Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
062364,000002: ## Copyright: Public domain.
062365,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
062366,000004: ## Purpose: A section of Luminary revision 210.
062367,000005: ## It is part of the source code for the Lunar Module's (LM)
062368,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
062369,000007: ## This file is intended to be a faithful transcription, except
062370,000008: ## that the code format has been changed to conform to the
062371,000009: ## requirements of the yaYUL assembler rather than the
062372,000010: ## original YUL assembler.
062373,000011: ## Reference: pp. 1440-1457
062374,000012: ## Assembler: yaYUL
062375,000013: ## Contact: Ron Burkey <info@sandroid.org>.
062376,000014: ## Website: www.ibiblio.org/apollo/index.html
062377,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
062378,000016: ## 2016-12-12 HG Transcribed
062379,000017: ## 2016-12-26 RSB Comment-text proofed using ProoferComments
062380,000018: ## and corrected errors found.
062381,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
062382,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
062383,000021:
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Page 1440 |
062385,000023: 17,2124 BANK 17
062386,000024: 17,2000 SETLOC DAPS2
062387,000025: 17,2000 BANK
062388,000026:
062389,000027: 17,2124 E6,1634 EBANK= CDUXD
062390,000028:
062391,000029: 17,2124 COUNT* $$/DAPQR
062392,000030:
062393,000031: 17,2124 34730 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
062394,000032: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
062395,000033: 17,2126 02031 RAND CHAN31
062396,000034: 17,2127 10000 CCS A
062397,000035: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
062398,000036: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
062399,000037: 17,2132 74731 MASK OURRCBIT
062400,000038: 17,2133 00006 EXTEND
062401,000039: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
062402,000040: 17,2135 02655 TC QERRCALC
062403,000041:
062404,000042: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062405,000043: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
062406,000044: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
062407,000045: 17,2141 34746 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
062408,000046: 17,2142 55630 TS COTROLER
062409,000047:
062410,000048: 17,2143 53437 DXCH EDOTQ
062411,000049: 17,2144 03200 TC ROT-TOUV
062412,000050: 17,2145 53427 DXCH OMEGAU
062413,000051:
062414,000052: # X - TRANSLATION:
062415,000053:
062416,000054: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062417,000055: # ULLAGER
062418,000056: # APSFLAG, DRIFTBIT
062419,000057: # ACC40R2X, ACRBTRAN
062420,000058:
062421,000059: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
062422,000060: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
062423,000061:
062424,000062: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
062425,000063: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062426,000064:
062427,000065: 17,2146 34736 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
062428,000066: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
062429,000067: 17,2150 02031 RAND CHAN31
062430,000068: 17,2151 00006 EXTEND
062431,000069: 17,2152 12200 BZF +X0RULGE
062432,000070:
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Page 1441 |
062434,000072: 17,2153 34735 CA BIT8
062435,000073: 17,2154 00006 EXTEND
062436,000074: 17,2155 02031 RAND CHAN31
062437,000075: 17,2156 00006 EXTEND
062438,000076: 17,2157 12201 BZF -XTRANS
062439,000077:
062440,000078: 17,2160 34737 CA ULLAGER
062441,000079: 17,2161 70111 MASK DAPBOOLS
062442,000080: 17,2162 10000 CCS A
062443,000081: 17,2163 12200 TCF +X0RULGE
062444,000082:
062445,000083: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
062446,000084: 17,2165 55474 TS NEXTV
062447,000085: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
062448,000086: 17,2167 74735 MASK DRIFTBIT
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Note: There is a short blue horizontal marker line right to the right of the opernad DRIFTBIT |
062450,000088: 17,2170 00006 EXTEND
062451,000089: 17,2171 12176 BZF TSENSE
062452,000090: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
062453,000091: 17,2173 74730 MASK APSFLBIT
062454,000092: 17,2174 10000 CCS A
062455,000093: 17,2175 34743 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
062456,000094: 17,2176 55500 TSENSE TS SENSETYP
062457,000095: 17,2177 12232 TCF QRCONTRL
062458,000096:
062459,000097: 17,2200 34744 +X0RULGE CAF ONE
062460,000098: 17,2201 64742 -XTRANS AD FOUR
062461,000099: 17,2202 55743 TS ROTINDEX
062462,000100: 17,2203 67766 AD NEG3
062463,000101: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
062464,000102: 17,2205 30111 CA DAPBOOLS
062465,000103: 17,2206 74732 MASK ACC4OR2X
062466,000104: 17,2207 10000 CCS A
062467,000105: 17,2210 12352 TCF TRANS4
062468,000106:
062469,000107: 17,2211 30111 CA DAPBOOLS
062470,000108: 17,2212 74733 MASK AORBTRAN
062471,000109: 17,2213 10000 CCS A
062472,000110: 17,2214 34744 CA ONE # THREE FOR B
062473,000111: 17,2215 64743 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
062474,000112: 17,2216 55742 TSNUMBRT TS NUMBERT
062475,000113:
062476,000114: 17,2217 03225 TC SELCTSUB
062477,000115:
062478,000116: 17,2220 11740 CCS POLYTEMP
062479,000117: 17,2221 12224 TCF +3
062480,000118: 17,2222 05571 TC ALARM
062481,000119: 17,2223 02002 OCT 02002
062482,000120: 17,2224 35770 CA 00314OCT
062483,000121: 17,2225 71740 MASK POLYTEMP
062484,000122: 17,2226 55473 TSNEXTS TS NEXTU
062485,000123:
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Page 1442 |
062487,000125: 17,2227 45770 CS 00314OCT
062488,000126: 17,2230 71740 MASK POLYTEMP
062489,000127: 17,2231 55474 TS NEXTV
062490,000128:
062491,000129: # Q,R-AXES RCS CONTROL MODE SELECTION
062492,000130:
062493,000131: # SWITCHES INDICATION WHEN SET
062494,000132:
062495,000133: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
062496,000134: # PULSES MINIMUM IMPULSE MODE
062497,000135: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
062498,000136:
062499,000137: 17,2232 34730 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
062500,000138: 17,2233 00006 EXTEND
062501,000139: 17,2234 02031 RAND CHAN31 # BITS INVERTED
062502,000140: 17,2235 10000 CCS A
062503,000141: 17,2236 12710 TCF ATTSTEER
062504,000142: 17,2237 34726 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
062505,000143: 17,2240 70111 MASK DAPBOOLS
062506,000144: 17,2241 00006 EXTEND
062507,000145: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062508,000146:
062509,000147: # MINIMUM IMPULSE MODE
062510,000148:
062511,000149: 17,2243 00004 INHINT
062512,000150: 17,2244 04665 TC IBNKCALL
062513,000151: 17,2245 40154 CADR ZATTEROR
062514,000152: 17,2246 34746 CA ZERO
062515,000153: 17,2247 55450 TS QERROR
062516,000154: 17,2250 55452 TS RERROR # FOR DISPLAYS
062517,000155: 17,2251 00003 RELINT
062518,000156:
062519,000157: 17,2252 00006 EXTEND
062520,000158: 17,2253 00031 READ CHAN31
062521,000159: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
062522,000160: 17,2255 11461 CCS OLDQRMIN
062523,000161: 17,2256 12300 TCF CHECKIN
062524,000162:
062525,000163: 17,2257 31736 FIREQR CA TEMP31
062526,000164: 17,2260 74744 MASK BIT1
062527,000165: 17,2261 00006 EXTEND
062528,000166: 17,2262 12304 BZF +QMIN
062529,000167:
062530,000168: 17,2263 31736 CA TEMP31
062531,000169: 17,2264 74743 MASK BIT2
062532,000170: 17,2265 00006 EXTEND
062533,000171: 17,2266 12310 BZF -QMIN
062534,000172:
062535,000173: 17,2267 31736 CA TEMP31
062536,000174: 17,2270 74740 MASK BIT5
062537,000175:
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Page 1443 |
062539,000177: 17,2271 00006 EXTEND
062540,000178: 17,2272 12314 BZF +RMIN
062541,000179:
062542,000180: 17,2273 31736 CA TEMP31
062543,000181: 17,2274 74737 MASK BIT6
062544,000182: 17,2275 00006 EXTEND
062545,000183: 17,2276 12316 BZF -RMIN
062546,000184:
062547,000185: 17,2277 13112 TCF XTRANS
062548,000186:
062549,000187: 17,2300 41736 CHECKIN CS TEMP31
062550,000188: 17,2301 72351 MASK OCT63
062551,000189: 17,2302 55461 TS OLDQRMIN
062552,000190: 17,2303 13112 TCF XTRANS
062553,000191:
062554,000192: 17,2304 33136 +QMIN CA 14MS
062555,000193: 17,2305 55525 TS TJU
062556,000194: 17,2306 43136 CS 14MS
062557,000195: 17,2307 12320 TCF MINQR
062558,000196: 17,2310 43136 -QMIN CS 14MS
062559,000197: 17,2311 55525 TS TJU
062560,000198: 17,2312 33136 CA 14MS
062561,000199: 17,2313 12320 TCF MINQR
062562,000200: 17,2314 33136 +RMIN CA 14MS
062563,000201: 17,2315 12317 TCF +2
062564,000202: 17,2316 43136 -RMIN CS 14MS
062565,000203: 17,2317 55525 TS TJU
062566,000204: 17,2320 55526 MINQR TS TJV
062567,000205: 17,2321 32350 CA MINADR
062568,000206: 17,2322 55477 TS RETJADR
062569,000207: 17,2323 34744 CA ONE
062570,000208: 17,2324 55461 TS OLDQRMIN
062571,000209: 17,2325 55505 MINRTN TS AXISCTR
062572,000210: 17,2326 30111 CA DAPBOOLS
062573,000211: 17,2327 74730 MASK CSMDOCKD
062574,000212: 17,2330 00006 EXTEND
062575,000213: 17,2331 12341 BZF MIMRET
062576,000214: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
062577,000215: 17,2333 11525 CCS TJU
062578,000216: 17,2334 34767 CA 60MS
062579,000217: 17,2335 12337 TCF +2
062580,000218: 17,2336 44767 CS 60MS
062581,000219: 17,2337 51505 INDEX AXISCTR
062582,000220: 17,2340 55525 TS TJU
062583,000221: 17,2341 30111 MIMRET CA DAPBOOLS
062584,000222: 17,2342 74733 MASK AORBTRAN
062585,000223: 17,2343 10000 CCS A
062586,000224: 17,2344 34744 CA ONE
062587,000225: 17,2345 64743 AD TWO
062588,000226: 17,2346 55742 TS NUMBERT
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Page 1444 |
062590,000228: 17,2347 12756 TCF AFTERTJ
062591,000229:
062592,000230: 17,2350 4767 60MS = OCT140
062593,000231: 17,2350 02325 MINADR GENADR MINRTN
062594,000232: 17,2351 00063 OCT63 OCT 63
062595,000233: 17,2352 17,3136 14MS = +TJMINT6
062596,000234:
062597,000235: 17,2352 34742 TRANS4 CA FOUR
062598,000236: 17,2353 12216 TCF TSNUMBRT
062599,000237:
062600,000238: # RATE COMMAND MODE:
062601,000239:
062602,000240: # DESCRIPTION (SAME AS P-AXIS)
062603,000241:
062604,000242: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
062605,000243: 17,2355 44744 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
062606,000244: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
062607,000245: 17,2357 34726 CA BIT15
062608,000246: 17,2360 71443 MASK CH31TEMP
062609,000247: 17,2361 00006 EXTEND
062610,000248: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
062611,000249: 17,2363 34731 CA OURRCBIT # ***********
062612,000250: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
062613,000251: 17,2365 00006 EXTEND # *********** LAST TIME.
062614,000252: 17,2366 12710 BZF STILLRCS
062615,000253: 17,2367 44734 CS BIT9
062616,000254: 17,2370 71774 MASK RCSFLAGS
062617,000255: 17,2371 55774 TS RCSFLAGS # BIT 9 IS 0.
062618,000256: 17,2372 12374 TCF DAMPING
062619,000257: 17,2373 4762 40CYCL = OCT50
062620,000258: 17,2373 4744 1/10S = BIT1
062621,000259: 17,2373 00056 LINRAT DEC 46 B-14
062622,000260: # ================================
062623,000261: 17,2374 34746 DAMPING CA ZERO
062624,000262: 17,2375 55462 TS SAVEHAND
062625,000263: 17,2376 55463 TS SAVEHAND +1
062626,000264: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
062627,000265: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
062628,000266: 17,2401 12403 TCF +2 # *******************
062629,000267: 17,2402 12403 TCF +1
062630,000268: 17,2403 60000 DOUBLE # WHERE
062631,000269: 17,2404 60000 DOUBLE
062632,000270: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
062633,000271: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
062634,000272: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
062635,000273: 17,2410 30001 CA L # |D|= ABS. VALUE OF DEFLECTION
062636,000274: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
062637,000275: 17,2412 71444 MP STIKSENS
062638,000276: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
062639,000277: 17,2414 40000 COM
062640,000278:
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Page 1445 |
062642,000280: 17,2415 61455 AD QLAST
062643,000281: 17,2416 55740 TS DAPTEMP3
062644,000282: 17,2417 11463 CCS SAVEHAND +1
062645,000283: 17,2420 12423 TCF +3
062646,000284: 17,2421 12423 TCF +2
062647,000285: 17,2422 12423 TCF +1
062648,000286: 17,2423 60000 DOUBLE
062649,000287: 17,2424 60000 DOUBLE
062650,000288: 17,2425 62373 AD LINRAT
062651,000289: 17,2426 00006 EXTEND
062652,000290: 17,2427 71463 MP SAVEHAND +1
062653,000291: 17,2430 30001 CA L
062654,000292: 17,2431 00006 EXTEND
062655,000293: 17,2432 71444 MP STIKSENS
062656,000294: 17,2433 57456 XCH RLAST
062657,000295: 17,2434 40000 COM
062658,000296: 17,2435 61456 AD RLAST
062659,000297: 17,2436 55741 TS DAPTEMP4
062660,000298: 17,2437 41455 CS QLAST # INTERVAL.
062661,000299: 17,2440 61422 AD OMEGAQ
062662,000300: 17,2441 55436 TS QRATEDIF
062663,000301: 17,2442 41456 CS RLAST
062664,000302: 17,2443 61423 AD OMEGAR
062665,000303: 17,2444 55437 TS RRATEDIF
062666,000304: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
062667,000305: 17,2446 03200 TC ROT-TOUV
062668,000306: 17,2447 53427 DXCH URATEDIF
062669,000307: 17,2450 00004 INHINT # SET AUTO DESIRED ATTITUDE TO ACTUAL
062670,000308: 17,2451 04665 TC IBNKCALL # ATTITUDE AND ZERO AUTO DESIRED RATE
062671,000309: 17,2452 40154 FCADR ZATTEROR
062672,000310: 17,2453 00003 RELINT
062673,000311: 17,2454 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
062674,000312: 17,2455 02460 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
062675,000313: 17,2456 02460 TC +2
062676,000314: 17,2457 02460 TC +1
062677,000315: 17,2460 61476 AD -RATEDB
062678,000316: 17,2461 00006 EXTEND
062679,000317: 17,2462 62464 BZMF +2
062680,000318: 17,2463 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062681,000319: 17,2464 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
062682,000320: 17,2465 02470 TC +3
062683,000321: 17,2466 02470 TC +2
062684,000322: 17,2467 02470 TC +1
062685,000323: 17,2470 61476 AD -RATEDB
062686,000324: 17,2471 00006 EXTEND
062687,000325: 17,2472 62474 BZMF +2
062688,000326: 17,2473 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062689,000327: 17,2474 31774 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
062690,000328: 17,2475 74732 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
062691,000329: 17,2476 00006 EXTEND
062692,000330:
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Page 1446 |
062694,000332: 17,2477 12501 BZF +2
062695,000333: 17,2500 12504 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
062696,000334: 17,2501 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
062697,000335: 17,2502 34762 CA 40CYCL
062698,000336: 17,2503 55457 TS TCQR
062699,000337: 17,2504 34746 ENTERUV CA ZERO # *** DIRECT RATE CONTROL ***
062700,000338: 17,2505 55450 TS DYERROR
062701,000339: 17,2506 55451 TS DYERROR +1
062702,000340: 17,2507 55452 TS DZERROR
062703,000341: 17,2510 55453 TS DZERROR +1
062704,000342: 17,2511 11426 CCS URATEDIF
062705,000343: 17,2512 12515 TCF +3
062706,000344: 17,2513 12515 TCF +2
062707,000345: 17,2514 12515 TCF +1
062708,000346: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062709,000347: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
062710,000348: 17,2517 62533 BZMF VDB
062711,000349: 17,2520 11427 CCS VRATEDIF
062712,000350: 17,2521 12524 TCF +3
062713,000351: 17,2522 12524 TCF +2
062714,000352: 17,2523 12524 TCF +1
062715,000353: 17,2524 61476 AD TARGETDB
062716,000354: 17,2525 00006 EXTEND
062717,000355: 17,2526 62530 BZMF +2
062718,000356: 17,2527 12544 TCF QRTIME
062719,000357: 17,2530 34746 CA ZERO
062720,000358: 17,2531 55427 TS VRATEDIF
062721,000359: 17,2532 12544 TCF QRTIME
062722,000360: 17,2533 11427 VDB CCS VRATEDIF
062723,000361: 17,2534 02537 TC +3
062724,000362: 17,2535 02537 TC +2
062725,000363: 17,2536 02537 TC +1
062726,000364: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062727,000365: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
062728,000366: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062729,000367: 17,2542 34746 CA ZERO # PASS.
062730,000368: 17,2543 55426 TS URATEDIF
062731,000369: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
062732,000370: 17,2545 00006 EXTEND
062733,000371: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
062734,000372: 17,2547 41774 CS RCSFLAGS
062735,000373: 17,2550 74732 MASK QRBIT
062736,000374: 17,2551 27774 ADS RCSFLAGS # BIT 11 IS 1.
062737,000375: 17,2552 02556 TC +4
062738,000376: 17,2553 44732 TOPSEUDO CS QRBIT
062739,000377: 17,2554 71774 MASK RCSFLAGS
062740,000378: 17,2555 55774 TS RCSFLAGS # BIT 11 IS 0.
062741,000379: 17,2556 32622 CA HANDADR
062742,000380: 17,2557 55477 TS RETJADR
062743,000381: 17,2560 34744 CA ONE
062744,000382:
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Page 1447 |
062746,000384: 17,2561 55505 BACKHAND TS AXISCTR
062747,000385:
062748,000386: 17,2562 34742 CA FOUR
062749,000387: 17,2563 55742 TS NUMBERT
062750,000388:
062751,000389: 17,2564 51505 INDEX AXISCTR
062752,000390: 17,2565 51534 INDEX SKIPU
062753,000391: 17,2566 12567 TCF +1
062754,000392: 17,2567 34742 CA FOUR
062755,000393: 17,2570 51505 INDEX AXISCTR
062756,000394: 17,2571 55534 TS SKIPU
062757,000395: 17,2572 13034 TCF LOOPER
062758,000396:
062759,000397: 17,2573 51505 INDEX AXISCTR
062760,000398: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
062761,000399: 17,2575 34746 CA ZERO # 0 -U 1/JETACC-AOSU
062762,000400: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
062763,000401: 17,2577 34744 CA ONE # 16 -V 1/JETACC-AOSV
062764,000402: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
062765,000403: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062766,000404:
062767,000405: 17,2602 50000 INDEX A
062768,000406: 17,2603 41570 CS 1/ANET2 +1
062769,000407: 17,2604 00006 EXTEND
062770,000408: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
062771,000409: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
062772,000410: 17,2607 54002 TS Q
062773,000411: 17,2610 20001 DAS A
062774,000412: 17,2611 60002 AD Q
062775,000413: 17,2612 54000 TS A # OVERFLOW SKIP
062776,000414: 17,2613 12615 TCF +2
062777,000415: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
062778,000416: 17,2615 51505 SETTIME INDEX AXISCTR
062779,000417: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062780,000418: 17,2617 12756 TCF AFTERTJ
062781,000419:
062782,000420: 17,2620 34746 ZEROTJ CA ZERO
062783,000421: 17,2621 12615 TCF SETTIME
062784,000422:
062785,000423: 17,2622 02561 HANDADR GENADR BACKHAND
062786,000424:
062787,000425: # GTS WILL BE TRIED IF
062788,000426: # 1. USEQRJTS= 0,
062789,000427: # 2. ALLOWGTS POS,
062790,000428: # 3. JETS ARE OFF (Q,R-AXES)
062791,000429: 17,2623 34727 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
062792,000430: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062793,000431: 17,2625 10000 CCS A
062794,000432: 17,2626 12141 TCF RCS
062795,000433: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
062796,000434:
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Page 1448 |
062798,000436: 17,2630 12632 TCF +2
062799,000437: 17,2631 12141 TCF RCS
062800,000438: 17,2632 00006 EXTEND
062801,000439: 17,2633 00005 READ CHAN5
062802,000440: 17,2634 10000 CCS A
062803,000441: 17,2635 12641 TCF CHKINGTS
062804,000442: 17,2636 00006 GOTOGTS EXTEND
062805,000443: 17,2637 32654 DCA GTSCADR
062806,000444: 17,2640 52006 DTCB
062807,000445:
062808,000446: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
062809,000447: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
062810,000448: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
062811,000449: 17,2644 00004 INHINT
062812,000450: 17,2645 04665 TC IBNKCALL
062813,000451: 17,2646 43260 CADR TIMEGMBL
062814,000452: 17,2647 00003 RELINT
062815,000453: 17,2650 34746 CAF ZERO
062816,000454: 17,2651 55632 TS INGTS
062817,000455: 17,2652 12141 TCF RCS
062818,000456:
062819,000457: 17,2653 E6,1634 EBANK= CDUXD
062820,000458: 17,2653 03027 42106 GTSCADR 2CADR GTS
062821,000459:
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Page 1449 |
062823,000461: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062824,000462:
062825,000463: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
062826,000464: 17,2656 00006 EXTEND
062827,000465: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062828,000466: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
062829,000467: 17,2661 00006 EXTEND
062830,000468: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062831,000469: 17,2663 55751 TS E
062832,000470: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
062833,000471: 17,2665 00006 EXTEND
062834,000472: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062835,000473: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
062836,000474: 17,2670 00006 EXTEND
062837,000475: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062838,000476: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
062839,000477: 17,2673 61751 AD E
062840,000478: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062841,000479:
062842,000480: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062843,000481: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062844,000482: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062845,000483: 17,2700 55751 TS E
062846,000484: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062847,000485: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062848,000486: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062849,000487: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
062850,000488: 17,2705 61751 AD E
062851,000489: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062852,000490: 17,2707 00002 TC Q
062853,000491:
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Page 1450 |
062855,000493: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062856,000494:
062857,000495: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062858,000496:
062859,000497: 17,2710 31452 STILLRCS CA RERROR
062860,000498: 17,2711 22000 LXCH A
062861,000499: 17,2712 31450 CA QERROR
062862,000500: 17,2713 03200 TC ROT-TOUV
062863,000501: 17,2714 53751 DXCH UERROR
062864,000502:
062865,000503: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062866,000504: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062867,000505: 17,2715 33142 TJLAW CA TJLAWADR
062868,000506: 17,2716 55477 TS RETJADR
062869,000507: 17,2717 34744 CA ONE
062870,000508: 17,2720 55505 TS AXISCTR
062871,000509: 17,2721 51505 INDEX AXISCTR
062872,000510: 17,2722 51534 INDEX SKIPU
062873,000511: 17,2723 12724 TCF +1
062874,000512: 17,2724 34742 CA FOUR
062875,000513: 17,2725 51505 INDEX AXISCTR
062876,000514: 17,2726 55534 TS SKIPU
062877,000515: 17,2727 13034 TCF LOOPER
062878,000516: 17,2730 51505 INDEX AXISCTR
062879,000517: 17,2731 31750 CA UERROR
062880,000518: 17,2732 55751 TS E
062881,000519: 17,2733 51505 INDEX AXISCTR
062882,000520: 17,2734 31426 CA OMEGAU
062883,000521: 17,2735 55427 TS EDOT
062884,000522: 17,2736 30111 CA DAPBOOLS
062885,000523: 17,2737 74730 MASK CSMDOCKD
062886,000524: 17,2740 10000 CCS A
062887,000525: 17,2741 12744 TCF +3
062888,000526: 17,2742 03304 TC TJETLAW
062889,000527: 17,2743 12756 TCF AFTERTJ
062890,000528: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062891,000529: 17,2745 74727 MASK USEQRJTS # ON THE NEXT PASS.
062892,000530: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062893,000531: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062894,000532: 17,2750 00004 INHINT
062895,000533: 17,2751 04665 TC IBNKCALL
062896,000534: 17,2752 43667 CADR SPSRCS # DETERMINE RCS CONTROL
062897,000535: 17,2753 00003 RELINT
062898,000536: 17,2754 34742 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062899,000537: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
062900,000538:
062901,000539: # Q,R-JET-SELECTION-LOGIC
062902,000540:
062903,000541: # INPUT: AXISCTR 0,1 FOR U,V
062904,000542: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
062905,000543:
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Page 1451 |
062907,000545: # TJU,TJV JET TIME SCALED 10.24 SEC.
062908,000546: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062909,000547: # RETJADR WHERE TO RETURN TO
062910,000548:
062911,000549: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062912,000550: # CHANNEL 5
062913,000551: # SKIPU,SKIPV FOR LESS THAN 150MS FIRING
062914,000552:
062915,000553: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
062916,000554: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062917,000555: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062918,000556: # IF NONE CAN BE FOUND.
062919,000557:
062920,000558: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062921,000559: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062922,000560:
062923,000561: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062924,000562: 17,2757 74730 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062925,000563: 17,2760 00006 EXTEND
062926,000564: 17,2761 12772 BZF DOROTAT
062927,000565: 17,2762 40106 CS FLGWRD10
062928,000566: 17,2763 74730 MASK APSFLBIT
062929,000567: 17,2764 00006 EXTEND
062930,000568: 17,2765 12772 BZF DOROTAT
062931,000569: 17,2766 30111 CA DAPBOOLS
062932,000570: 17,2767 74735 MASK DRIFTBIT
![]() |
Note: There is a short blue horizontal marker line right to the rigth of the operand DRIFTBIT |
062934,000572: 17,2770 00006 EXTEND
062935,000573: 17,2771 13112 BZF XTRANS
062936,000574:
062937,000575: 17,2772 34743 DOROTAT CAF TWO
062938,000576: 17,2773 54001 TS L
062939,000577: 17,2774 51505 INDEX AXISCTR
062940,000578: 17,2775 11525 CCS TJU
062941,000579: 17,2776 13003 TCF +5
062942,000580: 17,2777 13026 TCF NOROTAT
062943,000581: 17,3000 13002 TCF +2
062944,000582: 17,3001 13026 TCF NOROTAT
062945,000583: 17,3002 22007 ZL
062946,000584: 17,3003 64744 AD ONE
062947,000585: 17,3004 55736 TS ABSTJ
062948,000586:
062949,000587: 17,3005 31505 CA AXISCTR
062950,000588: 17,3006 60001 AD L
062951,000589: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
062952,000590:
062953,000591: 17,3010 31736 CA ABSTJ
062954,000592: 17,3011 63137 AD -150MS
062955,000593: 17,3012 00006 EXTEND
062956,000594: 17,3013 63037 BZMF DOSKIP
062957,000595:
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Page 1452 |
062959,000597: 17,3014 03225 TC SELCTSUB
062960,000598:
062961,000599: 17,3015 51505 INDEX AXISCTR
062962,000600: 17,3016 33134 CA INDEXES
062963,000601: 17,3017 54001 TS L
062964,000602:
062965,000603: 17,3020 31740 CA POLYTEMP
062966,000604: 17,3021 00004 INHINT
062967,000605: 17,3022 50001 INDEX L
062968,000606: 17,3023 05750 TC WRITEP
062969,000607:
062970,000608: 17,3024 00003 RELINT
062971,000609: 17,3025 13100 TCF FEEDBACK
062972,000610:
062973,000611: 17,3026 51505 NOROTAT INDEX AXISCTR
062974,000612: 17,3027 33134 CA INDEXES
062975,000613: 17,3030 00004 INHINT
062976,000614: 17,3031 50000 INDEX A
062977,000615: 17,3032 05747 TC WRITEP -1
062978,000616:
062979,000617: 17,3033 00003 RELINT
062980,000618: 17,3034 11505 LOOPER CCS AXISCTR
062981,000619: 17,3035 01477 TC RETJADR
062982,000620: 17,3036 13270 TCF CLOSEOUT
062983,000621: 17,3037 41736 DOSKIP CS ABSTJ
062984,000622: 17,3040 63136 AD +TJMINT6 # 14MS
062985,000623: 17,3041 00006 EXTEND
062986,000624: 17,3042 63061 BZMF NOTMIN
062987,000625:
062988,000626: 17,3043 27736 ADS ABSTJ
062989,000627: 17,3044 51505 INDEX AXISCTR
062990,000628: 17,3045 11525 CCS TJU
062991,000629: 17,3046 33136 CA +TJMINT6
062992,000630: 17,3047 13051 TCF +2
062993,000631: 17,3050 43136 CS +TJMINT6
062994,000632: 17,3051 51505 INDEX AXISCTR
062995,000633: 17,3052 55525 TS TJU
062996,000634:
062997,000635: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062998,000636: 17,3054 13060 TCF NOTMIN -1
062999,000637: 17,3055 00006 EXTEND
063000,000638: 17,3056 00004 READ LOSCALAR
063001,000639: 17,3057 74744 MASK ONE
063002,000640: 17,3060 55742 TS NUMBERT
063003,000641:
063004,000642: 17,3061 03225 NOTMIN TC SELCTSUB
063005,000643:
063006,000644: 17,3062 51505 INDEX AXISCTR
063007,000645: 17,3063 33134 CA INDEXES
063008,000646: 17,3064 00004 INHINT
063009,000647:
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Page 1453 |
063011,000649: 17,3065 55471 TS T6FURTHA +1
063012,000650: 17,3066 31740 CA POLYTEMP
063013,000651: 17,3067 51471 INDEX T6FURTHA +1
063014,000652: 17,3070 05750 TC WRITEP
063015,000653:
063016,000654: 17,3071 31736 CA ABSTJ
063017,000655: 17,3072 55470 TS T6FURTHA
063018,000656: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
063019,000657:
063020,000658: 17,3074 00003 RELINT
063021,000659:
063022,000660: 17,3075 34746 CA ZERO
063023,000661: 17,3076 51505 INDEX AXISCTR
063024,000662: 17,3077 55534 TS SKIPU
063025,000663:
063026,000664: 17,3100 46266 FEEDBACK CS THREE
063027,000665: 17,3101 61742 AD NUMBERT
063028,000666: 17,3102 00006 EXTEND
063029,000667: 17,3103 63106 BZMF +3
063030,000668:
063031,000669: 17,3104 34743 CA TWO
063032,000670: 17,3105 13107 TCF +2
063033,000671: 17,3106 34744 CA ONE
063034,000672: 17,3107 51505 INDEX AXISCTR
063035,000673: 17,3110 55522 TS NO.UJETS
063036,000674: 17,3111 13034 TCF LOOPER
063037,000675:
063038,000676: 17,3112 34746 XTRANS CA ZERO
063039,000677: 17,3113 55525 TS TJU
063040,000678: 17,3114 55526 TS TJV
063041,000679: 17,3115 34742 CA FOUR
063042,000680: 17,3116 00004 INHINT
063043,000681: 17,3117 57534 XCH SKIPU
063044,000682: 17,3120 00006 EXTEND
063045,000683: 17,3121 13123 BZF +2
063046,000684: 17,3122 05753 TC WRITEU -1
063047,000685: 17,3123 34742 CA FOUR
063048,000686: 17,3124 57535 XCH SKIPV
063049,000687: 17,3125 00003 RELINT
063050,000688:
063051,000689: 17,3126 00006 EXTEND
063052,000690: 17,3127 13270 BZF CLOSEOUT
063053,000691: 17,3130 00004 INHINT
063054,000692: 17,3131 05764 TC WRITEV -1
063055,000693: 17,3132 00003 RELINT
063056,000694:
063057,000695: 17,3133 13270 TCF CLOSEOUT
063058,000696: 17,3134 00004 INDEXES DEC 4 B-14
063059,000697: 17,3135 00015 DEC 13 B-14
063060,000698: 17,3136 00026 +TJMINT6 DEC 22 B-14
063061,000699:
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Page 1454 |
063063,000701: 17,3137 77417 -150MS DEC -240 B-14
063064,000702: 17,3140 00600 BIT8,9 OCT 00600
063065,000703: 17,3141 00266 SCLNORM OCT 266
063066,000704: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063067,000705:
063068,000706: # THE JET LIST:
063069,000707: # THIS IS A WAITLIST FOR T6RUPTS.
063070,000708:
063071,000709: # CALLED BY:
063072,000710: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
063073,000711: # TS T6FURTHA
063074,000712: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063075,000713: # TS T6FURTHA +1
063076,000714: # TC JTLST
063077,000715:
063078,000716: # EXAMPLE- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063079,000717: # JETS INTO CHANNEL 5 . IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063080,000718: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063081,000719: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063082,000720: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063083,000721:
063084,000722: # THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063085,000723: # THE INPUT IS THE LAST MEMBER OF THE LIST
063086,000724:
063087,000725: # RETURNS BY:
063088,000726: # + TC Q
063089,000727:
063090,000728: # DEFINITIONS:(OUTPUT)
063091,000729: # TIME6 TIME OF NEXT RUPT
063092,000730: # T6NEXT DELTA TIME TO NEXT RUPT
063093,000731: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
063094,000732: # NXT6ADR AXIS INDEX Q - P-AXIS
063095,000733: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
063096,000734: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
063097,000735: 17,3143 41470 JTLST CS T6FURTHA
063098,000736: 17,3144 60031 AD TIME6
063099,000737: 17,3145 00006 EXTEND
063100,000738: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
063101,000739:
063102,000740: 17,3147 23465 LXCH NXT6ADR
063103,000741: 17,3150 53467 DXCH T6NEXT
063104,000742: 17,3151 53471 DXCH T6FURTHA
063105,000743: 17,3152 54031 TS TIME6
063106,000744: 17,3153 23465 LXCH NXT6ADR
063107,000745:
063108,000746: 17,3154 00006 TURNON EXTEND
063109,000747: 17,3155 23265 QXCH C13QSAV
063110,000748: 17,3156 06040 TC C13STALL
063111,000749:
063112,000750: 17,3157 34726 CA BIT15
063113,000751:
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Page 1455 |
063115,000753: 17,3160 00006 EXTEND
063116,000754: 17,3161 05013 WOR CHAN13
063117,000755: 17,3162 01265 TC C13QSAV
063118,000756:
063119,000757: 17,3163 61466 MIDORLST AD T6NEXT
063120,000758: 17,3164 00006 EXTEND
063121,000759: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
063122,000760:
063123,000761: 17,3166 23467 LXCH T6NEXT +1
063124,000762: 17,3167 53471 DXCH T6FURTHA
063125,000763: 17,3170 00006 EXTEND
063126,000764: 17,3171 60031 SU TIME6
063127,000765: 17,3172 53467 DXCH T6NEXT
063128,000766:
063129,000767: 17,3173 00002 TC Q
063130,000768:
063131,000769: 17,3174 40000 LASTCHG CS A
063132,000770: 17,3175 64745 AD NEG0
063133,000771: 17,3176 55470 TS T6FURTHA
063134,000772:
063135,000773: 17,3177 00002 TC Q
063136,000774:
063137,000775: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
063138,000776: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
063139,000777: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
063140,000778: # A AND THE V-COMPONENT IS IN L.
063141,000779:
063142,000780: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
063143,000781: 17,3201 00006 EXTEND
063144,000782: 17,3202 71626 MP COEFFQ
063145,000783: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
063146,000784: 17,3204 00006 EXTEND
063147,000785: 17,3205 71627 MP COEFFR
063148,000786: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
063149,000787: 17,3207 61737 AD ROTEMP2
063150,000788: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
063151,000789: 17,3211 13215 TCF +4
063152,000790: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063153,000791: 17,3213 44725 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
063154,000792: 17,3214 55736 TS ROTEMP1
063155,000793: 17,3215 41737 CS ROTEMP2
063156,000794: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
063157,000795: 17,3217 54007 TS 7
063158,000796: 17,3220 13223 TCF +3
063159,000797: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063160,000798: 17,3222 44725 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
063161,000799: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
063162,000800: 17,3224 00002 TC Q
063163,000801: 17,3225 51743 SELCTSUB INDEX ROTINDEX
063164,000802:
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Page 1456 |
063166,000804: 17,3226 33257 CA ALLJETS
063167,000805: 17,3227 51742 INDEX NUMBERT
063168,000806: 17,3230 73263 MASK TYPEPOLY
063169,000807: 17,3231 55740 TS POLYTEMP
063170,000808:
063171,000809: 17,3232 71257 MASK CH5MASK
063172,000810: 17,3233 10000 CCS A
063173,000811: 17,3234 13236 TCF +2
063174,000812:
063175,000813: 17,3235 00002 TC Q
063176,000814:
063177,000815: 17,3236 36266 CA THREE
063178,000816: 17,3237 55742 FAILOOP TS NUMBERT
063179,000817: 17,3240 51743 INDEX ROTINDEX
063180,000818: 17,3241 33257 CA ALLJETS
063181,000819: 17,3242 51742 INDEX NUMBERT
063182,000820: 17,3243 73263 MASK TYPEPOLY
063183,000821: 17,3244 55740 TS POLYTEMP
063184,000822: 17,3245 71257 MASK CH5MASK
063185,000823: 17,3246 00006 EXTEND
063186,000824: 17,3247 13235 BZF FAILOOP -2
063187,000825: 17,3250 11742 CCS NUMBERT
063188,000826: 17,3251 13237 TCF FAILOOP
063189,000827: 17,3252 51505 INDEX AXISCTR
063190,000828: 17,3253 55525 TS TJU
063191,000829: 17,3254 05571 TC ALARM
063192,000830: 17,3255 02004 OCT 02004
063193,000831: 17,3256 13026 TCF NOROTAT
063194,000832: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
063195,000833: 17,3260 00022 OCT 00022 # -V 2 9
063196,000834: 17,3261 00204 OCT 00204 # +U 5 14
063197,000835:
063198,000836: 17,3262 00041 OCT 00041 # +V 1 10
063199,000837: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
063200,000838: 17,3264 00252 OCT 00252 # +X 2 6 10 14
063201,000839: 17,3265 00146 OCT 00146 # A 2 5 10 13
063202,000840: 17,3266 00231 OCT 00231 # B 1 6 9 14
063203,000841: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
063204,000842:
063205,000843: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063206,000844:
063207,000845: 17,3270 33272 CLOSEOUT CA ADRRUPT
063208,000846: 17,3271 07775 TC MAKERUPT
063209,000847:
063210,000848: 17,3272 03273 ADRRUPT ADRES ENDJASK
063211,000849:
063212,000850: 17,3273 53753 ENDJASK DXCH DAPARUPT
063213,000851: 17,3274 52011 DXCH ARUPT
063214,000852: 17,3275 53755 DXCH DAPBQRPT
063215,000853: 17,3276 56017 XCH BRUPT
063216,000854:
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Page 1457 |
063218,000856: 17,3277 22002 LXCH Q
063219,000857: 17,3300 34726 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063220,000858: 17,3301 53757 DXCH DAPZRUPT
063221,000859: 17,3302 52016 DXCH ZRUPT
063222,000860: 17,3303 15274 TCF NOQRSM
063223,000861: 7775 BLOCK 3
063224,000862: 6000 SETLOC FFTAG6
063225,000863: 6000 BANK
063226,000864:
063227,000865: 7775 COUNT* $$/DAP
063228,000866:
063229,000867: 7775 00006 MAKERUPT EXTEND
063230,000868: 7776 07775 EDRUPT MAKERUPT
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc