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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043230,000002: ## Copyright: Public domain.
043231,000003: ## Filename: TVCROLLDAP.agc
043232,000004: ## Purpose: A section of Artemis revision 071.
043233,000005: ## It is part of the reconstructed source code for the first
043234,000006: ## release of the flight software for the Command Module's
043235,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
043236,000008: ## 17. The code has been recreated from a copy of Artemis 072.
043237,000009: ## It has been adapted such that the resulting bugger words
043238,000010: ## exactly match those specified for Artemis 071 in NASA
043239,000011: ## drawing 2021154-, which gives relatively high confidence
043240,000012: ## that the reconstruction is correct.
043241,000013: ## Reference: 982
043242,000014: ## Assembler: yaYUL
043243,000015: ## Contact: Ron Burkey <info@sandroid.org>.
043244,000016: ## Website: www.ibiblio.org/apollo/index.html
043245,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
043246,000018:
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Page 982
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043248,000020:
043249,000021: # PROGRAM NAME...TVC ROLL AUTOPILOT
043250,000022: # LOG SECTION...TVCROLLDAP SUBROUTINE...DAPCSM
043251,000023: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
043252,000024:
043253,000025:
043254,000026: # FUNCTIONAL DESCRIPTION....
043255,000027:
043256,000028: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
043257,000029: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
043258,000030: # BY IGNITION (P40)
043259,000031: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
043260,000032: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
043261,000033: # *USES T6 CLOCK TO TIME JET FIRINGS
043262,000034: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
043263,000035: # *MINIMUM JET FIRING TIME = 15 MS
043264,000036: # *JET PAIRS FIRE ALTERNATELY
043265,000037: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
043266,000038: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
043267,000039: # OF A JET FIRING TIME IS MADE ON A LATER PASS
043268,000040:
043269,000041: # CALLING SEQUENCE....
043270,000042:
043271,000043: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
043272,000044: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
043273,000045:
043274,000046: # NORMAL EXIT MODES.... ENDOFJOB
043275,000047:
043276,000048: # ALARM OR ABORT EXIT MODES.... NONE
043277,000049:
043278,000050: # SUBROUTINES CALLED.....NONE
043279,000051:
043280,000052: # OTHER INTERFACES....
043281,000053:
043282,000054: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
043283,000055: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
043284,000056: # *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC
043285,000057: # SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS
043286,000058: # NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
043287,000059:
043288,000060: # ERASABLE INITIALIZATION REQUIRED....
043289,000061:
043290,000062: # *1/CONACC (S40.15)
043291,000063: # *OGAD (CDUX AT IGNITION)
043292,000064: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
043293,000065: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
043294,000066: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
043295,000067: # OUTPUT....
043296,000068:
043297,000069: # *ROLL JET PAIR FIRINGS
043298,000070:
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Page 983
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043300,000072: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
043301,000073:
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Page 984
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043303,000075: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
043304,000076: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
043305,000077:
043306,000078: # SWITCHING LOGIC IN THE PHASE PLANE....
043307,000079:
043308,000080: # OGARATE
043309,000081: # *
043310,000082: # *
043311,000083: # * * * * * * * * * * * *
043312,000084: # * (REGION 1, SEE TEXT BELOW)
043313,000085: # * *
043314,000086: # *
043315,000087: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
043316,000088: # * * .
043317,000089: # * * *
043318,000090: # * * (FIRE NEG ROLL JETS)
043319,000091: # * * *
043320,000092: # (-DB,+LMCRATE)....* *
043321,000093: # * * *
043322,000094: # * * OGAERROR
043323,000095: # ************************************************************************
043324,000096: # * * (-AK, OGAERR)
043325,000097: # * * * (REGION 6-PRIME)
043326,000098: # * * (SEE TEXT BELOW)
043327,000099: # * * *
043328,000100: # * * ...STRAIGHT LINE
043329,000101: # (FIRE POS ROLL JETS) * * * .
043330,000102: # * (COAST) *
043331,000103: # * * * * * * * * * * *
043332,000104: # * -MINLIM
043333,000105: # * *
043334,000106: # *
043335,000107: # * * * * * * * * * * * * * * * *
043336,000108: # * -MAXLIM
043337,000109: # *
043338,000110: # *
043339,000111:
043340,000112: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
043341,000113: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
043342,000114: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
043343,000115: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
043344,000116: # SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
043345,000117: # ABOVE.
043346,000118:
043347,000119: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
043348,000120: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
043349,000121: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
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Page 985
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043351,000123:
043352,000124: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
043353,000125: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
043354,000126: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
043355,000127: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
043356,000128: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
043357,000129: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
043358,000130: # INSTEAD. TAKE AN OPERATING POINT IN REGION 6' . PASS A TANGENT TO
043359,000131: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
043360,000132: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
043361,000133: # THE INTERSECTION DEFINES DESIRED OGARATE. IF THE OPERATING POINT IS
043362,000134: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
043363,000135: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
043364,000136: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
043365,000137: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
043366,000138: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
043367,000139: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
043368,000140: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
043369,000141: # APPROXIMATION.
043370,000142:
043371,000143: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
043372,000144: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
043373,000145: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
043374,000146: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
043375,000147: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
043376,000148: # THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
043377,000149: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
043378,000150: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
043379,000151: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
043380,000152: # FAILED-ON.
043381,000153:
043382,000154: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
043383,000155: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
043384,000156: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
043385,000157: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
043386,000158: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
043387,000159: # FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,
043388,000160: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
043389,000161:
043390,000162:
043391,000163: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
043392,000164: # 2
043393,000165: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
043394,000166:
043395,000167:
043396,000168: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
043397,000169:
043398,000170: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
043399,000171:
043400,000172: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
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Page 986
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043402,000174:
043403,000175: # EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
043404,000176:
043405,000177: # DOGADOT = NUM/DEN, WHERE
043406,000178: # 2
043407,000179: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
043408,000180: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
043409,000181: # +LMCRATE
043410,000182:
043411,000183: # DEN = (-SLOPE)(LMCRATE)(1/CONACC) - SGN(DELOGA)
043412,000184:
043413,000185: # 2
043414,000186: # DELOGA = OGAERROR - (DB - OGARATE (1/CONACC)/2) SGN(OGARATE)
043415,000187:
043416,000188:
043417,000189: # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)
043418,000190: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
043419,000191: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
043420,000192: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
043421,000193: # OGAERROR= DELOGA + DB SGN(OGARATE)
043422,000194: # OGARATE= -LMCRATE SGN(OGARATE)
043423,000195:
043424,000196: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
043425,000197: # ALSO, AT POINT WHERE DOGARATE IS COMPUTED, REGISTER DELOGA IS USED
043426,000198: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
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Page 987
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043428,000200:
043429,000201: # ROLLDAP CODING....
043430,000202:
043431,000203: 16,2000 SETLOC DAPROLL
043432,000204: 16,2000 BANK
043433,000205: 16,3342 E6,1645 EBANK= OGANOW
043434,000206: 16,3342 COUNT* $$/ROLL
043435,000207: 16,3342 31645 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
043436,000208: 16,3343 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
043437,000209: 16,3344 21646 MSU OGAPAST
043438,000210: 16,3345 00006 EXTEND
043439,000211: 16,3346 74764 MP BIT5
043440,000212: 16,3347 22000 LXCH A
043441,000213: 16,3350 55533 TS OGARATE # SC.AT B-4 REV/SEC
043442,000214:
043443,000215: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
043444,000216: # EXAMINE DURATION OF LAST JET FIRING IF JETS NOW ON.
043445,000217:
043446,000218: 16,3351 31571 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
043447,000219: 16,3352 00006 EXTEND
043448,000220: 16,3353 13355 BZF +2 # ROLL JETS ARE NOW OFF.
043449,000221: 16,3354 13363 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
043450,000222:
043451,000223: 16,3355 31573 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
043452,000224: 16,3356 00006 EXTEND # IF POSITIVE, DONT FIRE
043453,000225: 16,3357 13363 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
043454,000226:
043455,000227: 16,3360 34772 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
043456,000228: 16,3361 55573 TS TEMREG # RESET TEMREG
043457,000229: 16,3362 15314 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
043458,000230:
043459,000231: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
043460,000232:
043461,000233: 16,3363 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
043462,000234: 16,3364 00006 EXTEND
043463,000235: 16,3365 71631 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
043464,000236: 16,3366 00006 EXTEND
043465,000237: 16,3367 71533 MP OGARATE
043466,000238: 16,3370 63756 AD DB # SCALED AT 2(+0) REV
043467,000239: 16,3371 55573 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
043468,000240:
043469,000241: # GET SIGN OF OGARATE
043470,000242:
043471,000243: 16,3372 31533 CA OGARATE
043472,000244: 16,3373 00006 EXTEND
043473,000245: 16,3374 63377 BZMF +3 # LET SGN(0) BE NEGATIVE
043474,000246: 16,3375 34770 CA BIT1
043475,000247: 16,3376 13400 TCF +2
043476,000248: 16,3377 44770 CS BIT1
043477,000249: 16,3400 55651 TS SGNRT # + OR - 2(-14)
043478,000250:
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Page 988
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043480,000252: # CALCULATE DISTANCE FROM SWITCH PARABOLA (DELOGA)
043481,000253:
043482,000254: 16,3401 00006 EXTEND
043483,000255: 16,3402 71573 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
043484,000256: 16,3403 40001 CS L
043485,000257: 16,3404 61647 AD OGA # SCALED AT 2(+0) REV
043486,000258: 16,3405 55652 DELOGAC TS DELOGA # SCALE B+0 REV, PLUS TO RIGHT OF C-PARAB
043487,000259:
043488,000260: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
043489,000261:
043490,000262: 16,3406 00006 EXTEND
043491,000263: 16,3407 63412 BZMF +3
043492,000264: 16,3410 34346 CAF PRIO30 # =CA (30000)
043493,000265: 16,3411 13413 TCF +2
043494,000266: 16,3412 34752 CAF BIT15 # =CS (40000)
043495,000267: 16,3413 55653 TS I
043496,000268:
043497,000269: 16,3414 51653 INDEX I # TEST ON I SGN(OGARATE)
043498,000270: 16,3415 01651 0 SGNRT # CA OR CS
043499,000271: 16,3416 40000 COM
043500,000272: 16,3417 00006 EXTEND
043501,000273: 16,3420 63471 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
043502,000274:
043503,000275: # NO JET FIRE YET, TEST FOR MAX OGARATE
043504,000276:
043505,000277: 16,3421 51653 INDEX I
043506,000278: 16,3422 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
043507,000279: 16,3423 55654 TS IOGARATE # I.E. I OGARATE
043508,000280: 16,3424 63763 AD MAXLIM # SCALED AT 2(-4) REV/SEC
043509,000281: 16,3425 00006 EXTEND
043510,000282: 16,3426 63550 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
043511,000283:
043512,000284: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
043513,000285: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG QUANTITY
043514,000286:
043515,000287: 16,3427 31533 CA OGARATE
043516,000288: 16,3430 00006 EXTEND
043517,000289: 16,3431 74753 MP BIT14
043518,000290: 16,3432 55573 TS TEMREG
043519,000291: 16,3433 31647 CA OGA
043520,000292: 16,3434 00006 EXTEND
043521,000293: 16,3435 73757 MP -SLOPE
043522,000294: 16,3436 20001 DDOUBL
043523,000295: 16,3437 20001 DDOUBL
043524,000296: 16,3440 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
043525,000297: 16,3441 61573 AD TEMREG
043526,000298:
043527,000299: 16,3442 51653 INDEX I
043528,000300: 16,3443 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
043529,000301: 16,3444 40000 COM
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Page 989
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043531,000303: 16,3445 63761 AD INTERCEP # SCALED AT 2(-3) REV.
043532,000304: 16,3446 40000 COM
043533,000305: 16,3447 00006 EXTEND
043534,000306: 16,3450 63661 REG2TST BZMF NOROLL # IF REGION 2 (COAST SIDE OF STRT LINE)
043535,000307:
043536,000308: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM BOUNDARY
043537,000309:
043538,000310: 16,3451 31654 CA IOGARATE # ALWAYS NEGATIVE
043539,000311: 16,3452 63762 AD MINLIM # SCALED AT 2(-4) REV/SEC
043540,000312: 16,3453 00006 EXTEND
043541,000313: 16,3454 63661 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
043542,000314:
043543,000315: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
043544,000316:
043545,000317: 16,3455 51653 INDEX I
043546,000318: 16,3456 01647 0 OGA
043547,000319: 16,3457 40000 COM
043548,000320: 16,3460 63756 AD DB
043549,000321: 16,3461 40000 COM
043550,000322: 16,3462 00006 EXTEND
043551,000323: 16,3463 63661 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
043552,000324:
043553,000325: # JETS MUST FIRE NOW. OGARATE IS NEG. (OR VISA VERSA). USE DIRECT STR. LINE.
043554,000326: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
043555,000327: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
043556,000328: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
043557,000329: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
043558,000330: # OPERATING POINTS IN REGIONS 6 OR 6')
043559,000331:
043560,000332: 16,3464 31647 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
043561,000333: 16,3465 55652 TS DELOGA # ACTUAL STATE
043562,000334: 16,3466 31533 CA OGARATE
043563,000335: 16,3467 55650 TS DELOGART # ACTUAL STATE, I.E. DEL OGARATE
043564,000336: 16,3470 13500 TCF ONROLL
043565,000337:
043566,000338: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VISA VERSA), USE INDIRECT
043567,000339: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
043568,000340: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
043569,000341: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1')
043570,000342:
043571,000343: 16,3471 51653 ROLLON INDEX I
043572,000344: 16,3472 03756 0 DB
043573,000345: 16,3473 27652 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
043574,000346:
043575,000347: 16,3474 43760 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
043576,000348: 16,3475 51653 INDEX I
043577,000349: 16,3476 00000 0 A
043578,000350: 16,3477 55650 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
043579,000351:
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Page 990
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043581,000353:
043582,000354: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
043583,000355:
043584,000356: 16,3500 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
043585,000357: 16,3501 71631 MP 1/CONACC
043586,000358: 16,3502 60000 DOUBLE
043587,000359: 16,3503 00006 EXTEND
043588,000360: 16,3504 73757 MP -SLOPE
043589,000361: 16,3505 55573 TS TEMREG # 2(-SLOPE)RATE /CONACC
043590,000362: 16,3506 00006 EXTEND
043591,000363: 16,3507 71650 MP DELOGART
043592,000364: 16,3510 55650 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
043593,000365: 16,3511 44756 CS BIT11
043594,000366: 16,3512 51653 INDEX I
043595,000367: 16,3513 00000 0 A
043596,000368: 16,3514 27573 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
043597,000369:
043598,000370: 16,3515 51653 INDEX I
043599,000371: 16,3516 01652 0 DELOGA
043600,000372: 16,3517 40000 COM
043601,000373: 16,3520 63756 AD DB
043602,000374: 16,3521 40000 COM
043603,000375: 16,3522 00006 EXTEND
043604,000376: 16,3523 73757 MP -SLOPE
043605,000377: 16,3524 27650 ADS DELOGART
043606,000378: 16,3525 33760 CA LMCRATE
043607,000379: 16,3526 00006 EXTEND
043608,000380: 16,3527 74756 MP BIT11
043609,000381: 16,3530 61650 RATENUM AD DELOGART # NUMERATOR COMPLETED
043610,000382:
043611,000383: 16,3531 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
043612,000384: 16,3532 34772 CA ZERO
043613,000385: 16,3533 00006 EXTEND
043614,000386: 16,3534 11573 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
043615,000387: 16,3535 00006 EXTEND
043616,000388: 16,3536 13544 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
043617,000389:
043618,000390: 16,3537 10000 MINLIMAP CCS A
043619,000391: 16,3540 34750 CAF POSMAX # POSITIVE OVERFLOW
043620,000392: 16,3541 13553 TCF ROLLSET
043621,000393: 16,3542 44750 CS POSMAX # NEGATIVE OVERFLOW
043622,000394: 16,3543 13553 TCF ROLLSET
043623,000395:
043624,000396: 16,3544 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 IN L
043625,000397: 16,3545 00006 EXTEND
043626,000398: 16,3546 11573 DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
043627,000399: 16,3547 13553 TCF ROLLSET # (SCALED AT B-4 REV/SEC)
043628,000400:
043629,000401: 16,3550 43763 RATELIM CS MAXLIM
043630,000402: 16,3551 51653 INDEX I
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Page 991
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043632,000404: 16,3552 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
043633,000405:
043634,000406: # COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE
043635,000407:
043636,000408: 16,3553 55573 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
043637,000409: 16,3554 00006 EXTEND
043638,000410: 16,3555 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
043639,000411: 16,3556 55573 TS TEMREG # OVERFLOW PROTECT
043640,000412: 16,3557 13562 TCF +3 # " "
043641,000413: 16,3560 50000 INDEX A # " "
043642,000414: 16,3561 44751 CS LIMITS # " "
043643,000415: 16,3562 00006 EXTEND
043644,000416: 16,3563 77652 MP T6SCALE # T6SCALE = 8/10.24
043645,000417: 16,3564 00006 EXTEND
043646,000418: 16,3565 71631 MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60)
043647,000419: 16,3566 20001 DDOUBL
043648,000420: 16,3567 20001 DDOUBL
043649,000421: 16,3570 55573 TS TEMREG # OVERFLOW PROTECT
043650,000422: 16,3571 13574 TCF +3 # " "
043651,000423: 16,3572 50000 INDEX A # " "
043652,000424: 16,3573 44751 CS LIMITS # " "
043653,000425: 16,3574 55573 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
043654,000426: 16,3575 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
043655,000427: 16,3576 13661 BZF NOROLL
043656,000428:
043657,000429: # JET FIRE TIME IS NZ, TEST FOR JETS NOW ON.
043658,000430:
043659,000431: 16,3577 31573 CAE TEMREG # DESIRED CHANGE IN OGARATE
043660,000432: 16,3600 00006 EXTEND
043661,000433: 16,3601 71571 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
043662,000434: 16,3602 10000 CCS A
043663,000435: 16,3603 13607 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
043664,000436: 16,3604 13612 TCF NEWROLL # START NEW FIRING NOW, PLUS
043665,000437: 16,3605 13661 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
043666,000438: 16,3606 13612 TCF NEWROLL # START NEW FIRING NOW, MINUS
043667,000439:
043668,000440: # CONTINUE PRESENT FIRING
043669,000441:
043670,000442: 16,3607 34772 MOREROLL CAF ZERO
043671,000443: 16,3610 55653 TS I # USE TEMP. AS MOREROLL SWITCH
043672,000444: 16,3611 13623 TCF MAXTFIRE
043673,000445:
043674,000446: # START NEW FIRING, BUT CHECK IF GREATER THAN MIN FIRE TIME.
043675,000447:
043676,000448: 16,3612 11573 NEWROLL CCS TEMREG # CALL THIS T6FIRE
043677,000449: 16,3613 64770 AD ONE
043678,000450: 16,3614 13616 TCF +2
043679,000451: 16,3615 64770 AD ONE
043680,000452: 16,3616 40000 COM # -MAG(T6FIRE)
043681,000453: 16,3617 65001 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
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043683,000455: 16,3620 40000 COM
043684,000456: 16,3621 00006 EXTEND
043685,000457: 16,3622 63661 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
043686,000458:
043687,000459: # PROCEED WITH NEW FIRING, BUT NOT LONGER THAN TMAXFIRE.
043688,000460:
043689,000461: 16,3623 31573 MAXTFIRE CA TEMREG
043690,000462: 16,3624 00006 EXTEND
043691,000463: 16,3625 74766 MP 1/TMXFIR # I.E. 1/TMAXFIRE
043692,000464: 16,3626 00006 EXTEND
043693,000465: 16,3627 13635 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
043694,000466:
043695,000467: 16,3630 10000 CCS A
043696,000468: 16,3631 33764 CAF TMAXFIRE # USE MAXIMUM
043697,000469: 16,3632 13634 TCF +2
043698,000470: 16,3633 43764 CS TMAXFIRE # USE MAXIMUM
043699,000471: 16,3634 55573 TS TEMREG
043700,000472:
043701,000473: # SET UP SIGN OF REQUIRED TORQUE.
043702,000474:
043703,000475: 16,3635 11573 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
043704,000476: 16,3636 34750 CA POSMAX # POSITIVE TORQUE REQUIRED
043705,000477: 16,3637 13641 TCF +2
043706,000478: 16,3640 34752 CA NEGMAX # NEGATIVE TORQUE REQUIRED
043707,000479: 16,3641 55571 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
043708,000480:
043709,000481: 16,3642 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
043710,000482: 16,3643 00006 EXTEND
043711,000483: 16,3644 63647 BZMF +3 # POSITIVE TORQUE REQUIRED
043712,000484: 16,3645 41573 CS TEMREG
043713,000485: 16,3646 55573 TS TEMREG
043714,000486:
043715,000487: 16,3647 31653 FIRELOOK CA I # IS IT MOREROLL
043716,000488: 16,3650 00006 EXTEND
043717,000489: 16,3651 13653 BZF FIREPLUG # YES
043718,000490: 16,3652 13664 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
043719,000491:
043720,000492: 16,3653 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
043721,000493: 16,3654 00006 EXTEND
043722,000494: 16,3655 61573 SU TEMREG
043723,000495: 16,3656 00006 EXTEND
043724,000496: 16,3657 65314 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
043725,000497: 16,3660 13664 TCF JETROLL
043726,000498:
043727,000499: 16,3661 44772 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
043728,000500: 16,3662 55571 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
043729,000501: 16,3663 55573 TS TEMREG
043730,000502:
043731,000503: 16,3664 00006 JETROLL EXTEND
043732,000504: 16,3665 33755 DCA NOROL1T6
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043734,000506: 16,3666 52111 DXCH T6LOC
043735,000507: 16,3667 31573 CA TEMREG # ENTER JET FIRING TIME
043736,000508: 16,3670 54031 TS TIME6
043737,000509:
043738,000510: 16,3671 31653 CA I # I=0 IF MOREROLL,KEEP SAME JETS ON
043739,000511: 16,3672 00006 EXTEND
043740,000512: 16,3673 15314 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
043741,000513:
043742,000514: 16,3674 11571 CCS ROLLFIRE
043743,000515: 16,3675 13701 TCF +TORQUE
043744,000516: 16,3676 13742 TCF T6ENABL
043745,000517: 16,3677 13722 TCF -TORQUE
043746,000518: 16,3700 13742 TCF T6ENABL
043747,000519:
043748,000520: # PROCEED WITH PLUS TORQUE.
043749,000521:
043750,000522: 16,3701 31572 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
043751,000523: 16,3702 74770 MASK BIT1 # WAS IT NO.9-11
043752,000524: 16,3703 00006 EXTEND
043753,000525: 16,3704 13714 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
043754,000526:
043755,000527: 16,3705 44770 NO.13-15 CS BIT1
043756,000528: 16,3706 71572 MASK ROLLWORD
043757,000529: 16,3707 55572 TS ROLLWORD # CHANGE BIT 1 TO ZERO
043758,000530: 16,3710 35014 CAF +ROLL2
043759,000531: 16,3711 00006 EXTEND
043760,000532: 16,3712 01006 WRITE CHAN6
043761,000533: 16,3713 13742 TCF T6ENABL
043762,000534:
043763,000535: 16,3714 34770 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
043764,000536: 16,3715 27572 ADS ROLLWORD # CHANGE BIT 1 TO ONE
043765,000537: 16,3716 34773 CAF +ROLL1
043766,000538: 16,3717 00006 EXTEND
043767,000539: 16,3720 01006 WRITE CHAN6
043768,000540: 16,3721 13742 TCF T6ENABL
043769,000541:
043770,000542: 16,3722 31572 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
043771,000543: 16,3723 74767 MASK BIT2 # WAS IT NO.12-10
043772,000544: 16,3724 00006 EXTEND
043773,000545: 16,3725 13735 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
043774,000546:
043775,000547: 16,3726 44767 NO.16-14 CS BIT2
043776,000548: 16,3727 71572 MASK ROLLWORD
043777,000549: 16,3730 55572 TS ROLLWORD # CHANGE BIT 2 TO ZERO
043778,000550: 16,3731 33765 CAF -ROLL2
043779,000551: 16,3732 00006 EXTEND
043780,000552: 16,3733 01006 WRITE CHAN6
043781,000553: 16,3734 13742 TCF T6ENABL
043782,000554:
043783,000555: 16,3735 34767 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
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043785,000557: 16,3736 27572 ADS ROLLWORD # CHANGE BIT 2 TO ONE
043786,000558: 16,3737 34355 CAF -ROLL1
043787,000559: 16,3740 00006 EXTEND
043788,000560: 16,3741 01006 WRITE CHAN6
043789,000561:
043790,000562: 16,3742 34752 T6ENABL CAF BIT15
043791,000563: 16,3743 00006 EXTEND
043792,000564: 16,3744 05013 WOR CHAN13
043793,000565: 16,3745 15314 RDAPEND TCF TASKOVER # EXIT ROLL DAP
043794,000566:
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Page 995
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043796,000568:
043797,000569: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
043798,000570:
043799,000571: 16,3746 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
043800,000572: 16,3747 34772 CAF ZERO # CALLED BY ..JETROLL..)
043801,000573: 16,3750 55571 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
043802,000574: 16,3751 00006 EXTEND
043803,000575: 16,3752 01006 KILLJETS WRITE CHAN6
043804,000576: 16,3753 15325 TCF NOQRSM
043805,000577:
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043807,000579:
043808,000580: # CONSTANTS FOR ROLL AUTOPILOT....
043809,000581:
043810,000582: 16,3754 E6,1446 EBANK= CNTR
043811,000583: 16,3754 03746 34066 NOROL1T6 2CADR NOROLL1
043812,000584:
043813,000585: 16,3756 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
043814,000586:
043815,000587: 16,3757 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
043816,000588: # PER SEC
043817,000589: 16,3760 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
043818,000590: # B-4 REV/SEC
043819,000591: 16,3761 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
043820,000592:
043821,000593: 16,3762 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
043822,000594:
043823,000595: 16,3763 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
043824,000596:
043825,000597: # TMINFIRE DEC 1.5 B+4 15 MS (14MIN), SC.AT 16 BITS/CS
043826,000598: 16,3764 5001 TMINFIRE = BITS4&5
043827,000599:
043828,000600: 16,3764 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
043829,000601:
043830,000602: 16,3765 4766 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
043831,000603: # ROUNDS TO OCT00004, SO ALLOWS 2.56
043832,000604: # SEC FIRINGS BEFORE APPLYING LIMIT
043833,000605: 16,3765 7652 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
043834,000606:
043835,000607: 16,3765 4773 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
043836,000608: 16,3765 5014 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
043837,000609: 16,3765 4355 -ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10
043838,000610: 16,3765 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc