000,000146: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060001,000147:
060002,000148: 16,2322 31750 CAE DAPTREG4 # CDUX IS STORED HERE
060003,000149: 16,2323 54001 TS L
060004,000150: 16,2324 00006 EXTEND
060005,000151: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
060006,000152: 16,2326 23440 LXCH OLDXFORP
060007,000153: 16,2327 55737 TS DAPTEMP1
060008,000154: 16,2330 33620 CA 1/40
060009,000155: 16,2331 55750 TS DAPTREG4
060010,000156: 16,2332 41745 CS JETRATE
060011,000157: 16,2333 00006 EXTEND
060012,000158: 16,2334 74736 MP BIT14
060013,000159: 16,2335 27430 ADS TRAPEDP
060014,000160: 16,2336 31746 CA JETRATEQ
060015,000161: 16,2337 61545 AD AOSQTERM
060016,000162: 16,2340 00006 EXTEND
060017,000163: 16,2341 77736 MP -BIT14
060018,000164: 16,2342 27431 ADS TRAPEDQ
060019,000165: 16,2343 31747 CA JETRATER
060020,000166: 16,2344 61546 AD AOSRTERM
060021,000167: 16,2345 00006 EXTEND
060022,000168: 16,2346 77736 MP -BIT14
060023,000169: 16,2347 27432 ADS TRAPEDR
060024,000170:
060025,000171: 16,2350 31751 CA DAPTREG5 # CDUY IS STORED HERE
060026,000172: 16,2351 54001 TS L
060027,000173: 16,2352 00006 EXTEND
060028,000174: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
060029,000175: 16,2354 23441 LXCH OLDYFORP
060030,000176: 16,2355 55740 TS DAPTEMP2
060031,000177: 16,2356 00006 EXTEND
060032,000178: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1424 |
060034,000180: 16,2360 61737 AD DAPTEMP1
060035,000181: 16,2361 53427 DXCH OMEGAU
060036,000182:
060037,000183: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
060038,000184:
060039,000185: 16,2363 00006 EXTEND
060040,000186: 16,2364 61421 SU OMEGAP
060041,000187: 16,2365 27430 ADS TRAPEDP
060042,000188: 16,2366 02310 TC OVERSUB
060043,000189: 16,2367 55430 TS TRAPEDP
060044,000190: 16,2370 00006 EXTEND
060045,000191: 16,2371 31744 DCA DAPTEMP5
060046,000192: 16,2372 21447 DAS DXERROR
060047,000193: 16,2373 41454 CS PLAST
060048,000194: 16,2374 00006 EXTEND
060049,000195: 16,2375 73620 MP 1/40
060050,000196: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
060051,000197: 16,2377 31752 CA DAPTREG6 # CDUZ IS STORED HERE
060052,000198: 16,2400 54001 TS L
060053,000199: 16,2401 00006 EXTEND
060054,000200: 16,2402 21442 MSU OLDZFORQ
060055,000201: 16,2403 55741 TS DAPTEMP3
060056,000202: 16,2404 23442 LXCH OLDZFORQ
060057,000203: 16,2405 31415 CA M21
060058,000204: 16,2406 00006 EXTEND
060059,000205: 16,2407 71740 MP DAPTEMP2
060060,000206: 16,2410 53427 DXCH OMEGAU
060061,000207: 16,2411 31417 CA M22
060062,000208: 16,2412 02263 TC SUBDIVDE
060063,000209:
060064,000210: 16,2413 00006 EXTEND
060065,000211: 16,2414 61422 SU OMEGAQ
060066,000212: 16,2415 27431 ADS TRAPEDQ
060067,000213: 16,2416 02310 TC OVERSUB
060068,000214: 16,2417 55431 TS TRAPEDQ
060069,000215: 16,2420 00006 EXTEND
060070,000216: 16,2421 31744 DCA DAPTEMP5
060071,000217: 16,2422 21451 DAS DYERROR
060072,000218: 16,2423 41455 CS QLAST
060073,000219: 16,2424 00006 EXTEND
060074,000220: 16,2425 73620 MP 1/40
060075,000221: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
060076,000222: 16,2427 31416 CA M31
060077,000223: 16,2430 00006 EXTEND
060078,000224: 16,2431 71740 MP DAPTEMP2
060079,000225: 16,2432 53427 DXCH OMEGAU
060080,000226: 16,2433 31420 CA M32
060081,000227:
060082,000228: 16,2434 02263 TC SUBDIVDE
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Page 1425 |
060084,000230: 16,2435 00006 EXTEND
060085,000231: 16,2436 61423 SU OMEGAR
060086,000232: 16,2437 27432 ADS TRAPEDR
060087,000233: 16,2440 02310 TC OVERSUB
060088,000234: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
060089,000235:
060090,000236: 16,2442 00006 EXTEND
060091,000237: 16,2443 31744 DCA DAPTEMP5
060092,000238: 16,2444 21453 DAS DZERROR
060093,000239: 16,2445 41456 CS RLAST
060094,000240: 16,2446 00006 EXTEND
060095,000241: 16,2447 73620 MP 1/40
060096,000242: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
060097,000243: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
060098,000244: 16,2452 74737 MASK CSMDOCKD
060099,000245: 16,2453 00006 EXTEND
060100,000246: 16,2454 12462 BZF LMONLY
060101,000247: 16,2455 00006 EXTEND # DOCKED
060102,000248: 16,2456 31405 DCA DKOMEGAN
060103,000249: 16,2457 53751 DXCH DAPTREG4
060104,000250: 16,2460 31403 CA DKTRAP
060105,000251: 16,2461 12466 TCF +5
060106,000252: 16,2462 00006 LMONLY EXTEND # UNDOCKED
060107,000253: 16,2463 31410 DCA LMOMEGAN
060108,000254: 16,2464 53751 DXCH DAPTREG4
060109,000255: 16,2465 31406 CA LMTRAP
060110,000256: 16,2466 55752 +5 TS DAPTREG6
060111,000257: 16,2467 11430 CCS TRAPEDP
060112,000258: 16,2470 12472 TCF +2
060113,000259: 16,2471 12507 TCF SMALPDIF
060114,000260: 16,2472 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060115,000261: 16,2473 00006 EXTEND
060116,000262: 16,2474 62507 BZMF SMALPDIF
060117,000263: 16,2475 22007 ZL
060118,000264: 16,2476 23430 LXCH TRAPEDP
060119,000265: 16,2477 34755 CA ZERO
060120,000266: 16,2500 00006 EXTEND
060121,000267: 16,2501 11433 DV NPTRAPS
060122,000268: 16,2502 27421 ADS OMEGAP
060123,000269: 16,2503 02310 TC OVERSUB
060124,000270: 16,2504 55421 TS OMEGAP
060125,000271: 16,2505 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060126,000272: 16,2506 55433 TS NPTRAPS
060127,000273: 16,2507 25433 SMALPDIF INCR NPTRAPS
060128,000274: 16,2510 31745 P-RATE CA JETRATE
060129,000275: 16,2511 27421 ADS OMEGAP
060130,000276: 16,2512 02310 TC OVERSUB
060131,000277: 16,2513 55421 TS OMEGAP
060132,000278:
060133,000279: 16,2514 11431 CCS TRAPEDQ
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Page 1426 |
060135,000281: 16,2515 12517 TCF +2
060136,000282: 16,2516 12544 TCF Q-RATE
060137,000283: 16,2517 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060138,000284: 16,2520 00006 EXTEND
060139,000285: 16,2521 62544 BZMF Q-RATE
060140,000286: 16,2522 22007 ZL
060141,000287: 16,2523 23431 LXCH TRAPEDQ
060142,000288: 16,2524 34755 CA ZERO
060143,000289: 16,2525 00006 EXTEND
060144,000290: 16,2526 11434 DV NQTRAPS
060145,000291: 16,2527 55737 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
060146,000292: 16,2530 27422 ADS OMEGAQ
060147,000293: 16,2531 02310 TC OVERSUB
060148,000294: 16,2532 55422 TS OMEGAQ
060149,000295: 16,2533 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060150,000296: 16,2534 57434 XCH NQTRAPS
060151,000297: 16,2535 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060152,000298: 16,2536 57737 XCH DAPTEMP1
060153,000299: 16,2537 00006 EXTEND
060154,000300: 16,2540 74756 MP FIVE
060155,000301: 16,2541 00006 EXTEND
060156,000302: 16,2542 11737 DV DAPTEMP1
060157,000303: 16,2543 27537 ADS AOSQ
060158,000304: 16,2544 25434 Q-RATE INCR NQTRAPS
060159,000305: 16,2545 31746 CA JETRATEQ
060160,000306: 16,2546 61545 AD AOSQTERM
060161,000307: 16,2547 27422 ADS OMEGAQ
060162,000308: 16,2550 02310 TC OVERSUB
060163,000309: 16,2551 55422 TS OMEGAQ
060164,000310:
060165,000311: 16,2552 11432 CCS TRAPEDR
060166,000312: 16,2553 12555 TCF +2
060167,000313: 16,2554 12602 TCF R-RATE
060168,000314: 16,2555 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060169,000315: 16,2556 00006 EXTEND
060170,000316: 16,2557 62602 BZMF R-RATE
060171,000317: 16,2560 22007 ZL
060172,000318: 16,2561 23432 LXCH TRAPEDR
060173,000319: 16,2562 34755 CA ZERO
060174,000320: 16,2563 00006 EXTEND
060175,000321: 16,2564 11435 DV NRTRAPS
060176,000322: 16,2565 55740 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
060177,000323: 16,2566 27423 ADS OMEGAR
060178,000324: 16,2567 02310 TC OVERSUB
060179,000325: 16,2570 55423 TS OMEGAR
060180,000326: 16,2571 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060181,000327: 16,2572 57435 XCH NRTRAPS
060182,000328: 16,2573 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060183,000329: 16,2574 57740 XCH DAPTEMP2
060184,000330: 16,2575 00006 EXTEND
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Page 1427 |
060186,000332: 16,2576 74756 MP FIVE
060187,000333: 16,2577 00006 EXTEND
060188,000334: 16,2600 11740 DV DAPTEMP2
060189,000335: 16,2601 27541 ADS AOSR
060190,000336: 16,2602 25435 R-RATE INCR NRTRAPS
060191,000337: 16,2603 31747 CA JETRATER
060192,000338: 16,2604 61546 AD AOSRTERM
060193,000339: 16,2605 27423 ADS OMEGAR
060194,000340: 16,2606 02310 TC OVERSUB
060195,000341: 16,2607 55423 TS OMEGAR
060196,000342:
060197,000343: # END OF RATE DERIVATION
060198,000344: # BEGIN OFFSET ESTIMATER
060199,000345: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060200,000346: # AOS = AOS + K*SUMRATE
060201,000347:
060202,000348: 16,2610 40111 CS DAPBOOLS
060203,000349: 16,2611 74744 MASK DRIFTBIT
060204,000350: 16,2612 10000 CCS A
060205,000351: 16,2613 12624 TCF WORKTIME
060206,000352: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
060207,000353: 16,2615 55425 TS ALPHAR
060208,000354: 16,2616 55545 TS AOSQTERM
060209,000355: 16,2617 55546 TS AOSRTERM
060210,000356: 16,2620 55537 TS AOSQ
060211,000357: 16,2621 55541 TS AOSR
060212,000358: 16,2622 12667 TCF PRETIMCK
060213,000359: 16,2623 00074 KAOS DEC 60 B-14
060214,000360: 16,2624 31510 WORKTIME CA QACCDOT
060215,000361: 16,2625 00006 EXTEND
060216,000362: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060217,000363: 16,2627 21540 DAS AOSQ
060218,000364: 16,2630 31537 CA AOSQ
060219,000365: 16,2631 55424 TS ALPHAQ
060220,000366: 16,2632 00006 EXTEND
060221,000367: 16,2633 73616 MP 200MS # .2 AT 1
060222,000368: 16,2634 55545 TS AOSQTERM
060223,000369: 16,2635 31512 CA RACCDOT
060224,000370: 16,2636 00006 EXTEND
060225,000371: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060226,000372: 16,2640 21542 DAS AOSR
060227,000373: 16,2641 31541 CA AOSR
060228,000374: 16,2642 55425 TS ALPHAR
060229,000375: 16,2643 00006 EXTEND
060230,000376: 16,2644 73616 MP 200MS # .2 AT 1
060231,000377: 16,2645 55546 TS AOSRTERM
060232,000378: 16,2646 12667 TCF PRETIMCK
060233,000379:
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Page 1428 |
060235,000381: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
060236,000382: 16,2650 71273 MASK RCSFLAGS
060237,000383: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
060238,000384: 16,2652 03736 TC ACDT+C12 # VALID.
060239,000385:
060240,000386: 16,2653 52011 DXCH ARUPT
060241,000387: 16,2654 53754 DXCH DAPARUPT
060242,000388: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
060243,000389: 16,2656 56017 XCH BRUPT
060244,000390: 16,2657 22012 LXCH QRUPT
060245,000391: 16,2660 53756 DXCH DAPBQRPT
060246,000392: 16,2661 32665 CA SUPERADR
060247,000393: 16,2662 52016 DXCH ZRUPT
060248,000394: 16,2663 53760 DXCH DAPZRUPT
060249,000395: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
060250,000396: # FORM OF A JASK, AT SUPERJOB.
060251,000397:
060252,000398: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
060253,000399:
060254,000400: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060255,000401:
060256,000402: 16,2666 13641 SUPERJOB TCF RATELOOP
060257,000403: 16,2667 11632 PRETIMCK CCS QGIMTIMR
060258,000404: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
060259,000405: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
060260,000406: 16,2672 11634 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
060261,000407: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
060262,000408: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
060263,000409:
060264,000410: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
060265,000411: 16,2676 27767 DIM PJETCTR
060266,000412: 16,2677 00006 EXTEND
060267,000413: 16,2700 27770 DIM UJETCTR
060268,000414: 16,2701 00006 EXTEND
060269,000415: 16,2702 27771 DIM VJETCTR
060270,000416: 16,2703 34740 CA BIT12
060271,000417: 16,2704 71273 MASK RCSFLAGS
060272,000418: 16,2705 00006 EXTEND
060273,000419: 16,2706 12734 BZF SKIPPAXS
060274,000420: 16,2707 02740 TC CHKVISFZ
060275,000421: 16,2710 55632 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
060276,000422: 16,2711 12672 TCF CHKRTIMR
060277,000423: 16,2712 55634 DECRTIMR TS RGIMTIMR
060278,000424: 16,2713 12675 TCF CHKRTIMR +3
060279,000425:
060280,000426: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
060281,000427: 16,2715 55510 TS QACCDOT
060282,000428: 16,2716 45007 CS QGIMBITS
060283,000429: 16,2717 00006 EXTEND
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Page 1429 |
060285,000431: 16,2720 03012 WAND CHAN12
060286,000432: 16,2721 34735 CAF NEGMAX
060287,000433: 16,2722 55632 TS QGIMTIMR
060288,000434: 16,2723 12672 TCF CHKRTIMR
060289,000435: 16,2724 55503 TURNOFFR TS NEGUR
060290,000436: 16,2725 55512 TS RACCDOT
060291,000437: 16,2726 45020 CS RGIMBITS
060292,000438: 16,2727 00006 EXTEND
060293,000439: 16,2730 03012 WAND CHAN12
060294,000440: 16,2731 34735 CAF NEGMAX
060295,000441: 16,2732 55634 TS RGIMTIMR
060296,000442: 16,2733 12675 TCF CHKRTIMR +3
060297,000443: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
060298,000444: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
060299,000445:
060300,000446: 16,2734 41273 SKIPPAXS CS RCSFLAGS
060301,000447: 16,2735 74740 MASK BIT12
060302,000448: 16,2736 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
060303,000449: 16,2737 13624 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
060304,000450:
060305,000451: # Y-Z TRANSLATION
060306,000452:
060307,000453: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060308,000454:
060309,000455: # OUTPUT: NEXTP
060310,000456:
060311,000457: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060312,000458: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060313,000459: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
060314,000460: # ALARM (IF NO PAIR)
060315,000461: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060316,000462: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
060317,000463:
060318,000464: 16,2740 00006 CHKVISFZ EXTEND
060319,000465: 16,2741 00031 READ CHAN31
060320,000466: 16,2742 40000 CS A
060321,000467: 16,2743 73613 MASK 07400OCT
060322,000468: 16,2744 00006 EXTEND
060323,000469: 16,2745 13014 BZF TSNEXTP
060324,000470: 16,2746 00006 EXTEND
060325,000471: 16,2747 74745 MP BIT7
060326,000472: 16,2750 50000 INDEX A
060327,000473: 16,2751 33572 CA INDXYZ
060328,000474: 16,2752 55744 TS ROTINDEX
060329,000475: 16,2753 36242 TRYUORV CA SIX
060330,000476: 16,2754 03551 TC SELECTYZ
060331,000477: 16,2755 46242 CS SIX
060332,000478: 16,2756 61743 AD NUMBERT
060333,000479: 16,2757 00006 EXTEND
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Page 1430 |
060335,000481: 16,2760 13013 BZF TSNEXTP -1
060336,000482: 16,2761 44756 CS FIVE
060337,000483: 16,2762 61744 AD ROTINDEX
060338,000484: 16,2763 00006 EXTEND
060339,000485: 16,2764 63002 BZMF ALTERYZ
060340,000486: 16,2765 41743 CS NUMBERT
060341,000487: 16,2766 64751 AD FOUR
060342,000488: 16,2767 00006 EXTEND
060343,000489: 16,2770 63013 BZMF TSNEXTP -1
060344,000490: 16,2771 05567 ABORTYZ TC ALARM
060345,000491: 16,2772 02001 OCT 02001
060346,000492: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060347,000493: 16,2774 23273 LXCH RCSFLAGS
060348,000494: 16,2775 00006 EXTEND
060349,000495: 16,2776 06001 RXOR 1
060350,000496: 16,2777 55273 TS RCSFLAGS
060351,000497: 16,3000 34755 CA ZERO
060352,000498: 16,3001 13014 TCF TSNEXTP
060353,000499: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060354,000500: 16,3003 23273 LXCH RCSFLAGS
060355,000501: 16,3004 00006 EXTEND
060356,000502: 16,3005 06001 RXOR 1
060357,000503: 16,3006 55273 TS RCSFLAGS
060358,000504: 16,3007 74753 MASK BIT1
060359,000505: 16,3010 64751 AD FOUR
060360,000506: 16,3011 27744 ADS ROTINDEX
060361,000507: 16,3012 12753 TCF TRYUORV
060362,000508: 16,3013 31741 CA POLYTEMP
060363,000509: 16,3014 55472 TSNEXTP TS NEXTP
060364,000510:
060365,000511: # STATE LOGIC
060366,000512: # CHECK IN ORDER: IF ON
060367,000513: # LPDPHASE GO TO PURGENCY
060368,000514: # PULSES MINIMUM PULSE LOGIC
060369,000515: # DETENT(BIT15 CH31) RATE COMMAND
060370,000516: # GO TO PURGENCY
060371,000517:
060372,000518: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060373,000519: 16,3016 00006 EXTEND
060374,000520: 16,3017 02031 RAND CHAN31
060375,000521: 16,3020 00006 EXTEND
060376,000522: 16,3021 13027 BZF MANMODE
060377,000523:
060378,000524: 16,3022 30111 CA DAPBOOLS
060379,000525: 16,3023 74743 MASK XOVINHIB
060380,000526: 16,3024 10000 CCS A
060381,000527: 16,3025 13463 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060382,000528:
060383,000529: 16,3026 13071 TCF DETENTCK
060384,000530: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060385,000531: 16,3030 70111 MASK DAPBOOLS
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Page 1431 |
060387,000533: 16,3031 00006 EXTEND
060388,000534: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060389,000535:
060390,000536: 16,3033 34755 CA ZERO
060391,000537: 16,3034 55464 TS PERROR
060392,000538:
060393,000539: # MINIMUM IMPULSE MODE
060394,000540:
060395,000541: 16,3035 30032 CA CDUX
060396,000542: 16,3036 55635 TS CDUXD
060397,000543:
060398,000544: 16,3037 11460 CCS OLDPMIN
060399,000545: 16,3040 13054 TCF CHECKP
060400,000546:
060401,000547: 16,3041 34751 FIREP CA BIT3
060402,000548: 16,3042 00006 EXTEND
060403,000549: 16,3043 02031 RAND CHAN31
060404,000550: 16,3044 00006 EXTEND
060405,000551: 16,3045 13064 BZF +XMIN
060406,000552:
060407,000553: 16,3046 34750 CA BIT4
060408,000554: 16,3047 00006 EXTEND
060409,000555: 16,3050 02031 RAND CHAN31
060410,000556: 16,3051 00006 EXTEND
060411,000557: 16,3052 13062 BZF -XMIN
060412,000558:
060413,000559: 16,3053 13442 TCF JETSOFF
060414,000560:
060415,000561: 16,3054 00006 CHECKP EXTEND
060416,000562: 16,3055 00031 READ CHAN31
060417,000563: 16,3056 40000 CS A
060418,000564: 16,3057 75751 MASK OCT14
060419,000565: 16,3060 55460 TS OLDPMIN
060420,000566: 16,3061 13442 TCF JETSOFF
060421,000567:
060422,000568: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060423,000569: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060424,000570: 16,3064 34363 +XMIN CA TEN
060425,000571: 16,3065 55524 TS TJP
060426,000572: 16,3066 34753 CA ONE
060427,000573: 16,3067 55460 TS OLDPMIN
060428,000574: 16,3070 13350 TCF PJETSLEC -6
060429,000575:
060430,000576: # MANUAL RATE COMMAND MODE
060431,000577: # ========================
060432,000578: # BY ROBERT F. STENGEL
060433,000579:
060434,000580: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060435,000581: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060436,000582: # RATE CONTROL AND ATTITUDE HOLD.
060437,000583:
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Page 1432 |
060439,000585: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060440,000586: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060441,000587: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060442,000588:
060443,000589: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060444,000590: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060445,000591: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060446,000592:
060447,000593: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060448,000594: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060449,000595: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060450,000596:
060451,000597: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060452,000598: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060453,000599: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060454,000600: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060455,000601:
060456,000602: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060457,000603: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060458,000604:
060459,000605: 16,3071 00006 DETENTCK EXTEND
060460,000606: 16,3072 00031 READ CHAN31
060461,000607: 16,3073 55443 TS CH31TEMP
060462,000608: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060463,000609: 16,3075 00006 EXTEND
060464,000610: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060465,000611: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060466,000612: 16,3100 70111 MASK DAPBOOLS
060467,000613: 16,3101 00006 EXTEND
060468,000614: 16,3102 13463 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
060469,000615:
060470,000616: # ........................................................................
060471,000617:
060472,000618: 16,3103 34743 CA BIT9 # JUST IN DETENT??
060473,000619: 16,3104 71273 MASK RCSFLAGS
060474,000620: 16,3105 00006 EXTEND
060475,000621: 16,3106 13120 BZF RUTH
060476,000622: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
060477,000623: 16,3110 00006 EXTEND
060478,000624: 16,3111 02031 RAND CHAN31
060479,000625: 16,3112 00006 EXTEND
060480,000626: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
060481,000627:
060482,000628: 16,3114 45014 CS BITS9,11 # IN AUTO.
060483,000629: 16,3115 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
060484,000630: 16,3116 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060485,000631: 16,3117 13220 TCF RATEDAMP
060486,000632:
060487,000633: 16,3120 31273 RUTH CA RCSFLAGS
060488,000634: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
060489,000635: 16,3122 00006 EXTEND
060490,000636: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
060491,000637: 16,3124 13220 TCF RATEDAMP
060492,000638:
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Page 1433 |
060494,000640: 16,3125 31273 CA RCSFLAGS
060495,000641: 16,3126 74741 MASK QRBIT
060496,000642: 16,3127 00006 EXTEND
060497,000643: 16,3130 13136 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
060498,000644: 16,3131 13220 TCF RATEDAMP
060499,000645:
060500,000646: # ============================================
060501,000647:
060502,000648: 16,3132 00001 1/10SEC OCT 1
060503,000649: 16,3133 00050 40CYC OCT 50
060504,000650: 16,3134 74777 PQRBIT OCT 74777
060505,000651: 16,3135 5014 BITS9,11 EQUALS EBANK5
060506,000652: 16,3135 00056 LINRATP DEC 46 B-14
060507,000653:
060508,000654: # ============================================
060509,000655:
060510,000656: 16,3136 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
060511,000657: 16,3137 00004 INHINT # ALL AXES.
060512,000658: 16,3140 70111 MASK DAPBOOLS
060513,000659: 16,3141 54111 TS DAPBOOLS
060514,000660:
060515,000661: # READ CDUS INTO CDU DESIRED REGISTERS
060516,000662:
060517,000663: 16,3142 34737 CAF BIT13
060518,000664: 16,3143 00006 EXTEND
060519,000665: 16,3144 02031 RAND CHAN31
060520,000666: 16,3145 00006 EXTEND
060521,000667: 16,3146 13152 BZF +4
060522,000668: 16,3147 30032 CA CDUX # (X-AXIS OVERRIDE)
060523,000669: 16,3150 55635 TS CDUXD
060524,000670: 16,3151 03154 TC +3
060525,000671: 16,3152 04674 TC IBNKCALL
060526,000672: 16,3153 40153 FCADR ZATTEROR
060527,000673: 16,3154 00003 RELINT
060528,000674: 16,3155 13463 TCF PURGENCY
060529,000675:
060530,000676: 16,3156 55464 TS PERROR
060531,000677: 16,3157 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
060532,000678: 16,3160 26111 ADS DAPBOOLS
060533,000679: 16,3161 34755 CA ZERO
060534,000680: 16,3162 55446 TS DXERROR
060535,000681: 16,3163 55447 TS DXERROR +1
060536,000682: 16,3164 55450 TS DYERROR
060537,000683: 16,3165 55451 TS DYERROR +1
060538,000684: 16,3166 55452 TS DZERROR
060539,000685: 16,3167 55453 TS DZERROR +1
060540,000686: 16,3170 55454 TS PLAST
060541,000687: 16,3171 55455 TS QLAST
060542,000688: 16,3172 55456 TS RLAST
060543,000689: 16,3173 54042 TS Q-RHCCTR
060544,000690: 16,3174 54044 TS R-RHCCTR
060545,000691: 16,3175 33134 CA PQRBIT
060546,000692: 16,3176 71273 MASK RCSFLAGS
060547,000693: 16,3177 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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Page 1434 |
060549,000695: 16,3200 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
060550,000696: 16,3201 74743 MASK BIT9
060551,000697: 16,3202 27273 ADS RCSFLAGS
060552,000698: 16,3203 03205 TC ZEROENBL
060553,000699: 16,3204 13442 TCF JETSOFF
060554,000700: 16,3205 22044 ZEROENBL LXCH R-RHCCTR
060555,000701: 16,3206 30042 CA Q-RHCCTR
060556,000702: 16,3207 53463 DXCH SAVEHAND
060557,000703: 16,3210 34755 CA ZERO
060558,000704: 16,3211 54043 TS P-RHCCTR
060559,000705: 16,3212 54042 TS Q-RHCCTR
060560,000706: 16,3213 54044 TS R-RHCCTR
060561,000707: 16,3214 33617 CA BITS8,9
060562,000708: 16,3215 00006 EXTEND
060563,000709: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
060564,000710: 16,3217 00002 TC Q
060565,000711: 16,3220 34755 RATEDAMP CA ZERO
060566,000712: 16,3221 54043 TS P-RHCCTR
060567,000713: 16,3222 13227 TCF RATERROR
060568,000714:
060569,000715: 16,3223 34740 RHCMOVED CA OURRCBIT # P CONTROL
060570,000716: 16,3224 70111 MASK DAPBOOLS
060571,000717: 16,3225 00006 EXTEND
060572,000718: 16,3226 13156 BZF JUSTOUT -1
060573,000719: 16,3227 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060574,000720: 16,3230 55635 TS CDUXD # X-AXIS OVERRIDE
060575,000721: 16,3231 10043 CCS P-RHCCTR
060576,000722: 16,3232 13235 TCF +3
060577,000723: 16,3233 13235 TCF +2
060578,000724: 16,3234 13235 TCF +1
060579,000725: 16,3235 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
060580,000726: 16,3236 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
060581,000727: 16,3237 63135 AD LINRATP # AUTOPILOT)
060582,000728: 16,3240 00006 EXTEND
060583,000729: 16,3241 70043 MP P-RHCCTR
060584,000730: 16,3242 30001 CA L
060585,000731: 16,3243 00006 EXTEND
060586,000732: 16,3244 71444 MP STIKSENS
060587,000733: 16,3245 57454 XCH PLAST
060588,000734: 16,3246 40000 COM
060589,000735: 16,3247 61454 AD PLAST
060590,000736: 16,3250 55737 TS DAPTEMP1
060591,000737: 16,3251 03205 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
060592,000738: 16,3252 41454 CS PLAST
060593,000739: 16,3253 61421 AD OMEGAP
060594,000740: 16,3254 55427 TS EDOTP
060595,000741: 16,3255 11737 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
060596,000742: 16,3256 13261 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
060597,000743: 16,3257 13267 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
060598,000744: 16,3260 13261 TCF +1
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Page 1435 |
060600,000746: 16,3261 61476 AD -RATEDB
060601,000747: 16,3262 00006 EXTEND
060602,000748: 16,3263 63267 BZMF +4
060603,000749: 16,3264 33133 CA 40CYC
060604,000750: 16,3265 55445 TS TCP
060605,000751: 16,3266 03300 TC PEGI
060606,000752: 16,3267 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
060607,000753: 16,3270 74742 MASK PBIT
060608,000754: 16,3271 00006 EXTEND
060609,000755: 16,3272 13274 BZF +2
060610,000756: 16,3273 03300 TC PEGI # TO PURE RATE COMMAND
060611,000757: 16,3274 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
060612,000758: 16,3275 55752 TS E # X-ATTITUDE ERROR (SP)
060613,000759: 16,3276 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060614,000760: 16,3277 03467 TC PURGENCY +4
060615,000761: 16,3300 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
060616,000762: 16,3301 55635 TS CDUXD
060617,000763: 16,3302 34755 CA ZERO
060618,000764: 16,3303 55446 TS DXERROR
060619,000765: 16,3304 55447 TS DXERROR +1
060620,000766: 16,3305 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060621,000767: 16,3306 11427 CCS EDOTP
060622,000768: 16,3307 03312 TC +3
060623,000769: 16,3310 03312 TC +2
060624,000770: 16,3311 03312 TC +1
060625,000771: 16,3312 55737 TS ABSEDOTP
060626,000772: 16,3313 61476 AD TARGETDB
060627,000773: 16,3314 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
060628,000774: 16,3315 63325 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
060629,000775: 16,3316 31445 CA TCP
060630,000776: 16,3317 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060631,000777: 16,3320 63325 BZMF LAST
060632,000778: 16,3321 41273 CS RCSFLAGS
060633,000779: 16,3322 74742 MASK PBIT
060634,000780: 16,3323 27273 ADS RCSFLAGS # BIT 10 IS 1.
060635,000781: 16,3324 13330 TCF +4
060636,000782: 16,3325 44742 LAST CS PBIT
060637,000783: 16,3326 71273 MASK RCSFLAGS
060638,000784: 16,3327 55273 TS RCSFLAGS # BIT 10 IS 0.
060639,000785: 16,3330 41427 CS EDOTP
060640,000786: 16,3331 00006 EXTEND
060641,000787: 16,3332 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
060642,000788: 16,3333 20001 DAS A
060643,000789: 16,3334 02310 TC OVERSUB
060644,000790: 16,3335 00006 EXTEND
060645,000791: 16,3336 77716 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060646,000792: 16,3337 55524 TS TJP # 4.JET TIME
060647,000793: 16,3340 31737 CA ABSEDOTP
060648,000794: 16,3341 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
060649,000795: 16,3342 00006 EXTEND
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Page 1436 |
060651,000797: 16,3343 63346 BZMF +3
060652,000798:
060653,000799: 16,3344 36242 CA SIX
060654,000800: 16,3345 13355 TCF +8D
060655,000801: 16,3346 31524 CA TJP
060656,000802: 16,3347 27524 ADS TJP
060657,000803:
060658,000804: # GOES TO PJETSLEC FOR TWO JETS
060659,000805: # P-JET-SELECTION-ROUTINE (ROTATION)
060660,000806:
060661,000807: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
060662,000808: # TJP + FOR +P ROTATION
060663,000809:
060664,000810: # OUTPUT: CHANNEL 6
060665,000811: # PJUMPADR FOR P-AXIS SKIP
060666,000812: # (JTLST CALL) (SMALL TJP)
060667,000813:
060668,000814: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060669,000815: # +P -P
060670,000816: # 7,15 8,16
060671,000817: # 4,12 3,11
060672,000818: # 4,7 8,11
060673,000819: # 7,12 11,16
060674,000820: # 12,15 3,16
060675,000821: # 4,15 3,8
060676,000822: # ALARM ALARM
060677,000823:
060678,000824: 16,3350 34747 CA AORBSYST
060679,000825: 16,3351 70111 MASK DAPBOOLS
060680,000826: 16,3352 10000 CCS A
060681,000827: 16,3353 34753 CA ONE
060682,000828: 16,3354 64751 AD FOUR
060683,000829: 16,3355 55743 TS NUMBERT
060684,000830: 16,3356 34753 PJETSLEC CA ONE
060685,000831: 16,3357 54001 TS L
060686,000832: 16,3360 11524 CCS TJP
060687,000833: 16,3361 13366 TCF +5
060688,000834: 16,3362 13442 TCF JETSOFF
060689,000835: 16,3363 13365 TCF +2
060690,000836: 16,3364 13442 TCF JETSOFF
060691,000837: 16,3365 22007 ZL
060692,000838: 16,3366 64753 AD ONE
060693,000839: 16,3367 55737 TS ABSTJ
060694,000840: 16,3370 23744 LXCH ROTINDEX
060695,000841: 16,3371 03531 TC SELECTP
060696,000842: 16,3372 46242 CS SIX
060697,000843: 16,3373 61743 AD NUMBERT
060698,000844: 16,3374 00006 EXTEND
060699,000845: 16,3375 13377 BZF +2
060700,000846:
060701,000847: 16,3376 44752 CS TWO
060702,000848:
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Page 1437 |
060704,000850: 16,3377 64751 AD FOUR
060705,000851: 16,3400 55521 TS NO.PJETS
060706,000852: 16,3401 31741 CA POLYTEMP
060707,000853: 16,3402 05754 TC WRITEP
060708,000854: 16,3403 41737 CS ABSTJ
060709,000855: 16,3404 63612 AD +150MST6
060710,000856: 16,3405 00006 EXTEND
060711,000857: 16,3406 63624 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
060712,000858:
060713,000859: 16,3407 63572 AD -136MST6
060714,000860: 16,3410 00006 EXTEND
060715,000861: 16,3411 63416 BZMF +5
060716,000862:
060717,000863: 16,3412 27737 ADS ABSTJ
060718,000864: 16,3413 51744 INDEX ROTINDEX
060719,000865: 16,3414 33621 CA MINTIMES
060720,000866: 16,3415 55524 TS TJP
060721,000867:
060722,000868: 16,3416 31737 CA ABSTJ
060723,000869: 16,3417 22007 ZL
060724,000870: 16,3420 00004 INHINT
060725,000871: 16,3421 53471 DXCH T6FURTHA
060726,000872: 16,3422 04674 TC IBNKCALL
060727,000873: 16,3423 37114 CADR JTLST
060728,000874: 16,3424 44740 CS BIT12
060729,000875: 16,3425 71273 MASK RCSFLAGS
060730,000876: 16,3426 55273 TS RCSFLAGS # BIT 12 SET TO 0.
060731,000877: 16,3427 03431 TC ALTSYST
060732,000878: 16,3430 13624 TCF QRAXIS
060733,000879:
060734,000880: 16,3431 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
060735,000881: 16,3432 54001 TS L
060736,000882: 16,3433 34747 CA AORBSYST
060737,000883: 16,3434 00006 EXTEND
060738,000884: 16,3435 06001 RXOR LCHAN
060739,000885: 16,3436 54111 TS DAPBOOLS
060740,000886: 16,3437 00003 RELINT
060741,000887: 16,3440 00002 TC Q
060742,000888:
060743,000889: 16,3441 03431 DKALT TC ALTSYST
060744,000890:
060745,000891: 16,3442 05753 JETSOFF TC WRITEP -1
060746,000892: 16,3443 34755 CA ZERO
060747,000893: 16,3444 55524 TS TJP
060748,000894: 16,3445 13624 TCF QRAXIS
060749,000895:
060750,000896: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060751,000897:
060752,000898: 16,3446 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
060753,000899: 16,3447 00006 EXTEND
060754,000900: 16,3450 21636 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
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Page 1438 |
060756,000902: 16,3451 00006 EXTEND
060757,000903: 16,3452 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060758,000904: 16,3453 57752 XCH E # SAVE FIRST TERM (OF TWO)
060759,000905: 16,3454 30032 CA CDUX # THIRD COMPONENT
060760,000906: 16,3455 00006 EXTEND
060761,000907: 16,3456 21635 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
060762,000908: # EXTEND
060763,000909: # MP M13
060764,000910: 16,3457 61277 AD DELPEROR # KALCMANU INERFACE ERROR
060765,000911: 16,3460 27752 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
060766,000912: 16,3461 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060767,000913: 16,3462 00002 TC Q # RETURN TO CALLER
060768,000914:
060769,000915: # P-AXIS URGENCY FUNCTION CALCULATION.
060770,000916:
060771,000917: 16,3463 03446 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
060772,000918: 16,3464 41643 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
060773,000919: 16,3465 61421 AD OMEGAP # SPS-BACKUP MODE.
060774,000920: 16,3466 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060775,000921:
060776,000922: 16,3467 44753 CS ONE
060777,000923: 16,3470 55505 TS AXISCTR
060778,000924: 16,3471 30111 CA DAPBOOLS
060779,000925: 16,3472 74737 MASK CSMDOCKD
060780,000926: 16,3473 00006 EXTEND
060781,000927: 16,3474 13505 BZF HEADTJET
060782,000928: 16,3475 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060783,000929: 16,3476 04674 TC IBNKCALL
060784,000930: 16,3477 43727 CADR SPSRCS
060785,000931:
060786,000932: 16,3500 31524 CA TJP
060787,000933: 16,3501 00006 EXTEND
060788,000934: 16,3502 13441 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
060789,000935: 16,3503 00003 RELINT
060790,000936: 16,3504 13350 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
060791,000937: 16,3505 34755 HEADTJET CA ZERO
060792,000938: 16,3506 55500 TS SENSETYP
060793,000939: 16,3507 00004 INHINT
060794,000940: 16,3510 04674 TC IBNKCALL
060795,000941: 16,3511 37252 CADR TJETLAW
060796,000942: 16,3512 00003 RELINT
060797,000943:
060798,000944: 16,3513 41741 CS FIREFCT
060799,000945: 16,3514 63530 AD -FOURDEG
060800,000946: 16,3515 00006 EXTEND
060801,000947: 16,3516 63350 BZMF PJETSLEC -6
060802,000948: 16,3517 11524 CCS TJP
060803,000949: 16,3520 13522 TCF +2
060804,000950: 16,3521 13442 TCF JETSOFF
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Page 1439 |
060806,000952: 16,3522 63527 AD -160MST6
060807,000953: 16,3523 00006 EXTEND
060808,000954: 16,3524 63350 BZMF PJETSLEC -6
060809,000955: 16,3525 36242 CA SIX
060810,000956: 16,3526 13355 TCF PJETSLEC -1
060811,000957: 16,3527 77377 -160MST6 DEC -256 B-14
060812,000958: 16,3530 75117 -FOURDEG DEC -.08888
060813,000959:
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Page 1440 |
060815,000961: # JET POLICY CONSTRUCTION SUBROUTINE
060816,000962:
060817,000963: # INPUT: ROTINDEX, NUMBERT
060818,000964:
060819,000965: # OUTPUT: POLYTEMP (JET POLICY)
060820,000966:
060821,000967: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060822,000968:
060823,000969: 16,3531 36242 SELECTP CA SIX
060824,000970: 16,3532 55742 TS TEMPNUM
060825,000971: 16,3533 51743 INDEX NUMBERT
060826,000972: 16,3534 33563 CA TYPEP
060827,000973: 16,3535 51744 INDEX ROTINDEX
060828,000974: 16,3536 73554 MASK JETSALL
060829,000975: 16,3537 55741 TS POLYTEMP
060830,000976: 16,3540 71263 MASK CH6MASK
060831,000977: 16,3541 10000 CCS A
060832,000978: 16,3542 13544 TCF +2
060833,000979: 16,3543 00002 TC Q
060834,000980: 16,3544 11742 CCS TEMPNUM
060835,000981: 16,3545 13551 TCF +4
060836,000982: 16,3546 05567 TC ALARM
060837,000983: 16,3547 02003 OCT 02003
060838,000984: 16,3550 13442 TCF JETSOFF # *****TCF ALARMJET *********************
060839,000985: 16,3551 55743 SELECTYZ TS NUMBERT
060840,000986: 16,3552 13532 TCF SELECTP +1
060841,000987: 16,3553 12773 -1 TCF ABORTYZ +2
060842,000988: 16,3554 00252 JETSALL OCT 00252
060843,000989: 16,3555 00125 OCT 00125 # +P
060844,000990: 16,3556 00140 OCT 00140 # -Y
060845,000991: 16,3557 00006 OCT 00006 # -Z
060846,000992: 16,3560 00220 OCT 00220 # +Y
060847,000993: 16,3561 00011 OCT 00011 # +Z
060848,000994: 16,3562 00151 OCT 00151 # +V
060849,000995: 16,3563 00146 TYPEP OCT 00146 # -U
060850,000996: 16,3564 00226 OCT 00226 # -V
060851,000997: 16,3565 00231 OCT 00231 # +U
060852,000998: 16,3566 00151 OCT 00151 # +V
060853,000999: 16,3567 00132 OCT 00132 # 1-3
060854,001000: 16,3570 00245 OCT 00245 # 2-4
060855,001001: 16,3571 00377 OCT 00377 # ALL
060856,001002: 16,3572 16,3572 INDXYZ = -136MST6
060857,001003: 16,3572 77445 -136MST6 DEC -218 B-14
060858,001004: 16,3573 00004 DEC 4 B-14
060859,001005: 16,3574 00002 DEC 2 B-14
060860,001006: 16,3575 07776 OCT 07776
060861,001007: 16,3576 00005 DEC 5 B-14
060862,001008: 16,3577 00011 DEC 9 B-14
060863,001009: 16,3600 00012 DEC 10 B-14
060864,001010: 16,3601 07776 OCT 07776
060865,001011: 16,3602 00003 DEC 3 B-14
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Page 1441 |
060867,001013: 16,3603 00010 DEC 8 B-14
060868,001014: 16,3604 00007 DEC 7 B-14
060869,001015: 16,3605 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
060870,001016: 16,3606 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
060871,001017: 16,3607 07776 OCT 07776 # TO BE TC JETSALL -1
060872,001018: 16,3610 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
060873,001019: 16,3611 07776 OCT 07776
060874,001020: 16,3612 00360 +150MST6 DEC 240 B-14
060875,001021: 16,3613 07400 07400OCT OCT 07400
060876,001022:
060877,001023: # T-JET LAW FIXED CONSTANTS
060878,001024:
060879,001025: 16,3614 00266 NORMSCL OCT 266
060880,001026: 16,3615 74631 -100MS DEC -.1
060881,001027: 16,3616 06315 200MS DEC .2
060882,001028: 16,3617 7716 25/32 = PRIO31 # (DEC .78125)
060883,001029: 16,3617 00600 BITS8,9 OCTAL 00600
060884,001030: 16,3620 00632 1/40 DEC .02500
060885,001031: 16,3621 77751 MINTIMES DEC -22 B-14
060886,001032: 16,3622 00026 DEC 22 B-14
060887,001033: 16,3623 02734 PSKIPADR GENADR SKIPPAXS
060888,001034:
060889,001035: # GOES TO Q,R-AXES RCS AUTOPILOT
060890,001036:
060891,001037: 16,3624 41645 QRAXIS CS OMEGARD
060892,001038: 16,3625 61423 AD OMEGAR
060893,001039: 16,3626 02310 TC OVERSUB
060894,001040: 16,3627 55437 TS EDOTR
060895,001041: 16,3630 41644 CS OMEGAQD
060896,001042: 16,3631 61422 AD OMEGAQ
060897,001043: 16,3632 02310 TC OVERSUB
060898,001044: 16,3633 55436 TS EDOTQ
060899,001045: 16,3634 00006 EXTEND
060900,001046: 16,3635 33640 DCA QERRCALL
060901,001047: 16,3636 52006 DTCB
060902,001048:
060903,001049: 16,3637 E6,1537 EBANK= AOSQ
060904,001050: 16,3637 02072 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc