Source Code
![]() |
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. |
023701,000002: ## Copyright: Public domain.
023702,000003: ## Filename: Q,R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
023703,000004: ## Purpose: Part of the source code for Aurora (revision 12).
023704,000005: ## Assembler: yaYUL
023705,000006: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
023706,000007: ## Website: https://www.ibiblio.org/apollo.
023707,000008: ## Pages: 562-593
023708,000009: ## Mod history: 2016-09-20 JL Created.
023709,000010: ## 2016-09-30 HG Started transcribing from scan
023710,000011: ## 2016-10-08 HG Change TS Q -> TC Q (p. 584)
023711,000012: ## 2016-10-15 HG fix label MAXJET -> MAXTJET
023712,000013: ## ORGTOA -> URGTOA
023713,000014: ## TQRGTTM1 -> TQRGTTMI
023714,000015: ## NEGQERROR -> NEGQEROR
023715,000016: ## fix operand NEGSCP -> NEGCSP
023716,000017: ## UREGNCYQ -> URGENCYQ
023717,000018: ## .5ACCMNS -> .5ACCMNE
023718,000019: ## 25,32.QR -> 25/32.QR
023719,000020: ## Q-NORTJS -> Q-NORJTS
023720,000021: ## -RATDEB -> -RATEDB
023721,000022: ## CHECKSTIK -> CHEKSTIK
023722,000023: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
023723,000024: ## and fixed the errors found.
023724,000025:
023725,000026: ## This source code has been transcribed or otherwise adapted from
023726,000027: ## digitized images of a hardcopy from the private collection of
023727,000028: ## Don Eyles. The digitization was performed by archive.org.
023728,000029:
023729,000030: ## Notations on the hardcopy document read, in part:
023730,000031:
023731,000032: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
023732,000033: ## NOV 10, 1966
023733,000034:
023734,000035: ## [Note that this is the date the hardcopy was made, not the
023735,000036: ## date of the program revision or the assembly.]
023736,000037:
023737,000038: ## The scan images (with suitable reduction in storage size and consequent
023738,000039: ## reduction in image quality) are available online at
023739,000040: ## https://www.ibiblio.org/apollo.
023740,000041: ## The original high-quality digital images are available at archive.org:
023741,000042: ## https://archive.org/details/aurora00dapg
023742,000043:
![]() |
Page 562 |
023744,000045: 24,2000 BANK 24
023745,000046: 24,2000 E6,1551 EBANK= DT
023746,000047: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE Q,R-AXIS ACTION OF THE LEM USING THE RCS JETS.
023747,000048: # THE NOMINAL TIME BETWEEN THE Q,R-AXIS RUPTS IS 100 MS (UNLESS THE TRIM GIMBAL CONTROL SYSTEM IS USED, IN WHICH
023748,000049: # CASE THIS PROGRAM IS IDLE).
023749,000050:
023750,000051: 24,2000 02555 54006 NULLFILT 2CADR FILDUMMY
023751,000052:
023752,000053: 24,2002 32705 QRAXIS CAF MS30QR # RESET TIME IMMEDIATELY: DT = 30 MS
023753,000054: 24,2003 54030 TS TIME5
023754,000055:
023755,000056: 24,2004 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
023756,000057: 24,2005 00006 EXTEND
023757,000058: 24,2006 22012 QXCH QRUPT
023758,000059:
023759,000060: # SET UP A DUMMY KALMAN FILTER T5RUPT. (THIS MAY BE RESET TO THE KALMAN FILTER INITIALIZATION PASS, IF THE TRIM
023760,000061: # GIMBAL CONTROL SYSTEM SHOULD BE USED.)
023761,000062:
023762,000063: 24,2007 00006 EXTEND
023763,000064: 24,2010 32001 DCA NULLFILT
023764,000065: 24,2011 52346 DXCH T5ADR
023765,000066:
023766,000067: # CALCULATE LEM BODY RATES FOR Q AND R AXES:
023767,000068:
023768,000069: # THIS COMPUTATION IS VALID FOR BOTH ASCENT AND DESCENT SINCE THE OFFSET ACCELERATION TERM IS INCLUDED ALWAYS,
023769,000070: # BUT HAS VALUE ZERO IN DESCENT, AND SINCE THE WEIGHTING FACTORS ARE IN ERASABLE AND DISTINCT.
023770,000071:
023771,000072: # FIRST, CONSTRUCT Y AND Z CDU INCREMENTS:
023772,000073:
023773,000074: 24,2012 30033 CAE CDUY # 2'S COMPLEMENT MEASUREMENT SCALED AT PI
023774,000075: 24,2013 54001 TS L # (SAVE FOR UPDATING OF OLDYFORQ)
023775,000076: 24,2014 00006 EXTEND # FORM INCREMENT IN CDUY FOR LAST 100 MS
023776,000077: 24,2015 21433 MSU OLDYFORQ # (100 MS OLD CDUY SAVED FROM LAST PASS)
023777,000078: 24,2016 23433 LXCH OLDYFORQ # UPDATE OLDYFORQ WITH NEW CDUY VALUE
023778,000079: 24,2017 00006 EXTEND # RESCALE DELTA CDUY FROM PI RADIANS TO
023779,000080: 24,2020 77651 MP BIT7 # PI/2(6) RADIANS BY MULTIPLYING BY 64
023780,000081: 24,2021 22065 LXCH ITEMP1 # SAVE 1'S COMPLEMENT VALUE TEMPORARILY
023781,000082: 24,2022 30034 CAE CDUZ # 2'S COMPLEMENT MEASUREMENT SCALED AT PI
023782,000083: 24,2023 54001 TS L # (SAVE FOR UPDATING OF OLDZFORQ)
023783,000084: 24,2024 00006 EXTEND # FORM INCREMENT IN CDUZ FOR LAST 100 MS
023784,000085: 24,2025 21434 MSU OLDZFORQ # (100 MS OLD CDUZ SAVED FROM LAST PASS)
023785,000086: 24,2026 23434 LXCH OLDZFORQ # UPDATE OLDZFORQ WITH NEW CDUZ VALUE
023786,000087: 24,2027 00006 EXTEND # RESCALE DELTA CDUZ FROM PI RADIANS TO
023787,000088: 24,2030 77651 MP BIT7 # PI/2(6) RADIANS BY MULTIPLYING BY 64
023788,000089: 24,2031 22066 LXCH ITEMP2 # SAVE 1'S COMPLEMENT VALUE TEMPORARILY
023789,000090:
![]() |
Page 563 |
023791,000092:
023792,000093: # SECOND, TRANSFORM CPU INCREMENTS TO BODY-ANGLE INCREMENTS:
023793,000094: 24,2032 31406 CAE M31 # MATRIX*VECTOR(WITH X COMPONENT ZERO)
023794,000095: 24,2033 00006 EXTEND
023795,000096: 24,2034 70065 MP ITEMP1 # M31 * ITEMP1 = M31 * DELTA CDUY
023796,000097: 24,2035 54070 TS ITEMP3
023797,000098: 24,2036 31403 CAE M32 # M32 * ITEMP2 = M32 * DELTA CDUZ
023798,000099: 24,2037 00006 EXTEND
023799,000100: 24,2040 70066 MP ITEMP2 # DELTAR = M31*(DEL CDUY) + M32*(DEL CDUZ)
023800,000101: 24,2041 26070 ADS ITEMP3 # R-BODY-ANGLE INCREMENT SCALED AT PI/2(6)
023801,000102:
023802,000103: 24,2042 31405 CAE M21 # MATRIX*VECTOR(WITH X COMPONENT ZERO)
023803,000104: 24,2043 00006 EXTEND # CLOBBERS ITEMP2=DEL CDUZ, FOR EFFICIENCY
023804,000105: 24,2044 70065 MP ITEMP1 # M21 * ITEMP1 = M21 * DELTA CDUY
023805,000106: 24,2045 56066 XCH ITEMP2 # M22 * ITEMP2 = M22 * DELTA CDUZ
023806,000107: 24,2046 00006 EXTEND
023807,000108: 24,2047 71401 MP M22 # DELTAQ = M21*(DEL CDUY) + M22*(DEL CDUZ)
023808,000109: 24,2050 26066 ADS ITEMP2 # Q-BODY-ANGLE INCREMENT SCALED AT PI/2(6)
023809,000110:
023810,000111: # FINALLY, DERIVE Q AND R BODY ANGULAR RATES:
023811,000112:
023812,000113: 24,2051 00006 EXTEND # WFORQR IS K/(NOMINAL DT) SCALED AT 16
023813,000114: 24,2052 71656 MP WFORQR # FORM WEIGHTED VALUE OF MEASURED DATA
023814,000115: 24,2053 57417 XCH OMEGAQ # SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
023815,000116: 24,2054 00006 EXTEND # (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
023816,000117: 24,2055 71657 MP (1-K)QR # (K CHANGES EVERY 2 SECS IN ASCENT)
023817,000118: 24,2056 61616 AD JETRATEQ # WEIGHTED TERM DUE TO JET ACCELERATION
023818,000119: 24,2057 61642 AD AOSQTERM # TERM DUE TO ASCENT OFFSET ACCELERATION
023819,000120: 24,2060 27417 ADS OMEGAQ # TOTAL RATE ESTIMATE SCALED AT PI/4
023820,000121:
023821,000122: 24,2061 30070 CAE ITEMP3 # GET DELTAR
023822,000123: 24,2062 00006 EXTEND # WFORQR IS K/(NOMINAL DT) SCALED AT 16
023823,000124: 24,2063 71656 MP WFORQR # FORM WEIGHTED VALUE OF MEASURED DATA
023824,000125: 24,2064 57421 XCH OMEGAR # SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
023825,000126: 24,2065 00006 EXTEND # (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
023826,000127: 24,2066 71657 MP (1-K)QR # (K CHANGES EVERY 2 SECS IN ASCENT)
023827,000128: 24,2067 61617 AD JETRATER # WEIGHTED TERM DUE TO JET ACCELERATION
023828,000129: 24,2070 61643 AD AOSRTERM # TERM DUE TO ASCENT OFFSET ACCELERATION
023829,000130: 24,2071 27421 ADS OMEGAR # TOTAL RATE ESTIMATE SCALED AT PI/4
023830,000131:
023831,000132: 24,2072 01614 TC QJUMPADR
023832,000133: 24,2073 32164 SKIPQRAX CA NORMQADR
023833,000134: 24,2074 55614 TS QJUMPADR
023834,000135: 24,2075 37665 CA ZERO
023835,000136: 24,2076 55616 TS JETRATEQ
023836,000137: 24,2077 55617 TS JETRATER
023837,000138: 24,2100 31626 CA TQR
023838,000139: 24,2101 62721 AD NEGCSP2
023839,000140: 24,2102 10000 CCS A
023840,000141: 24,2103 02113 TC QRTORQUE
023841,000142:
![]() |
Page 564 |
023843,000144: 24,2104 14606 TCF RESUME
023844,000145: 24,2105 02113 TC QRTORQUE
023845,000146: 24,2106 41616 CS JETRATEQ
023846,000147: 24,2107 27417 ADS OMEGAQ
023847,000148: 24,2110 41617 CS JETRATER
023848,000149: 24,2111 27421 ADS OMEGAR
023849,000150: 24,2112 14606 TCF RESUME
023850,000151: 24,2113 67657 QRTORQUE AD ONE
023851,000152: 24,2114 00006 EXTEND
023852,000153: 24,2115 77653 MP BIT5
023853,000154: 24,2116 30001 CA L
023854,000155: 24,2117 00006 EXTEND
023855,000156: 24,2120 72722 MP 16/25QR
023856,000157: 24,2121 55626 TS TQR
023857,000158: 24,2122 00006 EXTEND
023858,000159: 24,2123 71620 MP NO.QJETS
023859,000160: 24,2124 30001 CAE L
023860,000161: 24,2125 00006 EXTEND
023861,000162: 24,2126 71630 MP 1JACCQ
023862,000163: 24,2127 55616 TS JETRATEQ
023863,000164: 24,2130 27640 ADS SUMRATEQ
023864,000165: 24,2131 31626 CAE TQR
023865,000166: 24,2132 00006 EXTEND
023866,000167: 24,2133 71621 MP NO.RJETS
023867,000168: 24,2134 30001 CAE L
023868,000169: 24,2135 00006 EXTEND
023869,000170: 24,2136 71631 MP 1JACCR
023870,000171: 24,2137 55617 TS JETRATER
023871,000172: 24,2140 27641 ADS SUMRATER
023872,000173: 24,2141 31656 CAE WFORQR
023873,000174: 24,2142 00006 EXTEND
023874,000175: 24,2143 71626 MP TQR
023875,000176: 24,2144 61660 AD (1-K)/8
023876,000177: 24,2145 00006 EXTEND
023877,000178: 24,2146 77654 MP BIT4
023878,000179: 24,2147 22065 LXCH ITEMP1
023879,000180: 24,2150 31616 CAE JETRATEQ
023880,000181: 24,2151 00006 EXTEND
023881,000182: 24,2152 70065 MP ITEMP1
023882,000183: 24,2153 55616 TS JETRATEQ
023883,000184: 24,2154 31617 CAE JETRATER
023884,000185: 24,2155 00006 EXTEND
023885,000186: 24,2156 70065 MP ITEMP1
023886,000187: 24,2157 55617 TS JETRATER
023887,000188: 24,2160 37665 CA ZERO
023888,000189: 24,2161 55620 TS NO.QJETS
023889,000190: 24,2162 55621 TS NO.RJETS
023890,000191: 24,2163 00002 TC Q
023891,000192: 24,2164 02165 NORMQADR GENADR NORMALQ
023892,000193: 24,2165 37643 NORMALQ CAF BIT13 # CHECKING ATTITUDE HOLD BIT
023893,000194:
![]() |
Page 565 |
023895,000196: 24,2166 00006 EXTEND
023896,000197: 24,2167 02031 RAND 31 # BITS INVERTED
023897,000198: 24,2170 00006 EXTEND
023898,000199: 24,2171 12205 BZF CHKBIT10
023899,000200: 24,2172 37642 CAF BIT14 # ATT HOLD BIT NOT PRESENT. CHECK FOR AUTO
023900,000201: 24,2173 00006 EXTEND
023901,000202: 24,2174 02031 RAND 31
023902,000203: 24,2175 00006 EXTEND
023903,000204: 24,2176 12743 BZF ATTSTEER # AUTOMATIC STEERING, CHECK FOR RATE HOLD
023904,000205: 24,2177 00006 EXTEND # IF MODE SELECT SW OFF DO DAPIDLER NEXT
023905,000206: 24,2200 32204 DCA IDLEADRQ
023906,000207: 24,2201 52346 DXCH T5ADR
023907,000208: 24,2202 14606 TCF RESUME
023908,000209:
023909,000210: 24,2203 03141 46006 IDLEADRQ 2CADR DAPIDLER
023910,000211:
023911,000212: 24,2205 37646 CHKBIT10 CAF BIT10 # BIT10=1 FOR MIN IMP USE OF RHC
023912,000213: 24,2206 70765 MASK DAPBOOLS
023913,000214: 24,2207 00006 EXTEND
023914,000215: 24,2210 12250 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
023915,000216:
023916,000217: 24,2211 30773 CAE DELAYCTR # SET TO 2 BY RUPT 10
023917,000218: 24,2212 00006 EXTEND
023918,000219: 24,2213 12504 BZF XTRANS
023919,000220:
023920,000221: 24,2214 32713 CA MINTADR
023921,000222: 24,2215 55514 TS TJETADR
023922,000223:
023923,000224: 24,2216 37657 CA BIT1
023924,000225: 24,2217 00006 EXTEND
023925,000226: 24,2220 02031 RAND 31
023926,000227: 24,2221 00006 EXTEND
023927,000228: 24,2222 13453 BZF 2JETS+Q
023928,000229:
023929,000230: 24,2223 37656 CA BIT2
023930,000231: 24,2224 00006 EXTEND
023931,000232: 24,2225 02031 RAND 31
023932,000233: 24,2226 00006 EXTEND
023933,000234: 24,2227 13271 BZF 2JETS-Q
023934,000235:
023935,000236: 24,2230 37653 CA BIT5
023936,000237: 24,2231 00006 EXTEND
023937,000238: 24,2232 02031 RAND 31
023938,000239: 24,2233 00006 EXTEND
023939,000240: 24,2234 13433 BZF 2JETS+R
023940,000241:
023941,000242: 24,2235 37652 CA BIT6
023942,000243: 24,2236 00006 EXTEND
023943,000244: 24,2237 02031 RAND 31
023944,000245: 24,2240 00006 EXTEND
023945,000246:
![]() |
Page 566 |
023947,000248: 24,2241 13224 BZF 2JETS-R
023948,000249:
023949,000250: 24,2242 12504 TCF XTRANS
023950,000251:
023951,000252: 24,2243 32702 MINTJET CAF +T6TJMIN
023952,000253: 24,2244 55626 TS TQR
023953,000254: 24,2245 37665 CA ZERO
023954,000255: 24,2246 54773 TS DELAYCTR
023955,000256: 24,2247 12554 TCF TORQUEV
023956,000257:
023957,000258: 24,2250 37641 CHEKSTIK CAF BIT15 # OUT-OF-DETENT BIT
023958,000259: 24,2251 00006 EXTEND
023959,000260: 24,2252 02031 RAND 31 # BITS INVERTED
023960,000261:
023961,000262: 24,2253 00006 EXTEND
023962,000263: 24,2254 12317 BZF RHCACTIV # BRANCH IF OUT OF DETENT
023963,000264: 24,2255 37657 CA BIT1 # OUR RATE COMMAND BIT
023964,000265: 24,2256 70765 MASK DAPBOOLS
023965,000266:
023966,000267: 24,2257 00006 EXTEND
023967,000268: 24,2260 62743 BZMF ATTSTEER # AUTOMATIC STEERING, CHECK FOR RATE HOLD
023968,000269: # WE WERE IN RATE COMMAND AND RATES MUST BE MADE SMALLER
023969,000270:
023970,000271: # ARE RATES SMALL ENOUGH NOW
023971,000272: 24,2261 31416 CA OMEGAP
023972,000273: 24,2262 00006 EXTEND
023973,000274: 24,2263 70000 SQUARE
023974,000275: 24,2264 52066 DXCH ITEMP1
023975,000276:
023976,000277: 24,2265 31417 CA OMEGAQ
023977,000278: 24,2266 00006 EXTEND
023978,000279: 24,2267 70000 SQUARE
023979,000280: 24,2270 20066 DAS ITEMP1
023980,000281:
023981,000282: 24,2271 31421 CA OMEGAR
023982,000283: 24,2272 00006 EXTEND
023983,000284: 24,2273 70000 SQUARE
023984,000285: 24,2274 20066 DAS ITEMP1
023985,000286:
023986,000287: # WE NOW HAVE SQUARED MAGNITUDE OF RATE VECTOR IN ITEMP1
023987,000288: 24,2275 42707 CS 16/32400 # 1DEG/SEC SCALED AT PI.PI/16
023988,000289: 24,2276 60065 AD ITEMP1
023989,000290: 24,2277 00006 EXTEND
023990,000291: 24,2300 62306 BZMF RATESMAL
023991,000292:
023992,000293: # THE RATE IS NOT SMALL ENOUGH YET.
023993,000294:
023994,000295: 24,2301 31417 CA OMEGAQ
023995,000296: 24,2302 55424 TS QRATEDIF
023996,000297: 24,2303 31421 CA OMEGAR
023997,000298:
![]() |
Page 567 |
023999,000300: 24,2304 55425 TS RRATEDIF
024000,000301: 24,2305 12352 TCF OBEYQRRC
024001,000302:
024002,000303: 24,2306 47657 RATESMAL CS BIT1
024003,000304: 24,2307 70765 MASK DAPBOOLS # RATE COMMAND BIT SET TO ZERO
024004,000305: 24,2310 54765 TS DAPBOOLS
024005,000306:
024006,000307: 24,2311 30032 CAE CDUX
024007,000308: 24,2312 54774 TS CDUXD
024008,000309: 24,2313 30033 CAE CDUY
024009,000310: 24,2314 54775 TS CDUYD
024010,000311: 24,2315 30034 CAE CDUZ
024011,000312: 24,2316 54776 TS CDUZD
024012,000313:
024013,000314: 24,2317 37657 RHCACTIV CAF BIT1
024014,000315: 24,2320 70765 MASK DAPBOOLS
024015,000316: 24,2321 00006 EXTEND
024016,000317: 24,2322 12504 BZF XTRANS # LET P AXIS SET THE RATE COMMAND BIT
024017,000318: # COMPUTE RATE ERRORS
024018,000319: 24,2323 30042 CAE Q-RHCCTR
024019,000320: 24,2324 00006 EXTEND
024020,000321: 24,2325 77647 MP BIT9
024021,000322: 24,2326 32714 CA -.88975
024022,000323: 24,2327 00006 EXTEND
024023,000324: 24,2330 70001 MP L # -Q RATE COMMAND SCALED AT PI/4
024024,000325: 24,2331 61417 AD OMEGAQ
024025,000326: 24,2332 55424 TS QRATEDIF
024026,000327:
024027,000328: 24,2333 30044 CAE R-RHCCTR
024028,000329: 24,2334 00006 EXTEND
024029,000330: 24,2335 77647 MP BIT9
024030,000331: 24,2336 32714 CA -.88975
024031,000332: 24,2337 00006 EXTEND
024032,000333: 24,2340 70001 MP L # -R RATE COMMAND SCALED AT PI/4.
024033,000334: 24,2341 61421 AD OMEGAR
024034,000335: 24,2342 55425 TS RRATEDIF
024035,000336:
024036,000337: # ZERO,ENABLE,AND START COUNTERS
024037,000338: 24,2343 37665 CAF ZERO
024038,000339: 24,2344 54043 TS P-RHCCTR
024039,000340: 24,2345 54042 TS Q-RHCCTR
024040,000341: 24,2346 54044 TS R-RHCCTR
024041,000342: 24,2347 32710 CAF BIT8,9
024042,000343: 24,2350 00006 EXTEND
024043,000344: 24,2351 05013 WOR 13
024044,000345:
024045,000346: 24,2352 32734 OBEYQRRC CA RTJETADR
024046,000347: 24,2353 55514 TS TJETADR
024047,000348:
024048,000349: 24,2354 11424 CCS QRATEDIF
024049,000350:
![]() |
Page 568 |
024051,000352: 24,2355 12416 TCF POSQEROR
024052,000353: 24,2356 12360 TCF NOQJETS
024053,000354: 24,2357 12365 TCF NEGQEROR
024054,000355:
024055,000356: 24,2360 11425 NOQJETS CCS RRATEDIF # CHECK SIGN OF RATE ERROR AND GET ABVAL
024056,000357: 24,2361 12445 TCF R+,CHKDB
024057,000358: 24,2362 12504 TCF XTRANS
024058,000359: 24,2363 12456 TCF R-,CHKDB
024059,000360: 24,2364 12504 TCF XTRANS
024060,000361:
024061,000362: 24,2365 61506 NEGQEROR AD -RATEDB
024062,000363: 24,2366 00006 EXTEND
024063,000364: 24,2367 62360 BZMF NOQJETS
024064,000365:
024065,000366: 24,2370 11425 CCS RRATEDIF
024066,000367: 24,2371 12402 TCF R+Q-CHKR
024067,000368: 24,2372 12374 TCF Q-NORJTS
024068,000369: 24,2373 12407 TCF R-Q-CHKR
024069,000370:
024070,000371: 24,2374 41424 Q-NORJTS CS QRATEDIF
024071,000372: 24,2375 55443 TS RATEDIF
024072,000373: 24,2376 61507 AD -2JETLIM
024073,000374: 24,2377 00006 EXTEND
024074,000375: 24,2400 63453 BZMF 2JETS+Q
024075,000376: 24,2401 13447 TCF 4JETS+Q
024076,000377:
024077,000378: 24,2402 61506 R+Q-CHKR AD -RATEDB
024078,000379: 24,2403 00006 EXTEND
024079,000380: 24,2404 62374 BZMF Q-NORJTS
024080,000381: 24,2405 03656 TC EDOTVGEN
024081,000382: 24,2406 13360 TCF 2-V.RATE
024082,000383:
024083,000384: 24,2407 61506 R-Q-CHKR AD -RATEDB
024084,000385: 24,2410 00006 EXTEND
024085,000386: 24,2411 62374 BZMF Q-NORJTS
024086,000387: 24,2412 03652 TC EDOTUGEN
024087,000388: 24,2413 00006 EXTEND
024088,000389: 24,2414 61425 SU RRATEDIF
024089,000390: 24,2415 13405 TCF 2+U.RATE
024090,000391:
024091,000392: 24,2416 61506 POSQEROR AD -RATEDB
024092,000393: 24,2417 00006 EXTEND
024093,000394: 24,2420 62360 BZMF NOQJETS
024094,000395:
024095,000396: 24,2421 11425 CCS RRATEDIF
024096,000397: 24,2422 12433 TCF R+Q+CHKR
024097,000398: 24,2423 12425 TCF Q+NORJTS
024098,000399: 24,2424 12440 TCF R-Q+CHKR
024099,000400:
024100,000401: 24,2425 31424 Q+NORJTS CA QRATEDIF
024101,000402:
![]() |
Page 569 |
024103,000404: 24,2426 55443 TS RATEDIF
024104,000405: 24,2427 61507 AD -2JETLIM
024105,000406: 24,2430 00006 EXTEND
024106,000407: 24,2431 63271 BZMF 2JETS-Q
024107,000408: 24,2432 13265 TCF 4JETS-Q
024108,000409:
024109,000410: 24,2433 61506 R+Q+CHKR AD -RATEDB
024110,000411: 24,2434 00006 EXTEND
024111,000412: 24,2435 62425 BZMF Q+NORJTS
024112,000413: 24,2436 03652 TC EDOTUGEN
024113,000414: 24,2437 13245 TCF 2-U.RATE
024114,000415:
024115,000416: 24,2440 61506 R-Q+CHKR AD -RATEDB
024116,000417: 24,2441 00006 EXTEND
024117,000418: 24,2442 62425 BZMF Q+NORJTS
024118,000419: 24,2443 03656 TC EDOTVGEN
024119,000420: 24,2444 13312 TCF 2+V.RATE
024120,000421:
024121,000422: 24,2445 61506 R+,CHKDB AD -RATEDB
024122,000423: 24,2446 00006 EXTEND
024123,000424: 24,2447 62504 BZMF XTRANS
024124,000425: 24,2450 31425 CA RRATEDIF
024125,000426: 24,2451 55443 TS RATEDIF
024126,000427: 24,2452 61507 AD -2JETLIM
024127,000428: 24,2453 00006 EXTEND
024128,000429: 24,2454 63224 BZMF 2JETS-R
024129,000430: 24,2455 13220 TCF 4JETS-R
024130,000431:
024131,000432: 24,2456 61506 R-,CHKDB AD -RATEDB
024132,000433: 24,2457 00006 EXTEND
024133,000434: 24,2460 62504 BZMF XTRANS
024134,000435: 24,2461 41425 CS RRATEDIF
024135,000436: 24,2462 55443 TS RATEDIF
024136,000437: 24,2463 61507 AD -2JETLIM
024137,000438: 24,2464 00006 EXTEND
024138,000439: 24,2465 63433 BZMF 2JETS+R
024139,000440: 24,2466 13427 TCF 4JETS+R
024140,000441:
024141,000442: 24,2467 11443 RTJETIME CCS RATEDIF # SCALED AT PI/4 RADIANS/SECOND
024142,000443: 24,2470 67657 AD ONE
024143,000444: 24,2471 12473 TCF +2
024144,000445: 24,2472 67657 AD ONE # ABS(RATEDIF)
024145,000446: 24,2473 00006 EXTEND
024146,000447: 24,2474 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SECOND(2)/RADIANS
024147,000448: 24,2475 00006 EXTEND
024148,000449: 24,2476 77654 MP BIT4 # SCALED AT 2(3) SECONDS
024149,000450: 24,2477 30001 CAE L
024150,000451: 24,2500 00006 EXTEND
024151,000452: 24,2501 72703 MP 25/32.QR # TJET NOW PROPERLY SCALED IN A
024152,000453: 24,2502 55626 TS TQR # AT 2(4)16/25 SECONDS
024153,000454:
![]() |
Page 570 |
024155,000456: 24,2503 12554 TCF TORQUEV
024156,000457:
024157,000458:
024158,000459:
024159,000460: # TRANSLATION WITHOUT ROTATION IS ACCOMPLISHED IN XTRANS SECTION
024160,000461:
024161,000462: 24,2504 37665 XTRANS CA ZERO
024162,000463: 24,2505 55504 TS ADDTLT6
024163,000464: 24,2506 55503 TS ADDT6JTS
024164,000465: 24,2507 37652 CA BIT6
024165,000466: 24,2510 70765 MASK DAPBOOLS # CHECKING THE ULLAGE BIT
024166,000467:
024167,000468: 24,2511 00006 EXTEND
024168,000469: 24,2512 12516 BZF +4
024169,000470: 24,2513 32723 CA ALL+XJTS # ULLAGE JETS
024170,000471: 24,2514 04225 WRITEON TC WRITEQR
024171,000472: 24,2515 14606 TCF RESUME
024172,000473: 24,2516 37651 +4 CAF BIT7
024173,000474: 24,2517 00006 EXTEND
024174,000475: 24,2520 02031 RAND 31
024175,000476: 24,2521 00006 EXTEND
024176,000477: 24,2522 12532 BZF +XTRANS
024177,000478:
024178,000479: 24,2523 37650 CA BIT8 # -X TRANS BIT.INVERTED
024179,000480: 24,2524 00006 EXTEND
024180,000481: 24,2525 02031 RAND 31
024181,000482: 24,2526 00006 EXTEND
024182,000483: 24,2527 12543 BZF -XTRANS
024183,000484: 24,2530 37665 NOTORQUE CA ZERO
024184,000485: 24,2531 12514 TCF WRITEON
024185,000486: 24,2532 32724 +XTRANS CAF 2,10-OUT # CHECK FOR FAILURE OF 2 OR 10
024186,000487: 24,2533 00006 EXTEND
024187,000488: 24,2534 06032 RXOR 32
024188,000489: 24,2535 00006 EXTEND
024189,000490: 24,2536 12541 BZF +3 # 2 AND 10 GOOD
024190,000491: 24,2537 32726 CA +X,B # SINCE 2 OR 10 FAILED, USE 6 AND 14 OF B
024191,000492: 24,2540 12514 TCF WRITEON
024192,000493: 24,2541 32725 +3 CA +X,A # 2 AND 10 SYSTEM A
024193,000494: 24,2542 12514 TCF WRITEON
024194,000495: 24,2543 32727 -XTRANS CAF 1,9-OUT # CHECK FOR FAILURE OF 1 OR 9
024195,000496: 24,2544 00006 EXTEND
024196,000497: 24,2545 06032 RXOR 32
024197,000498: 24,2546 00006 EXTEND
024198,000499: 24,2547 12552 BZF +3 # 1 AND 9 GOOD
024199,000500: 24,2550 32730 CA -X,A # SINCE 1 OR 9 FAILED, USE 5 AND 13 OF A
024200,000501: 24,2551 12514 TCF WRITEON
024201,000502: 24,2552 32731 +3 CA -X,B # 1 AND 9 SYSTEM B
024202,000503: 24,2553 12514 TCF WRITEON
024203,000504:
![]() |
Page 571 |
024205,000506: # DO NECESSARY PARTS OF Q,R-AXES TORQUE VECTOR RECONSTRUCTION HERE AND NOW. FOR OTHER PARTS WAIT UNTIL THE NEXT
024206,000507: # P-AXIS RCS DAP T5RUPT.
024207,000508:
024208,000509: 24,2554 41626 TORQUEV CS TQR # CALCULATED Q,R JET TIME (AS IN TIME6)
024209,000510: 24,2555 62702 AD +T6TJMIN
024210,000511: 24,2556 00006 EXTEND # CORRECT BRANCH.
024211,000512: 24,2557 62567 BZMF TQRGTTMI # BRANCH FOR TQR = OR GREATER THAN MINIMP.
024212,000513: 24,2560 37665 CA ZERO
024213,000514: 24,2561 55505 TS TOFJTCHG # SINCE TQR LESS THAN A MINIMUM IMPULSE,
024214,000515: 24,2562 55616 TS JETRATEQ # ZERO ALL OF THESE REGISTERS AND GO TO
024215,000516: 24,2563 55617 TS JETRATER # JET LIST.
024216,000517: 24,2564 31502 CA JTSATCHG
024217,000518: 24,2565 04225 TC WRITEQR
024218,000519: 24,2566 14606 TCF RESUME
024219,000520: 24,2567 31626 TQRGTTMI CA TQR
024220,000521: 24,2570 55505 TS TOFJTCHG
024221,000522: 24,2571 62701 AD -1.5CSP
024222,000523: 24,2572 00006 EXTEND
024223,000524: 24,2573 62630 BZMF DOQRSKIP
024224,000525: 24,2574 31630 CA 1JACCQ
024225,000526: 24,2575 00006 EXTEND
024226,000527: 24,2576 71620 MP NO.QJETS
024227,000528: 24,2577 30001 CA L
024228,000529: 24,2600 54065 TS ITEMP1
024229,000530: 24,2601 00006 EXTEND
024230,000531: 24,2602 71623 MP QR.1STOQ
![]() |
Note: in the scan the two statements above (EXTEND, MP QR.1STOQ) are boxed in (red) and a marked with a question mark I.E. ---------------------------- | EXTEND | | MP QR.1STOQ | ? ---------------------------- |
024236,000537: 24,2603 55616 TS JETRATEQ
024237,000538: 24,2604 30065 CA ITEMP1
024238,000539: 24,2605 00006 EXTEND
024239,000540: 24,2606 72627 MP 0.1AT1
024240,000541: 24,2607 27640 ADS SUMRATEQ
024241,000542: 24,2610 31631 CA 1JACCR
024242,000543: 24,2611 00006 EXTEND
024243,000544: 24,2612 71621 MP NO.RJETS
024244,000545: 24,2613 30001 CA L
024245,000546: 24,2614 54065 TS ITEMP1
024246,000547: 24,2615 00006 EXTEND
024247,000548: 24,2616 71623 MP QR.1STOQ
![]() |
Note: in the scan the two statements above (EXTEND, MP QR.1STOQ) are boxed in (red) and a marked with a question mark See above. |
024250,000551: 24,2617 55617 TS JETRATER
024251,000552: 24,2620 30065 CA ITEMP1
024252,000553: 24,2621 00006 EXTEND
024253,000554: 24,2622 72627 MP 0.1AT1
024254,000555: 24,2623 27641 ADS SUMRATER
024255,000556: 24,2624 31501 CA JTSONNOW
024256,000557: 24,2625 12514 TCF WRITEON
024257,000558: 24,2626 02073 SKIPQRAD GENADR SKIPQRAX
024258,000559: 24,2627 03146 0.1AT1 DEC +0.10000
024259,000560: 24,2630 32626 DOQRSKIP CA SKIPQRAD
024260,000561: 24,2631 55614 TS QJUMPADR
024261,000562: # CHANGE JET ON AND OFF BITS TO ACCOUNT FOR THE PRESENT STATE OF THE
![]() |
Page 572 |
024263,000564: # CHANNEL. THE CHANGES ACCOUNT FOR PURE ROTATION ONLY- NOT TRANSLATION.
024264,000565: 24,2632 31501 CA JTSONNOW # = JETS WHICH ARE TO GO ON NOW.
024265,000566: 24,2633 00006 EXTEND
024266,000567: 24,2634 02005 RAND 5 # MASK THE CHANNEL WITH THE DESIRED STATE.
024267,000568: 24,2635 00006 EXTEND
024268,000569: 24,2636 12663 BZF NOQRON # A IS ZERO IF NO JETS TO GO ON ARE ON.
024269,000570: 24,2637 67641 AD BIT15 # MAKE DIFFERENCE CORRESPOND TO A QR JET.
024270,000571: 24,2640 00006 EXTEND
024271,000572: 24,2641 61501 SU JTSONNOW # RESULT IS COMPLEMENT OF JET BITS WHICH
024272,000573: 24,2642 54001 TS L # ARE TO BE ON FOR 6.5MS MORE THAN CALC.
024273,000574: 24,2643 00006 EXTEND
024274,000575: 24,2644 12670 BZF JTSAREON # A=0,THUS ALL JETS TO GO ON ARE NOW ON.
024275,000576: 24,2645 31502 TRSLTMN2 CAE JTSATCHG
024276,000577: 24,2646 77637 MASK POSMAX # REMOVE BIT15 FROM JTSATCHG.
024277,000578: 24,2647 00006 EXTEND
024278,000579: 24,2650 12654 BZF NOTRANS # IF JTSATCHG = 0 THEN NO TRANSLATION NOW.
024279,000580: 24,2651 32712 CA 14-TQRMN
024280,000581: 24,2652 27505 ADS TOFJTCHG # INSURE T GREATER THAN 14 MS.
024281,000582: 24,2653 12674 TCF TOJTLST
024282,000583: 24,2654 40001 NOTRANS CS L
024283,000584: 24,2655 67641 AD BIT15 # MAKE JET BITS CORRESPOND TO QR AXIS.
024284,000585: 24,2656 57502 XCH JTSATCHG # JTSONNOW - L = JETS ON AT TOFJTCHG.
024285,000586: 24,2657 55503 TS ADDT6JTS # JTS ON AT TOFJTCHG +ONDELAY.
024286,000587: 24,2660 32712 CA 14-TQRMN
024287,000588: 24,2661 55504 TS ADDTLT6
024288,000589: 24,2662 12674 TCF TOJTLST
024289,000590: 24,2663 32712 NOQRON CA 14-TQRMN
024290,000591: 24,2664 27505 ADS TOFJTCHG
024291,000592: 24,2665 37665 CA ZERO
024292,000593: 24,2666 55504 TS ADDTLT6
024293,000594: 24,2667 12674 TCF TOJTLST
024294,000595: 24,2670 32711 JTSAREON CA MCOMPTQR
024295,000596: 24,2671 27505 ADS TOFJTCHG
024296,000597: 24,2672 37665 CA ZERO
024297,000598: 24,2673 55504 TS ADDTLT6
024298,000599: 24,2674 31501 TOJTLST CA JTSONNOW
024299,000600: 24,2675 04225 TC WRITEQR
024300,000601: 24,2676 00006 EXTEND
024301,000602: 24,2677 32733 DCA JTLSTADR
024302,000603: 24,2700 52006 DTCB
024303,000604: 24,2701 77417 -1.5CSP DEC -0.01465
024304,000605: 24,2702 00014 +T6TJMIN DEC +.00073
024305,000606: 24,2703 31000 25/32.QR DEC 0.78125
024306,000607: 24,2704 37776 MS20QR OCTAL 37776
024307,000608: 24,2705 37775 MS30QR OCTAL 37775
024308,000609: 24,2706 37773 MS50QR OCTAL 37773
024309,000610: 24,2707 00010 16/32400 DEC 0.00049
024310,000611: 24,2710 00600 BIT8,9 OCTAL 00600
024311,000612: 24,2711 77765 MCOMPTQR OCTAL 77765 # -10 MS COMPUTATION TIME
024312,000613: 24,2712 00013 14-TQRMN DEC 11 B-14
024313,000614:
![]() |
Page 573 |
024315,000616: 24,2713 02243 MINTADR GENADR MINTJET
024316,000617: 24,2714 43415 -.88975 DEC -.88975
024317,000618: 24,2715 20000 (1-K),QR DEC 0.50000 # K = 1/2
024318,000619: 24,2716 02000 (1-KQ)/8 DEC 0.06250
024319,000620: 24,2717 77557 -90MS DEC -.00879
024320,000621: 24,2720 00220 +90MS DEC 0.00879
024321,000622: 24,2721 77537 NEGCSP2 DEC -.00977
024322,000623: 24,2722 24366 16/25QR DEC 0.64000
024323,000624: 24,2723 40252 ALL+XJTS OCTAL 40252
024324,000625: 24,2724 00201 2,10-OUT OCTAL 00201
024325,000626: 24,2725 40042 +X,A OCTAL 40042
024326,000627: 24,2726 40210 +X,B OCTAL 40210
024327,000628: 24,2727 00104 1,9-OUT OCTAL 00104
024328,000629: 24,2730 40104 -X,A OCTAL 40104
024329,000630: 24,2731 40021 -X,B OCTAL 40021
024330,000631: 24,2732 02716 46006 JTLSTADR 2CADR JTLST
024331,000632:
024332,000633: 24,2734 02467 RTJETADR GENADR RTJETIME
024333,000634:
![]() |
Page 574 |
024335,000636: # Q,R-AXES ATTITUDE STEERING CALCULATIONS:
024336,000637:
024337,000638: # (EXECUTED WHEN LGC IS IN AUTOMATIC SCSMODE OR IF SCSMODE IS ATTITUDE HOLD AND THE ROTATIONAL HAND CONTROLLER IS
024338,000639: # NEITHER OUT OF DETENT NOR IS THE RATE COMMAND BIT SET IN DAPBOOLS)
024339,000640:
024340,000641: # IMMEDIATELY AFTER CALCULATING THE ATTITUDE ERRORS, THE FOLLOWING TESTS ARE MADE TO DETERMINE WHETHER THE DESCENT
024341,000642: # ENGINE TRIM GIMBAL SHOULD BE USED TO CONTROL THE LEM ATTITUDE RATHER THAN THE RCS JETS:
024342,000643:
024343,000644: # 1) IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
024344,000645: # 2) ARE THE Q,R-AXES RCS JETS OFF?
024345,000646: # 3) ARE BOTH TRIM GIMBAL DRIVES OFF?
024346,000647: # 4) IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
024347,000648:
024348,000649: 24,2735 32742 GOTOGTS CAF INITFILT # ERRORS NOW CONTROLLABLE BY TRIM GIMBAL
024349,000650: 24,2736 54345 TS T5ADR # SET T5RUPT TO GO TO FILTER INITIALIZING
024350,000651: 24,2737 14606 TCF RESUME # PROGRAM
024351,000652:
024352,000653: 24,2740 07400 BGIM24 OCTAL 07400
024353,000654: 24,2741 03644 DESCADR GENADR TJET-LAW # RETURN ADDRESS FOR JET SELECT LOGIC
024354,000655: 24,2742 02000 INITFILT GENADR FILTINIT # ADDRESS OF FILTER INITIALIZATION RUPT
024355,000656:
024356,000657: # "ATTSTEER" IS THE NOMINAL ENTRY POINT FOR REACTION CONTROL SYSTEM ATTITUDE STEERING:
024357,000658: # BEGIN ATTSTEER BY CHECKING IF RATE HOLD MODE(CURRENTLY USED ONLY AT SIVB
024358,000659: # -LEM SEPARATION-206 MISSION PHASE 6) IS REQUESTED(BIT 14 OF DAPBOOLS ON)
024359,000660: # IF BIT 14 IS OFF, BRANCH TO QERRCALC DIRECTLY AND BEGIN AUTOMATIC
024360,000661: # STEERING. IF BIT 14 IS ON, TEST BIT 3 OF DAPBOOLS TO SEE IF THE DESIRED
024361,000662: # RATE HAS BEEN SAVED YET. IF IT IS ON, THIS IS NOT THE FIRST PASS AND
024362,000663: # THE RATE HAS BEEN SAVED. GO DIRECTLY TO QERRCALC FOR AUTOMATIC STEERING
024363,000664: # IF THE BIT IS OFF, THE RATE MUST BE SAVED. TRANSFER TO SAVERATE(BANK25)
024364,000665: # AND RETURN AFTER FIRST PASS TO RESUME AND DAPIDLER.
024365,000666:
024366,000667: # IN ORDER TO USE RATE HOLD, THE MISSION PROGRAMMER MUST SET BIT 14 OF
024367,000668: # DAPBOOLS ON AND SET BIT 3 OF DAPBOOLS TO ZERO. UPON RETURNING FROM THE
024368,000669: # FIRST PASS AT LEAST THROUGH RATE HOLD, THE MISSION PROGRAMMER MUST RESET
024369,000670: # BIT 3 TO ITS PREVIOUS VALUE IF THIS IS NOT 1, BECAUSE SAVERATE SETS BIT3
024370,000671: # TO 1 FOR ALL PASSES AFTER THE FIRST IN ORDER NOT TO SAVE THE RATE AGAIN.
024371,000672:
024372,000673: # IN ADDITION TO NON-RATE HOLD MODE AND NON-FIRST PASS RATE HOLD MODE
024373,000674: # EXITS TO QERRCALC, THE FIRST PASS EXITS TO RESUME, IE. OUT OF INTERRUPT
024374,000675: # AND BACK TO DAPIDLER TO AWAIT THE NEXT CALL TO DAP.
024375,000676:
024376,000677: # RATE HOLD PRODUCES THE FOLLOWING OUTPUT IN ERASABLE --
024377,000678:
024378,000679: # CDUD - SCALED AT +/-PI, DESIRED GIMBAL ANGLE
024379,000680:
024380,000681: # DELCDU - SCALED AT +/-PI, INCREMENT TO CDUD EVERY 100 MS.
024381,000682:
024382,000683: # OMEGAPD, QD, RD - SCALED AT +/-PI/4, BODY AXIS RATES
024383,000684:
024384,000685: # ALL THESE ARE USED BY AUTOMATIC STEERING MODE EQUATIONS.
024385,000686:
![]() |
Page 575 |
024387,000688: # RATE HOLD REQUIRES OMEGAP, Q, R EVERY .25 SEC, AND ALSO REQUIRES PILOT-
024388,000689: # TO-GIMBAL AXIS MATRIX ELEMENTS, MR12, 22, 13, 23 TO BE LOCATED IN THAT
024389,000690: # ORDER.
024390,000691:
024391,000692: # FINALLY, RATE HOLD LEAVES DEBRIS IN --
024392,000693:
024393,000694: # DLCDUIDX - LOOP INDEX USED IN COMPUTING DELCDUS, = 1, 0
024394,000695:
024395,000696: # ITEMP1 - STORES TEMPORARY PRODUCTS AND SUMS, LEFT WITH DELCDUY IN 1S.
024396,000697:
024397,000698:
024398,000699:
024399,000700: 24,2743 40765 ATTSTEER CS DAPBOOLS # DOES BIT14 OF DAPBOOLS REQUEST RATE HOLD
024400,000701: 24,2744 77642 MASK BIT14 # (SIVB-LEM SEPARATION)
024401,000702: 24,2745 10000 CCS A
024402,000703: 24,2746 13025 TCF QERRCALC # NO, GO DIRECTLY TO AUTOMATIC STEERING
024403,000704:
024404,000705: # CHECK DAPBOOLS, BIT3, TO SEE IF DESIRED RATE HAS BEEN SAVED YET
024405,000706:
024406,000707: 24,2747 30765 CAE DAPBOOLS # DOES BIT3 SHOW THAT THE DESIRED RATE HAS
024407,000708: 24,2750 77655 MASK BIT3 # BEEN SAVED(NOT FIRST PASS). IF NOT, GO
024408,000709: 24,2751 10000 CCS A # SAVE DESIRED RATES IN THE OMEGADS
024409,000710: 24,2752 12771 TCF NEXDLCDU -1 # YES, COMPUTE THE DELCDUS.
024410,000711:
024411,000712: # SAVERATE IS ENTERED ONLY DURING THE FIRST PASS THROUGH RATE HOLD. IT
024412,000713: # SAVES THE CURRENT CDUS FIRST IN CDUDS AND THEN SAVES THE BODY RATES,
024413,000714: # OMEGAP, Q, R IN OMEGAPD, QD, RD. NEXT, WE SET BIT 3 OF DAPBOOLS TO 1.
024414,000715:
024415,000716: 24,2753 00006 SAVERATE EXTEND # COME HERE FIRST TIME INTO RATE HOLD IN
024416,000717: 24,2754 30034 DCA CDUY
024417,000718: 24,2755 52776 DXCH CDUYD # ORDER TO SET UP RATES, CDUS, AND DELCDUS
024418,000719: 24,2756 30032 CAE CDUX
024419,000720: 24,2757 54774 TS CDUXD # FIRST, CDUDS = CDUS AT SIVB SEPARATION
024420,000721:
024421,000722: 24,2760 00006 EXTEND # NEXT, SAVE CURRENT SIVB SEPARATION RATES
024422,000723: 24,2761 31417 DCA OMEGAP
024423,000724: 24,2762 53427 DXCH OMEGAPD # OMEGAP AND OMEGAR, IN OMEGAPD AND
024424,000725: 24,2763 31421 CAE OMEGAR
024425,000726: 24,2764 55430 TS OMEGARD # OMEGARD. LEM HELD TO RATES FOR 13 SECS.
024426,000727:
024427,000728: 24,2765 37655 CAF BIT3 # RESET BIT 3 = 1 SO THAT RATES NOT SAVED
024428,000729: 24,2766 26765 ADS DAPBOOLS # AGAIN IN RATE HOLD PASSES
024429,000730: 24,2767 14606 TCF RESUME # RETURN TO IDLE AFTER SAVING RATE
024430,000731:
024431,000732: 24,2770 00632 100MSCAL DEC .025 # 100 MS. SCALED AT 4 SEC. RATE HOLD DELT
024432,000733:
024433,000734: # TO COMPUTE TEH DELCDUS, Y AND Z, WE SET UP A LOOP AND SOLVE THE EQUATION
024434,000735:
024435,000736: # C(DELCDUY+DLCDUIDX)=(OMEGAQD.C(MR12+DLCDUIDX)+OMEGARD.C(MR13+DLCDUIDX))
024436,000737: # .(100MS) SCALED AT PI IN 2S COMPLEMENT(LIKE CDUS)
024437,000738:
![]() |
Page 576 |
024439,000740: # DURING THIS COMPUTATION, ITEMP1 IS USED TO STORE THE PARTIAL SUMS AND
024440,000741: # PRODUCTS. DELCDUY IS RESCALED TO 1 AS MR12 AND MR13 ARE SCALED AT 2.
024441,000742: # AFTER CONVERTING TO TWOS COMPLEMENT, WE SET DELCDUX TO ZERO TO AVOID ANY
024442,000743: # ROLL DURING RATE HOLD MODE. NOTE THAT DELCDUS ARE COMPUTED IN THE NEGA-
024443,000744: # TIVE TO ALLOW 2S COMP. MOD. SUBTRACT LATER ON (CDU-(-DELCDU))
024444,000745:
024445,000746: 24,2771 37657 CAF ONE # SET UP LOOP INDEX TO COMPUTE DELCDUS.
024446,000747: 24,2772 55672 NEXDLCDU TS DLCDUIDX # DLCDUIDX = C(A)
024447,000748:
024448,000749: 24,2773 41427 CS OMEGAQD # DLCDUIDX = 1 DLCDUIDX = 0
024449,000750: 24,2774 00006 EXTEND # ITEMP1=-OMEGAQD.MR22
024450,000751: 24,2775 51672 INDEX DLCDUIDX
024451,000752: 24,2776 71400 MP MR12 # MR22 SCALED AT 1 MR12 SCALED AT 2
024452,000753: 24,2777 54065 TS ITEMP1 # ITEMP1=-OMEGAQD.MR12
024453,000754:
024454,000755: 24,3000 41430 CS OMEGARD # C(A)=ITEMP1 -OMEGARD.MR23
024455,000756: 24,3001 00006 EXTEND
024456,000757: 24,3002 51672 INDEX DLCDUIDX # C(A)=ITEMP1 -OMEGARD.MR13
024457,000758: 24,3003 71402 MP MR13 # MR23 SCALED AT 1 MR13 SCALED AT 2
024458,000759: 24,3004 60065 AD ITEMP1
024459,000760: 24,3005 00006 EXTEND # DELT = 100 MS. SCALED AT 4 SEC.
024460,000761: 24,3006 72770 MP 100MSCAL
024461,000762: 24,3007 54065 TS ITEMP1 # ITEMP1 = C(A) . DELT
024462,000763:
024463,000764: 24,3010 11672 CCS DLCDUIDX # CHECK INDEX FOR RESCALING
024464,000765: 24,3011 13014 TCF +3 # DELCDUZ SCALED AT PI/4, RESCALE UNNEEDED
024465,000766: 24,3012 30065 CAE ITEMP1 # DELCDUY SCALED AT PI/2, RESCALE BY
024466,000767: 24,3013 26065 ADS ITEMP1 # ADDING TO ITSELF
024467,000768:
024468,000769: 24,3014 10065 CCS ITEMP1 # CONVERT DELCDUS TO TWOS COMPLEMENT (SAME
024469,000770: 24,3015 67657 AD ONE # AS CDUS). ADD ONE TO RESTORE PRE-CCS A
024470,000771: 24,3016 13020 TCF STODLCDU # STORE DIRECT IF POSITIVE ZERO
024471,000772: 24,3017 40000 COM # COMPLEMENT IF NEGATIVE, CCS INCREMENTS
024472,000773: 24,3020 51672 STODLCDU INDEX DLCDUIDX # IF NEGATIVE ZERO, STORE POSITIVE ZERO
024473,000774: 24,3021 55674 TS DELCDUY # STORE FINAL DELCDUZ OR DELCDUY
024474,000775:
024475,000776: 24,3022 11672 CCS DLCDUIDX # TEST INDEX DLCDUIDX, EITHER 1 OR 0
024476,000777: 24,3023 12772 TCF NEXDLCDU # IF 1, DO DELCDUY
024477,000778: 24,3024 55673 TS DELCDUX # DELCDUZ,Y DONE, 0 TO DELCDUX-NO ROLL
024478,000779:
024479,000780: 24,3025 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
024480,000781: 24,3026 00006 EXTEND
024481,000782: 24,3027 20775 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
024482,000783: 24,3030 54065 TS ITEMP1 # SAVE FOR RERRCALC
024483,000784: 24,3031 00006 EXTEND
024484,000785: 24,3032 71405 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
024485,000786: 24,3033 57413 XCH ER # SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
024486,000787: 24,3034 30034 CAE CDUZ # SECOND TERM CALCULATION:
024487,000788: 24,3035 00006 EXTEND
024488,000789: 24,3036 20776 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
024489,000790:
![]() |
Page 577 |
024491,000792: 24,3037 54066 TS ITEMP2 # SAVE FOR RERRCALC
024492,000793: 24,3040 00006 EXTEND
024493,000794: 24,3041 71401 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
024494,000795: 24,3042 27413 ADS ER # SAVE SUM OF TERMS, NO OVERFLOW EVER
024495,000796: 24,3043 55477 TS QERROR # SAVE QERROR FOR EIGHT-BALL DISPLAY
024496,000797:
024497,000798: 24,3044 30065 RERRCALC CAE ITEMP1 # R-ERROR CALCULATION:
024498,000799: 24,3045 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
024499,000800: 24,3046 71406 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
024500,000801: 24,3047 57411 XCH E # SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
024501,000802: 24,3050 30066 CAE ITEMP2 # SECOND TERM CALCULATION:
024502,000803: 24,3051 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
024503,000804: 24,3052 71403 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
024504,000805: 24,3053 27411 ADS E # SAVE SUM OF TERMS, NO OVERFLOW EVER
024505,000806: 24,3054 55500 TS RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY
024506,000807:
024507,000808: # TEST (1): IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
024508,000809:
024509,000810: 24,3055 37656 CAF BIT2 # TEST TO SEE IF LEM AND DAP MODES ALLOW
024510,000811: 24,3056 70765 MASK DAPBOOLS # USE OF TRIM GIMBAL CONTROL SYSTEM:
024511,000812: 24,3057 10000 CCS A # BIT2 = 0 MEANS THAT TRIM GIMBAL CONTROL
024512,000813: 24,3060 13122 TCF STILLRCS # IS POSSIBLE, SO TEST OTHER TG CONDITIONS
024513,000814:
024514,000815: # TEST (2): ARE THE Q,R-AXES RCS JETS OFF?
024515,000816: 24,3061 00006 EXTEND # BUT, IF JETS ARE OFF AND TRIM GIMBAL MAY
024516,000817: 24,3062 00005 READ 5 # POSSIBLY BE USED: BEING IN THE JET COAST
024517,000818: 24,3063 10000 CCS A # REGION OF THE PHASE PLANE IS A NECESSARY
024518,000819: 24,3064 13122 TCF STILLRCS # BUT INSUFFICIENT REASON FOR GTS USE
024519,000820:
024520,000821: # TEST (3): ARE BOTH TRIM GIMBAL DRIVES OFF?
024521,000822:
024522,000823: 24,3065 00006 EXTEND # BITS 9-12 OF CHANNEL 12 ARE THE SIGNALS
024523,000824: 24,3066 00012 READ 12 # WHICH DRIVE THE TRIM GIMBAL ENGINE:
024524,000825: 24,3067 72740 MASK BGIM24 # IF NONE OF THESE BITS ARE ON, THEN BOTH
024525,000826: 24,3070 10000 CCS A # WAITLIST TASKS TO TURN OFF THE DRIVES
024526,000827: 24,3071 13122 TCF STILLRCS # HAVE BEEN DONE AND GTS CONTROL CAN OCCUR
024527,000828:
024528,000829: # TEST (4): IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
024529,000830:
024530,000831: 24,3072 37657 CA BIT1
024531,000832: 24,3073 54073 LOOPTOP TS QRCNTR
024532,000833: 24,3074 60000 DOUBLE
024533,000834: 24,3075 50000 INDEX A
024534,000835: 24,3076 11417 CCS OMEGAQ # IS ERROR RATE SMALL ENOUGH FOR GTS.
024535,000836: 24,3077 63120 AD -RATLM+1 # -.5 DEG/SEC SCALED AT PI/4 + 1 BIT
024536,000837: 24,3100 13102 TCF +2
024537,000838: 24,3101 63120 AD -RATLM+1
024538,000839: 24,3102 00006 EXTEND
024539,000840: 24,3103 63105 BZMF +2 # IS RATE LESS,EQUAL .5 DEG/SEC.
024540,000841: 24,3104 13122 TCF STILLRCS # NO. SO USE RCS.
024541,000842:
![]() |
Page 578 |
024543,000844: 24,3105 50073 INDEX QRCNTR # YES. TRY THE ERROR MAGNITUDE.
024544,000845: 24,3106 11477 CCS QDIFF # IS ERROR SMALL ENOUGH FOR GTS.
024545,000846: 24,3107 63121 AD -XBND+1 # -1.4 DEG SCALED AT PI + 1 BIT
024546,000847: 24,3110 13112 TCF +2
024547,000848: 24,3111 63121 AD -XBND+1
024548,000849: 24,3112 00006 EXTEND
024549,000850: 24,3113 63115 BZMF +2 # IS ERROR LESS,EQUAL 1.4 DEG.
024550,000851: 24,3114 13122 TCF STILLRCS # NO. USE RCS CONTROL.
024551,000852: 24,3115 10073 CCS QRCNTR # THIS AXIS IS FINE. ARE BOTH DONE.
024552,000853: 24,3116 13073 TCF LOOPTOP # NOW TRY THE Q AXIS.
024553,000854: 24,3117 12735 TCF GOTOGTS # TRANSFER TO TRIM GIMBAL CONTROL
024554,000855: 24,3120 77512 -RATLM+1 OCT 77512 # -.5 DEG/SEC SCALED AT PI/4 + 1 BIT
024555,000856: 24,3121 77601 -XBND+1 OCT 77601 # -1.4 DEG SCALED AT PI. + 1 BIT.
024556,000857: # "STILLRCS" IS THE ENTRY POINT TO RCS ATTITUDE STEERING WHENEVER IT IS FOUND THAT THE TRIM GIMBAL CONTROL
024557,000858: # SYSTEM SHOULD NOT BE USED:
024558,000859:
024559,000860: 24,3122 32741 STILLRCS CAF DESCADR # SET JET SELECT LOGIC RETURN ADDRESS TO
024560,000861: 24,3123 55514 TS TJETADR # THE Q,R-AXIS TJETLAW CALCULATION
024561,000862:
024562,000863: 24,3124 04177 TC T6JOBCHK # CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
024563,000864:
024564,000865: 24,3125 31662 RURGENCY CAE 1/NJTSR # SET-UP URGENCY SUBROUTINE
024565,000866: 24,3126 55471 TS 1/NJETAC
![]() |
Note: Target (See below) |
024567,000868: 24,3127 41430 CS OMEGARD # EDOTR = OMEGAR - OMEGARD
024568,000869: 24,3130 61421 AD OMEGAR
024569,000870: 24,3131 55425 TS EDOTR # SCALED AT PI/4 RADIANS
024570,000871: 24,3132 03525 TC URGROUTN # *** SUBROUTINE CALL ***
024571,000872: 24,3133 55516 TS URGENCYR # URGENCY LEFT IN A SCALED AT 2(4) SECS
024572,000873:
024573,000874: 24,3134 53412 DXCH E # MOVE R-AXIS VARIABLES TO R-AXIS ERASABLE
024574,000875: 24,3135 53414 DXCH ER # FROM Q-XIS (COMMON) ERASABLE
024575,000876: 24,3136 55411 TS E
024576,000877: 24,3137 31407 CAE EDOT # (LLOK AT REORG FOR EFFIC: JDA 7/17/66)
024577,000878: 24,3140 55410 TS EDOT(R)
024578,000879:
024579,000880: 24,3141 31661 QURGENCY CAE 1/NJTSQ # SET-UP URGENCY SUBROUTINE
024580,000881: 24,3142 55471 TS 1/NJETAC
024581,000882: 24,3143 41427 CS OMEGAQD # EDOTQ = OMEGAQ - OMEGAQD
024582,000883: 24,3144 61417 AD OMEGAQ
024583,000884: 24,3145 55424 TS EDOTQ # SCALED AT PI/4 RADIANS
024584,000885: 24,3146 03525 TC URGROUTN # *** SUBROUTINE CALL ***
024585,000886:
024586,000887: 24,3147 55515 TS URGENCYQ # URGENCY LEFT IN A SCALED AT 2(4) SECS
![]() |
Note: in the scan the statements starting with QURGENCY are marked with red side bars and a red box. The box has the marker CAE EDOTQ and an arrow pointing in between the two statements marked as 'Target' above. |
024590,000891: ##
![]() |
... TS 1/NJETAC <------| CS OMEGARD | | ... | | QURGENCY | CAE 1/NJTSQ | | | TS 1/NJETAC | | |---------------------------| | | CS OMEGAQD | | CAE | AD OMEGAQ |---| EDOTQ | TS EDOTQ | |---------------------------| | TC URGROUTN | | TS URGENCYQ | |
024607,000908: ##
024608,000909:
024609,000910: 24,3150 00006 EXTEND
024610,000911: 24,3151 13321 BZF BURGZERO # TEST FOR BOTH URGENCIES ZERO
024611,000912:
024612,000913: 24,3152 00006 EXTEND
024613,000914: 24,3153 73336 MP -TAN22.5
024614,000915: 24,3154 61516 AD URGENCYR
024615,000916: 24,3155 00006 EXTEND
024616,000917:
![]() |
Page 579 |
024618,000919: 24,3156 73334 MP COS22.5
024619,000920: 24,3157 55521 TS TERMA # UR.COS(22.5)-UQ.SIN(22.5)
024620,000921:
024621,000922: 24,3160 41516 CS URGENCYR
024622,000923: 24,3161 00006 EXTEND
024623,000924: 24,3162 73336 MP -TAN22.5
024624,000925: 24,3163 61515 AD URGENCYQ
024625,000926: 24,3164 00006 EXTEND
024626,000927: 24,3165 73334 MP COS22.5
024627,000928: 24,3166 55522 TS TERMB # UR.SIN(22.5)+UQ.COS(22.5)
024628,000929:
024629,000930: 24,3167 61521 A+B/A-B AD TERMA
024630,000931: 24,3170 55517 TS A+B
024631,000932: 24,3171 41522 A-B/ONLY CS TERMB
024632,000933: 24,3172 61521 AD TERMA
024633,000934: 24,3173 55520 TS A-B
024634,000935:
024635,000936: # AXIS AND MODE SELECTION
024636,000937:
024637,000938: 24,3174 31522 CAE TERMB # B URGENCY TEST
024638,000939: 24,3175 00006 EXTEND
024639,000940: 24,3176 63337 BZMF NEGBURG
024640,000941:
024641,000942: 24,3177 31521 POSBURG CAE TERMA # A URGENCY TEST
024642,000943: 24,3200 00006 EXTEND
024643,000944: 24,3201 63254 BZMF NEGAPOSB
024644,000945:
024645,000946: 24,3202 31520 POSAPOSB CA A-B
024646,000947: 24,3203 00006 EXTEND
024647,000948: 24,3204 63232 BZMF MINUSU # NEGATIVE U-AXIS SELECTED
024648,000949:
024649,000950: 24,3205 00006 2/4JET-R EXTEND
024650,000951: 24,3206 31414 DCA ER
024651,000952: 24,3207 53412 DXCH E
024652,000953: 24,3210 31410 CAE EDOT(R)
024653,000954: 24,3211 55407 TS EDOT
024654,000955: 24,3212 31652 CAE .5ACCMNR
024655,000956: 24,3213 55650 TS .5ACCMNE
024656,000957: 24,3214 33524 CAF URM # 2/4 JET URGENCY TEST -R AXIS
024657,000958: 24,3215 61516 AD URGENCYR
024658,000959: 24,3216 00006 EXTEND
024659,000960: 24,3217 63224 BZMF 2JETS-R
024660,000961:
024661,000962: 24,3220 31446 4JETS-R CAE 1/2JTSR # MOVE 1/NJETAC UNMODIFIED
024662,000963: 24,3221 55471 TS 1/NJETAC
024663,000964: 24,3222 47663 CS SEVEN
024664,000965: 24,3223 13460 TCF POLTYPE # GO FIND BEST POLICY
024665,000966:
024666,000967: 24,3224 11666 2JETS-R CCS RMANDACC # ASCENT 4-JET OVER-RIDE TEST
024667,000968: 24,3225 13220 TCF 4JETS-R
024668,000969:
![]() |
Page 580 |
024670,000971: 24,3226 31446 CAE 1/2JTSR
024671,000972: 24,3227 55471 TS 1/NJETAC
024672,000973: 24,3230 46162 CS SIX
024673,000974: 24,3231 13460 TCF POLTYPE # GO FIND BEST POLICY
024674,000975:
024675,000976: 24,3232 31653 MINUSU CAE .5ACCMNU
024676,000977: 24,3233 55650 TS .5ACCMNE
024677,000978: 24,3234 31515 CAE URGENCYQ # 2 JET OPT/MAND TEST: -U AXIS
024678,000979: 24,3235 61516 AD URGENCYR
024679,000980: 24,3236 10000 CCS A
024680,000981: 24,3237 63524 AD NEGURGUM
024681,000982: 24,3240 13242 TCF +2
024682,000983: 24,3241 63524 AD NEGURGUM
024683,000984: 24,3242 00006 EXTEND
024684,000985: 24,3243 63247 BZMF 2JETS-U
024685,000986:
024686,000987: 24,3244 03474 2JETSM-U TC UXFORM
024687,000988: 24,3245 47664 2-U.RATE CS FIVE
024688,000989: 24,3246 13460 TCF POLTYPE # GO FIND BEST POLICY
024689,000990:
024690,000991: 24,3247 11667 2JETS-U CCS UMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024691,000992: 24,3250 13244 TCF 2JETSM-U
024692,000993: 24,3251 03474 TC UXFORM
024693,000994: 24,3252 47655 CS FOUR
024694,000995: 24,3253 13460 TCF POLTYPE # GO FIND BEST POLICY
024695,000996:
024696,000997: 24,3254 31517 NEGAPOSB CAE A+B
024697,000998: 24,3255 00006 EXTEND
024698,000999: 24,3256 63277 BZMF PLUSV
024699,001000:
024700,001001: 24,3257 31651 2/4JET-Q CAE .5ACCMNQ
024701,001002: 24,3260 55650 TS .5ACCMNE
024702,001003: 24,3261 33524 CAF UQM # 204 JET URGENCY TEST: -Q AXIS
024703,001004: 24,3262 61515 AD URGENCYQ
024704,001005: 24,3263 00006 EXTEND
024705,001006: 24,3264 63273 BZMF 2JETS-Q +2 # (FIRST TWO INSTRUCTIONS UNNECESSARY)
024706,001007:
024707,001008: 24,3265 31445 4JETS-Q CAE 1/2JTSQ # MOVE 1/NJETAC UNMODIFIED
024708,001009: 24,3266 55471 TS 1/NJETAC
024709,001010: 24,3267 46165 CS THREE
024710,001011: 24,3270 13460 TCF POLTYPE # GO FIND BEST POLICY
024711,001012:
024712,001013: 24,3271 11665 2JETS-Q CCS QMANDACC # ASCENT 4-JET OVER-RIDE TEST
024713,001014: 24,3272 13265 TCF 4JETS-Q
024714,001015: 24,3273 31445 CAE 1/2JTSQ
024715,001016: 24,3274 55471 TS 1/NJETAC
024716,001017: 24,3275 47656 CS TWO
024717,001018: 24,3276 13460 TCF POLTYPE # GO FIND BEST POLICY
024718,001019:
024719,001020: 24,3277 31654 PLUSV CAE .5ACCMNV
024720,001021:
![]() |
Page 581 |
024722,001023: 24,3300 55650 TS .5ACCMNE
024723,001024: 24,3301 41515 CS URGENCYQ # 2 JET OPT/MAND TEST: +V AXIS
024724,001025: 24,3302 61516 AD URGENCYR
024725,001026: 24,3303 10000 CCS A
024726,001027: 24,3304 63524 AD NEGURGVM
024727,001028: 24,3305 13307 TCF +2
024728,001029: 24,3306 63524 AD NEGURGVM
024729,001030: 24,3307 00006 EXTEND
024730,001031: 24,3310 63314 BZMF 2JETS+V
024731,001032:
024732,001033: 24,3311 03466 2JETSM+V TC VXFORM
024733,001034: 24,3312 47657 2+V.RATE CS ONE
024734,001035: 24,3313 13460 TCF POLTYPE # GO FIND BEST POLICY
024735,001036:
024736,001037: 24,3314 11670 2JETS+V CCS VMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024737,001038: 24,3315 13311 TCF 2JETSM+V
024738,001039: 24,3316 03466 TC VXFORM
024739,001040: 24,3317 37665 CAF ZERO
024740,001041: 24,3320 13460 TCF POLTYPE # GO FIND BEST POLICY
024741,001042:
024742,001043: 24,3321 31516 BURGZERO CAE URGENCYR # TEST FOR SECOND URGENCY ALSO ZERO
024743,001044: 24,3322 00006 EXTEND
024744,001045: 24,3323 12504 BZF XTRANS # NO ROTATION NEEDED NOW
024745,001046:
024746,001047: 24,3324 00006 EXTEND # TIME SAVING A+B CALCULATION
024747,001048: 24,3325 73335 MP SIN22.5
024748,001049: 24,3326 55522 TS TERMB # US.SIN(22.5)
024749,001050: 24,3327 31516 CAE URGENCYR
024750,001051: 24,3330 00006 EXTEND
024751,001052: 24,3331 73334 MP COS22.5
024752,001053: 24,3332 55521 TS TERMA # UR.COS(22.5)
024753,001054: 24,3333 13171 TCF A-B/ONLY
024754,001055: 24,3334 35441 COS22.5 DEC 0.92388 # COSINE OF 22.5 DEGREES
024755,001056: 24,3335 14176 SIN22.5 DEC 0.38268 # SINE OF 22.5 DEGREES
024756,001057: 24,3336 62575 -TAN22.5 DEC -.41421 # NEGATIVE OF TANGENT OF 22.5 DEGREES
024757,001058:
024758,001059: 24,3337 31521 NEGBURG CAE TERMA # A URGENCY TEST
024759,001060: 24,3340 00006 EXTEND
024760,001061: 24,3341 63367 BZMF NEGANEGB
024761,001062:
024762,001063: 24,3342 31517 POSANEGB CAE A+B
024763,001064: 24,3343 00006 EXTEND
024764,001065: 24,3344 63441 BZMF 2/4JET+Q
024765,001066:
024766,001067: 24,3345 31654 MINUSV CAE .5ACCMNV
024767,001068: 24,3346 55650 TS .5ACCMNE
024768,001069: 24,3347 41515 CS URGENCYQ # 2 JET OPT/MAND TEST: -V AXIS
024769,001070: 24,3350 61516 AD URGENCYR
024770,001071: 24,3351 10000 CCS A
024771,001072: 24,3352 63524 AD NEGURGVM
024772,001073:
![]() |
Page 582 |
024774,001075: 24,3353 13355 TCF +2
024775,001076: 24,3354 63524 AD NEGURGVM
024776,001077: 24,3355 00006 EXTEND
024777,001078: 24,3356 63362 BZMF 2JETS-V
024778,001079:
024779,001080: 24,3357 03466 2JETSM-V TC VXFORM
024780,001081: 24,3360 37657 2-V.RATE CAF ONE
024781,001082: 24,3361 13460 TCF POLTYPE # GO FIND BEST POLICY
024782,001083:
024783,001084: 24,3362 11670 2JETS-V CCS VMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024784,001085: 24,3363 13357 TCF 2JETSM-V
024785,001086: 24,3364 03466 TC VXFORM
024786,001087: 24,3365 37656 CAF TWO
024787,001088: 24,3366 13460 TCF POLTYPE # GO FIND BEST POLICY
024788,001089:
024789,001090: 24,3367 31520 NEGANEGB CAE A-B
024790,001091: 24,3370 00006 EXTEND
024791,001092: 24,3371 63414 BZMF 2/4JET+R
024792,001093:
024793,001094: 24,3372 31653 PLUSU CAE .5ACCMNU
024794,001095: 24,3373 55650 TS .5ACCMNE
024795,001096: 24,3374 31515 CAE URGENCYQ # 2 JET OPT/MAND TEST: +U AXIS
024796,001097: 24,3375 61516 AD URGENCYR
024797,001098: 24,3376 10000 CCS A
024798,001099: 24,3377 63524 AD NEGURGUM
024799,001100: 24,3400 13402 TCF +2
024800,001101: 24,3401 63524 AD NEGURGUM
024801,001102: 24,3402 00006 EXTEND
024802,001103: 24,3403 63407 BZMF 2JETS+U
024803,001104:
024804,001105: 24,3404 03474 2JETSM+U TC UXFORM
024805,001106: 24,3405 36165 2+U.RATE CAF THREE
024806,001107: 24,3406 13460 TCF POLTYPE # GO FIND BEST POLICY
024807,001108:
024808,001109: 24,3407 11667 2JETS+U CCS UMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024809,001110: 24,3410 13404 TCF 2JETSM+U
024810,001111: 24,3411 03474 TC UXFORM
024811,001112: 24,3412 37655 CAF FOUR
024812,001113: 24,3413 13460 TCF POLTYPE # GO FIND BEST POLICY
024813,001114:
024814,001115: 24,3414 00006 2/4JET+R EXTEND
024815,001116: 24,3415 31414 DCA ER
024816,001117: 24,3416 53412 DXCH E
024817,001118: 24,3417 31410 CAE EDOT(R)
024818,001119: 24,3420 55407 TS EDOT
024819,001120: 24,3421 31652 CAE .5ACCMNR
024820,001121: 24,3422 55650 TS .5ACCMNE
024821,001122: 24,3423 33524 CAF URM # 2/4 JET URGENCY TEST +R AXIS
024822,001123: 24,3424 61516 AD URGENCYR
024823,001124: 24,3425 00006 EXTEND
024824,001125:
![]() |
Page 583 |
024826,001127: 24,3426 63433 BZMF 2JETS+R
024827,001128:
024828,001129: 24,3427 31446 4JETS+R CAE 1/2JTSR # MOVE 1/NJETAC UNMODIFIED
024829,001130: 24,3430 55471 TS 1/NJETAC
024830,001131: 24,3431 37664 CAF FIVE
024831,001132: 24,3432 13460 TCF POLTYPE # GO FIND BEST POLICY
024832,001133:
024833,001134: 24,3433 11666 2JETS+R CCS RMANDACC # ASCENT 4-JET OVER-RIDE TEST
024834,001135: 24,3434 13427 TCF 4JETS+R
024835,001136: 24,3435 31446 CAE 1/2JTSR
024836,001137: 24,3436 55471 TS 1/NJETAC
024837,001138: 24,3437 36162 CAF SIX
024838,001139: 24,3440 13460 TCF POLTYPE # GO FIND BEST POLICY
024839,001140:
024840,001141: 24,3441 31651 2/4JET+Q CAE .5ACCMNQ
024841,001142: 24,3442 55650 TS .5ACCMNE
024842,001143: 24,3443 33524 CAF UQM # 2/4 JET URGENCY TEST: + Q AXIS
024843,001144: 24,3444 61515 AD URGENCYQ
024844,001145: 24,3445 00006 EXTEND
024845,001146: 24,3446 63455 BZMF 2JETS+Q +2 # (FIRST TWO INSTRUCTIONS UNNECESSARY)
024846,001147:
024847,001148: 24,3447 31445 4JETS+Q CAE 1/2JTSQ # MOVE 1/NJETAC UNMODIFIED
024848,001149: 24,3450 55471 TS 1/NJETAC
024849,001150: 24,3451 37663 CAF SEVEN
024850,001151: 24,3452 13460 TCF POLTYPE # GO FIND BEST POLICY
024851,001152:
024852,001153: 24,3453 11665 2JETS+Q CCS QMANDACC # ASCENT 4-JET OVER-RIDE TEST
024853,001154: 24,3454 13447 TCF 4JETS+Q
024854,001155: 24,3455 31445 CAE 1/2JTSQ
024855,001156: 24,3456 55471 TS 1/NJETAC
024856,001157: 24,3457 37654 CAF EIGHT
024857,001158:
024858,001159: 24,3460 55523 POLTYPE TS POLRELOC
024859,001160: 24,3461 00006 EXTEND
024860,001161: 24,3462 33465 DCA POLADR
024861,001162: 24,3463 52006 DTCB
024862,001163: 24,3464 02216 52006 POLADR 2CADR POLTYPEP
024863,001164:
![]() |
Page 584 |
024865,001166: # SUBROUTINES UXFORM AND VXFORM CALCULATE NEEDED VALUES FOR T-JET LAW
024866,001167: # (THEY GO OFF TO REDUCE RATE, IF NECESSARY, AND THEN DO NOT RETURN)
024867,001168:
024868,001169: 24,3466 31450 VXFORM CAE 1/2JETSV # GET INVERSE OF V-JET ACCELERATION
024869,001170: 24,3467 55471 TS 1/NJETAC
024870,001171: 24,3470 41411 CS EQ # COMPLEMENT FOR TRANSFORMATION
024871,001172: 24,3471 55411 TS EQ
024872,001173: 24,3472 41424 CS EDOTQ
024873,001174: 24,3473 13477 TCF UVXFORM +1
024874,001175: 24,3474 31447 UXFORM CAE 1/2JETSU # SET INVERSE OF U-JET ACCELERATION
024875,001176: 24,3475 55471 TS 1/NJETAC
024876,001177:
024877,001178: 24,3476 31424 UVXFORM CAE EDOTQ # TRANSFORM ANGULAR RATE TO U/V-AXIS
024878,001179: 24,3477 61425 AD EDOTR
024879,001180: 24,3500 00006 EXTEND
024880,001181: 24,3501 73523 MP .707
024881,001182: 24,3502 55407 TS EDOT # SAVE FOR REDUCEUV
024882,001183: 24,3503 00006 EXTEND
024883,001184: 24,3504 77655 MP BIT3
024884,001185: 24,3505 00006 EXTEND
024885,001186: 24,3506 13510 BZF +2 # CHECK FOR VALUE BEYOND SCALING RANGE
024886,001187: 24,3507 13672 TCF REDUCEQR # SAME AS REDUCEUV
024887,001188: 24,3510 30001 CAE L
024888,001189: 24,3511 55407 TS EDOT # SAVE RATE SCALED AT PI/16
024889,001190: 24,3512 00006 EXTEND
024890,001191: 24,3513 70000 SQUARE
024891,001192: 24,3514 55412 TS EDOT(2) # SAVE RATE SQUARED SCALED AT PI(2)/2(8)
024892,001193:
024893,001194: 24,3515 31411 CAE EQ # TRANSFORM ANGULAR ERROR TO U/V-AXIS
024894,001195: 24,3516 61413 AD ER
024895,001196: 24,3517 00006 EXTEND
024896,001197: 24,3520 73523 MP .707
024897,001198: 24,3521 55411 TS E # SAVE ERROR SCALED AT PI
024898,001199: 24,3522 00002 TC Q
024899,001200:
024900,001201: 24,3523 26501 .707 DEC 0.70711 # SQRT(1/2)
024901,001202:
024902,001203:
024903,001204:
024904,001205: 24,3524 71777 NEGURGUM DEC -.18750
024905,001206: 24,3525 24,3524 NEGURGVM EQUALS NEGURGUM
024906,001207: 24,3525 24,3524 UQM EQUALS NEGURGUM
024907,001208: 24,3525 24,3524 URM EQUALS NEGURGUM
024908,001209:
024909,001210:
![]() |
Page 585 |
024911,001212: # GENERALIZED URGENCY SUBROUTINE FOR USE ON ALL PILOT AXES (P,Q,R)...
024912,001213:
024913,001214: # DEPENDING ON THE AXIS PROBLEM, EDOTP,EDOTQ,EDOTR IS EXPECTED TO ARRIVE IN A AND 1/2JTSP,1/2JTSQ,1/2JTSR IN
024914,001215: # 1/NJETAC. NOTE THAT THE Q,R-AXIS PROBLEM IS EXPECTED TO DO THE R-AXIS PROBLEM FIRST (FOR EFFICIENT USE OF
024915,001216: # ERASABLE) AND THE Q,R-AXIS PROBLEM DOES NOT USE TPSIG.
024916,001217: # (THIS ROUTINE SHOULD BE IN THE FIXED BANK OF THE Q,R-AXIS PROBLEM SINCE IT IS CALLED ONLY ONCE FROM THE P-AXIS.)
024917,001218:
024918,001219: 24,3525 55407 URGROUTN TS EDOT # SAVE FOR REDUCEQR
024919,001220: 24,3526 00006 EXTEND # EXPECT EDOT IN A SCALED AT PI/4 RAD/SEC
024920,001221: 24,3527 77655 MP BIT3 # TRY TO RESCALE TO PI/16 RADIANS/SECOND
024921,001222: 24,3530 00006 EXTEND
024922,001223: 24,3531 13533 BZF +2 # OVERFLOW CHECK ON NEW SCALING
024923,001224: 24,3532 13666 TCF REDUCERA # DISTINGUISH BETWEEN P AND Q,R
024924,001225: 24,3533 10001 +2 CCS L # INSURE NON-ZERO EDOT (TPSIG FLAG)
024925,001226: 24,3534 67656 AD TWO
024926,001227: 24,3535 13537 TCF +2
024927,001228: 24,3536 40000 COM
024928,001229: 24,3537 67667 +2 AD NEG1
024929,001230: 24,3540 55440 TS TPSIG # (FOR P-AXIS PROBLEM ONLY)
024930,001231: 24,3541 55407 TS EDOT # SAVE FOR T-JET LAW SCALED AT PI/16
024931,001232:
024932,001233: 24,3542 00006 EXTEND
024933,001234: 24,3543 70000 SQUARE
024934,001235: 24,3544 55412 TS EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
024935,001236:
024936,001237: 24,3545 00006 EXTEND # 1/2JTSP,1/2JTSQ,1/2JTSR IN 1/NJETAC
024937,001238: 24,3546 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
024938,001239: 24,3547 00006 EXTEND
024939,001240: 24,3550 61415 SU DB # DEADBAND SCALED AT PI RADIANS
024940,001241: 24,3551 55451 TS FPQR # .5(1/ACC)EDOT(2) - DB SCALED AT PI RADS
024941,001242:
024942,001243: 24,3552 31412 CAE EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
024943,001244: 24,3553 00006 EXTEND
024944,001245: 24,3554 71650 MP .5ACCMNE # .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD
024945,001246: 24,3555 61415 AD DB # SCALED AT PI RADIANS
024946,001247: 24,3556 55467 TS FPQRMIN # .5(1/ACCMIN)EDOT(2) + DB AT PI RADIANS
024947,001248:
024948,001249: 24,3557 11407 CCS EDOT # EDOT TEST ON SIGN
024949,001250: 24,3560 31411 CAE E # P,Q,R-AXIS ERROR SCALED AT PI RADIANS
024950,001251: 24,3561 13563 TCF +2
024951,001252: 24,3562 13602 TCF EDOTNEG
024952,001253: 24,3563 27451 +2 ADS FPQR # E + .5(1/ACC)EDOT(2) - DB AT PI RADIANS
024953,001254:
024954,001255: 24,3564 11407 FTEST CCS EDOT # EDOT GUARANTEED NOT +0 OR -0
024955,001256: 24,3565 11451 CCS FPQR # FPQR GUARANTEED NOT +0
024956,001257: 24,3566 13573 TCF TPSIGCHG # EDOT.G.+0, FPQR.G.+0
024957,001258: 24,3567 11451 CCS FPQR # EDOT.L.-0
024958,001259: 24,3570 13606 TCF FPMINCAL # EDOT.L.-0,FPQR.G.+0/EDOT.G.+0,FPQR.L.-0
024959,001260: 24,3571 13606 TCF FPMINCAL # EDOT.G.+0, FPQR.E.-0 (FROM FIRST CCS)
024960,001261: 24,3572 13573 TCF TPSIGCHG # EDOT.L.-0, FPQR.L.-0
024961,001262:
![]() |
Page 586 |
024963,001264: 24,3573 41440 TPSIGCHG CS TPSIG # EDOT.L.-0, FPQR.E.-0 (FROM 2ND CCS)
024964,001265: 24,3574 55440 TS TPSIG # (SIGN OF P-AXIS JETS IF NEEDED)
024965,001266: 24,3575 31407 CAE EDOT # SCALED AT PI/16 RADIANS/SECOND
024966,001267: 24,3576 00006 EXTEND
024967,001268: 24,3577 77645 MP BIT11 # SCALE TO PI RADIANS/SECOND
024968,001269: 24,3600 61451 AD FPQR # (IMPLICIT MULT OF FPQR BY 1/SEC)
024969,001270: 24,3601 13626 TCF URGMULT # THIS URGENCY = (1/ACC)(FPQR+EDOT)
024970,001271:
024971,001272: 24,3602 41451 EDOTNEG CS FPQR # SCALED AT PI RADIANS
024972,001273: 24,3603 61411 AD E
024973,001274: 24,3604 55451 TS FPQR # E - .5(1/ACC)EDOT(2) + DB
024974,001275: 24,3605 13564 TCF FTEST
024975,001276:
024976,001277: 24,3606 11451 FPMINCAL CCS FPQR # NECESSARY RETEST ON FPQR
024977,001278: 24,3607 41467 CS FPQRMIN
024978,001279: 24,3610 13612 TCF +2 # E - .5(1/ACCMIN)EDOT(2) - DB
024979,001280: 24,3611 31467 CAE FPQRMIN
024980,001281: 24,3612 61411 AD E # E + .5(1/ACCMIN)EDOT(2) + DB
024981,001282: 24,3613 55467 TS FPQRMIN # (SCALED AT PI RADIANS)
024982,001283:
024983,001284: 24,3614 11407 CCS EDOT # EDOT GUARANTEED NOT +0 OR -0
024984,001285: 24,3615 11467 CCS FPQRMIN # FPQRMIN GUARANTEED NOT +0 (CALL IT F)
024985,001286: 24,3616 13623 TCF ZEROURG # EDOT.G.+0, F.G.+0
024986,001287: 24,3617 11467 CCS FPQRMIN # EDOT.L.-0
024987,001288: 24,3620 13625 TCF NORMURG # EDOT.L.-0, F.G.+0 / EDOT.G.+0, F.L.-0
024988,001289: 24,3621 13625 TCF NORMURG # EDOT.G.+0, F.E.-0 (FROM FIRST CCS)
024989,001290: 24,3622 13623 TCF ZEROURG # EDOT.L.-0, F.L.-0
024990,001291: 24,3623 37665 ZEROURG CAF ZERO # EDOT.L.-0, F.E.-0 (FROM SECOND CCS)
024991,001292: 24,3624 13642 TCF URGSTORE # THIS URGENCY ZERO (IN COAST REGIAN)
024992,001293:
024993,001294: 24,3625 31467 NORMURG CAE FPQRMIN # THIS URGENCY FPQRMIN(1/ACC)
024994,001295: 24,3626 00006 URGMULT EXTEND
024995,001296: 24,3627 71471 MP 1/NJETAC
024996,001297: 24,3630 00006 EXTEND # SCALE FROM 2(9) TO 2(4) SECONDS
024997,001298: 24,3631 77652 MP BIT6 # 1/NJETAC = 1/2JETAC, WANT 1/1JETAC
024998,001299: 24,3632 00006 EXTEND
024999,001300: 24,3633 13641 BZF URGTOA
025000,001301: 24,3634 10000 CCS A
025001,001302: 24,3635 37637 CA POSMAX
025002,001303: 24,3636 13642 TCF URGSTORE
025003,001304: 24,3637 47637 CS POSMAX
025004,001305: 24,3640 13642 TCF URGSTORE
025005,001306: 24,3641 30001 URGTOA CA L
025006,001307: 24,3642 00002 URGSTORE TC Q # *** RETURN ***
025007,001308:
![]() |
Page 587 |
025009,001310: # GENERALIZED T-JET LAW SUBROUTINE FOR USE BY BOTH THE P-AXIS AND Q,R-AXIS PROBLEMS (ONCE EACH)...
025010,001311:
025011,001312: # DEPENDING ON THE AXIS ABOUT WHICH ROTATION IS DEEMED MOST URGENT, 1/JACC FOR THAT AXIS IS EXPECTED IN 1/NJETAC
025012,001313: # AND THE CORRESPONDING VALUES FOR E, EDOT, AND EDOT(2) ARE ALSO EXPECTED TO BE SET UP IN ADVANCE.
025013,001314: # (THIS ROUTINE MAY RESIDE IN THE FIXED BANK OF EITHER THE P-AXIS OR Q,R-AXIS PROBLEM.)
025014,001315:
025015,001316: # ***** IMPORTANT NOTICE *****
025016,001317:
025017,001318: # NOTE THAT TJETLOC IS THE LOCAL ENTRY POINT FOR THIS PROGRAM AND TJETLAW IS THE CROSS-BANK ENTRY. SEE BELOW
025018,001319: # FOR THE TWO CALLING SEQUENCES FOR OPTIMAL USE AND BE ASSURED THAT FOR EITHER CASE ISWRETRN MUST BE USED AND
025019,001320: # RUPTREG3 CONTAINS THE EVENTUAL RETURN ADDRESS.
025020,001321:
025021,001322: # LOCAL CALL:
025022,001323: # TC TJETLOC
025023,001324: # TCF NO ROTATION JETS
025024,001325: # TS TIME CALCULATED
025025,001326:
025026,001327: # CROSS-BANK CALL:
025027,001328: # CAF TJETLAWCADR
025028,001329: # TC ISWCALL
025029,001330: # TCF NO ROTATION JETS
025030,001331: # TS TIME CALCULATED
025031,001332:
025032,001333:
025033,001334:
025034,001335: # ***** VERY IMPORTANT NOTICE *****
025035,001336:
025036,001337: # SINCE THE Q,R-AXES SWITCHED FIXED BANK BECAME VERY FULL (DUE TO THE ADDITION OF RATE-HOLD MODE AND A BETTER
025037,001338: # RCS-GTS INTERFACE), THE LOCAL CALL AND LOCAL ENTRY POINT FOR THE T-JET LAW HAVE BEEN DELETED AS OF REVISION 7
025038,001339: # OF AURORA (BY JON ADDELSTON 10/24/66).
025039,001340:
025040,001341:
025041,001342:
025042,001343: # FOR CONVENIENCE, WE INCLUDE HERE THE CALL FROM THE Q,R-AXIS PROBLEM:
025043,001344:
025044,001345: 24,3643 BANK 24
025045,001346: 24,3643 51644 QR-JETLW CADR TJET-LAW # CADR OF Q,R-ENTRY TO TJETLAW SUBROUTINE
025046,001347:
025047,001348: 24,3644 04177 TJET-LAW TC T6JOBCHK # CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
025048,001349:
025049,001350: 24,3645 33643 CAF QR-JETLW # T-JETLAW CALLING SEQUENCE (LIKE P-AXIS)
025050,001351: 24,3646 04162 TC ISWCALL # (IN INTERBANK COMMUNICATION LOG SECTION)
025051,001352: 24,3647 12504 TCF XTRANS # GO TO XTRANS SINCE NO ROTATION IS USED
025052,001353: 24,3650 55626 TS TQR # SAVE CALCULATED TIME FOR THE TORQUE
025053,001354: 24,3651 12554 TCF TORQUEV # VECTOR RECONSTRUCTION PROBLEM
025054,001355:
025055,001356:
![]() |
Note: the following seems to be fully assembled code injected as comment. See the VERY IMPORTANT NOTICE above . |
025057,001358: # 24,1000 0 0006 1 TJETLOC EXTEND LOCAL ENTRY FAKES CROSS-BANK IN SMALL DT
025058,001359:
![]() |
Page 588 |
025060,001361: # 24,1001 22 076 0 QXCH RUPTREG3 SAVE RETURN WHERE ISWCALL DOES
025061,001362: # 24,1002 3 4174 1 CAF ISWRETRN +3 GET CADR OF RUPTREG3 FROM TC INSTRUCTION
025062,001363: # 24,1003 54 002 1 TS Q SO TC Q GOES TO RUPTREG3 FOR RETURN
025063,001364:
025064,001365: 25,2000 BANK 25
025065,001366:
025066,001367: 25,2000 41407 TJETLAW CS EDOT # TEST EDOT SIGN
025067,001368: 25,2001 00006 EXTEND
025068,001369: 25,2002 62006 BZMF +4
025069,001370: 25,2003 55407 TS EDOT # SIGNS OF E AND EDOT CHANGED IF EDOT NEG
025070,001371: 25,2004 41411 CS E # TO CONSIDER FUNCTIONS IN UPPER HALF OF
025071,001372: 25,2005 55411 TS E # THE E,EDOT PHASE PLANE
025072,001373:
025073,001374: 25,2006 31412 CAE EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025074,001375: 25,2007 00006 EXTEND # (1/NJETAC HAS BEEN SET FOR N JETS)
025075,001376: 25,2010 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
025076,001377: 25,2011 00006 EXTEND
025077,001378: 25,2012 77642 MP BIT14 # .5EDOT(2)/NJETACC SCALED AT PI RADIANS
025078,001379: 25,2013 61411 AD E # SCALED AT PI RADIANS (ERROR)
025079,001380: 25,2014 00006 EXTEND
025080,001381: 25,2015 61415 SU DB # SCALED AT PI RADIANS (DEADBAND)
025081,001382: 25,2016 55454 TS HDAP # E + .5EDOT(2)/NJETACC - DB
025082,001383:
025083,001384: 25,2017 00006 EXTEND
025084,001385: 25,2020 62070 BZMF NEGHDAP
025085,001386:
025086,001387: 25,2021 31407 CAE EDOT # SCALED AT PI/16 RAD/SEC (RATE)
025087,001388: 25,2022 00006 EXTEND
025088,001389: 25,2023 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD (ACC) (-1)
025089,001390: 25,2024 55521 TS TERMA # SCALED AT 2(4) SEC (CNTRL SMPL PERIOD)
025090,001391: 25,2025 62205 AD NEGCSP # EDOT/NJETACC - CSP SCALED AT 16 SECONDS
025091,001392:
025092,001393: 25,2026 00006 EXTEND
025093,001394: 25,2027 62032 BZMF +3
025094,001395:
025095,001396: 25,2030 37642 MAXTJET CAF BIT14 # (1/2) IS LIKE POSMAX AT THIS SCALING
025096,001397: 25,2031 12057 TCF NORMRETN # (OVERFLOW IS THUS PREVENTED)
025097,001398:
025098,001399: 25,2032 41454 CS HDAP # -DBMINIMP + E + EDOT(2)/NJETACC - DB
025099,001400: 25,2033 61647 AD MINIMPDB # SCALED AT PI RADIANS
025100,001401: 25,2034 00006 EXTEND
025101,001402: 25,2035 62116 BZMF MAINBRCH
025102,001403:
025103,001404: 25,2036 31521 CAE TERMA # EDOT/NJETACC - .5TJMIN SCALED AT 16 SECS
025104,001405: 25,2037 62211 AD -20MS # - 20 MS SCALED AT 16.
025105,001406: 25,2040 00006 EXTEND
025106,001407: 25,2041 62044 BZMF TJMIN
025107,001408:
025108,001409: 25,2042 62210 AD 23.75MS # WE GET TERMA + 3.75 MS.
025109,001410: 25,2043 12164 TCF TJETSCAL
025110,001411:
![]() |
Page 589 |
025112,001413: 25,2044 42067 TJMIN CS PAXCALL # WE KNOW WE DO P AXIS SINCE WE HAVE RUPT-
025113,001414: 25,2045 60076 AD RUPTREG3 # REG3 = T-JETLAW +3(Q-AXIS CALL NOT AT
025114,001415: 25,2046 00006 EXTEND # SAME LOCATION-- WE HOPE - AND INSURE.).
025115,001416: 25,2047 12061 BZF WEDOP
025116,001417: 25,2050 31620 CAE NO.QJETS # NO. OF Q JETS ON
025117,001418: 25,2051 00006 EXTEND
025118,001419: 25,2052 12063 BZF WEDOR
025119,001420: 25,2053 31621 CAE NO.RJETS # NO. OF R JETS ON
025120,001421: 25,2054 00006 EXTEND
025121,001422: 25,2055 12065 BZF WEDOQ
025122,001423: 25,2056 32206 DOTJMIN CAF +TJMINT6
025123,001424: 25,2057 24076 NORMRETN INCR RUPTREG3 # *** RETURN +1 ***
025124,001425: 25,2060 00002 TC Q # BACK TO ISWRETRN
025125,001426: 25,2061 55416 WEDOP TS OMEGAP
025126,001427: 25,2062 12056 TCF DOTJMIN
025127,001428: 25,2063 55421 WEDOR TS OMEGAR
025128,001429: 25,2064 12056 TCF DOTJMIN
025129,001430: 25,2065 55417 WEDOQ TS OMEGAQ
025130,001431: 25,2066 12056 TCF DOTJMIN
025131,001432: 25,2067 02666 PAXCALL GENADR T-JETLAW +3
025132,001433: 25,2070 31412 NEGHDAP CAE EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025133,001434: 25,2071 00006 EXTEND
025134,001435: 25,2072 71650 MP .5ACCMNE # .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD
025135,001436: 25,2073 61411 AD E # SCALED AT PI RADIANS (ERROR)
025136,001437: 25,2074 61415 AD DB # SCALED AT PI RADIANS (DEADBAND)
025137,001438: 25,2075 61646 AD DBMINIMP
025138,001439: 25,2076 00006 EXTEND
025139,001440: 25,2077 62101 BZMF +2
025140,001441: 25,2100 00002 TC Q # *** RETURN *** (NO JETS)
025141,001442:
025142,001443: 25,2101 42212 +2 CS MAXRATE # 10 DEG/SEC SCALED AT PI/16 RAD/SEC
025143,001444: 25,2102 61407 AD EDOT # EDOT - MAXRATE
025144,001445: 25,2103 00006 EXTEND
025145,001446: 25,2104 62106 BZMF +2
025146,001447: 25,2105 00002 TC Q # *** RETURN *** (NO JETS)
025147,001448:
025148,001449: 25,2106 41407 +2 CS EDOT # SCALED AT PI/16 RAD/SEC (RATE)
025149,001450: 25,2107 00006 EXTEND
025150,001451: 25,2110 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD (ACC)(-1)
025151,001452: 25,2111 55521 TS TERMA # -EDOT/NJETACC SCALED AT 2(4) SECONDS
025152,001453:
025153,001454: 25,2112 41454 CS HDAP # - E + .5EDOT(2)/NJETACC + DB
025154,001455: 25,2113 61411 AD E
025155,001456: 25,2114 61411 AD E # TWICE ERROR NEGATES E OF HDAP(OLD)
025156,001457: 25,2115 61647 AD MINIMPDB
025157,001458: 25,2116 55454 MAINBRCH TS HDAP # -HDAP(OLD) + 2E + DBMINIMP AT PI RADS
025158,001459:
025159,001460: 25,2117 31471 CAE 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
025160,001461: 25,2120 00006 EXTEND
025161,001462: 25,2121 77642 MP BIT14 # (1/2)(1/NJETAC)
025162,001463:
![]() |
Page 590 |
025164,001465: 25,2122 61650 AD .5ACCMNE
025165,001466: 25,2123 55456 TS DENOM # .5(1/NJETACC) + .5(1/ACCMIN) AT 2(8)/PI
025166,001467:
025167,001468: 25,2124 00006 EXTEND
025168,001469: 25,2125 72213 MP MAXRATE2 # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025169,001470: 25,2126 61454 AD HDAP # DENOM.MAXRATE(2) + HDAP AT PI RADIANS
025170,001471: 25,2127 00006 EXTEND
025171,001472: 25,2130 62170 BZMF NOROOT
025172,001473:
025173,001474: 25,2131 31454 CAE HDAP # SCALED AT PI RADIANS
025174,001475: 25,2132 00006 EXTEND
025175,001476: 25,2133 11456 DV DENOM # SCALED AT 2(8)/PI SEC(2)/RAD(2)
025176,001477: 25,2134 00006 EXTEND
025177,001478: 25,2135 71471 MP 1/NJETAC
025178,001479: 25,2136 00006 EXTEND
025179,001480: 25,2137 71471 MP 1/NJETAC
025180,001481: 25,2140 55522 TS TERMB # -(HDAP/DENOM)(1/NJETACC)(2) AT 2(8) SECS
025181,001482:
025182,001483: 25,2141 32205 CAF NEGCSP # SCALED AT 2(4) SECONDS
025183,001484: 25,2142 61521 AD TERMA
025184,001485: 25,2143 00006 EXTEND
025185,001486: 25,2144 70000 SQUARE # SCALED AT 2(8) SECONDS
025186,001487: 25,2145 61522 AD TERMB
025187,001488: 25,2146 00006 EXTEND # (TERMA - CSP)(2) + TERMB
025188,001489: 25,2147 62030 BZMF MAXTJET
025189,001490: 25,2150 32207 CAF -TJMIN16
025190,001491: 25,2151 61521 AD TERMA # TERMA - TJMIN SCALED AT 2(4) SECONDS
025191,001492: 25,2152 00006 EXTEND
025192,001493: 25,2153 62175 BZMF MAYNOJET
025193,001494:
025194,001495: 25,2154 00006 PREROOT EXTEND # MUST SAVE Q .
025195,001496:
025196,001497: 25,2155 23517 QXCH A+B
025197,001498: 25,2156 04177 TC T6JOBCHK
025198,001499: 25,2157 41522 CS TERMB
025199,001500: 25,2160 04275 TC SPROOT # SQRT(-TERMB) SCALED AT 2(4) SECONDS
025200,001501:
025201,001502: 25,2161 00006 EXTEND # MUST RESTORE OLD Q AFTER SPROOT
025202,001503: 25,2162 23517 QXCH A+B
025203,001504:
025204,001505: 25,2163 61521 TJSUM AD TERMA # TERMA + SQRT(-TERMB)
025205,001506: 25,2164 60000 TJETSCAL DOUBLE # NOW SCALED AT 2(3) SECONDS
025206,001507: 25,2165 00006 EXTEND
025207,001508: 25,2166 72215 MP 25/32QR # SCALED T O 16/25 2(4) SECONDS.
025208,001509: 25,2167 12057 TCF NORMRETN # *** RETURN +1 ***
025209,001510:
025210,001511: 25,2170 32212 NOROOT CAF MAXRATE
025211,001512: 25,2171 62214 AD .6DEG/SC # MAXRATE + DEL SCALED AT PI/16 RAD/SEC
025212,001513: 25,2172 00006 EXTEND
025213,001514: 25,2173 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
025214,001515:
![]() |
Page 591 |
025216,001517: 25,2174 12163 TCF TJSUM # SCALED AT 2(4) RADIANS
025217,001518:
025218,001519: 25,2175 32207 MAYNOJET CAF -TJMIN16
025219,001520: 25,2176 61521 AD TERMA # TERMA - TJMIN SCALED AT 2(4) SECONDS
025220,001521: 25,2177 00006 EXTEND
025221,001522: 25,2200 70000 SQUARE # SCALED AT 2(8) SEC(2)
025222,001523: 25,2201 61522 AD TERMB
025223,001524: 25,2202 00006 EXTEND
025224,001525: 25,2203 62154 BZMF PREROOT # (TERMA - TJMIN)(2) + TERMB AT 2(8)
025225,001526: 25,2204 00002 TC Q # *** RETURN *** (NO JETS)
025226,001527:
025227,001528: 25,2205 77631 NEGCSP DEC -.00625 # 100 MS SCALED AT 2(4) SECONDS
025228,001529: 25,2206 00014 +TJMINT6 DEC +.00073
025229,001530: 25,2207 77767 -TJMIN16 DEC -.00047
025230,001531: 25,2210 25,2207 -TJMINQR EQUALS -TJMIN16
025231,001532: 25,2210 00030 23.75MS DEC 0.00148 # 23.75 MS SCALED AT 16 SECONDS.
025232,001533: 25,2211 77753 -20MS DEC -.00125 # - 20 MS SCALED AT 16 SECONDS.
025233,001534: 25,2212 34344 MAXRATE DEC 0.88889 # 10 DEGREES/SECOND SCALED AT PI/16
025234,001535: 25,2213 31221 MAXRATE2 DEC 0.79012 # 100 DEG(2)/SEC(2) SCALED AT PI(2)/2(8)
025235,001536: 25,2214 01552 .6DEG/SC DEC 0.05333 # 6/10 DEGREES/SECOND SCALED AT PI/16
025236,001537: 25,2215 31000 25/32QR DEC 0.78125
025237,001538:
![]() |
Page 592 |
025239,001540: # THESE TWO SUBROUTINES TRANSFORM EDOTQ,EDOTR INTO THE U/V-AXIS (RESPECTIVELY) FOR THE RATE COMMAND MODE (ONLY).
025240,001541: # VALUE IS STORED IN EDOTGEN SCALED AT PI/4 RADIANS/SECOND.
025241,001542:
025242,001543: 24,3652 BANK 24
025243,001544:
025244,001545: 24,3652 31447 EDOTUGEN CAE 1/2JETSU # FOR U-AXIS TRANSFORMATION
025245,001546: 24,3653 55471 TS 1/NJETAC
025246,001547: 24,3654 31424 CAE EDOTQ
025247,001548: 24,3655 13661 TCF +4
025248,001549: 24,3656 31450 EDOTVGEN CAE 1/2JETSV # FOR V-AXIS TRANSFORMATION
025249,001550: 24,3657 55471 TS 1/NJETAC
025250,001551: 24,3660 41424 CS EDOTQ
025251,001552: 24,3661 61425 AD EDOTR
025252,001553: 24,3662 00006 EXTEND
025253,001554: 24,3663 73523 MP .707
025254,001555: 24,3664 55443 TS RATEDIF
025255,001556: 24,3665 00002 TC Q
025256,001557:
025257,001558:
025258,001559:
025259,001560: # THESE PROGRAMS REDUCE THE RATE ERROR TO 10.6 DEGREES/SECOND.
025260,001561:
025261,001562: 24,3666 41407 REDUCERA CS EDOT # TEST FOR P-AXIS PROBLEM
025262,001563: 24,3667 61423 AD EDOTP # EXACT MATCH MEANS P-AXIS
025263,001564: 24,3670 00006 EXTEND
025264,001565: 24,3671 13703 BZF REDUCEP # P-AXIS SUM IS ALWAYS MINUS ZERO
025265,001566:
025266,001567: 24,3672 03715 REDUCEQR TC REDUCESC # GET SHRINK FACTOR
025267,001568: 24,3673 00006 EXTEND # SHRINK Q-AXIS COMPONENT
025268,001569: 24,3674 71424 MP EDOTQ
025269,001570: 24,3675 55424 TS QRATEDIF
025270,001571:
025271,001572: 24,3676 31425 CAE EDOTR # SHRINK R-AXIS COMPONENT
025272,001573: 24,3677 00006 EXTEND
025273,001574: 24,3700 71407 MP EDOT
025274,001575: 24,3701 55425 TS RRATEDIF
025275,001576:
025276,001577: 24,3702 12352 TCF OBEYQRRC
025277,001578:
025278,001579: 24,3703 03715 REDUCEP TC REDUCESC # GET SHRINK FACTOR
025279,001580: 24,3704 00006 EXTEND # SHRINK P-AXIS COMPONENT
025280,001581: 24,3705 71423 MP EDOTP
025281,001582: 24,3706 55423 TS EDOTP
025282,001583: 24,3707 55440 TS TPSIG
025283,001584:
025284,001585: 24,3710 00006 EXTEND
025285,001586: 24,3711 33714 DCA +2
025286,001587: 24,3712 52006 DTCB
025287,001588: 24,3713 02424 46006 2CADR OBEYRAPE
025288,001589:
![]() |
Page 593 |
025290,001591: 24,3715 33722 REDUCESC CAF 10.6D/S # SCALED AT PI/4
025291,001592: 24,3716 00006 EXTEND
025292,001593: 24,3717 11407 DV EDOT # RESULT SCALED AT 1
025293,001594: 24,3720 55407 TS EDOT # SAVE FACTOR IN EDOT FOR R SHRINKAGE
025294,001595: 24,3721 00002 TC Q # *** RETURN ***
025295,001596:
025296,001597: 24,3722 07313 10.6D/S DEC 0.23111 # 10.6 DEGRESS/SECOND SCALED AT PI/4
025297,001598:
025298,001599:
025299,001600:
025300,001601: 24,3723 ENDDAP24 EQUALS
End of include-file Q,R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc. Parent file is MAIN.agc