Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
039762,000002: ## Copyright: Public domain.
039763,000003: ## Filename: FINDCDUW--GUIDAP_INTERFACE.agc
039764,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
039765,000005: ## It is part of the source code for the Lunar Module's (LM)
039766,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
039767,000007: ## Assembler: yaYUL
039768,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
039769,000009: ## Website: www.ibiblio.org/apollo.
039770,000010: ## Pages: 908-925
039771,000011: ## Mod history: 2009-05-28 HG Transcribed from page images.
039772,000012: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
039773,000013: ## and corrected the errors found.
039774,000014: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
039775,000015: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
039776,000016: ## side-by-side diff of Luminary 69/99/116/131/210.
039777,000017:
039778,000018: ## This source code has been transcribed or otherwise adapted from
039779,000019: ## digitized images of a hardcopy from the MIT Museum. The digitization
039780,000020: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
039781,000021: ## the Museum. Many thanks to both. The images (with suitable reduction
039782,000022: ## in storage size and consequent reduction in image quality as well) are
039783,000023: ## available online at www.ibiblio.org/apollo. If for some reason you
039784,000024: ## find that the images are illegible, contact me at info@sandroid.org
039785,000025: ## about getting access to the (much) higher-quality images which Paul
039786,000026: ## actually created.
039787,000027: ##
039788,000028: ## Notations on the hardcopy document read, in part:
039789,000029: ##
039790,000030: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
039791,000031: ## 16:27 JULY 14, 1969
039792,000032:
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Page 908 |
039794,000034: # PROGRAM NAME: FINDCDUW
039795,000035: # MOD NUMBER: 1 68 07 15
039796,000036: # MOD AUTHOR: KLUMPP
039797,000037:
039798,000038: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039799,000039: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039800,000040: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039801,000041: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039802,000042: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039803,000043: # MODES.
039804,000044: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039805,000045: # AUTOPILOT COMMANDS WHENEVER
039806,000046: # 1) NOT IN PNGCS-AUTO, OR
039807,000047: # 2) ENGINE IS OFF.
039808,000048:
039809,000049: # FUNCTIONAL DESCRIPTION:
039810,000050:
039811,000051: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039812,000052: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039813,000053: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039814,000054: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039815,000055: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039816,000056: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039817,000057: # ACCELERATIONS AVAILABLE).
039818,000058:
039819,000059: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039820,000060: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039821,000061: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039822,000062:
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Page 909 |
039824,000064: # SPECIFICATIONS:
039825,000065:
039826,000066: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039827,000067: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039828,000068:
039829,000069: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039830,000070: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039831,000071: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039832,000072:
039833,000073: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039834,000074: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039835,000075: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039836,000076: # WITHOUT ISSUING AUTOPILOT CMDS.
039837,000077: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039838,000078: # ISSUING AUTOPILOT CMDS.
039839,000079:
039840,000080: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039841,000081: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039842,000082: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039843,000083:
039844,000084: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039845,000085: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039846,000086: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039847,000087:
039848,000088: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039849,000089: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039850,000090: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039851,000091: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039852,000092: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039853,000093:
039854,000094: # OUTPUTS: DELCDUX,Y,Z
039855,000095: # OMEGAPD,+1,+2
039856,000096: # DELPEROR,+1,+2
039857,000097: # CPHI,+1,+2 FOR NOUN22
039858,000098:
039859,000099: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039860,000100: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039861,000101: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039862,000102:
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Page 910 |
039864,000104: # INITIALIZATION FOR FINDCDUW
039865,000105:
039866,000106: 30,3104 BANK 30
039867,000107: 30,2000 SETLOC FCDUW
039868,000108: 30,2000 BANK
039869,000109:
039870,000110: 30,3104 E6,1646 EBANK= ECDUW
039871,000111: 30,3104 COUNT* $$/FCDUW
039872,000112:
039873,000113: 30,3104 77775 INITCDUW VLOAD
039874,000114: 30,3105 06520 UNITX
039875,000115: 30,3106 03270 STORE UNFV/2
039876,000116: 30,3107 03262 STORE UNWC/2
039877,000117: 30,3110 77616 RVQ
039878,000118:
039879,000119: # FINDCDUW PRELIMINARIES
039880,000120:
039881,000121: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039882,000122: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039883,000123: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039884,000124: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
039885,000125: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039886,000126: 30,3116 77420 STQ EXIT
039887,000127: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
039888,000128:
039889,000129: # MORE HAUSKEEPING
039890,000130: 30,3120 33761 CA ECDUWL
039891,000131: 30,3121 56003 XCH EBANK # SET EBANK
039892,000132: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
039893,000133:
039894,000134: 30,3123 30111 CA DAPBOOLS
039895,000135: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039896,000136: 30,3125 10000 CCS A
039897,000137: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
039898,000138: 30,3127 55650 TS NDXCDUW
039899,000139:
039900,000140: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039901,000141: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039902,000142:
039903,000143: 30,3132 70111 MASK DAPBOOLS
039904,000144: 30,3133 55651 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039905,000145:
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Page 911 |
039907,000147: # FETCH BASIC DATA
039908,000148: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039909,000149:
039910,000150: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039911,000151: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039912,000152: 30,3137 30033 CA CDUY
039913,000153: 30,3140 54766 TS CDUSPOTY
039914,000154: 30,3141 30034 CA CDUZ
039915,000155: 30,3142 54770 TS CDUSPOTZ
039916,000156:
039917,000157: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
039918,000158: 30,3144 00006 EXTEND
039919,000159: 30,3145 02030 RAND CHAN30
039920,000160: 30,3146 10000 CCS A
039921,000161: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039922,000162:
039923,000163: 30,3150 34736 CA BIT14 # AUTO MODE BIT
039924,000164: 30,3151 00006 EXTEND
039925,000165: 30,3152 02031 RAND CHAN31
039926,000166: 30,3153 10000 CCS A
039927,000167: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039928,000168:
039929,000169: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039930,000170:
039931,000171: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039932,000172: 30,3157 54772 TS CDUSPOTX
039933,000173: 30,3160 31636 CA CDUYD
039934,000174: 30,3161 54766 TS CDUSPOTY
039935,000175: 30,3162 31637 CA CDUZD
039936,000176: 30,3163 54770 TS CDUSPOTZ
039937,000177:
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Page 912 |
039939,000179: # FETCH INPUTS
039940,000180: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039941,000181: 30,3165 77634 RTB
039942,000182: 30,3166 21726 NORMUNIT
039943,000183: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039944,000184: 30,3170 03262 UNWC/2
039945,000185: 30,3171 47034 RTB RTB
039946,000186: 30,3172 21726 NORMUNIT
039947,000187: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039948,000188: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039949,000189: 30,3175 00325 DELV
039950,000190: 30,3176 53404 BOVB UNIT
039951,000191: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039952,000192: 30,3200 45000 BOV CALL
039953,000193: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039954,000194: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039955,000195:
039956,000196: # THRUST DIRECTION FILTER
039957,000197:
039958,000198: 30,3203 77776 EXIT
039959,000199:
039960,000200: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039961,000201: 30,3205 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039962,000202: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039963,000203: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039964,000204:
039965,000205: 30,3210 31673 CA UNFVZ/2
039966,000206: 30,3211 22161 LXCH MPAC +5
039967,000207: 30,3212 03503 TC FLTRSUB
039968,000208: 30,3213 55673 TS UNFVZ/2
039969,000209:
039970,000210: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039971,000211:
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Page 913 |
039973,000213: # FIND A SUITABLE WINDOW POINTING VECTOR
039974,000214:
039975,000215: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039976,000216: 30,3216 03252 FLAGOODW
039977,000217: 30,3217 61223 FETCHZNB
039978,000218: 30,3220 45175 VLOAD CALL
039979,000219: 30,3221 00015 UNZ/2
039980,000220: 30,3222 61523 UNWCTEST
039981,000221:
039982,000222: 30,3223 77775 FETCHZNB VLOAD
039983,000223: 30,3224 02162 ZNBPIP
039984,000224: 30,3225 34015 STCALL UNZ/2
039985,000225: 30,3226 61523 UNWCTEST
039986,000226:
039987,000227: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039988,000228: 30,3230 02146 XNBPIP
039989,000229: 30,3231 00015 STORE UNZ/2
039990,000230:
039991,000231: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039992,000232:
039993,000233: 30,3232 47375 DCMCL VLOAD VXV
039994,000234: 30,3233 00015 UNZ/2
039995,000235: 30,3234 00001 UNX/2
039996,000236: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039997,000237: 30,3236 76435 VXV VSL1
039998,000238: 30,3237 00001 UNX/2
039999,000239: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
040000,000240: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040001,000241: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
040002,000242: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040003,000243: 30,3244 03272 UNFVY/2 # MUST BE SMALL
040004,000244: 30,3245 53372 VSL1 VAD
040005,000245: 30,3246 00001 UNX/2
040006,000246: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
040007,000247: 30,3250 00001 STORE UNX/2 # UNX/2
040008,000248: 30,3251 76435 VXV VSL1
040009,000249: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
040010,000250: 30,3253 00007 STORE UNY/2 # UNY/2
040011,000251: 30,3254 47276 VCOMP VXV
040012,000252: 30,3255 00001 UNX/2
040013,000253: 30,3256 77772 VSL1
040014,000254: 30,3257 00015 STORE UNZ/2 # UNZ/2
040015,000255:
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Page 914 |
040017,000257: # COMPUTE THE REQUIRED GIMBAL ANGLES
040018,000258:
040019,000259: 30,3260 77624 CALL
040020,000260: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040021,000261: 30,3262 77776 EXIT
040022,000262:
040023,000263: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040024,000264:
040025,000265: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
040026,000266: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040027,000267: 30,3265 33773 CA CDUZDLIM
040028,000268: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040029,000269: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
040030,000270: 30,3270 00006 EXTEND
040031,000271: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
040032,000272: 30,3272 00006 EXTEND
040033,000273: 30,3273 13275 BZF +2
040034,000274: 30,3274 13756 TCF ALARMMGA
040035,000275:
040036,000276: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
040037,000277:
040038,000278: 30,3276 22007 ZL
040039,000279: 30,3277 34752 CA TWO
040040,000280: 30,3300 54142 DELGMBLP TS TEM2
040041,000281:
040042,000282: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
040043,000283: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
040044,000284: 30,3303 70000 SQUARE
040045,000285: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
040046,000286: 30,3305 00006 EXTEND
040047,000287: 30,3306 63311 BZMF +3
040048,000288: 30,3307 34755 CA ZERO
040049,000289: 30,3310 55651 TS FLAGOODW
040050,000290:
040051,000291: 30,3311 50142 INDEX TEM2
040052,000292: 30,3312 30154 CA MPAC
040053,000293: 30,3313 50142 INDEX TEM2
040054,000294: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
040055,000295: 30,3315 00006 EXTEND
040056,000296: 30,3316 50142 INDEX TEM2
040057,000297: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
040058,000298: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
040059,000299: 30,3321 50142 INDEX TEM2
040060,000300: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040061,000301: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
040062,000302: 30,3324 10142 CCS TEM2
040063,000303: 30,3325 13300 TCF DELGMBLP
040064,000304:
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Page 915 |
040066,000306: # BRANCHES TO NOATTCNT
040067,000307: 30,3326 11652 CCS FLPAUTNO
040068,000308: 30,3327 13752 TCF NOATTCNT +2 # NOT PNGCS AUTO
040069,000309:
040070,000310: 30,3330 30101 CA FLAGWRD5
040071,000311: 30,3331 74745 MASK ENGONBIT
040072,000312: 30,3332 00006 EXTEND
040073,000313: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
040074,000314:
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Page 916 |
040076,000316: # LIMIT THE ATTITUDE ANGLE CHANGES
040077,000317:
040078,000318: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040079,000319: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
040080,000320: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040081,000321: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040082,000322:
040083,000323: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
040084,000324: # * * * * * *
040085,000325: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
040086,000326: # * * * * * *
040087,000327: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
040088,000328:
040089,000329: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
040090,000330: 30,3335 51650 INDEX NDXCDUW
040091,000331: 30,3336 33767 CA DAZMAX
040092,000332: 30,3337 03727 TC LIMITSUB
040093,000333: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
040094,000334:
040095,000335: 30,3341 31676 CA -DELGMB +1
040096,000336: 30,3342 00006 EXTEND
040097,000337: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
040098,000338: 30,3344 54001 TS L
040099,000339: 30,3345 51650 INDEX NDXCDUW
040100,000340: 30,3346 33771 CA DAY/2MAX
040101,000341: 30,3347 03727 TC LIMITSUB
040102,000342: 30,3350 00006 EXTEND
040103,000343: 30,3351 10746 DV COSCDUZ
040104,000344: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
040105,000345:
040106,000346: 30,3353 00006 EXTEND
040107,000347: 30,3354 70740 MP SINCDUZ
040108,000348: 30,3355 20001 DDOUBL
040109,000349: 30,3356 40000 COM
040110,000350: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040111,000351: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
040112,000352: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
040113,000353: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
040114,000354: 30,3363 33767 CA DAXMAX
040115,000355: 30,3364 03727 TC LIMITSUB
040116,000356: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
040117,000357: 30,3366 11651 CCS FLAGOODW
040118,000358: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040119,000359: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
040120,000360: 30,3371 41676 CS -DELGMB +1
040121,000361: 30,3372 00006 EXTEND
040122,000362: 30,3373 70740 MP SINCDUZ
040123,000363: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040124,000364: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
040125,000365: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040126,000366:
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Page 917 |
040128,000368: # COMPUTE COMMANDED ATTITUDE RATES
040129,000369:
040130,000370: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
040131,000371: # * * * * * *
040132,000372: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
040133,000373: # * * * * * *
040134,000374: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
040135,000375:
040136,000376: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040137,000377: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040138,000378: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040139,000379:
040140,000380: 30,3376 41675 CS -DELGMB
040141,000381: 30,3377 55643 TS OMEGAPD
040142,000382: 30,3400 41676 CS -DELGMB +1
040143,000383: 30,3401 00006 EXTEND
040144,000384: 30,3402 70740 MP SINCDUZ
040145,000385: 30,3403 20001 DDOUBL
040146,000386: 30,3404 27643 ADS OMEGAPD
040147,000387: 30,3405 27643 ADS OMEGAPD
040148,000388:
040149,000389: 30,3406 41676 CS -DELGMB +1
040150,000390: 30,3407 00006 EXTEND
040151,000391: 30,3410 70750 MP COSCDUX
040152,000392: 30,3411 20001 DDOUBL
040153,000393: 30,3412 00006 EXTEND
040154,000394: 30,3413 70746 MP COSCDUZ
040155,000395: 30,3414 55644 TS OMEGAQD
040156,000396: 30,3415 41677 CS -DELGMB +2
040157,000397: 30,3416 00006 EXTEND
040158,000398: 30,3417 70742 MP SINCDUX
040159,000399: 30,3420 27644 ADS OMEGAQD
040160,000400: 30,3421 27644 ADS OMEGAQD
040161,000401: 30,3422 27644 ADS OMEGAQD
040162,000402:
040163,000403: 30,3423 31676 CA -DELGMB +1
040164,000404: 30,3424 00006 EXTEND
040165,000405: 30,3425 70742 MP SINCDUX
040166,000406: 30,3426 20001 DDOUBL
040167,000407: 30,3427 00006 EXTEND
040168,000408: 30,3430 70746 MP COSCDUZ
040169,000409: 30,3431 55645 TS OMEGARD
040170,000410: 30,3432 41677 CS -DELGMB +2
040171,000411: 30,3433 00006 EXTEND
040172,000412: 30,3434 70750 MP COSCDUX
040173,000413: 30,3435 27645 ADS OMEGARD
040174,000414: 30,3436 27645 ADS OMEGARD
040175,000415: 30,3437 27645 ADS OMEGARD
040176,000416:
![]() |
Page 918 |
040178,000418: # FINAL TRANSFER
040179,000419:
040180,000420: 30,3440 34752 CA TWO
040181,000421: 30,3441 54142 CDUWXFR TS TEM2
040182,000422: 30,3442 50142 INDEX TEM2
040183,000423: 30,3443 31675 CA -DELGMB
040184,000424: 30,3444 00006 EXTEND
040185,000425: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
040186,000426: 30,3446 03743 TC ONESTO2S
040187,000427: 30,3447 50142 INDEX TEM2
040188,000428: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
040189,000429:
040190,000430: 30,3451 50142 INDEX TEM2
040191,000431: 30,3452 11643 CCS OMEGAPD
040192,000432: 30,3453 64753 AD ONE
040193,000433: 30,3454 13456 TCF +2
040194,000434: 30,3455 64753 AD ONE
040195,000435: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
040196,000436: 30,3457 50142 INDEX TEM2
040197,000437: 30,3460 71643 MP OMEGAPD
040198,000438: 30,3461 00006 EXTEND
040199,000439: 30,3462 74741 MP BIT11 # 1/16
040200,000440: 30,3463 00006 EXTEND
040201,000441: 30,3464 50142 INDEX TEM2 # 2
040202,000442: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
040203,000443: 30,3466 54001 TS L
040204,000444: 30,3467 33771 CA DELERLIM
040205,000445: 30,3470 03727 TC LIMITSUB
040206,000446: 30,3471 50142 INDEX TEM2
040207,000447: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040208,000448: 30,3473 10142 CCS TEM2
040209,000449: 30,3474 13441 TCF CDUWXFR
040210,000450:
040211,000451: # HAUSKEEPING AND RETURN
040212,000452:
040213,000453: 30,3475 31646 TCQCDUW CA ECDUWUSR
040214,000454: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
040215,000455:
040216,000456: 30,3477 06037 TC INTPRET
040217,000457: 30,3500 52001 SETPD GOTO
040218,000458: 30,3501 00001 0
040219,000459: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
040220,000460:
![]() |
Page 919 |
040222,000462: # THRUST VECTOR FILTER SUBROUTINE
040223,000463:
040224,000464: 30,3503 00006 FLTRSUB EXTEND
040225,000465: 30,3504 22142 QXCH TEM2
040226,000466: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
040227,000467: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040228,000468: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
040229,000469: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
040230,000470: 30,3511 51650 INDEX NDXCDUW
040231,000471: 30,3512 73762 MP GAINFLTR
040232,000472: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
040233,000473: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
040234,000474: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
040235,000475: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
040236,000476: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
040237,000477: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
040238,000478: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
040239,000479: 30,3522 00142 TC TEM2
040240,000480:
040241,000481: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040242,000482:
040243,000483: 30,3523 63441 UNWCTEST DOT DSQ
040244,000484: 30,3524 00001 UNX/2
040245,000485: 30,3525 50025 DSU BMN
040246,000486: 30,3526 21767 DOTSWFMX
040247,000487: 30,3527 61232 DCMCL
040248,000488: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040249,000489: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
040250,000490: 30,3532 00000 0
040251,000491:
![]() |
Page 920 |
040253,000493: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
040254,000494: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
040255,000495: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
040256,000496:
040257,000497: 30,3533 63545 NB2CDUSP DLOAD DSQ
040258,000498: 30,3534 00003 2
040259,000499: 30,3535 51021 BDSU BPL
040260,000500: 30,3536 06512 DP1/4TH
040261,000501: 30,3537 61542 +3
040262,000502: 30,3540 77745 DLOAD
040263,000503: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
040264,000504: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
040265,000505:
040266,000506: 30,3543 00006 EXTEND
040267,000507: 30,3544 30155 DCA MPAC
040268,000508: 30,3545 20001 DDOUBL
040269,000509: 30,3546 54145 TS TEM5
040270,000510: 30,3547 13552 TCF +3
040271,000511: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
040272,000512: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
040273,000513:
040274,000514: 30,3552 50120 INDEX FIXLOC
040275,000515: 30,3553 30002 CA 2
040276,000516: 30,3554 22154 LXCH MPAC
040277,000517: 30,3555 03622 TC ARCTRGSP
040278,000518: 30,3556 54156 TS MPAC +2 # CDUZ
040279,000519:
040280,000520: 30,3557 34755 CA ZERO
040281,000521: 30,3560 03600 TC DVBYCOSM
040282,000522: 30,3561 34751 CA FOUR
040283,000523: 30,3562 03600 TC DVBYCOSM
040284,000524: 30,3563 40141 CS TEM1
040285,000525: 30,3564 03622 TC ARCTRGSP
040286,000526: 30,3565 54155 TS MPAC +1 # CDUY
040287,000527:
040288,000528: 30,3566 34750 CA BIT4
040289,000529: 30,3567 03600 TC DVBYCOSM
040290,000530: 30,3570 33577 CA 16OCT
040291,000531: 30,3571 03600 TC DVBYCOSM
040292,000532: 30,3572 40141 CS TEM1
040293,000533: 30,3573 03622 TC ARCTRGSP
040294,000534: 30,3574 54154 TS MPAC # CDUX
040295,000535:
040296,000536: 30,3575 06037 TC INTPRET
040297,000537: 30,3576 77616 RVQ
040298,000538:
040299,000539: 30,3577 00016 16OCT OCT 16
040300,000540:
![]() |
Page 921 |
040302,000542: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040303,000543: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040304,000544: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
040305,000545: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040306,000546: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040307,000547: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040308,000548: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040309,000549:
040310,000550: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040311,000551: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040312,000552: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
040313,000553: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040314,000554:
040315,000555: 30,3600 60120 DVBYCOSM AD FIXLOC
040316,000556: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
040317,000557:
040318,000558: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
040319,000559: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
040320,000560: 30,3604 00006 EXTEND
040321,000561: 30,3605 63607 BZMF +2
040322,000562: 30,3606 40000 COM
040323,000563: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040324,000564: 30,3610 00006 EXTEND
040325,000565: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
040326,000566:
040327,000567: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
040328,000568: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
040329,000569: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
040330,000570: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
040331,000571: 30,3616 10145 DV TEM5
040332,000572: 30,3617 54001 TSL&TCQ TS L
040333,000573: 30,3620 22141 LXCH TEM1
040334,000574: 30,3621 00002 TC Q
040335,000575:
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Page 922 |
040337,000577: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040338,000578: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040339,000579: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040340,000580:
040341,000581: 30,3622 00006 ARCTRGSP EXTEND
040342,000582: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
040343,000583:
040344,000584: 30,3624 00006 EXTEND
040345,000585: 30,3625 22144 QXCH TEM4
040346,000586: 30,3626 54142 TS TEM2
040347,000587: 30,3627 30001 CA L
040348,000588: 30,3630 54143 TS TEM3
040349,000589: 30,3631 34755 CA ZERO
040350,000590: 30,3632 00006 EXTEND
040351,000591: 30,3633 10142 DV TEM2
040352,000592: 30,3634 00006 EXTEND
040353,000593: 30,3635 13654 BZF USECOS
040354,000594:
040355,000595: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
040356,000596: 30,3637 34755 CA ZERO
040357,000597: 30,3640 13644 TCF +4
040358,000598: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
040359,000599: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
040360,000600: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
040361,000601: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
040362,000602: 30,3645 30142 CA TEM2
040363,000603: 30,3646 03672 TC SPARCSIN -1
040364,000604: 30,3647 03743 TC ONESTO2S
040365,000605: 30,3650 00006 EXTEND
040366,000606: 30,3651 20143 MSU TEM3
040367,000607: 30,3652 03743 1TO2&TCQ TC ONESTO2S
040368,000608: 30,3653 00144 TC TEM4
040369,000609:
040370,000610: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
040371,000611: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
040372,000612: 30,3656 64736 AD HALF
040373,000613: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
040374,000614: 30,3660 10142 CCS TEM2
040375,000615: 30,3661 30143 CA TEM3
040376,000616: 30,3662 13652 TCF 1TO2&TCQ
040377,000617: 30,3663 40143 CS TEM3
040378,000618: 30,3664 13652 TCF 1TO2&TCQ
040379,000619:
040380,000620: 30,3665 10001 SINZERO CCS L
040381,000621: 30,3666 34755 CA ZERO
040382,000622: 30,3667 00002 TC Q
040383,000623: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
040384,000624: 30,3671 00002 TC Q
040385,000625:
![]() |
Page 923 |
040387,000627: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040388,000628: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
040389,000629: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040390,000630: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
040391,000631:
040392,000632: 30,3672 60000 DOUBLE
040393,000633: 30,3673 54021 SPARCSIN TS SR
040394,000634: 30,3674 13700 TCF +4
040395,000635: 30,3675 50000 INDEX A
040396,000636: 30,3676 44734 CS LIMITS
040397,000637: 30,3677 54021 TS SR
040398,000638: 30,3700 00006 EXTEND
040399,000639: 30,3701 70000 MP A
040400,000640: 30,3702 54141 TS TEM1
040401,000641: 30,3703 00006 EXTEND
040402,000642: 30,3704 73726 MP DPL9
040403,000643: 30,3705 63725 AD DPL7
040404,000644: 30,3706 00006 EXTEND
040405,000645: 30,3707 70141 MP TEM1
040406,000646: 30,3710 63724 AD DPL5
040407,000647: 30,3711 00006 EXTEND
040408,000648: 30,3712 70141 MP TEM1
040409,000649: 30,3713 63723 AD DPL3
040410,000650: 30,3714 00006 EXTEND
040411,000651: 30,3715 70141 MP TEM1
040412,000652: 30,3716 63722 AD DPL1
040413,000653: 30,3717 00006 EXTEND
040414,000654: 30,3720 70021 MP SR
040415,000655: 30,3721 00002 TC Q
040416,000656: 30,3722 24406 DPL1 DEC 10502 B-14
040417,000657: 30,3723 00660 DPL3 DEC 432 B-14
040418,000658: 30,3724 16204 DPL5 DEC 7300 B-14
040419,000659: 30,3725 50744 DPL7 DEC -11803 B-14
040420,000660: 30,3726 20315 DPL9 DEC 8397 B-14
040421,000661:
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Page 924 |
040423,000663: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040424,000664: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040425,000665: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040426,000666:
040427,000667: # VERSION COURTESY HUGH BLAIR-SMITH
040428,000668:
040429,000669: 30,3727 54141 LIMITSUB TS TEM1
040430,000670: 30,3730 34755 CA ZERO
040431,000671: 30,3731 00006 EXTEND
040432,000672: 30,3732 10141 DV TEM1
040433,000673: 30,3733 10000 CCS A
040434,000674: 30,3734 22141 LXCH TEM1
040435,000675: 30,3735 13737 TCF +2
040436,000676: 30,3736 13741 TCF +3
040437,000677: 30,3737 30001 CA L
040438,000678: 30,3740 00002 TC Q
040439,000679: 30,3741 40141 CS TEM1
040440,000680: 30,3742 00002 TC Q
040441,000681:
040442,000682: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040443,000683:
040444,000684: 30,3743 10000 ONESTO2S CCS A
040445,000685: 30,3744 64753 AD ONE
040446,000686: 30,3745 00002 TC Q
040447,000687: 30,3746 40000 CS A
040448,000688: 30,3747 00002 TC Q
040449,000689:
040450,000690: # NO ATTITUDE CONTROL
040451,000691:
040452,000692: 30,3750 05567 NOATTCNT TC ALARM
040453,000693: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
040454,000694:
040455,000695: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
040456,000696: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
040457,000697: 30,3754 40165 FCADR STOPRATE
040458,000698: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
040459,000699:
040460,000700: # MIDDLE GIMBAL ANGLE ALARM
040461,000701:
040462,000702: 30,3756 05567 ALARMMGA TC ALARM
040463,000703: 30,3757 00401 OCT 00401
040464,000704: 30,3760 13275 TCF MGARET
040465,000705:
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Page 925 |
040467,000707: # ************************************************************************
040468,000708: # CONSTANTS
040469,000709: # ************************************************************************
040470,000710:
040471,000711: # ADDRESS CONSTANTS
040472,000712:
040473,000713: 30,3761 03246 ECDUWL ECADR ECDUW
040474,000714:
040475,000715: # THRUST DIRECTION FILTER CONSTANTS
040476,000716:
040477,000717: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
040478,000718: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
040479,000719:
040480,000720: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040481,000721: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
040482,000722:
040483,000723: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
040484,000724: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040485,000725:
040486,000726: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
040487,000727:
040488,000728: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
040489,000729: # LOWER PART COMES FROM NEXT CONSTANT
040490,000730:
040491,000731: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
040492,000732: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
040493,000733:
040494,000734: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
040495,000735: 30,3772 00133 DEC .0055555555
040496,000736:
040497,000737: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
040498,000738:
040499,000739: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
040500,000740:
040501,000741: # CONSTANTS FOR DATA TRANSFER
040502,000742:
040503,000743: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
040504,000744: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
040505,000745:
040506,000746: 30,3775 30,3771 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
040507,000747:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc