Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
042361,000002: ## Copyright: Public domain.
042362,000003: ## Filename: TVCROLLDAP.agc
042363,000004: ## Purpose: Part of the source code for Colossus, build 249.
042364,000005: ## It is part of the source code for the Command Module's (CM)
042365,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
042366,000007: ## Assembler: yaYUL
042367,000008: ## Reference: Starts at p. 948.
042368,000009: ## Contact: Ron Burkey <info@sandroid.org>.
042369,000010: ## Website: www.ibiblio.org/apollo/index.html
042370,000011: ## Mod history: 08/24/04 RSB Began transcribing.
042371,000012: ## 05/14/05 RSB Corrected website reference above.
042372,000013: ## 2010-10-25 JL Fixed page numbers.
042373,000014: ## 2011-05-07 JL Removed workarounds.
042374,000015: ## 2017-01-06 RSB Page numbers now agree with those on the
042375,000016: ## original harcopy, as opposed to the PDF page
042376,000017: ## numbers in 1701.pdf.
042377,000018: ## 2017-01-20 RSB Cross-diff'd comment text (not whitespace)
042378,000019: ## vs the already-proofed corresponding Colossus
042379,000020: ## 237 and Comanche 55 source-code files
042380,000021: ## and corrected errors found.
042381,000022: ## 2017-01-20 RSB Fixed comment-text errors noted while diff'ing
042382,000023: ## vs Colossus 249.
042383,000024: ##
042384,000025: ## The contents of the "Colossus249" files, in general, are transcribed
042385,000026: ## from a scanned copy of the program listing. Notations on this
042386,000027: ## document read, in part:
042387,000028: ##
042388,000029: ## Assemble revision 249 of AGC program Colossus by NASA
042389,000030: ## 2021111-041. October 28, 1968.
042390,000031: ##
042391,000032: ## This AGC program shall also be referred to as
042392,000033: ## Colossus 1A
042393,000034: ##
042394,000035: ## Prepared by
042395,000036: ## Massachusetts Institute of Technology
042396,000037: ## 75 Cambridge Parkway
042397,000038: ## Cambridge, Massachusetts
042398,000039: ## under NASA contract NAS 9-4065.
042399,000040: ##
042400,000041: ## Refer directly to the online document mentioned above for further information.
042401,000042: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
042402,000043: ##
042403,000044: ## In some cases, where the source code for Luminary 131 overlaps that of
042404,000045: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
042405,000046: ## source file, and then is proofed to incorporate any changes.
042406,000047:
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Page 948 |
042408,000049: # PROGRAM NAME....ROLL AUTOPILOT, CONSISTING OF ROLLDAP, DURATION, NOROLL1, E
042409,000050: # ORIGINAL CODING BY F.W.MARTIN, 1965 (SUNDIAL) TC.
042410,000051: # LOG SECTION....ROLL AUTOPILOT SUBROUTINE....DAPCSM
042411,000052: # MOD BY ENGEL DATE 28 DEC, 1967 (SUNDISK TO COLOSSUS)
042412,000053:
042413,000054: # FUNCTIONAL DESCRIPTION....
042414,000055:
042415,000056: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
042416,000057:
042417,000058: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
042418,000059: # BY IGNOVER (IGNITION)
042419,000060:
042420,000061: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
042421,000062:
042422,000063: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
042423,000064:
042424,000065: # *USES T6 CLOCK TO TIME JET FIRINGS
042425,000066:
042426,000067: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
042427,000068:
042428,000069: # *MINIMUM JET FIRING TIME = 15 MS
042429,000070:
042430,000071: # *JET PAIRS FIRE ALTERNATELY
042431,000072:
042432,000073: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
042433,000074:
042434,000075: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
042435,000076: # OF A JET FIRING TIME IS MADE ON A LATER PASS
042436,000077:
042437,000078: # CALLING SEQUENCE....
042438,000079:
042439,000080: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
042440,000081: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
042441,000082:
042442,000083: # NORMAL EXIT MODES.... ENDOFJOB
042443,000084:
042444,000085: # ALARM OR ABORT EXIT MODES.... NONE
042445,000086:
042446,000087: # SUBROUTINES CALLED.....NONE
042447,000088:
042448,000089: # OTHER INTERFACES....
042449,000090:
042450,000091: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
042451,000092: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
042452,000093:
042453,000094: # *TVCRESTART PACKAGE WILL RE-START ROLL DAP AFTER A RESTART (PICKING
042454,000095: # UP THE ORIGINAL OGAD)
042455,000096:
042456,000097: # ERASABLE INITIALIZATION REQUIRED....
042457,000098:
042458,000099: # *1/CONACC (S40.15)
042459,000100:
042460,000101: # *OGAD (CDUX, AT IGNOVER)
042461,000102:
042462,000103: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
042463,000104:
042464,000105: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
042465,000106:
042466,000107: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
042467,000108:
042468,000109: # OUTPUT....
042469,000110:
042470,000111: # *ROLL JET PAIR FIRINGS
042471,000112:
042472,000113: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
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Page 949 |
042474,000115:
042475,000116: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
042476,000117: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
042477,000118: # SWITCHING LOGIC IN THE PHASE PLANE....
042478,000119:
042479,000120: # OGARATE
042480,000121: # *
042481,000122: # *
042482,000123: # * * * * * * * * * * * *
042483,000124: # * (REGION 1, SEE TEXT BELOW)
042484,000125: # * *
042485,000126: # *
042486,000127: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
042487,000128: # * * .
042488,000129: # * * *
042489,000130: # * * (FIRE NEG ROLL JETS)
042490,000131: # * * *
042491,000132: # (-DB,+LMCRATE)....* *
042492,000133: # * * *
042493,000134: # * * OGAERROR
042494,000135: # ************************************************************************
042495,000136: # * * (-AK, OGAERR)
042496,000137: # * * (REGION 6-PRIME)
042497,000138: # * (SEE TEXT BELOW)
042498,000139: # * * *
042499,000140: # * * ...STRAIGHT LINE
042500,000141: # (FIRE POS ROLL JETS) * * * .
042501,000142: # * (COAST) *
042502,000143: # * * * * * * * * * * *
042503,000144: # * -MINLIM
042504,000145: # * *
042505,000146: # *
042506,000147: # * * * * * * * * * * * * * * * *
042507,000148: # * -MAXLIM
042508,000149: # *
042509,000150: # *
042510,000151:
042511,000152: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
042512,000153: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
042513,000154: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
042514,000155: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
042515,000156: # SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
042516,000157: # ABOVE.
042517,000158:
042518,000159: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
042519,000160: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
042520,000161: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
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Page 950 |
042522,000163:
042523,000164: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
042524,000165: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
042525,000166: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
042526,000167: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
042527,000168: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
042528,000169: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
042529,000170: # INSTEAD. CONSIDER AN OPERATING POINT IN REGION 6. PASS A TANGENT TO
042530,000171: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
042531,000172: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
042532,000173: # THE INTERSECTION DEFINES DESIRED OGARATE. IF THE OPERATING POINT IS
042533,000174: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
042534,000175: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
042535,000176: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
042536,000177: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
042537,000178: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
042538,000179: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
042539,000180: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
042540,000181: # APPROXIMATION.
042541,000182:
042542,000183: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
042543,000184: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
042544,000185: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
042545,000186: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
042546,000187: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
042547,000188: # THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
042548,000189: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
042549,000190: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
042550,000191: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
042551,000192: # FAILED-ON.
042552,000193:
042553,000194: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
042554,000195: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
042555,000196: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
042556,000197: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
042557,000198: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
042558,000199: # FROM REGION 1 TO REGION 6, THE DUMMY POINT IS NO LONGER REQUIRED,
042559,000200: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6 POINT.
042560,000201:
042561,000202: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
042562,000203: # 2
042563,000204: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
042564,000205:
042565,000206: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
042566,000207:
042567,000208: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
042568,000209:
042569,000210: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
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Page 951 |
042571,000212:
042572,000213: # EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
042573,000214:
042574,000215: # DOGADOT = NUM/DEN, WHERE
042575,000216: # 2
042576,000217: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
042577,000218: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
042578,000219: # +LMCRATE
042579,000220:
042580,000221: # DEN = (-SLOPE)(OGARATE)(1/CONACC) - SGN(DELOGA)
042581,000222: # 2
042582,000223: # DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2)SGN(OGADOT)
042583,000224:
042584,000225: # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)
042585,000226: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
042586,000227: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
042587,000228: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
042588,000229:
042589,000230: # OGAERROR = DELOGA + DB SGN(OGARATE)
042590,000231:
042591,000232: # OGARATE = -LMCRATE SGN(OGARATE)
042592,000233:
042593,000234: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
042594,000235: # ALSO, AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
042595,000236: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
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Page 952 |
042597,000238:
042598,000239: # ROLLDAP CODING....
042599,000240:
042600,000241: 16,2000 SETLOC DAPROLL
042601,000242: 16,2000 BANK
042602,000243: 16,3313 E6,1672 EBANK= OGANOW
042603,000244: 16,3313 COUNT* $$/ROLL
042604,000245:
042605,000246: 16,3313 31672 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
042606,000247: 16,3314 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
042607,000248: 16,3315 21673 MSU OGAPAST
042608,000249: 16,3316 00006 EXTEND
042609,000250: 16,3317 74706 MP BIT5
042610,000251: 16,3320 22000 LXCH A
042611,000252: 16,3321 55533 TS OGARATE # SC.AT B-4 REV/SEC
042612,000253:
042613,000254: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
042614,000255: # EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
042615,000256:
042616,000257: 16,3322 31611 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
042617,000258: 16,3323 00006 EXTEND
042618,000259: 16,3324 13326 BZF +2 # ROLL JETS ARE NOW OFF.
042619,000260: 16,3325 13334 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
042620,000261:
042621,000262: 16,3326 31613 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
042622,000263: 16,3327 00006 EXTEND # IF POSITIVE, DONT FIRE
042623,000264: 16,3330 13334 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
042624,000265:
042625,000266: 16,3331 34714 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
042626,000267: 16,3332 55613 TS TEMREG # RESET TEMREG
042627,000268: 16,3333 15213 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
042628,000269:
042629,000270: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
042630,000271:
042631,000272: 16,3334 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
042632,000273: 16,3335 00006 EXTEND
042633,000274: 16,3336 71650 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
042634,000275: 16,3337 00006 EXTEND
042635,000276: 16,3340 71533 MP OGARATE
042636,000277: 16,3341 63727 AD DB # SCALED AT 2(+0) REV
042637,000278: 16,3342 55613 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
042638,000279:
042639,000280: # GET SIGN OF OGARATE
042640,000281:
042641,000282: 16,3343 31533 CA OGARATE
042642,000283: 16,3344 00006 EXTEND
042643,000284: 16,3345 63350 BZMF +3 # LET SGN(0) BE NEGATIVE
042644,000285: 16,3346 34712 CA BIT1
042645,000286: 16,3347 13351 TCF +2
042646,000287: 16,3350 44712 CS BIT1
042647,000288: 16,3351 55676 TS SGNRT # + OR - 2(-14)
042648,000289:
042649,000290: # CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
042650,000291: 16,3352 00006 EXTEND
042651,000292: 16,3353 71613 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
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Page 953 |
042653,000294: 16,3354 40001 CS L
042654,000295: 16,3355 61674 AD OGA # SCALED AT 2(+0) REV
042655,000296: 16,3356 55677 DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
042656,000297:
042657,000298: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
042658,000299:
042659,000300: 16,3357 00006 EXTEND
042660,000301: 16,3360 63363 BZMF +3
042661,000302: 16,3361 34371 CAF PRIO30 # = CA (30000)
042662,000303: 16,3362 13364 TCF +2
042663,000304: 16,3363 34674 CAF BIT15 # = CS (40000)
042664,000305: 16,3364 55700 TS I
042665,000306:
042666,000307: 16,3365 51700 INDEX I # TSET ON I SGN(OGARATE)
042667,000308: 16,3366 01676 0 SGNRT # CA OR CS
042668,000309: 16,3367 40000 COM
042669,000310: 16,3370 00006 EXTEND
042670,000311: 16,3371 63442 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
042671,000312:
042672,000313: # NO JET FIRE YET. TEST FOR MAX OGARATE
042673,000314:
042674,000315: 16,3372 51700 INDEX I
042675,000316: 16,3373 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
042676,000317: 16,3374 55701 TS IOGARATE # I.E. I OGARATE
042677,000318: 16,3375 63735 AD MAXLIM # SCALED AT 2(-4) REV/SEC
042678,000319: 16,3376 00006 EXTEND
042679,000320: 16,3377 63521 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
042680,000321:
042681,000322: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
042682,000323: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG. QUANTITY
042683,000324:
042684,000325: 16,3400 31533 CA OGARATE
042685,000326: 16,3401 00006 EXTEND
042686,000327: 16,3402 74675 MP BIT14
042687,000328: 16,3403 55613 TS TEMREG
042688,000329: 16,3404 31674 CA OGA
042689,000330: 16,3405 00006 EXTEND
042690,000331: 16,3406 73730 MP -SLOPE
042691,000332: 16,3407 20001 DDOUBL
042692,000333: 16,3410 20001 DDOUBL
042693,000334: 16,3411 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
042694,000335: 16,3412 61613 AD TEMREG
042695,000336:
042696,000337: 16,3413 51700 INDEX I
042697,000338: 16,3414 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
042698,000339: 16,3415 40000 COM
042699,000340: 16,3416 63732 AD INTERCEP # SCALED AT 2(-3) REV.
042700,000341: 16,3417 40000 COM
042701,000342: 16,3420 00006 EXTEND
042702,000343: 16,3421 63632 REG2TST BZMF NOROLL # IF REGION 2 (COAST SIDE OF STRT LINE)
042703,000344:
042704,000345: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM
042705,000346:
042706,000347: 16,3422 31701 CA IOGARATE # ALWAYS NEGATIVE
042707,000348: 16,3423 63733 AD MINLIM # SCALED AT 2(-4) REV/SEC
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Page 954 |
042709,000350: 16,3424 00006 EXTEND
042710,000351: 16,3425 63632 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
042711,000352:
042712,000353: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
042713,000354:
042714,000355: 16,3426 51700 INDEX I
042715,000356: 16,3427 01674 0 OGA
042716,000357: 16,3430 40000 COM
042717,000358: 16,3431 63727 AD DB
042718,000359: 16,3432 40000 COM
042719,000360: 16,3433 00006 EXTEND
042720,000361: 16,3434 63632 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
042721,000362:
042722,000363: # JETS MUST FIRE NOW. OGARATE IS NEG. (OR VISA VERSA). USE DIRECT STR. LINE.
042723,000364: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
042724,000365: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
042725,000366: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
042726,000367: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
042727,000368: # OPERATING POINTS IN REGIONS 6 AND 6-PRIME)
042728,000369:
042729,000370: 16,3435 31674 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
042730,000371: 16,3436 55677 TS DELOGA # ACTUAL STATE
042731,000372: 16,3437 31533 CA OGARATE
042732,000373: 16,3440 55675 TS DELOGART # ACTUAL STATE, I.E. DEL OGARATE
042733,000374: 16,3441 13451 TCF ONROLL
042734,000375:
042735,000376: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VISA VERSA), USE INDIRECT
042736,000377: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
042737,000378: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
042738,000379: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1-PRIME )
042739,000380:
042740,000381: 16,3442 51700 ROLLON INDEX I
042741,000382: 16,3443 03727 0 DB
042742,000383: 16,3444 27677 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
042743,000384:
042744,000385: 16,3445 43731 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
042745,000386: 16,3446 51700 INDEX I
042746,000387: 16,3447 00000 0 A
042747,000388: 16,3450 55675 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
042748,000389:
042749,000390: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
042750,000391:
042751,000392: 16,3451 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
042752,000393: 16,3452 71650 MP 1/CONACC
042753,000394: 16,3453 60000 DOUBLE
042754,000395: 16,3454 00006 EXTEND
042755,000396: 16,3455 73730 MP -SLOPE
042756,000397: 16,3456 55613 TS TEMREG # 2(-SLOPE)RATE /CONACC
042757,000398: 16,3457 00006 EXTEND
042758,000399: 16,3460 71675 MP DELOGART
042759,000400: 16,3461 55675 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
042760,000401: 16,3462 44700 CS BIT11
042761,000402: 16,3463 51700 INDEX I
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Page 955 |
042763,000404: 16,3464 00000 0 A
042764,000405: 16,3465 27613 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
042765,000406:
042766,000407: 16,3466 51700 INDEX I
042767,000408: 16,3467 01677 0 DELOGA
042768,000409: 16,3470 40000 COM
042769,000410: 16,3471 63727 AD DB
042770,000411: 16,3472 40000 COM
042771,000412: 16,3473 00006 EXTEND
042772,000413: 16,3474 73730 MP -SLOPE
042773,000414: 16,3475 27675 ADS DELOGART
042774,000415: 16,3476 33731 CA LMCRATE
042775,000416: 16,3477 00006 EXTEND
042776,000417: 16,3500 74700 MP BIT11
042777,000418: 16,3501 61675 RATENUM AD DELOGART # NUMERATOR COMPLETED
042778,000419:
042779,000420: 16,3502 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
042780,000421: 16,3503 34714 CA ZERO
042781,000422: 16,3504 00006 EXTEND
042782,000423: 16,3505 11613 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
042783,000424: 16,3506 00006 EXTEND
042784,000425: 16,3507 13515 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
042785,000426:
042786,000427: 16,3510 10000 MINLIMAP CCS A
042787,000428: 16,3511 34672 CAF POSMAX # POSITIVE OVERFLOW
042788,000429: 16,3512 13524 TCF ROLLSET
042789,000430: 16,3513 44672 CS POSMAX # NEGATIVE OVERFLOW
042790,000431: 16,3514 13524 TCF ROLLSET
042791,000432:
042792,000433: 16,3515 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 IN L
042793,000434: 16,3516 00006 EXTEND
042794,000435: 16,3517 11613 DV TEMREG # RESULT OF DIVISIONIS DESIRED OGARATE
042795,000436: 16,3520 13524 TCF ROLLSET # (SCALED AT B-4 REV/SEC)
042796,000437: 16,3521 43735 RATELIM CS MAXLIM
042797,000438: 16,3522 51700 INDEX I
042798,000439: 16,3523 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
042799,000440:
042800,000441: # BASED ON DESIRED RATE - PRESENT RATE, COMPUTE JET FIRE TIME
042801,000442:
042802,000443: 16,3524 55613 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
042803,000444: 16,3525 00006 EXTEND
042804,000445: 16,3526 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
042805,000446: 16,3527 55613 TS TEMREG # OVERFLOW PROTECT
042806,000447: 16,3530 13533 TCF +3 # " "
042807,000448: 16,3531 50000 INDEX A # " "
042808,000449: 16,3532 44673 CS LIMITS # " "
042809,000450: 16,3533 00006 EXTEND
042810,000451: 16,3534 77665 MP T6SCALE # T6SCALE = 8/10.24
042811,000452: 16,3535 00006 EXTEND
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Page 956 |
042813,000454: 16,3536 71650 MP 1/CONACC # SCALED AT 2(+9) SECSQ/REV
042814,000455: 16,3537 20001 DDOUBL
042815,000456: 16,3540 20001 DDOUBL
042816,000457: 16,3541 55613 TS TEMREG # OVERFLOW PROTECT
042817,000458: 16,3542 13545 TCF +3 # " "
042818,000459: 16,3543 50000 INDEX A # " "
042819,000460: 16,3544 44673 CS LIMITS # " "
042820,000461: 16,3545 55613 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
042821,000462: 16,3546 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
042822,000463: 16,3547 13632 BZF NOROLL
042823,000464:
042824,000465: # JET FIRE TIME IS NZ, ARE JETS ON NOW.
042825,000466:
042826,000467: 16,3550 31613 CAE TEMREG # DESIRED CHANGE IN OGARATE
042827,000468: 16,3551 00006 EXTEND
042828,000469: 16,3552 71611 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
042829,000470: 16,3553 10000 CCS A
042830,000471: 16,3554 13560 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
042831,000472: 16,3555 13563 TCF NEWROLL # START NEW FIRING NOW, PLUS
042832,000473: 16,3556 13632 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
042833,000474: 16,3557 13563 TCF NEWROLL # START NEW FIRING NOW, MINUS
042834,000475:
042835,000476: # CONTINUE PRESENT FIRING
042836,000477:
042837,000478: 16,3560 34714 MOREROLL CAF ZERO
042838,000479: 16,3561 55700 TS I # USE TEMP. AS MOREROLL SWITCH
042839,000480: 16,3562 13574 TCF MAXTFIRE
042840,000481:
042841,000482: # START NEW FIRING BUT CHECK IF GREATER THAN MINIMUM FIRE TIME.
042842,000483:
042843,000484: 16,3563 11613 NEWROLL CCS TEMREG # CALL THIS T6FIRE
042844,000485: 16,3564 64712 AD ONE
042845,000486: 16,3565 13567 TCF +2
042846,000487: 16,3566 64712 AD ONE
042847,000488: 16,3567 40000 COM # -MAG(T6FIRE)
042848,000489: 16,3570 63736 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
042849,000490: 16,3571 40000 COM
042850,000491: 16,3572 00006 EXTEND
042851,000492: 16,3573 63632 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
042852,000493:
042853,000494: # PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
042854,000495:
042855,000496: 16,3574 31613 MAXTFIRE CA TEMREG
042856,000497: 16,3575 00006 EXTEND
042857,000498: 16,3576 74710 MP 1/TMXFIR # I.E. 1/TMAXFIRE
042858,000499: 16,3577 00006 EXTEND
042859,000500: 16,3600 13606 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
042860,000501:
042861,000502: 16,3601 10000 CCS A
042862,000503: 16,3602 33737 CAF TMAXFIRE # USE MAXIMUM
042863,000504: 16,3603 13605 TCF +2
042864,000505: 16,3604 43737 CS TMAXFIRE # USE MAXIMUM
042865,000506: 16,3605 55613 TS TEMREG
042866,000507:
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Page 957 |
042868,000509: # SET UP SIGN OF REQUIRED TORQUE
042869,000510:
042870,000511: 16,3606 11613 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
042871,000512: 16,3607 34672 CA POSMAX # POSITIVE TORQUE REQUIRED
042872,000513: 16,3610 13612 TCF +2
042873,000514: 16,3611 34674 CA NEGMAX # NEGATIVE TORQUE REQUIRED
042874,000515: 16,3612 55611 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
042875,000516:
042876,000517: 16,3613 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
042877,000518: 16,3614 00006 EXTEND
042878,000519: 16,3615 63620 BZMF +3 # POSITIVE TORQUE REQUIRED
042879,000520: 16,3616 41613 CS TEMREG
042880,000521: 16,3617 55613 TS TEMREG
042881,000522:
042882,000523: 16,3620 31700 FIRELOOK CA I # IS IT MOREROLL
042883,000524: 16,3621 00006 EXTEND
042884,000525: 16,3622 13624 BZF FIREPLUG # YES
042885,000526: 16,3623 13635 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
042886,000527:
042887,000528: 16,3624 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
042888,000529: 16,3625 00006 EXTEND
042889,000530: 16,3626 61613 SU TEMREG
042890,000531: 16,3627 00006 EXTEND
042891,000532: 16,3630 65213 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
042892,000533: 16,3631 13635 TCF JETROLL
042893,000534:
042894,000535: 16,3632 44714 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
042895,000536: 16,3633 55611 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
042896,000537: 16,3634 55613 TS TEMREG
042897,000538:
042898,000539: 16,3635 00006 JETROLL EXTEND
042899,000540: 16,3636 33726 DCA NOROL1T6
042900,000541: 16,3637 53311 DXCH T6LOC
042901,000542: 16,3640 31613 CA TEMREG # ENTER JET FIRING TIME
042902,000543: 16,3641 54031 TS TIME6
042903,000544:
042904,000545: 16,3642 31700 CA I # I=0 IF MOREROLL, KEEP SAME JETS ON
042905,000546: 16,3643 00006 EXTEND
042906,000547: 16,3644 15213 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
042907,000548:
042908,000549: 16,3645 11611 CCS ROLLFIRE
042909,000550: 16,3646 13652 TCF +TORQUE
042910,000551: 16,3647 13713 TCF T6ENABL
042911,000552: 16,3650 13673 TCF -TORQUE
042912,000553: 16,3651 13713 TCF T6ENABL
042913,000554:
042914,000555: # PROCEED WITH + TORQUE
042915,000556:
042916,000557: 16,3652 31612 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
042917,000558: 16,3653 74712 MASK BIT1 # WAS IT NO.9-11
042918,000559: 16,3654 00006 EXTEND
042919,000560: 16,3655 13665 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
042920,000561:
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Page 958 |
042922,000563: 16,3656 44712 NO.13-15 CS BIT1
042923,000564: 16,3657 71612 MASK ROLLWORD
042924,000565: 16,3660 55612 TS ROLLWORD # CHANGE BIT 1 TO ZERO
042925,000566: 16,3661 34732 CAF +ROLL2
042926,000567: 16,3662 00006 EXTEND
042927,000568: 16,3663 01006 WRITE CHAN6
042928,000569: 16,3664 13713 TCF T6ENABL
042929,000570:
042930,000571: 16,3665 34712 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
042931,000572: 16,3666 27612 ADS ROLLWORD # CHANGE BIT 1 TO ONE
042932,000573: 16,3667 34715 CAF +ROLL1
042933,000574: 16,3670 00006 EXTEND
042934,000575: 16,3671 01006 WRITE CHAN6
042935,000576: 16,3672 13713 TCF T6ENABL
042936,000577:
042937,000578: 16,3673 31612 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
042938,000579: 16,3674 74711 MASK BIT2 # WAS IT NO.12-10
042939,000580: 16,3675 00006 EXTEND
042940,000581: 16,3676 13706 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
042941,000582:
042942,000583: 16,3677 44711 NO.16-14 CS BIT2
042943,000584: 16,3700 71612 MASK ROLLWORD
042944,000585: 16,3701 55612 TS ROLLWORD # CHANGE BIT 2 TO ZERO
042945,000586: 16,3702 33740 CAF -ROLL2
042946,000587: 16,3703 00006 EXTEND
042947,000588: 16,3704 01006 WRITE CHAN6
042948,000589: 16,3705 13713 TCF T6ENABL
042949,000590:
042950,000591: 16,3706 34711 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
042951,000592: 16,3707 27612 ADS ROLLWORD # CHANGE BIT 2 TO ONE
042952,000593: 16,3710 34377 CAF -ROLL1
042953,000594: 16,3711 00006 EXTEND
042954,000595: 16,3712 01006 WRITE CHAN6
042955,000596:
042956,000597: 16,3713 34674 T6ENABL CAF BIT15
042957,000598: 16,3714 00006 EXTEND
042958,000599: 16,3715 05013 WOR CHAN13
042959,000600: 16,3716 15213 RDAPEND TCF TASKOVER # EXIT ROLL DAP
042960,000601:
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Page 959 |
042962,000603: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
042963,000604:
042964,000605: 16,3717 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
042965,000606: 16,3720 34714 CAF ZERO # CALLED BY ..JETROLL..)
042966,000607: 16,3721 55611 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
042967,000608: 16,3722 00006 EXTEND
042968,000609: 16,3723 01006 KILLJETS WRITE CHAN6
042969,000610: 16,3724 15224 TCF NOQRSM
042970,000611:
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Page 960 |
042972,000613: # CONSTANTS FOR ROLL AUTOPILOT....
042973,000614:
042974,000615: 16,3725 E6,1742 EBANK= BZERO
042975,000616: 16,3725 03717 34066 NOROL1T6 2CADR NOROLL1
042976,000617:
042977,000618: 16,3727 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
042978,000619: 16,3730 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
042979,000620: # PER SEC
042980,000621: 16,3731 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
042981,000622: # B-4 REV/SEC
042982,000623: 16,3732 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
042983,000624: 16,3733 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
042984,000625: 16,3734 00027 1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
042985,000626: 16,3735 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
042986,000627: 16,3736 00030 TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
042987,000628: 16,3737 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
042988,000629:
042989,000630: 16,3740 4710 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
042990,000631: # ROUNDS TO OCT00004, SO ALLOWS 2.56
042991,000632: # SEC FIRINGS BEFORE APPLYING LIMIT
042992,000633: 16,3740 7665 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
042993,000634: 16,3740 4715 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
042994,000635: 16,3740 4732 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
042995,000636: 16,3740 4377 -ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10
042996,000637: 16,3740 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
042997,000638:
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc