Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
014240,000002: ## Copyright: Public domain.
014241,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014242,000004: ## Purpose: A section of Luminary revision 116.
014243,000005: ## It is part of the source code for the Lunar Module's (LM)
014244,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
014245,000007: ## This file is intended to be a faithful transcription, except
014246,000008: ## that the code format has been changed to conform to the
014247,000009: ## requirements of the yaYUL assembler rather than the
014248,000010: ## original YUL assembler.
014249,000011: ## Reference: pp. 343-364
014250,000012: ## Assembler: yaYUL
014251,000013: ## Contact: Ron Burkey <info@sandroid.org>.
014252,000014: ## Website: www.ibiblio.org/apollo/index.html
014253,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
014254,000016: ## 2017-03-07 RSB Transcribed, and then proofed comment-text using
014255,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
014256,000018: ## (Admittedly, the former is more for detecting errors
014257,000019: ## in Luminary 99 than the other way around.)
014258,000020: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
014259,000021: ## side-by-side diff of Luminary 69/99/116/131/210.
014260,000022:
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Page 343 |
014262,000024: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
014263,000025:
014264,000026: # MOD 2 DATE 5/1/67 BY DON KEENE
014265,000027:
014266,000028: # PROGRAM DESCRIPTION
014267,000029:
014268,000030: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014269,000031: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014270,000032: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014271,000033: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014272,000034: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014273,000035:
014274,000036: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014275,000037: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014276,000038: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014277,000039:
014278,000040: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014279,000041: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014280,000042: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014281,000043: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014282,000044: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014283,000045: # -
014284,000046: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014285,000047: # -
014286,000048: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014287,000049: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014288,000050: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014289,000051:
014290,000052: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014291,000053: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014292,000054: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014293,000055: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014294,000056: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014295,000057: # -
014296,000058: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014297,000059:
014298,000060: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014299,000061: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014300,000062: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014301,000063: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014302,000064: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014303,000065: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014304,000066: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014305,000067: # DESIRED FINAL GIMBAL ANGLES.
014306,000068:
014307,000069: # PROGRAM LOGIC FLOW
014308,000070:
014309,000071: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014310,000072: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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014312,000074: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014313,000075: # * * *
014314,000076: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014315,000077: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014316,000078:
014317,000079: # A) AM LESS THAN .25 DEGREES (MINANG)
014318,000080: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014319,000081:
014320,000082: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014321,000083: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014322,000084:
014323,000085: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014324,000086: # - *
014325,000087: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014326,000088: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014327,000089: # -
014328,000090: # TO DETERMINE COF.
014329,000091:
014330,000092: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014331,000093: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014332,000094: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014333,000095: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014334,000096: # YAW.
014335,000097:
014336,000098: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014337,000099: # -
014338,000100: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014339,000101: # DESIRED REFERENCE MATRIX IS THEN,
014340,000102: # * * *
014341,000103: # MIS = MIS DEL
014342,000104: # N+1 N
014343,000105: # *
014344,000106: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014345,000107: # *
014346,000108: # FROM MIS.
014347,000109:
014348,000110: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014349,000111: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014350,000112: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014351,000113: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014352,000114: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014353,000115: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014354,000116:
014355,000117: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014356,000118: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014357,000119:
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014359,000121: # CALLING SEQUENCE
014360,000122:
014361,000123: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014362,000124: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014363,000125: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014364,000126: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014365,000127:
014366,000128: # *
014367,000129: # CAF PRIO XX
014368,000130: # --
014369,000131: # INHINT
014370,000132: # TC FINDVAC
014371,000133: # 2CADR KALCMAN3
014372,000134: # RELINT
014373,000135:
014374,000136: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014375,000137: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014376,000138:
014377,000139: # L TC BANKCALL
014378,000140: # L+1 CADR ATTSTALL
014379,000141: # L+2 (BAD RETURN)
014380,000142: # L+3 (GOOD RETURN)
014381,000143:
014382,000144: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014383,000145: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014384,000146: # WAS IN GIMBAL LOCK.
014385,000147:
014386,000148: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014387,000149: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014388,000150: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014389,000151: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014390,000152: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014391,000153: # SUBROUTINES
014392,000154:
014393,000155: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014394,000156: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014395,000157:
014396,000158: # MXM3
014397,000159: # ----
014398,000160:
014399,000161: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014400,000162: # DOWN LIST, I.E.,
014401,000163: # ( M M M )
014402,000164: # ( 0 1 2 )
014403,000165: # * ( ) * *
014404,000166: # M = ( M M M ) = M1 X M2
014405,000167: # ( 3 4 5 )
014406,000168: # ( )
014407,000169: # ( M M M )
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014409,000171: # ( 6 7 8 )
014410,000172: # *
014411,000173: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014412,000174: # *
014413,000175: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014414,000176: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014415,000177: # 8
014416,000178: # TRANSPOS
014417,000179: # --------
014418,000180:
014419,000181: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014420,000182: #
014421,000183: # * * T
014422,000184: # M = M1
014423,000185:
014424,000186: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014425,000187: # *
014426,000188: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014427,000189:
014428,000190: # CDU TO DCM
014429,000191: # ----------
014430,000192:
014431,000193: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014432,000194: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014433,000195:
014434,000196: # M = COSY COSZ
014435,000197: # 0
014436,000198:
014437,000199: # M = -COSY SINZ COSX + SINY SINX
014438,000200: # 1
014439,000201:
014440,000202: # M = COSY SINZ SINX + SINY COSX
014441,000203: # 2
014442,000204:
014443,000205: # M = SINZ
014444,000206: # 3
014445,000207:
014446,000208: # M = COSZ COSX
014447,000209: # 4
014448,000210:
014449,000211: # M = -COSZ SINX
014450,000212: # 5
014451,000213:
014452,000214: # M = -SINY COSZ
014453,000215: # 6
014454,000216: #
014455,000217: # M = SINY SINZ COSX + COSY SINX
014456,000218: # 7
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014458,000220: # M = -SINY SINZ SINX + COSY COSX
014459,000221: # 8
014460,000222:
014461,000223: # WHERE X = OUTER GIMBAL ANGLE
014462,000224: # Y = INNER GIMBAL ANGLE
014463,000225: # Z = MIDDLE GIMBAL ANGLE
014464,000226:
014465,000227: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014466,000228:
014467,000229: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014468,000230: # X Y Z
014469,000231: # STABLE MEMBER AXES (B , B , B ) ARE
014470,000232: # X Y Z
014471,000233:
014472,000234: # ( B ) ( A )
014473,000235: # ( X ) ( X )
014474,000236: # ( ) ( )
014475,000237: # ( ) * ( )
014476,000238: # ( B ) = M ( A )
014477,000239: # ( Y ) ( Y )
014478,000240: # ( ) ( )
014479,000241: # ( B ) ( A )
014480,000242: # ( Z ) ( Z )
014481,000243:
014482,000244: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014483,000245: # *
014484,000246: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014485,000247:
014486,000248: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014487,000249: # REGISTER X2.
014488,000250:
014489,000251: # DCM TO CDU
014490,000252: # ----------
014491,000253: # *
014492,000254: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014493,000255: # *
014494,000256: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014495,000257: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014496,000258: # FOR THIS CONVERSION ARE
014497,000259:
014498,000260: # Z = ARCSIN (M )
014499,000261: # 3
014500,000262:
014501,000263: # Y = ARCSIN (-M /COSZ)
014502,000264: # 6
014503,000265:
014504,000266: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014505,000267: # 0
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014507,000269: # X = ARCSIN (-M /COSZ)
014508,000270: # 5
014509,000271:
014510,000272: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014511,000273: # 4
014512,000274:
014513,000275: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014514,000276: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014515,000277: # THE PUSH DOWN LIST.
014516,000278:
014517,000279: # DELCOMP
014518,000280: # -------
014519,000281: # *
014520,000282: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014521,000283: # -
014522,000284: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014523,000285:
014524,000286: # * * - -T *
014525,000287: # DEL = I COSA + U U (1 - COSA) + V SINA
014526,000288: # X
014527,000289:
014528,000290: # WHERE * ( 1 0 0 )
014529,000291: # I = ( 0 1 0 )
014530,000292: # ( 0 0 1 )
014531,000293:
014532,000294: # 2
014533,000295: # ( U U U U U )
014534,000296: # ( X X Y X Z )
014535,000297: # ( )
014536,000298: # - -T ( 2 )
014537,000299: # U U = ( U U U U U )
014538,000300: # ( Y X Y Y Z )
014539,000301: # ( )
014540,000302: # ( 2 )
014541,000303: # ( U U U U U )
014542,000304: # ( Z X Z Y Z )
014543,000305:
014544,000306:
014545,000307: # ( 0 -U U )
014546,000308: # ( Z Y )
014547,000309: # * ( )
014548,000310: # V = ( U 0 -U )
014549,000311: # X ( Z X )
014550,000312: # ( )
014551,000313: # ( -U U 0 )
014552,000314: # ( Y X )
014553,000315:
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014555,000317: # -
014556,000318: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014557,000319: # A = ROTATION ANGLE
014558,000320:
014559,000321: # *
014560,000322: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014561,000323:
014562,000324: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014563,000325: # X Y Z
014564,000326: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014565,000327: # X Y Z
014566,000328:
014567,000329: # ( B ) ( A )
014568,000330: # ( X ) ( X )
014569,000331: # ( ) * ( )
014570,000332: # ( B ) = DEL ( A )
014571,000333: # ( Y ) ( Y )
014572,000334: # ( ) ( )
014573,000335: # ( B ) ( A )
014574,000336: # ( Z ) ( Z )
014575,000337:
014576,000338: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014577,000339: # -
014578,000340: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014579,000341: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014580,000342: # MUST THEN BE LOADED INTO D(MPAC).
014581,000343: #
014582,000344: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014583,000345:
014584,000346: # READCDUK
014585,000347: # --------
014586,000348:
014587,000349: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014588,000350:
014589,000351: # SIGNMPAC
014590,000352: # --------
014591,000353:
014592,000354: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014593,000355:
014594,000356: # PROGRAM STORAGE ALLOCATION
014595,000357:
014596,000358: # 1) FIXED MEMORY 1059 WORDS
014597,000359: # 2) ERASABLE MEMORY 98
014598,000360: # 3) STATE SWITCHES 3
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014600,000362: # 4) FLAGS 1
014601,000363:
014602,000364: # JOB PRIORITIES
014603,000365:
014604,000366: # 1) KALCMANU TBD
014605,000367: # 2) ONE SECOND UPDATE TBD
014606,000368:
014607,000369: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014608,000370:
014609,000371: # STATE FLAGWRD 2 SETTING MEANING
014610,000372: # SWITCH NO. BIT NO.
014611,000373:
014612,000374: # *
014613,000375: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014614,000376: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014615,000377: # *
014616,000378: # 32 13 0 CONTINUE UPDATE PROCESS
014617,000379: # 1 START UPDATE PROCESS
014618,000380:
014619,000381: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014620,000382: # 1 IGNORE ANY FINAL P-AXIS YAW
014621,000383:
014622,000384: # 34 11 0 SIGNAL END OF KALCMANU
014623,000385: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014624,000386:
014625,000387: # * INTERNAL TO KALCMANU
014626,000388:
014627,000389: # SUGGESTIONS FOR PROGRAM INTEGRATION
014628,000390:
014629,000391: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014630,000392:
014631,000393: # CPHI
014632,000394: # CTHETA
014633,000395: # CPSI
014634,000396: # POINTVSM +5
014635,000397: # SCAXIS +5
014636,000398: # DELDCDU
014637,000399: # DELDCDU1
014638,000400: # DELDCDU2
014639,000401: # RATEINDX
014640,000402:
014641,000403: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014642,000404:
014643,000405: # MXM3
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Page 351 |
014645,000407: # TRANSPOS
014646,000408: # SIGNMPAC
014647,000409: # READCDUK
014648,000410: # CDUTODCM
014649,000411:
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Page 352 |
014651,000413: 15,2050 BANK 15
014652,000414: 22,2000 SETLOC KALCMON1
014653,000415: 22,2000 BANK
014654,000416:
014655,000417: 22,2004 E6,1676 EBANK= BCDU
014656,000418:
014657,000419: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014658,000420: # LOCATIONS, CPHI, CTHETA, CPSI.
014659,000421:
014660,000422: 22,2004 COUNT* $$/KALC
014661,000423: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014662,000424: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014663,000425: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014664,000426: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES
014665,000427: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014666,000428: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014667,000429: 22,2012 51025 DSU BPL
014668,000430: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014669,000431: 22,2014 44724 TOOBADF
014670,000432: 22,2015 72364 AXC,2 TLOAD
014671,000433: 22,2016 03246 MIS
014672,000434: 22,2017 03277 BCDU
014673,000435: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014674,000436: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014675,000437: 22,2022 72364 AXC,2 TLOAD
014676,000438: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014677,000439: 22,2024 00322 CPHI
014678,000440: 22,2025 77624 CALL
014679,000441: 22,2026 44410 CDUTODCM
014680,000442: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014681,000443: 22,2030 03246 MIS
014682,000444: 22,2031 44326 TRANSPOS
014683,000445: 22,2032 45575 VLOAD STADR
014684,000446: 22,2033 50457 STOVL TMIS +12D
014685,000447: 22,2034 77626 STADR
014686,000448: 22,2035 50465 STOVL TMIS +6
014687,000449: 22,2036 77626 STADR
014688,000450: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014689,000451: 22,2040 75160 AXC,1 AXC,2
014690,000452: 22,2041 03303 TMIS
014691,000453: 22,2042 02230 MFS
014692,000454: 22,2043 77624 CALL
014693,000455: 22,2044 44312 MXM3
014694,000456: 22,2045 45575 VLOAD STADR
014695,000457: 22,2046 51532 STOVL MFI +12D
014696,000458: 22,2047 77626 STADR
014697,000459: 22,2050 51540 STOVL MFI +6
014698,000460: 22,2051 77626 STADR
014699,000461: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014700,000462: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 353 |
014702,000464: 22,2054 00023 18D
014703,000465: 22,2055 44335 TRNSPSPD
014704,000466: 22,2056 45575 VLOAD STADR
014705,000467: 22,2057 50457 STOVL TMFI +12D
014706,000468: 22,2060 77626 STADR
014707,000469: 22,2061 50465 STOVL TMFI +6
014708,000470: 22,2062 77626 STADR
014709,000471: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014710,000472:
014711,000473: # CALCULATE COFSKEW AND MFISYM
014712,000474:
014713,000475: 22,2064 45345 DLOAD DSU
014714,000476: 22,2065 03306 TMFI +2
014715,000477: 22,2066 02233 MFI +2
014716,000478: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014717,000479: 22,2070 02235 MFI +4
014718,000480: 22,2071 03310 TMFI +4
014719,000481: 22,2072 45325 PDDL DSU
014720,000482: 22,2073 03316 TMFI +10D
014721,000483: 22,2074 02243 MFI +10D
014722,000484: 22,2075 77666 VDEF
014723,000485: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW
014724,000486:
014725,000487: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014726,000488:
014727,000489: 22,2077 43345 DLOAD DAD
014728,000490: 22,2100 02231 MFI
014729,000491: 22,2101 02251 MFI +16D
014730,000492: 22,2102 43225 DSU DAD
014731,000493: 22,2103 06514 DP1/4TH
014732,000494: 22,2104 02241 MFI +8D
014733,000495: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014734,000496: 22,2106 77726 ARCCOS
014735,000497: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014736,000498: 22,2110 51025 DSU BPL
014737,000499: 22,2111 04363 MINANG
014738,000500: 22,2112 44117 CHECKMAX
014739,000501: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014740,000502: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014741,000503: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES
014742,000504: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014743,000505:
014744,000506: 22,2117 45345 CHECKMAX DLOAD DSU
014745,000507: 22,2120 03336 AM
014746,000508: 22,2121 04365 MAXANG
014747,000509: 22,2122 77244 BPL VLOAD
014748,000510: 22,2123 44131 ALTCALC # UNIT
014749,000511: 22,2124 03326 COFSKEW # COFSKEW
014750,000512: 22,2125 77656 UNIT
014751,000513: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS
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Page 354 |
014753,000515: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014754,000516: 22,2130 44744 LOCSKIRT
014755,000517: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014756,000518: 22,2132 02231 MFI
014757,000519: 22,2133 03304 TMFI
014758,000520: 22,2134 77762 VSR1
014759,000521: 22,2135 27304 STOVL MFISYM
014760,000522: 22,2136 02237 MFI +6
014761,000523: 22,2137 74455 VAD VSR1
014762,000524: 22,2140 03312 TMFI +6
014763,000525: 22,2141 27312 STOVL MFISYM +6
014764,000526: 22,2142 02245 MFI +12D
014765,000527: 22,2143 74455 VAD VSR1
014766,000528: 22,2144 03320 TMFI +12D
014767,000529: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014768,000530:
014769,000531: # CALCULATE COF
014770,000532:
014771,000533: 22,2146 70545 DLOAD SR1
014772,000534: 22,2147 03334 CAM
014773,000535: 22,2150 45325 PDDL DSU # PDO CAM $4
014774,000536: 22,2151 06522 DPHALF
014775,000537: 22,2152 03334 CAM
014776,000538: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014777,000539: 22,2154 21713 SIGNMPAC
014778,000540: 22,2155 03324 MFISYM +16D
014779,000541: 22,2156 56225 DSU DDV
014780,000542: 22,2157 00001 0
014781,000543: 22,2160 00003 2
014782,000544: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014783,000545: 22,2162 03314 MFISYM +8D # $ ROOT 2
014784,000546: 22,2163 56225 DSU DDV
014785,000547: 22,2164 00001 0
014786,000548: 22,2165 00003 2
014787,000549: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014788,000550: 22,2167 03304 MFISYM
014789,000551: 22,2170 56225 DSU DDV
014790,000552: 22,2171 00001 0
014791,000553: 22,2172 00003 2
014792,000554: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014793,000555: 22,2174 77656 UNIT
014794,000556: 22,2175 03271 STORE COF
014795,000557:
014796,000558: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014797,000559:
014798,000560: 22,2176 45345 COFMAXGO DLOAD DSU
014799,000561: 22,2177 03271 COF
014800,000562: 22,2200 03273 COF +2
014801,000563: 22,2201 71240 BMN DLOAD # COFY G COFX
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Page 355 |
014803,000565: 22,2202 44211 COMP12
014804,000566: 22,2203 03271 COF
014805,000567: 22,2204 50025 DSU BMN
014806,000568: 22,2205 03275 COF +4
014807,000569: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014808,000570: 22,2207 77650 GOTO
014809,000571: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014810,000572: 22,2211 45345 COMP12 DLOAD DSU
014811,000573: 22,2212 03273 COF +2
014812,000574: 22,2213 03275 COF +4
014813,000575: 22,2214 77640 BMN
014814,000576: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014815,000577:
014816,000578: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014817,000579: 22,2217 03330 COFSKEW +2 # UY
014818,000580: 22,2220 44224 U2POS
014819,000581: 22,2221 57575 VLOAD VCOMP
014820,000582: 22,2222 03271 COF
014821,000583: 22,2223 03271 STORE COF
014822,000584: 22,2224 51145 U2POS DLOAD BPL
014823,000585: 22,2225 03306 MFISYM +2 # UX UY
014824,000586: 22,2226 44232 OKU21
014825,000587: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014826,000588: 22,2230 03271 COF
014827,000589: 22,2231 03271 STORE COF
014828,000590: 22,2232 51145 OKU21 DLOAD BPL
014829,000591: 22,2233 03316 MFISYM +10D # UY UZ
014830,000592: 22,2234 44744 LOCSKIRT
014831,000593: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014832,000594: 22,2236 03275 COF +4
014833,000595: 22,2237 03275 STORE COF +4
014834,000596: 22,2240 77650 GOTO
014835,000597: 22,2241 44744 LOCSKIRT
014836,000598: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014837,000599: 22,2243 03326 COFSKEW # UX
014838,000600: 22,2244 44250 U1POS
014839,000601: 22,2245 57575 VLOAD VCOMP
014840,000602: 22,2246 03271 COF
014841,000603: 22,2247 03271 STORE COF
014842,000604: 22,2250 51145 U1POS DLOAD BPL
014843,000605: 22,2251 03306 MFISYM +2 # UX UY
014844,000606: 22,2252 44256 OKU12
014845,000607: 22,2253 57545 DLOAD DCOMP
014846,000608: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX
014847,000609: 22,2255 03273 STORE COF +2
014848,000610: 22,2256 51145 OKU12 DLOAD BPL
014849,000611: 22,2257 03310 MFISYM +4 # UX UZ
014850,000612: 22,2260 44744 LOCSKIRT
014851,000613: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014852,000614: 22,2262 03275 COF +4
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Page 356 |
014854,000616: 22,2263 03275 STORE COF +4
014855,000617: 22,2264 77650 GOTO
014856,000618: 22,2265 44744 LOCSKIRT
014857,000619: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014858,000620: 22,2267 03332 COFSKEW +4 # UZ
014859,000621: 22,2270 44274 U3POS
014860,000622: 22,2271 57575 VLOAD VCOMP
014861,000623: 22,2272 03271 COF
014862,000624: 22,2273 03271 STORE COF
014863,000625: 22,2274 51145 U3POS DLOAD BPL
014864,000626: 22,2275 03310 MFISYM +4 # UX UZ
014865,000627: 22,2276 44302 OKU31
014866,000628: 22,2277 57545 DLOAD DCOMP
014867,000629: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ
014868,000630: 22,2301 03271 STORE COF
014869,000631: 22,2302 51145 OKU31 DLOAD BPL
014870,000632: 22,2303 03316 MFISYM +10D # UY UZ
014871,000633: 22,2304 44744 LOCSKIRT
014872,000634: 22,2305 57545 DLOAD DCOMP
014873,000635: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ
014874,000636: 22,2307 03273 STORE COF +2
014875,000637: 22,2310 77650 GOTO
014876,000638: 22,2311 44744 LOCSKIRT
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Page 357 |
014878,000640: # MATRIX OPERATIONS
014879,000641:
014880,000642: 13,2207 BANK 13
014881,000643: 22,2000 SETLOC KALCMON2
014882,000644: 22,2000 BANK
014883,000645:
014884,000646: 22,2312 E6,1676 EBANK= BCDU
014885,000647:
014886,000648: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014887,000649: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014888,000650: 22,2314 00001 0,1 # AND MPAC
014889,000651: 22,2315 62703 VXM* PDVL*
014890,000652: 22,2316 77776 0,2
014891,000653: 22,2317 00007 6,1
014892,000654: 22,2320 62703 VXM* PDVL*
014893,000655: 22,2321 77776 0,2
014894,000656: 22,2322 00015 12D,1
014895,000657: 22,2323 41503 VXM* PUSH
014896,000658: 22,2324 77776 0,2
014897,000659: 22,2325 77616 RVQ
014898,000660:
014899,000661: # RETURN WITH M1XM2 IN PD LIST
014900,000662:
014901,000663: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014902,000664: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014903,000665: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014904,000666: 22,2331 62713 PDVL* PDVL*
014905,000667: 22,2332 00007 6,1
014906,000668: 22,2333 00015 12D,1
014907,000669: 22,2334 77606 PUSH # MATRIX IN PD
014908,000670: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014909,000671: 22,2336 50120 INDEX FIXLOC
014910,000672: 22,2337 52013 DXCH 12
014911,000673: 22,2340 50120 INDEX FIXLOC
014912,000674: 22,2341 52017 DXCH 16
014913,000675: 22,2342 50120 INDEX FIXLOC
014914,000676: 22,2343 52013 DXCH 12
014915,000677: 22,2344 50120 INDEX FIXLOC
014916,000678: 22,2345 52015 DXCH 14
014917,000679: 22,2346 50120 INDEX FIXLOC
014918,000680: 22,2347 52005 DXCH 4
014919,000681: 22,2350 50120 INDEX FIXLOC
014920,000682: 22,2351 52015 DXCH 14
014921,000683: 22,2352 50120 INDEX FIXLOC
014922,000684: 22,2353 52003 DXCH 2
014923,000685: 22,2354 50120 INDEX FIXLOC
014924,000686: 22,2355 52007 DXCH 6
014925,000687: 22,2356 50120 INDEX FIXLOC
014926,000688: 22,2357 52003 DXCH 2
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Page 358 |
014928,000690: 22,2360 06042 TC INTPRET
014929,000691: 22,2361 77616 RVQ
014930,000692:
014931,000693: 15,2050 BANK 15
014932,000694: 22,2000 SETLOC KALCMON1
014933,000695: 22,2000 BANK
014934,000696:
014935,000697: 22,2362 E6,1676 EBANK= BCDU
014936,000698:
014937,000699: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014938,000700:
014939,000701: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014940,000702:
014941,000703: # GIMBAL LOCK CONSTANTS
014942,000704:
014943,000705: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014944,000706: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014945,000707:
014946,000708: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014947,000709:
014948,000710: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014949,000711:
014950,000712: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014951,000713:
014952,000714: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014953,000715:
014954,000716: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014955,000717:
014956,000718: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014957,000719:
014958,000720: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014959,000721: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014960,000722:
014961,000723: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014962,000724: 22,2404 54156 TS MPAC +2
014963,000725: 22,2405 00006 EXTEND
014964,000726: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014965,000727: 22,2407 16501 TCF TLOAD +6
014966,000728:
014967,000729: 22,2410 66370 CDUTODCM AXT,1 SSP
014968,000730: 22,2411 00003 OCT 3
014969,000731: 22,2412 00051 S1
014970,000732: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014971,000733: 22,2414 00010 STORE 7
014972,000734: 22,2415 77601 SETPD
014973,000735: 22,2416 00001 0
014974,000736: 22,2417 47133 LOOPSIN SLOAD* RTB
014975,000737: 22,2420 00013 10D,1
014976,000738: 22,2421 21577 CDULOGIC
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Page 359 |
014978,000740: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014979,000741: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014980,000742: 22,2424 00013 10D # 4 SIN(THETA)
014981,000743: 22,2425 41546 COS PUSH # 6 COS(THETA)
014982,000744: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014983,000745: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014984,000746: 22,2430 00007 6
014985,000747: 22,2431 72405 DMP SL1
014986,000748: 22,2432 00013 10D
014987,000749: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014988,000750: 22,2434 41345 DLOAD DMP
014989,000751: 22,2435 00005 4
014990,000752: 22,2436 00001 0
014991,000753: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014992,000754: 22,2440 00007 6
014993,000755: 22,2441 00011 8D
014994,000756: 22,2442 72405 DMP SL1
014995,000757: 22,2443 00003 2
014996,000758: 22,2444 72421 BDSU SL1
014997,000759: 22,2445 00015 12D
014998,000760: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014999,000761: 22,2447 41345 DLOAD DMP
015000,000762: 22,2450 00003 2
015001,000763: 22,2451 00005 4
015002,000764: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015003,000765: 22,2453 00007 6
015004,000766: 22,2454 00011 8D
015005,000767: 22,2455 72405 DMP SL1
015006,000768: 22,2456 00001 0
015007,000769: 22,2457 72415 DAD SL1
015008,000770: 22,2460 00017 14D
015009,000771: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015010,000772: 22,2462 77745 DLOAD
015011,000773: 22,2463 00011 8D
015012,000774: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015013,000775: 22,2465 77745 DLOAD
015014,000776: 22,2466 00013 10D
015015,000777: 22,2467 72405 DMP SL1
015016,000778: 22,2470 00003 2
015017,000779: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015018,000780: 22,2472 41345 DLOAD DMP
015019,000781: 22,2473 00013 10D
015020,000782: 22,2474 00001 0
015021,000783: 22,2475 72476 DCOMP SL1
015022,000784: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015023,000785: 22,2477 41345 DLOAD DMP
015024,000786: 22,2500 00005 4
015025,000787: 22,2501 00013 10D
015026,000788: 22,2502 72476 DCOMP SL1
015027,000789: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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Page 360 |
015029,000791: 22,2504 77745 DLOAD
015030,000792: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015031,000793: 22,2506 00011 8D
015032,000794: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
015033,000795: 22,2510 00007 6
015034,000796: 22,2511 00001 0
015035,000797: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015036,000798: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015037,000799: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015038,000800: 22,2515 77745 DLOAD
015039,000801: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015040,000802: 22,2517 00011 8D
015041,000803: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
015042,000804: 22,2521 00007 6
015043,000805: 22,2522 00003 2
015044,000806: 22,2523 72425 DSU SL1 # (PUSH UP 6)
015045,000807: 22,2524 77626 STADR
015046,000808: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015047,000809: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
015048,000810:
015049,000811: # CALCULATION OF THE MATRIX DEL......
015050,000812:
015051,000813: # * * --T *
015052,000814: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
015053,000815: # -
015054,000816: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015055,000817: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
015056,000818: # -
015057,000819: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015058,000820:
015059,000821: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
015060,000822: 22,2530 00001 0
015061,000823: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
015062,000824: 22,2532 41546 COS PUSH # PD2 = COS(A)
015063,000825: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
015064,000826: 22,2534 41021 BDSU BOVB
015065,000827: 22,2535 06522 DPHALF
015066,000828: 22,2536 21713 SIGNMPAC
015067,000829: 22,2537 77725 PDDL # PD4 = 1-COS(A)
015068,000830:
015069,000831: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
015070,000832:
015071,000833: 22,2540 03271 COF
015072,000834: 22,2541 41316 DSQ DMP
015073,000835: 22,2542 00005 4
015074,000836: 22,2543 52415 DAD SL3
015075,000837: 22,2544 00003 2
015076,000838: 22,2545 77604 BOVB
015077,000839: 22,2546 21713 SIGNMPAC
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Page 361 |
015079,000841: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015080,000842: 22,2550 03273 COF +2
015081,000843: 22,2551 41316 DSQ DMP
015082,000844: 22,2552 00005 4
015083,000845: 22,2553 52415 DAD SL3
015084,000846: 22,2554 00003 2
015085,000847: 22,2555 77604 BOVB
015086,000848: 22,2556 21713 SIGNMPAC
015087,000849: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015088,000850: 22,2560 03275 COF +4
015089,000851: 22,2561 41316 DSQ DMP
015090,000852: 22,2562 00005 4
015091,000853: 22,2563 52415 DAD SL3
015092,000854: 22,2564 00003 2
015093,000855: 22,2565 77604 BOVB
015094,000856: 22,2566 21713 SIGNMPAC
015095,000857: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015096,000858:
015097,000859: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015098,000860:
015099,000861: 22,2570 41345 DLOAD DMP
015100,000862: 22,2571 03271 COF
015101,000863: 22,2572 03273 COF +2
015102,000864: 22,2573 72405 DMP SL1
015103,000865: 22,2574 00005 4
015104,000866: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
015105,000867: 22,2576 03275 COF +4
015106,000868: 22,2577 00001 0
015107,000869: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
015108,000870: 22,2601 00007 6
015109,000871: 22,2602 41112 SL2 BOVB
015110,000872: 22,2603 21713 SIGNMPAC
015111,000873: 22,2604 16237 STODL KEL +6
015112,000874: 22,2605 62421 BDSU SL2
015113,000875: 22,2606 77604 BOVB
015114,000876: 22,2607 21713 SIGNMPAC
015115,000877: 22,2610 16233 STODL KEL +2
015116,000878: 22,2611 03271 COF
015117,000879: 22,2612 41205 DMP DMP
015118,000880: 22,2613 03275 COF +4
015119,000881: 22,2614 00005 4
015120,000882: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
015121,000883: 22,2616 03273 COF +2
015122,000884: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015123,000885: 22,2620 00001 0
015124,000886: 22,2621 62415 DAD SL2
015125,000887: 22,2622 00007 6
015126,000888: 22,2623 77604 BOVB
015127,000889: 22,2624 21713 SIGNMPAC
015128,000890: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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Page 362 |
015130,000892: 22,2626 62421 BDSU SL2
015131,000893: 22,2627 77604 BOVB
015132,000894: 22,2630 21713 SIGNMPAC
015133,000895: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015134,000896: 22,2632 03273 COF +2
015135,000897: 22,2633 41205 DMP DMP
015136,000898: 22,2634 03275 COF +4
015137,000899: 22,2635 00005 4
015138,000900: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
015139,000901: 22,2637 03271 COF
015140,000902: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015141,000903: 22,2641 00001 0
015142,000904: 22,2642 62415 DAD SL2
015143,000905: 22,2643 00007 6
015144,000906: 22,2644 77604 BOVB
015145,000907: 22,2645 21713 SIGNMPAC
015146,000908: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015147,000909: 22,2647 62421 BDSU SL2
015148,000910: 22,2650 77604 BOVB
015149,000911: 22,2651 21713 SIGNMPAC
015150,000912: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015151,000913: 22,2653 77616 RVQ
015152,000914:
015153,000915: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015154,000916: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015155,000917: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015156,000918: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015157,000919:
015158,000920: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015159,000921:
015160,000922: # C = COS(THETA) COS(PSI)
015161,000923: # 0
015162,000924:
015163,000925: # C = -COS(THETA) SIN(PSI) COS(PHI) + SI (THETA) SIN(PHI)
015164,000926: # 1
015165,000927:
015166,000928: # C = COS(THETA) SIN(PSI) SIN(PHI) + S N(THETA) COS(PHI)
015167,000929: # 2
015168,000930:
015169,000931: # C = SIN(PSI)
015170,000932: # 3
015171,000933:
015172,000934: # C = COS(PSI) COS(PHI)
015173,000935: # 4
015174,000936:
015175,000937: # C = -COS(PSI) SIN(PHI)
015176,000938: # 5
015177,000939:
015178,000940: # C = -SIN(THETA) COS(PSI)
015179,000941: # 6
015180,000942:
015181,000943: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS THETA) SIN(PHI)
015182,000944: # 7
015183,000945:
015184,000946: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + CO (THETA)COS(PHI)
015185,000947: # 8
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015187,000949:
015188,000950: # WHERE PHI = OGA
015189,000951: # THETA = IGA
015190,000952: # PSI = MGA
015191,000953:
015192,000954: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015193,000955: 22,2655 00007 6,1
015194,000956: 22,2656 71406 PUSH COS # PD +0 PSI
015195,000957: 22,2657 41152 SL1 BOVB
015196,000958: 22,2660 21713 SIGNMPAC
015197,000959: 22,2661 00051 STORE S1
015198,000960: 22,2662 57543 DLOAD* DCOMP
015199,000961: 22,2663 00015 12D,1
015200,000962: 22,2664 67471 DDV ARCSIN
015201,000963: 22,2665 00051 S1
015202,000964: 22,2666 51123 PDDL* BPL # PD +2 THETA
015203,000965: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015204,000966: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015205,000967: 22,2671 57545 DLOAD DCOMP
015206,000968: 22,2672 43244 BPL DAD
015207,000969: 22,2673 44677 SUHALFA
015208,000970: 22,2674 06522 DPHALF
015209,000971: 22,2675 77650 GOTO
015210,000972: 22,2676 44701 CALCPHI
015211,000973: 22,2677 77625 SUHALFA DSU
015212,000974: 22,2700 06522 DPHALF
015213,000975: 22,2701 77606 CALCPHI PUSH
015214,000976: 22,2702 57543 OKTHETA DLOAD* DCOMP
015215,000977: 22,2703 00013 10D,1
015216,000978: 22,2704 67471 DDV ARCSIN
015217,000979: 22,2705 00051 S1
015218,000980: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015219,000981: 22,2707 00011 8D,1
015220,000982: 22,2710 44722 OKPHI
015221,000983: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015222,000984: 22,2712 43244 BPL DAD
015223,000985: 22,2713 44717 SUHALFAP
015224,000986: 22,2714 06522 DPHALF
015225,000987: 22,2715 77650 GOTO
015226,000988: 22,2716 44723 VECOFANG
015227,000989: 22,2717 52025 SUHALFAP DSU GOTO
015228,000990: 22,2720 06522 DPHALF
015229,000991: 22,2721 44723 VECOFANG
015230,000992: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015231,000993: 22,2723 43466 VECOFANG VDEF RVQ
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Page 364 |
015233,000995: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015234,000996:
015235,000997: 22,2724 77776 TOOBADF EXIT
015236,000998: 22,2725 05567 TC ALARM
015237,000999: 22,2726 00401 OCT 00401
015238,001000:
015239,001001: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015240,001002:
015241,001003: 22,2730 04616 TC BANKCALL
015242,001004: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015243,001005:
015244,001006: 22,2732 04616 NOGO TC BANKCALL
015245,001007: 22,2733 40166 CADR STOPRATE # STOP RATES
015246,001008:
015247,001009: 22,2734 34752 CAF TWO
015248,001010: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015249,001011: 22,2736 05203 TC WAITLIST
015250,001012: 22,2737 E6,1676 EBANK= BCDU
015251,001013: 22,2737 03234 44066 2CADR GOODMANU
015252,001014:
015253,001015: 22,2741 15155 TCF ENDOFJOB
015254,001016:
015255,001017: 22,2742 77776 TOOBADI EXIT
015256,001018: 22,2743 12732 TCF NOGO
015257,001019:
015258,001020:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc