Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
042257,000002: ## Copyright: Public domain.
042258,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
042259,000004: ## Purpose: Part of the source code for Colossus build 237.
042260,000005: ## This is for the Command Module's (CM) Apollo Guidance
042261,000006: ## Computer (AGC), for Apollo 8.
042262,000007: ## Assembler: yaYUL
042263,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
042264,000009: ## Website: www.ibiblio.org/apollo/index.html
042265,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
042266,000011: ## Mod history: 2011-03-17 JL Adapted from corresponding Colossus 249 file.
042267,000012: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
042268,000013: ## and fixed errors found.
042269,000014:
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Page 970 |
042271,000016: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
042272,000017: # START OF T5 INTERRUPT PROGRAM
042273,000018:
042274,000019: 20,3550 BANK 20
042275,000020: 21,2000 SETLOC DAPS3
042276,000021: 21,2000 BANK
042277,000022:
042278,000023: 21,2071 COUNT 21/DAPRC
042279,000024:
042280,000025: 21,2071 E6,1510 EBANK= KMPAC
042281,000026: 21,2071 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
042282,000027: 21,2072 31465 CA T5PHASE # ON A T5 RUPT.
042283,000028: 21,2073 00006 EXTEND
042284,000029: 21,2074 62076 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
042285,000030: 21,2075 12100 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
042286,000031: 21,2076 44712 CS ONE
042287,000032: 21,2077 55465 TS T5PHASE
042288,000033: 21,2100 00006 EXTEND
042289,000034: 21,2101 32105 DCA RCSLOC
042290,000035: 21,2102 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
042291,000036: 21,2103 12107 TCF RCSATT +1
042292,000037: 21,2104 E6,1510 EBANK= KMPAC
042293,000038: 21,2104 02106 42066 RCSLOC 2CADR RCSATT
042294,000039:
042295,000040:
042296,000041: 21,2106 22016 RCSATT LXCH BANKRUPT # SAVE BB
042297,000042: 21,2107 00006 EXTEND # SAVE Q
042298,000043: 21,2110 22012 QXCH QRUPT
042299,000044: 21,2111 34674 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
042300,000045: 21,2112 00006 EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
042301,000046: 21,2113 02031 RAND CHAN31 # PILOT IS FULLY ENABLED)
042302,000047: 21,2114 00006 EXTEND
042303,000048: 21,2115 12144 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
042304,000049: # GO TO SETT5
042305,000050:
042306,000051: 21,2116 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
042307,000052: 21,2117 74675 MASK BIT14
042308,000053: 21,2120 27501 ADS RCSFLAGS # SET NORATE FLAG,
042309,000054: 21,2121 34672 CAF POSMAX
042310,000055: 21,2122 55332 TS HOLDFLAG # SET HOLDFLAG +,
042311,000056: 21,2123 34714 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
042312,000057: 21,2124 55567 TS ERRORX
042313,000058: 21,2125 55570 TS ERRORY
042314,000059: 21,2126 55571 TS ERRORZ
042315,000060: 21,2127 34675 CAF BIT14
042316,000061: 21,2130 00006 EXTEND
042317,000062: 21,2131 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
042318,000063: 21,2132 00006 EXTEND
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Page 971 |
042320,000065: 21,2133 12144 BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
042321,000066:
042322,000067: 21,2134 55465 TS T5PHASE # IF NOT IN FREE MODE,
042323,000068: 21,2135 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
042324,000069: 21,2136 54030 TS TIME5 # IN 100 MS VIA T5RUPT
042325,000070:
042326,000071: 21,2137 02616 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
042327,000072:
042328,000073: 21,2140 12334 TCF KMATRIX
042329,000074: 21,2141 37770 DELTATT OCT 37770 # 80MS (TIME5)
042330,000075: 21,2142 37776 DELTATT2 OCT 37776 # 20MS (TIME5)
042331,000076: 21,2143 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5)
042332,000077: 21,2144 CHAN5 EQUALS 5
042333,000078: 21,2144 CHAN6 EQUALS 6
042334,000079: 21,2144 7671 PRIO34A = PRIO34
042335,000080:
042336,000081: # CHECK PHASE OF T5 PROGRAM
042337,000082:
042338,000083: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO
042339,000084: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
042340,000085: # TO ALLOW FOR THE EXECUTION OF OTHER
042341,000086: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
042342,000087: # VARIABLES AT TURN ON.
042343,000088: # THE CODING OF T5PHASE IS...
042344,000089:
042345,000090: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
042346,000091: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
042347,000092: # - = RESTART DAP
042348,000093: # -0 = PHASE1 OF THE T5 PROGRAM
042349,000094:
042350,000095: 21,2144 11465 SETT5 CCS T5PHASE
042351,000096: 21,2145 12530 TCF FRESHDAP # TURN ON AUTOPILOT
042352,000097: 21,2146 12645 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
042353,000098: 21,2147 12532 TCF REDAP # RESTART AUTOPILOT
042354,000099:
042355,000100:
042356,000101: 21,2150 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
042357,000102: 21,2151 30030 CA TIME5
042358,000103: 21,2152 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
042359,000104: 21,2153 32142 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
042360,000105: 21,2154 54030 TS TIME5 # OF PROGRAM
042361,000106:
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Page 972 |
042363,000108: # IMU STATUS CHECK
042364,000109:
042365,000110: 21,2155 41321 CS IMODES33 # CHECK IMU STATUS
042366,000111: 21,2156 74705 MASK BIT6 # BIT6 = 0 IMU OK
042367,000112: 21,2157 10000 CCS A # BIT6 = 1 NO IMU
042368,000113: 21,2160 12174 TCF RATEFILT
042369,000114: 21,2161 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
042370,000115: 21,2162 74675 MASK BIT14 # INITIALIZED
042371,000116: 21,2163 27501 ADS RCSFLAGS
042372,000117: 21,2164 34675 CAF BIT14 # NO ATTITUDE REFERENCE
042373,000118: 21,2165 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
042374,000119: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
042375,000120: # ATTITUDE HOLD
042376,000121: 21,2166 00006 EXTEND
042377,000122: 21,2167 02031 RAND CHAN31 # CHECK FOR FREE MODE
042378,000123: 21,2170 00006 EXTEND
042379,000124: 21,2171 12403 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
042380,000125: 21,2172 12520 TCF REINIT # .....TILT...............................
042381,000126: 21,2173 00030 BITS4,5 OCT 30
042382,000127:
042383,000128:
042384,000129: 21,2174 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
042385,000130: 21,2175 74675 MASK BIT14
042386,000131: 21,2176 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
042387,000132: 21,2177 12201 BZF +2
042388,000133: 21,2200 12334 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
042389,000134:
042390,000135: # RATE FILTER TIMING = 7.72MS
042391,000136:
042392,000137: # RATE FILTER EQUATIONS
042393,000138: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
042394,000139: # -1
042395,000140: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
042396,000141: # -1
042397,000142: # - * - -
042398,000143: # WHERE DELRHO = AMGB (CDU - CDU )
042399,000144: # -1
042400,000145:
042401,000146: 21,2201 34711 CAF TWO
042402,000147: 21,2202 55506 DRHOLOOP TS SPNDX
042403,000148: 21,2203 60000 DOUBLE
042404,000149: 21,2204 55507 TS DPNDX
042405,000150: 21,2205 51507 INDEX DPNDX
042406,000151: 21,2206 41552 CS DRHO # DRHO SCALED 180 DEGS
042407,000152: 21,2207 00006 EXTEND
042408,000153: 21,2210 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
042409,000154: 21,2211 73063 MP GAIN1
042410,000155: 21,2212 51507 INDEX DPNDX
042411,000156: 21,2213 21553 DAS DRHO # (1 -.064)DRHO
042412,000157: 21,2214 00006 EXTEND
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Page 973 |
042414,000159: 21,2215 51507 INDEX DPNDX
042415,000160: 21,2216 41534 DCS ADOT
042416,000161: 21,2217 53511 DXCH KMPAC # -(.1)ADOT
042417,000162: 21,2220 34676 CA QUARTER
042418,000163: 21,2221 02026 TC SMALLMP
042419,000164: 21,2222 53511 DXCH KMPAC
042420,000165: 21,2223 51507 INDEX DPNDX
042421,000166: 21,2224 21553 DAS DRHO
042422,000167: 21,2225 11506 CCS SPNDX
042423,000168: 21,2226 12202 TCF DRHOLOOP
042424,000169:
042425,000170: 21,2227 30032 CA CDUX # MEASURED BODY RATES--
042426,000171: 21,2230 57635 XCH RHO
042427,000172: 21,2231 00006 EXTEND
042428,000173: 21,2232 21635 MSU RHO # - * - -
042429,000174: 21,2233 40000 COM # DELRHO = AMGB (CDU - CDU )
042430,000175: # -1
042431,000176: 21,2234 22007 ZL
042432,000177: 21,2235 53516 DXCH DELTEMPX
042433,000178: 21,2236 30033 CA CDUY
042434,000179: 21,2237 57636 XCH RHO1
042435,000180: 21,2240 00006 EXTEND
042436,000181: 21,2241 21636 MSU RHO1
042437,000182: 21,2242 40000 COM
042438,000183: 21,2243 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
042439,000184: 21,2244 00006 EXTEND
042440,000185: 21,2245 71640 MP AMGB1
042441,000186: 21,2246 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
042442,000187: # MUST BE DOUBLE PRECISION OR WILL LOSE
042443,000188: # PULSES
042444,000189: 21,2247 31641 CA AMGB4
042445,000190: 21,2250 00006 EXTEND
042446,000191: 21,2251 71502 MP T5TEMP
042447,000192: 21,2252 53520 DXCH DELTEMPY
042448,000193: 21,2253 31643 CA AMGB7
042449,000194: 21,2254 00006 EXTEND
042450,000195: 21,2255 71502 MP T5TEMP
042451,000196: 21,2256 53522 DXCH DELTEMPZ
042452,000197: 21,2257 30034 CA CDUZ
042453,000198: 21,2260 57637 XCH RHO2
042454,000199: 21,2261 00006 EXTEND
042455,000200: 21,2262 21637 MSU RHO2
042456,000201: 21,2263 40000 COM
042457,000202: 21,2264 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
042458,000203: 21,2265 00006 EXTEND
042459,000204: 21,2266 71642 MP AMGB5
042460,000205: 21,2267 21520 DAS DELTEMPY # DELTEMPY =AMGB4(CDUY-RHO1)
042461,000206: # + AMGB5(CDUZ-RHO2)
042462,000207: 21,2270 31644 CA AMGB8
042463,000208: 21,2271 00006 EXTEND
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Page 974 |
042465,000210: 21,2272 71502 MP T5TEMP
042466,000211: 21,2273 21522 DAS DELTEMPZ # DELTEMPZ =AMGB7(CDUY-RHO1)
042467,000212: # + AMGB8(CDUZ-RHO2)
042468,000213: 21,2274 34711 CAF TWO
042469,000214: 21,2275 55506 ADOTLOOP TS SPNDX
042470,000215: 21,2276 60000 DOUBLE
042471,000216: 21,2277 55507 TS DPNDX
042472,000217: 21,2300 00006 EXTEND
042473,000218: 21,2301 51507 INDEX DPNDX
042474,000219: 21,2302 31516 DCA DELTEMPX
042475,000220: 21,2303 51507 INDEX DPNDX
042476,000221: 21,2304 21553 DAS DRHO
042477,000222: 21,2305 00006 EXTEND
042478,000223: 21,2306 51507 INDEX DPNDX
042479,000224: 21,2307 31516 DCA DELTEMPX
042480,000225: 21,2310 51507 INDEX DPNDX
042481,000226: 21,2311 21542 DAS MERRORX
042482,000227: 21,2312 51507 INDEX DPNDX
042483,000228: 21,2313 31552 CA DRHO
042484,000229: 21,2314 60000 DOUBLE # N.B.
042485,000230: 21,2315 60000 DOUBLE # N.B.
042486,000231: 21,2316 00006 EXTEND
042487,000232: 21,2317 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
042488,000233: 21,2320 73101 MP GAIN2
042489,000234: 21,2321 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
042490,000235: 21,2322 21534 DAS ADOT # -1
042491,000236: 21,2323 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
042492,000237: 21,2324 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
042493,000238: 21,2325 00006 EXTEND
042494,000239: 21,2326 51506 INDEX SPNDX
042495,000240: 21,2327 71547 MP DFT
042496,000241: 21,2330 51507 INDEX DPNDX
042497,000242: 21,2331 21534 DAS ADOT # KMJ(DFT)
042498,000243: 21,2332 11506 CCS SPNDX
042499,000244: 21,2333 12275 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
042500,000245: 21,2334 31560 KMATRIX CA ATTSEC
042501,000246: 21,2335 74721 MASK LOW4
042502,000247: 21,2336 10000 CCS A
042503,000248: 21,2337 12345 TCF TENTHSEK
042504,000249: 21,2340 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
042505,000250: 21,2341 05027 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
042506,000251: 21,2342 E6,1510 EBANK= KMPAC
042507,000252: 21,2342 03444 44066 2CADR AMBGUPDT
042508,000253: 21,2344 34334 CAF NINE
042509,000254:
042510,000255: 21,2345 55560 TENTHSEK TS ATTSEC
042511,000256:
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Page 975 |
042513,000258: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
042514,000259: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
042515,000260:
042516,000261: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
042517,000262: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
042518,000263: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
042519,000264:
042520,000265: # THE STEERING PROGRAMS-
042521,000266: # 1) ATTITUDE MANEUVER ROUTINE
042522,000267: # 2) LEM TRACKING
042523,000268:
042524,000269: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
042525,000270: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
042526,000271:
042527,000272: # HOLDFLAG CODING-
042528,000273:
042529,000274: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
042530,000275: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
042531,000276: # ALSO IGNORE AUTOMATIC STEERING
042532,000277: # SET = + BY
042533,000278: # 1) INITIALIZATION PHASE OF AUTOPILOT
042534,000279: # 2) OCCURANCE OF RHC COMMANDS
042535,000280: # 3) FREE MODE
042536,000281: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
042537,000282: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
042538,000283: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
042539,000284: # FUNCTIONS AS IF IT WERE.)
042540,000285: # 5) S/C CONTROL SWITCH IN SCS
042541,000286: # 6) IMU POWER OFF
042542,000287: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
042543,000288: # - = PERFORMING AUTOMATIC MANEUVER
042544,000289: # -0 = NOT USED AT PRESENT
042545,000290:
042546,000291:
042547,000292: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
042548,000293: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
042549,000294: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
042550,000295:
042551,000296:
042552,000297: 21,2346 41332 CS HOLDFLAG
042553,000298: 21,2347 00006 EXTEND
042554,000299: 21,2350 62375 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
042555,000300: # COMMANDS
042556,000301: 21,2351 34711 DCDUINCR CAF TWO
042557,000302: 21,2352 55506 DELOOP TS SPNDX
042558,000303: 21,2353 60000 DOUBLE
042559,000304: 21,2354 55507 TS DPNDX
042560,000305: 21,2355 00006 EXTEND
042561,000306: 21,2356 50000 INDEX A
042562,000307: 21,2357 31647 DCA CDUXD
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Page 976 |
042564,000309: 21,2360 53511 DXCH KMPAC
042565,000310: 21,2361 00006 EXTEND
042566,000311: 21,2362 51507 INDEX DPNDX
042567,000312: 21,2363 31576 DCA DELCDUX
042568,000313: 21,2364 02040 TC DPADD
042569,000314: 21,2365 00006 EXTEND
042570,000315: 21,2366 31511 DCA KMPAC
042571,000316: 21,2367 51506 INDEX SPNDX
042572,000317: 21,2370 55572 TS THETADX
042573,000318: 21,2371 51507 INDEX DPNDX
042574,000319: 21,2372 53647 DXCH CDUXD
042575,000320: 21,2373 11506 CCS SPNDX
042576,000321: 21,2374 12352 TCF DELOOP
042577,000322:
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Page 977 |
042579,000324: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
042580,000325:
042581,000326: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
042582,000327:
042583,000328: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
042584,000329: # GENERATED INTERNALLY BY THE AUTOPILOT
042585,000330:
042586,000331: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
042587,000332: # WITH RESPECT TO THE CONTENTS OF N22
042588,000333:
042589,000334: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
042590,000335: # WITH RESPECT TO THE CONTENTS OF N17
042591,000336:
042592,000337: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
042593,000338: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
042594,000339:
042595,000340: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042596,000341: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042597,000342: # AS A FLY-TO INDICATOR.
042598,000343:
042599,000344: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042600,000345: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042601,000346: # AS A FLY-TO INDICATOR.
042602,000347:
042603,000348: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
042604,000349: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
042605,000350:
042606,000351: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
042607,000352: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
042608,000353: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
042609,000354:
042610,000355:
042611,000356: 21,2375 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
042612,000357: 21,2376 74707 MASK BIT4
042613,000358: 21,2377 00006 EXTEND
042614,000359: 21,2400 13144 BZF FDAIDSP2
042615,000360:
042616,000361: 21,2401 27501 FDAIDSP1 ADS RCSFLAGS
042617,000362: 21,2402 02404 TC NEEDLER
042618,000363: 21,2403 15222 KRESUME1 TCF RESUME # END PHASE 1
042619,000364:
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Page 978 |
042621,000366: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
042622,000367:
042623,000368: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
042624,000369:
042625,000370: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
042626,000371: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
042627,000372: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
042628,000373: # THE DACS.
042629,000374:
042630,000375:
042631,000376: # CALLING SEQUENCE:
042632,000377:
042633,000378: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
042634,000379: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
042635,000380:
042636,000381: # CS RCSFLAGS IN EBANK6
042637,000382: # MASK BIT3
042638,000383: # ADS RCSFLAGS
042639,000384:
042640,000385: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
042641,000386:
042642,000387: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
042643,000388: # AK1 SCALED 180 DEGREES TO CHANGE
042644,000389: # AK2 SCALED 180 DEGREES
042645,000390:
042646,000391: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
042647,000392: # (= 384 BITS IN IMU ERROR COUNTER)
042648,000393:
042649,000394: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
042650,000395:
042651,000396: # INHINT
042652,000397: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
042653,000398: # CADR NEEDLER
042654,000399: # RELINT
042655,000400:
042656,000401: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
042657,000402: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
042658,000403: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
042659,000404:
042660,000405: # ERASABLE USED:
042661,000406: # AK CDUXCMD
042662,000407: # AK1 CDUYCMD
042663,000408: # AK2 CDUZCMD
042664,000409: # EDRIVEX A,L,Q
042665,000410: # EDRIVEY T5TEMP
042666,000411: # EDRIVEZ SPNDX
042667,000412:
042668,000413: # SWITCHES: RCSFLAGS BITS 3,2
042669,000414:
042670,000415: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
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Page 979 |
042672,000417: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
042673,000418: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
042674,000419:
042675,000420:
042676,000421: # SIGN CONVENTION< AK = THETAC - THETA
042677,000422: # WHERE THETAC = COMMAND ANGLE
042678,000423: # THETA = PRESENT ANGLE
042679,000424:
042680,000425:
042681,000426: 21,2404 34707 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
042682,000427: 21,2405 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
042683,000428: 21,2406 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
042684,000429: 21,2407 00006 EXTEND
042685,000430: 21,2410 12415 BZF NEEDLER1
042686,000431: 21,2411 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
042687,000432: 21,2412 74710 MASK BIT3
042688,000433: 21,2413 27501 ADS RCSFLAGS
042689,000434: 21,2414 00002 TC Q
042690,000435:
042691,000436: 21,2415 31501 NEEDLER1 CA RCSFLAGS
042692,000437: 21,2416 76211 MASK SIX
042693,000438: 21,2417 00006 EXTEND
042694,000439: 21,2420 12455 BZF NEEDLES3
042695,000440: 21,2421 74710 MASK BIT3
042696,000441: 21,2422 00006 EXTEND
042697,000442: 21,2423 12446 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
042698,000443:
042699,000444: 21,2424 44705 CS BIT6 # FIRST PASS BIT3 = 1
042700,000445: 21,2425 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
042701,000446: 21,2426 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
042702,000447: 21,2427 44714 NEEDLE11 CS ZERO # ENABLING COUNTERS.
042703,000448: 21,2430 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
042704,000449: 21,2431 55477 TS AK1
042705,000450: 21,2432 55500 TS AK2
042706,000451: 21,2433 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
042707,000452: 21,2434 55504 TS EDRIVEY
042708,000453: 21,2435 55505 TS EDRIVEZ
042709,000454: 21,2436 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
042710,000455: 21,2437 54051 TS CDUYCMD
042711,000456: 21,2440 54052 TS CDUZCMD
042712,000457: 21,2441 46211 CS SIX # RESET RCSFLAGS FOR PASS2
042713,000458: 21,2442 71501 MASK RCSFLAGS
042714,000459: 21,2443 64711 AD BIT2
042715,000460: 21,2444 55501 TS RCSFLAGS
042716,000461: 21,2445 00002 TC Q # END PASS1
042717,000462:
042718,000463: 21,2446 34705 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
042719,000464: 21,2447 00006 EXTEND
042720,000465: 21,2450 05012 WOR CHAN12
042721,000466: 21,2451 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
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Page 980 |
042723,000468: 21,2452 71501 MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR
042724,000469: 21,2453 55501 TS RCSFLAGS # RELAY CLOSURE
042725,000470: 21,2454 00002 TC Q
042726,000471:
042727,000472:
042728,000473: 21,2455 34705 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
042729,000474: 21,2456 00006 EXTEND # IS ENABLED
042730,000475: 21,2457 02012 RAND CHAN12
042731,000476: 21,2460 00006 EXTEND # IF NOT RECYCLE NEEDLES
042732,000477: 21,2461 12411 BZF NEEDLER +5
042733,000478:
042734,000479: 21,2462 34711 NEEDLES CAF TWO
042735,000480: 21,2463 55506 DACLOOP TS SPNDX
042736,000481: 21,2464 44676 CS QUARTER
042737,000482: 21,2465 00006 EXTEND
042738,000483: 21,2466 51506 INDEX SPNDX
042739,000484: 21,2467 71476 MP AK
042740,000485: 21,2470 54001 TS L
042741,000486: 21,2471 10000 CCS A
042742,000487: 21,2472 32526 CA DACLIMIT
042743,000488: 21,2473 12475 TCF +2
042744,000489: 21,2474 42526 CS DACLIMIT
042745,000490: 21,2475 60001 AD L
042746,000491: 21,2476 55502 TS T5TEMP # OVFLO CHK
042747,000492: 21,2477 12503 TCF +4
042748,000493: 21,2500 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
042749,000494: 21,2501 32526 CAF DACLIMIT
042750,000495: 21,2502 54001 TS L
042751,000496: 21,2503 51506 INDEX SPNDX
042752,000497: 21,2504 41503 CS EDRIVEX # CURRENT VALUE OF DAC
042753,000498: 21,2505 60001 AD L
042754,000499: 21,2506 51506 INDEX SPNDX
042755,000500: 21,2507 26050 ADS CDUXCMD
042756,000501: 21,2510 51506 INDEX SPNDX
042757,000502: 21,2511 23503 LXCH EDRIVEX
042758,000503: 21,2512 11506 CCS SPNDX
042759,000504: 21,2513 12463 TCF DACLOOP
042760,000505: 21,2514 37707 CAF 13,14,15
042761,000506: 21,2515 00006 EXTEND
042762,000507: 21,2516 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
042763,000508: 21,2517 00002 TC Q
042764,000509:
042765,000510: 21,2520 32524 REINIT CAF DELAY200 # ........TILT LOGIC
042766,000511: 21,2521 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
042767,000512: 21,2522 55465 TS T5PHASE
042768,000513: 21,2523 15222 TCF RESUME
042769,000514: 21,2524 37754 DELAY200 DEC 16364 B-14 # 200MS
042770,000515:
042771,000516:
042772,000517: 21,2525 77177 DEC -384 B-14
042773,000518:
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Page 981 |
042775,000520: 21,2526 37200 DACLIMIT DEC 16000 B-14
042776,000521: 21,2527 00600 DEC 384 B-14
042777,000522:
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Page 982 |
042779,000524: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
042780,000525:
042781,000526: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
042782,000527:
042783,000528: # WBODY (+1) DFT TAU2
042784,000529: # WBODY1 (+1) DFT1 BIAS
042785,000530: # WBODY2 (+1) DFT2 BIAS1
042786,000531: # ADOT (+1) DRHO (+1) BIAS2
042787,000532: # ADOT1 (+1) DRHO1 (+1) ERRORX
042788,000533: # ADOT2 (+1) DRHO2 (+1) ERRORY
042789,000534: # MERRORX (+1) ATTSEC ERRORZ
042790,000535: # MERRORY (+1) TAU
042791,000536: # MERRORZ (+1) TAU1
042792,000537: 21,2530 34712 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
042793,000538: 21,2531 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
042794,000539: # ATTITUDE HOLD REFERENCE
042795,000540:
042796,000541: 21,2532 04633 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
042797,000542: 21,2533 40145 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
042798,000543:
042799,000544: 21,2534 04633 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
042800,000545: 21,2535 40276 CADR S40.14 # TO AUTOPILOT GAINS
042801,000546:
042802,000547: 21,2536 32607 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
042803,000548: 21,2537 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
042804,000549: 21,2540 34714 CAF ZERO
042805,000550: 21,2541 51506 INDEX SPNDX
042806,000551: 21,2542 55525 TS WBODY
042807,000552: 21,2543 11506 CCS SPNDX
042808,000553: 21,2544 12537 TCF ZEROT5
042809,000554: 21,2545 02616 TCR ZEROJET
042810,000555:
042811,000556: 21,2546 44714 CS ZERO
042812,000557: 21,2547 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
042813,000558:
042814,000559: 21,2550 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
042815,000560: # MANUAL RATE MODES
042816,000561: 21,2551 32610 CAF =.24
042817,000562: 21,2552 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
042818,000563:
042819,000564: 21,2553 34710 CAF FOUR
042820,000565: 21,2554 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
042821,000566: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
042822,000567: # IN (80MS - T5TIME(40MS)). THEREFORE
042823,000568: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
042824,000569: # MS FROM NOW AND EVERY 100MS THEREAFTER
042825,000570:
042826,000571: 21,2555 34717 CAF ELEVEN
042827,000572: 21,2556 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
042828,000573: # TO INITIALIZE THE S/C ANGULAR RATES
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Page 983 |
042830,000575: 21,2557 30032 CA CDUX
042831,000576: 21,2560 55635 TS RHO
042832,000577: 21,2561 30033 CA CDUY
042833,000578: 21,2562 55636 TS RHO1
042834,000579: 21,2563 30034 CA CDUZ
042835,000580: 21,2564 55637 TS RHO2
042836,000581: 21,2565 34714 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
042837,000582: 21,2566 55465 TS T5PHASE # PHASE2 OF PROGRAM
042838,000583:
042839,000584: 21,2567 41321 CS IMODES33 # CHECK IMU STATUS
042840,000585: 21,2570 74705 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
042841,000586: 21,2571 10000 CCS A # IF BIT6 = 1 IMU NOT READY
042842,000587: 21,2572 12576 TCF IMUAOK
042843,000588: 21,2573 55617 TS ATTKALMN # CANNOT USE IMU
042844,000589: 21,2574 32612 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
042845,000590: 21,2575 12603 TCF RCSSWIT # DONT START UP RATE FILTER
042846,000591: # SIGNAL NO RATE FILTER
042847,000592:
042848,000593: 21,2576 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
042849,000594: 21,2577 05027 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
042850,000595: 21,2600 E6,1510 EBANK= KMPAC
042851,000596: 21,2600 03444 44066 2CADR AMBGUPDT
042852,000597: 21,2602 32611 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
042853,000598: 21,2603 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
042854,000599: # SET BIT3 -INITIALIZE NEEDLES
042855,000600: # CLEAR BIT4 -RESET FOR FDAIDSP1
042856,000601: 21,2604 32613 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
042857,000602: # ERROR COUNTER TO ZERO.
042858,000603: # (MINIMUM DELAY = 15 MS)
042859,000604: 21,2605 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
042860,000605: 21,2606 05222 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
042861,000606: # FILTER WILL BEGIN OPERATING ZOOMS FROM
042862,000607: # NOW
042863,000608:
042864,000609: # CONSTANTS USED IN INITIALIZATION PROGRAM
042865,000610:
042866,000611: 21,2607 00044 NO.T5VAR DEC 36 B-14
042867,000612: 21,2610 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
042868,000613: 21,2611 00004 RCSINIT OCT 00004
042869,000614: 21,2612 20004 RCSINITB OCT 20004
042870,000615: 21,2613 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
042871,000616: 21,2614 E6,1510 EBANK= KMPAC
042872,000617: 21,2614 03646 36066 T6ADDR 2CADR T6START
042873,000618:
042874,000619:
042875,000620: 21,2616 34717 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
042876,000621: 21,2617 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
042877,000622: 21,2620 34714 CAF ZERO # AND RWORD1.
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Page 984 |
042879,000624: 21,2621 51506 INDEX SPNDX
042880,000625: 21,2622 55451 TS RWORD1
042881,000626: 21,2623 11506 CCS SPNDX
042882,000627: 21,2624 12617 TCF ZEROJET +1
042883,000628:
042884,000629: 21,2625 34710 CAF FOUR
042885,000630: 21,2626 55462 TS BLAST1 +1
042886,000631: 21,2627 34717 CAF ELEVEN
042887,000632: 21,2630 55464 TS BLAST2 +1
042888,000633:
042889,000634: 21,2631 44712 CS BIT1
042890,000635: 21,2632 71501 MASK RCSFLAGS
042891,000636: 21,2633 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
042892,000637:
042893,000638: 21,2634 00006 EXTEND
042894,000639: 21,2635 32615 DCA T6ADDR
042895,000640: 21,2636 53311 DXCH T6LOC
042896,000641: 21,2637 33034 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
042897,000642: 21,2640 54031 TS TIME6
042898,000643: 21,2641 34674 CAF BIT15
042899,000644: 21,2642 00006 EXTEND
042900,000645: 21,2643 05013 WOR CHAN13
042901,000646:
042902,000647: 21,2644 00002 TC Q
042903,000648:
042904,000649: 21,2645 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
042905,000650: 21,2646 13132 TCF KALUPDT
042906,000651:
042907,000652:
042908,000653: 21,2647 12651 TCF +2 # ONLY IF ATTKALMN POSITIVE
042909,000654: 21,2650 12651 TCF +1
042910,000655: 21,2651 32142 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
042911,000656: 21,2652 56030 XCH TIME5 # (JET SELECTION LOGIC )
042912,000657: 21,2653 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
042913,000658:
042914,000659:
042915,000660: 21,2654 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
042916,000661: 21,2655 74674 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
042917,000662: 21,2656 00006 EXTEND # ATTKALMN TO -1
042918,000663: 21,2657 12661 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
042919,000664: 21,2660 44712 CS ONE
042920,000665: 21,2661 55617 NOHIAUTO TS ATTKALMN
042921,000666:
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Page 985 |
042923,000668: # MANUAL ROTATION COMMANDS
042924,000669: 21,2662 43016 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
042925,000670: 21,2663 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
042926,000671: 21,2664 55501 TS RCSFLAGS
042927,000672:
042928,000673: 21,2665 00006 EXTEND
042929,000674: 21,2666 00031 READ CHAN31
042930,000675: 21,2667 54001 TS L
042931,000676: 21,2670 31632 CA CH31TEMP
042932,000677: 21,2671 00006 EXTEND
042933,000678: 21,2672 06001 RXOR LCHAN
042934,000679: 21,2673 73022 MASK MANROT # = OCT00077
042935,000680: 21,2674 00006 EXTEND
042936,000681: 21,2675 62710 BZMF NOCHANGE
042937,000682:
042938,000683: 21,2676 22000 LXCH A
042939,000684: 21,2677 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
042940,000685:
042941,000686: 21,2700 30001 CA L
042942,000687: 21,2701 00006 EXTEND
042943,000688: 21,2702 74706 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
042944,000689: 21,2703 30001 CA L
042945,000690: 21,2704 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
042946,000691: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
042947,000692: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
042948,000693: # PITCH
042949,000694:
042950,000695: 21,2705 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND
042951,000696: 21,2706 73023 MASK OCT16000 # 11 OF RCSFLAGS)
042952,000697: 21,2707 27501 ADS RCSFLAGS
042953,000698:
042954,000699: 21,2710 41632 NOCHANGE CS CH31TEMP
042955,000700: 21,2711 73022 MASK MANROT
042956,000701: 21,2712 00006 EXTEND
042957,000702: 21,2713 63234 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
042958,000703:
042959,000704: 21,2714 55332 TS HOLDFLAG # SET HOLDFLAG +
042960,000705:
042961,000706: 21,2715 03114 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
042962,000707: # YMANNDX, AND RMANNDX ARE ALL SET, BY
042963,000708: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
042964,000709: # +, OR - ROTATION RESPECTIVELY AS
042965,000710: # COMMANDED BY THE RHC.
042966,000711:
042967,000712: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
042968,000713: # THE RHC IS RETURNED TO DETENT, THE
042969,000714: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
042970,000715: # STICKCHK SO PMANNDX, YMANNDX, AND
042971,000716: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
042972,000717: # LEFT SET TO THEIR LAST OUT OF DETENT
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Page 986 |
042974,000719: # VALUES.
042975,000720:
042976,000721: 21,2716 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
042977,000722: 21,2717 74675 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
042978,000723: 21,2720 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
042979,000724:
042980,000725: 21,2721 34675 CAF BIT14
042981,000726: 21,2722 00006 EXTEND
042982,000727: 21,2723 02031 RAND CHAN31
042983,000728: 21,2724 00006 EXTEND
042984,000729: 21,2725 63035 BZMF FREEFUNC
042985,000730:
042986,000731: 21,2726 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
042987,000732: 21,2727 74675 MASK BIT14 # HAS BEEN INITIALIZED
042988,000733: 21,2730 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
042989,000734: 21,2731 12520 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
042990,000735:
042991,000736: 21,2732 44715 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
042992,000737: 21,2733 61130 AD RATEINDX # ATTKALMN TO -1.
042993,000738: 21,2734 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
042994,000739: 21,2735 62740 BZMF +3
042995,000740: 21,2736 44712 CS ONE
042996,000741: 21,2737 55617 TS ATTKALMN
042997,000742:
042998,000743:
042999,000744: 21,2740 34711 CAF TWO # AUTO-HOLD MANUAL ROTATION
043000,000745: 21,2741 55506 SETWBODY TS SPNDX
043001,000746: 21,2742 60000 DOUBLE
043002,000747: 21,2743 55507 TS DPNDX
043003,000748: 21,2744 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
043004,000749: 21,2745 31656 CA RMANNDX # = 1 + ROTATION
043005,000750: 21,2746 00006 EXTEND # = 2 - ROTATION
043006,000751: 21,2747 12771 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
043007,000752: # GO TO NORATE.
043008,000753:
043009,000754: 21,2750 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
043010,000755: 21,2751 54002 TS Q # = 2 0.2 DEG/SEC
043011,000756: 21,2752 50002 INDEX Q # = 4 0.5 DEG/SEC
043012,000757: 21,2753 33023 CA MANTABLE -1 # = 6 4.0 DEG/SEC
043013,000758: 21,2754 00006 EXTEND
043014,000759: 21,2755 74702 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
043015,000760: 21,2756 51507 INDEX DPNDX # TO GET COMMANDED RATE.
043016,000761: 21,2757 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
043017,000762:
043018,000763: 21,2760 31501 CA RCSFLAGS
043019,000764: 21,2761 73023 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12AND
043020,000765: 21,2762 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
043021,000766: 21,2763 13001 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
043022,000767: # ERROR.
043023,000768:
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Page 987 |
043025,000770: 21,2764 34714 ZEROER CA ZERO # ZEROER ZEROS MERRORS
043026,000771: 21,2765 22007 ZL
043027,000772: 21,2766 51507 INDEX DPNDX
043028,000773: 21,2767 53542 DXCH MERRORX
043029,000774: 21,2770 13007 TCF SPNDXCHK
043030,000775:
043031,000776: 21,2771 22007 NORATE ZL
043032,000777: 21,2772 51507 INDEX DPNDX
043033,000778: 21,2773 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
043034,000779: 21,2774 31501 CA RCSFLAGS
043035,000780: 21,2775 73023 MASK OCT16000
043036,000781: 21,2776 00006 EXTEND # IS RATE DAMPING COMPLETED
043037,000782: 21,2777 13007 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
043038,000783: 21,3000 12764 TCF ZEROER # NO,GO TO ZEROER
043039,000784:
043040,000785: 21,3001 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
043041,000786: 21,3002 43023 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
043042,000787: 21,3003 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
043043,000788: 21,3004 74704 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
043044,000789: 21,3005 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
043045,000790: 21,3006 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
043046,000791:
043047,000792: 21,3007 51507 SPNDXCHK INDEX DPNDX
043048,000793: 21,3010 31541 CA MERRORX
043049,000794: 21,3011 51506 INDEX SPNDX
043050,000795: 21,3012 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
043051,000796: 21,3013 11506 CCS SPNDX
043052,000797: 21,3014 12741 TCF SETWBODY
043053,000798: 21,3015 13425 TCF JETS
043054,000799:
043055,000800:
043056,000801: 21,3016 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
043057,000802:
043058,000803: 21,3017 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
043059,000804: 21,3020 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
043060,000805: 21,3021 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
043061,000806: # PRESERVED
043062,000807: # FOR INDEXING
043063,000808: 21,3022 00077 MANROT OCT 77
043064,000809: 21,3023 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
043065,000810: 21,3024 00165 MANTABLE DEC .0071111
043066,000811: 21,3025 77612 DEC -.0071111
043067,000812: 21,3026 00722 DEC .028444
043068,000813: 21,3027 77055 DEC -.028444
043069,000814: 21,3030 02215 DEC .071111
043070,000815: 21,3031 75562 DEC -.071111
043071,000816: 21,3032 22151 DEC .568889
043072,000817: 21,3033 55626 DEC -.568889
043073,000818: 21,3034 00027 =+14MS DEC 23 B-14
043074,000819: 21,3035 51656 FREEFUNC INDEX RMANNDX # ACCELERATION
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Page 988 |
043076,000821: 21,3036 33047 CA FREETAU # COMMANDS
043077,000822: 21,3037 55561 TS TAU
043078,000823: 21,3040 51657 INDEX PMANNDX
043079,000824: 21,3041 33047 CA FREETAU # FREETAU 0 SEC
043080,000825: 21,3042 55562 TS TAU1 # +1 +0.10 SEC
043081,000826: 21,3043 51660 INDEX YMANNDX # +2 -0.10 SEC
043082,000827: 21,3044 33047 CA FREETAU # (+3) 0 SEC
043083,000828: 21,3045 55563 TS TAU2
043084,000829: 21,3046 13053 TCF T6PROGM
043085,000830:
043086,000831: 21,3047 00000 FREETAU DEC 0 B-14
043087,000832: 21,3050 00740 DEC 480 B-14
043088,000833: 21,3051 77037 DEC -480 B-14
043089,000834: 21,3052 00000 DEC 0 B-14
043090,000835:
043091,000836: 21,3053 34714 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
043092,000837: 21,3054 55567 TS ERRORX
043093,000838: 21,3055 55570 TS ERRORY
043094,000839: 21,3056 55571 TS ERRORZ
043095,000840: 21,3057 13743 TCF T6PROG
043096,000841:
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Page 989 |
043098,000843: 21,3060 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
043099,000844: 21,3061 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
043100,000845: 21,3062 06604 DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043101,000846: 21,3063 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
043102,000847: 21,3064 12132 DEC .3180 # OF ATTITUDE RATES
043103,000848: 21,3065 13030 DEC .3452
043104,000849: 21,3066 14047 DEC .3774
043105,000850: 21,3067 15241 DEC .4161
043106,000851: 21,3070 16650 DEC .4634
043107,000852: 21,3071 20555 DEC .5223
043108,000853: 21,3072 23065 DEC .5970
043109,000854: 21,3073 26137 DEC .6933
043110,000855: 21,3074 32053 DEC .8151
043111,000856: 21,3075 35712 DEC .9342
043112,000857:
043113,000858: 21,3076 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
043114,000859: 21,3077 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
043115,000860: 21,3100 00435 DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043116,000861: 21,3101 00032 GAIN2 DEC .0016 # SCALED 10
043117,000862: 21,3102 01350 DEC .0454
043118,000863: 21,3103 01575 DEC .0545
043119,000864: 21,3104 02103 DEC .0666
043120,000865: 21,3105 02523 DEC .0832
043121,000866: 21,3106 03327 DEC .1069
043122,000867: 21,3107 04432 DEC .1422
043123,000868: 21,3110 06264 DEC .1985
043124,000869: 21,3111 11351 DEC .2955
043125,000870: 21,3112 17324 DEC .4817
043126,000871: 21,3113 33622 DEC .8683
043127,000872: 21,3114 55502 STICKCHK TS T5TEMP
043128,000873: 21,3115 76214 MASK THREE # INDECES FOR MANUAL ROTATION
043129,000874: 21,3116 55657 TS PMANNDX
043130,000875: 21,3117 31502 CA T5TEMP
043131,000876: 21,3120 00006 EXTEND # MAN RATE 0 0 RATE (DP)
043132,000877: 21,3121 74676 MP QUARTER # +1 +RATE (DP)
043133,000878: 21,3122 55502 TS T5TEMP # +2 -RATE (DP)
043134,000879: 21,3123 76214 MASK THREE # (+3) 0 RATE (DP)
043135,000880: 21,3124 55660 TS YMANNDX
043136,000881: 21,3125 31502 CA T5TEMP
043137,000882: 21,3126 00006 EXTEND
043138,000883: 21,3127 74676 MP QUARTER
043139,000884: 21,3130 55656 TS RMANNDX
043140,000885: 21,3131 00002 TC Q
043141,000886:
043142,000887:
043143,000888: 21,3132 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
043144,000889: # KALMAN FILTER TAKES 1.1 SEC
043145,000890:
043146,000891: 21,3133 32141 CA DELTATT # =1SEC - 80MS
043147,000892: 21,3134 61634 AD T5TIME # + DELAYS
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Page 990 |
043149,000894: 21,3135 54030 TS TIME5
043150,000895: 21,3136 13141 TCF +3
043151,000896: 21,3137 32142 CAF DELTATT2 # SAFETY PLAY TO ASSURE
043152,000897: 21,3140 54030 TS TIME5 # A T5RUPT
043153,000898:
043154,000899:
043155,000900: 21,3141 44714 KRESUME2 CS ZERO # RESET FOR PHASE1
043156,000901: 21,3142 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM
043157,000902: 21,3143 15222 TCF RESUME
043158,000903:
043159,000904:
043160,000905: 21,3144 44707 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
043161,000906: 21,3145 71501 MASK RCSFLAGS
043162,000907: 21,3146 55501 TS RCSFLAGS
043163,000908:
043164,000909: 21,3147 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
043165,000910: 21,3150 74702 MASK BIT9 # ERRORS
043166,000911: 21,3151 00006 EXTEND
043167,000912: 21,3152 13161 BZF FDAITOTL
043168,000913: 21,3153 00006 EXTEND
043169,000914: 21,3154 41570 DCS ERRORX # OFF -DISPLAY AUTOPILOT FOLLOWING ERROR
043170,000915: 21,3155 53477 DXCH AK
043171,000916: 21,3156 41571 CS ERRORZ
043172,000917: 21,3157 55500 TS AK2
043173,000918: 21,3160 15222 TCF RESUME # END PHASE 1
043174,000919:
043175,000920:
043176,000921: 21,3161 30105 FDAITOTL CA FLAGWRD9
043177,000922: 21,3162 74705 MASK BIT6
043178,000923: 21,3163 00006 EXTEND
043179,000924: 21,3164 13227 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
043180,000925: # IF SO, GO TO WRTN17
043181,000926: 21,3165 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
043182,000927: 21,3166 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
043183,000928: 21,3167 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
043184,000929: 21,3170 31155 CA CPHI # COMPONENTS OF N22
043185,000930:
043186,000931: 21,3171 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
043187,000932: 21,3172 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
043188,000933: 21,3173 55476 TS AK
043189,000934: 21,3174 31513 CA WTEMP
043190,000935: 21,3175 00006 EXTEND
043191,000936: 21,3176 20033 MSU CDUY
043192,000937: 21,3177 55502 TS T5TEMP
043193,000938: 21,3200 00006 EXTEND
043194,000939: 21,3201 71640 MP AMGB1
043195,000940: 21,3202 27476 ADS AK
043196,000941: 21,3203 31502 CA T5TEMP
043197,000942: 21,3204 00006 EXTEND
043198,000943: 21,3205 71641 MP AMGB4
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Page 991 |
043200,000945: 21,3206 55477 TS AK1
043201,000946: 21,3207 31502 CA T5TEMP
043202,000947: 21,3210 00006 EXTEND
043203,000948: 21,3211 71643 MP AMGB7
043204,000949: 21,3212 55500 TS AK2
043205,000950: 21,3213 31514 CA WTEMP +1
043206,000951: 21,3214 00006 EXTEND
043207,000952: 21,3215 20034 MSU CDUZ
043208,000953: 21,3216 55502 TS T5TEMP
043209,000954: 21,3217 00006 EXTEND
043210,000955: 21,3220 71642 MP AMGB5
043211,000956: 21,3221 27477 ADS AK1
043212,000957: 21,3222 31502 CA T5TEMP
043213,000958: 21,3223 00006 EXTEND
043214,000959: 21,3224 71644 MP AMGB8
043215,000960: 21,3225 27500 ADS AK2
043216,000961: 21,3226 15222 TCF RESUME # END PHASE1 OF RCS DAP
043217,000962:
043218,000963: 21,3227 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
043219,000964: 21,3230 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
043220,000965: 21,3231 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
043221,000966: 21,3232 31333 CA CPHIX
043222,000967: 21,3233 13171 TCF GETAKS
043223,000968:
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Page 992 Empty page. |
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc