Source Code
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These source code files have been transcribed or otherwise adapted from
digitized images of a hardcopy from the private collection of
Don Eyles. The digitization was performed by archive.org, and
transcription was performed by a team of volunteers.
Note that the page images
presented online are of reduced quality, and that the original
high-quality images are available at archive.org.
Report any conversion errors or legibility problems in page images to info@sandroid.org.
Notations on the program listing read, in part:473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966Note that the date is the date of the printout, not the date of the program revision. |
022309,000002: ## Copyright: Public domain.
022310,000003: ## Filename: DIGITAL_AUTOPILOT_ERASABLE.agc
022311,000004: ## Purpose: Part of the source code for Aurora (revision 12).
022312,000005: ## Assembler: yaYUL
022313,000006: ## Contact: Ron Burkey <info@sandroid.org>.
022314,000007: ## Website: https://www.ibiblio.org/apollo.
022315,000008: ## Pages: 535-541
022316,000009: ## Mod history: 2016-09-20 JL Created.
022317,000010: ## 2016-09-30 MAS Began.
022318,000011: ## 2016-10-01 MAS Completed transcription.
022319,000012: ## 2016-10-04 HG Capitalize SETLOC`
022320,000013: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
022321,000014: ## but no errors found.
022322,000015:
022323,000016: ## This source code has been transcribed or otherwise adapted from
022324,000017: ## digitized images of a hardcopy from the private collection of
022325,000018: ## Don Eyles. The digitization was performed by archive.org.
022326,000019:
022327,000020: ## Notations on the hardcopy document read, in part:
022328,000021:
022329,000022: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
022330,000023: ## NOV 10, 1966
022331,000024:
022332,000025: ## [Note that this is the date the hardcopy was made, not the
022333,000026: ## date of the program revision or the assembly.]
022334,000027:
022335,000028: ## The scan images (with suitable reduction in storage size and consequent
022336,000029: ## reduction in image quality) are available online at
022337,000030: ## https://www.ibiblio.org/apollo.
022338,000031: ## The original high-quality digital images are available at archive.org:
022339,000032: ## https://archive.org/details/aurora00dapg
022340,000033:
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Page 535 |
022342,000035: E6,1400 SETLOC 3000
022343,000036:
022344,000037: # AXIS TRANSFORMATION MATRIX - PILOT TO GIMBAL AXES:
022345,000038:
022346,000039: E6,1400 MR12 ERASE # SCALED AT 2 THESE FOUR P-G MATRIX ELE-
022347,000040: E6,1401 MR22 ERASE # SCALED AT 1 MENTS ARE IN THIS ORDER TO
022348,000041: E6,1402 MR13 ERASE # SCALED AT 2 COMPUTE RATE HOLD DELCDUS
022349,000042: E6,1403 MR23 ERASE # SCALED AT 1 WITH AN INDEXED LOOP
022350,000043: # AXIS TRANSFORMATION MATRIX - GIMBAL TO PILOT AXES:
022351,000044:
022352,000045: E6,1404 M11 ERASE # SCALED AT 1
022353,000046: E6,1405 M21 ERASE # SCALED AT 1
022354,000047: E6,1406 M31 ERASE
022355,000048: E6,1407 E6,1401 M22 EQUALS MR22 # SCALED AT 1
022356,000049: E6,1407 E6,1403 M32 EQUALS MR23 # SCALED AT 1
022357,000050: # ANGLE MEASUREMENTS.
022358,000051:
022359,000052: E6,1407 EDOT ERASE +1 # ERROR IN ANGULAR RATE:
022360,000053: E6,1411 E6,1410 EDOT(R) EQUALS EDOT +1 # SCALED DOWN TO PI/16 RADIANS/SECOND
022361,000054:
022362,000055: E6,1411 E ERASE +1 # ANGLE ERROR SCALED AT PI RADIANS
022363,000056: E6,1413 E6,1412 EDOT(2) EQUALS E +1 # ERROR RATE SQUARED SCALED AT PI(2)/16
022364,000057: E6,1413 E6,1411 EQ EQUALS E # THIS PAIR OF NAMES IS USED TO REFER TO
022365,000058: E6,1413 E6,1412 EDOT(2)Q EQUALS EDOT(2) # THE ABOVE ERASABLES AS Q-AXIS DATA
022366,000059: E6,1413 ER ERASE +1 # THIS PAIR OF NAMES REFERS TO LOCATIONS
022367,000060: E6,1415 E6,1414 EDOT(2)R EQUALS ER +1 # FOR THE R-AXIS DATA: INTERCHANGES WITH Q
022368,000061:
022369,000062: E6,1415 DB ERASE # ANGLE DEADBAND SCALED AT PI RADIANS
022370,000063:
022371,000064: E6,1416 OMEGAP ERASE +4 # BODY-AXIS ROT. RATES SCALED AT PI/4 AND
022372,000065: E6,1423 E6,1417 OMEGAQ EQUALS OMEGAP +1 # BODY-AXIS ACCELERATIONS SCALED AT PI/8
022373,000066: E6,1423 E6,1420 ALPHAQ EQUALS OMEGAP +2 # (IN DESCENT) OR PI/2 (IN ASCENT)
022374,000067: E6,1423 E6,1421 OMEGAR EQUALS OMEGAP +3 # THESE W,A PAIRS ARE NEEDED, ALPHAP HAS
022375,000068: E6,1423 E6,1422 ALPHAR EQUALS OMEGAP +4 # NO USE IN THE DIGITAL AUTOPILOT
022376,000069:
022377,000070: E6,1423 EDOTP ERASE +2 # ERRORS IN ANGULAR RATE:
022378,000071: E6,1426 E6,1424 EDOTQ EQUALS EDOTP +1 # EDOT = 3MEGA - OMEGA(DESIRED)
022379,000072: E6,1426 E6,1425 EDOTR EQUALS EDOTP +2 # SCALED AT PI/4 RADIANS/SECOND
022380,000073:
022381,000074: E6,1426 E6,1424 QRATEDIF EQUALS EDOTQ # ALTERNATIVE NAMES:
022382,000075: E6,1426 E6,1425 RRATEDIF EQUALS EDOTR # DELETE WHEN NO. OF REFERENCES = 0
022383,000076:
022384,000077: E6,1426 OMEGAPD ERASE +2 # DESIRED VEHICLE RATES DETERMINED BY THE
022385,000078: E6,1431 E6,1427 OMEGAQD EQUALS OMEGAPD +1 # "OUTER LOOP" USED TO CALCULATE EDOT
022386,000079: E6,1431 E6,1430 OMEGARD EQUALS OMEGAPD +2 # SCALED AT PI/4 RADIANS/SECOND
022387,000080:
022388,000081: E6,1431 OLDXFORP ERASE +3 # STORED CDU READINGS FOR P AND Q,R RATE
022389,000082: E6,1435 E6,1432 OLDYFORP EQUALS OLDXFORP +1 # DERIVATIONS: SCALED AT PI RADIANS (2'S)
022390,000083: E6,1435 E6,1433 OLDYFORQ EQUALS OLDXFORP +2 # (THERE MUST BE TWO REGISTERS FOR CDUY
022391,000084: E6,1435 E6,1434 OLDZFORQ EQUALS OLDXFORP +3 # SINCE P AND Q,R ARE NOT IN PHASE)
022392,000085:
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Page 536 |
022394,000087: # RHC INPUTS SCALED AT PI/4 RAD/SEC.
022395,000088:
022396,000089: E6,1435 PCOM ERASE
022397,000090: E6,1436 RCOM ERASE
022398,000091: E6,1437 YCOM ERASE
022399,000092:
022400,000093: # RHC COUNTER REGISTERS.
022401,000094:
022402,000095: E6,1440 P-RHCCTR EQUALS 43
022403,000096: E6,1440 Q-RHCCTR EQUALS 42
022404,000097: E6,1440 R-RHCCTR EQUALS 44
022405,000098:
022406,000099: # OTHER VARIABLES.
022407,000100:
022408,000101: E6,1440 TPSIG ERASE
022409,000102: E6,1441 PRATECOM ERASE
022410,000103: E6,1442 EDOTGEN ERASE
022411,000104: E6,1443 RATEDIF ERASE
022412,000105: E6,1444 1/2JTSP ERASE
022413,000106: E6,1445 1/2JTSQ ERASE
022414,000107: E6,1446 1/2JTSR ERASE
022415,000108: E6,1447 1/2JETSU ERASE
022416,000109: E6,1450 1/2JETSV ERASE
022417,000110: E6,1451 FPQR ERASE
022418,000111: E6,1452 MINRA ERASE
022419,000112: E6,1453 MINRASQ ERASE
022420,000113: E6,1454 HDAP ERASE
022421,000114: E6,1455 U ERASE
022422,000115: E6,1456 DENOM ERASE
022423,000116: E6,1457 RATIO ERASE
022424,000117: E6,1460 TJSR ERASE
022425,000118: E6,1461 IXX ERASE
022426,000119: E6,1462 IYY ERASE
022427,000120: E6,1463 IZZ ERASE
022428,000121: E6,1464 4JETTORK ERASE
022429,000122: E6,1465 JETTORK4 ERASE
022430,000123: E6,1466 COSMG ERASE
022431,000124: E6,1467 0066 DELTAP EQUALS ITEMP2
022432,000125: E6,1467 FPQRMIN ERASE
022433,000126: E6,1470 NJET ERASE
022434,000127: E6,1471 1/NJETAC ERASE
022435,000128: E6,1472 PRATEDIF ERASE
022436,000129: E6,1473 LASTPER ERASE # THESE 6 REG USED FOR ATT ERR DISPLAY
022437,000130: E6,1474 LASTQER ERASE
022438,000131: E6,1475 LASTRER ERASE
022439,000132: E6,1476 PERROR ERASE
022440,000133: E6,1477 QERROR ERASE
022441,000134: E6,1500 RERROR ERASE
022442,000135:
022443,000136: # JET STATE CHANGE VARIABLES- TIME (TOFJTCHG),JET BITS WRITTEN NOW
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Page 537 |
022445,000138: # (JTSONNOW), AND JET BITS WRITTEN AT T6 RUPT (JTSATCHG).
022446,000139:
022447,000140: E6,1501 JTSONNOW ERASE
022448,000141: E6,1502 JTSATCHG ERASE
022449,000142: E6,1503 ADDT6JTS ERASE
022450,000143: E6,1504 ADDTLT6 ERASE
022451,000144: E6,1505 TOFJTCHG ERASE
022452,000145:
022453,000146: E6,1506 -RATEDB ERASE
022454,000147: E6,1507 -2JETLIM ERASE
022455,000148:
022456,000149: # RCS FAILURE MONITOR ERASABLE - PROGRAM ON T4RUPT 4 TIMES/SECOND
022457,000150:
022458,000151: # *** FAILSW CAPABILITY FOR CHECKOUT ONLY ***
022459,000152:
022460,000153: E6,1510 FAILSW ERASE # IF POSITIVE NO RCSMONIT, OTHERWISE 0
022461,000154: E6,1511 LASTFAIL ERASE # LAST FAILURE CHANNEL RECORD, -0 INITIAL
022462,000155: E6,1512 CH5MASK ERASE # MASKS FOR TURNING ON P/Q,R JETS
022463,000156: E6,1513 CH6MASK ERASE # IN OUTPUT CHANNELS 5 AND 6
022464,000157: E6,1514 0065 FAILCTR EQUALS ITEMP1 # BIT POSITION COUNTER (INTERNAL)
022465,000158: E6,1514 0066 FAILTEMP EQUALS ITEMP2 # TEMPORARY RECORD OF FAILED BITS
022466,000159:
022467,000160: # Q,R AXIS ERASABLES
022468,000161:
022469,000162: E6,1514 0066 DELQ EQUALS ITEMP2
022470,000163: E6,1514 0070 DELTAR EQUALS ITEMP3
022471,000164: E6,1514 TJETADR ERASE
022472,000165: E6,1515 URGENCYQ ERASE
022473,000166: E6,1516 URGENCYR ERASE
022474,000167: E6,1517 A+B ERASE
022475,000168: E6,1520 A-B ERASE
022476,000169: E6,1521 TERMA ERASE
022477,000170: E6,1522 TERMB ERASE
022478,000171: E6,1523 POLRELOC ERASE
022479,000172: E6,1524 LOOPCTR ERASE
022480,000173: E6,1525 POLTEST ERASE
022481,000174:
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Page 538 |
022483,000176: # TRIM GIMBAL CONTROL LAW ERASABLES:
022484,000177:
022485,000178: # THE FOLLOWING ASSIGNMENTS OF RUPTREGS AND ITEMPS HAS BEEN MADE IN AN EFFORT TO OPTIMIZE USE OF ERASABLES:
022486,000179:
022487,000180: E6,1526 0074 K2THETA EQUALS RUPTREG1 # D.P. K(2)THETA AND "NEGUSUM"
022488,000181: E6,1526 0075 ETHETA EQUALS RUPTREG2 # S.P. ERROR ANGLE SCALED AT PI/64 RADIANS
022489,000182: E6,1526 0076 A2CNTRAL EQUALS RUPTREG3 # D.P. ALPHA(2) SCALED AT PI(2)/64 R/S(2)
022490,000183: E6,1526 0076 SF1 EQUALS RUPTREG3 # S.P. VARIABLE SCALE FACTORS WHICH ARE
022491,000184: E6,1526 0077 SF2 EQUALS RUPTREG4 # S.P. - REALLY SINGLE BITS (OR ZERO)
022492,000185: E6,1526 0065 OMEGA.K EQUALS ITEMP1 # D.P. OMEGA*K SUPERCEDES K AND K(2)
022493,000186: E6,1526 0065 KCENTRAL EQUALS ITEMP1 # S.P. K FROM KQ OR KR FIRST AT PI/2(8)
022494,000187: E6,1526 0066 K2CNTRAL EQUALS ITEMP2 # S.P. K(2) FROM Q OR R 1ST AT PI(2)/2(16)
022495,000188: E6,1526 0070 WCENTRAL EQUALS ITEMP3 # S.P. OMEGA SCALED AT PI/4 RADIANS/SECOND
022496,000189: E6,1526 0071 ACENTRAL EQUALS ITEMP4 # S.P. ALPHA SCALED AT PI/8 RAD/SEC(2)
022497,000190: E6,1526 0072 DEL EQUALS ITEMP5 # S.P. SGN(FUNCTION)
022498,000191: E6,1526 0073 QRCNTR EQUALS ITEMP6 # S.P. COUNTER: Q,Y=0, R,Z=2
022499,000192:
022500,000193: # THE ABOVE QUANTITIES ARE ONLY NEEDED ON A VERY TEMPORARY BASIS AND HAVE BEEN PROVEN TO BE NON-CONFLICTING.
022501,000194:
022502,000195: E6,1526 L,PVT-CG ERASE # TRIM GIMBAL PIVOT TO CG DIST AT 8 FEET
022503,000196:
022504,000197: E6,1527 MULTFLAG ERASE # INDICATOR FOR SPDPMULT ROUTINE
022505,000198:
022506,000199: E6,1530 FUNCTION ERASE +1 # D.P. WORD FOR DRIVE FUNCTIONS
022507,000200:
022508,000201: E6,1532 NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
022509,000202: E6,1535 E6,1533 THRSTCMD EQUALS NEGUQ +1 # THRUST COMMAND AT 16384 LBS (SEPARATOR)
022510,000203: E6,1535 E6,1534 NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
022511,000204:
022512,000205: E6,1535 KQ ERASE +3 # .3ACCDOTQ SCALED AT PI/2(8)
022513,000206: E6,1541 E6,1536 KQ2 EQUALS KQ +1 # KQ2 = KQ*KQ
022514,000207: E6,1541 E6,1537 KR EQUALS KQ +2 # .3ACCDOTR SCALED AT PI/2(8)
022515,000208: E6,1541 E6,1540 KR2 EQUALS KQ +3 # KR2 = KR*KR
022516,000209:
022517,000210: E6,1541 ACCDOTQ ERASE +3 # Q-JERK SCALED AT PI/2(7) UNSIGNED
022518,000211: E6,1545 E6,1542 QACCDOT EQUALS ACCDOTQ +1 # Q-JERK SCALED AT PI/2(7) SIGNED
022519,000212: E6,1545 E6,1543 ACCDOTR EQUALS ACCDOTQ +2 # R-JERK SCALED AT PI/2(7) UNSIGNED
022520,000213: E6,1545 E6,1544 RACCDOT EQUALS ACCDOTQ +3 # R-JERK SCALED AT PI/2(7) SIGNED
022521,000214:
022522,000215: E6,1545 E6,1477 QDIFF EQUALS QERROR # ATTITUDE ERRORS:
022523,000216: E6,1545 E6,1500 RDIFF EQUALS RERROR # SCALED AT PI RADIANS
022524,000217:
022525,000218: E6,1545 TIMEOFFQ ERASE # TIMES TO GO UNTIL TRIM GIMBAL TURN-OFF.
022526,000219: E6,1546 TIMEOFFR ERASE # ZERO MEANS NO ACTION, SCALED AS WAITLIST
022527,000220:
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Page 539 |
022529,000222: # KALMAN FILTER ERASABLES.
022530,000223:
022531,000224: E6,1547 STORCDUY ERASE # THIS S.P. PAIR IS USED TO SAVE CDUY,Z
022532,000225: E6,1550 STORCDUZ ERASE # FOR THE GTS RUPT
022533,000226:
022534,000227: E6,1551 0076 CDU EQUALS RUPTREG3 # RUPTREG3,4 USED AS D.P. WORD FOR CDU
022535,000228: # VALUE WITHIN FILTER 1S COMP AT 2PI RAD
022536,000229:
022537,000230: E6,1551 0065 CDUDOT EQUALS ITEMP1 # ITEMP1,2 USED AS D.P. WORD FOR CDUDOT
022538,000231: # VALUE WITHIN FILTER SCALED AT PI/4
022539,000232:
022540,000233: E6,1551 0070 CDU2DOT EQUALS ITEMP3 # ITEMP3,4 USED AS D.P. WORD FOR CDU2DOT
022541,000234: # VALUE WITHIN FILTER SCALED AT PI/8
022542,000235:
022543,000236: E6,1551 DT ERASE # TIME ELAPSED SCALED AT 1/8: NOMINAL=50MS
022544,000237: E6,1552 DAPTIME ERASE # USED TO RECORD LAST TIME FROM CHANNEL 4
022545,000238:
022546,000239: E6,1553 STEERADR ERASE # DTCALC SWITCH IN FILTER INITIALIZATION
022547,000240:
022548,000241: E6,1554 DPDIFF ERASE +1 # D.P. WEIGHTING VECTOR FACTOR AT P1
022549,000242: E6,1556 WPOINTER ERASE # POINTER TO WEIGHTING VECTOR TABLE
022550,000243: E6,1557 W0 ERASE +2 # THETA WEIGHT
022551,000244: E6,1562 E6,1560 W1 EQUALS W0 +1 # OMEGA WEIGHT
022552,000245: E6,1562 E6,1561 W2 EQUALS W1 +1 # ALPHA WEIGHT
022553,000246:
022554,000247: E6,1562 CDUYFIL ERASE +1 # Y-AXIS D.P. FILTERED THETA AT 2PI
022555,000248: E6,1564 CDUZFIL ERASE +1 # Z-AXIS D.P. FILTERED THETA AT 2PI
022556,000249: E6,1566 DCDUYFIL ERASE +1 # Y-AXIS D.P. FILTERED OMEGA AT PI/4
022557,000250: E6,1570 DCDUZFIL ERASE +1 # Z-AXIS D.P. FILTERED OMEGA AT PI/4
022558,000251: E6,1572 D2CDUYFL ERASE +1 # Y-AXIS D.P. FILTERED ALPHA AT PI/8
022559,000252: E6,1574 D2CDUZFL ERASE +1 # Z-AXIS D.P. FILTERED ALPHA AT PI/8
022560,000253: E6,1576 Y3DOT ERASE # Y-AXIS S.P. JERK AT PI/2(7)
022561,000254: E6,1577 CDU3DOT ERASE # LOOP REGISTER (SPACER)
022562,000255: E6,1600 Z3DOT ERASE # Z-AXIS S.P. JERK AT PI/2(7)
022563,000256:
022564,000257: E6,1601 PFILTADR ERASE +1 # 2CADR FOR FILTER RUPT 30 MS AFTER P-AXIS
022565,000258: E6,1603 PFRPTLST ERASE +7 # POST FILTER RUPT LIST
022566,000259: E6,1613 PJUMPADR ERASE
022567,000260: E6,1614 QJUMPADR ERASE
022568,000261: # TORQUE VECTOR RECONSTRUCTION VARIABLES:
022569,000262:
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There is a line here saying "* DELETE". Presumably this indicates a change from the last revision. |
022571,000264: E6,1615 JETRATE ERASE +2 # WEIGHTED RATES DUE TO JETS APPLIED IN
022572,000265: E6,1620 E6,1616 JETRATEQ EQUALS JETRATE +1 # THE LAST CONTROL SAMPLE PERIOD OF 100 MS
022573,000266: E6,1620 E6,1617 JETRATER EQUALS JETRATE +2 # SCALED AT PI/4 RADIANS/SECOND
022574,000267:
022575,000268: E6,1620 NO.QJETS ERASE +1 # NUMBER OF Q AND R JETS THAT ARE GIVEN
022576,000269: E6,1622 E6,1621 NO.RJETS EQUALS NO.QJETS +1 # BY THE JET SELECT LOGIC
022577,000270:
022578,000271: E6,1622 100MSPTQ ERASE
022579,000272:
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Page 540 |
022581,000274: E6,1623 QR.1STOQ ERASE
022582,000275: E6,1624 NO.PJETS ERASE
022583,000276: E6,1625 TP ERASE +1 # TIME CALCULATED BY TJETLAW FOR P, QR
022584,000277: E6,1627 E6,1626 TQR EQUALS TP +1 # SCALED AS TIME6, THEN TQR RESCALED TO 1
022585,000278:
022586,000279: E6,1627 1JACC ERASE +4 # ACCELERATIONS DUE TO 1 JET TORQUING
022587,000280: E6,1634 E6,1630 1JACCQ EQUALS 1JACC +1 # SCALED AT PI/4 RADIANS/SECOND
022588,000281: E6,1634 E6,1631 1JACCR EQUALS 1JACC +2
022589,000282: E6,1634 E6,1632 1JACCU EQUALS 1JACC +3 # FOR U,V-AXES THE SCALE FACTOR IS DIFF:
022590,000283: E6,1634 E6,1633 1JACCV EQUALS 1JACC +4 # SCALED AT PI/2 RADIANS/SECOND (FOR ASC)
022591,000284:
022592,000285: # ASCENT VARIABLES:
022593,000286:
022594,000287: E6,1634 AOSQ ERASE +3 # ASCENT OFFSET ACCELERATIONS
022595,000288: E6,1640 E6,1635 AOSR EQUALS AOSQ +1 # ESTIMATED EVERY 2 SECONDS BY AOSTASK
022596,000289: E6,1640 E6,1636 AOSU EQUALS AOSQ +2 # U,V-ACCS ARE FORMED BY VECTOR ADDITION
022597,000290: E6,1640 E6,1637 AOSV EQUALS AOSQ +3 # SCALED AT PI/2 RADIANS/SECOND
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The above line has "(2)" written after "radians/second" in pen. |
022599,000292:
022600,000293: E6,1640 0070 ABVLAOSQ EQUALS ITEMP3 # ASCENT OFFSET ACCELERATIONS (ABVAL)
022601,000294: E6,1640 0071 ABVLAOSR EQUALS ABVLAOSQ +1 # SCALED AT PI/2 RADIANS/SECOND(2)
022602,000295: E6,1640 0072 ABVLAOSU EQUALS ABVLAOSQ +2
022603,000296: E6,1640 0073 ABVLAOSV EQUALS ABVLAOSQ +3
022604,000297:
022605,000298: E6,1640 SUMRATEQ ERASE +1 # SUM OF UN-WEIGHTED JETRATE TERMS
022606,000299: E6,1642 E6,1641 SUMRATER EQUALS SUMRATEQ +1 # SCALED AT PI/4 RADIANS/SECOND
022607,000300:
022608,000301: E6,1642 AOSQTERM ERASE +1 # (.1-.05K)AOS
022609,000302: E6,1644 E6,1643 AOSRTERM EQUALS AOSQTERM +1 # SCALED AT PI/4 RADIANS/SECOND
022610,000303:
022611,000304: E6,1644 OLDWFORQ ERASE +1 # OMEGA VALUE 2 SECONDS AGO
022612,000305: E6,1646 E6,1645 OLDWFORR EQUALS OLDWFORQ +1 # SCALED AT PI/4 RADIANS/SECOND
022613,000306:
022614,000307: E6,1646 DBMINIMP ERASE +1 # MINIMUM IMPULSE DEADBANDS (EQUAL IN DESC
022615,000308: E6,1650 E6,1647 MINIMPDB EQUALS DBMINIMP +1 # AT .3 DEG, 0,-DB RESPECTIVELY FOR ASC)
022616,000309: # SCALED AT PI RADIANS
022617,000310:
022618,000311: E6,1650 .5ACCMNE ERASE +4 # (1/2)(1/ACCMIN) WHICH IS THE INVERSE OF
022619,000312: E6,1655 E6,1651 .5ACCMNQ EQUALS .5ACCMNE +1 # THE MINIMUM ACCELERATION (A CONSTANT FOR
022620,000313: E6,1655 E6,1652 .5ACCMNR EQUALS .5ACCMNE +2 # DESCENT AND A VARIABLE FOR ASCENT DAP)
022621,000314: E6,1655 E6,1653 .5ACCMNU EQUALS .5ACCMNE +3 # SCALED AT 2(.8)/PI
022622,000315: E6,1655 E6,1654 .5ACCMNV EQUALS .5ACCMNE +4 # IN UNITS OF SECONDS(2)/RADIAN
022623,000316:
022624,000317: E6,1655 WFORP ERASE +1 # W = K/(NOMINAL DT)
022625,000318: E6,1657 E6,1656 WFORQR EQUALS WFORP +1 # SCALED AT 16
022626,000319:
022627,000320: E6,1657 (1-K)QR ERASE +1 # 1-K SCALED AT 1
022628,000321: E6,1661 E6,1660 (1-K)/8 EQUALS (1-K)QR +1 # 1-K SCALED AT 8
022629,000322:
022630,000323: E6,1661 1/NJTSQ ERASE +3 # 1/NJETACC FOR EACH AXIS
022631,000324: E6,1665 E6,1662 1/NJTSR EQUALS 1/NJTSQ +1 # FOR DESCENT THIS IS ALWAYS 1/2JTS
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022633,000326: E6,1665 E6,1663 1/NJTSU EQUALS 1/NJTSQ +2 # FOR ASCENT WITH HIGH OFFSET: 1/4JTS
022634,000327: E6,1665 E6,1664 1/NJTSV EQUALS 1/NJTSQ +3 # SCALED AT 2(8)/PI SEC(2)/RAD
022635,000328:
022636,000329: E6,1665 QMANDACC ERASE +3 # ASCENT FLAGS
022637,000330: E6,1671 E6,1666 RMANDACC EQUALS QMANDACC +1 # 0: INDICATES NO OVER-RIDE OF 2 JETS
022638,000331: E6,1671 E6,1667 UMANDACC EQUALS QMANDACC +2 # 1: INDICATES USE 4 INSTEAD OF 2 JETS
022639,000332: E6,1671 E6,1670 VMANDACC EQUALS QMANDACC +3 # (ALWAYS ZERO FOR DESCENT)
022640,000333:
022641,000334: E6,1671 KCOEFCTR ERASE # COUNTER FOR ASCENT DAP
022642,000335:
022643,000336:
022644,000337: # THE SAVE RATE INDEX AND THE THREE DELCDUS ARE LOCATED HERE TEMPORARILY, AWAITING MORE LOGICAL PLACEMENT WHEN THE
022645,000338: # DAP IS ASSEMBLED INTO SUNBURST
022646,000339:
022647,000340: E6,1672 DLCDUIDX ERASE # SAVE RATE INDEX, = 1, 0
022648,000341: E6,1673 DELCDUX ERASE
022649,000342: E6,1674 DELCDUY ERASE # DELCDUS ARE SCALED AT P1, LIKE THE CDUS
022650,000343: E6,1675 DELCDUZ ERASE
End of include-file DIGITAL_AUTOPILOT_ERASABLE.agc. Parent file is MAIN.agc