Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
021488,000002: ## Copyright: Public domain.
021489,000003: ## Filename: R60,R62.agc
021490,000004: ## Purpose: A log section of Zerlina 56, the final revision of
021491,000005: ## Don Eyles's offline development program for the variable
021492,000006: ## guidance period servicer. It also includes a new P66 with LPD
021493,000007: ## (Landing Point Designator) capability, based on an idea of John
021494,000008: ## Young's. Neither of these advanced features were actually flown,
021495,000009: ## but Zerlina was also the birthplace of other big improvements to
021496,000010: ## Luminary including the terrain model and new (Luminary 1E)
021497,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
021498,000012: ## and revision 56 includes all changes up to and including Luminary
021499,000013: ## 183. It is therefore quite close to the Apollo 14 program,
021500,000014: ## Luminary 178, where not modified with new features.
021501,000015: ## Reference: pp. 480-493
021502,000016: ## Assembler: yaYUL
021503,000017: ## Contact: Ron Burkey <info@sandroid.org>.
021504,000018: ## Website: www.ibiblio.org/apollo/index.html
021505,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
021506,000020: ## 2017-08-22 MAS Updated for Zerlina 56.
021507,000021:
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021509,000023: # MOD NO: 0 DATE: 1 MAY 1968
021510,000024:
021511,000025: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
021512,000026:
021513,000027: # FUNCTIONAL DESCRIPTION:
021514,000028:
021515,000029: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
021516,000030: # ATTITUDE.
021517,000031:
021518,000032: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
021519,000033: # CALCULATED (VECPOINT).
021520,000034:
021521,000035: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021522,000036:
021523,000037: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
021524,000038:
021525,000039: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
021526,000040: # ASTRONAUT RESPONSE.
021527,000041:
021528,000042: # 5. DISPLAY RESPONSE RETURNS:
021529,000043:
021530,000044: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
021531,000045:
021532,000046: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
021533,000047: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
021534,000048: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
021535,000049:
021536,000050: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
021537,000051:
021538,000052: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
021539,000053: # (VECPOINT).
021540,000054:
021541,000055: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021542,000056:
021543,000057: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
021544,000058:
021545,000059: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
021546,000060:
021547,000061: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
021548,000062:
021549,000063: # 11. DO A PHASECHANGE.
021550,000064:
021551,000065: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
021552,000066:
021553,000067: # GIMBAL ANGLES (GOMANUR).
021554,000068: # 13. AT END OF MANEUVER GO TO STEP 3.
021555,000069:
021556,000070: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
021557,000071: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
021558,000072: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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021560,000074: # STEP 5C.
021561,000075:
021562,000076: # CALLING SEQUENCE: TC BANKCALL
021563,000077: # CADR R60LEM
021564,000078:
021565,000079: # ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT)
021566,000080: # 3AXISFLG.
021567,000081:
021568,000082: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
021569,000083: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
021570,000084:
021571,000085: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
021572,000086: # TC BANKJUMP
021573,000087:
021574,000088: # ALARMS: NONE
021575,000089:
021576,000090: # OUTPUT: NONE
021577,000091:
021578,000092: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
021579,000093:
021580,000094:
021581,000095: 34,2060 BANK 34
021582,000096: 26,2000 SETLOC MANUVER
021583,000097: 26,2000 BANK
021584,000098:
021585,000099: 26,2125 1163 EBANK= TEMPR60
021586,000100:
021587,000101: 26,2125 COUNT* $$/R06
021588,000102: 26,2125 04645 R60LEM TC MAKECADR
021589,000103: 26,2126 55163 TS TEMPR60
021590,000104:
021591,000105: 26,2127 34746 REDOMANN CAF 3AXISBIT
021592,000106: 26,2130 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021593,000107: 26,2131 10000 CCS A
021594,000108: 26,2132 12140 TCF TOBALL # YES
021595,000109: 26,2133 06051 TC INTPRET
021596,000110: 26,2134 77624 CALL
021597,000111: 26,2135 56040 VECPOINT # TO COMPUTE FINAL ANGLES
021598,000112: 26,2136 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
021599,000113: 26,2137 77776 EXIT
021600,000114:
021601,000115: 26,2140 05515 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
021602,000116: 26,2141 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES
021603,000117: 26,2142 05527 TC DOWNFLAG
021604,000118: 26,2143 00000 ADRES NEED2FLG
021605,000119: 26,2144 04616 TC BANKCALL
021606,000120: 26,2145 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021607,000121: 26,2146 32262 TOBALLA CAF V06N18
021608,000122: 26,2147 04616 TC BANKCALL
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021610,000124: 26,2150 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
021611,000125: 26,2151 02250 TC R61TEST
021612,000126: 26,2152 02156 TC REDOMANC # PROCEED
021613,000127: 26,2153 02203 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
021614,000128: 26,2154 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021615,000129: 26,2155 05155 TC ENDOFJOB
021616,000130:
021617,000131: 26,2156 34746 REDOMANC CAF 3AXISBIT
021618,000132: 26,2157 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021619,000133: 26,2160 10000 CCS A
021620,000134: 26,2161 12167 TCF TOBALLC # YES
021621,000135: 26,2162 06051 TC INTPRET
021622,000136: 26,2163 77624 CALL
021623,000137: 26,2164 56040 VECPOINT # TO COMPUTE FINAL ANGLES
021624,000138: 26,2165 00322 STORE CPHI # STORE ANGLES
021625,000139: 26,2166 77776 EXIT
021626,000140:
021627,000141: 26,2167 04616 TOBALLC TC BANKCALL
021628,000142: 26,2170 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021629,000143: 26,2171 02263 TC G+N,AUTO # CHECK AUTO MODE
021630,000144: 26,2172 10000 CCS A
021631,000145: 26,2173 12146 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
021632,000146:
021633,000147: 26,2174 32262 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
021634,000148: 26,2175 04616 TC BANKCALL # -
021635,000149: 26,2176 20452 CADR GODSPR # -
021636,000150: 26,2177 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021637,000151:
021638,000152: 26,2200 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
021639,000153: 26,2201 17747 CADR GOMANUR
021640,000154:
021641,000155: 26,2202 12146 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
021642,000156: 26,2203 05527 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
021643,000157: 26,2204 00124 ADRES 3AXISFLG
021644,000158: 26,2205 31163 CAE TEMPR60 # -
021645,000159: 26,2206 04640 TC BANKJUMP # -
021646,000160:
021647,000161: 26,2207 40100 CHKLINUS CS FLAGWRD4
021648,000162: 26,2210 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
021649,000163: 26,2211 10000 CCS A # -
021650,000164: 26,2212 00002 TC Q # NO - EXIT
021651,000165: 26,2213 30002 CA Q
021652,000166: 26,2214 54156 TS MPAC +2 # SAVE RETURN
021653,000167: 26,2215 46257 CS THREE # OBTAIN LOCATION FOR RESTART
021654,000168: 26,2216 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
021655,000169: 26,2217 55054 TS TBASE2
021656,000170:
021657,000171: 26,2220 05364 TC PHASCHNG
021658,000172: 26,2221 00132 OCT 00132
021659,000173:
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021661,000175: 26,2222 34745 CAF BIT7
021662,000176: 26,2223 05475 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
021663,000177: 26,2224 00156 TC MPAC +2
021664,000178:
021665,000179: 26,2225 37726 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
021666,000180: 26,2226 05146 TC PRIOCHNG
021667,000181:
021668,000182: 26,2227 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021669,000183: 26,2230 70075 MASK FLAGWRD1
021670,000184: 26,2231 10000 CCS A
021671,000185: 26,2232 12245 TCF RER60
021672,000186:
021673,000187: 26,2233 34745 CAF RNDVZBIT # IS IT P20?
021674,000188: 26,2234 70074 MASK FLAGWRD0
021675,000189: 26,2235 10000 CCS A
021676,000190: 26,2236 02242 TC +4 # YES
021677,000191: 26,2237 05364 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
021678,000192: 26,2240 40112 OCT 40112
021679,000193:
021680,000194: 26,2241 05155 TC ENDOFJOB
021681,000195:
021682,000196: 26,2242 05364 TC PHASCHNG # SET 2.7 SPOT FOR P20
021683,000197: 26,2243 40072 OCT 40072
021684,000198:
021685,000199: 26,2244 05155 TC ENDOFJOB
021686,000200:
021687,000201: 26,2245 05515 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
021688,000202: 26,2246 00077 ADRES PDSPFLAG
021689,000203:
021690,000204: 26,2247 01054 TC TBASE2
021691,000205:
021692,000206: 26,2250 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
021693,000207: 26,2251 00006 EXTEND
021694,000208: 26,2252 12203 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
021695,000209:
021696,000210: 26,2253 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
021697,000211: 26,2254 74740 MASK PDSPFBIT
021698,000212: 26,2255 00006 EXTEND
021699,000213: 26,2256 16001 BZF GOTOPOOH # NO
021700,000214: 26,2257 06025 TC GOTOV56 # YES
021701,000215:
021702,000216: 26,2260 20100 BIT14+7 OCT 20100 # -
021703,000217: 26,2261 00203 OCT203 OCT 203
021704,000218: 26,2262 01422 V06N18 VN 0618
021705,000219: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021706,000220:
021707,000221: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
021708,000222: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021709,000223:
021710,000224: 26,2263 00006 G+N,AUTO EXTEND
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021712,000226: 26,2264 00030 READ CHAN30
021713,000227: 26,2265 74742 MASK BIT10
021714,000228: 26,2266 10000 CCS A
021715,000229: 26,2267 00002 TC Q # NOT IN G+N C(A) = +
021716,000230: 26,2270 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
021717,000231: 26,2271 00031 READ CHAN31
021718,000232: 26,2272 74736 MASK BIT14
021719,000233: 26,2273 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
021720,000234:
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021722,000236: # PROGRAM DESCRIPTION BALLANGS
021723,000237: # MOD NO. LOG SECTION R60,R62
021724,000238:
021725,000239: # WRITTEN BY RAMA M.AIYAWAR
021726,000240: # FUNCTIONAL DESCRIPTION
021727,000241:
021728,000242: # COMPUTES LM FDAI BALL DISPLAY ANGLES
021729,000243: # CALLING SEQUENCE
021730,000244:
021731,000245: # TC BALLANGS
021732,000246: # NORMAL EXIT MODE
021733,000247:
021734,000248: # TC BALLEXIT (SAVED Q)
021735,000249:
021736,000250: # ALARM OR EXIT MODE NIL
021737,000251: # SUBROUTINES CALLED
021738,000252: # CD*TR*G
021739,000253: # ARCTAN
021740,000254:
021741,000255: # INPUT
021742,000256:
021743,000257: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021744,000258: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021745,000259: # OUTPUT
021746,000260:
021747,000261: # FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021748,000262: # SP,2S COMPLIMENT.
021749,000263: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021750,000264:
021751,000265: # ERASABLE INITIALIZATION REQUIRED
021752,000266:
021753,000267: # CPHI,CTHETA,CPSI EACH A SP REGISTER
021754,000268: # DEBRIS
021755,000269:
021756,000270: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021757,000271:
021758,000272:
021759,000273: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021760,000274: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021761,000275:
021762,000276: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021763,000277:
021764,000278: 26,2000 SETLOC BAWLANGS
021765,000279: 26,2000 BANK
021766,000280:
021767,000281: 26,2274 COUNT* $$/BALL
021768,000282: 26,2274 04645 BALLANGS TC MAKECADR
021769,000283: 26,2275 55337 TS BALLEXIT
021770,000284: 26,2276 30321 CA CPHI
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021772,000286: 26,2277 54771 TS CDUSPOT +4
021773,000287: 26,2300 30322 CA CTHETA
021774,000288: 26,2301 54765 TS CDUSPOT
021775,000289: 26,2302 30323 CA CPSI
021776,000290: 26,2303 54767 TS CDUSPOT +2
021777,000291:
021778,000292: 26,2304 06051 TC INTPRET
021779,000293: 26,2305 45001 SETPD CALL
021780,000294: 26,2306 00001 0D
021781,000295: 26,2307 47541 CD*TR*G
021782,000296:
021783,000297: 26,2310 41345 DLOAD DMP
021784,000298: 26,2311 00742 SINCDUX # SIN (OGA)
021785,000299: 26,2312 00746 COSCDUZ # COS (MGA)
021786,000300:
021787,000301: 26,2313 57552 SL1 DCOMP # SCALE
021788,000302: 26,2314 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
021789,000303: 26,2315 00740 SINCDUZ
021790,000304: 26,2316 14023 STODL SINTH # (SINTH = 18D IN PD)
021791,000305: 26,2317 00746 COSCDUZ
021792,000306: 26,2320 72405 DMP SL1 # RESCALE
021793,000307: 26,2321 00750 COSCDUX
021794,000308: 26,2322 34021 STCALL COSTH # (COSTH = 16D IN PD)
021795,000309: 26,2323 26506 ARCTAN
021796,000310: 26,2324 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021797,000311: 26,2325 00740 SINCDUZ
021798,000312: 26,2326 00742 SINCDUX
021799,000313: 26,2327 41512 SL2 PUSH # SXSZ INTO 4 PD
021800,000314: 26,2330 65205 DMP PDDL # SXSZCY INTO 4 PD
021801,000315: 26,2331 00744 COSCDUY
021802,000316: 26,2332 65205 DMP PDDL # SXSZSY INTO 6 PD
021803,000317: 26,2333 00736 SINCDUY
021804,000318: 26,2334 00750 COSCDUX
021805,000319: 26,2335 72405 DMP SL1 # CXCY
021806,000320: 26,2336 00744 COSCDUY
021807,000321: 26,2337 45425 DSU STADR # PULL UP FROM 6 PD
021808,000322: 26,2340 63756 STODL COSTH # COSTH = CXCY - SXSZSY
021809,000323: 26,2341 00736 SINCDUY
021810,000324: 26,2342 72405 DMP SL1
021811,000325: 26,2343 00750 COSCDUX # CXSY
021812,000326: 26,2344 45415 DAD STADR # PULL UP FROM 4 PD
021813,000327: 26,2345 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
021814,000328: 26,2346 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH
021815,000329: 26,2347 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
021816,000330: 26,2350 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021817,000331: 26,2351 21602 V1STO2S
021818,000332: 26,2352 02336 STORE FDAIX # MODE IS TP
021819,000333: 26,2353 77776 EXIT
021820,000334:
021821,000335: 26,2354 31337 ENDBALL CA BALLEXIT
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021823,000337: 26,2355 04640 TC BANKJUMP
021824,000338:
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021826,000340: # PROGRAM DESCRIPTION - VECPOINT
021827,000341:
021828,000342:
021829,000343: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
021830,000344: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021831,000345: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021832,000346: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021833,000347: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
021834,000348: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021835,000349: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
021836,000350: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021837,000351: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021838,000352: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021839,000353: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021840,000354: # 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,
021841,000355: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021842,000356: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021843,000357: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021844,000358: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021845,000359: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021846,000360: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021847,000361: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021848,000362:
021849,000363: # CALLING SEQUENCE -
021850,000364: # 1) LOAD SCAXIS, POINTVSM
021851,000365: # 2) CALL
021852,000366: # VECPOINT
021853,000367:
021854,000368: # RETURNS WITH
021855,000369:
021856,000370: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
021857,000371: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
021858,000372: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021859,000373:
021860,000374:
021861,000375: # ERASABLES USED -
021862,000376:
021863,000377: # 1) SCAXIS 6
021864,000378: # 2) POINTVSM 6
021865,000379: # 3) MIS 18
021866,000380: # 4) DEL 18
021867,000381: # 5) COF 6
021868,000382: # 6) VECQTEMP 1
021869,000383: # 7) ALL OF VAC AREA 43
021870,000384:
021871,000385: # TOTAL 99
021872,000386:
021873,000387: 27,2000 SETLOC VECPT
021874,000388: 27,2000 BANK
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Page 489 |
021876,000390: 27,2032 COUNT* $$/VECPT
021877,000391:
021878,000392: 27,2032 E6,1675 EBANK= BCDU
021879,000393:
021880,000394: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
021881,000395: 27,2033 03324 VECQTEMP # NOT PRESENT-ENTER WITH CDUD'S IN MPAC
021882,000396: 27,2034 56035 VECPNT2
021883,000397: 27,2035 52164 VECPNT2 AXC,2 GOTO
021884,000398: 27,2036 03245 MIS
021885,000399: 27,2037 56046 STORANG
021886,000400: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
021887,000401: 27,2041 03324 VECQTEMP
021888,000402: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
021889,000403: 27,2043 47164 VECLEAR AXC,2 RTB
021890,000404: 27,2044 03245 MIS # READ THE PRESENT CDU ANGLES AND
021891,000405: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
021892,000406: 27,2046 34032 STORANG STCALL 25D
021893,000407: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
021894,000408: 27,2050 61375 VLOAD VXM
021895,000409: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
021896,000410: 27,2052 03246 MIS # INITIAL S/C AXES ( VF = POINTVSM)
021897,000411: 27,2053 77656 UNIT
021898,000412: 27,2054 00035 STORE 28D
021899,000413: # PD 28 29 30 31 32 33
021900,000414: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
021901,000415: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
021902,000416: 27,2057 57400 BOV VCOMP
021903,000417: 27,2060 56170 PICKAXIS
021904,000418: 27,2061 17270 STODL COF # CHECK MAGNITUDE
021905,000419: 27,2062 00045 36D # OF CROSS PRODUCT
021906,000420: 27,2063 50025 DSU BMN # VECTOR, IF LESS
021907,000421: 27,2064 14417 DPB-14 # THAN B-14 ASSUME
021908,000422: 27,2065 56170 PICKAXIS # UNIT OPERATION
021909,000423: 27,2066 50375 VLOAD DOT # INVALID.
021910,000424: 27,2067 03765 SCAXIS
021911,000425: 27,2070 00035 28D
021912,000426: 27,2071 65552 SL1 ARCCOS
021913,000427: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
021914,000428: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
021915,000429: 27,2074 75160 AXC,1 AXC,2
021916,000430: 27,2075 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
021917,000431: 27,2076 02221 KEL # S/C AXES TO STABLE MEMBER AXES
021918,000432: 27,2077 77624 CALL # MFS = MIS MFI
021919,000433: 27,2100 44312 MXM3 # (IN PD LIST)
021920,000434:
021921,000435: 27,2101 51545 DLOAD ABS
021922,000436: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
021923,000437: 27,2103 50025 DSU BMN
021924,000438: 27,2104 14404 SINGIMLC # = SIN(59 DEGS) $2
021925,000439: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 490 |
021927,000441: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021928,000442:
021929,000443: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
021930,000444: 27,2107 03765 SCAXIS # THE THRUST AXIS
021931,000445: 27,2110 51025 DSU BPL
021932,000446: 27,2111 14406 SINVEC1 # SIN 49.4 DEGS $2
021933,000447: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
021934,000448: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
021935,000449: 27,2114 77626 STADR
021936,000450: 27,2115 50515 STOVL MIS +12D
021937,000451: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
021938,000452: 27,2117 50523 STOVL MIS +6
021939,000453: 27,2120 77626 STADR
021940,000454: 27,2121 50531 STOVL MIS
021941,000455: 27,2122 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
021942,000456: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
021943,000457: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
021944,000458:
021945,000459: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
021946,000460: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
021947,000461: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
021948,000462: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021949,000463: # OTHERWISE U = -SCAXIS
021950,000464:
021951,000465: 27,2130 57575 VLOAD VCOMP
021952,000466: 27,2131 03765 SCAXIS
021953,000467: 27,2132 37270 STCALL COF # ROTATE ABOUT -SCAXIS
021954,000468: 27,2133 56137 CHEKAXIS
021955,000469: 27,2134 77775 U=SCAXIS VLOAD
021956,000470: 27,2135 03765 SCAXIS
021957,000471: 27,2136 03270 STORE COF # ROTATE ABOUT + SCAXIS
021958,000472: 27,2137 51545 CHEKAXIS DLOAD ABS
021959,000473: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
021960,000474: 27,2141 51025 DSU BPL
021961,000475: 27,2142 14410 SINVEC2 # SIN 29.5 DEGS $2
021962,000476: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021963,000477: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
021964,000478: 27,2145 14414 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
021965,000479: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
021966,000480: # OF GIMBAL LOCK (VECANG2 $360)
021967,000481: 27,2147 77745 PICKANG1 DLOAD
021968,000482: 27,2150 14412 VECANG1 # = 50 DEGS $ 360
021969,000483: 27,2151 77624 COMPMFSN CALL
021970,000484: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
021971,000485: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
021972,000486: 27,2154 03245 MIS
021973,000487: 27,2155 02221 KEL
021974,000488: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
021975,000489: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
021976,000490: # WHICH WILL ALIGN VI WITH VF AND AVOID
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021978,000492: # GIMBAL LOCK
021979,000493: 27,2160 45160 FINDGIMB AXC,1 CALL
021980,000494: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
021981,000495: 27,2162 44654 DCMTOCDU # THIS MATRIX
021982,000496: 27,2163 40234 RTB SETPD
021983,000497: 27,2164 21602 V1STO2S # CONVERT TO 2:S COMPLEMENT
021984,000498: 27,2165 00001 0
021985,000499: 27,2166 77650 GOTO
021986,000500: 27,2167 03324 VECQTEMP # RETURN TO CALLER
021987,000501:
021988,000502: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
021989,000503: 27,2171 00035 28D
021990,000504: 27,2172 03765 SCAXIS
021991,000505: 27,2173 72240 BMN TLOAD
021992,000506: 27,2174 54356 ROT180
021993,000507: 27,2175 00032 25D
021994,000508: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
021995,000509: 27,2177 03324 VECQTEMP # PRESENT CDU ANGLES
021996,000510:
021997,000511: 35,2000 BANK 35
021998,000512: 26,2000 SETLOC MANUVER1
021999,000513: 26,2000 BANK
022000,000514: 26,2356 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
022001,000515: 26,2357 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
022002,000516: 26,2360 06516 HIDPHALF # INITIAL S/C AXES.
022003,000517: 26,2361 47256 UNIT VXV # FIND Y(SM) X X(I)
022004,000518: 26,2362 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
022005,000519: 26,2363 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
022006,000520: 26,2364 54400 PICKX # Y(SM) PERPENDICULAR TO VI
022007,000521: 26,2365 17270 STODL COF
022008,000522: 26,2366 00045 36D # CHECK MAGNITUDE
022009,000523: 26,2367 50025 DSU BMN # OF THIS VECTOR.
022010,000524: 26,2370 14417 DPB-14 # IF LESS THAN B-14,
022011,000525: 26,2371 54400 PICKX # PICK X-AXIS.
022012,000526: 26,2372 77775 VLOAD
022013,000527: 26,2373 03270 COF
022014,000528: 26,2374 17270 XROT STODL COF
022015,000529: 26,2375 06516 HIDPHALF
022016,000530: 26,2376 77650 GOTO
022017,000531: 26,2377 56072 COMPMATX
022018,000532: 26,2400 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
022019,000533: 26,2401 06516 HIDPHALF
022020,000534: 26,2402 54374 XROT
022021,000535: 26,2403 15555 35172 SINGIMLC 2DEC .4285836003 # =SIN(59) $2
022022,000536:
022023,000537: 26,2405 14113 36326 SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
022024,000538:
022025,000539: 26,2407 07701 35703 SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
022026,000540:
022027,000541: 26,2411 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
022028,000542:
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Page 492 |
022030,000544: 26,2413 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
022031,000545:
022032,000546: 26,2415 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
022033,000547: 26,2416 00001 DPB-14 OCT 00001
022034,000548: 26,2417 00000 OCT 00000
022035,000549:
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Page 493 |
022037,000551: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
022038,000552:
022039,000553:
022040,000554: 34,2060 BANK 34
022041,000555: 23,2000 SETLOC R62
022042,000556: 23,2000 BANK
022043,000557: 23,2103 E6,1675 EBANK= BCDU
022044,000558:
022045,000559: 23,2103 COUNT* $$/R62
022046,000560:
022047,000561: 23,2103 23,2103 R62DISP EQUALS R62FLASH
022048,000562:
022049,000563: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
022050,000564: 23,2104 04616 TC BANKCALL # ICDU ANGLES
022051,000565: 23,2105 20477 CADR GOFLASH
022052,000566: 23,2106 15503 TCF ENDEXT # TERMINATE
022053,000567: 23,2107 12111 TCF GOMOVE # PROCEED
022054,000568: 23,2110 12103 TCF R62FLASH # ENTER
022055,000569:
022056,000570: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
022057,000571: # POINT
022058,000572: 23,2111 05515 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
022059,000573: 23,2112 00124 ADRES 3AXISFLG
022060,000574:
022061,000575: 23,2113 04616 TC BANKCALL
022062,000576: 23,2114 54125 CADR R60LEM
022063,000577: 23,2115 15503 TCF ENDEXT # END R62
022064,000578:
End of include-file R60,R62.agc. Parent file is MAIN.agc