Source Code
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These source code files have been transcribed or otherwise adapted from
digitized images of a hardcopy from the private collection of
Don Eyles. The digitization was performed by archive.org, and
transcription was performed by a team of volunteers.
Note that the page images
presented online are of reduced quality, and that the original
high-quality images are available at archive.org.
Report any conversion errors or legibility problems in page images to info@sandroid.org.
Notations on the program listing read, in part:473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966Note that the date is the date of the printout, not the date of the program revision. |
022650,000002: ## Copyright: Public domain.
022651,000003: ## Filename: P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
022652,000004: ## Purpose: Part of the source code for Aurora (revision 12).
022653,000005: ## Assembler: yaYUL
022654,000006: ## Contact: Ron Burkey <info@sandroid.org>.
022655,000007: ## Website: https://www.ibiblio.org/apollo.
022656,000008: ## Pages: 542-556
022657,000009: ## Mod history: 2016-09-20 JL Created.
022658,000010: ## 2016-10-02 MAS Began.
022659,000011: ## 2016-10-03 MAS Completed.
022660,000012: ## 2016-10-04 HG add missed instruction TS TOFJTCHG
022661,000013: ## comment code look alike
022662,000014: ## JSATCHG -> JTSATCHG
022663,000015: ## 2016-10-15 HG Fix operand BITS13-14 -> BIT13-14
022664,000016: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
022665,000017: ## and fixed the errors found.
022666,000018:
022667,000019: ## This source code has been transcribed or otherwise adapted from
022668,000020: ## digitized images of a hardcopy from the private collection of
022669,000021: ## Don Eyles. The digitization was performed by archive.org.
022670,000022:
022671,000023: ## Notations on the hardcopy document read, in part:
022672,000024:
022673,000025: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
022674,000026: ## NOV 10, 1966
022675,000027:
022676,000028: ## [Note that this is the date the hardcopy was made, not the
022677,000029: ## date of the program revision or the assembly.]
022678,000030:
022679,000031: ## The scan images (with suitable reduction in storage size and consequent
022680,000032: ## reduction in image quality) are available online at
022681,000033: ## https://www.ibiblio.org/apollo.
022682,000034: ## The original high-quality digital images are available at archive.org:
022683,000035: ## https://archive.org/details/aurora00dapg
022684,000036:
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Page 542 |
022686,000038: 23,2000 BANK 23
022687,000039: 23,2000 E6,1551 EBANK= DT
022688,000040:
022689,000041: # THE FOLLOWING SECTION DRIVES THE ATTITUDE ERROR NEEDLES IN THE "EIGHT-BALL" DISPLAY:
022690,000042:
022691,000043: 23,2000 22765 EIGHTBAL LXCH DAPBOOLS # ATTITUDE ERRORS DISPLAYED EVERY
022692,000044: 23,2001 37651 CAF BIT7 # OTHER DAP CYCLE (.2 SECS)
022693,000045: 23,2002 00006 EXTEND # CHANGE STATE OF FLAG
022694,000046: 23,2003 06001 RXOR L
022695,000047: 23,2004 54765 TS DAPBOOLS # FLAG WORD RESTORE
022696,000048: 23,2005 77651 MASK BIT7
022697,000049: 23,2006 00006 EXTEND # ZERO AS NEW STATE MEANS
022698,000050: 23,2007 12146 BZF PAXFILT # NO DISPLAY THIS CYCLE
022699,000051:
022700,000052: 23,2010 37656 ATERDSPY CAF TWO # INIT. INDEX WORD
022701,000053: 23,2011 54065 TS ITEMP1
022702,000054: 23,2012 50000 INDEX A
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The above two instructions have a line drawn by them, with handwritten notes "CA TS T5M". |
022704,000056: 23,2013 11476 CCS PERROR # LOOK AT CURRENT ATT ERROR
022705,000057: 23,2014 12037 TCF ERLIMCHK # HAVE E VALUE GET MAGNITUDE
022706,000058: 23,2015 12017 TCF ZERR # ZERO VALUE
022707,000059: 23,2016 12037 TCF ERLIMCHK # GET MAGNITUDE
022708,000060: 23,2017 50065 ZERR INDEX ITEMP1
022709,000061: 23,2020 41476 CS PERROR
022710,000062: 23,2021 50065 INDEX ITEMP1
022711,000063: 23,2022 57473 XCH LASTPER # SAVE CURRENT E, LOAD LAST E (NEG)
022712,000064: 23,2023 50065 INDEX ITEMP1
022713,000065: 23,2024 61476 AD PERROR # GET DIFF E(N-2) - E(N)
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"INDEX ITEMP1" and "PERROR" above are crossed out. Next to them the word "TEMP" is written in. |
022715,000067: 23,2025 00006 EXTEND
022716,000068: 23,2026 77643 MP BIT13 # SHIFT RIGHT 2
022717,000069: 23,2027 50065 INDEX ITEMP1
022718,000070: 23,2030 54050 TS CDUXCMD # STORE CMD E VALUE
022719,000071: 23,2031 10065 CCS ITEMP1
022720,000072: 23,2032 12011 TCF ATERDSPY +1 # GET NEXT E
022721,000073:
022722,000074: 23,2033 33405 CA OCT70000 # ICDU DRIVE BITS 13,14,15
022723,000075: 23,2034 00006 EXTEND
022724,000076: 23,2035 05014 WOR 14 # DRIVE AWAY
022725,000077: 23,2036 12146 TCF PAXFILT # ATT ERROR DISPLAY DONE FOR THIS CYCLE
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The above four instructions are circled. "OCT70000" is scratched out, and "BIT16" is written by it. "14" is also crossed out, with "12" written by it. 14, however, was the correct channel, so why it's crossed out like this is a mystery. |
022729,000081:
022730,000082: 23,2037 67657 ERLIMCHK AD BIT1 # HAVE MAG OF E, SEE IF GREATER THAN
022731,000083: 23,2040 40000 COM # 5 DEGREES
022732,000084: 23,2041 65040 AD 5DEGS
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The above three instructions are circled, and "AD-5+1" is written by them |
022734,000086: 23,2042 00006 EXTEND
022735,000087: 23,2043 62045 BZMF BIGATER # ERROR GREATER THAN 5 DEGS, DSPY 5 DEGS
022736,000088: 23,2044 12017 TCF ZERR # E LESS THAN 5 DEGS, NORMAL PROCED
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"BIGATER" and "TCF ZERR" above are circled, with "ZERR" written next to them. |
022738,000090:
022739,000091: 23,2045 50065 BIGATER INDEX ITEMP1
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The above instruction is circled. |
022741,000093: 23,2046 11476 CCS PERROR # GET SIGN OF BIG ERROR
022742,000094: 23,2047 35040 CA 5DEGS
022743,000095: 23,2050 12052 TCF +2 # CANT BE ZERO HERE
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Page 543 |
022745,000097: 23,2051 45040 CS 5DEGS
022746,000098: 23,2052 50065 INDEX ITEMP1
022747,000099: 23,2053 55476 TS PERROR # SET BIG ERROR TO 5DEGS
022748,000100: 23,2054 12017 TCF ZERR
022749,000101:
022750,000102: # END OF ATTITUDE ERROR NEEDLE DRIVER. (SHOULD GO IN-LINE SOMETIME.)
022751,000103:
022752,000104:
022753,000105: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
022754,000106: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
022755,000107:
022756,000108: 23,2055 33072 PAXIS CAF MS30P # RESET TIMER IMMEDIATELY: DT = 30 MS
022757,000109: 23,2056 54030 TS TIME5
022758,000110:
022759,000111: 23,2057 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
022760,000112: 23,2060 00006 EXTEND
022761,000113: 23,2061 22012 QXCH QRUPT
022762,000114:
022763,000115: # CHECK TO SEE IF DAP IS STILL IN USE:
022764,000116:
022765,000117: 23,2062 00006 EXTEND # IF BOTH BITS 13 AND 14 OF CHANNEL 31 ARE
022766,000118: 23,2063 00031 READ 31 # EQUAL TO 1, THEN THE SCS MODE SWITCH IS
022767,000119: 23,2064 40000 COM # IN THE OFF POSITION. ACTUALLY, THE TEST
022768,000120: 23,2065 77700 MASK BIT13-14 # IS MADE ON BOTH THE ATTITUDE HOLD AND
022769,000121: 23,2066 00006 EXTEND # AUTOMATIC MODE BITS.
022770,000122: 23,2067 13124 BZF GOIDLE
022771,000123:
022772,000124: # WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE.
022773,000125:
022774,000126: 23,2070 00006 EXTEND # T5ADR IS SET TO EITHER FILTER OR
022775,000127: 23,2071 31602 DCA PFILTADR # DUMMYFIL IN A BLIND MANNER SINCE
022776,000128: 23,2072 52346 DXCH T5ADR # PFILTADR IS SET UP ELSEWHERE
022777,000129:
022778,000130: # DO P AXIS RATE DERIVATION AND CONTROL LAW.
022779,000131: # DERIVE DELTA P.
022780,000132:
022781,000133: 23,2073 30032 FILT/PAX CAE CDUX
022782,000134: 23,2074 54001 TS L
022783,000135: 23,2075 00006 EXTEND
022784,000136: 23,2076 21431 MSU OLDXFORP # SCALED AT PI
022785,000137: 23,2077 23431 LXCH OLDXFORP
022786,000138: 23,2100 00006 EXTEND
022787,000139: 23,2101 77651 MP BIT7
022788,000140: 23,2102 22066 LXCH DELTAP # SCALE AT PI/2(6)
022789,000141: 23,2103 30033 CA CDUY
022790,000142: 23,2104 54001 TS L
022791,000143: 23,2105 00006 EXTEND
022792,000144: 23,2106 21432 MSU OLDYFORP # SCALED AT PI
022793,000145: 23,2107 23432 LXCH OLDYFORP
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Page 544 |
022795,000147: 23,2110 00006 EXTEND
022796,000148: 23,2111 77651 MP BIT7 # INTO L SCALED AT PI/2(6)
022797,000149: 23,2112 31404 CA M11 # M11 SCALED AT 1
022798,000150: 23,2113 00006 EXTEND
022799,000151: 23,2114 70001 MP L # INTO A SCALED AT PI/2(6).
022800,000152: 23,2115 60066 AD DELTAP
022801,000153: 23,2116 00006 EXTEND
022802,000154: 23,2117 71655 MP WFORP # SCALED AT 2(4)=16, RESULT IN A AT PI/4.
022803,000155: 23,2120 57416 XCH OMEGAP # W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A.
022804,000156: 23,2121 00006 EXTEND
022805,000157: 23,2122 73066 MP ONE-K # SCALED AT 1.
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"ONE-K" is circled on the above line in red. |
022807,000159: 23,2123 61615 AD JETRATE # RATE DUE TO JETS TORQUING.
022808,000160: 23,2124 27416 ADS OMEGAP # PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF
022809,000161: 23,2125 04177 TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED
022810,000162:
022811,000163: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
022812,000164:
022813,000165: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
022814,000166: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
022815,000167:
022816,000168: 23,2126 37656 CAF TWO # SET UP LOOP TO DO Z,Y,X CDU AXES:
022817,000169: 23,2127 54073 KALCLOOP TS QRCNTR
022818,000170:
022819,000171: 23,2130 50073 INDEX QRCNTR # KALCMANU AND RATE-HOLD USE THIS SECTION
022820,000172: 23,2131 30774 CAE CDUXD # TO PERFORM THEIR INDEPENDENT FUNCTIONS:
022821,000173: 23,2132 00006 EXTEND # BOTH PROCEDURES SET UP THE DELCUD'S
022822,000174: 23,2133 50073 INDEX QRCNTR # TO HAVE THE NEGATIVE VALUE OF THE
022823,000175: 23,2134 21673 MSU DELCDUX # DESIRED CDU CHANGE FOR EACH 100 MS CSP
022824,000176: 23,2135 10000 CCS A # DURING THE MANEUVER (OR MODE). EACH IS
022825,000177: 23,2136 67657 AD ONE # STORED AT PI RADIANS IN 2'S COMPLEMENT.
022826,000178: 23,2137 12141 TCF +2 # SINCE THE MODULAR SUBTRACT YIELDS THE
022827,000179: 23,2140 40000 COM # NEW CDUD VALUE IN 1'S COMPLEMENT, THE
022828,000180: 23,2141 50073 INDEX QRCNTR # CCS SECTION IS NEEDED FOR 1'S TO 2'S
022829,000181: 23,2142 54774 TS CDUXD # CONVERSION OF DESIRED CDU ANGLES.
022830,000182:
022831,000183: 23,2143 10073 CCS QRCNTR # (THIS MAKES THE LOOP DO ALL THREE AXES
022832,000184: 23,2144 12127 TCF KALCLOOP # IN THE ORDER Z, Y, X.)
022833,000185:
022834,000186:
022835,000187: 23,2145 12000 TCF EIGHTBAL
022836,000188:
022837,000189: 23,2146 01613 PAXFILT TC PJUMPADR
022838,000190: 23,2147 33361 SKIPPAXS CA VISFZADR
022839,000191: 23,2150 55613 TS PJUMPADR
022840,000192: 23,2151 37665 CA ZERO
022841,000193: 23,2152 55615 TS JETRATE
022842,000194: 23,2153 31625 CA TP
022843,000195: 23,2154 63071 AD NEGCSP1
022844,000196: 23,2155 10000 CCS A
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Page 545 |
022846,000198: 23,2156 02167 TC PTORQUE
022847,000199: 23,2157 14606 TCF RESUME
022848,000200: 23,2160 02167 TC PTORQUE
022849,000201: 23,2161 41615 CS JETRATE
022850,000202: 23,2162 27416 ADS OMEGAP
022851,000203: 23,2163 37665 CA ZERO
022852,000204: 23,2164 55615 TS JETRATE
022853,000205: 23,2165 14606 TCF RESUME
022854,000206: 23,2166 20000 (1-K)/8P OCTAL 20000
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The above line is crossed out in red. |
022856,000208: 23,2167 67657 PTORQUE AD ONE
022857,000209: 23,2170 00006 EXTEND
022858,000210: 23,2171 77653 MP BIT5
022859,000211: 23,2172 30001 CA L
022860,000212: 23,2173 00006 EXTEND
022861,000213: 23,2174 73074 MP 16/25
022862,000214: 23,2175 55625 TS TP
022863,000215: 23,2176 31655 CA WFORP
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There is an "E" written in red after "CA" above, indicating that it should be changed to "CAE". |
022865,000217: 23,2177 62166 AD (1-K)/8P
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The "P" in "(1-K)/8P" is circled. |
022867,000219: 23,2200 00006 EXTEND
022868,000220: 23,2201 71625 MP TP
022869,000221: 23,2202 00006 EXTEND
022870,000222: 23,2203 77654 MP BIT4
022871,000223: 23,2204 31627 CA 1JACC
022872,000224: 23,2205 00006 EXTEND
022873,000225: 23,2206 70001 MP L
022874,000226: 23,2207 00006 EXTEND
022875,000227: 23,2210 71624 MP NO.PJETS
022876,000228: 23,2211 23615 LXCH JETRATE
022877,000229: 23,2212 00002 TC Q
022878,000230: 23,2213 37647 CHKVISFZ CAF BIT9 # VISIBILITY PHASE BIT
022879,000231: 23,2214 70765 MASK DAPBOOLS
022880,000232: 23,2215 00006 EXTEND
022881,000233: 23,2216 12220 BZF +2
022882,000234: 23,2217 12617 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
022883,000235:
022884,000236: 23,2220 37646 CAF BIT10 # BIT10=1 FOR RHC MINIMUM IMPULSE MODE
022885,000237: 23,2221 70765 MASK DAPBOOLS
022886,000238: 23,2222 00006 EXTEND
022887,000239: 23,2223 12305 BZF DETENTCK # BRANCH FOR RATE COMMAND
022888,000240:
022889,000241: 23,2224 30773 CAE DELAYCTR # SET BY RUPT10 TO TWO
022890,000242: 23,2225 00006 EXTEND
022891,000243: 23,2226 12260 BZF BITSGONE # CHECK FOR ALL SWITCHES OPEN
022892,000244:
022893,000245: 23,2227 43102 CS -TJMINT6
022894,000246: 23,2230 55505 TS TOFJTCHG
022895,000247:
022896,000248: 23,2231 55625 TS TP # FOR RATE DERIVATION
022897,000249: 23,2232 37655 CA BIT3
022898,000250: 23,2233 00006 EXTEND
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Page 546 |
022900,000252: 23,2234 02031 RAND 31
022901,000253: 23,2235 00006 EXTEND
022902,000254: 23,2236 12251 BZF +MINIMP
022903,000255:
022904,000256: 23,2237 37654 CA BIT4
022905,000257: 23,2240 00006 EXTEND
022906,000258: 23,2241 02031 RAND 31
022907,000259: 23,2242 00006 EXTEND
022908,000260: 23,2243 12253 BZF -MINIMP
022909,000261:
022910,000262: 23,2244 10773 CCS DELAYCTR # DELAYCTR ALWAYS PNZ HERE
022911,000263: 23,2245 54773 TS DELAYCTR
022912,000264: 23,2246 00006 EXTEND
022913,000265: 23,2247 12277 BZF PLETRUPT
022914,000266: 23,2250 12612 TCF JETSOFF
022915,000267:
022916,000268: 23,2251 37657 +MINIMP CAF BIT1
022917,000269: 23,2252 12254 TCF +2
022918,000270: 23,2253 47657 -MINIMP CS BIT1
022919,000271: 23,2254 55440 +2 TS TPSIG
022920,000272: 23,2255 37665 CAF ZERO
022921,000273: 23,2256 54773 TS DELAYCTR
022922,000274: 23,2257 12462 TCF 2PJETS
022923,000275:
022924,000276: 23,2260 00006 BITSGONE EXTEND # ARE SWITCHES ALL OPEN
022925,000277: 23,2261 00031 READ 31
022926,000278: 23,2262 40000 COM
022927,000279: 23,2263 73103 MASK DAPLOW6
022928,000280: 23,2264 00006 EXTEND
022929,000281: 23,2265 12267 BZF +2
022930,000282: 23,2266 12612 TCF JETSOFF
022931,000283:
022932,000284: 23,2267 37654 CAF BIT4 # BIT4 OF DAPBOOLS ZERO IF PREVIOUS
022933,000285: 23,2270 70765 MASK DAPBOOLS # READING OF 31 FOUND ALL SWITCHES OPEN
022934,000286: 23,2271 00006 EXTEND
022935,000287: 23,2272 12277 BZF PLETRUPT
022936,000288:
022937,000289: 23,2273 47654 CS BIT4
022938,000290: 23,2274 70765 MASK DAPBOOLS
022939,000291: 23,2275 54765 TS DAPBOOLS
022940,000292: 23,2276 12612 TCF JETSOFF
022941,000293:
022942,000294: 23,2277 37654 PLETRUPT CAF BIT4
022943,000295: 23,2300 26765 ADS DAPBOOLS
022944,000296: 23,2301 37644 CAF BIT12
022945,000297: 23,2302 00006 EXTEND
022946,000298: 23,2303 05013 WOR 13
022947,000299: 23,2304 12612 TCF JETSOFF
022948,000300: 23,2305 37641 DETENTCK CA BIT15
022949,000301: 23,2306 00006 EXTEND
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Page 547 |
022951,000303: 23,2307 02031 RAND 31 # CHECK OUT-OF-DETENT BIT.INVERTED.
022952,000304: 23,2310 00006 EXTEND
022953,000305: 23,2311 12346 BZF RHCMOVED # BRANCH IF OUT OF DETENT
022954,000306: # ........................................................................
022955,000307: 23,2312 37657 CAF BIT1 # IN DETENT.CHECK THE RATE COMMAND BIT
022956,000308: 23,2313 70765 MASK DAPBOOLS # BIT1 OF DAPBOOLS IS RATE COMMAND BIT
022957,000309: 23,2314 00006 EXTEND
022958,000310: 23,2315 12617 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND
022959,000311: # ........................................................................
022960,000312: 23,2316 37643 CAF BIT13 # CHECK ATTITUDE HOLD BIT
022961,000313: 23,2317 00006 EXTEND
022962,000314: 23,2320 02031 RAND 31
022963,000315: 23,2321 00006 EXTEND
022964,000316: 23,2322 12417 BZF JOEY # BRANCH IF IN ATTITUDE HOLD
022965,000317: # ........................................................................
022966,000318: 23,2323 11416 CCS OMEGAP # HERE IF IN Y-AXIS OVER-RIDE
022967,000319: 23,2324 12330 TCF +4
022968,000320: 23,2325 12334 TCF RATEDONE
022969,000321: 23,2326 12330 TCF +2
022970,000322: 23,2327 12334 TCF RATEDONE
022971,000323: 23,2330 61506 AD -RATEDB
022972,000324: 23,2331 00006 EXTEND
022973,000325: 23,2332 62334 BZMF RATEDONE
022974,000326: 23,2333 12417 TCF JOEY
022975,000327:
022976,000328: 23,2334 47657 RATEDONE CS BIT1
022977,000329: 23,2335 70765 MASK DAPBOOLS
022978,000330: 23,2336 54765 TS DAPBOOLS
022979,000331:
022980,000332: # READ CDUS INTO CDU DESIRED REGISTERS
022981,000333:
022982,000334: 23,2337 30032 CA CDUX
022983,000335: 23,2340 54774 TS CDUXD
022984,000336: 23,2341 30033 CA CDUY
022985,000337: 23,2342 54775 TS CDUYD
022986,000338: 23,2343 30034 CA CDUZ
022987,000339: 23,2344 54776 TS CDUZD
022988,000340:
022989,000341: 23,2345 12612 TCF JETSOFF
022990,000342:
022991,000343: 23,2346 37657 RHCMOVED CAF BIT1 # CHECKING THE RATE COMMAND BIT
022992,000344: 23,2347 70765 MASK DAPBOOLS
022993,000345: 23,2350 00006 EXTEND
022994,000346: 23,2351 12371 BZF JUSTOUT
022995,000347:
022996,000348: # READ,ZERO, AND ENABLE COUNTERS
022997,000349: # SYSTEM HAS BEEN IN RATE COMMAND FOR AT LEAST THE TIME OF A CAP CHARGE
022998,000350:
022999,000351: 23,2352 30043 CAE P-RHCCTR # 1 BIT IN P-RHCCTR WORTH 0.6256 DEG/SEC
023000,000352: 23,2353 00006 EXTEND
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Page 548 |
023002,000354: 23,2354 77647 MP BIT9
023003,000355: 23,2355 30001 CA L
023004,000356: 23,2356 00006 EXTEND
023005,000357: 23,2357 73073 MP 0.88975
023006,000358: 23,2360 55441 TS PRATECOM # COMMANDED RATE SCALED AT PI/4
023007,000359:
023008,000360: 23,2361 37665 CAF ZERO # ZERO COUNTERS
023009,000361: 23,2362 54043 TS P-RHCCTR
023010,000362: 23,2363 54042 TS Q-RHCCTR
023011,000363: 23,2364 54044 TS R-RHCCTR
023012,000364: 23,2365 33111 CA BITS8,9 # ENABALE COUNTERS, START READING
023013,000365: 23,2366 00006 EXTEND
023014,000366: 23,2367 05013 WOR 13
023015,000367: 23,2370 12421 TCF OBEYRATE
023016,000368: # ........................................................................
023017,000369: 23,2371 24765 JUSTOUT INCR DAPBOOLS # ALWAYS SETS BIT1 ON RATE COMMAND BIT
023018,000370: 23,2372 37656 CAF BIT2
023019,000371: 23,2373 00006 EXTEND
023020,000372: 23,2374 02030 RAND 30
023021,000373: 23,2375 00006 EXTEND
023022,000374: 23,2376 12403 BZF +5 # BRANCH FOR ASCENT CONSTANTS
023023,000375:
023024,000376: 23,2377 33076 CAF -D2JTLIM # -1.4 DEG/SEC SCALED AT PI/4
023025,000377: 23,2400 55507 TS -2JETLIM
023026,000378: 23,2401 33075 CAF -DRATEDB # -0.4 DEG/SEC SCALED AT PI/4
023027,000379: 23,2402 12406 TCF +4
023028,000380:
023029,000381: 23,2403 33077 +5 CAF -A2JTLIM # -2.0 DEG/SEC SCALED AT PI/4
023030,000382: 23,2404 55507 TS -2JETLIM
023031,000383: 23,2405 33100 CAF -ARATEDB # -1.0 DEG/SEC SCALED AT PI/4
023032,000384: 23,2406 55506 +4 TS -RATEDB
023033,000385:
023034,000386: 23,2407 37665 CAF ZERO # ZERO COUNTERS
023035,000387: 23,2410 54043 TS P-RHCCTR
023036,000388: 23,2411 54042 TS Q-RHCCTR
023037,000389: 23,2412 54044 TS R-RHCCTR
023038,000390: 23,2413 33111 CA BITS8,9
023039,000391: 23,2414 00006 EXTEND
023040,000392: 23,2415 05013 WOR 13
023041,000393: 23,2416 12612 TCF JETSOFF
023042,000394: # ........................................................................
023043,000395: 23,2417 37665 JOEY CAF ZERO
023044,000396: 23,2420 55441 TS PRATECOM
023045,000397:
023046,000398: # IN THIS SECTION P RATE ERROR IS COMPUTED AND T-JET IS CALCULATED
023047,000399:
023048,000400: 23,2421 41416 OBEYRATE CS OMEGAP
023049,000401: 23,2422 61441 AD PRATECOM
023050,000402: 23,2423 55440 TS TPSIG # SIGN STORAGE TO TELL DIRECTION OF ROT.
023051,000403: 23,2424 10000 OBEYRAPE CCS A # GET ABVAL OF RATE P-ERROR
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Page 549 |
023053,000405: 23,2425 12431 TCF +4
023054,000406: 23,2426 12612 TCF JETSOFF
023055,000407: 23,2427 12431 TCF +2
023056,000408: 23,2430 12612 TCF JETSOFF
023057,000409: 23,2431 67657 AD BIT1
023058,000410: 23,2432 55472 TS PRATEDIF # ABVAL OF RATE ERROR SCALED AT PI/4
023059,000411:
023060,000412: 23,2433 04177 TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED
023061,000413:
023062,000414: 23,2434 31506 CA -RATEDB
023063,000415: 23,2435 61472 AD PRATEDIF
023064,000416: 23,2436 00006 EXTEND
023065,000417: 23,2437 62612 BZMF JETSOFF # RATE ERROR INSIDE DEADBAND
023066,000418:
023067,000419: 23,2440 41472 CS PRATEDIF
023068,000420: 23,2441 00006 EXTEND
023069,000421: 23,2442 61507 SU -2JETLIM
023070,000422: 23,2443 00006 EXTEND
023071,000423: 23,2444 62537 BZMF RCM4JETS
023072,000424:
023073,000425: 23,2445 31472 CA PRATEDIF # 2 JETS ENOUGH.COMPUTE TJET
023074,000426: 23,2446 00006 EXTEND
023075,000427: 23,2447 71444 MP 1/2JTSP # 1/2JTACC SCALED AT 2EXP(8)/PI
023076,000428: 23,2450 00006 EXTEND
023077,000429: 23,2451 77654 MP BIT4
023078,000430: 23,2452 30001 CA L
023079,000431: 23,2453 00006 EXTEND
023080,000432: 23,2454 73101 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
023081,000433: 23,2455 55625 TS TP
023082,000434:
023083,000435: # ........................................................................
023084,000436: # CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE
023085,000437: 23,2456 55505 TS TOFJTCHG
023086,000438: 23,2457 63102 AD -TJMINT6
023087,000439: 23,2460 00006 EXTEND # AS TP. TEST JET TIME. IS IT GREATER OR
023088,000440: 23,2461 62612 BZMF JETSOFF # LESS THAN A MINIMUM IMPULSE
023089,000441: # ........................................................................
023090,000442: # 2-JET JET SELECT LOGIC
023091,000443: # READ CHANNEL 6 TO SEE WHAT THE CURRENT STATE OF THE P JETS IS AND
023092,000444: # CORRECT THE JET TIME FOR THE PROPER AMOUNT OF TIME .
023093,000445: 23,2462 00006 2PJETS EXTEND # WHAT IS THE CURRENT STATE OF THE P JETS.
023094,000446: 23,2463 00006 READ 6
023095,000447: 23,2464 00006 EXTEND
023096,000448: 23,2465 12471 BZF PJETSNOT
023097,000449: 23,2466 33067 CA MCOMPT # - COMPUTATION TIME FOR THE PAXIS
023098,000450: 23,2467 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023099,000451: 23,2470 12500 TCF TESTSIGN
023100,000452: 23,2471 33070 PJETSNOT CA 14-TJMIN # TOTAL DELAY FOR A MIN IMP TO FULL ON.
023101,000453: 23,2472 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023102,000454: # ........................................................................
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Page 550 |
023104,000456: # SET UP THE ALTERNATING P SELECT BIT IN DAPBOOLS.
023105,000457: 23,2473 37653 ALTPSELT CA BIT5 # COMPLEMENT BIT5 OF DAPBOOLS
023106,000458: 23,2474 22765 LXCH DAPBOOLS
023107,000459: 23,2475 00006 EXTEND
023108,000460: 23,2476 06001 RXOR L
023109,000461: 23,2477 54765 TS DAPBOOLS
023110,000462: 23,2500 11440 TESTSIGN CCS TPSIG
023111,000463: 23,2501 37653 CA BIT5
023112,000464: 23,2502 12504 TCF +2
023113,000465: 23,2503 12521 TCF NEGTP
023114,000466:
023115,000467: 23,2504 70765 MASK DAPBOOLS # IN THE DAP BOOLS WORD.
023116,000468: 23,2505 00006 EXTEND
023117,000469: 23,2506 12514 BZF ALTPOS1
023118,000470: 23,2507 37664 ALTPOS2 CA POSPJET1
023119,000471: 23,2510 04222 TC WRITEJTS +2
023120,000472: 23,2511 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023121,000473: 23,2512 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023122,000474: 23,2513 12676 TCF P+2JET
023123,000475: 23,2514 33110 ALTPOS1 CA POSPJET0
023124,000476: 23,2515 04222 TC WRITEJTS +2
023125,000477: 23,2516 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023126,000478: 23,2517 55502 TS JTSATCHG # JTSONNOW CONTAINS BITS WRITTEN INTO CH 6
023127,000479: 23,2520 12676 TCF P+2JET
023128,000480: # ........................................................................
023129,000481: # TEST DAPBOOLS TO DETERMINE WHICH JET PAIR TO USE FOR P AXIS ROTATION.
023130,000482: 23,2521 37653 NEGTP CA BIT5
023131,000483: 23,2522 70765 MASK DAPBOOLS # IN THE DAP BOOLS WORD.
023132,000484: 23,2523 00006 EXTEND
023133,000485: 23,2524 12532 BZF ALTNEG1
023134,000486: 23,2525 33107 ALTNEG2 CA NEGPJET1
023135,000487: 23,2526 04222 TC WRITEJTS +2
023136,000488: 23,2527 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023137,000489: 23,2530 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023138,000490: 23,2531 12700 TCF P-2JET
023139,000491: 23,2532 33106 ALTNEG1 CA NEGPJET0
023140,000492: 23,2533 04222 TC WRITEJTS +2
023141,000493: 23,2534 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023142,000494: 23,2535 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023143,000495: 23,2536 12700 TCF P-2JET
023144,000496: 23,2537 31472 RCM4JETS CA PRATEDIF
023145,000497: 23,2540 00006 EXTEND
023146,000498: 23,2541 71444 MP 1/2JTSP
023147,000499: 23,2542 00006 EXTEND
023148,000500: 23,2543 77655 MP BIT3
023149,000501: 23,2544 30001 CA L
023150,000502: 23,2545 00006 EXTEND
023151,000503: 23,2546 73101 MP 25/32 # A NOW CONTAINS TJET SCALED AT 2EXP(4)(16
023152,000504: 23,2547 55625 TS TP # /25).
023153,000505:
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Page 551 |
023155,000507: # ........................................................................
023156,000508: # IN THIS SECTION DO THE P AXIS JET SELECT LOGIC FOR 4 JETS
023157,000509: 23,2550 55505 4PJETS TS TOFJTCHG # TOFJTCHG WILL BE MODIFIED AND WILL = T6.
023158,000510: 23,2551 41440 CS TPSIG
023159,000511: 23,2552 00006 EXTEND
023160,000512: 23,2553 62573 BZMF POS4P
023161,000513: 23,2554 00006 EXTEND
023162,000514: 23,2555 00006 READ 6
023163,000515: 23,2556 00006 EXTEND
023164,000516: 23,2557 12563 BZF +4
023165,000517: 23,2560 33067 CA MCOMPT
023166,000518: 23,2561 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023167,000519: 23,2562 12565 TCF +3
023168,000520: 23,2563 33070 +4 CAF 14-TJMIN
023169,000521: 23,2564 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023170,000522: 23,2565 33105 CA 4NEGPJET
023171,000523: 23,2566 04222 TC WRITEJTS +2
023172,000524: 23,2567 37647 CA BIT9 # THE LOW 8 BITS ONLY GET WRITTEN INTO CH.
023173,000525: 23,2570 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023174,000526: 23,2571 47655 CS FOUR
023175,000527: 23,2572 12701 TCF RATE
023176,000528: 23,2573 00006 POS4P EXTEND
023177,000529: 23,2574 00006 READ 6
023178,000530: 23,2575 00006 EXTEND
023179,000531: 23,2576 12602 BZF +4
023180,000532: 23,2577 33067 CA MCOMPT
023181,000533: 23,2600 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023182,000534: 23,2601 12604 TCF +3
023183,000535: 23,2602 33070 +4 CA 14-TJMIN # TOTAL DELAY FOR A MIN IMP TO FULL ON.
023184,000536: 23,2603 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023185,000537: 23,2604 33104 CA 4POSPJET
023186,000538: 23,2605 04222 TC WRITEJTS +2
023187,000539: 23,2606 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023188,000540: 23,2607 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023189,000541: 23,2610 37655 CA FOUR
023190,000542: 23,2611 12701 TCF RATE
023191,000543: 23,2612 37665 JETSOFF CAF ZERO
023192,000544: 23,2613 55615 TS JETRATE
023193,000545: 23,2614 55505 TS TOFJTCHG
023194,000546: 23,2615 04222 TC WRITEJTS +2
023195,000547: 23,2616 14606 TCF RESUME
023196,000548: # P-AXIS URGENCY FUNCTION CALCULATION
023197,000549:
023198,000550: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULITPLICATION.)
023199,000551:
023200,000552: 23,2617 30033 PURGENCY CA CDUY # P-ERROR CALCULATION
023201,000553: 23,2620 00006 EXTEND
023202,000554: 23,2621 20775 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
023203,000555: 23,2622 00006 EXTEND
023204,000556: 23,2623 71404 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
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Page 552 |
023206,000558: 23,2624 57411 XCH E # SAVE FIRST TERM (OF TWO)
023207,000559: 23,2625 30032 CA CDUX # THIRD COMPONENT
023208,000560: 23,2626 00006 EXTEND
023209,000561: 23,2627 20774 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
023210,000562: # EXTEND
023211,000563: # MP M13
023212,000564: 23,2630 27411 ADS E # SAVE SUM OF TERMS, NO OVERFLOW EVR
023213,000565:
023214,000566: 23,2631 55476 TS PERROR # SAVE P ERR FOR DISPLAY
023215,000567: 23,2632 31444 CAE 1/2JTSP # SET-UP FOR URGENCY SUBROUTINE
023216,000568: 23,2633 55471 TS 1/NJETAC
023217,000569:
023218,000570: 23,2634 04177 TC T6JOBCHK # CHECK T6 CLOCK HERE, BEFORE URGROUTN
023219,000571:
023220,000572: 23,2635 41426 CS OMEGAPD
023221,000573: 23,2636 61416 AD OMEGAP
023222,000574: 23,2637 55423 TS EDOTP
023223,000575: 23,2640 04156 TC IBNKCALL # *** SUBROUTINE CALL *** (TAKES 24 MCTS)
023224,000576: 23,2641 51525 CADR URGROUTN # (RETURN TAKES 10 MCTS)
023225,000577:
023226,000578: 23,2642 00006 EXTEND # IF URGENCY = 0, FIRE NO JETS
023227,000579: 23,2643 12612 BZF JETSOFF # (FOR EFFICIENCY ONLY)
023228,000580:
023229,000581: 23,2644 10000 CCS A # URGENCY FUNCTION IS IN A, GET ABVAL
023230,000582: 23,2645 63112 AD UPM
023231,000583: 23,2646 12650 TCF +2
023232,000584: 23,2647 63112 AD UPM
023233,000585: 23,2650 00006 EXTEND
023234,000586: 23,2651 62661 BZMF 2JETSP
023235,000587: 23,2652 37637 CA POSMAX
023236,000588: 23,2653 55470 TS NJET # INDICATE 4 JETS
023237,000589: 23,2654 31444 CA 1/2JTSP
023238,000590: 23,2655 00006 EXTEND
023239,000591: 23,2656 77642 MP BIT14 # USE 1/4JETSP
023240,000592: 23,2657 55471 TS 1/NJETAC
023241,000593: 23,2660 12663 TCF T-JETLAW
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The above 23 instructions (everything from "CAE 1/2JTSP" down to here) have a box drawn around them in red. Between comments on the write is written in "Dick Gran says: Use no urg. fcn. on PAXIS, use TJETLAW only! 1. How do we determine direction? 2. How do we use TPSIG?". |
023245,000597:
023246,000598: 23,2661 47637 2JETSP CS POSMAX
023247,000599: 23,2662 55470 TS NJET # INDICATE 2 JETS
023248,000600: 23,2663 04177 T-JETLAW TC T6JOBCHK # CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
023249,000601:
023250,000602: 23,2664 33114 CAF JETLWADR # TJETLAW CALLING SEQUENCE
023251,000603: 23,2665 04162 TC ISWCALL
023252,000604: 23,2666 12612 TCF JETSOFF
023253,000605: 23,2667 55625 TS TP
023254,000606:
023255,000607: 23,2670 11470 CCS NJET
023256,000608: 23,2671 31625 CA TP
023257,000609: 23,2672 12550 TCF 4PJETS
023258,000610: 23,2673 31625 CA TP
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Page 553 |
023260,000612: 23,2674 55505 TS TOFJTCHG
023261,000613: 23,2675 12462 TCF 2PJETS
023262,000614:
023263,000615: # TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS
023264,000616:
023265,000617: 23,2676 37656 P+2JET CA TWO
023266,000618: 23,2677 12701 TCF RATE
023267,000619: 23,2700 47656 P-2JET CS TWO
023268,000620: 23,2701 55624 RATE TS NO.PJETS # STORE NO. OF P JETS FOR USE LATER.
023269,000621: 23,2702 31622 CA 100MSPTQ # TORQUE FROM A 100 MS JET PULSE SET BY
023270,000622: 23,2703 00006 EXTEND # AOS TASK EVERY 2 SECONDS.
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The above two lines of comments have a box drawn around them in red. |
023272,000624: 23,2704 71627 MP 1JACC
023273,000625: 23,2705 00006 EXTEND
023274,000626: 23,2706 71624 MP NO.PJETS
023275,000627: 23,2707 23615 LXCH JETRATE # STORE JET RATE FOR OMEGAP COMPUTATION.
023276,000628: 23,2710 41505 CS TOFJTCHG
023277,000629: 23,2711 63065 AD +1.5CSP # USE 150 MS. TO TEST FOR A PAXIS SKIP.
023278,000630: 23,2712 00006 EXTEND
023279,000631: 23,2713 64606 BZMF RESUME # TP GREATER THAN 150MS THEN DO NORMAL P.
023280,000632: 23,2714 33113 CA PSKIPADR # SET UP A P AXIS SKIP.
023281,000633: 23,2715 55613 TS PJUMPADR
023282,000634: 23,2716 10031 JTLST CCS TIME6 # TEST CURRENT STATE OF T6.
023283,000635: 23,2717 12742 TCF T6ONNOW # IF T6 IS + THEN CLOCK IS ON.
023284,000636: 23,2720 12724 TCF T6OFFNOW # IF T6 IS + ZERO THEN T6 MUST BE OFF
023285,000637: 23,2721 12742 TCF T6ONNOW # SINCE ALL DINC S LEAD TO MINUS ZERO.
023286,000638: 23,2722 04203 TC T6JOB # WE ARE IN THE UNIQUE STATE WHICH SAYS
023287,000639: 23,2723 12716 TCF JTLST # A T6 INTERRUPT IS WAITING.DO T6 JOB.
023288,000640: 23,2724 31505 T6OFFNOW CA TOFJTCHG
023289,000641: 23,2725 54031 TS TIME6 # WE ARE HERE IF T6 CLOCK IS OFF.
023290,000642: 23,2726 37641 CA BIT15
023291,000643: 23,2727 00006 EXTEND # TURN CLOCK PULSE FOR T6 ON AND LOAD T6.
023292,000644: 23,2730 05013 WOR 13
023293,000645: 23,2731 31502 CA JTSATCHG
023294,000646: 23,2732 54770 TS T6NEXTJT
023295,000647: 23,2733 37665 CA ZERO
023296,000648: 23,2734 57504 XCH ADDTLT6 # SET UP NEXT T6 INTERRUPT AFTER THE
023297,000649: 23,2735 54766 TS T6NEXT # CURRENT ONE IS COMPLETE. ADDTLT6 MAY
023298,000650:
023299,000651: 23,2736 37665 CA ZERO # BE ZERO IN WHICH CASE NO MORE T6.
023300,000652: 23,2737 57503 XCH ADDT6JTS
023301,000653: 23,2740 54771 TS T6NEXTJT +1
023302,000654: 23,2741 14606 TCF RESUME
023303,000655: 23,2742 10766 T6ONNOW CCS T6NEXT # HERE IF T6 IS NOW ON. SEE IF T6NEXT IS
023304,000656: 23,2743 13023 TCF T6NXT=+ # ZERO OR NOT.
023305,000657: 23,2744 41505 CS TOFJTCHG # T6NEXT IS NEVER NEGATIVE.
023306,000658: 23,2745 60031 AD TIME6 # A CONTAINS T6 - TJET.
023307,000659: 23,2746 10000 CCS A # TEST SIGN OF A (SAVING THE DIFFERENCE).
023308,000660: 23,2747 67657 AD ONE
023309,000661: 23,2750 12765 TCF JTSFIRST # TJET IS LESS THAN T6.
023310,000662: 23,2751 12752 NOOP # IF DIFFERENCE I SNEGATIVE OR ZERO
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Page 554 |
023312,000664: 23,2752 67657 AD ONE # WE ADD 1 SO ZERO CAN NEVER BE IN LIST.
023313,000665: 23,2753 54766 TS T6NEXT
023314,000666: 23,2754 31502 CA JTSATCHG
023315,000667: 23,2755 54771 TS T6NEXTJT +1 # BEGIN SETTING UP JETS IN THE JET LIST.
023316,000668: 23,2756 37665 CA ZERO
023317,000669: 23,2757 57504 XCH ADDTLT6
023318,000670: 23,2760 54767 TS T6NEXT +1
023319,000671: 23,2761 37665 CA ZERO
023320,000672: 23,2762 57503 XCH ADDT6JTS
023321,000673: 23,2763 54772 TS T6NEXTJT +2
023322,000674: 23,2764 14606 TCF RESUME
023323,000675: 23,2765 54766 JTSFIRST TS T6NEXT # HERE IF TJET IS LESS THAN T6.
023324,000676: 23,2766 31505 CA TOFJTCHG
023325,000677: 23,2767 54031 TS TIME6 # SWITCH T6 AND TJET)
023326,000678: 23,2770 31502 CA JTSATCHG
023327,000679: 23,2771 56770 XCH T6NEXTJT # BEGIN SWITCHING JET WORDS IN JET LIST.
023328,000680: 23,2772 54771 TS T6NEXTJT +1
023329,000681: 23,2773 41504 CS ADDTLT6
023330,000682: 23,2774 00006 EXTEND
023331,000683: 23,2775 14606 BZF RESUME # SEE IF AN ADDITIONAL (QR) JET TIME IS
023332,000684: 23,2776 60766 AD T6NEXT # REQUIRED.
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There is a line here saying "* DELETE THROUGH 04993", indicating a change from the last revision. |
023334,000686: 23,2777 10000 CCS A # IF AN ADDITIONAL T6 IS NEEDEN, COMPARE
023335,000687: 23,3000 67657 AD ONE # IT WITH THE CONTENTS OF T6NEXT.
023336,000688: 23,3001 13012 TCF +11
023337,000689: 23,3002 13003 NOOP
023338,000690: 23,3003 67657 AD ONE
023339,000691: 23,3004 54767 TS T6NEXT +1
023340,000692: 23,3005 37665 CA ZERO
023341,000693: 23,3006 55504 TS ADDTLT6
023342,000694: 23,3007 57503 XCH ADDT6JTS
023343,000695: 23,3010 54772 TS T6NEXTJT +2
023344,000696: 23,3011 14606 TCF RESUME
023345,000697: 23,3012 54767 +11 TS T6NEXT +1
023346,000698: 23,3013 37665 CA ZERO
023347,000699: 23,3014 57504 XCH ADDTLT6
023348,000700: 23,3015 54766 TS T6NEXT
023349,000701: 23,3016 37665 CA ZERO
023350,000702: 23,3017 57503 XCH ADDT6JTS
023351,000703: 23,3020 56771 XCH T6NEXTJT +1
023352,000704: 23,3021 54772 TS T6NEXTJT +2
023353,000705: 23,3022 14606 TCF RESUME
023354,000706: 23,3023 41505 T6NXT=+ CS TOFJTCHG
023355,000707: 23,3024 60031 AD TIME6
023356,000708: 23,3025 60766 AD T6NEXT
023357,000709: 23,3026 10000 CCS A
023358,000710: 23,3027 67657 AD ONE
023359,000711: 23,3030 13037 TCF +7
023360,000712: 23,3031 13032 NOOP
023361,000713: 23,3032 67657 AD ONE
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Page 555 |
023363,000715: 23,3033 54767 TS T6NEXT +1
023364,000716: 23,3034 31502 CA JTSATCHG
023365,000717: 23,3035 54772 TS T6NEXTJT +2
023366,000718: 23,3036 14606 TCF RESUME
023367,000719: 23,3037 54001 +7 TS L
023368,000720: 23,3040 41505 CS TOFJTCHG
023369,000721: 23,3041 60031 AD TIME6
023370,000722: 23,3042 10000 CCS A
023371,000723: 23,3043 67657 AD ONE
023372,000724: 23,3044 13054 TCF JTSB4T6
023373,000725: 23,3045 13046 NOOP
023374,000726: 23,3046 67657 AD ONE
023375,000727: 23,3047 54766 TS T6NEXT
023376,000728: 23,3050 30001 CA L
023377,000729: 23,3051 54767 TS T6NEXT +1
023378,000730: 23,3052 31502 CA JTSATCHG
023379,000731: 23,3053 13062 TCF +7
023380,000732: 23,3054 56766 JTSB4T6 XCH T6NEXT
023381,000733: 23,3055 54767 TS T6NEXT +1
023382,000734: 23,3056 31505 CA TOFJTCHG
023383,000735: 23,3057 54031 TS TIME6
023384,000736: 23,3060 31502 CA JTSATCHG
023385,000737: 23,3061 56770 XCH T6NEXTJT
023386,000738: 23,3062 56771 +7 XCH T6NEXTJT +1
023387,000739: 23,3063 56772 XCH T6NEXTJT +2
023388,000740: 23,3064 14606 TCF RESUME
023389,000741: # T-JET LAW FIXED CONSTANTS
023390,000742:
023391,000743: 23,3065 00360 +1.5CSP DEC +0.01465
023392,000744: 23,3066 20000 ONE-K DEC 0.50000
023393,000745: 23,3067 77767 MCOMPT DEC -0.00049 # -5 MS. SCALED AS T6 (P-AXIS COMP TIME).
023394,000746: 23,3070 00013 14-TJMIN DEC 11 B-14
023395,000747: 23,3071 77537 NEGCSP1 DEC -.00977
023396,000748: 23,3072 37775 MS30P OCTAL 37775
023397,000749: 23,3073 34362 0.88975 DEC 0.88975
023398,000750: 23,3074 24366 16/25 DEC 0.64000
023399,000751: 23,3075 77555 -DRATEDB OCTAL 77555 # -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC
023400,000752: 23,3076 77001 -D2JTLIM OCTAL 77001 # -1.4 DEG/SEC SCALED AT PI/4
023401,000753: 23,3077 76447 -A2JTLIM OCTAL 76447 # -2.0 DEG/SEC SCALED AT PI/4
023402,000754: 23,3100 77223 -ARATEDB OCTAL 77223 # -1.0 DEG/SEC SCALED AT PI/4
023403,000755: 23,3101 31000 25/32 DEC .78125
023404,000756: 23,3102 77763 -TJMINT6 DEC -.00073
023405,000757: 23,3103 00077 DAPLOW6 OCT 00077
023406,000758: 23,3104 00125 4POSPJET OCTAL 125
023407,000759: 23,3105 00252 4NEGPJET OCTAL 252
023408,000760: 23,3106 00012 NEGPJET0 OCTAL 12
023409,000761: 23,3107 00240 NEGPJET1 OCTAL 240
023410,000762: 23,3110 00120 POSPJET0 OCTAL 120
023411,000763: 23,3111 7664 POSPJET1 EQUALS FIVE
023412,000764: 23,3111 00600 BITS8,9 OCTAL 00600
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Page 556 |
023414,000766: 23,3112 71462 UPM DEC -.2 # TEMPORARY ESTIMATE
023415,000767: 23,3113 02147 PSKIPADR GENADR SKIPPAXS
023416,000768: 23,3114 52000 JETLWADR CADR TJETLAW
023417,000769:
023418,000770:
023419,000771:
023420,000772: 23,3115 22016 SETIDLE LXCH BANKRUPT # FIRST T5RUPT AFTER FRESH START COMES
023421,000773: 23,3116 33357 CAF IDLERADR # HERE, DAPIDLER IS STARTED IN 1 SECOND.
023422,000774: 23,3117 54345 TS T5ADR
023423,000775: 23,3120 33123 CAF 1SECRUPT
023424,000776: 23,3121 54030 TS TIME5
023425,000777: 23,3122 14610 TCF NOQRSM
023426,000778:
023427,000779: 23,3123 37634 1SECRUPT OCTAL 37634 # 1 SECOND SCALED AS TIME5 (100 PULSES)
023428,000780:
023429,000781: 23,3124 00006 GOIDLE EXTEND # COME HERE TO SHUT DOWN DAP
023430,000782: 23,3125 33360 DCA GOIDLADR
023431,000783: 23,3126 52346 DXCH T5ADR # SET UP RUPT TO GO IDLE AT DAPIDLER
023432,000784:
023433,000785: 23,3127 37665 CAF ZERO # CLEAR ALL JETS
023434,000786: 23,3130 00006 EXTEND
023435,000787: 23,3131 01005 WRITE 5
023436,000788: 23,3132 00006 EXTEND
023437,000789: 23,3133 01006 WRITE 6
023438,000790:
023439,000791: 23,3134 43140 CS BGIM23 # STOP THE TRIM GIMBAL DRIVES
023440,000792: 23,3135 00006 EXTEND
023441,000793: 23,3136 03012 WAND 12
023442,000794:
023443,000795: 23,3137 14606 TCF RESUME
023444,000796:
023445,000797: 23,3140 07400 BGIM23 OCTAL 07400
023446,000798:
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Below the address column is the calculation "3635 - 3140 = 475", seemingly calculating words used after the end of this section. |
End of include-file P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc. Parent file is MAIN.agc