Source Code
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These source-code files are part of a reconstructed copy of Comanche 051, the
original release of the Apollo 11 Command Module (CM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Comanche 055 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes related to the R-2 lunar potential model, using hints from program
comments and change-indicating asterisks in the Comanche 055 listing as a guide.
The reconstruction was verified by matching memory-bank checksums to those listed
in drawing 2021153D. Note that page numbers in the reconstructed code match those
on the Comanche 055 printout, although the added code would likely have changed page
numbers for a real Comanche 051 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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044630,000002: ## Copyright: Public domain.
044631,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
044632,000004: ## Purpose: A section of Comanche revision 051.
044633,000005: ## It is part of the reconstructed source code for the
044634,000006: ## original release of the flight software for the Command
044635,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
044636,000008: ## The code has been recreated from a copy of Comanche 055. It
044637,000009: ## has been adapted such that the resulting bugger words
044638,000010: ## exactly match those specified for Comanche 51 in NASA drawing
044639,000011: ## 2021153D, which gives relatively high confidence that the
044640,000012: ## reconstruction is correct.
044641,000013: ## Reference: pp. 1025-1036
044642,000014: ## Assembler: yaYUL
044643,000015: ## Contact: Ron Burkey <info@sandroid.org>.
044644,000016: ## Website: www.ibiblio.org/apollo/index.html
044645,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
044646,000018:
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Page 1025
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044648,000020: 21,3250 BANK 21
044649,000021: 21,2000 SETLOC DAPS3
044650,000022: 21,2000 BANK
044651,000023:
044652,000024: 21,3250 COUNT 21/DAPAM
044653,000025:
044654,000026: 21,3250 E6,1510 EBANK= KMPAC
044655,000027: 21,3250 00006 AHFNOROT EXTEND
044656,000028: 21,3251 00031 READ CHAN31
044657,000029: 21,3252 75002 MASK BIT14
044658,000030: 21,3253 00006 EXTEND
044659,000031: 21,3254 63272 BZMF FREECONT
044660,000032: 21,3255 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
044661,000033: 21,3256 75002 MASK BIT14
044662,000034: 21,3257 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
044663,000035: 21,3260 12534 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
044664,000036: # AUTOMATIC CONTROL YET
044665,000037: 21,3261 00006 EXTEND
044666,000038: 21,3262 00031 READ CHAN31
044667,000039: 21,3263 75003 MASK BIT13
044668,000040: 21,3264 00006 EXTEND
044669,000041: 21,3265 63372 BZMF HOLDFUNC
044670,000042:
044671,000043: 21,3266 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
044672,000044: 21,3267 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
044673,000045: 21,3270 63322 BZMF ATTHOLD
044674,000046: 21,3271 13376 TCF GRABANG
044675,000047:
044676,000048: # MINIMUM IMPULSE CONTROL
044677,000049:
044678,000050: 21,3272 35017 FREECONT CAF ONE
044679,000051: 21,3273 55332 TS HOLDFLAG # RESET HOLDFLAG
044680,000052: # INHIBIT AUTOMATIC STEERING
044681,000053: 21,3274 00006 EXTEND
044682,000054: 21,3275 00032 READ CHAN32
044683,000055: 21,3276 54001 TS L
044684,000056: 21,3277 40000 COM
044685,000057: 21,3300 73036 MASK MANROT
044686,000058: 21,3301 71633 MASK CHANTEMP
044687,000059: 21,3302 23633 LXCH CHANTEMP
044688,000060: 21,3303 03130 TC STICKCHK
044689,000061: 21,3304 51656 INDEX RMANNDX
044690,000062: 21,3305 33316 CA MINTAU # MINTAU +0
044691,000063: 21,3306 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
044692,000064: 21,3307 51657 INDEX PMANNDX # +2 -14MS TIME
044693,000065: 21,3310 33316 CA MINTAU # +3 +0
044694,000066: 21,3311 55562 TS TAU1
044695,000067: 21,3312 51660 INDEX YMANNDX
044696,000068: 21,3313 33316 CA MINTAU
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Page 1026
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044698,000070: 21,3314 55563 TS TAU2
044699,000071: 21,3315 13067 TCF T6PROGM
044700,000072:
044701,000073: 21,3316 00000 MINTAU DEC 0 B-14
044702,000074: 21,3317 00027 DEC 23 B-14 # = 14MS
044703,000075: 21,3320 77750 DEC -23 B-14 # = -14MS
044704,000076: 21,3321 00000 DEC 0 B-14
044705,000077:
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Page 1027
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044707,000079: # CALCULATION OF ATTITUDE ERRORS-
044708,000080: # - * - - -
044709,000081: # AK = AMGB (CDUX - THETADX) + BIAS
044710,000082:
044711,000083: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
044712,000084: # * * * ** * * *
044713,000085: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
044714,000086: # * * * ** * * *
044715,000087: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
044716,000088:
044717,000089: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044718,000090: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044719,000091: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044720,000092: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044721,000093:
044722,000094: 21,3322 30032 ATTHOLD CA CDUX
044723,000095: 21,3323 00006 EXTEND
044724,000096: 21,3324 21572 MSU THETADX
044725,000097: 21,3325 55567 TS ERRORX
044726,000098: 21,3326 30033 CA CDUY
044727,000099: 21,3327 00006 EXTEND
044728,000100: 21,3330 21573 MSU THETADY
044729,000101: 21,3331 55502 TS T5TEMP
044730,000102: 21,3332 00006 EXTEND
044731,000103: 21,3333 71640 MP AMGB1
044732,000104: 21,3334 27567 ADS ERRORX
044733,000105: 21,3335 31502 CA T5TEMP
044734,000106: 21,3336 00006 EXTEND
044735,000107: 21,3337 71641 MP AMGB4
044736,000108: 21,3340 55570 TS ERRORY
044737,000109: 21,3341 31502 CA T5TEMP
044738,000110: 21,3342 00006 EXTEND
044739,000111: 21,3343 71643 MP AMGB7
044740,000112: 21,3344 55571 TS ERRORZ
044741,000113: 21,3345 30034 CA CDUZ
044742,000114: 21,3346 00006 EXTEND
044743,000115: 21,3347 21574 MSU THETADZ
044744,000116: 21,3350 55502 TS T5TEMP
044745,000117: 21,3351 00006 EXTEND
044746,000118: 21,3352 71642 MP AMGB5
044747,000119: 21,3353 27570 ADS ERRORY
044748,000120: 21,3354 31502 CA T5TEMP
044749,000121: 21,3355 00006 EXTEND
044750,000122: 21,3356 71644 MP AMGB8
044751,000123: 21,3357 27571 ADS ERRORZ
044752,000124: 21,3360 41332 CS HOLDFLAG
044753,000125: 21,3361 00006 EXTEND
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Page 1028
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044755,000127: 21,3362 63441 BZMF JETS
044756,000128: 21,3363 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044757,000129: 21,3364 27567 ADS ERRORX
044758,000130: 21,3365 31565 CA BIAS1
044759,000131: 21,3366 27570 ADS ERRORY
044760,000132: 21,3367 31566 CA BIAS2
044761,000133: 21,3370 27571 ADS ERRORZ
044762,000134: 21,3371 13441 TCF JETS
044763,000135:
044764,000136: 21,3372 11332 HOLDFUNC CCS HOLDFLAG
044765,000137: 21,3373 13376 TCF +3
044766,000138: 21,3374 13322 TCF ATTHOLD
044767,000139: 21,3375 13376 TCF +1
044768,000140: 21,3376 35021 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044769,000141: 21,3377 55525 TS WBODY
044770,000142: 21,3400 55526 TS WBODY +1
044771,000143: 21,3401 55527 TS WBODY1
044772,000144: 21,3402 55530 TS WBODY1 +1
044773,000145: 21,3403 55531 TS WBODY2
044774,000146: 21,3404 55532 TS WBODY2 +1
044775,000147: 21,3405 55564 TS BIAS
044776,000148: 21,3406 55565 TS BIAS1
044777,000149: 21,3407 55566 TS BIAS2
044778,000150:
044779,000151: 21,3410 31501 CA RCSFLAGS
044780,000152: 21,3411 73037 MASK OCT16000
044781,000153: 21,3412 00006 EXTEND # IS RATE DAMPING COMPLETED
044782,000154: 21,3413 13421 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044783,000155: 21,3414 35021 CAF ZERO # OTHERWISE, ZERO ERRORS
044784,000156: 21,3415 55567 TS ERRORX
044785,000157: 21,3416 55570 TS ERRORY
044786,000158: 21,3417 55571 TS ERRORZ
044787,000159: 21,3420 13441 TCF JETS
044788,000160:
044789,000161: 21,3421 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044790,000162: 21,3422 00006 EXTEND
044791,000163: 21,3423 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044792,000164: 21,3424 53573 DXCH THETADX # REFERENCES
044793,000165: 21,3425 30034 CA CDUZ
044794,000166: 21,3426 55574 TS THETADZ
044795,000167: 21,3427 13322 TCF ATTHOLD
044796,000168:
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Page 1029
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044798,000170: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044799,000171:
044800,000172: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044801,000173: # PLANE.
044802,000174:
044803,000175: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044804,000176: # APPROPRIATE DEADZONE.
044805,000177:
044806,000178: # .
044807,000179: # R22 RATE . ERROR
044808,000180: # WL+H .
044809,000181: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044810,000182: # R23 WL * .
044811,000183: # --------------------------------- * . ----- DESIRED RATE LINES
044812,000184: # R23 WL-H - *.
044813,000185: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044814,000186: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044815,000187: # * . *
044816,000188: # *- . *
044817,000189: # R22 R24*- R23 . *
044818,000190: # *- . *
044819,000191: # * . *
044820,000192: # + -ADB . * AF ATTITUDE
044821,000193: # .........................+--+---------------+--+........................
044822,000194: # AF * . +ADB + ERROR
044823,000195: # * . *
044824,000196: # * . -*
044825,000197: # * . -*
044826,000198: # * . -*
044827,000199: # * . *
044828,000200: # *. - *
044829,000201: # . - *****************
044830,000202: # .* -
044831,000203: # . * --------------------------------
044832,000204: # . *
044833,000205: # . ********************************
044834,000206: # .
044835,000207: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044836,000208:
044837,000209: # CONSTANTS FOR JET SWITCHING LOGIC
044838,000210:
044839,000211: 21,3430 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044840,000212: 21,3431 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044841,000213: 21,3432 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044842,000214:
044843,000215: 21,3434 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044844,000216:
044845,000217: 21,3436 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044846,000218:
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Page 1030
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044848,000220: 21,3440 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044849,000221: 21,3441 31655 JETS CA ADB
044850,000222: 21,3442 65015 AD FOUR # AF = FLAT REGION = .044 DEG
044851,000223: 21,3443 55502 TS T5TEMP # ADB+AF
044852,000224: 21,3444 35016 CAF TWO
044853,000225: 21,3445 55506 JLOOP TS SPNDX
044854,000226: 21,3446 60000 DOUBLE
044855,000227: 21,3447 55507 TS DPNDX
044856,000228: 21,3450 00006 EXTEND
044857,000229: 21,3451 50000 INDEX A
044858,000230: 21,3452 31534 DCA ADOT
044859,000231: 21,3453 53516 DXCH EDOT
044860,000232: 21,3454 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044861,000233: 21,3455 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044862,000234: 21,3456 13463 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044863,000235: # OF WBODY AND GO TO INHOLD
044864,000236: 21,3457 00006 EXTEND
044865,000237: 21,3460 51507 INDEX DPNDX
044866,000238: 21,3461 41526 DCS WBODY
044867,000239: 21,3462 21516 DAS EDOT # = ADOT-WBODY
044868,000240: 21,3463 51506 INHOLD INDEX SPNDX
044869,000241: 21,3464 31567 CA ERRORX
044870,000242: 21,3465 55517 TS AERR # AERR = BIAS + AK
044871,000243:
044872,000244: 21,3466 11515 CCS EDOT
044873,000245: 21,3467 13477 TCF POSVEL
044874,000246: 21,3470 13472 TCF SIGNCK1
044875,000247: 21,3471 13507 TCF NEGVEL
044876,000248: 21,3472 11516 SIGNCK1 CCS EDOT +1
044877,000249: 21,3473 13477 TCF POSVEL
044878,000250: 21,3474 13477 TCF POSVEL
044879,000251: 21,3475 13507 TCF NEGVEL
044880,000252: 21,3476 13507 TCF NEGVEL
044881,000253: 21,3477 00006 POSVEL EXTEND
044882,000254: 21,3500 31516 DCA EDOT
044883,000255: 21,3501 53521 DXCH EDOTVEL
044884,000256: 21,3502 31502 CA T5TEMP
044885,000257: 21,3503 55523 TS ADBVEL # +(ADB+AF)
044886,000258: 21,3504 31517 CA AERR
044887,000259: 21,3505 55522 TS AERRVEL
044888,000260: 21,3506 03516 TC J6.
044889,000261: 21,3507 00006 NEGVEL EXTEND
044890,000262: 21,3510 41516 DCS EDOT
044891,000263: 21,3511 53521 DXCH EDOTVEL
044892,000264: 21,3512 41502 CS T5TEMP
044893,000265: 21,3513 55523 TS ADBVEL # -(ADB+AF)
044894,000266: 21,3514 41517 CS AERR
044895,000267: 21,3515 55522 TS AERRVEL
044896,000268:
044897,000269: 21,3516 00006 J6. EXTEND
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Page 1031
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044899,000271: 21,3517 61655 SU ADB
044900,000272: 21,3520 63430 AD WLH/SLOP
044901,000273: 21,3521 00006 EXTEND
044902,000274: 21,3522 63551 BZMF J8
044903,000275:
044904,000276: 21,3523 41502 CS T5TEMP # (ADB+AF)
044905,000277: 21,3524 61522 AD AERRVEL
044906,000278: 21,3525 00006 EXTEND
044907,000279: 21,3526 63530 BZMF +2
044908,000280: 21,3527 13542 TCF J7
044909,000281: 21,3530 00006 EXTEND
044910,000282: 21,3531 41521 DCS EDOTVEL
044911,000283: 21,3532 00006 EXTEND
044912,000284: 21,3533 11654 DV SLOPE
044913,000285: 21,3534 00006 EXTEND
044914,000286: 21,3535 61522 SU AERRVEL
044915,000287: 21,3536 61655 AD ADB
044916,000288: 21,3537 00006 EXTEND
044917,000289: 21,3540 63630 BZMF J18
044918,000290: 21,3541 13704 TCF J23
044919,000291:
044920,000292: 21,3542 43431 J7 CS WL-H/SLP
044921,000293: 21,3543 00006 EXTEND
044922,000294: 21,3544 61502 SU T5TEMP # (ADB+AF)
044923,000295: 21,3545 61522 AD AERRVEL
044924,000296: 21,3546 00006 EXTEND
044925,000297: 21,3547 63634 BZMF J20
044926,000298: 21,3550 13645 TCF J21
044927,000299:
044928,000300: 21,3551 00006 J8 EXTEND
044929,000301: 21,3552 43433 DCS WLH
044930,000302: 21,3553 53514 DXCH WTEMP
044931,000303: 21,3554 00006 EXTEND
044932,000304: 21,3555 31521 DCA EDOTVEL
044933,000305: 21,3556 21514 DAS WTEMP
044934,000306: 21,3557 11513 CCS WTEMP
044935,000307: 21,3560 13673 TCF J22
044936,000308: 21,3561 13563 TCF SIGNCK2
044937,000309: 21,3562 13567 TCF NJ22
044938,000310: 21,3563 11514 SIGNCK2 CCS WTEMP +1
044939,000311: 21,3564 13673 TCF J22
044940,000312: 21,3565 13673 TCF J22
044941,000313: 21,3566 13567 TCF NJ22
044942,000314:
044943,000315: 21,3567 00006 NJ22 EXTEND
044944,000316: 21,3570 31521 DCA EDOTVEL
044945,000317: 21,3571 00006 EXTEND
044946,000318: 21,3572 11654 DV SLOPE
044947,000319: 21,3573 61502 AD T5TEMP # (ADB+AF)
044948,000320: 21,3574 61522 AD AERRVEL
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Page 1032
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044950,000322: 21,3575 10000 CCS A
044951,000323: 21,3576 13704 TCF J23
044952,000324: 21,3577 13704 TCF J23
044953,000325: 21,3600 13602 TCF +2
044954,000326: 21,3601 13704 TCF J23
044955,000327:
044956,000328: 21,3602 00006 EXTEND
044957,000329: 21,3603 43435 DCS WLMH # WL - H
044958,000330: 21,3604 53514 DXCH WTEMP
044959,000331: 21,3605 00006 EXTEND
044960,000332: 21,3606 31521 DCA EDOTVEL
044961,000333: 21,3607 21514 DAS WTEMP
044962,000334: 21,3610 11513 CCS WTEMP
044963,000335: 21,3611 13704 TCF J23
044964,000336: 21,3612 13614 TCF SIGNCK3
044965,000337: 21,3613 13620 TCF NJ23
044966,000338: 21,3614 11514 SIGNCK3 CCS WTEMP +1
044967,000339: 21,3615 13704 TCF J23
044968,000340: 21,3616 13704 TCF J23
044969,000341: 21,3617 13620 TCF NJ23
044970,000342:
044971,000343: 21,3620 31522 NJ23 CA AERRVEL
044972,000344: 21,3621 61502 AD T5TEMP # (ADB+AF)
044973,000345: 21,3622 63431 AD WL-H/SLP
044974,000346: 21,3623 10000 CCS A
044975,000347: 21,3624 13716 TCF J24
044976,000348: 21,3625 13716 TCF J24
044977,000349: 21,3626 13673 TCF J22
044978,000350: 21,3627 13673 TCF J22
044979,000351:
044980,000352: 21,3630 00006 J18 EXTEND
044981,000353: 21,3631 41516 DCS EDOT
044982,000354: 21,3632 53511 DXCH KMPAC
044983,000355: 21,3633 13727 TCF JTIME
044984,000356:
044985,000357: 21,3634 41517 J20 CS AERR
044986,000358: 21,3635 61523 AD ADBVEL
044987,000359: 21,3636 00006 EXTEND
044988,000360: 21,3637 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
044989,000361: 21,3640 53511 DXCH KMPAC
044990,000362: 21,3641 00006 EXTEND
044991,000363: 21,3642 41516 DCS EDOT
044992,000364: 21,3643 21511 DAS KMPAC
044993,000365: 21,3644 13727 TCF JTIME
044994,000366:
044995,000367: 21,3645 11515 J21 CCS EDOT
044996,000368: 21,3646 13664 TCF JP
044997,000369: 21,3647 13651 TCF SIGNCK4
044998,000370: 21,3650 13655 TCF JN
044999,000371: 21,3651 11516 SIGNCK4 CCS EDOT +1
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Page 1033
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045001,000373: 21,3652 13664 TCF JP
045002,000374: 21,3653 13664 TCF JP
045003,000375: 21,3654 13655 TCF JN
045004,000376: 21,3655 00006 JN EXTEND
045005,000377: 21,3656 41516 DCS EDOT
045006,000378: 21,3657 53511 DXCH KMPAC
045007,000379: 21,3660 00006 EXTEND
045008,000380: 21,3661 33437 DCA WL
045009,000381: 21,3662 21511 DAS KMPAC
045010,000382: 21,3663 13727 TCF JTIME
045011,000383:
045012,000384: 21,3664 00006 JP EXTEND
045013,000385: 21,3665 41516 DCS EDOT
045014,000386: 21,3666 53511 DXCH KMPAC
045015,000387: 21,3667 00006 EXTEND
045016,000388: 21,3670 43437 DCS WL
045017,000389: 21,3671 21511 DAS KMPAC
045018,000390: 21,3672 13727 TCF JTIME
045019,000391:
045020,000392: 21,3673 11515 J22 CCS EDOT
045021,000393: 21,3674 13655 TCF JN
045022,000394: 21,3675 13677 TCF SIGNCK5
045023,000395: 21,3676 13664 TCF JP
045024,000396: 21,3677 11516 SIGNCK5 CCS EDOT +1
045025,000397: 21,3700 13655 TCF JN
045026,000398: 21,3701 13655 TCF JN
045027,000399: 21,3702 13664 TCF JP
045028,000400: 21,3703 13664 TCF JP
045029,000401:
045030,000402: 21,3704 51506 J23 INDEX SPNDX
045031,000403: 21,3705 45003 CS BIT13 # RESET RATE DAMPING FLAG
045032,000404: 21,3706 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
045033,000405: 21,3707 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
045034,000406: # BIT11 FOR YAW (SPNDX = 2)
045035,000407:
045036,000408: 21,3710 51506 INDEX SPNDX
045037,000409: 21,3711 33033 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
045038,000410: 21,3712 71501 MASK RCSFLAGS # AXIS
045039,000411: 21,3713 00006 EXTEND
045040,000412: 21,3714 13750 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
045041,000413:
045042,000414: 21,3715 13630 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
045043,000415:
045044,000416: 21,3716 41517 J24 CS AERR
045045,000417: 21,3717 00006 EXTEND
045046,000418: 21,3720 61523 SU ADBVEL
045047,000419: 21,3721 00006 EXTEND
045048,000420: 21,3722 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
045049,000421: 21,3723 53511 DXCH KMPAC
045050,000422: 21,3724 00006 EXTEND
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Page 1034
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045052,000424: 21,3725 41516 DCS EDOT
045053,000425: 21,3726 21511 DAS KMPAC
045054,000426:
|
|
Page 1035
|
045056,000428: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045057,000429:
045058,000430: # T = J/M(DELTA W)
045059,000431: # J
045060,000432:
045061,000433: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045062,000434: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
045063,000435:
045064,000436: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045065,000437: # (57.3/450)(B24/1600)(1/.8)
045066,000438: # FOR 1 JET OPERATION (M = 700 FT-LB).
045067,000439: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
045068,000440:
045069,000441: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045070,000442: # KEYBOARD ENTRY ARE
045071,000443: # J/M (ROLL)
045072,000444: # J/M1 (PITCH)
045073,000445: # J/M2 (YAW)
045074,000446:
045075,000447: # T = JET ON-TIME SCALED 16384/1600 SEC
045076,000448: # J
045077,000449:
045078,000450: # THE COMPUTER VARIABLES ARE
045079,000451: # TAU (ROLL)
045080,000452: # TAU1 (PITCH)
045081,000453: # TAU2 (YAW)
045082,000454:
045083,000455: 21,3727 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
045084,000456: 21,3730 31623 CA J/M # SCALED (57.3/450)(B24/1600)
045085,000457: 21,3731 02042 TC SMALLMP # FOR 1-JET OPERATION
045086,000458: 21,3732 35005 CA BIT11
045087,000459: 21,3733 02042 TC SMALLMP
045088,000460: 21,3734 11510 CCS KMPAC
045089,000461: 21,3735 13741 TCF +4
045090,000462: 21,3736 13745 TCF TAUNORM
045091,000463: 21,3737 13743 TCF +4
045092,000464: 21,3740 13745 TCF TAUNORM
045093,000465: 21,3741 34777 CA POSMAX
045094,000466: 21,3742 13746 TCF DOJET
045095,000467: 21,3743 35001 CA NEGMAX
045096,000468: 21,3744 13746 TCF DOJET
045097,000469:
045098,000470: 21,3745 31511 TAUNORM CA KMPAC +1
045099,000471: 21,3746 51506 DOJET INDEX SPNDX
045100,000472: 21,3747 55561 TS TAU
045101,000473: 21,3750 11506 CCS SPNDX
045102,000474: 21,3751 13445 TCF JLOOP
045103,000475: 21,3752 13757 TCF T6PROG
045104,000476:
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Page 1036
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045106,000478: 21,3753 35021 ZEROCMDS CAF ZERO
045107,000479: 21,3754 55561 TS TAU
045108,000480: 21,3755 55562 TS TAU1
045109,000481: 21,3756 55563 TS TAU2
045110,000482: 21,3757 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
045111,000483: 21,3760 33764 DCA JETADDR # HAVE BEEN DETERMINED
045112,000484: 21,3761 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
045113,000485: 21,3762 15333 TCF RESUME
045114,000486:
045115,000487: 21,3763 E6,1510 EBANK= KMPAC
045116,000488: 21,3763 02552 36066 JETADDR 2CADR JETSLECT
045117,000489:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc