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. |
040061,000002: ## Copyright: Public domain.
040062,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
040063,000004: ## Purpose: A section of Luminary revision 210.
040064,000005: ## It is part of the source code for the Lunar Module's (LM)
040065,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
040066,000007: ## This file is intended to be a faithful transcription, except
040067,000008: ## that the code format has been changed to conform to the
040068,000009: ## requirements of the yaYUL assembler rather than the
040069,000010: ## original YUL assembler.
040070,000011: ## Reference: pp. 905-922
040071,000012: ## Assembler: yaYUL
040072,000013: ## Contact: Ron Burkey <info@sandroid.org>.
040073,000014: ## Website: www.ibiblio.org/apollo/index.html
040074,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
040075,000016: ## 2016-12-09 HG Transcribed
040076,000017: ## 2016-12-12 MAS Pushed in a +1 relative label.
040077,000018: ## 2016-12-25 RSB Comment-text proofed using ProoferComments
040078,000019: ## and corrected errors found.
040079,000020: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
040080,000021:
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Page 905 |
040082,000023: # PROGRAM NAME: FINDCDUW
040083,000024:
040084,000025: # MOD NUMBER: 1 68 07 15
040085,000026:
040086,000027: # MOD AUTHOR: KLUMPP
040087,000028:
040088,000029: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
040089,000030: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
040090,000031: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
040091,000032: # FETCHING FOR THE THRUST DIRECTION FILTER THE
040092,000033: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
040093,000034: # MODES.
040094,000035: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
040095,000036: # AUTOPILOT COMMANDS WHENEVER
040096,000037: # 1) NOT IN PNGCS-AUTO, OR
040097,000038: # 2) ENGINE IS OFF.
040098,000039:
040099,000040: # MOD NUMBER: 2 10 DECEMBER 1970
040100,000041:
040101,000042: # MOD AUTHOR: P. S. WEISSMAN
040102,000043:
040103,000044: # OBJECTIVE OF MOD: TO ISSUE STEERING COMMANDS TO THE DAP EVEN WHEN AGS IS INDICATED (IN CASE THE INDICA-
040104,000045: # TION IS FALSE).
040105,000046:
040106,000047:
040107,000048: # FUNCTIONAL DESCRIPTION:
040108,000049:
040109,000050: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
040110,000051: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
040111,000052: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
040112,000053: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
040113,000054: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
040114,000055: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
040115,000056: # ACCELERATIONS AVAILABLE).
040116,000057:
040117,000058: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
040118,000059: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
040119,000060: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
040120,000061:
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Page 906 |
040122,000063: # SPECIFICATIONS:
040123,000064:
040124,000065: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
040125,000066: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
040126,000067:
040127,000068: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
040128,000069: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
040129,000070: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
040130,000071:
040131,000072: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
040132,000073:
040133,000074: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
040134,000075:
040135,000076: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
040136,000077: # WITHOUT ISSUING AUTOPILOT CMDS.
040137,000078:
040138,000079: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
040139,000080: # ISSUING AUTOPILOT CMDS.
040140,000081:
040141,000082: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
040142,000083: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
040143,000084: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
040144,000085: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
040145,000086: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
040146,000087: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
040147,000088:
040148,000089: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040149,000090: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040150,000091: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
040151,000092: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
040152,000093: # CSMDOCKD FLAG DENOTING CSM DOCKED.
040153,000094:
040154,000095: # OUTPUTS: DELCDUX,Y,Z
040155,000096: # OMEGAPD,+1,+2
040156,000097: # DELPEROR,+1,+2
040157,000098: # CPHI,+1,+2 FOR NOUN22
040158,000099:
040159,000100: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
040160,000101: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
040161,000102: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
040162,000103:
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Page 907 |
040164,000105: # INITIALIZATION FOR FINDCDUW
040165,000106:
040166,000107: 30,3063 BANK 30
040167,000108: 30,2000 SETLOC FCDUW
040168,000109: 30,2000 BANK
040169,000110:
040170,000111: 30,3063 E6,1645 EBANK= ECDUW
040171,000112:
040172,000113: 30,3063 COUNT* $$/FCDUW
040173,000114:
040174,000115: 30,3063 77331 INITCDUW SSP VLOAD
040175,000116: 30,3064 03277 OGABIAS
040176,000117: 30,3065 00000 0
040177,000118: 30,3066 06503 UNITX
040178,000119: 30,3067 03266 STORE UNFV/2
040179,000120: 30,3070 03260 STORE UNWC/2
040180,000121: 30,3071 77616 RVQ
040181,000122:
040182,000123: # FINDCDUW PRELIMINARIES
040183,000124:
040184,000125: 30,3072 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
040185,000126: 30,3073 03252 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
040186,000127: 30,3074 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
040187,000128: 30,3075 61074 FINDCDUW # INTERPRETER NOW INITIALIZED
040188,000129: 30,3076 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
040189,000130: 30,3077 77420 STQ EXIT
040190,000131: 30,3100 03246 QCDUWUSR # SAVE RETURN ADDRESS
040191,000132:
040192,000133: # MORE HAUSKEEPING
040193,000134:
040194,000135: 30,3101 33745 CA ECDUWL
040195,000136: 30,3102 56003 XCH EBANK # SET EBANK
040196,000137: 30,3103 55645 TS ECDUWUSR # SAVE USER'S EBANK
040197,000138:
040198,000139: 30,3104 30111 CA DAPBOOLS
040199,000140: 30,3105 74730 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
040200,000141: 30,3106 10000 CCS A
040201,000142: 30,3107 34744 CA ONE # INDEX IF CSM DOCKED
040202,000143: 30,3110 55647 TS NDXCDUW
040203,000144:
040204,000145: 30,3111 34734 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
040205,000146: 30,3112 70111 MASK DAPBOOLS
040206,000147: 30,3113 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
040207,000148:
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Page 908 |
040209,000150: # FETCH BASIC DATA
040210,000151:
040211,000152: 30,3114 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
040212,000153:
040213,000154: 30,3115 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
040214,000155: 30,3116 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
040215,000156: 30,3117 30033 CA CDUY
040216,000157: 30,3120 54765 TS CDUSPOTY
040217,000158: 30,3121 30034 CA CDUZ
040218,000159: 30,3122 54767 TS CDUSPOTZ
040219,000160:
040220,000161: 30,3123 34733 CA BIT10 # PNGCS CONTROL BIT
040221,000162: 30,3124 00006 EXTEND
040222,000163: 30,3125 02030 RAND CHAN30
040223,000164: 30,3126 10000 CCS A
040224,000165: 30,3127 13143 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
040225,000166:
040226,000167: 30,3130 34727 CA BIT14 # AUTO MODE BIT
040227,000168: 30,3131 00006 EXTEND
040228,000169: 30,3132 02031 RAND CHAN31
040229,000170: 30,3133 10000 CCS A
040230,000171: 30,3134 13143 TCF PAUTNO # NOT AUTO (BITS INVERTED)
040231,000172:
040232,000173: 30,3135 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
040233,000174: 30,3136 54771 TS CDUSPOTX
040234,000175: 30,3137 31635 CA CDUYD
040235,000176: 30,3140 54765 TS CDUSPOTY
040236,000177: 30,3141 31636 CA CDUZD
040237,000178: 30,3142 54767 TS CDUSPOTZ
040238,000179:
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Page 909 |
040240,000181: # FETCH INPUTS
040241,000182: 30,3143 06060 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
040242,000183: 30,3144 77634 RTB
040243,000184: 30,3145 21724 NORMUNIT
040244,000185: 30,3146 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
040245,000186: 30,3147 03260 UNWC/2
040246,000187: 30,3150 47034 RTB RTB
040247,000188: 30,3151 21724 NORMUNIT
040248,000189: 30,3152 47607 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
040249,000190: 30,3153 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
040250,000191: 30,3154 00325 DELV
040251,000192: 30,3155 53404 BOVB UNIT
040252,000193: 30,3156 61734 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
040253,000194: 30,3157 45000 BOV CALL
040254,000195: 30,3160 61174 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
040255,000196: 30,3161 47663 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
040256,000197:
040257,000198: # THRUST DIRECTION FILTER
040258,000199:
040259,000200: 30,3162 77776 EXIT
040260,000201:
040261,000202: 30,3163 31667 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
040262,000203: 30,3164 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
040263,000204: 30,3165 03467 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
040264,000205: 30,3166 55667 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
040265,000206:
040266,000207: 30,3167 31671 CA UNFVZ/2
040267,000208: 30,3170 22161 LXCH MPAC +5
040268,000209: 30,3171 03467 TC FLTRSUB
040269,000210: 30,3172 55671 TS UNFVZ/2
040270,000211:
040271,000212: 30,3173 06060 TC INTPRET # COMPLETES FILTER
040272,000213:
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Page 910 |
040274,000215: # FIND A SUITABLE WINDOW POINTING VECTOR
040275,000216:
040276,000217: 30,3174 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
040277,000218: 30,3175 03251 FLAGOODW
040278,000219: 30,3176 61202 FETCHZNB
040279,000220: 30,3177 45175 VLOAD CALL
040280,000221: 30,3200 00015 UNZ/2
040281,000222: 30,3201 61507 UNWCTEST
040282,000223:
040283,000224: 30,3202 77775 FETCHZNB VLOAD
040284,000225: 30,3203 02153 ZNBPIP
040285,000226: 30,3204 34015 STCALL UNZ/2
040286,000227: 30,3205 61507 UNWCTEST
040287,000228:
040288,000229: 30,3206 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
040289,000230: 30,3207 02137 XNBPIP
040290,000231: 30,3210 00015 STORE UNZ/2
040291,000232:
040292,000233: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
040293,000234:
040294,000235: 30,3211 47375 DCMCL VLOAD VXV
040295,000236: 30,3212 00015 UNZ/2
040296,000237: 30,3213 00001 UNX/2
040297,000238: 30,3214 41456 UNIT PUSH # UNY/2 FIRST ITERATION
040298,000239: 30,3215 76435 VXV VSL1
040299,000240: 30,3216 00001 UNX/2
040300,000241: 30,3217 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
040301,000242: 30,3220 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040302,000243: 30,3221 03272 UNFVZ/2 # MUST BE SMALL
040303,000244: 30,3222 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040304,000245: 30,3223 03270 UNFVY/2 # MUST BE SMALL
040305,000246: 30,3224 53372 VSL1 VAD
040306,000247: 30,3225 00001 UNX/2
040307,000248: 30,3226 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
040308,000249: 30,3227 00001 STORE UNX/2 # UNX/2
040309,000250: 30,3230 76435 VXV VSL1
040310,000251: 30,3231 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
040311,000252: 30,3232 00007 STORE UNY/2 # UNY/2
040312,000253: 30,3233 47276 VCOMP VXV
040313,000254: 30,3234 00001 UNX/2
040314,000255: 30,3235 77772 VSL1
040315,000256: 30,3236 00015 STORE UNZ/2 # UNZ/2
040316,000257:
040317,000258: # COMPUTE THE REQUIRED GIMBAL ANGLES
040318,000259:
040319,000260: 30,3237 77624 CALL
040320,000261: 30,3240 61517 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040321,000262: 30,3241 77776 EXIT
040322,000263:
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Page 911 |
040324,000265: # BIAS OUTER GIMBAL ANGLE
040325,000266:
040326,000267: 30,3242 31676 CA OGABIAS
040327,000268: 30,3243 26154 ADS MPAC
040328,000269:
040329,000270: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040330,000271:
040331,000272: 30,3244 30156 CA MPAC +2 # LIMIT THE MGA
040332,000273: 30,3245 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040333,000274: 30,3246 33757 CA CDUZDLIM
040334,000275: 30,3247 03713 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040335,000276: 30,3250 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
040336,000277: 30,3251 00006 EXTEND
040337,000278: 30,3252 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
040338,000279: 30,3253 00006 EXTEND
040339,000280: 30,3254 13256 BZF +2
040340,000281: 30,3255 13742 TCF ALARMMGA
040341,000282:
040342,000283: 30,3256 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
040343,000284:
040344,000285: 30,3257 22007 ZL
040345,000286: 30,3260 34743 CA TWO
040346,000287: 30,3261 54142 DELGMBLP TS TEM2
040347,000288:
040348,000289: 30,3262 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
040349,000290: 30,3263 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
040350,000291: 30,3264 70000 SQUARE
040351,000292: 30,3265 64341 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
040352,000293: 30,3266 00006 EXTEND
040353,000294: 30,3267 63272 BZMF +3
040354,000295: 30,3270 34746 CA ZERO
040355,000296: 30,3271 55650 TS FLAGOODW
040356,000297:
040357,000298: 30,3272 50142 INDEX TEM2
040358,000299: 30,3273 30154 CA MPAC
040359,000300: 30,3274 50142 INDEX TEM2
040360,000301: 30,3275 54321 TS CPHI # OUTPUTS TO NOUN22
040361,000302: 30,3276 00006 EXTEND
040362,000303: 30,3277 50142 INDEX TEM2
040363,000304: 30,3300 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
040364,000305: 30,3301 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
040365,000306: 30,3302 50142 INDEX TEM2
040366,000307: 30,3303 55673 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040367,000308: 30,3304 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
040368,000309: 30,3305 10142 CCS TEM2
040369,000310: 30,3306 13261 TCF DELGMBLP
040370,000311:
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Page 912 |
040372,000313: # BRANCHES TO NOATTCNT
040373,000314:
040374,000315: 30,3307 34727 CA BIT14 # AUTO MODE BIT
040375,000316: 30,3310 00006 EXTEND
040376,000317: 30,3311 02031 RAND CHAN31
040377,000318: 30,3312 10000 CCS A
040378,000319: 30,3313 13736 TCF NOATTCNT +2 # NOT AUTO
040379,000320:
040380,000321: 30,3314 30101 CA FLAGWRD5
040381,000322: 30,3315 74736 MASK ENGONBIT
040382,000323: 30,3316 00006 EXTEND
040383,000324: 30,3317 13736 BZF NOATTCNT +2 # ENGINE NOT ON
040384,000325:
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Page 913 |
040386,000327: # LIMIT THE ATTITUDE ANGLE CHANGES
040387,000328:
040388,000329: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040389,000330: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
040390,000331: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040391,000332: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040392,000333:
040393,000334: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
040394,000335: # * * * * * *
040395,000336: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
040396,000337: # * * * * * *
040397,000338: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
040398,000339:
040399,000340: 30,3320 23675 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
040400,000341: 30,3321 51647 INDEX NDXCDUW
040401,000342: 30,3322 33753 CA DAZMAX
040402,000343: 30,3323 03713 TC LIMITSUB
040403,000344: 30,3324 55675 TS -DELGMB +2 # -DELGMBZ
040404,000345:
040405,000346: 30,3325 31674 CA -DELGMB +1
040406,000347: 30,3326 00006 EXTEND
040407,000348: 30,3327 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
040408,000349: 30,3330 54001 TS L
040409,000350: 30,3331 51647 INDEX NDXCDUW
040410,000351: 30,3332 33755 CA DAY/2MAX
040411,000352: 30,3333 03713 TC LIMITSUB
040412,000353: 30,3334 00006 EXTEND
040413,000354: 30,3335 10745 DV COSCDUZ
040414,000355: 30,3336 57674 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
040415,000356:
040416,000357: 30,3337 00006 EXTEND
040417,000358: 30,3340 70737 MP SINCDUZ
040418,000359: 30,3341 20001 DDOUBL
040419,000360: 30,3342 40000 COM
040420,000361: 30,3343 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040421,000362: 30,3344 21673 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
040422,000363: 30,3345 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
040423,000364: 30,3346 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
040424,000365: 30,3347 33753 CA DAXMAX
040425,000366: 30,3350 03713 TC LIMITSUB
040426,000367: 30,3351 55673 TS -DELGMB # SAVE LIMITED +DELATTX
040427,000368: 30,3352 11650 CCS FLAGOODW
040428,000369: 30,3353 41673 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040429,000370: 30,3354 55673 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
040430,000371: 30,3355 41674 CS -DELGMB +1
040431,000372: 30,3356 00006 EXTEND
040432,000373: 30,3357 70737 MP SINCDUZ
040433,000374: 30,3360 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040434,000375: 30,3361 27673 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
040435,000376: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040436,000377:
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Page 914 |
040438,000379: # COMPUTE COMMANDED ATTITUDE RATES
040439,000380:
040440,000381: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
040441,000382: # * * * * * *
040442,000383: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
040443,000384: # * * * * * *
040444,000385: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
040445,000386:
040446,000387: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040447,000388: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040448,000389: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040449,000390:
040450,000391: 30,3362 41673 CS -DELGMB
040451,000392: 30,3363 55642 TS OMEGAPD
040452,000393: 30,3364 41674 CS -DELGMB +1
040453,000394: 30,3365 00006 EXTEND
040454,000395: 30,3366 70737 MP SINCDUZ
040455,000396: 30,3367 20001 DDOUBL
040456,000397: 30,3370 27642 ADS OMEGAPD
040457,000398: 30,3371 27642 ADS OMEGAPD
040458,000399:
040459,000400: 30,3372 41674 CS -DELGMB +1
040460,000401: 30,3373 00006 EXTEND
040461,000402: 30,3374 70747 MP COSCDUX
040462,000403: 30,3375 20001 DDOUBL
040463,000404: 30,3376 00006 EXTEND
040464,000405: 30,3377 70745 MP COSCDUZ
040465,000406: 30,3400 55643 TS OMEGAQD
040466,000407: 30,3401 41675 CS -DELGMB +2
040467,000408: 30,3402 00006 EXTEND
040468,000409: 30,3403 70741 MP SINCDUX
040469,000410: 30,3404 27643 ADS OMEGAQD
040470,000411: 30,3405 27643 ADS OMEGAQD
040471,000412: 30,3406 27643 ADS OMEGAQD
040472,000413:
040473,000414: 30,3407 31674 CA -DELGMB +1
040474,000415: 30,3410 00006 EXTEND
040475,000416: 30,3411 70741 MP SINCDUX
040476,000417: 30,3412 20001 DDOUBL
040477,000418: 30,3413 00006 EXTEND
040478,000419: 30,3414 70745 MP COSCDUZ
040479,000420: 30,3415 55644 TS OMEGARD
040480,000421: 30,3416 41675 CS -DELGMB +2
040481,000422: 30,3417 00006 EXTEND
040482,000423: 30,3420 70747 MP COSCDUX
040483,000424: 30,3421 27644 ADS OMEGARD
040484,000425: 30,3422 27644 ADS OMEGARD
040485,000426: 30,3423 27644 ADS OMEGARD
040486,000427:
![]() |
Page 915 |
040488,000429: # FINAL TRANSFER
040489,000430:
040490,000431: 30,3424 34743 CA TWO
040491,000432: 30,3425 54142 CDUWXFR TS TEM2
040492,000433: 30,3426 50142 INDEX TEM2
040493,000434: 30,3427 31673 CA -DELGMB
040494,000435: 30,3430 00006 EXTEND
040495,000436: 30,3431 73760 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
040496,000437: 30,3432 03727 TC ONESTO2S
040497,000438: 30,3433 50142 INDEX TEM2
040498,000439: 30,3434 55637 TS DELCDUX # ANGLE INTERFACE
040499,000440:
040500,000441: 30,3435 50142 INDEX TEM2
040501,000442: 30,3436 11642 CCS OMEGAPD
040502,000443: 30,3437 64744 AD ONE
040503,000444: 30,3440 13442 TCF +2
040504,000445: 30,3441 64744 AD ONE
040505,000446: 30,3442 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
040506,000447: 30,3443 50142 INDEX TEM2
040507,000448: 30,3444 71642 MP OMEGAPD
040508,000449: 30,3445 00006 EXTEND
040509,000450: 30,3446 74732 MP BIT11 # 1/16
040510,000451: 30,3447 00006 EXTEND
040511,000452: 30,3450 50142 INDEX TEM2 # 2
040512,000453: 30,3451 11530 DV 1JACC # UNITS PI/4 RAD/SEC
040513,000454: 30,3452 54001 TS L
040514,000455: 30,3453 33755 CA DELERLIM
040515,000456: 30,3454 03713 TC LIMITSUB
040516,000457: 30,3455 50142 INDEX TEM2
040517,000458: 30,3456 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040518,000459: 30,3457 10142 CCS TEM2
040519,000460: 30,3460 13425 TCF CDUWXFR
040520,000461:
040521,000462: # HAUSKEEPING AND RETURN
040522,000463:
040523,000464: 30,3461 31645 TCQCDUW CA ECDUWUSR
040524,000465: 30,3462 54003 TS EBANK # RETURN USER'S EBANK
040525,000466:
040526,000467: 30,3463 06060 TC INTPRET
040527,000468: 30,3464 52001 SETPD GOTO
040528,000469: 30,3465 00001 0
040529,000470: 30,3466 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
040530,000471:
![]() |
Page 916 |
040532,000473: # THRUST VECTOR FILTER SUBROUTINE
040533,000474:
040534,000475: 30,3467 00006 FLTRSUB EXTEND
040535,000476: 30,3470 22142 QXCH TEM2
040536,000477: 30,3471 54143 TS TEM3 # SAVE ORIGINAL OFFSET
040537,000478: 30,3472 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040538,000479: 30,3473 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
040539,000480: 30,3474 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
040540,000481: 30,3475 51647 INDEX NDXCDUW
040541,000482: 30,3476 73746 MP GAINFLTR
040542,000483: 30,3477 54001 TS L # INCR TO OFFSET, UNLIMITED
040543,000484: 30,3500 33750 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
040544,000485: 30,3501 03713 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
040545,000486: 30,3502 60143 AD TEM3 # ORIGINAL OFFSET
040546,000487: 30,3503 54001 TS L # TOTAL OFFSET, UNLIMITED
040547,000488: 30,3504 33751 CA UNFVLIM # SAME LIMIT FOR Y AND Z
040548,000489: 30,3505 03713 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
040549,000490: 30,3506 00142 TC TEM2
040550,000491:
040551,000492: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040552,000493:
040553,000494: 30,3507 63441 UNWCTEST DOT DSQ
040554,000495: 30,3510 00001 UNX/2
040555,000496: 30,3511 50025 DSU BMN
040556,000497: 30,3512 21753 DOTSWFMX
040557,000498: 30,3513 61211 DCMCL
040558,000499: 30,3514 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040559,000500: 30,3515 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
040560,000501: 30,3516 00000 0
040561,000502:
![]() |
Page 917 |
040563,000504: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
040564,000505: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
040565,000506:
040566,000507: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
040567,000508:
040568,000509: 30,3517 63545 NB2CDUSP DLOAD DSQ
040569,000510: 30,3520 00003 2
040570,000511: 30,3521 51021 BDSU BPL
040571,000512: 30,3522 06475 DP1/4TH
040572,000513: 30,3523 61526 +3
040573,000514: 30,3524 77745 DLOAD
040574,000515: 30,3525 06505 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
040575,000516: 30,3526 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
040576,000517:
040577,000518: 30,3527 00006 EXTEND
040578,000519: 30,3530 30155 DCA MPAC
040579,000520: 30,3531 20001 DDOUBL
040580,000521: 30,3532 54145 TS TEM5
040581,000522: 30,3533 13536 TCF +3
040582,000523: 30,3534 34724 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
040583,000524: 30,3535 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
040584,000525:
040585,000526: 30,3536 50120 INDEX FIXLOC
040586,000527: 30,3537 30002 CA 2
040587,000528: 30,3540 22154 LXCH MPAC
040588,000529: 30,3541 03606 TC ARCTRGSP
040589,000530: 30,3542 54156 TS MPAC +2 # CDUZ
040590,000531:
040591,000532: 30,3543 34746 CA ZERO
040592,000533: 30,3544 03564 TC DVBYCOSM
040593,000534: 30,3545 34742 CA FOUR
040594,000535: 30,3546 03564 TC DVBYCOSM
040595,000536: 30,3547 40141 CS TEM1
040596,000537: 30,3550 03606 TC ARCTRGSP
040597,000538: 30,3551 54155 TS MPAC +1 # CDUY
040598,000539:
040599,000540: 30,3552 34741 CA BIT4
040600,000541: 30,3553 03564 TC DVBYCOSM
040601,000542: 30,3554 33563 CA 16OCT
040602,000543: 30,3555 03564 TC DVBYCOSM
040603,000544: 30,3556 40141 CS TEM1
040604,000545: 30,3557 03606 TC ARCTRGSP
040605,000546: 30,3560 54154 TS MPAC # CDUX
040606,000547:
040607,000548: 30,3561 06060 TC INTPRET
040608,000549: 30,3562 77616 RVQ
040609,000550:
040610,000551: 30,3563 00016 16OCT OCT 16
040611,000552:
![]() |
Page 918 |
040613,000554: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040614,000555: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040615,000556: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
040616,000557: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040617,000558: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040618,000559: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040619,000560: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040620,000561:
040621,000562: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040622,000563: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040623,000564: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
040624,000565: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040625,000566:
040626,000567: 30,3564 60120 DVBYCOSM AD FIXLOC
040627,000568: 30,3565 54116 TS ADDRWD # ADRES OF OPERAND
040628,000569:
040629,000570: 30,3566 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
040630,000571: 30,3567 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
040631,000572: 30,3570 00006 EXTEND
040632,000573: 30,3571 63573 BZMF +2
040633,000574: 30,3572 40000 COM
040634,000575: 30,3573 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040635,000576: 30,3574 00006 EXTEND
040636,000577: 30,3575 63603 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
040637,000578:
040638,000579: 30,3576 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
040639,000580: 30,3577 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
040640,000581: 30,3600 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
040641,000582: 30,3601 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
040642,000583: 30,3602 10145 DV TEM5
040643,000584: 30,3603 54001 TSL&TCQ TS L
040644,000585: 30,3604 22141 LXCH TEM1
040645,000586: 30,3605 00002 TC Q
040646,000587:
![]() |
Page 919 |
040648,000589: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040649,000590: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040650,000591: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040651,000592:
040652,000593: 30,3606 00006 ARCTRGSP EXTEND
040653,000594: 30,3607 13651 BZF SINZERO # TO AVOID DIVIDING BY ZERO
040654,000595:
040655,000596: 30,3610 00006 EXTEND
040656,000597: 30,3611 22144 QXCH TEM4
040657,000598: 30,3612 54142 TS TEM2
040658,000599: 30,3613 30001 CA L
040659,000600: 30,3614 54143 TS TEM3
040660,000601: 30,3615 34746 CA ZERO
040661,000602: 30,3616 00006 EXTEND
040662,000603: 30,3617 10142 DV TEM2
040663,000604: 30,3620 00006 EXTEND
040664,000605: 30,3621 13640 BZF USECOS
040665,000606:
040666,000607: 30,3622 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
040667,000608: 30,3623 34746 CA ZERO
040668,000609: 30,3624 13630 TCF +4
040669,000610: 30,3625 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
040670,000611: 30,3626 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
040671,000612: 30,3627 34726 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
040672,000613: 30,3630 54143 TS TEM3 # WE NO LONGER NEED COS
040673,000614: 30,3631 30142 CA TEM2
040674,000615: 30,3632 03656 TC SPARCSIN -1
040675,000616: 30,3633 03727 TC ONESTO2S
040676,000617: 30,3634 00006 EXTEND
040677,000618: 30,3635 20143 MSU TEM3
040678,000619: 30,3636 03727 1TO2&TCQ TC ONESTO2S
040679,000620: 30,3637 00144 TC TEM4
040680,000621:
040681,000622: 30,3640 40143 USECOS CS TEM3 # COS IS SMALLER
040682,000623: 30,3641 03656 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
040683,000624: 30,3642 64727 AD HALF
040684,000625: 30,3643 54143 TS TEM3 # WE NO LONGER NEED COS
040685,000626: 30,3644 10142 CCS TEM2
040686,000627: 30,3645 30143 CA TEM3
040687,000628: 30,3646 13636 TCF 1TO2&TCQ
040688,000629: 30,3647 40143 CS TEM3
040689,000630: 30,3650 13636 TCF 1TO2&TCQ
040690,000631:
040691,000632: 30,3651 10001 SINZERO CCS L
040692,000633: 30,3652 34746 CA ZERO
040693,000634: 30,3653 00002 TC Q
040694,000635: 30,3654 34726 CA NEGMAX # PI, 2'S COMP
040695,000636: 30,3655 00002 TC Q
040696,000637:
![]() |
Page 920 |
040698,000639: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040699,000640: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+- 70
040700,000641: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040701,000642: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
040702,000643:
040703,000644: 30,3656 60000 DOUBLE
040704,000645: 30,3657 54021 SPARCSIN TS SR
040705,000646: 30,3660 13664 TCF +4
040706,000647: 30,3661 50000 INDEX A
040707,000648: 30,3662 44725 CS LIMITS
040708,000649: 30,3663 54021 TS SR
040709,000650: 30,3664 00006 EXTEND
040710,000651: 30,3665 70000 MP A
040711,000652: 30,3666 54141 TS TEM1
040712,000653: 30,3667 00006 EXTEND
040713,000654: 30,3670 73712 MP DPL9
040714,000655: 30,3671 63711 AD DPL7
040715,000656: 30,3672 00006 EXTEND
040716,000657: 30,3673 70141 MP TEM1
040717,000658: 30,3674 63710 AD DPL5
040718,000659: 30,3675 00006 EXTEND
040719,000660: 30,3676 70141 MP TEM1
040720,000661: 30,3677 63707 AD DPL3
040721,000662: 30,3700 00006 EXTEND
040722,000663: 30,3701 70141 MP TEM1
040723,000664: 30,3702 63706 AD DPL1
040724,000665: 30,3703 00006 EXTEND
040725,000666: 30,3704 70021 MP SR
040726,000667: 30,3705 00002 TC Q
040727,000668: 30,3706 24406 DPL1 DEC 10502 B-14
040728,000669: 30,3707 00660 DPL3 DEC 432 B-14
040729,000670: 30,3710 16204 DPL5 DEC 7300 B-14
040730,000671: 30,3711 50744 DPL7 DEC -11803 B-14
040731,000672: 30,3712 20315 DPL9 DEC 8397 B-14
040732,000673:
![]() |
Page 921 |
040734,000675: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040735,000676: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040736,000677: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040737,000678:
040738,000679: # VERSION COURTESY HUGH BLAIR-SMITH
040739,000680:
040740,000681: 30,3713 54141 LIMITSUB TS TEM1
040741,000682: 30,3714 34746 CA ZERO
040742,000683: 30,3715 00006 EXTEND
040743,000684: 30,3716 10141 DV TEM1
040744,000685: 30,3717 10000 CCS A
040745,000686: 30,3720 22141 LXCH TEM1
040746,000687: 30,3721 13723 TCF +2
040747,000688: 30,3722 13725 TCF +3
040748,000689: 30,3723 30001 CA L
040749,000690: 30,3724 00002 TC Q
040750,000691: 30,3725 40141 CS TEM1
040751,000692: 30,3726 00002 TC Q
040752,000693:
040753,000694: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040754,000695:
040755,000696: 30,3727 10000 ONESTO2S CCS A
040756,000697: 30,3730 64744 AD ONE
040757,000698: 30,3731 00002 TC Q
040758,000699: 30,3732 40000 CS A
040759,000700: 30,3733 00002 TC Q
040760,000701:
040761,000702: # NO ATTITUDE CONTROL
040762,000703:
040763,000704: 30,3734 05571 NOATTCNT TC ALARM
040764,000705: 30,3735 00402 OCT 00402 # NO ATTITUDE CONTROL
040765,000706:
040766,000707: 30,3736 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
040767,000708: 30,3737 04665 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
040768,000709: 30,3740 40166 FCADR STOPRATE
040769,000710: 30,3741 13461 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
040770,000711:
040771,000712: # MIDDLE GIMBAL ANGLE ALARM
040772,000713:
040773,000714: 30,3742 05571 ALARMMGA TC ALARM
040774,000715: 30,3743 00401 OCT 00401
040775,000716: 30,3744 13256 TCF MGARET
040776,000717:
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Page 922 The ':' at the end of the 2nd divider below is a workaround for our proof-reading system, but was simply another '=' in the original printout. |
040780,000721: # ================================================================================================================
040781,000722: # CONSTANTS
040782,000723: # ===============================================================================================================:
040783,000724:
040784,000725: # ADDRESS CONSTANTS
040785,000726:
040786,000727: 30,3745 03245 ECDUWL ECADR ECDUW
040787,000728:
040788,000729: # THRUST DIRECTION FILTER CONSTANTS
040789,000730:
040790,000731: 30,3746 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
040791,000732: 30,3747 03146 DEC .1 # GAIN FILTER WITH CSM
040792,000733:
040793,000734: 30,3750 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040794,000735: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
040795,000736:
040796,000737: 30,3751 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
040797,000738: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040798,000739:
040799,000740: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
040800,000741:
040801,000742: 30,3752 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
040802,000743: # LOWER PART COMES FROM NEXT CONSTANT
040803,000744:
040804,000745: 30,3753 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
040805,000746: 30,3754 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
040806,000747:
040807,000748: 30,3755 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
040808,000749: 30,3756 00133 DEC .0055555555
040809,000750:
040810,000751: 30,3757 30,3753 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
040811,000752:
040812,000753: 30,3757 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
040813,000754:
040814,000755: # CONSTANTS FOR DATA TRANSFER
040815,000756:
040816,000757: 30,3760 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
040817,000758: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
040818,000759:
040819,000760: 30,3761 30,3755 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
040820,000761:
040821,000762:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc