Source Code
![]() |
This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
060734,000002: ## Copyright: Public domain.
060735,000003: ## Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
060736,000004: ## Purpose: A section of Luminary 1C, revision 131.
060737,000005: ## It is part of the source code for the Lunar Module's (LM)
060738,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
060739,000007: ## This file is intended to be a faithful transcription, except
060740,000008: ## that the code format has been changed to conform to the
060741,000009: ## requirements of the yaYUL assembler rather than the
060742,000010: ## original YUL assembler.
060743,000011: ## Reference: pp. 1434-1451
060744,000012: ## Contact: Ron Burkey <info@sandroid.org>.
060745,000013: ## Website: www.ibiblio.org/apollo/index.html
060746,000014: ## Mod history: 06/07/03 RSB. Began transcribing.
060747,000015: ## 05/14/05 RSB Corrected website reference above.
060748,000016: ## 2010-10-25 JL Indentation fixes.
060749,000017: ## 2017-01-06 RSB Page numbers now agree with those on the
060750,000018: ## original hardcopy, as opposed to the PDF page
060751,000019: ## numbers in 1701.pdf.
060752,000020: ## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
060753,000021: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
060754,000022: ## side-by-side diff of Luminary 69/99/116/131/210.
060755,000023: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
060756,000024: ## comment text error found while transcribing Zerlina 56.
060757,000025:
![]() |
Page 1434 |
060759,000027: 17,2124 BANK 17
060760,000028: 17,2000 SETLOC DAPS2
060761,000029: 17,2000 BANK
060762,000030:
060763,000031: 17,2124 E6,1634 EBANK= CDUXD
060764,000032:
060765,000033: 17,2124 COUNT* $$/DAPQR
060766,000034:
060767,000035: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060768,000036: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060769,000037: 17,2126 02031 RAND CHAN31
060770,000038: 17,2127 10000 CCS A
060771,000039: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060772,000040: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060773,000041: 17,2132 74740 MASK OURRCBIT
060774,000042: 17,2133 00006 EXTEND
060775,000043: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060776,000044: 17,2135 02655 TC QERRCALC
060777,000045:
060778,000046: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060779,000047: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060780,000048: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060781,000049: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060782,000050: 17,2142 55630 TS COTROLER
060783,000051:
060784,000052: 17,2143 53437 DXCH EDOTQ
060785,000053: 17,2144 03200 TC ROT-TOUV
060786,000054: 17,2145 53427 DXCH OMEGAU
060787,000055:
060788,000056: # X - TRANSLATION:
060789,000057:
060790,000058: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060791,000059: # ULLAGER
060792,000060: # APSFLAG, DRIFTBIT
060793,000061: # ACC40R2X, ACRBTRAN
060794,000062:
060795,000063: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060796,000064: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060797,000065:
060798,000066: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060799,000067: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060800,000068:
060801,000069: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060802,000070: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060803,000071: 17,2150 02031 RAND CHAN31
060804,000072: 17,2151 00006 EXTEND
060805,000073: 17,2152 12200 BZF +XORULGE
![]() |
Page 1435 |
060807,000075: 17,2153 34744 CA BIT8
060808,000076: 17,2154 00006 EXTEND
060809,000077: 17,2155 02031 RAND CHAN31
060810,000078: 17,2156 00006 EXTEND
060811,000079: 17,2157 12201 BZF -XTRANS
060812,000080:
060813,000081: 17,2160 34746 CA ULLAGER
060814,000082: 17,2161 70111 MASK DAPBOOLS
060815,000083: 17,2162 10000 CCS A
060816,000084: 17,2163 12200 TCF +XORULGE
060817,000085:
060818,000086: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060819,000087: 17,2165 55474 TS NEXTV
060820,000088: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060821,000089: 17,2167 74744 MASK DRIFTBIT
060822,000090: 17,2170 00006 EXTEND
060823,000091: 17,2171 12176 BZF TSENSE
060824,000092: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
060825,000093: 17,2173 74737 MASK APSFLBIT
060826,000094: 17,2174 10000 CCS A
060827,000095: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
060828,000096: 17,2176 55500 TSENSE TS SENSETYP
060829,000097: 17,2177 12232 TCF QRCONTRL
060830,000098:
060831,000099: 17,2200 34753 +XORULGE CAF ONE
060832,000100: 17,2201 64751 -XTRANS AD FOUR
060833,000101: 17,2202 55743 TS ROTINDEX
060834,000102: 17,2203 67750 AD NEG3
060835,000103: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
060836,000104: 17,2205 30111 CA DAPBOOLS
060837,000105: 17,2206 74741 MASK ACC4OR2X
060838,000106: 17,2207 10000 CCS A
060839,000107: 17,2210 12352 TCF TRANS4
060840,000108:
060841,000109: 17,2211 30111 CA DAPBOOLS
060842,000110: 17,2212 74742 MASK AORBTRAN
060843,000111: 17,2213 10000 CCS A
060844,000112: 17,2214 34753 CA ONE # THREE FOR B
060845,000113: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
060846,000114: 17,2216 55742 TSNUMBRT TS NUMBERT
060847,000115:
060848,000116: 17,2217 03225 TC SELCTSUB
060849,000117:
060850,000118: 17,2220 11740 CCS POLYTEMP
060851,000119: 17,2221 12224 TCF +3
060852,000120: 17,2222 05567 TC ALARM
060853,000121: 17,2223 02002 OCT 02002
060854,000122: 17,2224 35764 CA 00314OCT
060855,000123: 17,2225 71740 MASK POLYTEMP
060856,000124: 17,2226 55473 TSNEXTS TS NEXTU
![]() |
Page 1436 |
060858,000126: 17,2227 45764 CS 00314OCT
060859,000127: 17,2230 71740 MASK POLYTEMP
060860,000128: 17,2231 55474 TS NEXTV
060861,000129:
060862,000130: # Q,R-AXES RCS CONTROL MODE SELECTION
060863,000131: # SWITCHES INDICATION WHEN SET
060864,000132: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
060865,000133: # PULSES MINIMUM IMPULSE MODE
060866,000134: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
060867,000135:
060868,000136: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
060869,000137: 17,2233 00006 EXTEND
060870,000138: 17,2234 02031 RAND CHAN31 # BITS INVERTED
060871,000139: 17,2235 10000 CCS A
060872,000140: 17,2236 12710 TCF ATTSTEER
060873,000141: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
060874,000142: 17,2240 70111 MASK DAPBOOLS
060875,000143: 17,2241 00006 EXTEND
060876,000144: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060877,000145:
060878,000146: # MINIMUM IMPULSE MODE
060879,000147:
060880,000148: 17,2243 00004 INHINT
060881,000149: 17,2244 04674 TC IBNKCALL
060882,000150: 17,2245 40154 CADR ZATTEROR
060883,000151: 17,2246 34755 CA ZERO
060884,000152: 17,2247 55450 TS QERROR
060885,000153: 17,2250 55452 TS RERROR # FOR DISPLAYS
060886,000154: 17,2251 00003 RELINT
060887,000155:
060888,000156: 17,2252 00006 EXTEND
060889,000157: 17,2253 00031 READ CHAN31
060890,000158: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
060891,000159: 17,2255 11461 CCS OLDQRMIN
060892,000160: 17,2256 12300 TCF CHECKIN
060893,000161:
060894,000162: 17,2257 31736 FIREQR CA TEMP31
060895,000163: 17,2260 74753 MASK BIT1
060896,000164: 17,2261 00006 EXTEND
060897,000165: 17,2262 12304 BZF +QMIN
060898,000166:
060899,000167: 17,2263 31736 CA TEMP31
060900,000168: 17,2264 74752 MASK BIT2
060901,000169: 17,2265 00006 EXTEND
060902,000170: 17,2266 12310 BZF -QMIN
060903,000171:
060904,000172: 17,2267 31736 CA TEMP31
060905,000173: 17,2270 74747 MASK BIT5
![]() |
Page 1437 |
060907,000175: 17,2271 00006 EXTEND
060908,000176: 17,2272 12314 BZF +RMIN
060909,000177:
060910,000178: 17,2273 31736 CA TEMP31
060911,000179: 17,2274 74746 MASK BIT6
060912,000180: 17,2275 00006 EXTEND
060913,000181: 17,2276 12316 BZF -RMIN
060914,000182:
060915,000183: 17,2277 13112 TCF XTRANS
060916,000184:
060917,000185: 17,2300 41736 CHECKIN CS TEMP31
060918,000186: 17,2301 72351 MASK OCT63
060919,000187: 17,2302 55461 TS OLDQRMIN
060920,000188: 17,2303 13112 TCF XTRANS
060921,000189:
060922,000190: 17,2304 33136 +QMIN CA 14MS
060923,000191: 17,2305 55525 TS TJU
060924,000192: 17,2306 43136 CS 14MS
060925,000193: 17,2307 12320 TCF MINQR
060926,000194: 17,2310 43136 -QMIN CS 14MS
060927,000195: 17,2311 55525 TS TJU
060928,000196: 17,2312 33136 CA 14MS
060929,000197: 17,2313 12320 TCF MINQR
060930,000198: 17,2314 33136 +RMIN CA 14MS
060931,000199: 17,2315 12317 TCF +2
060932,000200: 17,2316 43136 -RMIN CS 14MS
060933,000201: 17,2317 55525 TS TJU
060934,000202: 17,2320 55526 MINQR TS TJV
060935,000203: 17,2321 32350 CA MINADR
060936,000204: 17,2322 55477 TS RETJADR
060937,000205: 17,2323 34753 CA ONE
060938,000206: 17,2324 55461 TS OLDQRMIN
060939,000207: 17,2325 55505 MINRTN TS AXISCTR
060940,000208: 17,2326 30111 CA DAPBOOLS
060941,000209: 17,2327 74737 MASK CSMDOCKD
060942,000210: 17,2330 00006 EXTEND
060943,000211: 17,2331 12341 BZF MIMRET
060944,000212: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
060945,000213: 17,2333 11525 CCS TJU
060946,000214: 17,2334 34776 CA 60MS
060947,000215: 17,2335 12337 TCF +2
060948,000216: 17,2336 44776 CS 60MS
060949,000217: 17,2337 51505 INDEX AXISCTR
060950,000218: 17,2340 55525 TS TJU
060951,000219: 17,2341 30111 MIMRET CA DAPBOOLS
060952,000220: 17,2342 74742 MASK AORBTRAN
060953,000221: 17,2343 10000 CCS A
060954,000222: 17,2344 34753 CA ONE
060955,000223: 17,2345 64752 AD TWO
060956,000224: 17,2346 55742 TS NUMBERT
![]() |
Page 1438 |
060958,000226: 17,2347 12756 TCF AFTERTJ
060959,000227:
060960,000228: 17,2350 4776 60MS = OCT140
060961,000229: 17,2350 02325 MINADR GENADR MINRTN
060962,000230: 17,2351 00063 OCT63 OCT 63
060963,000231: 17,2352 17,3136 14MS = +TJMINT6
060964,000232:
060965,000233: 17,2352 34751 TRANS4 CA FOUR
060966,000234: 17,2353 12216 TCF TSNUMBRT
060967,000235:
060968,000236: # RATE COMMAND MODE:
060969,000237:
060970,000238: # DESCRIPTION (SAME AS P-AXIS)
060971,000239:
060972,000240: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
060973,000241: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
060974,000242: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
060975,000243: 17,2357 34735 CA BIT15
060976,000244: 17,2360 71443 MASK CH31TEMP
060977,000245: 17,2361 00006 EXTEND
060978,000246: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
060979,000247: 17,2363 34740 CA OURRCBIT # ***********
060980,000248: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
060981,000249: 17,2365 00006 EXTEND # *********** LAST TIME.
060982,000250: 17,2366 12710 BZF STILLRCS
060983,000251: 17,2367 44743 CS BIT9
060984,000252: 17,2370 71262 MASK RCSFLAGS
060985,000253: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
060986,000254: 17,2372 12374 TCF DAMPING
060987,000255: 17,2373 4771 40CYCL = OCT50
060988,000256: 17,2373 4753 1/10S = BIT1
060989,000257: 17,2373 00056 LINRAT DEC 46 B-14
060990,000258:
060991,000259: # ================================
060992,000260:
060993,000261: 17,2374 34755 DAMPING CA ZERO
060994,000262: 17,2375 55462 TS SAVEHAND
060995,000263: 17,2376 55463 TS SAVEHAND +1
060996,000264: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
060997,000265: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
060998,000266: 17,2401 12403 TCF +2 # *******************
060999,000267: 17,2402 12403 TCF +1
061000,000268: 17,2403 60000 DOUBLE # WHERE
061001,000269: 17,2404 60000 DOUBLE
061002,000270: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061003,000271: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061004,000272: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061005,000273: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061006,000274: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061007,000275: 17,2412 71444 MP STIKSENS
061008,000276: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061009,000277: 17,2414 40000 COM
![]() |
Page 1439 |
061011,000279: 17,2415 61455 AD QLAST
061012,000280: 17,2416 55740 TS DAPTEMP3
061013,000281: 17,2417 11463 CCS SAVEHAND +1
061014,000282: 17,2420 12423 TCF +3
061015,000283: 17,2421 12423 TCF +2
061016,000284: 17,2422 12423 TCF +1
061017,000285: 17,2423 60000 DOUBLE
061018,000286: 17,2424 60000 DOUBLE
061019,000287: 17,2425 62373 AD LINRAT
061020,000288: 17,2426 00006 EXTEND
061021,000289: 17,2427 71463 MP SAVEHAND +1
061022,000290: 17,2430 30001 CA L
061023,000291: 17,2431 00006 EXTEND
061024,000292: 17,2432 71444 MP STIKSENS
061025,000293: 17,2433 57456 XCH RLAST
061026,000294: 17,2434 40000 COM
061027,000295: 17,2435 61456 AD RLAST
061028,000296: 17,2436 55741 TS DAPTEMP4
061029,000297: 17,2437 41455 CS QLAST # INTERVAL.
061030,000298: 17,2440 61422 AD OMEGAQ
061031,000299: 17,2441 55436 TS QRATEDIF
061032,000300: 17,2442 41456 CS RLAST
061033,000301: 17,2443 61423 AD OMEGAR
061034,000302: 17,2444 55437 TS RRATEDIF
061035,000303: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061036,000304: 17,2446 03200 TC ROT-TOUV
061037,000305: 17,2447 53427 DXCH URATEDIF
061038,000306: 17,2450 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061039,000307: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061040,000308: 17,2452 02454 TC +2
061041,000309: 17,2453 02454 TC +1
061042,000310: 17,2454 61476 AD -RATEDB
061043,000311: 17,2455 00006 EXTEND
061044,000312: 17,2456 62460 BZMF +2
061045,000313: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061046,000314: 17,2460 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061047,000315: 17,2461 02464 TC +3
061048,000316: 17,2462 02464 TC +2
061049,000317: 17,2463 02464 TC +1
061050,000318: 17,2464 61476 AD -RATEDB
061051,000319: 17,2465 00006 EXTEND
061052,000320: 17,2466 62470 BZMF +2
061053,000321: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061054,000322: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061055,000323: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061056,000324: 17,2472 00006 EXTEND
061057,000325: 17,2473 12475 BZF +2
061058,000326: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061059,000327: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061060,000328: 17,2476 34771 CA 40CYCL
![]() |
Page 1440 |
061062,000330: 17,2477 55457 TS TCQR
061063,000331: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061064,000332: 17,2501 04674 TC IBNKCALL
061065,000333: 17,2502 40154 FCADR ZATTEROR
061066,000334: 17,2503 00003 RELINT
061067,000335: 17,2504 34755 CA ZERO
061068,000336: 17,2505 55450 TS DYERROR
061069,000337: 17,2506 55451 TS DYERROR +1
061070,000338: 17,2507 55452 TS DZERROR
061071,000339: 17,2510 55453 TS DZERROR +1
061072,000340: 17,2511 11426 CCS URATEDIF
061073,000341: 17,2512 12515 TCF +3
061074,000342: 17,2513 12515 TCF +2
061075,000343: 17,2514 12515 TCF +1
061076,000344: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061077,000345: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
061078,000346: 17,2517 62533 BZMF VDB
061079,000347: 17,2520 11427 CCS VRATEDIF
061080,000348: 17,2521 12524 TCF +3
061081,000349: 17,2522 12524 TCF +2
061082,000350: 17,2523 12524 TCF +1
061083,000351: 17,2524 61476 AD TARGETDB
061084,000352: 17,2525 00006 EXTEND
061085,000353: 17,2526 62530 BZMF +2
061086,000354: 17,2527 12544 TCF QRTIME
061087,000355: 17,2530 34755 CA ZERO
061088,000356: 17,2531 55427 TS VRATEDIF
061089,000357: 17,2532 12544 TCF QRTIME
061090,000358: 17,2533 11427 VDB CCS VRATEDIF
061091,000359: 17,2534 02537 TC +3
061092,000360: 17,2535 02537 TC +2
061093,000361: 17,2536 02537 TC +1
061094,000362: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061095,000363: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061096,000364: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061097,000365: 17,2542 34755 CA ZERO # PASS.
061098,000366: 17,2543 55426 TS URATEDIF
061099,000367: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061100,000368: 17,2545 00006 EXTEND
061101,000369: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061102,000370: 17,2547 41262 CS RCSFLAGS
061103,000371: 17,2550 74741 MASK QRBIT
061104,000372: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
061105,000373: 17,2552 02556 TC +4
061106,000374: 17,2553 44741 TOPSEUDO CS QRBIT
061107,000375: 17,2554 71262 MASK RCSFLAGS
061108,000376: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
061109,000377: 17,2556 32622 CA HANDADR
061110,000378: 17,2557 55477 TS RETJADR
061111,000379: 17,2560 34753 CA ONE
061112,000380:
![]() |
Page 1441 |
061114,000382: 17,2561 55505 BACKHAND TS AXISCTR
061115,000383:
061116,000384: 17,2562 34751 CA FOUR
061117,000385: 17,2563 55742 TS NUMBERT
061118,000386:
061119,000387: 17,2564 51505 INDEX AXISCTR
061120,000388: 17,2565 51534 INDEX SKIPU
061121,000389: 17,2566 12567 TCF +1
061122,000390: 17,2567 34751 CA FOUR
061123,000391: 17,2570 51505 INDEX AXISCTR
061124,000392: 17,2571 55534 TS SKIPU
061125,000393: 17,2572 13034 TCF LOOPER
061126,000394:
061127,000395: 17,2573 51505 INDEX AXISCTR
061128,000396: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
061129,000397: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061130,000398: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
061131,000399: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
061132,000400: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061133,000401: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061134,000402:
061135,000403: 17,2602 50000 INDEX A
061136,000404: 17,2603 41570 CS 1/ANET2 +1
061137,000405: 17,2604 00006 EXTEND
061138,000406: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061139,000407: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061140,000408: 17,2607 54002 TS Q
061141,000409: 17,2610 20001 DAS A
061142,000410: 17,2611 60002 AD Q
061143,000411: 17,2612 54000 TS A # OVERFLOW SKIP
061144,000412: 17,2613 12615 TCF +2
061145,000413: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061146,000414: 17,2615 51505 SETTIME INDEX AXISCTR
061147,000415: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061148,000416: 17,2617 12756 TCF AFTERTJ
061149,000417:
061150,000418: 17,2620 34755 ZEROTJ CA ZERO
061151,000419: 17,2621 12615 TCF SETTIME
061152,000420:
061153,000421: 17,2622 02561 HANDADR GENADR BACKHAND
061154,000422:
061155,000423: # GTS WILL BE TRIED IF
061156,000424: # 1. USEQRJTS = 0,
061157,000425: # 2. ALLOWGTS POS,
061158,000426: # 3. JETS ARE OFF (Q,R-AXES)
061159,000427:
061160,000428: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061161,000429: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061162,000430: 17,2625 10000 CCS A
061163,000431: 17,2626 12141 TCF RCS
061164,000432: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
![]() |
Page 1442 |
061166,000434: 17,2630 12632 TCF +2
061167,000435: 17,2631 12141 TCF RCS
061168,000436: 17,2632 00006 EXTEND
061169,000437: 17,2633 00005 READ CHAN5
061170,000438: 17,2634 10000 CCS A
061171,000439: 17,2635 12641 TCF CHKINGTS
061172,000440: 17,2636 00006 GOTOGTS EXTEND
061173,000441: 17,2637 32654 DCA GTSCADR
061174,000442: 17,2640 52006 DTCB
061175,000443:
061176,000444: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061177,000445: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061178,000446: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061179,000447: 17,2644 00004 INHINT
061180,000448: 17,2645 04674 TC IBNKCALL
061181,000449: 17,2646 43327 CADR TIMEGMBL
061182,000450: 17,2647 00003 RELINT
061183,000451: 17,2650 34755 CAF ZERO
061184,000452: 17,2651 55632 TS INGTS
061185,000453: 17,2652 12141 TCF RCS
061186,000454:
061187,000455: 17,2653 E6,1634 EBANK= CDUXD
061188,000456: 17,2653 03076 42106 GTSCADR 2CADR GTS
061189,000457:
![]() |
Page 1443 |
061191,000459: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061192,000460:
061193,000461: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061194,000462: 17,2656 00006 EXTEND
061195,000463: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061196,000464: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
061197,000465: 17,2661 00006 EXTEND
061198,000466: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061199,000467: 17,2663 55751 TS E
061200,000468: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
061201,000469: 17,2665 00006 EXTEND
061202,000470: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061203,000471: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
061204,000472: 17,2670 00006 EXTEND
061205,000473: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061206,000474: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
061207,000475: 17,2673 61751 AD E
061208,000476: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061209,000477:
061210,000478: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061211,000479: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061212,000480: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061213,000481: 17,2700 55751 TS E
061214,000482: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061215,000483: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061216,000484: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061217,000485: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
061218,000486: 17,2705 61751 AD E
061219,000487: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061220,000488: 17,2707 00002 TC Q
061221,000489:
![]() |
Page 1444 |
061223,000491: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061224,000492:
061225,000493: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061226,000494:
061227,000495: 17,2710 31452 STILLRCS CA RERROR
061228,000496: 17,2711 22000 LXCH A
061229,000497: 17,2712 31450 CA QERROR
061230,000498: 17,2713 03200 TC ROT-TOUV
061231,000499: 17,2714 53751 DXCH UERROR
061232,000500:
061233,000501: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061234,000502: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061235,000503:
061236,000504: 17,2715 33142 TJLAW CA TJLAWADR
061237,000505: 17,2716 55477 TS RETJADR
061238,000506: 17,2717 34753 CA ONE
061239,000507: 17,2720 55505 TS AXISCTR
061240,000508: 17,2721 51505 INDEX AXISCTR
061241,000509: 17,2722 51534 INDEX SKIPU
061242,000510: 17,2723 12724 TCF +1
061243,000511: 17,2724 34751 CA FOUR
061244,000512: 17,2725 51505 INDEX AXISCTR
061245,000513: 17,2726 55534 TS SKIPU
061246,000514: 17,2727 13034 TCF LOOPER
061247,000515: 17,2730 51505 INDEX AXISCTR
061248,000516: 17,2731 31750 CA UERROR
061249,000517: 17,2732 55751 TS E
061250,000518: 17,2733 51505 INDEX AXISCTR
061251,000519: 17,2734 31426 CA OMEGAU
061252,000520: 17,2735 55427 TS EDOT
061253,000521: 17,2736 30111 CA DAPBOOLS
061254,000522: 17,2737 74737 MASK CSMDOCKD
061255,000523: 17,2740 10000 CCS A
061256,000524: 17,2741 12744 TCF +3
061257,000525: 17,2742 03304 TC TJETLAW
061258,000526: 17,2743 12756 TCF AFTERTJ
061259,000527: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061260,000528: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
061261,000529: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061262,000530: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061263,000531: 17,2750 00004 INHINT
061264,000532: 17,2751 04674 TC IBNKCALL
061265,000533: 17,2752 43736 CADR SPSRCS # DETERMINE RCS CONTROL
061266,000534: 17,2753 00003 RELINT
061267,000535: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061268,000536: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061269,000537:
061270,000538: # Q,R-JET-SELECTION-LOGIC
061271,000539:
061272,000540: # INPUT: AXISCTR 0,1 FOR U,V
061273,000541: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
![]() |
Page 1445 |
061275,000543: # TJU,TJV JET TIME SCALED 10.24 SEC.
061276,000544: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061277,000545: # RETJADR WHERE TO RETURN TO
061278,000546:
061279,000547: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061280,000548: # CHANNEL 5
061281,000549: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061282,000550:
061283,000551: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061284,000552: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061285,000553: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061286,000554: # IF NONE CAN BE FOUND.
061287,000555:
061288,000556: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061289,000557: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061290,000558:
061291,000559: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061292,000560: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061293,000561: 17,2760 00006 EXTEND
061294,000562: 17,2761 12772 BZF DOROTAT
061295,000563: 17,2762 40106 CS FLGWRD10
061296,000564: 17,2763 74737 MASK APSFLBIT
061297,000565: 17,2764 00006 EXTEND
061298,000566: 17,2765 12772 BZF DOROTAT
061299,000567: 17,2766 30111 CA DAPBOOLS
061300,000568: 17,2767 74744 MASK DRIFTBIT
061301,000569: 17,2770 00006 EXTEND
061302,000570: 17,2771 13112 BZF XTRANS
061303,000571:
061304,000572: 17,2772 34752 DOROTAT CAF TWO
061305,000573: 17,2773 54001 TS L
061306,000574: 17,2774 51505 INDEX AXISCTR
061307,000575: 17,2775 11525 CCS TJU
061308,000576: 17,2776 13003 TCF +5
061309,000577: 17,2777 13026 TCF NOROTAT
061310,000578: 17,3000 13002 TCF +2
061311,000579: 17,3001 13026 TCF NOROTAT
061312,000580: 17,3002 22007 ZL
061313,000581: 17,3003 64753 AD ONE
061314,000582: 17,3004 55736 TS ABSTJ
061315,000583:
061316,000584: 17,3005 31505 CA AXISCTR
061317,000585: 17,3006 60001 AD L
061318,000586: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061319,000587:
061320,000588: 17,3010 31736 CA ABSTJ
061321,000589: 17,3011 63137 AD -150MS
061322,000590: 17,3012 00006 EXTEND
061323,000591: 17,3013 63037 BZMF DOSKIP
![]() |
Page 1446 |
061325,000593: 17,3014 03225 TC SELCTSUB
061326,000594:
061327,000595: 17,3015 51505 INDEX AXISCTR
061328,000596: 17,3016 33134 CA INDEXES
061329,000597: 17,3017 54001 TS L
061330,000598:
061331,000599: 17,3020 31740 CA POLYTEMP
061332,000600: 17,3021 00004 INHINT
061333,000601: 17,3022 50001 INDEX L
061334,000602: 17,3023 05744 TC WRITEP
061335,000603:
061336,000604: 17,3024 00003 RELINT
061337,000605: 17,3025 13100 TCF FEEDBACK
061338,000606:
061339,000607: 17,3026 51505 NOROTAT INDEX AXISCTR
061340,000608: 17,3027 33134 CA INDEXES
061341,000609: 17,3030 00004 INHINT
061342,000610: 17,3031 50000 INDEX A
061343,000611: 17,3032 05743 TC WRITEP -1
061344,000612:
061345,000613: 17,3033 00003 RELINT
061346,000614: 17,3034 11505 LOOPER CCS AXISCTR
061347,000615: 17,3035 01477 TC RETJADR
061348,000616: 17,3036 13270 TCF CLOSEOUT
061349,000617: 17,3037 41736 DOSKIP CS ABSTJ
061350,000618: 17,3040 63136 AD +TJMINT6 # 14MS
061351,000619: 17,3041 00006 EXTEND
061352,000620: 17,3042 63061 BZMF NOTMIN
061353,000621:
061354,000622: 17,3043 27736 ADS ABSTJ
061355,000623: 17,3044 51505 INDEX AXISCTR
061356,000624: 17,3045 11525 CCS TJU
061357,000625: 17,3046 33136 CA +TJMINT6
061358,000626: 17,3047 13051 TCF +2
061359,000627: 17,3050 43136 CS +TJMINT6
061360,000628: 17,3051 51505 INDEX AXISCTR
061361,000629: 17,3052 55525 TS TJU
061362,000630:
061363,000631: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061364,000632: 17,3054 13060 TCF NOTMIN -1
061365,000633: 17,3055 00006 EXTEND
061366,000634: 17,3056 00004 READ LOSCALAR
061367,000635: 17,3057 74753 MASK ONE
061368,000636: 17,3060 55742 TS NUMBERT
061369,000637:
061370,000638: 17,3061 03225 NOTMIN TC SELCTSUB
061371,000639:
061372,000640: 17,3062 51505 INDEX AXISCTR
061373,000641: 17,3063 33134 CA INDEXES
061374,000642: 17,3064 00004 INHINT
![]() |
Page 1447 |
061376,000644: 17,3065 55471 TS T6FURTHA +1
061377,000645: 17,3066 31740 CA POLYTEMP
061378,000646: 17,3067 51471 INDEX T6FURTHA +1
061379,000647: 17,3070 05744 TC WRITEP
061380,000648:
061381,000649: 17,3071 31736 CA ABSTJ
061382,000650: 17,3072 55470 TS T6FURTHA
061383,000651: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
061384,000652:
061385,000653: 17,3074 00003 RELINT
061386,000654:
061387,000655: 17,3075 34755 CA ZERO
061388,000656: 17,3076 51505 INDEX AXISCTR
061389,000657: 17,3077 55534 TS SKIPU
061390,000658:
061391,000659: 17,3100 46250 FEEDBACK CS THREE
061392,000660: 17,3101 61742 AD NUMBERT
061393,000661: 17,3102 00006 EXTEND
061394,000662: 17,3103 63106 BZMF +3
061395,000663:
061396,000664: 17,3104 34752 CA TWO
061397,000665: 17,3105 13107 TCF +2
061398,000666: 17,3106 34753 CA ONE
061399,000667: 17,3107 51505 INDEX AXISCTR
061400,000668: 17,3110 55522 TS NO.UJETS
061401,000669: 17,3111 13034 TCF LOOPER
061402,000670:
061403,000671: 17,3112 34755 XTRANS CA ZERO
061404,000672: 17,3113 55525 TS TJU
061405,000673: 17,3114 55526 TS TJV
061406,000674: 17,3115 34751 CA FOUR
061407,000675: 17,3116 00004 INHINT
061408,000676: 17,3117 57534 XCH SKIPU
061409,000677: 17,3120 00006 EXTEND
061410,000678: 17,3121 13123 BZF +2
061411,000679: 17,3122 05747 TC WRITEU -1
061412,000680: 17,3123 34751 CA FOUR
061413,000681: 17,3124 57535 XCH SKIPV
061414,000682: 17,3125 00003 RELINT
061415,000683:
061416,000684: 17,3126 00006 EXTEND
061417,000685: 17,3127 13270 BZF CLOSEOUT
061418,000686: 17,3130 00004 INHINT
061419,000687: 17,3131 05760 TC WRITEV -1
061420,000688: 17,3132 00003 RELINT
061421,000689:
061422,000690: 17,3133 13270 TCF CLOSEOUT
061423,000691: 17,3134 00004 INDEXES DEC 4 B-14
061424,000692: 17,3135 00015 DEC 13 B-14
061425,000693: 17,3136 00026 +TJMINT6 DEC 22 B-14
![]() |
Page 1448 |
061427,000695: 17,3137 77417 -150MS DEC -240 B-14
061428,000696: 17,3140 00600 BIT8,9 OCT 00600
061429,000697: 17,3141 00266 SCLNORM OCT 266
061430,000698: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061431,000699:
061432,000700: # THE JET LIST:
061433,000701: # THIS IS A WAITLIST FOR T6RUPTS.
061434,000702:
061435,000703: # CALLED BY:
061436,000704: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061437,000705: # TS T6FURTHA
061438,000706: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061439,000707: # TS T6FURTHA +1
061440,000708: # TC JTLST
061441,000709:
061442,000710: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061443,000711: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061444,000712: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061445,000713: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061446,000714: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061447,000715:
061448,000716: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061449,000717: # THE INPUT IS THE LAST MEMBER OF THE LIST
061450,000718:
061451,000719: # RETURNS BY:
061452,000720: # + TC Q
061453,000721:
061454,000722: # DEFINITIONS: (OUTPUT)
061455,000723: # TIME6 TIME OF NEXT RUPT
061456,000724: # T6NEXT DELTA TIME TO NEXT RUPT
061457,000725: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061458,000726: # NXT6ADR AXIS INDEX Q - P-AXIS
061459,000727: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061460,000728: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061461,000729:
061462,000730: 17,3143 41470 JTLST CS T6FURTHA
061463,000731: 17,3144 60031 AD TIME6
061464,000732: 17,3145 00006 EXTEND
061465,000733: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
061466,000734:
061467,000735: 17,3147 23465 LXCH NXT6ADR
061468,000736: 17,3150 53467 DXCH T6NEXT
061469,000737: 17,3151 53471 DXCH T6FURTHA
061470,000738: 17,3152 54031 TS TIME6
061471,000739: 17,3153 23465 LXCH NXT6ADR
061472,000740:
061473,000741: 17,3154 00006 TURNON EXTEND
061474,000742: 17,3155 23265 QXCH C13QSAV
061475,000743: 17,3156 06022 TC C13STALL
061476,000744:
061477,000745: 17,3157 34735 CA BIT15
![]() |
Page 1449 |
061479,000747: 17,3160 00006 EXTEND
061480,000748: 17,3161 05013 WOR CHAN13
061481,000749: 17,3162 01265 TC C13QSAV
061482,000750:
061483,000751: 17,3163 61466 MIDORLST AD T6NEXT
061484,000752: 17,3164 00006 EXTEND
061485,000753: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061486,000754:
061487,000755: 17,3166 23467 LXCH T6NEXT +1
061488,000756: 17,3167 53471 DXCH T6FURTHA
061489,000757: 17,3170 00006 EXTEND
061490,000758: 17,3171 60031 SU TIME6
061491,000759: 17,3172 53467 DXCH T6NEXT
061492,000760:
061493,000761: 17,3173 00002 TC Q
061494,000762:
061495,000763: 17,3174 40000 LASTCHG CS A
061496,000764: 17,3175 64754 AD NEG0
061497,000765: 17,3176 55470 TS T6FURTHA
061498,000766:
061499,000767: 17,3177 00002 TC Q
061500,000768:
061501,000769: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061502,000770: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061503,000771: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061504,000772: # A AND THE V-COMPONENT IS IN L.
061505,000773:
061506,000774: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061507,000775: 17,3201 00006 EXTEND
061508,000776: 17,3202 71626 MP COEFFQ
061509,000777: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061510,000778: 17,3204 00006 EXTEND
061511,000779: 17,3205 71627 MP COEFFR
061512,000780: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
061513,000781: 17,3207 61737 AD ROTEMP2
061514,000782: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061515,000783: 17,3211 13215 TCF +4
061516,000784: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061517,000785: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061518,000786: 17,3214 55736 TS ROTEMP1
061519,000787: 17,3215 41737 CS ROTEMP2
061520,000788: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061521,000789: 17,3217 54007 TS 7
061522,000790: 17,3220 13223 TCF +3
061523,000791: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061524,000792: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061525,000793: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061526,000794: 17,3224 00002 TC Q
061527,000795: 17,3225 51743 SELCTSUB INDEX ROTINDEX
![]() |
Page 1450 |
061529,000797: 17,3226 33257 CA ALLJETS
061530,000798: 17,3227 51742 INDEX NUMBERT
061531,000799: 17,3230 73263 MASK TYPEPOLY
061532,000800: 17,3231 55740 TS POLYTEMP
061533,000801:
061534,000802: 17,3232 71257 MASK CH5MASK
061535,000803: 17,3233 10000 CCS A
061536,000804: 17,3234 13236 TCF +2
061537,000805:
061538,000806: 17,3235 00002 TC Q
061539,000807:
061540,000808: 17,3236 36250 CA THREE
061541,000809: 17,3237 55742 FAILOOP TS NUMBERT
061542,000810: 17,3240 51743 INDEX ROTINDEX
061543,000811: 17,3241 33257 CA ALLJETS
061544,000812: 17,3242 51742 INDEX NUMBERT
061545,000813: 17,3243 73263 MASK TYPEPOLY
061546,000814: 17,3244 55740 TS POLYTEMP
061547,000815: 17,3245 71257 MASK CH5MASK
061548,000816: 17,3246 00006 EXTEND
061549,000817: 17,3247 13235 BZF FAILOOP -2
061550,000818: 17,3250 11742 CCS NUMBERT
061551,000819: 17,3251 13237 TCF FAILOOP
061552,000820: 17,3252 51505 INDEX AXISCTR
061553,000821: 17,3253 55525 TS TJU
061554,000822: 17,3254 05567 TC ALARM
061555,000823: 17,3255 02004 OCT 02004
061556,000824: 17,3256 13026 TCF NOROTAT
061557,000825: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
061558,000826: 17,3260 00022 OCT 00022 # -V 2 9
061559,000827: 17,3261 00204 OCT 00204 # +U 5 14
061560,000828:
061561,000829: 17,3262 00041 OCT 00041 # +V 1 10
061562,000830: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061563,000831: 17,3264 00252 OCT 00252 # +X 2 6 10 14
061564,000832: 17,3265 00146 OCT 00146 # A 2 5 10 13
061565,000833: 17,3266 00231 OCT 00231 # B 1 6 9 14
061566,000834: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061567,000835:
061568,000836: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061569,000837:
061570,000838: 17,3270 33272 CLOSEOUT CA ADRRUPT
061571,000839: 17,3271 07757 TC MAKERUPT
061572,000840:
061573,000841: 17,3272 03273 ADRRUPT ADRES ENDJASK
061574,000842:
061575,000843: 17,3273 53753 ENDJASK DXCH DAPARUPT
061576,000844: 17,3274 52011 DXCH ARUPT
061577,000845: 17,3275 53755 DXCH DAPBQRPT
061578,000846: 17,3276 56017 XCH BRUPT
![]() |
Page 1451 |
061580,000848: 17,3277 22002 LXCH Q
061581,000849: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061582,000850: 17,3301 53757 DXCH DAPZRUPT
061583,000851: 17,3302 52016 DXCH ZRUPT
061584,000852: 17,3303 15272 TCF NOQRSM
061585,000853: 7757 BLOCK 3
061586,000854: 6000 SETLOC FFTAG6
061587,000855: 6000 BANK
061588,000856:
061589,000857: 7757 COUNT* $$/DAP
061590,000858:
061591,000859: 7757 00006 MAKERUPT EXTEND
061592,000860: 7760 07757 EDRUPT MAKERUPT
061593,000861:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc