Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
015315,000002: ## Copyright: Public domain.
015316,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
015317,000004: ## Purpose: A log section of Zerlina 56, the final revision of
015318,000005: ## Don Eyles's offline development program for the variable
015319,000006: ## guidance period servicer. It also includes a new P66 with LPD
015320,000007: ## (Landing Point Designator) capability, based on an idea of John
015321,000008: ## Young's. Neither of these advanced features were actually flown,
015322,000009: ## but Zerlina was also the birthplace of other big improvements to
015323,000010: ## Luminary including the terrain model and new (Luminary 1E)
015324,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
015325,000012: ## and revision 56 includes all changes up to and including Luminary
015326,000013: ## 183. It is therefore quite close to the Apollo 14 program,
015327,000014: ## Luminary 178, where not modified with new features.
015328,000015: ## Reference: pp. 347-368
015329,000016: ## Assembler: yaYUL
015330,000017: ## Contact: Ron Burkey <info@sandroid.org>.
015331,000018: ## Website: www.ibiblio.org/apollo/index.html
015332,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
015333,000020: ## 2017-08-22 RSB Transcribed.
015334,000021:
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Page 347 |
015336,000023: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE-KALCMANU
015337,000024:
015338,000025:
015339,000026: # MOD 2 DATE 5/1/67 BY DON KEENE
015340,000027:
015341,000028: # PROGRAM DESCRIPTION
015342,000029:
015343,000030: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
015344,000031: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
015345,000032: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
015346,000033: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
015347,000034: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
015348,000035:
015349,000036: # CPHI = COMMANDED OUTER GIMBAL ANGLE
015350,000037: # CTHETA = COMMANDED INNER GIMBAL ANGLE
015351,000038: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
015352,000039:
015353,000040: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
015354,000041: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
015355,000042: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
015356,000043: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
015357,000044: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
015358,000045: # -
015359,000046: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
015360,000047: # -
015361,000048: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
015362,000049: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
015363,000050: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
015364,000051:
015365,000052: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
015366,000053: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
015367,000054: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
015368,000055: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
015369,000056: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
015370,000057: # -
015371,000058: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
015372,000059:
015373,000060: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
015374,000061: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
015375,000062: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
015376,000063: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
015377,000064: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
015378,000065: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
015379,000066: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
015380,000067: # DESIRED FINAL GIMBAL ANGLES.
015381,000068:
015382,000069:
015383,000070: # PROGRAM LOGIC FLOW
015384,000071:
015385,000072: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
015386,000073: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
015387,000074:
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015389,000076: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
015390,000077: # * * *
015391,000078: # MEMBER AXES (MIS, MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
015392,000079: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
015393,000080:
015394,000081: # A) AM LESS THAN .25 DEGREES (MINANG)
015395,000082: # B) AM GREATER THAN 170 DEGREES (MAXANG)
015396,000083:
015397,000084: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
015398,000085: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
015399,000086:
015400,000087: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
015401,000088: # - *
015402,000089: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
015403,000090: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
015404,000091: # -
015405,000092: # TO DETERMINE COF.
015406,000093:
015407,000094: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
015408,000095: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
015409,000096: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
015410,000097: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
015411,000098: # YAW.
015412,000099:
015413,000100: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
015414,000101: # -
015415,000102: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
015416,000103: # DESIRED REFERENCE MATRIX IS THEN,
015417,000104:
015418,000105: # * * *
015419,000106: # MIS = MIS DEL
015420,000107: # N+1 N
015421,000108: # *
015422,000109: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
015423,000110: # *
015424,000111: # FROM MIS.
015425,000112:
015426,000113: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
015427,000114: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
015428,000115: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
015429,000116: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
015430,000117: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
015431,000118: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
015432,000119:
015433,000120: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
015434,000121: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
015435,000122:
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015437,000124: # CALLING SEQUENCE
015438,000125:
015439,000126: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
015440,000127: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
015441,000128: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
015442,000129: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
015443,000130:
015444,000131: # *
015445,000132: # CAF PRIO XX
015446,000133: # --
015447,000134: # INHINT
015448,000135: # TC FINDVAC
015449,000136: # 2CADR KALCMAN3
015450,000137: # RELINT
015451,000138:
015452,000139: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
015453,000140: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
015454,000141:
015455,000142: # L TC BANKCALL
015456,000143: # L+1 CADR ATTSTALL
015457,000144: # L+2 (BAD RETURN)
015458,000145: # L+3 (GOOD RETURN)
015459,000146:
015460,000147: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
015461,000148: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
015462,000149: # WAS IN GIMBAL LOCK.
015463,000150:
015464,000151: # ***NOTA BENE*** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
015465,000152: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
015466,000153: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
015467,000154: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
015468,000155: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
015469,000156: # SUBROUTINES
015470,000157:
015471,000158: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
015472,000159: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
015473,000160:
015474,000161: # MXM3
015475,000162: # ----
015476,000163:
015477,000164: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
015478,000165: # DOWN LIST, I.E.,
015479,000166:
015480,000167: # (M M M )
015481,000168: # ( 0 1 2)
015482,000169: # * ( ) * *
015483,000170: # M = (M M M ) = M1 X M2
015484,000171: # ( 3 4 5)
015485,000172: # ( )
015486,000173: # (M M M )
015487,000174:
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015489,000176: # ( 6 7 8)
015490,000177:
015491,000178: # *
015492,000179: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
015493,000180: # *
015494,000181: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
015495,000182: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
015496,000183: # 8
015497,000184:
015498,000185: # TRANSPOS
015499,000186: # --------
015500,000187:
015501,000188: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
015502,000189:
015503,000190: # * * T
015504,000191: # M = M1
015505,000192:
015506,000193: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
015507,000194: # *
015508,000195: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
015509,000196:
015510,000197: # CDU TO DCM
015511,000198: # ----------
015512,000199:
015513,000200: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
015514,000201: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
015515,000202:
015516,000203: # M = COSY COSZ
015517,000204: # 0
015518,000205:
015519,000206: # M = -COSY SINZ COSX + SINY SINX
015520,000207: # 1
015521,000208:
015522,000209: # M = COSY SINZ SINX + SINY COSX
015523,000210: # 2
015524,000211:
015525,000212: # M = SINZ
015526,000213: # 3
015527,000214:
015528,000215: # M = COSZ COSX
015529,000216: # 4
015530,000217:
015531,000218: # M = -COSZ SINX
015532,000219: # 5
015533,000220:
015534,000221: # M = -SINY COSZ
015535,000222: # 6
015536,000223:
015537,000224: # M = SINY SINZ COSX + COSY SINX
015538,000225: # 7
015539,000226:
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015541,000228: # M = -SINY SINZ SINX + COSY COSX
015542,000229: # 8
015543,000230:
015544,000231: # WHERE X = OUTER GIMBAL ANGLE
015545,000232: # Y = INNER GIMBAL ANGLE
015546,000233: # Z = MIDDLE GIMBAL ANGLE
015547,000234:
015548,000235: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
015549,000236:
015550,000237: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
015551,000238: # X Y Z
015552,000239: # STABLE MEMBER AXES (B , B , B ) ARE
015553,000240: # X Y Z
015554,000241:
015555,000242: # (B ) (A )
015556,000243: # ( X) ( X)
015557,000244: # ( ) ( )
015558,000245: # ( ) * ( )
015559,000246: # (B ) = M (A )
015560,000247: # ( Y) ( Y)
015561,000248: # ( ) ( )
015562,000249: # (B ) (A )
015563,000250: # ( Z) ( Z)
015564,000251:
015565,000252: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
015566,000253: # *
015567,000254: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
015568,000255:
015569,000256: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
015570,000257: # REGISTER X2.
015571,000258:
015572,000259:
015573,000260: # DCM TO CDU
015574,000261: # ----------
015575,000262: # *
015576,000263: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
015577,000264: # *
015578,000265: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
015579,000266: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
015580,000267: # FOR THIS CONVERSION ARE
015581,000268:
015582,000269: # Z = ARCSIN (M )
015583,000270: # 3
015584,000271:
015585,000272: # Y = ARCSIN (-M /COSZ)
015586,000273: # 6
015587,000274:
015588,000275: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
015589,000276: # 0
015590,000277:
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015592,000279: # X = ARCSIN (-M /COSZ)
015593,000280: # 5
015594,000281:
015595,000282: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
015596,000283: # 4
015597,000284:
015598,000285: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
015599,000286: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
015600,000287: # THE PUSH DOWN LIST.
015601,000288:
015602,000289:
015603,000290: # DELCOMP
015604,000291: # -------
015605,000292:
015606,000293: # *
015607,000294: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
015608,000295: # -
015609,000296: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
015610,000297:
015611,000298: # * * --T *
015612,000299: # DEL = I COSA + UU (1-COSA) + V SINA
015613,000300: # X
015614,000301:
015615,000302: # WHERE * (1 0 0)
015616,000303: # I = (0 1 0)
015617,000304: # (0 0 1)
015618,000305:
015619,000306:
015620,000307: # 2
015621,000308: # (U U U U U )
015622,000309: # ( X X Y X Z)
015623,000310: # ( )
015624,000311: # --T ( 2 )
015625,000312: # UU = (U U U U U )
015626,000313: # ( Y X Y Y Z )
015627,000314: # ( )
015628,000315: # ( 2 )
015629,000316: # (U U U U U )
015630,000317: # ( Z X Z Y Z )
015631,000318:
015632,000319:
015633,000320: # (0 -U U )
015634,000321: # ( Z Y )
015635,000322: # * ( )
015636,000323: # V = (U 0 -U )
015637,000324: # X ( Z X)
015638,000325: # ( )
015639,000326: # (-U U 0 )
015640,000327: # ( Y X )
015641,000328:
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015643,000330: # -
015644,000331: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
015645,000332: # A = ROTATION ANGLE
015646,000333:
015647,000334: # *
015648,000335: # THE INTERPRETATION OF DEL IS AS FOLLOWS
015649,000336:
015650,000337: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
015651,000338: # X Y Z
015652,000339: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
015653,000340: # X Y Z
015654,000341:
015655,000342: # (B ) (A )
015656,000343: # ( X) ( X)
015657,000344: # ( ) * ( )
015658,000345: # (B ) = DEL (A )
015659,000346: # ( Y) ( Y)
015660,000347: # ( ) ( )
015661,000348: # (B ) (A )
015662,000349: # ( Z) ( Z)
015663,000350:
015664,000351: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
015665,000352: # -
015666,000353: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
015667,000354: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
015668,000355: # MUST THEN BE LOADED INTO D(MPAC).
015669,000356:
015670,000357: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
015671,000358:
015672,000359:
015673,000360: # READCDUK
015674,000361: # --------
015675,000362:
015676,000363: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
015677,000364:
015678,000365:
015679,000366: # SIGNMPAC
015680,000367: # --------
015681,000368:
015682,000369: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
015683,000370:
015684,000371:
015685,000372: # PROGRAM STORAGE ALLOCATION
015686,000373:
015687,000374: # 1) FIXED MEMORY 1059 WORDS
015688,000375: # 2) ERASABLE MEMORY 98
015689,000376: # 3) STATE SWITCHES 3
015690,000377:
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Page 354 |
015692,000379: # 4) FLAGS 1
015693,000380:
015694,000381: # JOB PRIORITIES
015695,000382:
015696,000383: # 1) KALCMANU TBD
015697,000384: # 2) ONE SECOND UPDATE TBD
015698,000385:
015699,000386:
015700,000387: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
015701,000388:
015702,000389:
015703,000390: # STATE FLAGWRD 2 SETTING MEANING
015704,000391: # SWITCH NO. BIT NO.
015705,000392:
015706,000393: # *
015707,000394: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
015708,000395: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
015709,000396:
015710,000397: # *
015711,000398: # 32 13 0 CONTINUE UPDATE PROCESS
015712,000399: # 1 START UPDATE PROCESS
015713,000400:
015714,000401: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
015715,000402: # 1 IGNORE ANY FINAL P-AXIS YAW
015716,000403:
015717,000404: # 34 11 0 SIGNAL END OF KALCMANU
015718,000405: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
015719,000406:
015720,000407:
015721,000408: # * INTERNAL TO KALCMANU
015722,000409:
015723,000410:
015724,000411: # SUGGESTIONS FOR PROGRAM INTEGRATION
015725,000412:
015726,000413: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
015727,000414:
015728,000415: # CPHI
015729,000416: # CTHETA
015730,000417: # CPSI
015731,000418: # POINTVSM +5
015732,000419: # SCAXIS +5
015733,000420: # DELDCDU
015734,000421: # DELDCDU1
015735,000422: # DELDCDU2
015736,000423: # RATEINDX
015737,000424:
015738,000425: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
015739,000426:
015740,000427: # MXM3
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Page 355 |
015742,000429: # TRANSPOS
015743,000430: # SIGNMPAC
015744,000431: # READCDUK
015745,000432: # CDUTODCM
015746,000433:
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Page 356 |
015748,000435: 15,2050 BANK 15
015749,000436: 22,2000 SETLOC KALCMON1
015750,000437: 22,2000 BANK
015751,000438:
015752,000439: 22,2004 E6,1675 EBANK= BCDU
015753,000440:
015754,000441: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
015755,000442: # LOCATIONS, CPHI, CTHETA, CPSI.
015756,000443:
015757,000444: 22,2004 COUNT* $$/KALC
015758,000445: 22,2004 06051 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
015759,000446: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
015760,000447: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
015761,000448: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
015762,000449: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
015763,000450: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
015764,000451: 22,2012 51025 DSU BPL
015765,000452: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
015766,000453: 22,2014 44724 TOOBADF
015767,000454: 22,2015 72364 AXC,2 TLOAD
015768,000455: 22,2016 03245 MIS
015769,000456: 22,2017 03276 BCDU
015770,000457: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
015771,000458: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
015772,000459: 22,2022 72364 AXC,2 TLOAD
015773,000460: 22,2023 02221 MFS # PREPARE TO CALCULATE ARRAY MFS
015774,000461: 22,2024 00322 CPHI
015775,000462: 22,2025 77624 CALL
015776,000463: 22,2026 44410 CDUTODCM
015777,000464: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
015778,000465: 22,2030 03245 MIS
015779,000466: 22,2031 44326 TRANSPOS
015780,000467: 22,2032 45575 VLOAD STADR
015781,000468: 22,2033 50460 STOVL TMIS +12D
015782,000469: 22,2034 77626 STADR
015783,000470: 22,2035 50466 STOVL TMIS +6
015784,000471: 22,2036 77626 STADR
015785,000472: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
015786,000473: 22,2040 75160 AXC,1 AXC,2
015787,000474: 22,2041 03302 TMIS
015788,000475: 22,2042 02221 MFS
015789,000476: 22,2043 77624 CALL
015790,000477: 22,2044 44312 MXM3
015791,000478: 22,2045 45575 VLOAD STADR
015792,000479: 22,2046 51541 STOVL MFI +12D
015793,000480: 22,2047 77626 STADR
015794,000481: 22,2050 51547 STOVL MFI +6
015795,000482: 22,2051 77626 STADR
015796,000483: 22,2052 75555 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
015797,000484: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
015798,000485:
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Page 357 |
015800,000487: 22,2054 00023 18D
015801,000488: 22,2055 44335 TRNSPSPD
015802,000489: 22,2056 45575 VLOAD STADR
015803,000490: 22,2057 50460 STOVL TMFI +12D
015804,000491: 22,2060 77626 STADR
015805,000492: 22,2061 50466 STOVL TMFI +6
015806,000493: 22,2062 77626 STADR
015807,000494: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
015808,000495:
015809,000496: # CALCULATE COFSKEW AND MFISYM
015810,000497:
015811,000498: 22,2064 45345 DLOAD DSU
015812,000499: 22,2065 03305 TMFI +2
015813,000500: 22,2066 02224 MFI +2
015814,000501: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
015815,000502: 22,2070 02226 MFI +4
015816,000503: 22,2071 03307 TMFI +4
015817,000504: 22,2072 45325 PDDL DSU
015818,000505: 22,2073 03315 TMFI +10D
015819,000506: 22,2074 02234 MFI +10D
015820,000507: 22,2075 77666 VDEF
015821,000508: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
015822,000509:
015823,000510: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015824,000511:
015825,000512: 22,2077 43345 DLOAD DAD
015826,000513: 22,2100 02222 MFI
015827,000514: 22,2101 02242 MFI +16D
015828,000515: 22,2102 43225 DSU DAD
015829,000516: 22,2103 06510 DP1/4TH
015830,000517: 22,2104 02232 MFI +8D
015831,000518: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015832,000519: 22,2106 77726 ARCCOS
015833,000520: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
015834,000521: 22,2110 51025 DSU BPL
015835,000522: 22,2111 04363 MINANG
015836,000523: 22,2112 44117 CHECKMAX
015837,000524: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
015838,000525: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
015839,000526: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
015840,000527: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
015841,000528:
015842,000529: 22,2117 45345 CHECKMAX DLOAD DSU
015843,000530: 22,2120 03335 AM
015844,000531: 22,2121 04365 MAXANG
015845,000532: 22,2122 77244 BPL VLOAD
015846,000533: 22,2123 44131 ALTCALC # UNIT
015847,000534: 22,2124 03325 COFSKEW # COFSKEW
015848,000535: 22,2125 77656 UNIT
015849,000536: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
015850,000537:
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015852,000539: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
015853,000540: 22,2130 44744 LOCSKIRT
015854,000541: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
015855,000542: 22,2132 02222 MFI
015856,000543: 22,2133 03303 TMFI
015857,000544: 22,2134 77762 VSR1
015858,000545: 22,2135 27303 STOVL MFISYM
015859,000546: 22,2136 02230 MFI +6
015860,000547: 22,2137 74455 VAD VSR1
015861,000548: 22,2140 03311 TMFI +6
015862,000549: 22,2141 27311 STOVL MFISYM +6
015863,000550: 22,2142 02236 MFI +12D
015864,000551: 22,2143 74455 VAD VSR1
015865,000552: 22,2144 03317 TMFI +12D
015866,000553: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
015867,000554:
015868,000555:
015869,000556: # CALCULATE COF
015870,000557:
015871,000558:
015872,000559: 22,2146 70545 DLOAD SR1
015873,000560: 22,2147 03333 CAM
015874,000561: 22,2150 45325 PDDL DSU # PDO CAM $4
015875,000562: 22,2151 06516 DPHALF
015876,000563: 22,2152 03333 CAM
015877,000564: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
015878,000565: 22,2154 21674 SIGNMPAC
015879,000566: 22,2155 03323 MFISYM +16D
015880,000567: 22,2156 56225 DSU DDV
015881,000568: 22,2157 00001 0
015882,000569: 22,2160 00003 2
015883,000570: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015884,000571: 22,2162 03313 MFISYM +8D # $ ROOT 2
015885,000572: 22,2163 56225 DSU DDV
015886,000573: 22,2164 00001 0
015887,000574: 22,2165 00003 2
015888,000575: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
015889,000576: 22,2167 03303 MFISYM
015890,000577: 22,2170 56225 DSU DDV
015891,000578: 22,2171 00001 0
015892,000579: 22,2172 00003 2
015893,000580: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
015894,000581: 22,2174 77656 UNIT
015895,000582: 22,2175 03270 STORE COF
015896,000583:
015897,000584: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015898,000585:
015899,000586: 22,2176 45345 COFMAXGO DLOAD DSU
015900,000587: 22,2177 03270 COF
015901,000588: 22,2200 03272 COF +2
015902,000589: 22,2201 71240 BMN DLOAD # COFY G COFX
015903,000590:
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Page 359 |
015905,000592: 22,2202 44211 COMP12
015906,000593: 22,2203 03270 COF
015907,000594: 22,2204 50025 DSU BMN
015908,000595: 22,2205 03274 COF +4
015909,000596: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
015910,000597: 22,2207 77650 GOTO
015911,000598: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
015912,000599: 22,2211 45345 COMP12 DLOAD DSU
015913,000600: 22,2212 03272 COF +2
015914,000601: 22,2213 03274 COF +4
015915,000602: 22,2214 77640 BMN
015916,000603: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
015917,000604:
015918,000605: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
015919,000606: 22,2217 03327 COFSKEW +2 # UY
015920,000607: 22,2220 44224 U2POS
015921,000608: 22,2221 57575 VLOAD VCOMP
015922,000609: 22,2222 03270 COF
015923,000610: 22,2223 03270 STORE COF
015924,000611: 22,2224 51145 U2POS DLOAD BPL
015925,000612: 22,2225 03305 MFISYM +2 # UX UY
015926,000613: 22,2226 44232 OKU21
015927,000614: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
015928,000615: 22,2230 03270 COF
015929,000616: 22,2231 03270 STORE COF
015930,000617: 22,2232 51145 OKU21 DLOAD BPL
015931,000618: 22,2233 03315 MFISYM +10D # UY UZ
015932,000619: 22,2234 44744 LOCSKIRT
015933,000620: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015934,000621: 22,2236 03274 COF +4
015935,000622: 22,2237 03274 STORE COF +4
015936,000623: 22,2240 77650 GOTO
015937,000624: 22,2241 44744 LOCSKIRT
015938,000625: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
015939,000626: 22,2243 03325 COFSKEW # UX
015940,000627: 22,2244 44250 U1POS
015941,000628: 22,2245 57575 VLOAD VCOMP
015942,000629: 22,2246 03270 COF
015943,000630: 22,2247 03270 STORE COF
015944,000631: 22,2250 51145 U1POS DLOAD BPL
015945,000632: 22,2251 03305 MFISYM +2 # UX UY
015946,000633: 22,2252 44256 OKU12
015947,000634: 22,2253 57545 DLOAD DCOMP
015948,000635: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
015949,000636: 22,2255 03272 STORE COF +2
015950,000637: 22,2256 51145 OKU12 DLOAD BPL
015951,000638: 22,2257 03307 MFISYM +4 # UX UZ
015952,000639: 22,2260 44744 LOCSKIRT
015953,000640: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015954,000641: 22,2262 03274 COF +4
015955,000642:
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Page 360 |
015957,000644: 22,2263 03274 STORE COF +4
015958,000645: 22,2264 77650 GOTO
015959,000646: 22,2265 44744 LOCSKIRT
015960,000647: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
015961,000648: 22,2267 03331 COFSKEW +4 # UZ
015962,000649: 22,2270 44274 U3POS
015963,000650: 22,2271 57575 VLOAD VCOMP
015964,000651: 22,2272 03270 COF
015965,000652: 22,2273 03270 STORE COF
015966,000653: 22,2274 51145 U3POS DLOAD BPL
015967,000654: 22,2275 03307 MFISYM +4 # UX UZ
015968,000655: 22,2276 44302 OKU31
015969,000656: 22,2277 57545 DLOAD DCOMP
015970,000657: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
015971,000658: 22,2301 03270 STORE COF
015972,000659: 22,2302 51145 OKU31 DLOAD BPL
015973,000660: 22,2303 03315 MFISYM +10D # UY UZ
015974,000661: 22,2304 44744 LOCSKIRT
015975,000662: 22,2305 57545 DLOAD DCOMP
015976,000663: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
015977,000664: 22,2307 03272 STORE COF +2
015978,000665: 22,2310 77650 GOTO
015979,000666: 22,2311 44744 LOCSKIRT
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Page 361 |
015981,000668: # MATRIX OPERATIONS
015982,000669:
015983,000670: 13,2207 BANK 13
015984,000671: 22,2000 SETLOC KALCMON2
015985,000672: 22,2000 BANK
015986,000673:
015987,000674: 22,2312 E6,1675 EBANK= BCDU
015988,000675:
015989,000676: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
015990,000677: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
015991,000678: 22,2314 00001 0,1 # AND MPAC
015992,000679: 22,2315 62703 VXM* PDVL*
015993,000680: 22,2316 77776 0,2
015994,000681: 22,2317 00007 6,1
015995,000682: 22,2320 62703 VXM* PDVL*
015996,000683: 22,2321 77776 0,2
015997,000684: 22,2322 00015 12D,1
015998,000685: 22,2323 41503 VXM* PUSH
015999,000686: 22,2324 77776 0,2
016000,000687: 22,2325 77616 RVQ
016001,000688:
016002,000689:
016003,000690: # RETURN WITH M1XM2 IN PD LIST
016004,000691:
016005,000692: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
016006,000693: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
016007,000694: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
016008,000695: 22,2331 62713 PDVL* PDVL*
016009,000696: 22,2332 00007 6,1
016010,000697: 22,2333 00015 12D,1
016011,000698: 22,2334 77606 PUSH # MATRIX IN PD
016012,000699: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
016013,000700: 22,2336 50120 INDEX FIXLOC
016014,000701: 22,2337 52013 DXCH 12
016015,000702: 22,2340 50120 INDEX FIXLOC
016016,000703: 22,2341 52017 DXCH 16
016017,000704: 22,2342 50120 INDEX FIXLOC
016018,000705: 22,2343 52013 DXCH 12
016019,000706: 22,2344 50120 INDEX FIXLOC
016020,000707: 22,2345 52015 DXCH 14
016021,000708: 22,2346 50120 INDEX FIXLOC
016022,000709: 22,2347 52005 DXCH 4
016023,000710: 22,2350 50120 INDEX FIXLOC
016024,000711: 22,2351 52015 DXCH 14
016025,000712: 22,2352 50120 INDEX FIXLOC
016026,000713: 22,2353 52003 DXCH 2
016027,000714: 22,2354 50120 INDEX FIXLOC
016028,000715: 22,2355 52007 DXCH 6
016029,000716: 22,2356 50120 INDEX FIXLOC
016030,000717: 22,2357 52003 DXCH 2
016031,000718:
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016033,000720: 22,2360 06051 TC INTPRET
016034,000721: 22,2361 77616 RVQ
016035,000722:
016036,000723: 15,2050 BANK 15
016037,000724: 22,2000 SETLOC KALCMON1
016038,000725: 22,2000 BANK
016039,000726:
016040,000727: 22,2362 E6,1675 EBANK= BCDU
016041,000728:
016042,000729: 22,2362 00013 13563 MINANG 2DEC 0.00069375
016043,000730: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
016044,000731: # GIMBAL LOCK CONSTANTS
016045,000732:
016046,000733: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
016047,000734: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
016048,000735:
016049,000736: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
016050,000737: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
016051,000738: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
016052,000739: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
016053,000740: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
016054,000741: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
016055,000742: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
016056,000743: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
016057,000744:
016058,000745: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
016059,000746: 22,2404 54156 TS MPAC +2
016060,000747: 22,2405 00006 EXTEND
016061,000748: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
016062,000749: 22,2407 16510 TCF TLOAD +6
016063,000750:
016064,000751:
016065,000752: 22,2410 66370 CDUTODCM AXT,1 SSP
016066,000753: 22,2411 00003 OCT 3
016067,000754: 22,2412 00051 S1
016068,000755: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
016069,000756: 22,2414 00010 STORE 7
016070,000757: 22,2415 77601 SETPD
016071,000758: 22,2416 00001 0
016072,000759: 22,2417 47133 LOOPSIN SLOAD* RTB
016073,000760: 22,2420 00013 10D,1
016074,000761: 22,2421 21560 CDULOGIC
016075,000762:
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016077,000764: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
016078,000765: 22,2423 65356 SIN PDDL # 2 COS(PHI)
016079,000766: 22,2424 00013 10D # 4 SIN(THETA)
016080,000767: 22,2425 41546 COS PUSH # 6 COS(THETA)
016081,000768: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
016082,000769: 22,2427 44417 LOOPSIN # 10 COS(PSI)
016083,000770: 22,2430 00007 6
016084,000771: 22,2431 72405 DMP SL1
016085,000772: 22,2432 00013 10D
016086,000773: 22,2433 10001 STORE 0,2 # C0=COS(THETA)COS(PSI)
016087,000774: 22,2434 41345 DLOAD DMP
016088,000775: 22,2435 00005 4
016089,000776: 22,2436 00001 0
016090,000777: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
016091,000778: 22,2440 00007 6
016092,000779: 22,2441 00011 8D
016093,000780: 22,2442 72405 DMP SL1
016094,000781: 22,2443 00003 2
016095,000782: 22,2444 72421 BDSU SL1
016096,000783: 22,2445 00015 12D
016097,000784: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
016098,000785: 22,2447 41345 DLOAD DMP
016099,000786: 22,2450 00003 2
016100,000787: 22,2451 00005 4
016101,000788: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
016102,000789: 22,2453 00007 6
016103,000790: 22,2454 00011 8D
016104,000791: 22,2455 72405 DMP SL1
016105,000792: 22,2456 00001 0
016106,000793: 22,2457 72415 DAD SL1
016107,000794: 22,2460 00017 14D
016108,000795: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
016109,000796: 22,2462 77745 DLOAD
016110,000797: 22,2463 00011 8D
016111,000798: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
016112,000799: 22,2465 77745 DLOAD
016113,000800: 22,2466 00013 10D
016114,000801: 22,2467 72405 DMP SL1
016115,000802: 22,2470 00003 2
016116,000803: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
016117,000804: 22,2472 41345 DLOAD DMP
016118,000805: 22,2473 00013 10D
016119,000806: 22,2474 00001 0
016120,000807: 22,2475 72476 DCOMP SL1
016121,000808: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
016122,000809: 22,2477 41345 DLOAD DMP
016123,000810: 22,2500 00005 4
016124,000811: 22,2501 00013 10D
016125,000812: 22,2502 72476 DCOMP SL1
016126,000813: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
016127,000814:
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016129,000816: 22,2504 77745 DLOAD
016130,000817: 22,2505 72405 DMP SL1 # (PUSH UP 7)
016131,000818: 22,2506 00011 8D
016132,000819: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
016133,000820: 22,2510 00007 6
016134,000821: 22,2511 00001 0
016135,000822: 22,2512 72415 DAD SL1 # (PUSH UP 7)
016136,000823: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
016137,000824: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
016138,000825: 22,2515 77745 DLOAD
016139,000826: 22,2516 72405 DMP SL1 # (PUSH UP 6)
016140,000827: 22,2517 00011 8D
016141,000828: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
016142,000829: 22,2521 00007 6
016143,000830: 22,2522 00003 2
016144,000831: 22,2523 72425 DSU SL1 # (PUSH UP 6)
016145,000832: 22,2524 77626 STADR
016146,000833: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
016147,000834: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
016148,000835:
016149,000836: # CALCULATION OF THE MATRIX DEL......
016150,000837:
016151,000838: # * * --T *
016152,000839: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
016153,000840:
016154,000841: # -
016155,000842: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
016156,000843: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
016157,000844: # -
016158,000845: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
016159,000846:
016160,000847: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
016161,000848: 22,2530 00001 0
016162,000849: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
016163,000850: 22,2532 41546 COS PUSH # PD2 = COS(A)
016164,000851: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
016165,000852: 22,2534 41021 BDSU BOVB
016166,000853: 22,2535 06516 DPHALF
016167,000854: 22,2536 21674 SIGNMPAC
016168,000855: 22,2537 77725 PDDL # PD4 = 1-COS(A)
016169,000856:
016170,000857: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
016171,000858:
016172,000859: 22,2540 03270 COF
016173,000860: 22,2541 41316 DSQ DMP
016174,000861: 22,2542 00005 4
016175,000862: 22,2543 52415 DAD SL3
016176,000863: 22,2544 00003 2
016177,000864: 22,2545 77604 BOVB
016178,000865: 22,2546 21674 SIGNMPAC
016179,000866:
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016181,000868: 22,2547 16222 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
016182,000869: 22,2550 03272 COF +2
016183,000870: 22,2551 41316 DSQ DMP
016184,000871: 22,2552 00005 4
016185,000872: 22,2553 52415 DAD SL3
016186,000873: 22,2554 00003 2
016187,000874: 22,2555 77604 BOVB
016188,000875: 22,2556 21674 SIGNMPAC
016189,000876: 22,2557 16232 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
016190,000877: 22,2560 03274 COF +4
016191,000878: 22,2561 41316 DSQ DMP
016192,000879: 22,2562 00005 4
016193,000880: 22,2563 52415 DAD SL3
016194,000881: 22,2564 00003 2
016195,000882: 22,2565 77604 BOVB
016196,000883: 22,2566 21674 SIGNMPAC
016197,000884: 22,2567 02242 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
016198,000885:
016199,000886: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
016200,000887:
016201,000888: 22,2570 41345 DLOAD DMP
016202,000889: 22,2571 03270 COF
016203,000890: 22,2572 03272 COF +2
016204,000891: 22,2573 72405 DMP SL1
016205,000892: 22,2574 00005 4
016206,000893: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
016207,000894: 22,2576 03274 COF +4
016208,000895: 22,2577 00001 0
016209,000896: 22,2600 43206 PUSH DAD # D8 UZ SIN A $ 4
016210,000897: 22,2601 00007 6
016211,000898: 22,2602 41112 SL2 BOVB
016212,000899: 22,2603 21674 SIGNMPAC
016213,000900: 22,2604 16230 STODL KEL +6
016214,000901: 22,2605 62421 BDSU SL2
016215,000902: 22,2606 77604 BOVB
016216,000903: 22,2607 21674 SIGNMPAC
016217,000904: 22,2610 16224 STODL KEL +2
016218,000905: 22,2611 03270 COF
016219,000906: 22,2612 41205 DMP DMP
016220,000907: 22,2613 03274 COF +4
016221,000908: 22,2614 00005 4
016222,000909: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
016223,000910: 22,2616 03272 COF +2
016224,000911: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
016225,000912: 22,2620 00001 0
016226,000913: 22,2621 62415 DAD SL2
016227,000914: 22,2622 00007 6
016228,000915: 22,2623 77604 BOVB
016229,000916: 22,2624 21674 SIGNMPAC
016230,000917: 22,2625 16226 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
016231,000918:
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016233,000920: 22,2626 62421 BDSU SL2
016234,000921: 22,2627 77604 BOVB
016235,000922: 22,2630 21674 SIGNMPAC
016236,000923: 22,2631 16236 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
016237,000924: 22,2632 03272 COF +2
016238,000925: 22,2633 41205 DMP DMP
016239,000926: 22,2634 03274 COF +4
016240,000927: 22,2635 00005 4
016241,000928: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
016242,000929: 22,2637 03270 COF
016243,000930: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
016244,000931: 22,2641 00001 0
016245,000932: 22,2642 62415 DAD SL2
016246,000933: 22,2643 00007 6
016247,000934: 22,2644 77604 BOVB
016248,000935: 22,2645 21674 SIGNMPAC
016249,000936: 22,2646 16240 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
016250,000937: 22,2647 62421 BDSU SL2
016251,000938: 22,2650 77604 BOVB
016252,000939: 22,2651 21674 SIGNMPAC
016253,000940: 22,2652 02234 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
016254,000941: 22,2653 77616 RVQ
016255,000942:
016256,000943:
016257,000944: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
016258,000945: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
016259,000946: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
016260,000947: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
016261,000948:
016262,000949: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
016263,000950:
016264,000951: # C =COS(THETA)COS(PSI)
016265,000952: # 0
016266,000953: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
016267,000954: # 1
016268,000955: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
016269,000956: # 2
016270,000957: # C =SIN(PSI)
016271,000958: # 3
016272,000959: # C =COS(PSI)COS(PHI)
016273,000960: # 4
016274,000961: # C =-COS(PSI)SIN(PHI)
016275,000962: # 5
016276,000963: # C =-SIN(THETA)COS(PSI)
016277,000964: # 6
016278,000965: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
016279,000966: # 7
016280,000967: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
016281,000968: # 8
016282,000969:
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016284,000971:
016285,000972: # WHERE PHI = OGA
016286,000973: # THETA = IGA
016287,000974: # PSI = MGA
016288,000975:
016289,000976: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
016290,000977: 22,2655 00007 6,1
016291,000978: 22,2656 71406 PUSH COS # PD +0 PSI
016292,000979: 22,2657 41152 SL1 BOVB
016293,000980: 22,2660 21674 SIGNMPAC
016294,000981: 22,2661 00051 STORE S1
016295,000982: 22,2662 57543 DLOAD* DCOMP
016296,000983: 22,2663 00015 12D,1
016297,000984: 22,2664 67471 DDV ARCSIN
016298,000985: 22,2665 00051 S1
016299,000986: 22,2666 51123 PDDL* BPL # PD +2 THETA
016300,000987: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
016301,000988: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
016302,000989: 22,2671 57545 DLOAD DCOMP
016303,000990: 22,2672 43244 BPL DAD
016304,000991: 22,2673 44677 SUHALFA
016305,000992: 22,2674 06516 DPHALF
016306,000993: 22,2675 77650 GOTO
016307,000994: 22,2676 44701 CALCPHI
016308,000995: 22,2677 77625 SUHALFA DSU
016309,000996: 22,2700 06516 DPHALF
016310,000997: 22,2701 77606 CALCPHI PUSH
016311,000998: 22,2702 57543 OKTHETA DLOAD* DCOMP
016312,000999: 22,2703 00013 10D,1
016313,001000: 22,2704 67471 DDV ARCSIN
016314,001001: 22,2705 00051 S1
016315,001002: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
016316,001003: 22,2707 00011 8D,1
016317,001004: 22,2710 44722 OKPHI
016318,001005: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
016319,001006: 22,2712 43244 BPL DAD
016320,001007: 22,2713 44717 SUHALFAP
016321,001008: 22,2714 06516 DPHALF
016322,001009: 22,2715 77650 GOTO
016323,001010: 22,2716 44723 VECOFANG
016324,001011: 22,2717 52025 SUHALFAP DSU GOTO
016325,001012: 22,2720 06516 DPHALF
016326,001013: 22,2721 44723 VECOFANG
016327,001014: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
016328,001015: 22,2723 43466 VECOFANG VDEF RVQ
016329,001016:
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016331,001018: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
016332,001019:
016333,001020: 22,2724 77776 TOOBADF EXIT
016334,001021: 22,2725 05600 TC ALARM
016335,001022: 22,2726 00401 OCT 00401
016336,001023:
016337,001024: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
016338,001025:
016339,001026: 22,2730 04616 TC BANKCALL
016340,001027: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
016341,001028:
016342,001029: 22,2732 04616 NOGO TC BANKCALL
016343,001030: 22,2733 40166 CADR STOPRATE # STOP RATES
016344,001031:
016345,001032: 22,2734 34752 CAF TWO
016346,001033: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
016347,001034: 22,2736 05214 TC WAITLIST
016348,001035: 22,2737 E6,1675 EBANK= BCDU
016349,001036: 22,2737 03234 44066 2CADR GOODMANU
016350,001037:
016351,001038: 22,2741 15155 TCF ENDOFJOB
016352,001039:
016353,001040: 22,2742 77776 TOOBADI EXIT
016354,001041: 22,2743 12732 TCF NOGO
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc