Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
059678,000002: ## Copyright: Public domain.
059679,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
059680,000004: ## Purpose: A section of Luminary 1C, revision 131.
059681,000005: ## It is part of the source code for the Lunar Module's (LM)
059682,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
059683,000007: ## This file is intended to be a faithful transcription, except
059684,000008: ## that the code format has been changed to conform to the
059685,000009: ## requirements of the yaYUL assembler rather than the
059686,000010: ## original YUL assembler.
059687,000011: ## Reference: pp. 1413-1433
059688,000012: ## Contact: Ron Burkey <info@sandroid.org>.
059689,000013: ## Website: www.ibiblio.org/apollo/index.html
059690,000014: ## Mod history: 06/07/03 RSB. Began transcribing.
059691,000015: ## 05/14/05 RSB Corrected website reference above.
059692,000016: ## 2010-10-25 JL Added missing # in comment. Indentation fixes.
059693,000017: ## 2017-01-06 RSB Page numbers now agree with those on the
059694,000018: ## original hardcopy, as opposed to the PDF page
059695,000019: ## numbers in 1701.pdf.
059696,000020: ## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
059697,000021: ## 2017-03-01 RSB Fixed lingering comment-text typos.
059698,000022: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
059699,000023: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
059700,000024: ## side-by-side diff of Luminary 69/99/116/131/210.
059701,000025:
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Page 1413 |
059703,000027: 16,2213 BANK 16
059704,000028: 16,2000 SETLOC DAPS1
059705,000029: 16,2000 BANK
059706,000030:
059707,000031: 16,2213 E6,1464 EBANK= PERROR
059708,000032: 16,2213 COUNT* $$/DAPP
059709,000033:
059710,000034: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
059711,000035: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
059712,000036:
059713,000037: 16,2213 37732 PAXIS CA MS100
059714,000038: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
059715,000039: # CHRONIZATION WITH OTHER INTERRUPTS ***
059716,000040:
059717,000041: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
059718,000042: 16,2216 00006 EXTEND
059719,000043: 16,2217 22012 QXCH QRUPT
059720,000044:
059721,000045: # CHECK IF DAP PASS IS PERMISSIBLE
059722,000046:
059723,000047: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
059724,000048: 16,2221 05624 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
059725,000049: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO
059726,000050:
059727,000051: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
059728,000052:
059729,000053: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
059730,000054: 16,2225 55747 TS DAPTREG4
059731,000055: 16,2226 30033 CA CDUY
059732,000056: 16,2227 55750 TS DAPTREG5
059733,000057: 16,2230 30034 CA CDUZ
059734,000058: 16,2231 55751 TS DAPTREG6
059735,000059:
059736,000060: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
059737,000061:
059738,000062: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
059739,000063: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
059740,000064:
059741,000065: 16,2232 31634 CA CDUXD
059742,000066: 16,2233 00006 EXTEND
059743,000067: 16,2234 21637 MSU DELCDUX
059744,000068: 16,2235 02256 TC 1STOTWOS
059745,000069: 16,2236 55634 TS CDUXD
059746,000070: 16,2237 31635 CA CDUYD
059747,000071: 16,2240 00006 EXTEND
059748,000072: 16,2241 21640 MSU DELCDUY
059749,000073: 16,2242 02256 TC 1STOTWOS
059750,000074: 16,2243 55635 TS CDUYD
059751,000075: 16,2244 31636 CA CDUZD
059752,000076: 16,2245 00006 EXTEND
059753,000077: 16,2246 21641 MSU DELCDUZ
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Page 1414 |
059755,000079: 16,2247 02256 TC 1STOTWOS
059756,000080: 16,2250 55636 TS CDUZD
059757,000081: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
059758,000082: 16,2252 27445 DIM TCP # TIME COUNTERS.
059759,000083: 16,2253 00006 EXTEND
059760,000084: 16,2254 27457 DIM TCQR
059761,000085:
059762,000086: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
059763,000087: # RETURNS TO BACKP.
059764,000088:
059765,000089: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
059766,000090: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
059767,000091: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
059768,000092:
059769,000093: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
059770,000094: 16,2256 10000 1STOTWOS CCS A
059771,000095: 16,2257 64753 AD ONE
059772,000096: 16,2260 00002 TC Q
059773,000097: 16,2261 40000 CS A
059774,000098: 16,2262 00002 TC Q
059775,000099: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
059776,000100: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
059777,000101: 16,2265 21427 DAS OMEGAU # OVERFLOW
059778,000102:
059779,000103: 16,2266 00006 +3 EXTEND
059780,000104: 16,2267 31427 DCA OMEGAU
059781,000105: 16,2270 53743 DXCH DAPTEMP5
059782,000106: 16,2271 11426 CCS OMEGAU
059783,000107: 16,2272 12274 TCF +2
059784,000108: 16,2273 12304 TCF DIVIDER
059785,000109: 16,2274 62315 AD -OCT630
059786,000110: 16,2275 00006 EXTEND
059787,000111: 16,2276 62304 BZMF DIVIDER
059788,000112:
059789,000113: 16,2277 11426 CCS OMEGAU
059790,000114: 16,2300 34733 CA POSMAX # 45 DEG/SEC
059791,000115: 16,2301 00002 TC Q
059792,000116: 16,2302 44733 CS POSMAX
059793,000117: 16,2303 00002 TC Q
059794,000118:
059795,000119: 16,2304 53427 DIVIDER DXCH OMEGAU
059796,000120: 16,2305 00006 EXTEND
059797,000121: 16,2306 11747 DV DAPTREG4
059798,000122: 16,2307 00002 TC Q
059799,000123:
059800,000124: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
059801,000125: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
059802,000126: 16,2312 50000 INDEX A
059803,000127: 16,2313 44734 CS BIT15 -1
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Page 1415 |
059805,000129: 16,2314 00002 TC Q
059806,000130:
059807,000131: 16,2315 77147 -OCT630 OCT 77147
059808,000132:
059809,000133: 16,2316 31736 BACKP CA DAPTEMP1
059810,000134: 16,2317 00006 EXTEND
059811,000135: 16,2320 71530 MP 1JACC
059812,000136: 16,2321 55744 TS JETRATE
059813,000137:
059814,000138: # BEGINNING OF THE RATE DERIVATION
059815,000139: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
059816,000140: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
059817,000141: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
059818,000142: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
059819,000143: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
059820,000144: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
059821,000145: # OMEGAU DP-TEMPORARY STORAGE
059822,000146: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
059823,000147:
059824,000148: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE
059825,000149: 16,2323 54001 TS L
059826,000150: 16,2324 00006 EXTEND
059827,000151: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
059828,000152: 16,2326 23440 LXCH OLDXFORP
059829,000153: 16,2327 55736 TS DAPTEMP1
059830,000154: 16,2330 33624 CA 1/40
059831,000155: 16,2331 55747 TS DAPTREG4
059832,000156: 16,2332 41744 CS JETRATE
059833,000157: 16,2333 00006 EXTEND
059834,000158: 16,2334 74736 MP BIT14
059835,000159: 16,2335 27430 ADS TRAPEDP
059836,000160: 16,2336 31745 CA JETRATEQ
059837,000161: 16,2337 61544 AD AOSQTERM
059838,000162: 16,2340 00006 EXTEND
059839,000163: 16,2341 77741 MP -BIT14
059840,000164: 16,2342 27431 ADS TRAPEDQ
059841,000165: 16,2343 31746 CA JETRATER
059842,000166: 16,2344 61545 AD AOSRTERM
059843,000167: 16,2345 00006 EXTEND
059844,000168: 16,2346 77741 MP -BIT14
059845,000169: 16,2347 27432 ADS TRAPEDR
059846,000170:
059847,000171: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE
059848,000172: 16,2351 54001 TS L
059849,000173: 16,2352 00006 EXTEND
059850,000174: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
059851,000175: 16,2354 23441 LXCH OLDYFORP
059852,000176: 16,2355 55737 TS DAPTEMP2
059853,000177: 16,2356 00006 EXTEND
059854,000178: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1416 |
059856,000180: 16,2360 61736 AD DAPTEMP1
059857,000181: 16,2361 53427 DXCH OMEGAU
059858,000182:
059859,000183: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
059860,000184:
059861,000185: 16,2363 00006 EXTEND
059862,000186: 16,2364 61421 SU OMEGAP
059863,000187: 16,2365 27430 ADS TRAPEDP
059864,000188: 16,2366 02310 TC OVERSUB
059865,000189: 16,2367 55430 TS TRAPEDP
059866,000190: 16,2370 00006 EXTEND
059867,000191: 16,2371 31743 DCA DAPTEMP5
059868,000192: 16,2372 21447 DAS DXERROR
059869,000193: 16,2373 41454 CS PLAST
059870,000194: 16,2374 00006 EXTEND
059871,000195: 16,2375 73624 MP 1/40
059872,000196: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
059873,000197: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE
059874,000198: 16,2400 54001 TS L
059875,000199: 16,2401 00006 EXTEND
059876,000200: 16,2402 21442 MSU OLDZFORQ
059877,000201: 16,2403 55740 TS DAPTEMP3
059878,000202: 16,2404 23442 LXCH OLDZFORQ
059879,000203: 16,2405 31415 CA M21
059880,000204: 16,2406 00006 EXTEND
059881,000205: 16,2407 71737 MP DAPTEMP2
059882,000206: 16,2410 53427 DXCH OMEGAU
059883,000207: 16,2411 31417 CA M22
059884,000208: 16,2412 02263 TC SUBDIVDE
059885,000209:
059886,000210: 16,2413 00006 EXTEND
059887,000211: 16,2414 61422 SU OMEGAQ
059888,000212: 16,2415 27431 ADS TRAPEDQ
059889,000213: 16,2416 02310 TC OVERSUB
059890,000214: 16,2417 55431 TS TRAPEDQ
059891,000215: 16,2420 00006 EXTEND
059892,000216: 16,2421 31743 DCA DAPTEMP5
059893,000217: 16,2422 21451 DAS DYERROR
059894,000218: 16,2423 41455 CS QLAST
059895,000219: 16,2424 00006 EXTEND
059896,000220: 16,2425 73624 MP 1/40
059897,000221: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
059898,000222: 16,2427 31416 CA M31
059899,000223: 16,2430 00006 EXTEND
059900,000224: 16,2431 71737 MP DAPTEMP2
059901,000225: 16,2432 53427 DXCH OMEGAU
059902,000226: 16,2433 31420 CA M32
059903,000227:
059904,000228: 16,2434 02263 TC SUBDIVDE
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Page 1417 |
059906,000230: 16,2435 00006 EXTEND
059907,000231: 16,2436 61423 SU OMEGAR
059908,000232: 16,2437 27432 ADS TRAPEDR
059909,000233: 16,2440 02310 TC OVERSUB
059910,000234: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
059911,000235:
059912,000236: 16,2442 00006 EXTEND
059913,000237: 16,2443 31743 DCA DAPTEMP5
059914,000238: 16,2444 21453 DAS DZERROR
059915,000239: 16,2445 41456 CS RLAST
059916,000240: 16,2446 00006 EXTEND
059917,000241: 16,2447 73624 MP 1/40
059918,000242: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
059919,000243: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
059920,000244: 16,2452 74737 MASK CSMDOCKD
059921,000245: 16,2453 00006 EXTEND
059922,000246: 16,2454 12462 BZF LMONLY
059923,000247: 16,2455 00006 EXTEND # DOCKED
059924,000248: 16,2456 31405 DCA DKOMEGAN
059925,000249: 16,2457 53750 DXCH DAPTREG4
059926,000250: 16,2460 31403 CA DKTRAP
059927,000251: 16,2461 12466 TCF +5
059928,000252: 16,2462 00006 LMONLY EXTEND # UNDOCKED
059929,000253: 16,2463 31410 DCA LMOMEGAN
059930,000254: 16,2464 53750 DXCH DAPTREG4
059931,000255: 16,2465 31406 CA LMTRAP
059932,000256: 16,2466 55751 +5 TS DAPTREG6
059933,000257: 16,2467 11430 CCS TRAPEDP
059934,000258: 16,2470 12472 TCF +2
059935,000259: 16,2471 12507 TCF SMALPDIF
059936,000260: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059937,000261: 16,2473 00006 EXTEND
059938,000262: 16,2474 62507 BZMF SMALPDIF
059939,000263: 16,2475 22007 ZL
059940,000264: 16,2476 23430 LXCH TRAPEDP
059941,000265: 16,2477 34755 CA ZERO
059942,000266: 16,2500 00006 EXTEND
059943,000267: 16,2501 11433 DV NPTRAPS
059944,000268: 16,2502 27421 ADS OMEGAP
059945,000269: 16,2503 02310 TC OVERSUB
059946,000270: 16,2504 55421 TS OMEGAP
059947,000271: 16,2505 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059948,000272: 16,2506 55433 TS NPTRAPS
059949,000273: 16,2507 25433 SMALPDIF INCR NPTRAPS
059950,000274: 16,2510 31744 P-RATE CA JETRATE
059951,000275: 16,2511 27421 ADS OMEGAP
059952,000276: 16,2512 02310 TC OVERSUB
059953,000277: 16,2513 55421 TS OMEGAP
059954,000278:
059955,000279: 16,2514 11431 CCS TRAPEDQ
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Page 1418 |
059957,000281: 16,2515 12517 TCF +2
059958,000282: 16,2516 12544 TCF Q-RATE
059959,000283: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059960,000284: 16,2520 00006 EXTEND
059961,000285: 16,2521 62544 BZMF Q-RATE
059962,000286: 16,2522 22007 ZL
059963,000287: 16,2523 23431 LXCH TRAPEDQ
059964,000288: 16,2524 34755 CA ZERO
059965,000289: 16,2525 00006 EXTEND
059966,000290: 16,2526 11434 DV NQTRAPS
059967,000291: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
059968,000292: 16,2530 27422 ADS OMEGAQ
059969,000293: 16,2531 02310 TC OVERSUB
059970,000294: 16,2532 55422 TS OMEGAQ
059971,000295: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059972,000296: 16,2534 57434 XCH NQTRAPS
059973,000297: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
059974,000298: 16,2536 57736 XCH DAPTEMP1
059975,000299: 16,2537 00006 EXTEND
059976,000300: 16,2540 74756 MP FIVE
059977,000301: 16,2541 00006 EXTEND
059978,000302: 16,2542 11736 DV DAPTEMP1
059979,000303: 16,2543 27536 ADS AOSQ
059980,000304: 16,2544 25434 Q-RATE INCR NQTRAPS
059981,000305: 16,2545 31745 CA JETRATEQ
059982,000306: 16,2546 61544 AD AOSQTERM
059983,000307: 16,2547 27422 ADS OMEGAQ
059984,000308: 16,2550 02310 TC OVERSUB
059985,000309: 16,2551 55422 TS OMEGAQ
059986,000310:
059987,000311: 16,2552 11432 CCS TRAPEDR
059988,000312: 16,2553 12555 TCF +2
059989,000313: 16,2554 12602 TCF R-RATE
059990,000314: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059991,000315: 16,2556 00006 EXTEND
059992,000316: 16,2557 62602 BZMF R-RATE
059993,000317: 16,2560 22007 ZL
059994,000318: 16,2561 23432 LXCH TRAPEDR
059995,000319: 16,2562 34755 CA ZERO
059996,000320: 16,2563 00006 EXTEND
059997,000321: 16,2564 11435 DV NRTRAPS
059998,000322: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
059999,000323: 16,2566 27423 ADS OMEGAR
060000,000324: 16,2567 02310 TC OVERSUB
060001,000325: 16,2570 55423 TS OMEGAR
060002,000326: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060003,000327: 16,2572 57435 XCH NRTRAPS
060004,000328: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060005,000329: 16,2574 57737 XCH DAPTEMP2
060006,000330: 16,2575 00006 EXTEND
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Page 1419 |
060008,000332: 16,2576 74756 MP FIVE
060009,000333: 16,2577 00006 EXTEND
060010,000334: 16,2600 11737 DV DAPTEMP2
060011,000335: 16,2601 27540 ADS AOSR
060012,000336: 16,2602 25435 R-RATE INCR NRTRAPS
060013,000337: 16,2603 31746 CA JETRATER
060014,000338: 16,2604 61545 AD AOSRTERM
060015,000339: 16,2605 27423 ADS OMEGAR
060016,000340: 16,2606 02310 TC OVERSUB
060017,000341: 16,2607 55423 TS OMEGAR
060018,000342:
060019,000343: # END OF RATE DERIVATION
060020,000344: # BEGIN OFFSET ESTIMATER
060021,000345: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060022,000346: # AOS = AOS + K*SUMRATE
060023,000347:
060024,000348: 16,2610 40111 CS DAPBOOLS
060025,000349: 16,2611 74744 MASK DRIFTBIT
060026,000350: 16,2612 10000 CCS A
060027,000351: 16,2613 12624 TCF WORKTIME
060028,000352: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
060029,000353: 16,2615 55425 TS ALPHAR
060030,000354: 16,2616 55544 TS AOSQTERM
060031,000355: 16,2617 55545 TS AOSRTERM
060032,000356: 16,2620 55536 TS AOSQ
060033,000357: 16,2621 55540 TS AOSR
060034,000358: 16,2622 12667 TCF PRETIMCK
060035,000359: 16,2623 00074 KAOS DEC 60 B-14
060036,000360: 16,2624 31510 WORKTIME CA QACCDOT
060037,000361: 16,2625 00006 EXTEND
060038,000362: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060039,000363: 16,2627 21537 DAS AOSQ
060040,000364: 16,2630 31536 CA AOSQ
060041,000365: 16,2631 55424 TS ALPHAQ
060042,000366: 16,2632 00006 EXTEND
060043,000367: 16,2633 73622 MP 200MS # .2 AT 1
060044,000368: 16,2634 55544 TS AOSQTERM
060045,000369: 16,2635 31512 CA RACCDOT
060046,000370: 16,2636 00006 EXTEND
060047,000371: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060048,000372: 16,2640 21541 DAS AOSR
060049,000373: 16,2641 31540 CA AOSR
060050,000374: 16,2642 55425 TS ALPHAR
060051,000375: 16,2643 00006 EXTEND
060052,000376: 16,2644 73622 MP 200MS # .2 AT 1
060053,000377: 16,2645 55545 TS AOSRTERM
060054,000378: 16,2646 12667 TCF PRETIMCK
060055,000379:
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Page 1420 |
060057,000381: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
060058,000382: 16,2650 71262 MASK RCSFLAGS
060059,000383: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
060060,000384: 16,2652 03742 TC ACDT+C12 # VALID.
060061,000385:
060062,000386: 16,2653 52011 DXCH ARUPT
060063,000387: 16,2654 53753 DXCH DAPARUPT
060064,000388: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
060065,000389: 16,2656 56017 XCH BRUPT
060066,000390: 16,2657 22012 LXCH QRUPT
060067,000391: 16,2660 53755 DXCH DAPBQRPT
060068,000392: 16,2661 32665 CA SUPERADR
060069,000393: 16,2662 52016 DXCH ZRUPT
060070,000394: 16,2663 53757 DXCH DAPZRUPT
060071,000395: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
060072,000396: # FORM OF A JASK, AT SUPERJOB.
060073,000397:
060074,000398: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
060075,000399:
060076,000400: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060077,000401:
060078,000402: 16,2666 13645 SUPERJOB TCF RATELOOP
060079,000403: 16,2667 11631 PRETIMCK CCS QGIMTIMR
060080,000404: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
060081,000405: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
060082,000406: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
060083,000407: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
060084,000408: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
060085,000409:
060086,000410: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
060087,000411: 16,2676 27766 DIM PJETCTR
060088,000412: 16,2677 00006 EXTEND
060089,000413: 16,2700 27767 DIM UJETCTR
060090,000414: 16,2701 00006 EXTEND
060091,000415: 16,2702 27770 DIM VJETCTR
060092,000416: 16,2703 34740 CA BIT12
060093,000417: 16,2704 71262 MASK RCSFLAGS
060094,000418: 16,2705 00006 EXTEND
060095,000419: 16,2706 12734 BZF SKIPPAXS
060096,000420: 16,2707 02740 TC CHKVISFZ
060097,000421: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
060098,000422: 16,2711 12672 TCF CHKRTIMR
060099,000423: 16,2712 55633 DECRTIMR TS RGIMTIMR
060100,000424: 16,2713 12675 TCF CHKRTIMR +3
060101,000425:
060102,000426: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
060103,000427: 16,2715 55510 TS QACCDOT
060104,000428: 16,2716 45007 CS QGIMBITS
060105,000429: 16,2717 00006 EXTEND
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Page 1421 |
060107,000431: 16,2720 03012 WAND CHAN12
060108,000432: 16,2721 34735 CAF NEGMAX
060109,000433: 16,2722 55631 TS QGIMTIMR
060110,000434: 16,2723 12672 TCF CHKRTIMR
060111,000435: 16,2724 55503 TURNOFFR TS NEGUR
060112,000436: 16,2725 55512 TS RACCDOT
060113,000437: 16,2726 45020 CS RGIMBITS
060114,000438: 16,2727 00006 EXTEND
060115,000439: 16,2730 03012 WAND CHAN12
060116,000440: 16,2731 34735 CAF NEGMAX
060117,000441: 16,2732 55633 TS RGIMTIMR
060118,000442: 16,2733 12675 TCF CHKRTIMR +3
060119,000443: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
060120,000444: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
060121,000445:
060122,000446: 16,2734 41262 SKIPPAXS CS RCSFLAGS
060123,000447: 16,2735 74740 MASK BIT12
060124,000448: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
060125,000449: 16,2737 13630 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
060126,000450:
060127,000451: # Y-Z TRANSLATION
060128,000452:
060129,000453: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060130,000454:
060131,000455: # OUTPUT: NEXTP
060132,000456: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060133,000457: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060134,000458: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
060135,000459: # ALARM (IF NO PAIR)
060136,000460: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060137,000461: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
060138,000462:
060139,000463: 16,2740 00006 CHKVISFZ EXTEND
060140,000464: 16,2741 00031 READ CHAN31
060141,000465: 16,2742 40000 CS A
060142,000466: 16,2743 73617 MASK 07400OCT
060143,000467: 16,2744 00006 EXTEND
060144,000468: 16,2745 13014 BZF TSNEXTP
060145,000469: 16,2746 00006 EXTEND
060146,000470: 16,2747 74745 MP BIT7
060147,000471: 16,2750 50000 INDEX A
060148,000472: 16,2751 33576 CA INDXYZ
060149,000473: 16,2752 55743 TS ROTINDEX
060150,000474: 16,2753 36245 TRYUORV CA SIX
060151,000475: 16,2754 03555 TC SELECTYZ
060152,000476: 16,2755 46245 CS SIX
060153,000477: 16,2756 61742 AD NUMBERT
060154,000478: 16,2757 00006 EXTEND
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Page 1422 |
060156,000480: 16,2760 13013 BZF TSNEXTP -1
060157,000481: 16,2761 44756 CS FIVE
060158,000482: 16,2762 61743 AD ROTINDEX
060159,000483: 16,2763 00006 EXTEND
060160,000484: 16,2764 63002 BZMF ALTERYZ
060161,000485: 16,2765 41742 CS NUMBERT
060162,000486: 16,2766 64751 AD FOUR
060163,000487: 16,2767 00006 EXTEND
060164,000488: 16,2770 63013 BZMF TSNEXTP -1
060165,000489: 16,2771 05567 ABORTYZ TC ALARM
060166,000490: 16,2772 02001 OCT 02001
060167,000491: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060168,000492: 16,2774 23262 LXCH RCSFLAGS
060169,000493: 16,2775 00006 EXTEND
060170,000494: 16,2776 06001 RXOR 1
060171,000495: 16,2777 55262 TS RCSFLAGS
060172,000496: 16,3000 34755 CA ZERO
060173,000497: 16,3001 13014 TCF TSNEXTP
060174,000498: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060175,000499: 16,3003 23262 LXCH RCSFLAGS
060176,000500: 16,3004 00006 EXTEND
060177,000501: 16,3005 06001 RXOR 1
060178,000502: 16,3006 55262 TS RCSFLAGS
060179,000503: 16,3007 74753 MASK BIT1
060180,000504: 16,3010 64751 AD FOUR
060181,000505: 16,3011 27743 ADS ROTINDEX
060182,000506: 16,3012 12753 TCF TRYUORV
060183,000507: 16,3013 31740 CA POLYTEMP
060184,000508: 16,3014 55472 TSNEXTP TS NEXTP
060185,000509:
060186,000510: # STATE LOGIC
060187,000511: # CHECK IN ORDER: IF ON
060188,000512: # LPDPHASE GO TO PURGENCY
060189,000513: # PULSES MINIMUM PULSE LOGIC
060190,000514: # DETENT(BIT15 CH31) RATE COMMAND
060191,000515: # GO TO PURGENCY
060192,000516:
060193,000517: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060194,000518: 16,3016 00006 EXTEND
060195,000519: 16,3017 02031 RAND CHAN31
060196,000520: 16,3020 00006 EXTEND
060197,000521: 16,3021 13027 BZF MANMODE
060198,000522:
060199,000523: 16,3022 30111 CA DAPBOOLS
060200,000524: 16,3023 74743 MASK XOVINHIB
060201,000525: 16,3024 10000 CCS A
060202,000526: 16,3025 13467 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060203,000527:
060204,000528: 16,3026 13071 TCF DETENTCK
060205,000529: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060206,000530: 16,3030 70111 MASK DAPBOOLS
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Page 1423 |
060208,000532: 16,3031 00006 EXTEND
060209,000533: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060210,000534:
060211,000535: 16,3033 34755 CA ZERO
060212,000536: 16,3034 55464 TS PERROR
060213,000537:
060214,000538: # MINIMUM IMPULSE MODE
060215,000539:
060216,000540: 16,3035 30032 CA CDUX
060217,000541: 16,3036 55634 TS CDUXD
060218,000542:
060219,000543: 16,3037 11460 CCS OLDPMIN
060220,000544: 16,3040 13054 TCF CHECKP
060221,000545:
060222,000546: 16,3041 34751 FIREP CA BIT3
060223,000547: 16,3042 00006 EXTEND
060224,000548: 16,3043 02031 RAND CHAN31
060225,000549: 16,3044 00006 EXTEND
060226,000550: 16,3045 13064 BZF +XMIN
060227,000551:
060228,000552: 16,3046 34750 CA BIT4
060229,000553: 16,3047 00006 EXTEND
060230,000554: 16,3050 02031 RAND CHAN31
060231,000555: 16,3051 00006 EXTEND
060232,000556: 16,3052 13062 BZF -XMIN
060233,000557:
060234,000558: 16,3053 13446 TCF JETSOFF
060235,000559:
060236,000560: 16,3054 00006 CHECKP EXTEND
060237,000561: 16,3055 00031 READ CHAN31
060238,000562: 16,3056 40000 CS A
060239,000563: 16,3057 75741 MASK OCT14
060240,000564: 16,3060 55460 TS OLDPMIN
060241,000565: 16,3061 13446 TCF JETSOFF
060242,000566:
060243,000567: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060244,000568: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060245,000569: 16,3064 34363 +XMIN CA TEN
060246,000570: 16,3065 55524 TS TJP
060247,000571: 16,3066 34753 CA ONE
060248,000572: 16,3067 55460 TS OLDPMIN
060249,000573: 16,3070 13354 TCF PJETSLEC -6
060250,000574:
060251,000575: # MANUAL RATE COMMAND MODE
060252,000576: # ========================
060253,000577: # BY ROBERT F. STENGEL
060254,000578:
060255,000579: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060256,000580: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060257,000581: # RATE CONTROL AND ATTITUDE HOLD.
060258,000582:
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Page 1424 |
060260,000584: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060261,000585: # 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
060262,000586: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060263,000587:
060264,000588: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060265,000589: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060266,000590: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060267,000591:
060268,000592: # 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,
060269,000593: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060270,000594: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060271,000595:
060272,000596: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060273,000597: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060274,000598: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060275,000599: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060276,000600:
060277,000601: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060278,000602: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060279,000603:
060280,000604: 16,3071 00006 DETENTCK EXTEND
060281,000605: 16,3072 00031 READ CHAN31
060282,000606: 16,3073 55443 TS CH31TEMP
060283,000607: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060284,000608: 16,3075 00006 EXTEND
060285,000609: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060286,000610: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060287,000611: 16,3100 70111 MASK DAPBOOLS
060288,000612: 16,3101 00006 EXTEND
060289,000613: 16,3102 13467 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
060290,000614:
060291,000615: # ........................................................................
060292,000616:
060293,000617: 16,3103 34743 CA BIT9 # JUST IN DETENT??
060294,000618: 16,3104 71262 MASK RCSFLAGS
060295,000619: 16,3105 00006 EXTEND
060296,000620: 16,3106 13120 BZF RUTH
060297,000621: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
060298,000622: 16,3110 00006 EXTEND
060299,000623: 16,3111 02031 RAND CHAN31
060300,000624: 16,3112 00006 EXTEND
060301,000625: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
060302,000626:
060303,000627: 16,3114 45014 CS BITS9,11 # IN AUTO.
060304,000628: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE)
060305,000629: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060306,000630: 16,3117 13220 TCF RATEDAMP
060307,000631:
060308,000632: 16,3120 31262 RUTH CA RCSFLAGS
060309,000633: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
060310,000634: 16,3122 00006 EXTEND
060311,000635: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
060312,000636: 16,3124 13220 TCF RATEDAMP
060313,000637:
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Page 1425 |
060315,000639: 16,3125 31262 CA RCSFLAGS
060316,000640: 16,3126 74741 MASK QRBIT
060317,000641: 16,3127 00006 EXTEND
060318,000642: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
060319,000643: 16,3131 13220 TCF RATEDAMP
060320,000644:
060321,000645: # ============================================
060322,000646:
060323,000647: 16,3132 4753 1/10SEC = BIT1
060324,000648: 16,3132 4771 40CYC = OCT50
060325,000649: 16,3132 74777 PQRBIT OCT 74777
060326,000650: 16,3133 5014 BITS9,11 EQUALS EBANK5
060327,000651: 16,3133 00056 LINRATP DEC 46 B-14
060328,000652:
060329,000653: # ============================================
060330,000654:
060331,000655: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
060332,000656: 16,3135 00004 INHINT # ALL AXES.
060333,000657: 16,3136 70111 MASK DAPBOOLS
060334,000658: 16,3137 54111 TS DAPBOOLS
060335,000659:
060336,000660: # READ CDUS INTO CDU DESIRED REGISTERS
060337,000661:
060338,000662: 16,3140 34737 CAF BIT13
060339,000663: 16,3141 00006 EXTEND
060340,000664: 16,3142 02031 RAND CHAN31
060341,000665: 16,3143 00006 EXTEND
060342,000666: 16,3144 13150 BZF +4
060343,000667: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE)
060344,000668: 16,3146 55634 TS CDUXD
060345,000669: 16,3147 03152 TC +3
060346,000670: 16,3150 04674 TC IBNKCALL
060347,000671: 16,3151 40154 FCADR ZATTEROR
060348,000672: 16,3152 00003 RELINT
060349,000673: 16,3153 13467 TCF PURGENCY
060350,000674:
060351,000675: 16,3154 55464 TS PERROR
060352,000676: 16,3155 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
060353,000677: 16,3156 26111 ADS DAPBOOLS
060354,000678: 16,3157 34755 CA ZERO
060355,000679: 16,3160 55446 TS DXERROR
060356,000680: 16,3161 55447 TS DXERROR +1
060357,000681: 16,3162 55450 TS DYERROR
060358,000682: 16,3163 55451 TS DYERROR +1
060359,000683: 16,3164 55452 TS DZERROR
060360,000684: 16,3165 55453 TS DZERROR +1
060361,000685: 16,3166 55454 TS PLAST
060362,000686: 16,3167 55455 TS QLAST
060363,000687: 16,3170 55456 TS RLAST
060364,000688: 16,3171 54042 TS Q-RHCCTR
060365,000689: 16,3172 54044 TS R-RHCCTR
060366,000690: 16,3173 33132 CA PQRBIT
060367,000691: 16,3174 71262 MASK RCSFLAGS
060368,000692: 16,3175 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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Page 1426 |
060370,000694: 16,3176 03201 TC ZEROENBL
060371,000695: 16,3177 00003 RELINT
060372,000696: 16,3200 13446 TCF JETSOFF
060373,000697: 16,3201 22044 ZEROENBL LXCH R-RHCCTR
060374,000698: 16,3202 30042 CA Q-RHCCTR
060375,000699: 16,3203 53463 DXCH SAVEHAND
060376,000700: 16,3204 34755 CA ZERO
060377,000701: 16,3205 54043 TS P-RHCCTR
060378,000702: 16,3206 54042 TS Q-RHCCTR
060379,000703: 16,3207 54044 TS R-RHCCTR
060380,000704: 16,3210 00004 INHINT
060381,000705: 16,3211 00006 EXTEND
060382,000706: 16,3212 23265 QXCH C13QSAV
060383,000707: 16,3213 06022 TC C13STALL
060384,000708:
060385,000709: 16,3214 33623 CA BITS8,9
060386,000710: 16,3215 00006 EXTEND
060387,000711: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
060388,000712: 16,3217 01265 TC C13QSAV
060389,000713:
060390,000714: 16,3220 34755 RATEDAMP CA ZERO
060391,000715: 16,3221 54043 TS P-RHCCTR
060392,000716: 16,3222 13232 TCF RATERROR
060393,000717:
060394,000718: 16,3223 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1
060395,000719: 16,3224 74743 MASK BIT9
060396,000720: 16,3225 27262 ADS RCSFLAGS
060397,000721: 16,3226 34740 CA OURRCBIT # P CONTROL
060398,000722: 16,3227 70111 MASK DAPBOOLS
060399,000723: 16,3230 00006 EXTEND
060400,000724: 16,3231 13154 BZF JUSTOUT -1
060401,000725: 16,3232 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060402,000726: 16,3233 55634 TS CDUXD # X-AXIS OVERRIDE
060403,000727: 16,3234 10043 CCS P-RHCCTR
060404,000728: 16,3235 13240 TCF +3
060405,000729: 16,3236 13240 TCF +2
060406,000730: 16,3237 13240 TCF +1
060407,000731: 16,3240 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
060408,000732: 16,3241 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
060409,000733: 16,3242 63133 AD LINRATP # AUTOPILOT)
060410,000734: 16,3243 00006 EXTEND
060411,000735: 16,3244 70043 MP P-RHCCTR
060412,000736: 16,3245 30001 CA L
060413,000737: 16,3246 00006 EXTEND
060414,000738: 16,3247 71444 MP STIKSENS
060415,000739: 16,3250 57454 XCH PLAST
060416,000740: 16,3251 40000 COM
060417,000741: 16,3252 61454 AD PLAST
060418,000742: 16,3253 55736 TS DAPTEMP1
060419,000743: 16,3254 03201 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
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Page 1427 |
060421,000745: 16,3255 00003 RELINT
060422,000746: 16,3256 41454 CS PLAST
060423,000747: 16,3257 61421 AD OMEGAP
060424,000748: 16,3260 55427 TS EDOTP
060425,000749: 16,3261 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
060426,000750: 16,3262 13265 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
060427,000751: 16,3263 13273 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
060428,000752: 16,3264 13265 TCF +1
060429,000753: 16,3265 61476 AD -RATEDB
060430,000754: 16,3266 00006 EXTEND
060431,000755: 16,3267 63273 BZMF +4
060432,000756: 16,3270 34771 CA 40CYC
060433,000757: 16,3271 55445 TS TCP
060434,000758: 16,3272 03304 TC PEGI
060435,000759: 16,3273 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
060436,000760: 16,3274 74742 MASK PBIT
060437,000761: 16,3275 00006 EXTEND
060438,000762: 16,3276 13300 BZF +2
060439,000763: 16,3277 03304 TC PEGI # TO PURE RATE COMMAND
060440,000764: 16,3300 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
060441,000765: 16,3301 55751 TS E # X-ATTITUDE ERROR (SP)
060442,000766: 16,3302 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060443,000767: 16,3303 03473 TC PURGENCY +4
060444,000768: 16,3304 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
060445,000769: 16,3305 55634 TS CDUXD
060446,000770: 16,3306 34755 CA ZERO
060447,000771: 16,3307 55446 TS DXERROR
060448,000772: 16,3310 55447 TS DXERROR +1
060449,000773: 16,3311 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060450,000774: 16,3312 11427 CCS EDOTP
060451,000775: 16,3313 03316 TC +3
060452,000776: 16,3314 03316 TC +2
060453,000777: 16,3315 03316 TC +1
060454,000778: 16,3316 55736 TS ABSEDOTP
060455,000779: 16,3317 61476 AD TARGETDB
060456,000780: 16,3320 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
060457,000781: 16,3321 63331 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
060458,000782: 16,3322 31445 CA TCP
060459,000783: 16,3323 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060460,000784: 16,3324 63331 BZMF LAST
060461,000785: 16,3325 41262 CS RCSFLAGS
060462,000786: 16,3326 74742 MASK PBIT
060463,000787: 16,3327 27262 ADS RCSFLAGS # BIT 10 IS 1.
060464,000788: 16,3330 13334 TCF +4
060465,000789: 16,3331 44742 LAST CS PBIT
060466,000790: 16,3332 71262 MASK RCSFLAGS
060467,000791: 16,3333 55262 TS RCSFLAGS # BIT 10 IS 0.
060468,000792: 16,3334 41427 CS EDOTP
060469,000793: 16,3335 00006 EXTEND
060470,000794: 16,3336 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
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Page 1428 |
060472,000796: 16,3337 20001 DAS A
060473,000797: 16,3340 02310 TC OVERSUB
060474,000798: 16,3341 00006 EXTEND
060475,000799: 16,3342 77721 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060476,000800: 16,3343 55524 TS TJP # 4.JET TIME
060477,000801: 16,3344 31736 CA ABSEDOTP
060478,000802: 16,3345 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
060479,000803: 16,3346 00006 EXTEND
060480,000804: 16,3347 63352 BZMF +3
060481,000805:
060482,000806: 16,3350 36245 CA SIX
060483,000807: 16,3351 13361 TCF +8D
060484,000808: 16,3352 31524 CA TJP
060485,000809: 16,3353 27524 ADS TJP
060486,000810:
060487,000811: # GOES TO PJETSLEC FOR TWO JETS
060488,000812: # P-JET-SELECTION-ROUTINE (ROTATION)
060489,000813:
060490,000814: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
060491,000815: # TJP + FOR +P ROTATION
060492,000816:
060493,000817: # OUTPUT: CHANNEL 6
060494,000818: # PJUMPADR FOR P-AXIS SKIP
060495,000819: # (JTLST CALL) (SMALL TJP)
060496,000820:
060497,000821: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060498,000822: # +P -P
060499,000823: # 7,15 8,16
060500,000824: # 4,12 3,11
060501,000825: # 4,7 8,11
060502,000826: # 7,12 11,16
060503,000827: # 12,15 3,16
060504,000828: # 4,15 3,8
060505,000829: # ALARM ALARM
060506,000830:
060507,000831: 16,3354 34747 CA AORBSYST
060508,000832: 16,3355 70101 MASK FLAGWRD5
060509,000833: 16,3356 10000 CCS A
060510,000834: 16,3357 34753 CA ONE
060511,000835: 16,3360 64751 AD FOUR
060512,000836: 16,3361 55742 TS NUMBERT
060513,000837: 16,3362 34753 PJETSLEC CA ONE
060514,000838: 16,3363 54001 TS L
060515,000839: 16,3364 11524 CCS TJP
060516,000840: 16,3365 13372 TCF +5
060517,000841: 16,3366 13446 TCF JETSOFF
060518,000842: 16,3367 13371 TCF +2
060519,000843: 16,3370 13446 TCF JETSOFF
060520,000844: 16,3371 22007 ZL
060521,000845: 16,3372 64753 AD ONE
060522,000846: 16,3373 55736 TS ABSTJ
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Page 1429 |
060524,000848: 16,3374 23743 LXCH ROTINDEX
060525,000849: 16,3375 03535 TC SELECTP
060526,000850: 16,3376 46245 CS SIX
060527,000851: 16,3377 61742 AD NUMBERT
060528,000852: 16,3400 00006 EXTEND
060529,000853: 16,3401 13403 BZF +2
060530,000854:
060531,000855: 16,3402 44752 CS TWO
060532,000856: 16,3403 64751 AD FOUR
060533,000857: 16,3404 55521 TS NO.PJETS
060534,000858: 16,3405 31740 CA POLYTEMP
060535,000859: 16,3406 05744 TC WRITEP
060536,000860: 16,3407 41736 CS ABSTJ
060537,000861: 16,3410 63616 AD +150MST6
060538,000862: 16,3411 00006 EXTEND
060539,000863: 16,3412 63630 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
060540,000864:
060541,000865: 16,3413 63576 AD -136MST6
060542,000866: 16,3414 00006 EXTEND
060543,000867: 16,3415 63422 BZMF +5
060544,000868:
060545,000869: 16,3416 27736 ADS ABSTJ
060546,000870: 16,3417 51743 INDEX ROTINDEX
060547,000871: 16,3420 33625 CA MINTIMES
060548,000872: 16,3421 55524 TS TJP
060549,000873:
060550,000874: 16,3422 31736 CA ABSTJ
060551,000875: 16,3423 22007 ZL
060552,000876: 16,3424 00004 INHINT
060553,000877: 16,3425 53471 DXCH T6FURTHA
060554,000878: 16,3426 04674 TC IBNKCALL
060555,000879: 16,3427 37143 CADR JTLST
060556,000880: 16,3430 44740 CS BIT12
060557,000881: 16,3431 71262 MASK RCSFLAGS
060558,000882: 16,3432 55262 TS RCSFLAGS # BIT 12 SET TO 0.
060559,000883: 16,3433 03435 TC ALTSYST
060560,000884: 16,3434 13630 TCF QRAXIS
060561,000885:
060562,000886: 16,3435 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS
060563,000887: 16,3436 54001 TS L
060564,000888: 16,3437 34747 CA AORBSYST
060565,000889: 16,3440 00006 EXTEND
060566,000890: 16,3441 06001 RXOR LCHAN
060567,000891: 16,3442 54101 TS FLAGWRD5
060568,000892: 16,3443 00003 RELINT
060569,000893: 16,3444 00002 TC Q
060570,000894:
060571,000895: 16,3445 03435 DKALT TC ALTSYST
060572,000896:
060573,000897: 16,3446 05743 JETSOFF TC WRITEP -1
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Page 1430 |
060575,000899: 16,3447 34755 CA ZERO
060576,000900: 16,3450 55524 TS TJP
060577,000901: 16,3451 13630 TCF QRAXIS
060578,000902:
060579,000903: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060580,000904:
060581,000905: 16,3452 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
060582,000906: 16,3453 00006 EXTEND
060583,000907: 16,3454 21635 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
060584,000908: 16,3455 00006 EXTEND
060585,000909: 16,3456 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060586,000910: 16,3457 57751 XCH E # SAVE FIRST TERM (OF TWO)
060587,000911: 16,3460 30032 CA CDUX # THIRD COMPONENT
060588,000912: 16,3461 00006 EXTEND
060589,000913: 16,3462 21634 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
060590,000914: # EXTEND
060591,000915: # MP M13
060592,000916: 16,3463 61274 AD DELPEROR # KALCMANU INERFACE ERROR
060593,000917: 16,3464 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
060594,000918: 16,3465 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060595,000919: 16,3466 00002 TC Q # RETURN TO CALLER
060596,000920:
060597,000921: # P-AXIS URGENCY FUNCTION CALCULATION.
060598,000922:
060599,000923: 16,3467 03452 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
060600,000924: 16,3470 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
060601,000925: 16,3471 61421 AD OMEGAP # SPS-BACKUP MODE.
060602,000926: 16,3472 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060603,000927:
060604,000928: 16,3473 44753 CS ONE
060605,000929: 16,3474 55505 TS AXISCTR
060606,000930: 16,3475 30111 CA DAPBOOLS
060607,000931: 16,3476 74737 MASK CSMDOCKD
060608,000932: 16,3477 00006 EXTEND
060609,000933: 16,3500 13511 BZF HEADTJET
060610,000934: 16,3501 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060611,000935: 16,3502 04674 TC IBNKCALL
060612,000936: 16,3503 43736 CADR SPSRCS
060613,000937:
060614,000938: 16,3504 31524 CA TJP
060615,000939: 16,3505 00006 EXTEND
060616,000940: 16,3506 13445 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
060617,000941: 16,3507 00003 RELINT
060618,000942: 16,3510 13354 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
060619,000943: 16,3511 34755 HEADTJET CA ZERO
060620,000944: 16,3512 55500 TS SENSETYP
060621,000945: 16,3513 00004 INHINT
060622,000946: 16,3514 04674 TC IBNKCALL
060623,000947: 16,3515 37304 CADR TJETLAW
060624,000948: 16,3516 00003 RELINT
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Page 1431 |
060626,000950: 16,3517 41740 CS FIREFCT
060627,000951: 16,3520 63534 AD -FOURDEG
060628,000952: 16,3521 00006 EXTEND
060629,000953: 16,3522 63354 BZMF PJETSLEC -6
060630,000954: 16,3523 11524 CCS TJP
060631,000955: 16,3524 13526 TCF +2
060632,000956: 16,3525 13446 TCF JETSOFF
060633,000957: 16,3526 63533 AD -160MST6
060634,000958: 16,3527 00006 EXTEND
060635,000959: 16,3530 63354 BZMF PJETSLEC -6
060636,000960: 16,3531 36245 CA SIX
060637,000961: 16,3532 13361 TCF PJETSLEC -1
060638,000962: 16,3533 77377 -160MST6 DEC -256 B-14
060639,000963: 16,3534 75117 -FOURDEG DEC -.08888
060640,000964:
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Page 1432 |
060642,000966: # JET POLICY CONSTRUCTION SUBROUTINE
060643,000967:
060644,000968: # INPUT: ROTINDEX, NUMBERT
060645,000969:
060646,000970: # OUTPUT: POLYTEMP (JET POLICY)
060647,000971:
060648,000972: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060649,000973:
060650,000974: 16,3535 36245 SELECTP CA SIX
060651,000975: 16,3536 55741 TS TEMPNUM
060652,000976: 16,3537 51742 INDEX NUMBERT
060653,000977: 16,3540 33567 CA TYPEP
060654,000978: 16,3541 51743 INDEX ROTINDEX
060655,000979: 16,3542 73560 MASK JETSALL
060656,000980: 16,3543 55740 TS POLYTEMP
060657,000981: 16,3544 71260 MASK CH6MASK
060658,000982: 16,3545 10000 CCS A
060659,000983: 16,3546 13550 TCF +2
060660,000984: 16,3547 00002 TC Q
060661,000985: 16,3550 11741 CCS TEMPNUM
060662,000986: 16,3551 13555 TCF +4
060663,000987: 16,3552 05567 TC ALARM
060664,000988: 16,3553 02003 OCT 02003
060665,000989: 16,3554 13446 TCF JETSOFF # *****TCF ALARMJET *********************
060666,000990: 16,3555 55742 SELECTYZ TS NUMBERT
060667,000991: 16,3556 13536 TCF SELECTP +1
060668,000992: 16,3557 12773 -1 TCF ABORTYZ +2
060669,000993: 16,3560 00252 JETSALL OCT 00252
060670,000994: 16,3561 00125 OCT 00125 # +P
060671,000995: 16,3562 00140 OCT 00140 # -Y
060672,000996: 16,3563 00006 OCT 00006 # -Z
060673,000997: 16,3564 00220 OCT 00220 # +Y
060674,000998: 16,3565 00011 OCT 00011 # +Z
060675,000999: 16,3566 00151 OCT 00151 # +V
060676,001000: 16,3567 00146 TYPEP OCT 00146 # -U
060677,001001: 16,3570 00226 OCT 00226 # -V
060678,001002: 16,3571 00231 OCT 00231 # +U
060679,001003: 16,3572 00151 OCT 00151 # +V
060680,001004: 16,3573 00132 OCT 00132 # 1-3
060681,001005: 16,3574 00245 OCT 00245 # 2-4
060682,001006: 16,3575 00377 OCT 00377 # ALL
060683,001007: 16,3576 16,3576 INDXYZ = -136MST6
060684,001008: 16,3576 77445 -136MST6 DEC -218 B-14
060685,001009: 16,3577 00004 DEC 4 B-14
060686,001010: 16,3600 00002 DEC 2 B-14
060687,001011: 16,3601 07776 OCT 07776
060688,001012: 16,3602 00005 DEC 5 B-14
060689,001013: 16,3603 00011 DEC 9 B-14
060690,001014: 16,3604 00012 DEC 10 B-14
060691,001015: 16,3605 07776 OCT 07776
060692,001016: 16,3606 00003 DEC 3 B-14
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Page 1433 |
060694,001018: 16,3607 00010 DEC 8 B-14
060695,001019: 16,3610 00007 DEC 7 B-14
060696,001020: 16,3611 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
060697,001021: 16,3612 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
060698,001022: 16,3613 07776 OCT 07776 # TO BE TC JETSALL -1
060699,001023: 16,3614 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
060700,001024: 16,3615 07776 OCT 07776
060701,001025: 16,3616 00360 +150MST6 DEC 240 B-14
060702,001026: 16,3617 07400 07400OCT OCT 07400
060703,001027:
060704,001028: # T-JET LAW FIXED CONSTANTS
060705,001029:
060706,001030: 16,3620 00266 NORMSCL OCT 266
060707,001031: 16,3621 74631 -100MS DEC -.1
060708,001032: 16,3622 06315 200MS DEC .2
060709,001033: 16,3623 7721 25/32 = PRIO31 # (DEC .78125)
060710,001034: 16,3623 00600 BITS8,9 OCTAL 00600
060711,001035: 16,3624 00632 1/40 DEC .02500
060712,001036: 16,3625 77751 MINTIMES DEC -22 B-14
060713,001037: 16,3626 00026 DEC 22 B-14
060714,001038: 16,3627 02734 PSKIPADR GENADR SKIPPAXS
060715,001039:
060716,001040: # GOES TO Q,R-AXES RCS AUTOPILOT
060717,001041:
060718,001042: 16,3630 41644 QRAXIS CS OMEGARD
060719,001043: 16,3631 61423 AD OMEGAR
060720,001044: 16,3632 02310 TC OVERSUB
060721,001045: 16,3633 55437 TS EDOTR
060722,001046: 16,3634 41643 CS OMEGAQD
060723,001047: 16,3635 61422 AD OMEGAQ
060724,001048: 16,3636 02310 TC OVERSUB
060725,001049: 16,3637 55436 TS EDOTQ
060726,001050: 16,3640 00006 EXTEND
060727,001051: 16,3641 33644 DCA QERRCALL
060728,001052: 16,3642 52006 DTCB
060729,001053:
060730,001054: 16,3643 E6,1536 EBANK= AOSQ
060731,001055: 16,3643 02124 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc