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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046111,000002: ## Copyright: Public domain.
046112,000003: ## Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
046113,000004: ## Purpose: A section of Comanche revision 051.
046114,000005: ## It is part of the reconstructed source code for the
046115,000006: ## original release of the flight software for the Command
046116,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
046117,000008: ## The code has been recreated from a copy of Comanche 055. It
046118,000009: ## has been adapted such that the resulting bugger words
046119,000010: ## exactly match those specified for Comanche 51 in NASA drawing
046120,000011: ## 2021153D, which gives relatively high confidence that the
046121,000012: ## reconstruction is correct.
046122,000013: ## Reference: pp. 1063-1092
046123,000014: ## Assembler: yaYUL
046124,000015: ## Contact: Ron Burkey <info@sandroid.org>.
046125,000016: ## Website: www.ibiblio.org/apollo/index.html
046126,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
046127,000018:
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Page 1063
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046129,000020: # SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046130,000021: # DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC.
046131,000022:
046132,000023: # CM/DSTBY = 1 FOR DAP OPERATION
046133,000024: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046134,000025:
046135,000026: 15,2434 BANK 15
046136,000027:
046137,000028: 15,2000 SETLOC ETRYDAP
046138,000029: 15,2000 BANK
046139,000030:
046140,000031: 15,2434 COUNT 15/DAPEN
046141,000032:
046142,000033: 15,2434 E6,1661 EBANK= AOG
046143,000034:
046144,000035: 15,2434 34377 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
046145,000036: 15,2435 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
046146,000037:
046147,000038: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
046148,000039: # PHASCHNG PROTECTION IS IN CM/DAPIC.
046149,000040:
046150,000041: 15,2436 35012 CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
046151,000042: 15,2437 71321 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
046152,000043: 15,2440 00006 EXTEND # GIMBAL DIFFERENCES)
046153,000044: 15,2441 12447 BZF READGYM1 # OK
046154,000045:
046155,000046: 15,2442 45017 CS BIT1 # NOT IN FINE ALIGN, SO IDLE.
046156,000047: 15,2443 70102 MASK CM/FLAGS # SET GYMDIFSW = 0
046157,000048: 15,2444 54102 TS CM/FLAGS
046158,000049: 15,2445 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
046159,000050: 15,2446 02514 TC CM/GYMIC +2
046160,000051:
046161,000052: 15,2447 30032 READGYM1 CA CDUX
046162,000053: 15,2450 57661 XCH AOG
046163,000054: 15,2451 00006 EXTEND
046164,000055: 15,2452 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
046165,000056: 15,2453 55675 TS -DELAOG
046166,000057:
046167,000058: 15,2454 30033 CA CDUY
046168,000059: 15,2455 57662 XCH AIG
046169,000060: 15,2456 00006 EXTEND
046170,000061: 15,2457 21662 MSU AIG
046171,000062: 15,2460 55676 TS -DELAIG
046172,000063:
046173,000064: 15,2461 30034 CA CDUZ
046174,000065: 15,2462 57663 XCH AMG
046175,000066: 15,2463 00006 EXTEND
046176,000067: 15,2464 21663 MSU AMG
046177,000068: 15,2465 55677 TS -DELAMG
046178,000069:
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Page 1064
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046180,000071: 15,2466 40102 DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
046181,000072: 15,2467 76214 MASK THREE
046182,000073: 15,2470 50000 INDEX A
046183,000074: 15,2471 02472 TC +1
046184,000075: 15,2472 02501 TC DOBRATE # OK, GO ON
046185,000076: 15,2473 02512 TC CM/GYMIC # DONT CALC BODYRATE ON FIRST PASS.
046186,000077: 15,2474 12475 NOOP
046187,000078: 15,2475 06000 TC FLUSHJET # TURN OFF ALL JETS
046188,000079:
046189,000080: 15,2476 05412 TC PHASCHNG
046190,000081: 15,2477 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
046191,000082:
046192,000083: 15,2500 05324 TC TASKOVER
046193,000084:
046194,000085: 15,2501 35017 DOBRATE CA ONE # DO BODYRATE
046195,000086: 15,2502 55720 DOBRATE1 TS JETEM # SKIP BODYRATE.
046196,000087:
046197,000088: 15,2503 34377 CA TEN # KEEP CDU READ GOING.
046198,000089: 15,2504 05245 TC WAITLIST
046199,000090: 15,2505 E6,1661 EBANK= AOG
046200,000091: 15,2505 02434 32066 2CADR READGYMB
046201,000092:
046202,000093: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046203,000094:
046204,000095: 15,2507 11720 CCS JETEM
046205,000096: 15,2510 02536 TC BODYRATE
046206,000097: 15,2511 05324 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
046207,000098:
046208,000099: 15,2512 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
046209,000100: 15,2513 35021 CAF ZERO
046210,000101: 15,2514 55711 TS JETAG
046211,000102: 15,2515 55706 TS OLDELP
046212,000103: 15,2516 55707 TS OLDELQ
046213,000104: 15,2517 55710 TS OLDELR
046214,000105: 15,2520 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
046215,000106: 15,2521 02502 TC DOBRATE1
046216,000107:
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Page 1065
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046218,000109: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046219,000110:
046220,000111: 15,2522 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
046221,000112: 15,2523 00002 TC Q # NO OVFL
046222,000113: 15,2524 50000 INDEX A
046223,000114: 15,2525 35000 CAF LIMITS
046224,000115: 15,2526 26001 ADS L
046225,000116: 15,2527 00002 TC Q
046226,000117:
046227,000118: 6000 BLOCK 3
046228,000119:
046229,000120: 6000 COUNT 03/DAPEN
046230,000121:
046231,000122: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
046232,000123: 6001 00006 EXTEND
046233,000124: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
046234,000125: 6003 00006 EXTEND
046235,000126: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
046236,000127: 6005 00002 TC Q
046237,000128:
046238,000129: 15,2530 BANK 15
046239,000130:
046240,000131: 15,2530 COUNT 15/DAPEN
046241,000132:
046242,000133: 15,2000 SETLOC ETRYDAP
046243,000134: 15,2000 BANK
046244,000135:
046245,000136: 15,2530 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046246,000137: 15,2531 61720 AD JETEM # OF CONSTANT ACCELERATION.
046247,000138: 15,2532 00006 EXTEND
046248,000139: 15,2533 75002 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
046249,000140: 15,2534 61720 AD JETEM
046250,000141: 15,2535 00002 TC Q
046251,000142:
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Page 1066
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046253,000144: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046254,000145:
046255,000146: 20,3612 BANK 20
046256,000147: 20,2000 SETLOC DAPS1
046257,000148: 20,2000 BANK
046258,000149:
046259,000150: 20,3612 COUNT 20/DAPEN
046260,000151: 20,3612 E6,1661 EBANK= AOG
046261,000152:
046262,000153: 20,3612 35057 CM/DAPON CA EBAOG
046263,000154: 20,3613 54003 TS EBANK
046264,000155:
046265,000156: 20,3614 05560 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
046266,000157: 20,3615 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
046267,000158: 20,3616 05560 TC DOWNFLAG # RESET DAPBIT2
046268,000159: 20,3617 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
046269,000160: 20,3620 00006 EXTEND
046270,000161: 20,3621 33737 DCA T5IDLER1 # DISABLE RCS CALCULATION
046271,000162: 20,3622 53313 DXCH T5LOC
046272,000163: 20,3623 00006 EXTEND
046273,000164: 20,3624 33737 DCA T5IDLER1 # DISABLE RCS JET CALLS
046274,000165: 20,3625 53311 DXCH T6LOC
046275,000166:
046276,000167: 20,3626 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
046277,000168:
046278,000169: 20,3627 47707 CS 13,14,15
046279,000170: 20,3630 71466 MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
046280,000171: 20,3631 55466 TS DAPDATR1
046281,000172: 20,3632 03636 TC +4
046282,000173:
046283,000174: 20,3633 35036 NOTYET CA .5SEC
046284,000175: 20,3634 04662 TC BANKCALL
046285,000176: 20,3635 01732 CADR DELAYJOB # (DELAYJOB DOES INHINT)
046286,000177: 20,3636 35005 +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0
046287,000178: 20,3637 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046288,000179: 20,3640 00006 EXTEND
046289,000180: 20,3641 13633 BZF NOTYET
046290,000181:
046291,000182: 20,3642 45017 CS ONE # ACTIVATE CM/DAP
046292,000183: 20,3643 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
046293,000184: # NEXT PASS.
046294,000185: 20,3644 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
046295,000186: # HEADSUP IS SET IN P62.
046296,000187:
046297,000188: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046298,000189:
046299,000190: 20,3645 30007 CA 7
046300,000191: 20,3646 55711 TS JETAG
046301,000192: 20,3647 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
046302,000193: # IN CASE CMDAPMOD IS NOT +1.
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Page 1067
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046304,000195: 20,3650 00004 INHINT
046305,000196: 20,3651 00006 EXTEND
046306,000197: 20,3652 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
046307,000198: 20,3653 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
046308,000199: 20,3654 31664 CA ROLL/180
046309,000200: 20,3655 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
046310,000201: 20,3656 00006 EXTEND
046311,000202: 20,3657 75002 MP HALF
046312,000203: 20,3660 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
046313,000204:
046314,000205: 20,3661 40102 CS CM/FLAGS
046315,000206: 20,3662 75004 MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
046316,000207: 20,3663 26102 ADS CM/FLAGS # SET BIT TO 1.
046317,000208:
046318,000209: 20,3664 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
046319,000210: 20,3665 75017 MASK BIT1 # V 37 ENTRIES.
046320,000211: 20,3666 26076 ADS FLAGWRD2
046321,000212:
046322,000213: 20,3667 00003 RELINT
046323,000214:
046324,000215: 20,3670 04701 TC POSTJUMP
046325,000216: 20,3671 54342 CADR P62.1
046326,000217:
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Page 1068
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046328,000219: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
046329,000220: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
046330,000221: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046331,000222: # SET AVEGEXIT TO CONTINUE AT CM/POSE
046332,000223:
046333,000224: 20,3672 35057 CM/DAPIC CA EBAOG
046334,000225: 20,3673 54003 TS EBANK
046335,000226:
046336,000227: 20,3674 00004 INHINT
046337,000228: 20,3675 41205 CM/DAP2C CS PIPTIME +1
046338,000229: # PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046339,000230: 20,3676 55720 TS JETEM
046340,000231:
046341,000232: 20,3677 35002 CA POS1/2
046342,000233: 20,3700 65002 AD POS1/2
046343,000234: 20,3701 60025 AD TIME1 # OVFL GUARANTEED
046344,000235: 20,3702 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
046345,000236:
046346,000237: 20,3703 45022 CS FIVE
046347,000238: 20,3704 61720 AD JETEM
046348,000239: 20,3705 10000 CCS A
046349,000240: 20,3706 63735 AD -CDUT+1
046350,000241: 20,3707 13705 TCF -2
046351,000242: 20,3710 13711 NOOP
046352,000243: 20,3711 65017 AD ONE # SEND NO ZERO TO WTLST
046353,000244: 20,3712 55725 TS CM/GYMDT # FOR RESTART
046354,000245: 20,3713 05245 TC WAITLIST
046355,000246: 20,3714 E6,1661 EBANK= AOG
046356,000247: 20,3714 02434 32066 2CADR READGYMB
046357,000248:
046358,000249: 20,3716 43734 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
046359,000250: 20,3717 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
046360,000251: 20,3720 64377 AD CM/SWIC2 # SET CM/DSTBY, LATSW
046361,000252: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046362,000253: # CALC. (P62.3) GOES TO ENDEXIT.
046363,000254: 20,3721 54102 TS CM/FLAGS
046364,000255:
046365,000256: 20,3722 30007 CA 7
046366,000257: 20,3723 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTION
046367,000258: 20,3724 35017 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
046368,000259: 20,3725 54305 TS SW/NDX # UPBUFF.
046369,000260:
046370,000261: 20,3726 05372 TC 2PHSCHNG # DOES INHINT/RELINT
046371,000262: 20,3727 40116 OCT 40116 # SAVE TBASE6
046372,000263: 20,3730 05024 OCT 05024
046373,000264: 20,3731 13000 OCT 13000
046374,000265:
046375,000266: 20,3732 04701 TC POSTJUMP
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Page 1069
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046377,000268: 20,3733 54326 CADR P62.2
046378,000269:
046379,000270: 20,3734 16017 CM/SWIC1 OCT 16017
046380,000271: 20,3735 4377 CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
046381,000272: 20,3735 77766 -CDUT+1 OCT 77766
046382,000273: 20,3736 1312 EBANK= T5LOC
046383,000274: 20,3736 03153 12062 T5IDLER1 2CADR T5IDLOC
046384,000275:
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Page 1070
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046386,000277: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046387,000278: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1
046388,000279:
046389,000280: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
046390,000281: # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
046391,000282: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046392,000283: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046393,000284: # THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046394,000285:
046395,000286: 20,3740 E6,1661 EBANK= AOG
046396,000287: 15,2536 BANK 15
046397,000288: 15,2000 SETLOC ETRYDAP
046398,000289: 15,2000 BANK
046399,000290:
046400,000291: 15,2536 COUNT 15/DAPEN
046401,000292:
046402,000293: 15,2536 31663 BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046403,000294: 15,2537 05074 TC SPCOS
046404,000295: 15,2540 55511 TS COSM
046405,000296:
046406,000297: 15,2541 31661 CA AOG # C(AOG) = AOG/180
046407,000298: 15,2542 05075 TC SPSIN # SINO
046408,000299: 15,2543 55512 TS SINO # SINO = SIN(AOG)
046409,000300:
046410,000301: 15,2544 00006 EXTEND
046411,000302: 15,2545 71511 MP COSM
046412,000303: 15,2546 55514 TS SINOCOSM # SO CM
046413,000304:
046414,000305: 15,2547 31661 CA AOG
046415,000306: 15,2550 05074 TC SPCOS # COSO
046416,000307: 15,2551 55513 TS COSO
046417,000308:
046418,000309: 15,2552 00006 EXTEND
046419,000310: 15,2553 71511 MP COSM
046420,000311: 15,2554 55515 TS COSOCOSM # CO CM
046421,000312:
046422,000313: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046423,000314:
046424,000315: 15,2555 41677 CS -DELAMG
046425,000316: 15,2556 00006 EXTEND
046426,000317: 15,2557 71512 MP SINO
046427,000318: 15,2560 53721 DXCH JETEM # 2 LOCS _
046428,000319: 15,2561 41676 CS -DELAIG
046429,000320: 15,2562 00006 EXTEND
046430,000321: 15,2563 71515 MP COSOCOSM
046431,000322: 15,2564 21721 DAS JETEM
046432,000323: 15,2565 31720 CA JETEM
046433,000324: 15,2566 57707 XCH OLDELQ
046434,000325: 15,2567 02530 TC RATEAVG
046435,000326: 15,2570 55702 TS QREL # PITCHDOT = Q TCDU/180
046436,000327:
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Page 1071
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046438,000329: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
046439,000330:
046440,000331: 15,2571 41677 CS -DELAMG
046441,000332: 15,2572 00006 EXTEND
046442,000333: 15,2573 71513 MP COSO
046443,000334: 15,2574 53721 DXCH JETEM
046444,000335: 15,2575 31676 CA -DELAIG
046445,000336: 15,2576 00006 EXTEND
046446,000337: 15,2577 71514 MP SINOCOSM
046447,000338: 15,2600 21721 DAS JETEM
046448,000339: 15,2601 31720 CA JETEM
046449,000340: 15,2602 57710 XCH OLDELR
046450,000341: 15,2603 02530 TC RATEAVG
046451,000342: 15,2604 55703 TS RREL # YAWDOT = R TCDU/180
046452,000343:
046453,000344: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
046454,000345:
046455,000346: 15,2605 31663 CA AMG
046456,000347: 15,2606 05075 TC SPSIN
046457,000348: 15,2607 55510 TS SINM
046458,000349:
046459,000350: 15,2610 00006 EXTEND
046460,000351: 15,2611 71676 MP -DELAIG
046461,000352: 15,2612 55720 TS JETEM
046462,000353: 15,2613 35021 CA ZERO
046463,000354: 15,2614 20001 DDOUBL # ROUND L INTO A
046464,000355: 15,2615 61675 AD -DELAOG
046465,000356: 15,2616 61720 AD JETEM
046466,000357: 15,2617 40000 CS A
046467,000358: 15,2620 55720 TS JETEM
046468,000359: 15,2621 57706 XCH OLDELP
046469,000360: 15,2622 02530 TC RATEAVG
046470,000361: 15,2623 55701 TS PREL # ROLLDOT = P TCDU/180
046471,000362:
046472,000363: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
046473,000364:
046474,000365: 15,2624 11723 CCS GAMDOT
046475,000366: 15,2625 02627 TC +2
046476,000367: 15,2626 02651 TC NOGAMDUT
046477,000368: 15,2627 41664 CS ROLL/180
046478,000369: 15,2630 05075 TC SPSIN
046479,000370: 15,2631 00006 EXTEND
046480,000371: 15,2632 71723 MP GAMDOT
046481,000372: 15,2633 55721 TS JETEM +1 # -SR GAMDOT
046482,000373: 15,2634 00006 EXTEND
046483,000374: 15,2635 73177 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
046484,000375: 15,2636 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
046485,000376:
046486,000377: 15,2637 31664 CA ROLL/180
046487,000378: 15,2640 05074 TC SPCOS
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Page 1072
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046489,000380: 15,2641 40000 COM
046490,000381: 15,2642 00006 EXTEND
046491,000382: 15,2643 71723 MP GAMDOT
046492,000383: 15,2644 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
046493,000384:
046494,000385: 15,2645 41721 CS JETEM +1 # B( ) = -SR GAMDOT
046495,000386: 15,2646 00006 EXTEND
046496,000387: 15,2647 73200 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
046497,000388: 15,2650 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
046498,000389:
046499,000390: 15,2651 35004 NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
046500,000391: 15,2652 70102 MASK CM/FLAGS
046501,000392: 15,2653 00006 EXTEND
046502,000393: 15,2654 15324 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
046503,000394:
046504,000395: 15,2655 34777 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
046505,000396: 15,2656 54030 TS TIME5
046506,000397:
046507,000398: 15,2657 00006 EXTEND
046508,000399: 15,2660 32664 DCA ATDOTCAD
046509,000400: 15,2661 53313 DXCH T5LOC
046510,000401: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046511,000402:
046512,000403: 15,2662 05324 TC TASKOVER
046513,000404:
046514,000405: 15,2663 E6,1661 EBANK= AOG
046515,000406: 15,2663 02665 32066 ATDOTCAD 2CADR ATTRATES
046516,000407:
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|
Page 1073
|
046518,000409: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
046519,000410:
046520,000411: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
046521,000412: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
046522,000413: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
046523,000414:
046524,000415: 15,2665 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
046525,000416: 15,2666 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
046526,000417: 15,2667 22012 QXCH QRUPT
046527,000418: 15,2670 30021 CA SR
046528,000419: 15,2671 60000 DOUBLE
046529,000420: 15,2672 55623 TS CM/SAVE
046530,000421: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046531,000422:
046532,000423: 15,2673 31702 CA QREL
046533,000424: 15,2674 61665 AD ALFA/180
046534,000425: 15,2675 02522 TC ANGOVCOR
046535,000426: 15,2676 55665 TS ALFA/180
046536,000427: 15,2677 05074 TC SPCOS
046537,000428: 15,2700 55506 TS CALFA # CALFA
046538,000429: 15,2701 55705 TS PHIDOT
046539,000430:
046540,000431: 15,2702 00006 EXTEND
046541,000432: 15,2703 71701 MP PREL
046542,000433: 15,2704 57705 XCH PHIDOT # CA PREL
046543,000434: 15,2705 00006 EXTEND
046544,000435: 15,2706 71703 MP RREL # CA RREL
046545,000436: 15,2707 55704 TS BETADOT
046546,000437:
046547,000438: 15,2710 31665 CA ALFA/180
046548,000439: 15,2711 05075 TC SPSIN
046549,000440: 15,2712 55507 TS SALFA # SIN(ALFA)
046550,000441:
046551,000442: 15,2713 00006 EXTEND
046552,000443: 15,2714 71703 MP RREL # SA RREL
046553,000444: 15,2715 27705 ADS PHIDOT # CB PHIDOT, SAVED.
046554,000445:
046555,000446: 15,2716 41507 CS SALFA
046556,000447: 15,2717 00006 EXTEND
046557,000448: 15,2720 71701 MP PREL
046558,000449: 15,2721 27704 ADS BETADOT # SAVE BETADOT TCDU/180
046559,000450: 15,2722 27666 ADS BETA/180 # BETA DONE.
046560,000451:
046561,000452: 15,2723 05075 TC SPSIN
046562,000453: 15,2724 00006 EXTEND
046563,000454: 15,2725 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
046564,000455: 15,2726 61665 AD ALFA/180
046565,000456: 15,2727 02522 TC ANGOVCOR
046566,000457: 15,2730 55665 TS ALFA/180 # ALFA DONE.
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|
Page 1074
|
046568,000459: 15,2731 40000 COM
046569,000460: 15,2732 61603 AD ALFACOM
046570,000461: 15,2733 02522 TC ANGOVCOR # JUST IN CASE ...
046571,000462: 15,2734 55477 TS AK1
046572,000463: 15,2735 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
046573,000464:
046574,000465: 15,2736 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
046575,000466: 15,2737 61664 AD ROLL/180
046576,000467: 15,2740 02522 TC ANGOVCOR
046577,000468: 15,2741 55714 TS ROLLTM # ROLL/180 FOR TM.
046578,000469: 15,2742 55664 TS ROLL/180 # ROLL DONE.
046579,000470:
046580,000471: # START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
046581,000472:
046582,000473: 15,2743 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
046583,000474: 15,2744 61604 AD BETACOM
046584,000475: 15,2745 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
046585,000476: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
046586,000477: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
046587,000478: # BE R-AXIS ERROR.
046588,000479:
046589,000480: 15,2746 35015 CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
046590,000481: 15,2747 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
046591,000482: 15,2750 00006 EXTEND
046592,000483: 15,2751 13037 BZF EXDAP # IF G LESS THAN .05
046593,000484: 15,2752 45017 CS ONE # IF G GEQ THAN .05
046594,000485: 15,2753 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
046595,000486:
046596,000487: 15,2754 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
046597,000488: 15,2755 55500 TS AK2 # IN ATM. (MODE =-1)
046598,000489:
046599,000490: 15,2756 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
046600,000491: 15,2757 00006 EXTEND
046601,000492: 15,2760 73177 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
046602,000493: 15,2761 61703 AD RREL
046603,000494: 15,2762 03027 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
046604,000495: 15,2763 50000 INDEX A # +/- 1 IF NOT
046605,000496: 15,2764 33202 CAF YJETCODE
046606,000497:
046607,000498: 15,2765 55720 TS JETEM
046608,000499:
046609,000500: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
046610,000501:
046611,000502: 15,2766 31702 CA QREL
046612,000503: 15,2767 03027 TC 2D/SDZ
046613,000504: 15,2770 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
046614,000505: 15,2771 33205 CAF P/RJCODE
046615,000506: 15,2772 27720 ADS JETEM # COMBINE ALL NEW BITS.
046616,000507:
046617,000508: 15,2773 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
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|
Page 1075
|
046619,000510: 15,2774 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
046620,000511:
046621,000512: 15,2775 11711 CCS JETAG
046622,000513: 15,2776 03216 TC CM/RCS
046623,000514: 15,2777 03677 TC CM/FDAI
046624,000515: 15,3000 03704 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
046625,000516:
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|
Page 1076
|
046627,000518: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
046628,000519:
046629,000520: 15,3001 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
046630,000521: 15,3002 63175 AD YAWLIM
046631,000522: 15,3003 13033 TCF DZCOM
046632,000523: 15,3004 63175 AD YAWLIM
046633,000524: 15,3005 13034 TCF DZNOCOM
046634,000525:
046635,000526: # BIASED DZ FOR EXT ATM DAP.
046636,000527: 15,3006 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
046637,000528: 15,3007 10000 CCS A # START ERROR DZ.
046638,000529: 15,3010 43174 CS CM/BIAS # = .6/180
046639,000530: 15,3011 13013 TCF +2
046640,000531: 15,3012 33174 CA CM/BIAS
046641,000532: 15,3013 60001 AD L # BIAS THE ERROR.
046642,000533: 15,3014 22002 LXCH Q # SAVE CALLERS RETURN ADDRESS.
046643,000534: 15,3015 03001 TC 3DDZ # GO GENERATE THE ERROR BIT.
046644,000535: 15,3016 52002 DXCH L # BIT TO L, RESTORE CALLERS Q.
046645,000536: 15,3017 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
046646,000537: 15,3020 63172 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
046647,000538: 15,3021 13023 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
046648,000539: 15,3022 63172 AD 4D/SLIM
046649,000540: 15,3023 54000 TS A
046650,000541: 15,3024 13026 TCF +2 # RATE OK. CONTINUE
046651,000542: 15,3025 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
046652,000543: 15,3026 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
046653,000544:
046654,000545: 15,3027 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
046655,000546: 15,3030 63173 AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
046656,000547: 15,3031 13034 TCF +3
046657,000548: 15,3032 63173 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
046658,000549: 15,3033 40000 DZCOM COM
046659,000550: 15,3034 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
046660,000551: 15,3035 35021 CA ZERO # SET C(A) = +0 INSIDE
046661,000552: 15,3036 00002 TC Q
046662,000553:
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|
Page 1077
|
046664,000555: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
046665,000556:
046666,000557: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
046667,000558: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
046668,000559: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
046669,000560: # R-AXIS = CONTROL
046670,000561:
046671,000562: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
046672,000563: # RATE = PREL
046673,000564: # P-AXIS = CONTROL
046674,000565:
046675,000566: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
046676,000567: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
046677,000568: # RATE = BETADOT
046678,000569: # P-AXIS = CONTROL
046679,000570:
046680,000571: # ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY.
046681,000572: # RATE = RREL
046682,000573: # R-AXIS = CONTROL
046683,000574:
046684,000575: # 3. FOR ALL CASES, USE
046685,000576: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
046686,000577: # RATE = QREL
046687,000578: # Q-AXIS = CONTROL
046688,000579:
046689,000580: 15,3037 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
046690,000581: 15,3040 11506 CCS CALFA
046691,000582: 15,3041 63176 AD C45LIM # =1.0-COS(45)
046692,000583: 15,3042 13044 TCF +2
046693,000584: 15,3043 63176 AD C45LIM
046694,000585: 15,3044 54000 TS A
046695,000586: 15,3045 13126 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
046696,000587:
046697,000588: 15,3046 11506 CCS CALFA # |CALFA| > 0.707
046698,000589: 15,3047 13050 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
046699,000590:
046700,000591: 15,3050 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
046701,000592: 15,3051 03064 TC EXDAP4
046702,000593: 15,3052 03054 TC +2
046703,000594: 15,3053 03064 TC EXDAP4
046704,000595: 15,3054 05412 TC PHASCHNG # SINGLE PASS THROUGH HERE.
046705,000596: 15,3055 40334 OCT 40334
046706,000597: 15,3056 45017 CS ONE
046707,000598: 15,3057 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
046708,000599: 15,3060 33171 CA NSEC
046709,000600: 15,3061 05245 TC WAITLIST
046710,000601: 15,3062 E6,1661 EBANK= AOG
046711,000602: 15,3062 02374 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
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|
Page 1078
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046713,000604: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
046714,000605: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
046715,000606:
046716,000607: 15,3064 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
046717,000608: 15,3065 13073 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
046718,000609: 15,3066 13073 TCF EXDAP3
046719,000610: 15,3067 35021 CA ZERO
046720,000611: 15,3070 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
046721,000612: 15,3071 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
046722,000613: 15,3072 55711 TS JETAG # RESTORE PROPER VALUE +0
046723,000614:
046724,000615: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
046725,000616: 15,3073 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
046726,000617: 15,3074 31573 CA RAXERR # C()= BETACOM - BETA/180
046727,000618: 15,3075 13101 TCF EXDAP1
046728,000619: 15,3076 45021 CS ZERO
046729,000620: 15,3077 55700 TS CMDAPMOD # FOR CM/RCS
046730,000621: 15,3100 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
046731,000622: 15,3101 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
046732,000623: 15,3102 55500 TS AK2 # WANT RAXERR FOR TM.
046733,000624: 15,3103 54001 TS L
046734,000625: 15,3104 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
046735,000626: 15,3105 03110 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
046736,000627: 15,3106 35017 CA ONE # USE BETADOT TO COORD IN MODE +0
046737,000628: 15,3107 50000 INDEX A # OTHERWISE USE RREL.
046738,000629: 15,3110 31703 CA RREL
046739,000630: 15,3111 03006 TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
046740,000631: # IF GEQ 4D/S, SET ERROR BIT IN L=0)
046741,000632: 15,3112 00006 EXTEND
046742,000633: 15,3113 04001 ROR LCHAN # L HAS BETA BIT
046743,000634: 15,3114 50000 INDEX A
046744,000635: 15,3115 33202 CAF YJETCODE
046745,000636: 15,3116 55720 TS JETEM
046746,000637:
046747,000638: 15,3117 31572 CA QAXERR # ALFA ERROR.
046748,000639: 15,3120 54001 TS L
046749,000640: 15,3121 31702 CA QREL # FOR ALFADOT USE QREL
046750,000641: 15,3122 03006 TC BIASEDZ
046751,000642: 15,3123 00006 EXTEND
046752,000643: 15,3124 04001 ROR LCHAN
046753,000644: 15,3125 12770 TCF EXDAPIN # CONTINUE ON IN DAP
046754,000645:
046755,000646: 15,3126 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
046756,000647:
046757,000648: 15,3127 45017 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
046758,000649: 15,3130 55711 TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
046759,000650: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
046760,000651:
046761,000652: 15,3131 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
046762,000653: 15,3132 55727 TS P63FLAG
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Page 1079
|
046764,000655: 15,3133 13134 NOOP
046765,000656:
046766,000657: 15,3134 11507 CCS SALFA # BETA CONTROL WITH P JETS
046767,000658: 15,3135 41573 CS RAXERR # B()= BETACOM - BETA/180
046768,000659: 15,3136 13140 TCF +2
046769,000660: 15,3137 31573 CA RAXERR
046770,000661: 15,3140 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
046771,000662: 15,3141 00006 EXTEND
046772,000663: 15,3142 75002 MP HALF # CM/FDAI EXPECTS ERROR/360.
046773,000664: 15,3143 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
046774,000665: 15,3144 54001 TS L
046775,000666: 15,3145 11507 CCS SALFA
046776,000667: 15,3146 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
046777,000668: 15,3147 03151 TC +2
046778,000669: 15,3150 31704 CA BETADOT
046779,000670: 15,3151 03006 TC BIASEDZ
046780,000671: 15,3152 00006 EXTEND
046781,000672: 15,3153 04001 ROR LCHAN
046782,000673: 15,3154 50000 INDEX A
046783,000674: 15,3155 33205 CAF P/RJCODE # GET ROLL CODE
046784,000675: 15,3156 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
046785,000676: 15,3157 01006 WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST
046786,000677:
046787,000678: 15,3160 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
046788,000679: 15,3161 00006 EXTEND
046789,000680: 15,3162 21664 MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.?
046790,000681: 15,3163 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
046791,000682: 15,3164 11507 CCS SALFA
046792,000683: 15,3165 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
046793,000684: 15,3166 03101 TC EXDAP1
046794,000685: 15,3167 40001 CS L
046795,000686: 15,3170 03101 TC EXDAP1
046796,000687:
046797,000688: 15,3171 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
046798,000689: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
046799,000690: 15,3172 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
046800,000691: 15,3173 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
046801,000692: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
046802,000693:
046803,000694: 15,3174 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
046804,000695: 15,3175 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
046805,000696: 15,3176 11277 C45LIM DEC .29289 # =1.0-COS(45)
046806,000697:
046807,000698: 15,3177 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
046808,000699: 15,3200 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
046809,000700:
046810,000701: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
046811,000702: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
046812,000703: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
046813,000704:
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|
Page 1080
|
046815,000706: # JET CODE TABLES FOLLOW _
046816,000707:
046817,000708: 15,3201 00120 OCTAL 00120 # POS Y
046818,000709: 15,3202 00000 YJETCODE OCTAL 00000 # RCS JET BITS
046819,000710: 15,3203 00240 OCTAL 00240 # NEG Y
046820,000711: 15,3204 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
046821,000712: 15,3205 00000 P/RJCODE OCTAL 00000
046822,000713: 15,3206 00012 OCTAL 00012 # NEG R ALSO NEG P
046823,000714:
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|
Page 1081
|
046825,000716: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
046826,000717: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
046827,000718: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
046828,000719: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
046829,000720: # NEXT UPDATE.
046830,000721:
046831,000722: 15,3207 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
046832,000723: 15,3210 55712 TS TUSED
046833,000724: # THE 5 CS APPEARS IN TIMETST.
046834,000725: 15,3211 35017 CA ONE # RATHER THAN INCR, FOR SAFETY
046835,000726: 15,3212 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
046836,000727: 15,3213 05412 TC PHASCHNG
046837,000728: 15,3214 00001 OCT 00001
046838,000729:
046839,000730: 15,3215 05324 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
046840,000731:
046841,000732: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
046842,000733: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
046843,000734: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
046844,000735: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
046845,000736:
046846,000737: 15,3216 5001 HALFPR EQUALS NEG1/2 +1
046847,000738:
046848,000739: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
046849,000740: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
046850,000741: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
046851,000742: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
046852,000743:
046853,000744: 15,3216 45017 CM/RCS CS ONE
046854,000745: 15,3217 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
046855,000746:
046856,000747: 15,3220 45033 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
046857,000748: 15,3221 00006 EXTEND
046858,000749: 15,3222 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
046859,000750: 15,3223 60001 AD L # -2 RDOT T/180 IN L
046860,000751: 15,3224 55613 TS -VT/180 # SAVE -2VT/180 HERE
046861,000752:
046862,000753: 15,3225 41664 CS ROLL/180
046863,000754: 15,3226 54021 TS SR # SAVE (-R/180) /2
046864,000755:
046865,000756: 15,3227 40102 CS CM/FLAGS
046866,000757: 15,3230 75014 MASK BIT4 # LATSW = 101D BIT4
046867,000758: 15,3231 00006 EXTEND # ROLL OVER TOP $
046868,000759: 15,3232 13240 BZF GETLCX # NO, TAKE SHORTEST PATH
046869,000760: 15,3233 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
046870,000761: 15,3234 31715 CA ROLLC # (ROLLC/180) /2
046871,000762: 15,3235 60021 AD SR # -(R/180) /2
046872,000763: 15,3236 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
046873,000764: 15,3237 13300 TCF COMPAT # POSSIBLE OVFL ABOVE.
046874,000765:
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Page 1082
|
046876,000767: 15,3240 35002 GETLCX CA POS1/2 # FORM RCOM/360
046877,000768: 15,3241 60000 DOUBLE
046878,000769: 15,3242 61715 AD ROLLC
046879,000770: 15,3243 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
046880,000771:
046881,000772: 15,3244 30021 CA SR # FORM -R/360
046882,000773: 15,3245 65000 AD NEG1/2
046883,000774: 15,3246 65000 AD NEG1/2 # IGNORE OVFL
046884,000775: 15,3247 57614 XCH LCX/360 # -R/360
046885,000776: 15,3250 27614 ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
046886,000777:
046887,000778: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
046888,000779:
046889,000780: 15,3251 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
046890,000781: 15,3252 65017 AD ONE # (BASED ON SINGLE JET ACCELERATION)
046891,000782: 15,3253 13255 TCF +2
046892,000783: 15,3254 65017 AD ONE
046893,000784: 15,3255 00006 EXTEND
046894,000785: 15,3256 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
046895,000786: 15,3257 00006 EXTEND
046896,000787: 15,3260 73750 MP 1/16A1 # = 180/(16 A1 TT)
046897,000788: 15,3261 00006 EXTEND
046898,000789: 15,3262 11506 DV CALFA
046899,000790: 15,3263 54001 TS L
046900,000791: 15,3264 11614 CCS LCX/360
046901,000792: 15,3265 35002 CAF POS1/2
046902,000793: 15,3266 13270 TCF +2
046903,000794: 15,3267 45002 CS POS1/2
046904,000795: 15,3270 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEG $
046905,000796: 15,3271 60001 AD L
046906,000797: 15,3272 54001 TS L
046907,000798: 15,3273 13300 TCF COMPAT # YES, GO ON.
046908,000799: 15,3274 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
046909,000800: 15,3275 45001 CS HALFPR # +A YIELDS -1/2
046910,000801: 15,3276 60000 DOUBLE
046911,000802: 15,3277 27614 ADS LCX/360
046912,000803:
046913,000804: 15,3300 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
046914,000805: 15,3301 00006 EXTEND
046915,000806: 15,3302 71506 MP CALFA # COS ALFA
046916,000807: 15,3303 55614 TS LCX/360 # SCALED LCX OK HERE.
046917,000808:
046918,000809: 15,3304 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
046919,000810: 15,3305 03675 TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0)
046920,000811: # ALL 3 AXES ALREADY DONE.
046921,000812: 15,3306 03307 TC +1 # G LESS THAN .05. CA POS. CONTINUE
046922,000813: 15,3307 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
046923,000814: 15,3310 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
046924,000815: 15,3311 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
046925,000816: 15,3312 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360)
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|
Page 1083
|
046927,000818: 15,3313 31613 CA -VT/180 # GET - 2 VT/180
046928,000819: 15,3314 54021 TS SR
046929,000820: 15,3315 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
046930,000821: 15,3316 55570 TS -VT/180E # DIAGNOSTIC ****
046931,000822: 15,3317 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
046932,000823: 15,3320 00006 EXTEND
046933,000824: 15,3321 71613 MP -VT/180 # B(A) = -2VT/180
046934,000825: 15,3322 00006 EXTEND
046935,000826: 15,3323 73750 MP 180/8ATT
046936,000827: 15,3324 55616 TS VSQ/4API
046937,000828:
046938,000829: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
046939,000830:
046940,000831: 15,3325 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
046941,000832: 15,3326 40000 COM
046942,000833: 15,3327 63754 AD BUFLIM # =BUFLIM/(2 360)
046943,000834: 15,3330 54001 TS L
046944,000835: 15,3331 11613 CCS -VT/180
046945,000836: 15,3332 40001 CS L
046946,000837: 15,3333 13335 TCF +2
046947,000838: 15,3334 30001 CA L
046948,000839: 15,3335 61614 AD LCX/360
046949,000840: 15,3336 63754 AD BUFLIM
046950,000841: 15,3337 00006 EXTEND
046951,000842: 15,3340 63355 BZMF REFLECT # POINT (X,V) IN LHP.
046952,000843:
046953,000844: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
046954,000845:
046955,000846: 15,3341 40000 COM
046956,000847: 15,3342 63754 AD BUFLIM
046957,000848: 15,3343 63754 AD BUFLIM
046958,000849: 15,3344 00006 EXTEND
046959,000850: 15,3345 63364 BZMF DZ1 # POINT (X,V) IN RHP.
046960,000851:
046961,000852: # IS POINT WITHIN VELOCITY DZ?
046962,000853:
046963,000854: 15,3346 43747 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
046964,000855: 15,3347 61616 AD VSQ/4API
046965,000856: 15,3350 00006 EXTEND
046966,000857: 15,3351 63657 BZMF DZCALL # YES.
046967,000858:
046968,000859: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
046969,000860:
046970,000861: 15,3352 41617 CS JNDX
046971,000862: 15,3353 55620 TS JNDX1
046972,000863: 15,3354 03437 TC OVRLINE1
046973,000864:
046974,000865: 15,3355 41613 REFLECT CS -VT/180 # REFLECT LHP INTO RHP REL TO TERM CONTR
046975,000866: 15,3356 55613 TS -VT/180
046976,000867: 15,3357 54021 TS SR # -VT/360 SAVED FOR DZ.
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|
Page 1084
|
046978,000869: 15,3360 41614 CS LCX/360
046979,000870: 15,3361 55614 TS LCX/360
046980,000871: 15,3362 41617 CS JNDX
046981,000872: 15,3363 55617 TS JNDX
046982,000873:
046983,000874: # IS VSQ/4API - (VSQ/4API) MIN NEG $
046984,000875:
046985,000876: 15,3364 43747 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
046986,000877: 15,3365 61616 AD VSQ/4API
046987,000878: 15,3366 00006 EXTEND
046988,000879: 15,3367 63371 BZMF DZ2 # YES, GO TEST FURTHER.
046989,000880: 15,3370 13376 TCF MAXVTEST # NO
046990,000881:
046991,000882: # IS X/360 - XMIN/360 -VT/360 NEG $
046992,000883:
046993,000884: 15,3371 43752 DZ2 CS XMIN/360 # XMIN/360 = 4/360
046994,000885: 15,3372 61614 AD LCX/360
046995,000886: 15,3373 60021 AD SR # C(SR) = -VT/360
046996,000887: 15,3374 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
046997,000888: 15,3375 63657 BZMF DZCALL # YES,IN DZ. EXIT SETTING JETAG=0.
046998,000889:
046999,000890: # IS XD/360 - VM/360K - XS/360 POS ?
047000,000891:
047001,000892: 15,3376 41617 MAXVTEST CS JNDX
047002,000893: 15,3377 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
047003,000894: 15,3400 43754 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
047004,000895: 15,3401 61616 AD VSQ/4API
047005,000896: 15,3402 61614 AD LCX/360
047006,000897: 15,3403 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
047007,000898: # BUT C(XD/360) = (XD - XS) /360
047008,000899: 15,3404 63753 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
047009,000900: 15,3405 40000 COM
047010,000901: 15,3406 00006 EXTEND
047011,000902: 15,3407 63415 BZMF MAXVTIM1 # YES, THRUST TO VM
047012,000903: 15,3410 31615 CA XD/360
047013,000904: 15,3411 00006 EXTEND
047014,000905: 15,3412 75002 MP KTRCS
047015,000906: 15,3413 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
047016,000907:
047017,000908: 15,3414 03420 TC GETON1 # INSURE THAT Q IS POS AS TAG.
047018,000909: 15,3415 00006 MAXVTIM1 EXTEND
047019,000910: 15,3416 22007 ZQ # SET +0 AS TAG
047020,000911: 15,3417 43753 CS -VMT/180
047021,000912: 15,3420 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180.
047022,000913: 15,3421 61613 AD -VT/180
047023,000914: 15,3422 60000 DOUBLE
047024,000915: 15,3423 00006 EXTEND
047025,000916: 15,3424 73750 MP 180/8ATT
047026,000917: 15,3425 55621 TS TON1 # TON1 / 4T
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|
Page 1085
|
047028,000919: 15,3426 00006 EXTEND
047029,000920: 15,3427 63431 BZMF OVRLINE
047030,000921: 15,3430 03443 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
047031,000922:
047032,000923: 15,3431 10002 OVRLINE CCS Q
047033,000924: 15,3432 13437 TCF OVRLINE1
047034,000925: 15,3433 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
047035,000926: 15,3434 55617 TS JNDX
047036,000927: 15,3435 41621 CS TON1
047037,000928: 15,3436 13442 TCF OVRLINE2 +1
047038,000929:
047039,000930: 15,3437 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
047040,000931: 15,3440 55567 TS VDT/180
047041,000932: 15,3441 35021 OVRLINE2 CA ZERO
047042,000933: 15,3442 55621 TS TON1
047043,000934: 15,3443 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
047044,000935: 15,3444 60000 DOUBLE
047045,000936: 15,3445 00006 EXTEND
047046,000937: 15,3446 73750 MP 180/8ATT
047047,000938: 15,3447 60000 DOUBLE # FOR SECOND BURN, A1
047048,000939: 15,3450 55607 TS TON2 # = TON2 / 4T
047049,000940:
047050,000941: 15,3451 40000 COM
047051,000942: 15,3452 00006 EXTEND
047052,000943: 15,3453 63457 BZMF GETOFF
047053,000944: 15,3454 55607 TS TON2
047054,000945: 15,3455 31617 CA JNDX
047055,000946: 15,3456 55620 TS JNDX1
047056,000947:
047057,000948: 15,3457 41607 GETOFF CS TON2 # TON2 / 4T
047058,000949: 15,3460 00006 EXTEND
047059,000950: 15,3461 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
047060,000951: 15,3462 55615 TS XD/360 # USE AS TEMP
047061,000952: 15,3463 41567 CS VDT/180
047062,000953: 15,3464 00006 EXTEND
047063,000954: 15,3465 13501 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
047064,000955: 15,3466 61613 AD -VT/180
047065,000956: 15,3467 00006 EXTEND
047066,000957: 15,3470 71621 MP TON1 # TON1 /4T
047067,000958: 15,3471 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
047068,000959: 15,3472 61614 AD LCX/360
047069,000960: 15,3473 22007 ZL
047070,000961: 15,3474 56001 XCH L # TEST THE DIVIDE
047071,000962: 15,3475 00006 EXTEND
047072,000963: 15,3476 11567 DV VDT/180
047073,000964: 15,3477 00006 EXTEND
047074,000965: 15,3500 13503 BZF GETOFF2 # DIVIDE OK
047075,000966:
047076,000967: 15,3501 35045 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
047077,000968: 15,3502 13510 TCF TIMSCAL
047078,000969:
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Page 1086
|
047080,000971: 15,3503 56001 GETOFF2 XCH L # GET NUMERATOR.
047081,000972: 15,3504 00006 EXTEND
047082,000973: 15,3505 11567 DV VDT/180 # C(A) = TOFF / 2T
047083,000974: 15,3506 00006 EXTEND
047084,000975: 15,3507 75045 MP 2JETT
047085,000976: 15,3510 55605 TIMSCAL TS TOFF # IN CS
047086,000977:
047087,000978: 15,3511 33751 CAF 4JETT
047088,000979: 15,3512 00006 EXTEND
047089,000980: 15,3513 71621 MP TON1 # C(TON1) = TON1 / 4T
047090,000981: 15,3514 55621 TS TON1 # IN CS
047091,000982:
047092,000983: 15,3515 33751 CAF 4JETT
047093,000984: 15,3516 00006 EXTEND
047094,000985: 15,3517 71607 MP TON2 # C(TON2) = TON2 / 4T
047095,000986: 15,3520 55607 TS TON2 # IN CS
047096,000987:
047097,000988: 15,3521 35021 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
047098,000989: 15,3522 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
047099,000990:
047100,000991: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047101,000992: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047102,000993: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047103,000994:
047104,000995: 15,3523 35017 CA ONE
047105,000996: 15,3524 54305 TS SW/NDX
047106,000997:
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|
Page 1087
|
047108,000999: # TIMETEST SECTION FOR RCS
047109,001000:
047110,001001: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
047111,001002: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047112,001003: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
047113,001004: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
047114,001005: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
047115,001006: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047116,001007: # SECTION JETCALL BELOW PROCESSES THIS LIST.
047117,001008:
047118,001009: 15,3525 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
047119,001010: 15,3526 65002 AD POS1/2
047120,001011: 15,3527 65002 AD POS1/2 # OVFL GUARANTEED.
047121,001012: 15,3530 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
047122,001013:
047123,001014: 15,3531 33746 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
047124,001015: # THE +2 REQUIRED FOR PROPER BRANCH.
047125,001016: 15,3532 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
047126,001017:
047127,001018: 15,3533 45016 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
047128,001019: 15,3534 61621 AD TON1
047129,001020: 15,3535 00006 EXTEND
047130,001021: 15,3536 63550 BZMF TIMETST1
047131,001022: 15,3537 51617 INDEX JNDX
047132,001023: 15,3540 33205 CAF P/RJCODE
047133,001024: 15,3541 55622 TS T1BITS
047134,001025:
047135,001026: 15,3542 31621 CA TON1
047136,001027: 15,3543 27712 ADS TUSED
047137,001028: 15,3544 00006 EXTEND
047138,001029: 15,3545 63552 BZMF TOFFTEST
047139,001030: 15,3546 35021 CA ZERO
047140,001031: 15,3547 13603 TCF TIMETST3
047141,001032: 15,3550 45017 TIMETST1 CS ONE
047142,001033: 15,3551 55621 TS TON1
047143,001034: 15,3552 45016 TOFFTEST CS TWO
047144,001035: 15,3553 61605 AD TOFF
047145,001036: 15,3554 00006 EXTEND
047146,001037: 15,3555 63564 BZMF TIMETST2
047147,001038: 15,3556 31605 CA TOFF
047148,001039: 15,3557 27712 ADS TUSED
047149,001040: 15,3560 00006 EXTEND
047150,001041: 15,3561 63566 BZMF TON2TEST
047151,001042: 15,3562 35021 CA ZERO
047152,001043: 15,3563 13605 TCF TIMETST4
047153,001044: 15,3564 45017 TIMETST2 CS ONE
047154,001045: 15,3565 55605 TS TOFF
047155,001046: 15,3566 45016 TON2TEST CS TWO
047156,001047: 15,3567 61607 AD TON2
047157,001048: 15,3570 00006 EXTEND
047158,001049: 15,3571 63606 BZMF TIMETST5
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Page 1088
|
047160,001051: 15,3572 51620 INDEX JNDX1
047161,001052: 15,3573 33205 CAF P/RJCODE
047162,001053: 15,3574 55610 TS T2BITS
047163,001054: 15,3575 31607 CA TON2
047164,001055: 15,3576 27712 ADS TUSED
047165,001056: 15,3577 00006 EXTEND
047166,001057: 15,3600 63610 BZMF JETCALL1
047167,001058: 15,3601 35021 CA ZERO
047168,001059: 15,3602 13607 TCF TIMETST5 +1
047169,001060: 15,3603 55621 TIMETST3 TS TON1
047170,001061: 15,3604 45017 CS ONE
047171,001062: 15,3605 55605 TIMETST4 TS TOFF
047172,001063: 15,3606 45017 TIMETST5 CS ONE
047173,001064: 15,3607 55607 TS TON2
047174,001065:
047175,001066: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047176,001067: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047177,001068: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
047178,001069: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
047179,001070: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047180,001071: # THAN ONE REGISTER.
047181,001072:
047182,001073: 15,3610 35021 JETCALL1 CA ZERO
047183,001074: 15,3611 55611 TS OUTTAG
047184,001075: 15,3612 55612 TS NUJET
047185,001076: 15,3613 55606 TS TBITS
047186,001077: 15,3614 53622 DXCH TON1
047187,001078: 15,3615 10000 CCS A
047188,001079: 15,3616 13633 TCF JETCALL2 # CALL WTLST
047189,001080: 15,3617 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
047190,001081: 15,3620 45017 CS ONE
047191,001082: 15,3621 53606 DXCH TOFF
047192,001083: 15,3622 10000 CCS A
047193,001084: 15,3623 13633 TCF JETCALL2 # CALL WTLST
047194,001085: 15,3624 23612 LXCH NUJET
047195,001086: 15,3625 45017 CS ONE
047196,001087: 15,3626 53610 DXCH TON2
047197,001088: 15,3627 10000 CCS A
047198,001089: 15,3630 13633 TCF JETCALL2 # CALL WTLST
047199,001090: 15,3631 23612 LXCH NUJET
047200,001091: 15,3632 03642 TC JETACTN # C(A) = +0
047201,001092: 15,3633 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
047202,001093: 15,3634 27612 ADS NUJET
047203,001094: 15,3635 56001 XCH L
047204,001095: 15,3636 65017 AD ONE # RESTORE FOR CCS
047205,001096: 15,3637 05245 TC WAITLIST
047206,001097: 15,3640 E6,1661 EBANK= AOG
047207,001098: 15,3640 03650 32066 2CADR JETCALL
047208,001099:
047209,001100: 15,3642 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
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Page 1089
|
047211,001102: 15,3643 00006 EXTEND # NO NEED TO SAVE OLD CODES
047212,001103: 15,3644 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
047213,001104:
047214,001105: 15,3645 11611 CCS OUTTAG
047215,001106: 15,3646 05324 TC TASKOVER
047216,001107: 15,3647 03705 ROLLDUMP TC CM/FDAIR
047217,001108:
047218,001109: # EDIT DUMP AT ABOVE LOCATION.
047219,001110:
047220,001111: # WAITLIST ENTRIES COME HERE.
047221,001112:
047222,001113: 15,3650 35016 JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
047223,001114: 15,3651 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
047224,001115: 15,3652 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
047225,001116: 15,3653 00006 EXTEND
047226,001117: 15,3654 13643 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
047227,001118: 15,3655 22007 ZL # NO, CONTINUE.
047228,001119: 15,3656 13617 TCF JETCALL3 # C(A) POS, C(L) = +0
047229,001120:
047230,001121: # DEAD ZONE ENTRIES COME HERE.
047231,001122:
047232,001123: 15,3657 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047233,001124: 15,3660 75017 MASK BIT1
047234,001125: 15,3661 54001 TS L # C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
047235,001126: 15,3662 50000 INDEX A # ERASBLE ORDER: ROLLTM,ROLLC,ROLLC +1.
047236,001127: 15,3663 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
047237,001128: 15,3664 50001 INDEX L
047238,001129: 15,3665 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
047239,001130: 15,3666 60001 AD L # (BOTH MUST BE SCALED DEG/180)
047240,001131: 15,3667 02522 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC .
047241,001132: 15,3670 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE,
047242,001133: # OTHERWISE, SAVE ROLL COMMAND.
047243,001134:
047244,001135: 15,3671 35021 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
047245,001136: 15,3672 00006 EXTEND # INHINT NOT NEEDED HERE.
047246,001137: 15,3673 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
047247,001138: 15,3674 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
047248,001139: 15,3675 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
047249,001140: 15,3676 03647 TC ROLLDUMP
047250,001141:
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Page 1090
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047252,001143: # CM ENTRY FDAI DISPLAY
047253,001144:
047254,001145: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047255,001146: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
047256,001147: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047257,001148: # ROLL ROLLC-ROLL
047258,001149: # PITCH ALFAC-ALFA
047259,001150: # YAW BETAC-BETA
047260,001151:
047261,001152: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
047262,001153: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
047263,001154:
047264,001155: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
047265,001156: 15,3677 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047266,001157: 15,3700 00006 EXTEND
047267,001158: 15,3701 71506 MP CALFA # FOR ASSUMED COORDINATION.
047268,001159: 15,3702 00006 EXTEND
047269,001160: 15,3703 75002 MP HALF
047270,001161: 15,3704 27713 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
047271,001162:
047272,001163: # EDIT DUMP AT ABOVE LOCATION.
047273,001164: 15,3705 35002 CM/FDAIR CA HALF
047274,001165: 15,3706 00006 EXTEND
047275,001166: 15,3707 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047276,001167: 15,3710 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047277,001168:
047278,001169: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
047279,001170: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047280,001171: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047281,001172: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047282,001173: # THE SUBSEQUENT PASS.
047283,001174:
047284,001175: 15,3711 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
047285,001176: 15,3712 54305 TS SW/NDX
047286,001177: 15,3713 00006 EXTEND # INDEX.
047287,001178: 15,3714 63720 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
047288,001179: # ENDBUF.
047289,001180: # INDEX IS POS FOR NEEDLES
047290,001181:
047291,001182: 15,3715 04740 TC IBNKCALL
047292,001183: 15,3716 42420 CADR NEEDLER
047293,001184:
047294,001185: 15,3717 03736 TC CM/END
047295,001186:
047296,001187: # INDEX IS NEG FOR TM FILE
047297,001188:
047298,001189: 15,3720 66214 CMTMFILE AD THREE
047299,001190: 15,3721 00006 EXTEND
047300,001191: 15,3722 63726 BZMF SAVENDX
047301,001192:
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Page 1091
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047303,001194: 15,3723 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
047304,001195: 15,3724 54304 TS CMTMTIME
047305,001196: 15,3725 45025 CS THIRTEEN # INITIALIZE COUNTER
047306,001197: 15,3726 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
047307,001198: 15,3727 00006 EXTEND
047308,001199: 15,3730 31702 DCA PREL
047309,001200: 15,3731 50305 INDEX SW/NDX
047310,001201: 15,3732 52324 DXCH ENDBUF -1
047311,001202: 15,3733 31703 CA RREL
047312,001203: 15,3734 50305 INDEX SW/NDX
047313,001204: 15,3735 54325 TS ENDBUF +1
047314,001205:
047315,001206: 15,3736 31623 CM/END CA CM/SAVE
047316,001207: 15,3737 54021 TS SR
047317,001208: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047318,001209:
047319,001210: 15,3740 00006 EXTEND
047320,001211: 15,3741 33745 DCA T5IDLER2
047321,001212: 15,3742 53313 DXCH T5LOC
047322,001213: 15,3743 05333 TC RESUME
047323,001214:
047324,001215: 15,3744 1312 EBANK= T5LOC
047325,001216: 15,3744 03153 12062 T5IDLER2 2CADR T5IDLOC
047326,001217:
047327,001218: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047328,001219: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047329,001220: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047330,001221: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
047331,001222: # EACH 2 SECONDS.
047332,001223:
047333,001224: # THE SEQUENCE IS: SP TIME INITIAL TIME
047334,001225: # SWITCH ALSO INDEX.
047335,001226: # P ROLL RATE
047336,001227: # Q PITCH RATE
047337,001228: # R YAW RATE
047338,001229: # ETC.
047339,001230:
047340,001231: # CMTMTIME = UPBUFF
047341,001232: # SW/NDX = UPBUFF +1
047342,001233: # ENDBUF = UPBUFF +16D
047343,001234:
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Page 1092
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047345,001236: # SPACER
047346,001237:
047347,001238: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
047348,001239: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
047349,001240: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047350,001241: # XBUF = 4DEG
047351,001242:
047352,001243: 15,3746 77464 -T-3 DEC -203 B-14 # CS
047353,001244: 15,3747 00012 VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
047354,001245: 15,3750 5033 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
047355,001246: 15,3750 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
047356,001247: 15,3751 15,3753 -VMT/180 = -VM/360K # = 20 (2) / 180
047357,001248: 15,3751 5045 2JETT = 4SECS # CS 2 (2) 100 INTEGER
047358,001249: 15,3751 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
047359,001250: 15,3752 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
047360,001251: 15,3753 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
047361,001252: 15,3754 15,3750 1/16A1 = 180/8ATT
047362,001253: # 1/16A1 = 180/(16 A1 TT)
047363,001254: # = 180/(16 4.55 4)
047364,001255: 15,3754 00133 XS/360 DEC 91 B-14 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047365,001256: 15,3755 15,3754 BUFLIM = XS/360 # 4/(2 360)
047366,001257:
047367,001258: 15,3755 5002 KTRCS = HALF # KT = (.25) 2 = .5
047368,001259:
047369,001260:
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc