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. |
040505,000002: ## Copyright: Public domain.
040506,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
040507,000004: ## Purpose: A log section of Zerlina 56, the final revision of
040508,000005: ## Don Eyles's offline development program for the variable
040509,000006: ## guidance period servicer. It also includes a new P66 with LPD
040510,000007: ## (Landing Point Designator) capability, based on an idea of John
040511,000008: ## Young's. Neither of these advanced features were actually flown,
040512,000009: ## but Zerlina was also the birthplace of other big improvements to
040513,000010: ## Luminary including the terrain model and new (Luminary 1E)
040514,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
040515,000012: ## and revision 56 includes all changes up to and including Luminary
040516,000013: ## 183. It is therefore quite close to the Apollo 14 program,
040517,000014: ## Luminary 178, where not modified with new features.
040518,000015: ## Reference: pp. 899-917
040519,000016: ## Assembler: yaYUL
040520,000017: ## Contact: Ron Burkey <info@sandroid.org>.
040521,000018: ## Website: www.ibiblio.org/apollo/index.html
040522,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
040523,000020: ## 2017-08-26 MAS Updated for Zerlina 56.
040524,000021:
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Page 899 |
040526,000023: # PROGRAM NAME: FINDCDUW
040527,000024:
040528,000025: # MOD NUMBER: 1 68 07 15
040529,000026:
040530,000027: # MOD AUTHOR: KLUMPP
040531,000028:
040532,000029: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
040533,000030: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
040534,000031: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
040535,000032: # FETCHING FOR THE THRUST DIRECTION FILTER THE
040536,000033: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
040537,000034: # MODES.
040538,000035: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
040539,000036: # AUTOPILOT COMMANDS WHENEVER
040540,000037: # 1) NOT IN PNGCS-AUTO, OR
040541,000038: # 2) ENGINE IS OFF.
040542,000039:
040543,000040: # FUNCTIONAL DESCRIPTION:
040544,000041:
040545,000042: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
040546,000043: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
040547,000044: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
040548,000045: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
040549,000046: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
040550,000047: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
040551,000048: # ACCELERATIONS AVAILABLE).
040552,000049:
040553,000050: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
040554,000051: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
040555,000052: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
040556,000053:
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Page 900 |
040558,000055: # SPECIFICATIONS:
040559,000056:
040560,000057: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
040561,000058: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
040562,000059:
040563,000060: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
040564,000061: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
040565,000062: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
040566,000063:
040567,000064: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
040568,000065:
040569,000066: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
040570,000067:
040571,000068: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
040572,000069: # WITHOUT ISSUING AUTOPILOT CMDS.
040573,000070:
040574,000071: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
040575,000072: # ISSUING AUTOPILOT CMDS.
040576,000073:
040577,000074: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
040578,000075: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
040579,000076: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
040580,000077: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
040581,000078: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
040582,000079: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
040583,000080:
040584,000081: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040585,000082: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040586,000083: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
040587,000084: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
040588,000085: # CSMDOCKD FLAG DENOTING CSM DOCKED.
040589,000086: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
040590,000087:
040591,000088: # OUTPUTS: DELCDUX,Y,Z
040592,000089: # OMEGAPD,+1,+2
040593,000090: # DELPEROR,+1,+2
040594,000091: # CPHI,+1,+2 FOR NOUN22
040595,000092:
040596,000093: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
040597,000094: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
040598,000095: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
040599,000096:
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Page 901 |
040601,000098: # INITIALIZATION FOR FINDCDUW
040602,000099:
040603,000100: 30,3064 BANK 30
040604,000101: 30,2000 SETLOC FCDUW
040605,000102: 30,2000 BANK
040606,000103:
040607,000104: 30,3064 E6,1645 EBANK= ECDUW
040608,000105:
040609,000106: 30,3064 COUNT* $$/FCDUW
040610,000107:
040611,000108: 30,3064 77331 INITCDUW SSP VLOAD
040612,000109: 30,3065 03300 OGABIAS
040613,000110: 30,3066 00000 0
040614,000111: 30,3067 06516 UNITX
040615,000112: 30,3070 03267 STORE UNFV/2
040616,000113: 30,3071 03261 STORE UNWC/2
040617,000114: 30,3072 77616 RVQ
040618,000115:
040619,000116: # FINDCDUW PRELIMINARIES
040620,000117:
040621,000118: 30,3073 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
040622,000119: 30,3074 03253 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
040623,000120: 30,3075 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
040624,000121: 30,3076 61075 FINDCDUW # INTERPRETER NOW INITIALIZED
040625,000122: 30,3077 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
040626,000123: 30,3100 77420 STQ EXIT
040627,000124: 30,3101 03246 QCDUWUSR # SAVE RETURN ADDRESS
040628,000125:
040629,000126: # MORE HAUSKEEPING
040630,000127:
040631,000128: 30,3102 33745 CA ECDUWL
040632,000129: 30,3103 56003 XCH EBANK # SET EBANK
040633,000130: 30,3104 55645 TS ECDUWUSR # SAVE USER'S EBANK
040634,000131:
040635,000132: 30,3105 30111 CA DAPBOOLS
040636,000133: 30,3106 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
040637,000134: 30,3107 10000 CCS A
040638,000135: 30,3110 34753 CA ONE # INDEX IF CSM DOCKED
040639,000136: 30,3111 55647 TS NDXCDUW
040640,000137:
040641,000138: 30,3112 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
040642,000139: 30,3113 55651 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
040643,000140:
040644,000141: 30,3114 70111 MASK DAPBOOLS
040645,000142: 30,3115 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
040646,000143:
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Page 902 |
040648,000145: # FETCH BASIC DATA
040649,000146:
040650,000147: 30,3116 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
040651,000148:
040652,000149: 30,3117 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
040653,000150: 30,3120 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
040654,000151: 30,3121 30033 CA CDUY
040655,000152: 30,3122 54765 TS CDUSPOTY
040656,000153: 30,3123 30034 CA CDUZ
040657,000154: 30,3124 54767 TS CDUSPOTZ
040658,000155:
040659,000156: 30,3125 34742 CA BIT10 # PNGCS CONTROL BIT
040660,000157: 30,3126 00006 EXTEND
040661,000158: 30,3127 02030 RAND CHAN30
040662,000159: 30,3130 10000 CCS A
040663,000160: 30,3131 13146 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
040664,000161:
040665,000162: 30,3132 34736 CA BIT14 # AUTO MODE BIT
040666,000163: 30,3133 00006 EXTEND
040667,000164: 30,3134 02031 RAND CHAN31
040668,000165: 30,3135 10000 CCS A
040669,000166: 30,3136 13146 TCF PAUTNO # NOT AUTO (BITS INVERTED)
040670,000167:
040671,000168: 30,3137 55651 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
040672,000169:
040673,000170: 30,3140 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
040674,000171: 30,3141 54771 TS CDUSPOTX
040675,000172: 30,3142 31635 CA CDUYD
040676,000173: 30,3143 54765 TS CDUSPOTY
040677,000174: 30,3144 31636 CA CDUZD
040678,000175: 30,3145 54767 TS CDUSPOTZ
040679,000176:
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Page 903 |
040681,000178: # FETCH INPUTS
040682,000179:
040683,000180: 30,3146 06051 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
040684,000181: 30,3147 77634 RTB
040685,000182: 30,3150 21710 NORMUNIT
040686,000183: 30,3151 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
040687,000184: 30,3152 03261 UNWC/2
040688,000185: 30,3153 47034 RTB RTB
040689,000186: 30,3154 21710 NORMUNIT
040690,000187: 30,3155 47622 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
040691,000188: 30,3156 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
040692,000189: 30,3157 00325 DELV
040693,000190: 30,3160 53404 BOVB UNIT
040694,000191: 30,3161 61734 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
040695,000192: 30,3162 45000 BOV CALL
040696,000193: 30,3163 61177 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
040697,000194: 30,3164 47676 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
040698,000195:
040699,000196: # THRUST DIRECTION FILTER
040700,000197:
040701,000198: 30,3165 77776 EXIT
040702,000199:
040703,000200: 30,3166 31670 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
040704,000201: 30,3167 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
040705,000202: 30,3170 03467 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
040706,000203: 30,3171 55670 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
040707,000204:
040708,000205: 30,3172 31672 CA UNFVZ/2
040709,000206: 30,3173 22161 LXCH MPAC +5
040710,000207: 30,3174 03467 TC FLTRSUB
040711,000208: 30,3175 55672 TS UNFVZ/2
040712,000209:
040713,000210: 30,3176 06051 TC INTPRET # COMPLETES FILTER
040714,000211:
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Page 904 |
040716,000213: # FIND A SUITABLE WINDOW POINTING VECTOR
040717,000214:
040718,000215: 30,3177 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
040719,000216: 30,3200 03251 FLAGOODW
040720,000217: 30,3201 61205 FETCHZNB
040721,000218: 30,3202 45175 VLOAD CALL
040722,000219: 30,3203 00015 UNZ/2
040723,000220: 30,3204 61507 UNWCTEST
040724,000221:
040725,000222: 30,3205 77775 FETCHZNB VLOAD
040726,000223: 30,3206 02153 ZNBPIP
040727,000224: 30,3207 34015 STCALL UNZ/2
040728,000225: 30,3210 61507 UNWCTEST
040729,000226:
040730,000227: 30,3211 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
040731,000228: 30,3212 02137 XNBPIP
040732,000229: 30,3213 00015 STORE UNZ/2
040733,000230:
040734,000231: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
040735,000232:
040736,000233: 30,3214 47375 DCMCL VLOAD VXV
040737,000234: 30,3215 00015 UNZ/2
040738,000235: 30,3216 00001 UNX/2
040739,000236: 30,3217 41456 UNIT PUSH # UNY/2 FIRST ITERATION
040740,000237: 30,3220 76435 VXV VSL1
040741,000238: 30,3221 00001 UNX/2
040742,000239: 30,3222 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
040743,000240: 30,3223 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040744,000241: 30,3224 03273 UNFVZ/2 # MUST BE SMALL
040745,000242: 30,3225 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040746,000243: 30,3226 03271 UNFVY/2 # MUST BE SMALL
040747,000244: 30,3227 53372 VSL1 VAD
040748,000245: 30,3230 00001 UNX/2
040749,000246: 30,3231 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
040750,000247: 30,3232 00001 STORE UNX/2 # UNX/2
040751,000248: 30,3233 76435 VXV VSL1
040752,000249: 30,3234 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
040753,000250: 30,3235 00007 STORE UNY/2 # UNY/2
040754,000251: 30,3236 47276 VCOMP VXV
040755,000252: 30,3237 00001 UNX/2
040756,000253: 30,3240 77772 VSL1
040757,000254: 30,3241 00015 STORE UNZ/2 # UNZ/2
040758,000255:
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Page 905 |
040760,000257: # COMPUTE THE REQUIRED GIMBAL ANGLES
040761,000258:
040762,000259: 30,3242 77624 CALL
040763,000260: 30,3243 61517 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040764,000261: 30,3244 77776 EXIT
040765,000262:
040766,000263: # BIAS OUTER GIMBAL ANGLE
040767,000264:
040768,000265: 30,3245 31677 CA OGABIAS
040769,000266: 30,3246 26154 ADS MPAC
040770,000267:
040771,000268: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040772,000269:
040773,000270: 30,3247 30156 CA MPAC +2 # LIMIT THE MGA
040774,000271: 30,3250 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040775,000272: 30,3251 33757 CA CDUZDLIM
040776,000273: 30,3252 03713 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040777,000274: 30,3253 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
040778,000275: 30,3254 00006 EXTEND
040779,000276: 30,3255 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
040780,000277: 30,3256 00006 EXTEND
040781,000278: 30,3257 13261 BZF +2
040782,000279: 30,3260 13742 TCF ALARMMGA
040783,000280:
040784,000281: 30,3261 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
040785,000282:
040786,000283: 30,3262 22007 ZL
040787,000284: 30,3263 34752 CA TWO
040788,000285: 30,3264 54142 DELGMBLP TS TEM2
040789,000286:
040790,000287: 30,3265 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
040791,000288: 30,3266 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
040792,000289: 30,3267 70000 SQUARE
040793,000290: 30,3270 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
040794,000291: 30,3271 00006 EXTEND
040795,000292: 30,3272 63275 BZMF +3
040796,000293: 30,3273 34755 CA ZERO
040797,000294: 30,3274 55650 TS FLAGOODW
040798,000295:
040799,000296: 30,3275 50142 INDEX TEM2
040800,000297: 30,3276 30154 CA MPAC
040801,000298: 30,3277 50142 INDEX TEM2
040802,000299: 30,3300 54321 TS CPHI # OUTPUTS TO NOUN22
040803,000300: 30,3301 00006 EXTEND
040804,000301: 30,3302 50142 INDEX TEM2
040805,000302: 30,3303 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
040806,000303: 30,3304 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
040807,000304: 30,3305 50142 INDEX TEM2
040808,000305: 30,3306 55674 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040809,000306: 30,3307 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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Page 906 |
040811,000308: 30,3310 10142 CCS TEM2
040812,000309: 30,3311 13264 TCF DELGMBLP
040813,000310:
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Page 907 |
040815,000312: # BRANCHES TO NOATTCNT
040816,000313:
040817,000314: 30,3312 11651 CCS FLPAUTNO
040818,000315: 30,3313 13736 TCF NOATTCNT +2 # NOT PNGCS AUTO
040819,000316:
040820,000317: 30,3314 30101 CA FLAGWRD5
040821,000318: 30,3315 74745 MASK ENGONBIT
040822,000319: 30,3316 00006 EXTEND
040823,000320: 30,3317 13736 BZF NOATTCNT +2 # ENGINE NOT ON
040824,000321:
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Page 908 |
040826,000323: # LIMIT THE ATTITUDE ANGLE CHANGES
040827,000324:
040828,000325: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040829,000326: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
040830,000327: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040831,000328: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040832,000329:
040833,000330: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
040834,000331: # * * * * * *
040835,000332: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
040836,000333: # * * * * * *
040837,000334: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
040838,000335:
040839,000336: 30,3320 23676 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
040840,000337: 30,3321 51647 INDEX NDXCDUW
040841,000338: 30,3322 33753 CA DAZMAX
040842,000339: 30,3323 03713 TC LIMITSUB
040843,000340: 30,3324 55676 TS -DELGMB +2 # -DELGMBZ
040844,000341:
040845,000342: 30,3325 31675 CA -DELGMB +1
040846,000343: 30,3326 00006 EXTEND
040847,000344: 30,3327 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
040848,000345: 30,3330 54001 TS L
040849,000346: 30,3331 51647 INDEX NDXCDUW
040850,000347: 30,3332 33755 CA DAY/2MAX
040851,000348: 30,3333 03713 TC LIMITSUB
040852,000349: 30,3334 00006 EXTEND
040853,000350: 30,3335 10745 DV COSCDUZ
040854,000351: 30,3336 57675 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
040855,000352:
040856,000353: 30,3337 00006 EXTEND
040857,000354: 30,3340 70737 MP SINCDUZ
040858,000355: 30,3341 20001 DDOUBL
040859,000356: 30,3342 40000 COM
040860,000357: 30,3343 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040861,000358: 30,3344 21674 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
040862,000359: 30,3345 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
040863,000360: 30,3346 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
040864,000361: 30,3347 33753 CA DAXMAX
040865,000362: 30,3350 03713 TC LIMITSUB
040866,000363: 30,3351 55674 TS -DELGMB # SAVE LIMITED +DELATTX
040867,000364: 30,3352 11650 CCS FLAGOODW
040868,000365: 30,3353 41674 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040869,000366: 30,3354 55674 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
040870,000367: 30,3355 41675 CS -DELGMB +1
040871,000368: 30,3356 00006 EXTEND
040872,000369: 30,3357 70737 MP SINCDUZ
040873,000370: 30,3360 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040874,000371: 30,3361 27674 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
040875,000372: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040876,000373:
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Page 909 |
040878,000375: # COMPUTE COMMANDED ATTITUDE RATES
040879,000376:
040880,000377: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
040881,000378: # * * * * * *
040882,000379: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
040883,000380: # * * * * * *
040884,000381: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
040885,000382:
040886,000383: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040887,000384: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040888,000385: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040889,000386:
040890,000387: 30,3362 41674 CS -DELGMB
040891,000388: 30,3363 55642 TS OMEGAPD
040892,000389: 30,3364 41675 CS -DELGMB +1
040893,000390: 30,3365 00006 EXTEND
040894,000391: 30,3366 70737 MP SINCDUZ
040895,000392: 30,3367 20001 DDOUBL
040896,000393: 30,3370 27642 ADS OMEGAPD
040897,000394: 30,3371 27642 ADS OMEGAPD
040898,000395:
040899,000396: 30,3372 41675 CS -DELGMB +1
040900,000397: 30,3373 00006 EXTEND
040901,000398: 30,3374 70747 MP COSCDUX
040902,000399: 30,3375 20001 DDOUBL
040903,000400: 30,3376 00006 EXTEND
040904,000401: 30,3377 70745 MP COSCDUZ
040905,000402: 30,3400 55643 TS OMEGAQD
040906,000403: 30,3401 41676 CS -DELGMB +2
040907,000404: 30,3402 00006 EXTEND
040908,000405: 30,3403 70741 MP SINCDUX
040909,000406: 30,3404 27643 ADS OMEGAQD
040910,000407: 30,3405 27643 ADS OMEGAQD
040911,000408: 30,3406 27643 ADS OMEGAQD
040912,000409:
040913,000410: 30,3407 31675 CA -DELGMB +1
040914,000411: 30,3410 00006 EXTEND
040915,000412: 30,3411 70741 MP SINCDUX
040916,000413: 30,3412 20001 DDOUBL
040917,000414: 30,3413 00006 EXTEND
040918,000415: 30,3414 70745 MP COSCDUZ
040919,000416: 30,3415 55644 TS OMEGARD
040920,000417: 30,3416 41676 CS -DELGMB +2
040921,000418: 30,3417 00006 EXTEND
040922,000419: 30,3420 70747 MP COSCDUX
040923,000420: 30,3421 27644 ADS OMEGARD
040924,000421: 30,3422 27644 ADS OMEGARD
040925,000422: 30,3423 27644 ADS OMEGARD
040926,000423:
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Page 910 |
040928,000425: # FINAL TRANSFER
040929,000426:
040930,000427: 30,3424 34752 CA TWO
040931,000428: 30,3425 54142 CDUWXFR TS TEM2
040932,000429: 30,3426 50142 INDEX TEM2
040933,000430: 30,3427 31674 CA -DELGMB
040934,000431: 30,3430 00006 EXTEND
040935,000432: 30,3431 73760 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
040936,000433: 30,3432 03727 TC ONESTO2S
040937,000434: 30,3433 50142 INDEX TEM2
040938,000435: 30,3434 55637 TS DELCDUX # ANGLE INTERFACE
040939,000436:
040940,000437: 30,3435 50142 INDEX TEM2
040941,000438: 30,3436 11642 CCS OMEGAPD
040942,000439: 30,3437 64753 AD ONE
040943,000440: 30,3440 13442 TCF +2
040944,000441: 30,3441 64753 AD ONE
040945,000442: 30,3442 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
040946,000443: 30,3443 50142 INDEX TEM2
040947,000444: 30,3444 71642 MP OMEGAPD
040948,000445: 30,3445 00006 EXTEND
040949,000446: 30,3446 74741 MP BIT11 # 1/16
040950,000447: 30,3447 00006 EXTEND
040951,000448: 30,3450 50142 INDEX TEM2 # 2
040952,000449: 30,3451 11530 DV 1JACC # UNITS PI/4 RAD/SEC
040953,000450: 30,3452 54001 TS L
040954,000451: 30,3453 33755 CA DELERLIM
040955,000452: 30,3454 03713 TC LIMITSUB
040956,000453: 30,3455 50142 INDEX TEM2
040957,000454: 30,3456 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040958,000455: 30,3457 10142 CCS TEM2
040959,000456: 30,3460 13425 TCF CDUWXFR
040960,000457:
040961,000458: # HAUSKEEPING AND RETURN
040962,000459:
040963,000460: 30,3461 31645 TCQCDUW CA ECDUWUSR
040964,000461: 30,3462 54003 TS EBANK # RETURN USER'S EBANK
040965,000462:
040966,000463: 30,3463 06051 TC INTPRET
040967,000464: 30,3464 52001 SETPD GOTO
040968,000465: 30,3465 00001 0
040969,000466: 30,3466 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
040970,000467:
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Page 911 |
040972,000469: # THRUST VECTOR FILTER SUBROUTINE
040973,000470:
040974,000471: 30,3467 00006 FLTRSUB EXTEND
040975,000472: 30,3470 22142 QXCH TEM2
040976,000473: 30,3471 54143 TS TEM3 # SAVE ORIGINAL OFFSET
040977,000474: 30,3472 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040978,000475: 30,3473 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
040979,000476: 30,3474 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
040980,000477: 30,3475 51647 INDEX NDXCDUW
040981,000478: 30,3476 73746 MP GAINFLTR
040982,000479: 30,3477 54001 TS L # INCR TO OFFSET, UNLIMITED
040983,000480: 30,3500 33750 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
040984,000481: 30,3501 03713 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
040985,000482: 30,3502 60143 AD TEM3 # ORIGINAL OFFSET
040986,000483: 30,3503 54001 TS L # TOTAL OFFSET, UNLIMITED
040987,000484: 30,3504 33751 CA UNFVLIM # SAME LIMIT FOR Y AND Z
040988,000485: 30,3505 03713 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
040989,000486: 30,3506 00142 TC TEM2
040990,000487:
040991,000488: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040992,000489:
040993,000490: 30,3507 63441 UNWCTEST DOT DSQ
040994,000491: 30,3510 00001 UNX/2
040995,000492: 30,3511 50025 DSU BMN
040996,000493: 30,3512 21753 DOTSWFMX
040997,000494: 30,3513 61214 DCMCL
040998,000495: 30,3514 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040999,000496: 30,3515 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
041000,000497: 30,3516 00000 0
041001,000498:
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Page 912 |
041003,000500: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
041004,000501: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
041005,000502:
041006,000503: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
041007,000504:
041008,000505: 30,3517 63545 NB2CDUSP DLOAD DSQ
041009,000506: 30,3520 00003 2
041010,000507: 30,3521 51021 BDSU BPL
041011,000508: 30,3522 06510 DP1/4TH
041012,000509: 30,3523 61526 +3
041013,000510: 30,3524 77745 DLOAD
041014,000511: 30,3525 06520 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
041015,000512: 30,3526 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
041016,000513:
041017,000514: 30,3527 00006 EXTEND
041018,000515: 30,3530 30155 DCA MPAC
041019,000516: 30,3531 20001 DDOUBL
041020,000517: 30,3532 54145 TS TEM5
041021,000518: 30,3533 13536 TCF +3
041022,000519: 30,3534 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
041023,000520: 30,3535 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
041024,000521:
041025,000522: 30,3536 50120 INDEX FIXLOC
041026,000523: 30,3537 30002 CA 2
041027,000524: 30,3540 22154 LXCH MPAC
041028,000525: 30,3541 03606 TC ARCTRGSP
041029,000526: 30,3542 54156 TS MPAC +2 # CDUZ
041030,000527:
041031,000528: 30,3543 34755 CA ZERO
041032,000529: 30,3544 03564 TC DVBYCOSM
041033,000530: 30,3545 34751 CA FOUR
041034,000531: 30,3546 03564 TC DVBYCOSM
041035,000532: 30,3547 40141 CS TEM1
041036,000533: 30,3550 03606 TC ARCTRGSP
041037,000534: 30,3551 54155 TS MPAC +1 # CDUY
041038,000535:
041039,000536: 30,3552 34750 CA BIT4
041040,000537: 30,3553 03564 TC DVBYCOSM
041041,000538: 30,3554 33563 CA 16OCT
041042,000539: 30,3555 03564 TC DVBYCOSM
041043,000540: 30,3556 40141 CS TEM1
041044,000541: 30,3557 03606 TC ARCTRGSP
041045,000542: 30,3560 54154 TS MPAC # CDUX
041046,000543:
041047,000544: 30,3561 06051 TC INTPRET
041048,000545: 30,3562 77616 RVQ
041049,000546:
041050,000547: 30,3563 00016 16OCT OCT 16
041051,000548:
![]() |
Page 913 |
041053,000550: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
041054,000551: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
041055,000552: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
041056,000553: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
041057,000554: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
041058,000555: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
041059,000556: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
041060,000557:
041061,000558: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
041062,000559: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
041063,000560: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
041064,000561: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
041065,000562:
041066,000563: 30,3564 60120 DVBYCOSM AD FIXLOC
041067,000564: 30,3565 54116 TS ADDRWD # ADRES OF OPERAND
041068,000565:
041069,000566: 30,3566 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
041070,000567: 30,3567 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
041071,000568: 30,3570 00006 EXTEND
041072,000569: 30,3571 63573 BZMF +2
041073,000570: 30,3572 40000 COM
041074,000571: 30,3573 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
041075,000572: 30,3574 00006 EXTEND
041076,000573: 30,3575 63603 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
041077,000574:
041078,000575: 30,3576 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
041079,000576: 30,3577 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
041080,000577: 30,3600 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
041081,000578: 30,3601 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
041082,000579: 30,3602 10145 DV TEM5
041083,000580: 30,3603 54001 TSL&TCQ TS L
041084,000581: 30,3604 22141 LXCH TEM1
041085,000582: 30,3605 00002 TC Q
041086,000583:
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Page 914 |
041088,000585: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
041089,000586: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
041090,000587: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
041091,000588:
041092,000589: 30,3606 00006 ARCTRGSP EXTEND
041093,000590: 30,3607 13651 BZF SINZERO # TO AVOID DIVIDING BY ZERO
041094,000591:
041095,000592: 30,3610 00006 EXTEND
041096,000593: 30,3611 22144 QXCH TEM4
041097,000594: 30,3612 54142 TS TEM2
041098,000595: 30,3613 30001 CA L
041099,000596: 30,3614 54143 TS TEM3
041100,000597: 30,3615 34755 CA ZERO
041101,000598: 30,3616 00006 EXTEND
041102,000599: 30,3617 10142 DV TEM2
041103,000600: 30,3620 00006 EXTEND
041104,000601: 30,3621 13640 BZF USECOS
041105,000602:
041106,000603: 30,3622 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
041107,000604: 30,3623 34755 CA ZERO
041108,000605: 30,3624 13630 TCF +4
041109,000606: 30,3625 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
041110,000607: 30,3626 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
041111,000608: 30,3627 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
041112,000609: 30,3630 54143 TS TEM3 # WE NO LONGER NEED COS
041113,000610: 30,3631 30142 CA TEM2
041114,000611: 30,3632 03656 TC SPARCSIN -1
041115,000612: 30,3633 03727 TC ONESTO2S
041116,000613: 30,3634 00006 EXTEND
041117,000614: 30,3635 20143 MSU TEM3
041118,000615: 30,3636 03727 1TO2&TCQ TC ONESTO2S
041119,000616: 30,3637 00144 TC TEM4
041120,000617:
041121,000618: 30,3640 40143 USECOS CS TEM3 # COS IS SMALLER
041122,000619: 30,3641 03656 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
041123,000620: 30,3642 64736 AD HALF
041124,000621: 30,3643 54143 TS TEM3 # WE NO LONGER NEED COS
041125,000622: 30,3644 10142 CCS TEM2
041126,000623: 30,3645 30143 CA TEM3
041127,000624: 30,3646 13636 TCF 1TO2&TCQ
041128,000625: 30,3647 40143 CS TEM3
041129,000626: 30,3650 13636 TCF 1TO2&TCQ
041130,000627:
041131,000628: 30,3651 10001 SINZERO CCS L
041132,000629: 30,3652 34755 CA ZERO
041133,000630: 30,3653 00002 TC Q
041134,000631: 30,3654 34735 CA NEGMAX # PI, 2'S COMP
041135,000632: 30,3655 00002 TC Q
041136,000633:
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Page 915 |
041138,000635: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
041139,000636: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+- 70
041140,000637: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
041141,000638: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
041142,000639:
041143,000640: 30,3656 60000 DOUBLE
041144,000641: 30,3657 54021 SPARCSIN TS SR
041145,000642: 30,3660 13664 TCF +4
041146,000643: 30,3661 50000 INDEX A
041147,000644: 30,3662 44734 CS LIMITS
041148,000645: 30,3663 54021 TS SR
041149,000646: 30,3664 00006 EXTEND
041150,000647: 30,3665 70000 MP A
041151,000648: 30,3666 54141 TS TEM1
041152,000649: 30,3667 00006 EXTEND
041153,000650: 30,3670 73712 MP DPL9
041154,000651: 30,3671 63711 AD DPL7
041155,000652: 30,3672 00006 EXTEND
041156,000653: 30,3673 70141 MP TEM1
041157,000654: 30,3674 63710 AD DPL5
041158,000655: 30,3675 00006 EXTEND
041159,000656: 30,3676 70141 MP TEM1
041160,000657: 30,3677 63707 AD DPL3
041161,000658: 30,3700 00006 EXTEND
041162,000659: 30,3701 70141 MP TEM1
041163,000660: 30,3702 63706 AD DPL1
041164,000661: 30,3703 00006 EXTEND
041165,000662: 30,3704 70021 MP SR
041166,000663: 30,3705 00002 TC Q
041167,000664: 30,3706 24406 DPL1 DEC 10502 B-14
041168,000665: 30,3707 00660 DPL3 DEC 432 B-14
041169,000666: 30,3710 16204 DPL5 DEC 7300 B-14
041170,000667: 30,3711 50744 DPL7 DEC -11803 B-14
041171,000668: 30,3712 20315 DPL9 DEC 8397 B-14
041172,000669:
![]() |
Page 916 |
041174,000671: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
041175,000672: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
041176,000673: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
041177,000674:
041178,000675: # VERSION COURTESY HUGH BLAIR-SMITH
041179,000676:
041180,000677: 30,3713 54141 LIMITSUB TS TEM1
041181,000678: 30,3714 34755 CA ZERO
041182,000679: 30,3715 00006 EXTEND
041183,000680: 30,3716 10141 DV TEM1
041184,000681: 30,3717 10000 CCS A
041185,000682: 30,3720 22141 LXCH TEM1
041186,000683: 30,3721 13723 TCF +2
041187,000684: 30,3722 13725 TCF +3
041188,000685: 30,3723 30001 CA L
041189,000686: 30,3724 00002 TC Q
041190,000687: 30,3725 40141 CS TEM1
041191,000688: 30,3726 00002 TC Q
041192,000689:
041193,000690: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
041194,000691:
041195,000692: 30,3727 10000 ONESTO2S CCS A
041196,000693: 30,3730 64753 AD ONE
041197,000694: 30,3731 00002 TC Q
041198,000695: 30,3732 40000 CS A
041199,000696: 30,3733 00002 TC Q
041200,000697:
041201,000698: # NO ATTITUDE CONTROL
041202,000699:
041203,000700: 30,3734 05600 NOATTCNT TC ALARM
041204,000701: 30,3735 00402 OCT 00402 # NO ATTITUDE CONTROL
041205,000702:
041206,000703: 30,3736 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
041207,000704: 30,3737 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
041208,000705: 30,3740 40166 FCADR STOPRATE
041209,000706: 30,3741 13461 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
041210,000707:
041211,000708: # MIDDLE GIMBAL ANGLE ALARM
041212,000709:
041213,000710: 30,3742 05600 ALARMMGA TC ALARM
041214,000711: 30,3743 00401 OCT 00401
041215,000712: 30,3744 13261 TCF MGARET
041216,000713:
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Page 917 |
041218,000715: # ************************************************************************
041219,000716: # CONSTANTS
041220,000717: # ************************************************************************
041221,000718:
041222,000719: # ADDRESS CONSTANTS
041223,000720:
041224,000721: 30,3745 03245 ECDUWL ECADR ECDUW
041225,000722:
041226,000723: # THRUST DIRECTION FILTER CONSTANTS
041227,000724:
041228,000725: 30,3746 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
041229,000726: 30,3747 03146 DEC .1 # GAIN FILTER WITH CSM
041230,000727:
041231,000728: 30,3750 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
041232,000729: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
041233,000730:
041234,000731: 30,3751 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
041235,000732: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
041236,000733:
041237,000734: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
041238,000735:
041239,000736: 30,3752 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
041240,000737: # LOWER PART COMES FROM NEXT CONSTANT
041241,000738:
041242,000739: 30,3753 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
041243,000740: 30,3754 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
041244,000741:
041245,000742: 30,3755 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
041246,000743: 30,3756 00133 DEC .0055555555
041247,000744:
041248,000745: 30,3757 30,3753 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
041249,000746:
041250,000747: 30,3757 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
041251,000748:
041252,000749: # CONSTANTS FOR DATA TRANSFER
041253,000750:
041254,000751: 30,3760 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
041255,000752: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
041256,000753:
041257,000754: 30,3761 30,3755 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
041258,000755:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc