Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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043921,000002: ## Copyright: Public domain.
043922,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
043923,000004: ## Purpose: A section of Artemis revision 071.
043924,000005: ## It is part of the reconstructed source code for the first
043925,000006: ## release of the flight software for the Command Module's
043926,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
043927,000008: ## 17. The code has been recreated from a copy of Artemis 072.
043928,000009: ## It has been adapted such that the resulting bugger words
043929,000010: ## exactly match those specified for Artemis 071 in NASA
043930,000011: ## drawing 2021154-, which gives relatively high confidence
043931,000012: ## that the reconstruction is correct.
043932,000013: ## Reference: 1000
043933,000014: ## Assembler: yaYUL
043934,000015: ## Contact: Ron Burkey <info@sandroid.org>.
043935,000016: ## Website: www.ibiblio.org/apollo/index.html
043936,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
043937,000018:
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Page 1000
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043939,000020:
043940,000021: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
043941,000022: # START OF T5 INTERRUPT PROGRAM
043942,000023:
043943,000024: 21,2000 SETLOC DAPS3
043944,000025: 21,2000 BANK
043945,000026:
043946,000027: 21,2123 COUNT* $$/DAPRC
043947,000028: 21,2123 E6,1510 EBANK= KMPAC
043948,000029: 21,2123 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
043949,000030: 21,2124 31464 CA T5PHASE # ON A T5 RUPT.
043950,000031: 21,2125 00006 EXTEND
043951,000032: 21,2126 62130 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
043952,000033: 21,2127 12132 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
043953,000034: 21,2130 44770 CS ONE
043954,000035: 21,2131 55464 TS T5PHASE
043955,000036: 21,2132 00006 EXTEND
043956,000037: 21,2133 32137 DCA RCSLOC
043957,000038: 21,2134 52113 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
043958,000039: 21,2135 12141 TCF RCSATT +1
043959,000040: 21,2136 E6,1510 EBANK= KMPAC
043960,000041: 21,2136 02140 42066 RCSLOC 2CADR RCSATT
043961,000042:
043962,000043:
043963,000044: 21,2140 22016 RCSATT LXCH BANKRUPT # SAVE BB
043964,000045: 21,2141 00006 +1 EXTEND # SAVE Q
043965,000046: 21,2142 22012 QXCH QRUPT
043966,000047: 21,2143 34752 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
043967,000048: 21,2144 05654 TC C31BTCHK # S/C CONT SW IS IN CMC (I.E. IF G/C DAP
043968,000049: 21,2145 12170 TCF SETT5 # IS FULLY ENABLED). IF SO8
043969,000050: # GO TO SETT5
043970,000051:
043971,000052: 21,2146 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
043972,000053: 21,2147 74753 MASK BIT14
043973,000054: 21,2150 27501 ADS RCSFLAGS # SET NORATE FLAG,
043974,000055: 21,2151 34750 CAF POSMAX
043975,000056: 21,2152 55340 TS HOLDFLAG # SET HOLDFLAG +,
043976,000057: 21,2153 34772 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
043977,000058: 21,2154 55567 TS ERRORX
043978,000059: 21,2155 55570 TS ERRORY
043979,000060: 21,2156 55571 TS ERRORZ
043980,000061: 21,2157 34753 CAF BIT14
043981,000062: 21,2160 05654 TC C31BTCHK # AND CHECK FREE FUNCTION (BIT14 CHAN31)
043982,000063: 21,2161 12170 TCF SETT5
043983,000064: 21,2162 55464 TS T5PHASE # IF NOT IN FREE MODE,
043984,000065: 21,2163 37661 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
043985,000066: 21,2164 54030 TS TIME5 # IN 100 MS VIA T5RUPT
043986,000067:
043987,000068: 21,2165 02642 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
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Page 1001
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043989,000070: 21,2166 12355 TCF KMATRIX
043990,000071: 21,2167 37770 DELTATT OCT 37770 # 80MS (TIME5)
043991,000072: 21,2170 7663 DELTATT2 = OCT37776 # 20 MS (TIME5)
043992,000073:
043993,000074: # CHECK PHASE OF T5 PROGRAM
043994,000075:
043995,000076: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO
043996,000077: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
043997,000078: # TO ALLOW FOR THE EXECUTION OF OTHER
043998,000079: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
043999,000080: # VARIABLES AT TURN ON.
044000,000081: # THE CODING OF T5PHASE IS...
044001,000082:
044002,000083: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
044003,000084: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
044004,000085: # - = RESTART DAP
044005,000086: # -0 = PHASE1 OF THE T5 PROGRAM
044006,000087:
044007,000088: 21,2170 11464 SETT5 CCS T5PHASE
044008,000089: 21,2171 12551 TCF FRESHDAP # TURN ON AUTOPILOT
044009,000090: 21,2172 12674 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
044010,000091: 21,2173 12553 TCF REDAP # RESTART AUTOPILOT
044011,000092:
044012,000093: 21,2174 55464 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
044013,000094: 21,2175 30030 CA TIME5
044014,000095: 21,2176 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
044015,000096: 21,2177 37663 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
044016,000097: 21,2200 54030 TS TIME5 # OF PROGRAM
044017,000098:
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Page 1002
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044019,000100:
044020,000101: # IMU STATUS CHECK
044021,000102:
044022,000103: 21,2201 41334 CS IMODES33 # CHECK IMU STATUS
044023,000104: 21,2202 74763 MASK NOIMUDAP # BIT6 = 0 IMU OK
044024,000105: 21,2203 10000 CCS A # BIT6 = 1 NO IMU
044025,000106: 21,2204 12215 TCF RATEFILT
044026,000107: 21,2205 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
044027,000108: 21,2206 74753 MASK BIT14 # INITIALIZED
044028,000109: 21,2207 27501 ADS RCSFLAGS
044029,000110: 21,2210 34753 CAF BIT14 # NO ATTITUDE REFERENCE
044030,000111: 21,2211 55340 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
044031,000112: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
044032,000113: # ATTITUDE HOLD
044033,000114: 21,2212 05654 TC C31BTCHK # CHECK FOR FREE MODE
044034,000115: 21,2213 12424 TCF KRESUME1 # IN FREE, PROVIDE FREE CONTROL ONLY
044035,000116: 21,2214 12541 TCF REINIT # .....TILT...............................
044036,000117: 21,2215 5001 BITS4,5 = BITS4&5
044037,000118:
044038,000119: 21,2215 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
044039,000120: 21,2216 74753 MASK BIT14
044040,000121: 21,2217 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
044041,000122: 21,2220 12222 BZF +2
044042,000123: 21,2221 12355 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
044043,000124:
044044,000125: # RATE FILTER TIMING = 7.72 MS
044045,000126:
044046,000127: # RATE FILTER EQUATIONS
044047,000128: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
044048,000129: # -1
044049,000130: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
044050,000131: # -1
044051,000132: # - * - -
044052,000133: # WHERE DELRHO = AMGB (CDU - CDU )
044053,000134: # -1
044054,000135:
044055,000136: 21,2222 34767 +2 CAF TWO
044056,000137: 21,2223 55506 DRHOLOOP TS SPNDX
044057,000138: 21,2224 60000 DOUBLE
044058,000139: 21,2225 55507 TS DPNDX
044059,000140: 21,2226 51507 INDEX DPNDX
044060,000141: 21,2227 41552 CS DRHO # DRHO SCALED 180 DEGS
044061,000142: 21,2230 00006 EXTEND
044062,000143: 21,2231 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
044063,000144: 21,2232 73121 MP GAIN1
044064,000145: 21,2233 51507 INDEX DPNDX
044065,000146: 21,2234 21553 DAS DRHO # (1 -.064) DRHO
044066,000147: 21,2235 00006 EXTEND
044067,000148: 21,2236 51507 INDEX DPNDX
044068,000149: 21,2237 41534 DCS ADOT
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Page 1003
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044070,000151: 21,2240 53511 DXCH KMPAC # -(.1)ADOT
044071,000152: 21,2241 34754 CA QUARTER
044072,000153: 21,2242 02060 TC SMALLMP
044073,000154: 21,2243 53511 DXCH KMPAC
044074,000155: 21,2244 51507 INDEX DPNDX
044075,000156: 21,2245 21553 DAS DRHO
044076,000157: 21,2246 11506 CCS SPNDX
044077,000158: 21,2247 12223 TCF DRHOLOOP
044078,000159:
044079,000160: 21,2250 30032 CA CDUX # MEASURED BODY RATES--
044080,000161: 21,2251 57635 XCH RHO
044081,000162: 21,2252 00006 EXTEND
044082,000163: 21,2253 21635 MSU RHO # - * - -
044083,000164: 21,2254 40000 COM # DELRHO = AMGB (CDU - CDU )
044084,000165: # -1
044085,000166: 21,2255 22007 ZL
044086,000167: 21,2256 53516 DXCH DELTEMPX
044087,000168: 21,2257 30033 CA CDUY
044088,000169: 21,2260 57636 XCH RHO1
044089,000170: 21,2261 00006 EXTEND
044090,000171: 21,2262 21636 MSU RHO1
044091,000172: 21,2263 40000 COM
044092,000173: 21,2264 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
044093,000174: 21,2265 00006 EXTEND
044094,000175: 21,2266 71640 MP AMGB1
044095,000176: 21,2267 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
044096,000177: # MUST BE DOUBLE PRECISION OR WILL LOSE
044097,000178: # PULSES
044098,000179: 21,2270 31641 CA AMGB4
044099,000180: 21,2271 00006 EXTEND
044100,000181: 21,2272 71502 MP T5TEMP
044101,000182: 21,2273 53520 DXCH DELTEMPY
044102,000183: 21,2274 31643 CA AMGB7
044103,000184: 21,2275 00006 EXTEND
044104,000185: 21,2276 71502 MP T5TEMP
044105,000186: 21,2277 53522 DXCH DELTEMPZ
044106,000187: 21,2300 30034 CA CDUZ
044107,000188: 21,2301 57637 XCH RHO2
044108,000189: 21,2302 00006 EXTEND
044109,000190: 21,2303 21637 MSU RHO2
044110,000191: 21,2304 40000 COM
044111,000192: 21,2305 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
044112,000193: 21,2306 00006 EXTEND
044113,000194: 21,2307 71642 MP AMGB5
044114,000195: 21,2310 21520 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
044115,000196: # + AMGB5(CDUZ-RHO2)
044116,000197: 21,2311 31644 CA AMGB8
044117,000198: 21,2312 00006 EXTEND
044118,000199: 21,2313 71502 MP T5TEMP
044119,000200: 21,2314 21522 DAS DELTEMPZ # DELTEMPZ = AMGB7(CDUY-RHO1)
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Page 1004
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044121,000202: # + AMGB8(CDUZ-RHO2)
044122,000203: 21,2315 34767 CAF TWO
044123,000204: 21,2316 55506 ADOTLOOP TS SPNDX
044124,000205: 21,2317 60000 DOUBLE
044125,000206: 21,2320 55507 TS DPNDX
044126,000207: 21,2321 00006 EXTEND
044127,000208: 21,2322 51507 INDEX DPNDX
044128,000209: 21,2323 31516 DCA DELTEMPX
044129,000210: 21,2324 51507 INDEX DPNDX
044130,000211: 21,2325 21553 DAS DRHO
044131,000212: 21,2326 00006 EXTEND
044132,000213: 21,2327 51507 INDEX DPNDX
044133,000214: 21,2330 31516 DCA DELTEMPX
044134,000215: 21,2331 51507 INDEX DPNDX
044135,000216: 21,2332 21542 DAS MERRORX
044136,000217: 21,2333 51507 INDEX DPNDX
044137,000218: 21,2334 31552 CA DRHO
044138,000219: 21,2335 60000 DOUBLE # N.B.
044139,000220: 21,2336 60000 DOUBLE # N.B.
044140,000221: 21,2337 00006 EXTEND
044141,000222: 21,2340 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
044142,000223: 21,2341 73137 MP GAIN2
044143,000224: 21,2342 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
044144,000225: 21,2343 21534 DAS ADOT # -1
044145,000226: 21,2344 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
044146,000227: 21,2345 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
044147,000228: 21,2346 00006 EXTEND
044148,000229: 21,2347 51506 INDEX SPNDX
044149,000230: 21,2350 71547 MP DFT
044150,000231: 21,2351 51507 INDEX DPNDX
044151,000232: 21,2352 21534 DAS ADOT # KMJ(DFT)
044152,000233: 21,2353 11506 CCS SPNDX
044153,000234: 21,2354 12316 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
044154,000235: 21,2355 31560 KMATRIX CA ATTSEC
044155,000236: 21,2356 74777 MASK LOW4
044156,000237: 21,2357 10000 CCS A
044157,000238: 21,2360 12366 TCF TENTHSEK
044158,000239: 21,2361 37656 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
044159,000240: 21,2362 05121 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
044160,000241: 21,2363 E6,1510 EBANK= KMPAC
044161,000242: 21,2363 03560 44066 2CADR AMBGUPDT
044162,000243:
044163,000244: 21,2365 34322 CAF NINE
044164,000245:
044165,000246: 21,2366 55560 TENTHSEK TS ATTSEC
044166,000247:
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Page 1005
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044168,000249: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
044169,000250: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
044170,000251:
044171,000252: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
044172,000253: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
044173,000254: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
044174,000255:
044175,000256: # THE STEERING PROGRAMS-
044176,000257: # 1) ATTITUDE MANEUVER ROUTINE
044177,000258: # 2) LEM TRACKING
044178,000259:
044179,000260: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
044180,000261: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
044181,000262:
044182,000263: # HOLDFLAG CODING-
044183,000264:
044184,000265: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
044185,000266: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
044186,000267: # ALSO IGNORE AUTOMATIC STEERING
044187,000268: # SET = + BY
044188,000269: # 1) INITIALIZATION PHASE OF AUTOPILOT
044189,000270: # 2) OCCURANCE OF RHC COMMANDS
044190,000271: # 3) FREE MODE
044191,000272: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
044192,000273: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
044193,000274: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
044194,000275: # FUNCTIONS AS IF IT WERE.)
044195,000276: # 5) S/C CONTROL SWITCH IN SCS
044196,000277: # 6) IMU POWER OFF
044197,000278: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
044198,000279: # - = PERFORMING AUTOMATIC MANEUVER
044199,000280: # -0 = NOT USED AT PRESENT
044200,000281:
044201,000282: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
044202,000283: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
044203,000284: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
044204,000285:
044205,000286:
044206,000287: 21,2367 41340 CS HOLDFLAG
044207,000288: 21,2370 00006 EXTEND
044208,000289: 21,2371 62416 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
044209,000290: # COMMANDS
044210,000291: 21,2372 34767 DCDUINCR CAF TWO
044211,000292: 21,2373 55506 DELOOP TS SPNDX
044212,000293: 21,2374 60000 DOUBLE
044213,000294: 21,2375 55507 TS DPNDX
044214,000295: 21,2376 00006 EXTEND
044215,000296: 21,2377 50000 INDEX A
044216,000297: 21,2400 31647 DCA CDUXD
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Page 1006
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044218,000299: 21,2401 53511 DXCH KMPAC
044219,000300: 21,2402 00006 EXTEND
044220,000301: 21,2403 51507 INDEX DPNDX
044221,000302: 21,2404 31576 DCA DELCDUX
044222,000303: 21,2405 02072 TC DPADD
044223,000304: 21,2406 00006 EXTEND
044224,000305: 21,2407 31511 DCA KMPAC
044225,000306: 21,2410 51506 INDEX SPNDX
044226,000307: 21,2411 55572 TS THETADX
044227,000308: 21,2412 51507 INDEX DPNDX
044228,000309: 21,2413 53647 DXCH CDUXD
044229,000310: 21,2414 11506 CCS SPNDX
044230,000311: 21,2415 12373 TCF DELOOP
044231,000312:
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Page 1007
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044233,000314:
044234,000315: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
044235,000316:
044236,000317: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
044237,000318:
044238,000319: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
044239,000320: # GENERATED INTERNALLY BY THE AUTOPILOT
044240,000321:
044241,000322: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
044242,000323: # WITH RESPECT TO THE CONTENTS OF N22
044243,000324:
044244,000325: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
044245,000326: # WITH RESPECT TO THE CONTENTS OF N17
044246,000327:
044247,000328: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
044248,000329: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
044249,000330:
044250,000331: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044251,000332: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044252,000333: # AS A FLY-TO INDICATOR.
044253,000334:
044254,000335: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044255,000336: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044256,000337: # AS A FLY-TO INDICATOR.
044257,000338:
044258,000339: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
044259,000340: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
044260,000341:
044261,000342: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
044262,000343: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
044263,000344: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
044264,000345:
044265,000346: 21,2416 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
044266,000347: 21,2417 74765 MASK BIT4
044267,000348: 21,2420 00006 EXTEND
044268,000349: 21,2421 13202 BZF FDAIDSP2
044269,000350:
044270,000351: 21,2422 27501 FDAIDSP1 ADS RCSFLAGS
044271,000352: 21,2423 02425 TC NEEDLER
044272,000353: 21,2424 15323 KRESUME1 TCF RESUME # END PHASE 1
044273,000354:
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Page 1008
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044275,000356:
044276,000357: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044277,000358:
044278,000359: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
044279,000360:
044280,000361: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044281,000362: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044282,000363: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044283,000364: # THE DACS.
044284,000365:
044285,000366:
044286,000367: # CALLING SEQUENCE:
044287,000368:
044288,000369: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044289,000370: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044290,000371:
044291,000372: # CS RCSFLAGS IN EBANK6
044292,000373: # MASK BIT3
044293,000374: # ADS RCSFLAGS
044294,000375:
044295,000376: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044296,000377:
044297,000378: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
044298,000379: # AK1 SCALED 180 DEGREES TO CHANGE
044299,000380: # AK2 SCALED 180 DEGREES
044300,000381:
044301,000382: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044302,000383: # (= 384 BITS IN IMU ERROR COUNTER)
044303,000384:
044304,000385: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044305,000386:
044306,000387: # INHINT
044307,000388: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
044308,000389: # CADR NEEDLER
044309,000390: # RELINT
044310,000391:
044311,000392: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
044312,000393: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044313,000394: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044314,000395:
044315,000396: # ERASABLE USED:
044316,000397: # AK CDUXCMD
044317,000398: # AK1 CDUYCMD
044318,000399: # AK2 CDUZCMD
044319,000400: # EDRIVEX A,L,Q
044320,000401: # EDRIVEY T5TEMP
044321,000402: # EDRIVEZ SPNDX
044322,000403:
044323,000404: # SWITCHES: RCSFLAGS BITS 3,2
044324,000405:
044325,000406: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
|
|
Page 1009
|
044327,000408: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
044328,000409: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
044329,000410:
044330,000411: # SIGN CONVENTION< AK = THETAC - THETA
044331,000412: # WHERE THETAC = COMMAND ANGLE
044332,000413: # THETA = PRESENT ANGLE
044333,000414:
044334,000415: 21,2425 34765 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
044335,000416: 21,2426 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
044336,000417: 21,2427 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
044337,000418: 21,2430 00006 EXTEND
044338,000419: 21,2431 12436 BZF NEEDLER1
044339,000420: 21,2432 41501 RCSINT CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
044340,000421: 21,2433 74766 MASK BIT3
044341,000422: 21,2434 27501 ADS RCSFLAGS
044342,000423: 21,2435 00002 TC Q
044343,000424:
044344,000425: 21,2436 31501 NEEDLER1 CA RCSFLAGS
044345,000426: 21,2437 76211 MASK SIX
044346,000427: 21,2440 00006 EXTEND
044347,000428: 21,2441 12476 BZF NEEDLES3
044348,000429: 21,2442 74766 MASK BIT3
044349,000430: 21,2443 00006 EXTEND
044350,000431: 21,2444 12467 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
044351,000432:
044352,000433: 21,2445 44763 CS BIT6 # FIRST PASS BIT3 = 1
044353,000434: 21,2446 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
044354,000435: 21,2447 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
044355,000436: 21,2450 44772 NEEDLE11 CS ZERO # ENABLING COUNTERS.
044356,000437: 21,2451 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
044357,000438: 21,2452 55477 TS AK1
044358,000439: 21,2453 55500 TS AK2
044359,000440: 21,2454 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
044360,000441: 21,2455 55504 TS EDRIVEY
044361,000442: 21,2456 55505 TS EDRIVEZ
044362,000443: 21,2457 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
044363,000444: 21,2460 54051 TS CDUYCMD
044364,000445: 21,2461 54052 TS CDUZCMD
044365,000446: 21,2462 46211 CS SIX # RESET RCSFLAGS FOR PASS2
044366,000447: 21,2463 71501 MASK RCSFLAGS
044367,000448: 21,2464 64767 AD BIT2
044368,000449: 21,2465 55501 TS RCSFLAGS
044369,000450: 21,2466 00002 TC Q # END PASS1
044370,000451:
044371,000452: 21,2467 34763 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
044372,000453: 21,2470 00006 EXTEND
044373,000454: 21,2471 05012 WOR CHAN12
044374,000455: 21,2472 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
|
|
Page 1010
|
044376,000457: 21,2473 71501 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
044377,000458: 21,2474 55501 TS RCSFLAGS # RELAY CLOSURE
044378,000459: 21,2475 00002 TC Q
044379,000460:
044380,000461:
044381,000462: 21,2476 34763 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
044382,000463: 21,2477 00006 EXTEND # IS ENABLED
044383,000464: 21,2500 02012 RAND CHAN12
044384,000465: 21,2501 00006 EXTEND # IF NOT RECYCLE NEEDLES
044385,000466: 21,2502 12432 BZF RCSINT
044386,000467: 21,2503 34767 NEEDLES CAF TWO
044387,000468: 21,2504 55506 DACLOOP TS SPNDX
044388,000469: 21,2505 44754 CS QUARTER
044389,000470: 21,2506 00006 EXTEND
044390,000471: 21,2507 51506 INDEX SPNDX
044391,000472: 21,2510 71476 MP AK
044392,000473: 21,2511 54001 TS L
044393,000474: 21,2512 10000 CCS A
044394,000475: 21,2513 32547 CA DACLIMIT
044395,000476: 21,2514 12516 TCF +2
044396,000477: 21,2515 42547 CS DACLIMIT
044397,000478: 21,2516 60001 AD L
044398,000479: 21,2517 55502 TS T5TEMP # OVFLO CHK
044399,000480: 21,2520 12524 TCF OVSPOT
044400,000481: 21,2521 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
044401,000482: 21,2522 32547 CAF DACLIMIT
044402,000483: 21,2523 54001 TS L
044403,000484: 21,2524 51506 OVSPOT INDEX SPNDX
044404,000485: 21,2525 41503 CS EDRIVEX # CURRENT VALUE OF DAC
044405,000486: 21,2526 60001 AD L
044406,000487: 21,2527 51506 INDEX SPNDX
044407,000488: 21,2530 26050 ADS CDUXCMD
044408,000489: 21,2531 51506 INDEX SPNDX
044409,000490: 21,2532 23503 LXCH EDRIVEX
044410,000491: 21,2533 11506 CCS SPNDX
044411,000492: 21,2534 12504 TCF DACLOOP
044412,000493: 21,2535 37673 CAF 13,14,15
044413,000494: 21,2536 00006 EXTEND
044414,000495: 21,2537 05014 DRIVEDAC WOR CHAN14 # SET DAC ACTIVITY BITS
044415,000496: 21,2540 00002 TC Q
044416,000497:
044417,000498: 21,2541 32545 REINIT CAF DELAY200 # ........TILT LOGIC
044418,000499: 21,2542 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
044419,000500: 21,2543 55464 TS T5PHASE
044420,000501: 21,2544 15323 TCF RESUME
044421,000502: 21,2545 37754 DELAY200 DEC 16364 B-14 # 200MS
044422,000503:
044423,000504:
044424,000505: 21,2546 77177 DEC -384 B-14
044425,000506: 21,2547 37200 DACLIMIT DEC 16000 B-14
|
|
Page 1011
|
044427,000508: 21,2550 00600 DEC 384 B-14
044428,000509:
|
|
Page 1012
|
044430,000511:
044431,000512: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044432,000513:
044433,000514: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044434,000515:
044435,000516: # WBODY (+1) DFT TAU2
044436,000517: # WBODY1 (+1) DFT1 BIAS
044437,000518: # WBODY2 (+1) DFT2 BIAS1
044438,000519: # ADOT (+1) DRHO (+1) BIAS2
044439,000520: # ADOT1 (+1) DRHO1 (+1) ERRORX
044440,000521: # ADOT2 (+1) DRHO2 (+1) ERRORY
044441,000522: # MERRORX (+1) ATTSEC ERRORZ
044442,000523: # MERRORY (+1) TAU
044443,000524: # MERRORZ (+1) TAU1
044444,000525:
044445,000526: 21,2551 34770 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
044446,000527: 21,2552 55340 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
044447,000528: # ATTITUDE HOLD REFERENCE
044448,000529:
044449,000530: 21,2553 04714 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044450,000531: 21,2554 40463 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
044451,000532:
044452,000533: 21,2555 04714 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
044453,000534: 21,2556 40614 CADR S40.14 # TO AUTOPILOT GAINS
044454,000535:
044455,000536: 21,2557 32633 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS 2
044456,000537: # NO.T5VAR MUST BE ODD *************
044457,000538: 21,2560 10000 ZEROT5 CCS A
044458,000539: 21,2561 55506 TS SPNDX
044459,000540: 21,2562 34772 CAF ZERO
044460,000541: 21,2563 54001 TS L
044461,000542: 21,2564 51506 INDEX SPNDX
044462,000543: 21,2565 53527 DXCH WBODY +1
044463,000544: 21,2566 11506 CCS SPNDX
044464,000545: 21,2567 12560 TCF ZEROT5
044465,000546: 21,2570 55525 TS WBODY # ZERO LAST (FIRST) ONE
044466,000547:
044467,000548: 21,2571 02642 TC ZEROJET
044468,000549: 21,2572 44772 CS ZERO
044469,000550: 21,2573 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
044470,000551:
044471,000552: 21,2574 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
044472,000553: # MANUAL RATE MODES
044473,000554:
044474,000555: 21,2575 32634 CAF =.24
044475,000556: 21,2576 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
044476,000557:
044477,000558: 21,2577 34766 CAF FOUR
044478,000559: 21,2600 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044479,000560: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
044480,000561: # IN (80MS - T5TIME(40MS)). THEREFORE
044481,000562: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044482,000563: # MS FROM NOW AND EVERY 100MS THEREAFTER
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|
Page 1013
|
044484,000565: 21,2601 34775 CAF ELEVEN
044485,000566: 21,2602 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
044486,000567: # TO INITIALIZE THE S/C ANGULAR RATES
044487,000568: 21,2603 30032 CA CDUX
044488,000569: 21,2604 55635 TS RHO
044489,000570: 21,2605 30033 CA CDUY
044490,000571: 21,2606 55636 TS RHO1
044491,000572: 21,2607 30034 CA CDUZ
044492,000573: 21,2610 55637 TS RHO2
044493,000574: 21,2611 34772 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
044494,000575: 21,2612 55464 TS T5PHASE # PHASE2 OF PROGRAM
044495,000576:
044496,000577: 21,2613 41334 CS IMODES33 # CHECK IMU STATUS
044497,000578: 21,2614 74763 MASK NOIMUDAP # IF BIT6 =0 IMU IN FINE ALIGN
044498,000579: 21,2615 10000 CCS A # IF BIT6 = 1 IMU NOT READY
044499,000580: 21,2616 12622 TCF IMUAOK
044500,000581: 21,2617 55617 TS ATTKALMN # CANNOT USE IMU
044501,000582: 21,2620 32635 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
044502,000583: 21,2621 12627 TCF RCSSWIT # DONT START UP RATE FILTER
044503,000584: # SIGNAL NO RATE FILTER
044504,000585:
044505,000586: 21,2622 37656 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
044506,000587: 21,2623 05121 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
044507,000588: 21,2624 E6,1510 EBANK= KMPAC
044508,000589: 21,2624 03560 44066 2CADR AMBGUPDT
044509,000590:
044510,000591: 21,2626 34766 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044511,000592: 21,2627 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
044512,000593: # SET BIT3 -INITIALIZE NEEDLES
044513,000594: # CLEAR BIT4 -RESET FOR FDAIDSP1
044514,000595: 21,2630 32636 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044515,000596: # ERROR COUNTER TO ZERO.
044516,000597: # (MINIMUM DELAY = 15 MS)
044517,000598: 21,2631 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044518,000599: 21,2632 05323 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
044519,000600: # FILTER WILL BEGIN OPERATING ZOOMS FROM
044520,000601: # NOW
044521,000602:
044522,000603: # CONSTANTS USED IN INITIALIZATION PROGRAM
044523,000604:
044524,000605:
044525,000606: 21,2633 00043 NO.T5VAR DEC 35 B-14 # NO. OF LOCATIONS TO BE ZEROED
044526,000607: # MINUS 2...MUST BE ODD
044527,000608:
044528,000609: # FOR AN EVEN NUMBER OF VARIABLES TO BE ZEROED....
044529,000610: # * SET NO.T5VAR EQUAL TO NUMBER OF VARIABLES MINUS 1
044530,000611: # * DO DXCH WBODY INSTEAD OF WBODY + 1
044531,000612: # * DELETE TS WBODY
044532,000613:
044533,000614: 21,2634 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
044534,000615: 21,2635 4766 RCSINIT = BIT3
044535,000616: 21,2635 20004 RCSINITB OCT 20004
044536,000617:
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|
Page 1014
|
044538,000619:
044539,000620: 21,2636 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
044540,000621: 21,2637 E6,1510 EBANK= KMPAC
044541,000622: 21,2637 03606 36066 T6ADDR 2CADR T6START
044542,000623:
044543,000624:
044544,000625: 21,2641 62524 -75DEGS DEC -.41666 # -75 DEGS IN REVS * 2
044545,000626: 21,2642 34775 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
044546,000627: 21,2643 55506 +1 TS SPNDX # YWORD1,PWORD2,PWORD1,RWORD2,
044547,000628: 21,2644 34772 CAF ZERO # AND RWORD1.
044548,000629: 21,2645 51506 INDEX SPNDX
044549,000630: 21,2646 55450 TS RWORD1
044550,000631: 21,2647 11506 CCS SPNDX
044551,000632: 21,2650 12643 TCF ZEROJET +1
044552,000633:
044553,000634: 21,2651 34766 CAF FOUR
044554,000635: 21,2652 55461 TS BLAST1 +1
044555,000636: 21,2653 34775 CAF ELEVEN
044556,000637: 21,2654 55463 TS BLAST2 +1
044557,000638:
044558,000639: 21,2655 44770 CS BIT1
044559,000640: 21,2656 71501 MASK RCSFLAGS
044560,000641: 21,2657 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
044561,000642:
044562,000643: 21,2660 00006 EXTEND
044563,000644: 21,2661 32640 DCA T6ADDR
044564,000645: 21,2662 52111 DXCH T6LOC
044565,000646: 21,2663 33075 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044566,000647: 21,2664 54031 TS TIME6
044567,000648: 21,2665 00006 EXTEND
044568,000649: 21,2666 22070 QXCH RUPTREG1
044569,000650: 21,2667 04542 TC C13STALL
044570,000651: 21,2670 34752 CAF BIT15
044571,000652: 21,2671 00006 EXTEND
044572,000653: 21,2672 05013 WOR CHAN13
044573,000654:
044574,000655: 21,2673 00070 TC RUPTREG1
044575,000656:
044576,000657: 21,2674 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
044577,000658: 21,2675 13170 TCF KALUPDT
044578,000659:
044579,000660:
044580,000661: 21,2676 12700 TCF +2 # ONLY IF ATTKALMN POSITIVE
044581,000662: 21,2677 12700 TCF +1
044582,000663: 21,2700 37663 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
044583,000664: 21,2701 56030 XCH TIME5 # (JET SELECTION LOGIC )
044584,000665: 21,2702 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
044585,000666:
044586,000667:
044587,000668: 21,2703 10034 CCS CDUZ
|
|
Page 1015
|
044589,000670: 21,2704 12710 TCF GIMBY # +(
044590,000671: 21,2705 12717 TCF OKGIMB # +0
044591,000672: 21,2706 12710 TCF GIMBY # -N
044592,000673: 21,2707 12717 TCF OKGIMB # -0
044593,000674: 21,2710 62641 GIMBY AD -75DEGS
044594,000675: 21,2711 00006 EXTEND
044595,000676: 21,2712 62717 BZMF OKGIMB
044596,000677:
044597,000678: 21,2713 05547 TC UPFLAG # ATTITUDE HOLD WHEN MIDDLE GIMBAL ANGLE
044598,000679: 21,2714 00020 ADRES STIKFLAG # GREATER THAN 75 DEGREES
044599,000680: 21,2715 34772 CAF ZERO
044600,000681: 21,2716 55340 TS HOLDFLAG
044601,000682:
044602,000683: 21,2717 31501 OKGIMB CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
044603,000684: 21,2720 74752 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044604,000685: 21,2721 00006 EXTEND # ATTKALMN TO -1
044605,000686: 21,2722 12724 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
044606,000687: 21,2723 44770 CS ONE
044607,000688: 21,2724 55617 NOHIAUTO TS ATTKALMN
044608,000689:
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|
Page 1016
|
044610,000691:
044611,000692: # MANUAL ROTATION COMMANDS
044612,000693:
044613,000694: 21,2725 43057 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
044614,000695: 21,2726 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
044615,000696: 21,2727 55501 TS RCSFLAGS
044616,000697:
044617,000698: 21,2730 00006 EXTEND
044618,000699: 21,2731 00031 READ CHAN31
044619,000700: 21,2732 54001 TS L
044620,000701: 21,2733 31632 CA CH31TEMP
044621,000702: 21,2734 00006 EXTEND
044622,000703: 21,2735 06001 RXOR LCHAN
044623,000704: 21,2736 73063 MASK MANROT # = OCT00077
044624,000705: 21,2737 00006 EXTEND
044625,000706: 21,2740 62753 BZMF NOCHANGE
044626,000707:
044627,000708: 21,2741 22000 LXCH A
044628,000709: 21,2742 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044629,000710:
044630,000711: 21,2743 30001 CA L
044631,000712: 21,2744 00006 EXTEND
044632,000713: 21,2745 74764 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
044633,000714: 21,2746 30001 CA L
044634,000715: 21,2747 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
044635,000716: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
044636,000717: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044637,000718: # PITCH
044638,000719:
044639,000720: 21,2750 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND
044640,000721: 21,2751 73064 MASK OCT16000 # 11 OF RCSFLAGS)
044641,000722: 21,2752 27501 ADS RCSFLAGS
044642,000723:
044643,000724: 21,2753 41632 NOCHANGE CS CH31TEMP
044644,000725: 21,2754 73063 MASK MANROT
044645,000726: 21,2755 00006 EXTEND
044646,000727: 21,2756 63272 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
044647,000728:
044648,000729: 21,2757 55340 TS HOLDFLAG # SET HOLDFLAG +
044649,000730:
044650,000731: 21,2760 03152 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044651,000732: # YMANNDX, AND RMANNDX ARE ALL SET, BY
044652,000733: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044653,000734: # +, OR - ROTATION RESPECTIVELY AS
044654,000735: # COMMANDED BY THE RHC.
044655,000736:
044656,000737: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
044657,000738: # THE RHC IS RETURNED TO DETENT, THE
044658,000739: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044659,000740: # STICKCHK SO PMANNDX, YMANNDX, AND
044660,000741: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044661,000742: # LEFT SET TO THEIR LAST OUT OF DETENT
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|
Page 1017
|
044663,000744: # VALUES.
044664,000745:
044665,000746: 21,2761 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
044666,000747: 21,2762 74753 MASK STIKBIT # PROGRAMS (P20) THAT ASTRONAUT HAS
044667,000748: 21,2763 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044668,000749:
044669,000750: 21,2764 34753 CAF BIT14
044670,000751: 21,2765 05654 TC C31BTCHK
044671,000752: 21,2766 13076 TCF FREEFUNC
044672,000753: 21,2767 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044673,000754: 21,2770 74753 MASK BIT14 # HAS BEEN INITIALIZED
044674,000755: 21,2771 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
044675,000756: 21,2772 12541 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
044676,000757:
044677,000758: 21,2773 44773 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
044678,000759: 21,2774 60774 AD RATEINDX # ATTKALMN TO -1.
044679,000760: 21,2775 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
044680,000761: 21,2776 63001 BZMF +3
044681,000762: 21,2777 44770 CS ONE
044682,000763: 21,3000 55617 TS ATTKALMN
044683,000764:
044684,000765:
044685,000766: 21,3001 34767 CAF TWO # AUTO-HOLD MANUAL ROTATION
044686,000767: 21,3002 55506 SETWBODY TS SPNDX
044687,000768: 21,3003 60000 DOUBLE
044688,000769: 21,3004 55507 TS DPNDX
044689,000770: 21,3005 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
044690,000771: 21,3006 31656 CA RMANNDX # = 1 + ROTATION
044691,000772: 21,3007 00006 EXTEND # = 2 - ROTATION
044692,000773: 21,3010 13032 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
044693,000774: # GO TO NORATE.
044694,000775:
044695,000776: 21,3011 60774 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
044696,000777: 21,3012 54002 TS Q # = 2 0.2 DEG/SEC
044697,000778: 21,3013 50002 INDEX Q # = 4 0.5 DEG/SEC
044698,000779: 21,3014 33064 CA MANTABLE -1 # = 6 2.0 DEG/SEC
044699,000780: 21,3015 00006 EXTEND
044700,000781: 21,3016 74760 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
044701,000782: 21,3017 51507 INDEX DPNDX # TO GET COMMANDED RATE.
044702,000783: 21,3020 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
044703,000784:
044704,000785: 21,3021 31501 CA RCSFLAGS
044705,000786: 21,3022 73064 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
044706,000787: 21,3023 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
044707,000788: 21,3024 13042 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044708,000789: # ERROR.
044709,000790:
044710,000791: 21,3025 34772 ZEROER CA ZERO # ZEROER ZEROS MERRORS
044711,000792: 21,3026 22007 ZL
044712,000793: 21,3027 51507 INDEX DPNDX
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|
Page 1018
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044714,000795: 21,3030 53542 DXCH MERRORX
044715,000796: 21,3031 13050 TCF SPNDXCHK
044716,000797:
044717,000798: 21,3032 22007 NORATE ZL
044718,000799: 21,3033 51507 INDEX DPNDX
044719,000800: 21,3034 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
044720,000801: 21,3035 31501 CA RCSFLAGS
044721,000802: 21,3036 73064 MASK OCT16000
044722,000803: 21,3037 00006 EXTEND # IS RATE DAMPING COMPLETED
044723,000804: 21,3040 13050 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044724,000805: 21,3041 13025 TCF ZEROER # NO, GO TO ZEROER
044725,000806:
044726,000807: 21,3042 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044727,000808: 21,3043 43064 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
044728,000809: 21,3044 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
044729,000810: 21,3045 74762 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
044730,000811: 21,3046 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
044731,000812: 21,3047 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044732,000813:
044733,000814: 21,3050 51507 SPNDXCHK INDEX DPNDX
044734,000815: 21,3051 31541 CA MERRORX
044735,000816: 21,3052 51506 INDEX SPNDX
044736,000817: 21,3053 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
044737,000818: 21,3054 11506 CCS SPNDX
044738,000819: 21,3055 13002 TCF SETWBODY
044739,000820: 21,3056 13452 TCF JETS
044740,000821:
044741,000822:
044742,000823: 21,3057 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
044743,000824:
044744,000825: 21,3060 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
044745,000826: 21,3061 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
044746,000827: 21,3062 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
044747,000828: # PRESERVED
044748,000829: # FOR INDEXING
044749,000830: 21,3063 00077 MANROT OCT 77
044750,000831: 21,3064 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
044751,000832: 21,3065 00165 MANTABLE DEC .0071111
044752,000833: 21,3066 77612 DEC -.0071111
044753,000834: 21,3067 00722 DEC .028444
044754,000835: 21,3070 77055 DEC -0.028444
044755,000836: 21,3071 02215 DEC .071111
044756,000837: 21,3072 75562 DEC -.071111
044757,000838: 21,3073 11064 DEC .284444
044758,000839: 21,3074 66713 DEC -.284444
044759,000840: 21,3075 00027 =+14MS DEC 23 B-14
044760,000841: 21,3076 31501 FREEFUNC CA RCSFLAGS
044761,000842: 21,3077 00006 EXTEND
044762,000843: 21,3100 74756 MP BIT11 # SHIFT RIGHT 4 BITS
044763,000844: 21,3101 55502 TS T5TEMP
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|
Page 1019
|
044765,000846: 21,3102 41632 CS CH31TEMP
044766,000847: 21,3103 71502 MASK T5TEMP # A= COMPLEMENT OF NEW CH 31 COMMANDS
044767,000848: 21,3104 13320 TCF RHCMINP
044768,000849: 21,3105 34772 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
044769,000850: 21,3106 55567 TS ERRORX
044770,000851: 21,3107 55570 TS ERRORY
044771,000852: 21,3110 55571 TS ERRORZ
044772,000853: 21,3111 13763 TCF T6PROG
044773,000854:
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|
Page 1020
|
044775,000856:
044776,000857: 21,3112 00000 FREETAU DEC 0 B-14
044777,000858: 21,3113 00740 DEC 480 B-14
044778,000859: 21,3114 77037 DEC -480 B-14
044779,000860: 21,3115 00000 DEC 0 B-14
044780,000861:
044781,000862:
044782,000863: 21,3116 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
044783,000864: 21,3117 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044784,000865: 21,3120 06604 DEC .2112 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044785,000866: 21,3121 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
044786,000867: 21,3122 12132 DEC .3180 # OF ATTITUDE RATES
044787,000868: 21,3123 13030 DEC .3452
044788,000869: 21,3124 14047 DEC .3774
044789,000870: 21,3125 15241 DEC .4161
044790,000871: 21,3126 16650 DEC .4634
044791,000872: 21,3127 20555 DEC .5223
044792,000873: 21,3130 23065 DEC .5970
044793,000874: 21,3131 26137 DEC .6933
044794,000875: 21,3132 32053 DEC .8151
044795,000876: 21,3133 35712 DEC .9342
044796,000877:
044797,000878: 21,3134 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
044798,000879: 21,3135 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044799,000880: 21,3136 00435 DEC .0174 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044800,000881: 21,3137 00032 GAIN2 DEC .0016 # SCALED 10
044801,000882: 21,3140 01350 DEC .0454
044802,000883: 21,3141 01575 DEC .0545
044803,000884: 21,3142 02103 DEC .0666
044804,000885: 21,3143 02523 DEC .0832
044805,000886: 21,3144 03327 DEC .1069
044806,000887: 21,3145 04432 DEC .1422
044807,000888: 21,3146 06264 DEC .1985
044808,000889: 21,3147 11351 DEC .2955
044809,000890: 21,3150 17324 DEC .4817
044810,000891: 21,3151 33622 DEC .8683
044811,000892: 21,3152 55502 STICKCHK TS T5TEMP
044812,000893: 21,3153 76214 MASK THREE # INDECES FOR MANUAL ROTATION
044813,000894: 21,3154 55657 TS PMANNDX
044814,000895: 21,3155 31502 CA T5TEMP
044815,000896: 21,3156 00006 EXTEND # MAN RATE 0 0 RATE (DP)
044816,000897: 21,3157 74754 MP QUARTER # +1 +RATE (DP)
044817,000898: 21,3160 55502 TS T5TEMP # +2 -RATE (DP)
044818,000899: 21,3161 76214 MASK THREE # (+3) 0 RATE (DP)
044819,000900: 21,3162 55660 TS YMANNDX
044820,000901: 21,3163 31502 CA T5TEMP
044821,000902: 21,3164 00006 EXTEND
044822,000903: 21,3165 74754 MP QUARTER
044823,000904: 21,3166 55656 TS RMANNDX
044824,000905: 21,3167 00002 TC Q
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|
Page 1021
|
044826,000907:
044827,000908: 21,3170 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
044828,000909: # KALMAN FILTER TAKES 1.1 SEC
044829,000910:
044830,000911: 21,3171 32167 CA DELTATT # =1SEC - 80MS
044831,000912: 21,3172 61634 AD T5TIME # + DELAYS
044832,000913: 21,3173 54030 TS TIME5
044833,000914: 21,3174 13177 TCF +3
044834,000915: 21,3175 37663 CAF DELTATT2 # SAFETY PLAY TO ASSURE
044835,000916: 21,3176 54030 TS TIME5 # A T5RUPT
044836,000917:
044837,000918:
044838,000919: 21,3177 44772 KRESUME2 CS ZERO # RESET FOR PHASE1
044839,000920: 21,3200 55464 TS T5PHASE # RESUME INTERRUPTED PROGRAM
044840,000921: 21,3201 15323 TCF RESUME
044841,000922:
044842,000923:
044843,000924: 21,3202 44765 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
044844,000925: 21,3203 71501 MASK RCSFLAGS
044845,000926: 21,3204 55501 TS RCSFLAGS
044846,000927:
044847,000928: 21,3205 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044848,000929: 21,3206 74760 MASK NEEDLBIT # ERRORS
044849,000930: 21,3207 00006 EXTEND
044850,000931: 21,3210 13217 BZF FDAITOTL
044851,000932: 21,3211 00006 EXTEND
044852,000933: 21,3212 41570 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
044853,000934: 21,3213 53477 DXCH AK
044854,000935: 21,3214 41571 CS ERRORZ
044855,000936: 21,3215 55500 TS AK2
044856,000937: 21,3216 15323 TCF RESUME # END PHASE 1
044857,000938:
044858,000939:
044859,000940: 21,3217 30105 FDAITOTL CA FLAGWRD9
044860,000941: 21,3220 74763 MASK N2217BIT
044861,000942: 21,3221 00006 EXTEND
044862,000943: 21,3222 13265 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
044863,000944: # IF SO, GO TO WRTN17
044864,000945: 21,3223 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
044865,000946: 21,3224 31311 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
044866,000947: 21,3225 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
044867,000948: 21,3226 31307 CA CPHI # COMPONENTS OF N22
044868,000949:
044869,000950: 21,3227 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
044870,000951: 21,3230 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
044871,000952: 21,3231 55476 TS AK
044872,000953: 21,3232 31513 CA WTEMP
044873,000954: 21,3233 00006 EXTEND
044874,000955: 21,3234 20033 MSU CDUY
044875,000956: 21,3235 55502 TS T5TEMP
044876,000957: 21,3236 00006 EXTEND
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Page 1022
|
044878,000959: 21,3237 71640 MP AMGB1
044879,000960: 21,3240 27476 ADS AK
044880,000961: 21,3241 31502 CA T5TEMP
044881,000962: 21,3242 00006 EXTEND
044882,000963: 21,3243 71641 MP AMGB4
044883,000964: 21,3244 55477 TS AK1
044884,000965: 21,3245 31502 CA T5TEMP
044885,000966: 21,3246 00006 EXTEND
044886,000967: 21,3247 71643 MP AMGB7
044887,000968: 21,3250 55500 TS AK2
044888,000969: 21,3251 31514 CA WTEMP +1
044889,000970: 21,3252 00006 EXTEND
044890,000971: 21,3253 20034 MSU CDUZ
044891,000972: 21,3254 55502 TS T5TEMP
044892,000973: 21,3255 00006 EXTEND
044893,000974: 21,3256 71642 MP AMGB5
044894,000975: 21,3257 27477 ADS AK1
044895,000976: 21,3260 31502 CA T5TEMP
044896,000977: 21,3261 00006 EXTEND
044897,000978: 21,3262 71644 MP AMGB8
044898,000979: 21,3263 27500 ADS AK2
044899,000980: 21,3264 15323 TCF RESUME # END PHASE1 OF RCS DAP
044900,000981:
044901,000982: 21,3265 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
044902,000983: 21,3266 31015 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
044903,000984: 21,3267 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
044904,000985: 21,3270 31013 CA CPHIX
044905,000986: 21,3271 13227 TCF GETAKS
044906,000987:
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Page 1023
Empty page.
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044909,000990:
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc