Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
039021,000002: ## Copyright: Public domain.
039022,000003: ## Filename: FINDCDUW--GUIDAP_INTERFACE.agc
039023,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
039024,000005: ## It is part of the source code for the Lunar Module's (LM)
039025,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
039026,000007: ## Assembler: yaYUL
039027,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
039028,000009: ## Website: www.ibiblio.org/apollo.
039029,000010: ## Pages: 908-925
039030,000011: ## Mod history: 2009-05-28 HG Transcribed from page images.
039031,000012: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
039032,000013: ## and corrected the errors found.
039033,000014: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
039034,000015: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
039035,000016: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
039036,000017: ## side-by-side diff of Luminary 69/99/116/131/210.
039037,000018:
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Page 908 |
039039,000020: # PROGRAM NAME: FINDCDUW
039040,000021: # MOD NUMBER: 1 68 07 15
039041,000022: # MOD AUTHOR: KLUMPP
039042,000023:
039043,000024: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039044,000025: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039045,000026: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039046,000027: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039047,000028: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039048,000029: # MODES.
039049,000030: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039050,000031: # AUTOPILOT COMMANDS WHENEVER
039051,000032: # 1) NOT IN PNGCS-AUTO, OR
039052,000033: # 2) ENGINE IS OFF.
039053,000034:
039054,000035: # FUNCTIONAL DESCRIPTION:
039055,000036:
039056,000037: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039057,000038: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039058,000039: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039059,000040: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039060,000041: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039061,000042: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039062,000043: # ACCELERATIONS AVAILABLE).
039063,000044:
039064,000045: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039065,000046: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039066,000047: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039067,000048:
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Page 909 |
039069,000050: # SPECIFICATIONS:
039070,000051:
039071,000052: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039072,000053: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039073,000054:
039074,000055: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039075,000056: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039076,000057: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039077,000058:
039078,000059: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039079,000060: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039080,000061: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039081,000062: # WITHOUT ISSUING AUTOPILOT CMDS.
039082,000063: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039083,000064: # ISSUING AUTOPILOT CMDS.
039084,000065:
039085,000066: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039086,000067: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039087,000068: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039088,000069:
039089,000070: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039090,000071: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039091,000072: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039092,000073:
039093,000074: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039094,000075: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039095,000076: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039096,000077: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039097,000078: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039098,000079:
039099,000080: # OUTPUTS: DELCDUX,Y,Z
039100,000081: # OMEGAPD,+1,+2
039101,000082: # DELPEROR,+1,+2
039102,000083: # CPHI,+1,+2 FOR NOUN22
039103,000084:
039104,000085: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039105,000086: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039106,000087: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039107,000088:
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Page 910 |
039109,000090: # INITIALIZATION FOR FINDCDUW
039110,000091:
039111,000092: 30,3104 BANK 30
039112,000093: 30,2000 SETLOC FCDUW
039113,000094: 30,2000 BANK
039114,000095:
039115,000096: 30,3104 E6,1646 EBANK= ECDUW
039116,000097: 30,3104 COUNT* $$/FCDUW
039117,000098:
039118,000099: 30,3104 77775 INITCDUW VLOAD
039119,000100: 30,3105 06520 UNITX
039120,000101: 30,3106 03270 STORE UNFV/2
039121,000102: 30,3107 03262 STORE UNWC/2
039122,000103: 30,3110 77616 RVQ
039123,000104:
039124,000105: # FINDCDUW PRELIMINARIES
039125,000106:
039126,000107: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039127,000108: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039128,000109: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039129,000110: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
039130,000111: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039131,000112: 30,3116 77420 STQ EXIT
039132,000113: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
039133,000114:
039134,000115: # MORE HAUSKEEPING
039135,000116: 30,3120 33761 CA ECDUWL
039136,000117: 30,3121 56003 XCH EBANK # SET EBANK
039137,000118: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
039138,000119:
039139,000120: 30,3123 30111 CA DAPBOOLS
039140,000121: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039141,000122: 30,3125 10000 CCS A
039142,000123: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
039143,000124: 30,3127 55650 TS NDXCDUW
039144,000125:
039145,000126: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039146,000127: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039147,000128:
039148,000129: 30,3132 70111 MASK DAPBOOLS
039149,000130: 30,3133 55651 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039150,000131:
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Page 911 |
039152,000133: # FETCH BASIC DATA
039153,000134: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039154,000135:
039155,000136: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039156,000137: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039157,000138: 30,3137 30033 CA CDUY
039158,000139: 30,3140 54766 TS CDUSPOTY
039159,000140: 30,3141 30034 CA CDUZ
039160,000141: 30,3142 54770 TS CDUSPOTZ
039161,000142:
039162,000143: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
039163,000144: 30,3144 00006 EXTEND
039164,000145: 30,3145 02030 RAND CHAN30
039165,000146: 30,3146 10000 CCS A
039166,000147: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039167,000148:
039168,000149: 30,3150 34736 CA BIT14 # AUTO MODE BIT
039169,000150: 30,3151 00006 EXTEND
039170,000151: 30,3152 02031 RAND CHAN31
039171,000152: 30,3153 10000 CCS A
039172,000153: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039173,000154:
039174,000155: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039175,000156:
039176,000157: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039177,000158: 30,3157 54772 TS CDUSPOTX
039178,000159: 30,3160 31636 CA CDUYD
039179,000160: 30,3161 54766 TS CDUSPOTY
039180,000161: 30,3162 31637 CA CDUZD
039181,000162: 30,3163 54770 TS CDUSPOTZ
039182,000163:
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Page 912 |
039184,000165: # FETCH INPUTS
039185,000166: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039186,000167: 30,3165 77634 RTB
039187,000168: 30,3166 21726 NORMUNIT
039188,000169: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039189,000170: 30,3170 03262 UNWC/2
039190,000171: 30,3171 47034 RTB RTB
039191,000172: 30,3172 21726 NORMUNIT
039192,000173: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039193,000174: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039194,000175: 30,3175 00325 DELV
039195,000176: 30,3176 53404 BOVB UNIT
039196,000177: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039197,000178: 30,3200 45000 BOV CALL
039198,000179: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039199,000180: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039200,000181:
039201,000182: # THRUST DIRECTION FILTER
039202,000183:
039203,000184: 30,3203 77776 EXIT
039204,000185:
039205,000186: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039206,000187: 30,3205 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039207,000188: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039208,000189: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039209,000190:
039210,000191: 30,3210 31673 CA UNFVZ/2
039211,000192: 30,3211 22161 LXCH MPAC +5
039212,000193: 30,3212 03503 TC FLTRSUB
039213,000194: 30,3213 55673 TS UNFVZ/2
039214,000195:
039215,000196: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039216,000197:
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Page 913 |
039218,000199: # FIND A SUITABLE WINDOW POINTING VECTOR
039219,000200:
039220,000201: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039221,000202: 30,3216 03252 FLAGOODW
039222,000203: 30,3217 61223 FETCHZNB
039223,000204: 30,3220 45175 VLOAD CALL
039224,000205: 30,3221 00015 UNZ/2
039225,000206: 30,3222 61523 UNWCTEST
039226,000207:
039227,000208: 30,3223 77775 FETCHZNB VLOAD
039228,000209: 30,3224 02162 ZNBPIP
039229,000210: 30,3225 34015 STCALL UNZ/2
039230,000211: 30,3226 61523 UNWCTEST
039231,000212:
039232,000213: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039233,000214: 30,3230 02146 XNBPIP
039234,000215: 30,3231 00015 STORE UNZ/2
039235,000216:
039236,000217: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039237,000218:
039238,000219: 30,3232 47375 DCMCL VLOAD VXV
039239,000220: 30,3233 00015 UNZ/2
039240,000221: 30,3234 00001 UNX/2
039241,000222: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039242,000223: 30,3236 76435 VXV VSL1
039243,000224: 30,3237 00001 UNX/2
039244,000225: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039245,000226: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039246,000227: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
039247,000228: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039248,000229: 30,3244 03272 UNFVY/2 # MUST BE SMALL
039249,000230: 30,3245 53372 VSL1 VAD
039250,000231: 30,3246 00001 UNX/2
039251,000232: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039252,000233: 30,3250 00001 STORE UNX/2 # UNX/2
039253,000234: 30,3251 76435 VXV VSL1
039254,000235: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039255,000236: 30,3253 00007 STORE UNY/2 # UNY/2
039256,000237: 30,3254 47276 VCOMP VXV
039257,000238: 30,3255 00001 UNX/2
039258,000239: 30,3256 77772 VSL1
039259,000240: 30,3257 00015 STORE UNZ/2 # UNZ/2
039260,000241:
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Page 914 |
039262,000243: # COMPUTE THE REQUIRED GIMBAL ANGLES
039263,000244:
039264,000245: 30,3260 77624 CALL
039265,000246: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039266,000247: 30,3262 77776 EXIT
039267,000248:
039268,000249: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039269,000250:
039270,000251: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
039271,000252: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039272,000253: 30,3265 33773 CA CDUZDLIM
039273,000254: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039274,000255: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039275,000256: 30,3270 00006 EXTEND
039276,000257: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039277,000258: 30,3272 00006 EXTEND
039278,000259: 30,3273 13275 BZF +2
039279,000260: 30,3274 13756 TCF ALARMMGA
039280,000261:
039281,000262: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039282,000263:
039283,000264: 30,3276 22007 ZL
039284,000265: 30,3277 34752 CA TWO
039285,000266: 30,3300 54142 DELGMBLP TS TEM2
039286,000267:
039287,000268: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039288,000269: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039289,000270: 30,3303 70000 SQUARE
039290,000271: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039291,000272: 30,3305 00006 EXTEND
039292,000273: 30,3306 63311 BZMF +3
039293,000274: 30,3307 34755 CA ZERO
039294,000275: 30,3310 55651 TS FLAGOODW
039295,000276:
039296,000277: 30,3311 50142 INDEX TEM2
039297,000278: 30,3312 30154 CA MPAC
039298,000279: 30,3313 50142 INDEX TEM2
039299,000280: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
039300,000281: 30,3315 00006 EXTEND
039301,000282: 30,3316 50142 INDEX TEM2
039302,000283: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039303,000284: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039304,000285: 30,3321 50142 INDEX TEM2
039305,000286: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039306,000287: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
039307,000288: 30,3324 10142 CCS TEM2
039308,000289: 30,3325 13300 TCF DELGMBLP
039309,000290:
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Page 915 |
039311,000292: # BRANCHES TO NOATTCNT
039312,000293: 30,3326 11652 CCS FLPAUTNO
039313,000294: 30,3327 13752 TCF NOATTCNT +2 # NOT PNGCS AUTO
039314,000295:
039315,000296: 30,3330 30101 CA FLAGWRD5
039316,000297: 30,3331 74745 MASK ENGONBIT
039317,000298: 30,3332 00006 EXTEND
039318,000299: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
039319,000300:
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Page 916 |
039321,000302: # LIMIT THE ATTITUDE ANGLE CHANGES
039322,000303:
039323,000304: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039324,000305: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039325,000306: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039326,000307: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039327,000308:
039328,000309: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039329,000310: # * * * * * *
039330,000311: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039331,000312: # * * * * * *
039332,000313: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039333,000314:
039334,000315: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039335,000316: 30,3335 51650 INDEX NDXCDUW
039336,000317: 30,3336 33767 CA DAZMAX
039337,000318: 30,3337 03727 TC LIMITSUB
039338,000319: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
039339,000320:
039340,000321: 30,3341 31676 CA -DELGMB +1
039341,000322: 30,3342 00006 EXTEND
039342,000323: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039343,000324: 30,3344 54001 TS L
039344,000325: 30,3345 51650 INDEX NDXCDUW
039345,000326: 30,3346 33771 CA DAY/2MAX
039346,000327: 30,3347 03727 TC LIMITSUB
039347,000328: 30,3350 00006 EXTEND
039348,000329: 30,3351 10746 DV COSCDUZ
039349,000330: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039350,000331:
039351,000332: 30,3353 00006 EXTEND
039352,000333: 30,3354 70740 MP SINCDUZ
039353,000334: 30,3355 20001 DDOUBL
039354,000335: 30,3356 40000 COM
039355,000336: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039356,000337: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039357,000338: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039358,000339: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039359,000340: 30,3363 33767 CA DAXMAX
039360,000341: 30,3364 03727 TC LIMITSUB
039361,000342: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
039362,000343: 30,3366 11651 CCS FLAGOODW
039363,000344: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039364,000345: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039365,000346: 30,3371 41676 CS -DELGMB +1
039366,000347: 30,3372 00006 EXTEND
039367,000348: 30,3373 70740 MP SINCDUZ
039368,000349: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039369,000350: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039370,000351: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039371,000352:
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Page 917 |
039373,000354: # COMPUTE COMMANDED ATTITUDE RATES
039374,000355:
039375,000356: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039376,000357: # * * * * * *
039377,000358: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039378,000359: # * * * * * *
039379,000360: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039380,000361:
039381,000362: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039382,000363: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039383,000364: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039384,000365:
039385,000366: 30,3376 41675 CS -DELGMB
039386,000367: 30,3377 55643 TS OMEGAPD
039387,000368: 30,3400 41676 CS -DELGMB +1
039388,000369: 30,3401 00006 EXTEND
039389,000370: 30,3402 70740 MP SINCDUZ
039390,000371: 30,3403 20001 DDOUBL
039391,000372: 30,3404 27643 ADS OMEGAPD
039392,000373: 30,3405 27643 ADS OMEGAPD
039393,000374:
039394,000375: 30,3406 41676 CS -DELGMB +1
039395,000376: 30,3407 00006 EXTEND
039396,000377: 30,3410 70750 MP COSCDUX
039397,000378: 30,3411 20001 DDOUBL
039398,000379: 30,3412 00006 EXTEND
039399,000380: 30,3413 70746 MP COSCDUZ
039400,000381: 30,3414 55644 TS OMEGAQD
039401,000382: 30,3415 41677 CS -DELGMB +2
039402,000383: 30,3416 00006 EXTEND
039403,000384: 30,3417 70742 MP SINCDUX
039404,000385: 30,3420 27644 ADS OMEGAQD
039405,000386: 30,3421 27644 ADS OMEGAQD
039406,000387: 30,3422 27644 ADS OMEGAQD
039407,000388:
039408,000389: 30,3423 31676 CA -DELGMB +1
039409,000390: 30,3424 00006 EXTEND
039410,000391: 30,3425 70742 MP SINCDUX
039411,000392: 30,3426 20001 DDOUBL
039412,000393: 30,3427 00006 EXTEND
039413,000394: 30,3430 70746 MP COSCDUZ
039414,000395: 30,3431 55645 TS OMEGARD
039415,000396: 30,3432 41677 CS -DELGMB +2
039416,000397: 30,3433 00006 EXTEND
039417,000398: 30,3434 70750 MP COSCDUX
039418,000399: 30,3435 27645 ADS OMEGARD
039419,000400: 30,3436 27645 ADS OMEGARD
039420,000401: 30,3437 27645 ADS OMEGARD
039421,000402:
![]() |
Page 918 |
039423,000404: # FINAL TRANSFER
039424,000405:
039425,000406: 30,3440 34752 CA TWO
039426,000407: 30,3441 54142 CDUWXFR TS TEM2
039427,000408: 30,3442 50142 INDEX TEM2
039428,000409: 30,3443 31675 CA -DELGMB
039429,000410: 30,3444 00006 EXTEND
039430,000411: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039431,000412: 30,3446 03743 TC ONESTO2S
039432,000413: 30,3447 50142 INDEX TEM2
039433,000414: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
039434,000415:
039435,000416: 30,3451 50142 INDEX TEM2
039436,000417: 30,3452 11643 CCS OMEGAPD
039437,000418: 30,3453 64753 AD ONE
039438,000419: 30,3454 13456 TCF +2
039439,000420: 30,3455 64753 AD ONE
039440,000421: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039441,000422: 30,3457 50142 INDEX TEM2
039442,000423: 30,3460 71643 MP OMEGAPD
039443,000424: 30,3461 00006 EXTEND
039444,000425: 30,3462 74741 MP BIT11 # 1/16
039445,000426: 30,3463 00006 EXTEND
039446,000427: 30,3464 50142 INDEX TEM2 # 2
039447,000428: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039448,000429: 30,3466 54001 TS L
039449,000430: 30,3467 33771 CA DELERLIM
039450,000431: 30,3470 03727 TC LIMITSUB
039451,000432: 30,3471 50142 INDEX TEM2
039452,000433: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039453,000434: 30,3473 10142 CCS TEM2
039454,000435: 30,3474 13441 TCF CDUWXFR
039455,000436:
039456,000437: # HAUSKEEPING AND RETURN
039457,000438:
039458,000439: 30,3475 31646 TCQCDUW CA ECDUWUSR
039459,000440: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
039460,000441:
039461,000442: 30,3477 06037 TC INTPRET
039462,000443: 30,3500 52001 SETPD GOTO
039463,000444: 30,3501 00001 0
039464,000445: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039465,000446:
![]() |
Page 919 |
039467,000448: # THRUST VECTOR FILTER SUBROUTINE
039468,000449:
039469,000450: 30,3503 00006 FLTRSUB EXTEND
039470,000451: 30,3504 22142 QXCH TEM2
039471,000452: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039472,000453: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039473,000454: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039474,000455: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039475,000456: 30,3511 51650 INDEX NDXCDUW
039476,000457: 30,3512 73762 MP GAINFLTR
039477,000458: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
039478,000459: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039479,000460: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039480,000461: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
039481,000462: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
039482,000463: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039483,000464: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039484,000465: 30,3522 00142 TC TEM2
039485,000466:
039486,000467: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039487,000468:
039488,000469: 30,3523 63441 UNWCTEST DOT DSQ
039489,000470: 30,3524 00001 UNX/2
039490,000471: 30,3525 50025 DSU BMN
039491,000472: 30,3526 21767 DOTSWFMX
039492,000473: 30,3527 61232 DCMCL
039493,000474: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039494,000475: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
039495,000476: 30,3532 00000 0
039496,000477:
![]() |
Page 920 |
039498,000479: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039499,000480: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039500,000481: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039501,000482:
039502,000483: 30,3533 63545 NB2CDUSP DLOAD DSQ
039503,000484: 30,3534 00003 2
039504,000485: 30,3535 51021 BDSU BPL
039505,000486: 30,3536 06512 DP1/4TH
039506,000487: 30,3537 61542 +3
039507,000488: 30,3540 77745 DLOAD
039508,000489: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039509,000490: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039510,000491:
039511,000492: 30,3543 00006 EXTEND
039512,000493: 30,3544 30155 DCA MPAC
039513,000494: 30,3545 20001 DDOUBL
039514,000495: 30,3546 54145 TS TEM5
039515,000496: 30,3547 13552 TCF +3
039516,000497: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039517,000498: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039518,000499:
039519,000500: 30,3552 50120 INDEX FIXLOC
039520,000501: 30,3553 30002 CA 2
039521,000502: 30,3554 22154 LXCH MPAC
039522,000503: 30,3555 03622 TC ARCTRGSP
039523,000504: 30,3556 54156 TS MPAC +2 # CDUZ
039524,000505:
039525,000506: 30,3557 34755 CA ZERO
039526,000507: 30,3560 03600 TC DVBYCOSM
039527,000508: 30,3561 34751 CA FOUR
039528,000509: 30,3562 03600 TC DVBYCOSM
039529,000510: 30,3563 40141 CS TEM1
039530,000511: 30,3564 03622 TC ARCTRGSP
039531,000512: 30,3565 54155 TS MPAC +1 # CDUY
039532,000513:
039533,000514: 30,3566 34750 CA BIT4
039534,000515: 30,3567 03600 TC DVBYCOSM
039535,000516: 30,3570 33577 CA 16OCT
039536,000517: 30,3571 03600 TC DVBYCOSM
039537,000518: 30,3572 40141 CS TEM1
039538,000519: 30,3573 03622 TC ARCTRGSP
039539,000520: 30,3574 54154 TS MPAC # CDUX
039540,000521:
039541,000522: 30,3575 06037 TC INTPRET
039542,000523: 30,3576 77616 RVQ
039543,000524:
039544,000525: 30,3577 00016 16OCT OCT 16
039545,000526:
![]() |
Page 921 |
039547,000528: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039548,000529: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039549,000530: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039550,000531: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039551,000532: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039552,000533: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039553,000534: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039554,000535:
039555,000536: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039556,000537: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039557,000538: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039558,000539: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039559,000540:
039560,000541: 30,3600 60120 DVBYCOSM AD FIXLOC
039561,000542: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
039562,000543:
039563,000544: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039564,000545: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039565,000546: 30,3604 00006 EXTEND
039566,000547: 30,3605 63607 BZMF +2
039567,000548: 30,3606 40000 COM
039568,000549: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039569,000550: 30,3610 00006 EXTEND
039570,000551: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039571,000552:
039572,000553: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039573,000554: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039574,000555: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039575,000556: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039576,000557: 30,3616 10145 DV TEM5
039577,000558: 30,3617 54001 TSL&TCQ TS L
039578,000559: 30,3620 22141 LXCH TEM1
039579,000560: 30,3621 00002 TC Q
039580,000561:
![]() |
Page 922 |
039582,000563: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039583,000564: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039584,000565: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039585,000566:
039586,000567: 30,3622 00006 ARCTRGSP EXTEND
039587,000568: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039588,000569:
039589,000570: 30,3624 00006 EXTEND
039590,000571: 30,3625 22144 QXCH TEM4
039591,000572: 30,3626 54142 TS TEM2
039592,000573: 30,3627 30001 CA L
039593,000574: 30,3630 54143 TS TEM3
039594,000575: 30,3631 34755 CA ZERO
039595,000576: 30,3632 00006 EXTEND
039596,000577: 30,3633 10142 DV TEM2
039597,000578: 30,3634 00006 EXTEND
039598,000579: 30,3635 13654 BZF USECOS
039599,000580:
039600,000581: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039601,000582: 30,3637 34755 CA ZERO
039602,000583: 30,3640 13644 TCF +4
039603,000584: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039604,000585: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039605,000586: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039606,000587: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
039607,000588: 30,3645 30142 CA TEM2
039608,000589: 30,3646 03672 TC SPARCSIN -1
039609,000590: 30,3647 03743 TC ONESTO2S
039610,000591: 30,3650 00006 EXTEND
039611,000592: 30,3651 20143 MSU TEM3
039612,000593: 30,3652 03743 1TO2&TCQ TC ONESTO2S
039613,000594: 30,3653 00144 TC TEM4
039614,000595:
039615,000596: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
039616,000597: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039617,000598: 30,3656 64736 AD HALF
039618,000599: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
039619,000600: 30,3660 10142 CCS TEM2
039620,000601: 30,3661 30143 CA TEM3
039621,000602: 30,3662 13652 TCF 1TO2&TCQ
039622,000603: 30,3663 40143 CS TEM3
039623,000604: 30,3664 13652 TCF 1TO2&TCQ
039624,000605:
039625,000606: 30,3665 10001 SINZERO CCS L
039626,000607: 30,3666 34755 CA ZERO
039627,000608: 30,3667 00002 TC Q
039628,000609: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
039629,000610: 30,3671 00002 TC Q
039630,000611:
![]() |
Page 923 |
039632,000613: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039633,000614: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039634,000615: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039635,000616: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039636,000617:
039637,000618: 30,3672 60000 DOUBLE
039638,000619: 30,3673 54021 SPARCSIN TS SR
039639,000620: 30,3674 13700 TCF +4
039640,000621: 30,3675 50000 INDEX A
039641,000622: 30,3676 44734 CS LIMITS
039642,000623: 30,3677 54021 TS SR
039643,000624: 30,3700 00006 EXTEND
039644,000625: 30,3701 70000 MP A
039645,000626: 30,3702 54141 TS TEM1
039646,000627: 30,3703 00006 EXTEND
039647,000628: 30,3704 73726 MP DPL9
039648,000629: 30,3705 63725 AD DPL7
039649,000630: 30,3706 00006 EXTEND
039650,000631: 30,3707 70141 MP TEM1
039651,000632: 30,3710 63724 AD DPL5
039652,000633: 30,3711 00006 EXTEND
039653,000634: 30,3712 70141 MP TEM1
039654,000635: 30,3713 63723 AD DPL3
039655,000636: 30,3714 00006 EXTEND
039656,000637: 30,3715 70141 MP TEM1
039657,000638: 30,3716 63722 AD DPL1
039658,000639: 30,3717 00006 EXTEND
039659,000640: 30,3720 70021 MP SR
039660,000641: 30,3721 00002 TC Q
039661,000642: 30,3722 24406 DPL1 DEC 10502 B-14
039662,000643: 30,3723 00660 DPL3 DEC 432 B-14
039663,000644: 30,3724 16204 DPL5 DEC 7300 B-14
039664,000645: 30,3725 50744 DPL7 DEC -11803 B-14
039665,000646: 30,3726 20315 DPL9 DEC 8397 B-14
039666,000647:
![]() |
Page 924 |
039668,000649: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039669,000650: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039670,000651: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039671,000652:
039672,000653: # VERSION COURTESY HUGH BLAIR-SMITH
039673,000654:
039674,000655: 30,3727 54141 LIMITSUB TS TEM1
039675,000656: 30,3730 34755 CA ZERO
039676,000657: 30,3731 00006 EXTEND
039677,000658: 30,3732 10141 DV TEM1
039678,000659: 30,3733 10000 CCS A
039679,000660: 30,3734 22141 LXCH TEM1
039680,000661: 30,3735 13737 TCF +2
039681,000662: 30,3736 13741 TCF +3
039682,000663: 30,3737 30001 CA L
039683,000664: 30,3740 00002 TC Q
039684,000665: 30,3741 40141 CS TEM1
039685,000666: 30,3742 00002 TC Q
039686,000667:
039687,000668: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039688,000669:
039689,000670: 30,3743 10000 ONESTO2S CCS A
039690,000671: 30,3744 64753 AD ONE
039691,000672: 30,3745 00002 TC Q
039692,000673: 30,3746 40000 CS A
039693,000674: 30,3747 00002 TC Q
039694,000675:
039695,000676: # NO ATTITUDE CONTROL
039696,000677:
039697,000678: 30,3750 05567 NOATTCNT TC ALARM
039698,000679: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
039699,000680:
039700,000681: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039701,000682: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039702,000683: 30,3754 40165 FCADR STOPRATE
039703,000684: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039704,000685:
039705,000686: # MIDDLE GIMBAL ANGLE ALARM
039706,000687:
039707,000688: 30,3756 05567 ALARMMGA TC ALARM
039708,000689: 30,3757 00401 OCT 00401
039709,000690: 30,3760 13275 TCF MGARET
039710,000691:
![]() |
Page 925 |
039712,000693: # ************************************************************************
039713,000694: # CONSTANTS
039714,000695: # ************************************************************************
039715,000696:
039716,000697: # ADDRESS CONSTANTS
039717,000698:
039718,000699: 30,3761 03246 ECDUWL ECADR ECDUW
039719,000700:
039720,000701: # THRUST DIRECTION FILTER CONSTANTS
039721,000702:
039722,000703: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039723,000704: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
039724,000705:
039725,000706: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039726,000707: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039727,000708:
039728,000709: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039729,000710: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039730,000711:
039731,000712: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039732,000713:
039733,000714: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039734,000715: # LOWER PART COMES FROM NEXT CONSTANT
039735,000716:
039736,000717: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039737,000718: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039738,000719:
039739,000720: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039740,000721: 30,3772 00133 DEC .0055555555
039741,000722:
039742,000723: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039743,000724:
039744,000725: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039745,000726:
039746,000727: # CONSTANTS FOR DATA TRANSFER
039747,000728:
039748,000729: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039749,000730: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039750,000731:
039751,000732: 30,3775 30,3771 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039752,000733:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc