Source Code
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These source-code files are part of a reconstructed copy of LUM69 Revision 2, the
flown Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction began with source code of Luminary 69 revision 0 previously
transcribed from a digitized copy of that program. The code was then updated
by back-porting the R-2 lunar potential model from previously-transcribed source
code of Luminary 99. These required changes were described in the original
Luminary memos 75 and 78. The reconstructed code was verified by
matching memory-bank checksums to those listed in drawing 2021152G. Note that
page numbers in the reconstructed code match those on the Luminary 069 printout,
although the added code would likely have changed page numbers for a real LUM69
Revision 2 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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015176,000002: ## Copyright: Public domain.
015177,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
015178,000004: ## Purpose: A section of LUM69 revision 2.
015179,000005: ## It is part of the reconstructed source code for the flown
015180,000006: ## version of the flight software for the Lunar Module's (LM)
015181,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
015182,000008: ## been recreated from a copy of Luminary revsion 069, using
015183,000009: ## changes present in Luminary 099 which were described in
015184,000010: ## Luminary memos 75 and 78. The code has been adapted such
015185,000011: ## that the resulting bugger words exactly match those specified
015186,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
015187,000013: ## relatively high confidence that the reconstruction is correct.
015188,000014: ## Reference: pp. 355-376
015189,000015: ## Assembler: yaYUL
015190,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015191,000017: ## Website: www.ibiblio.org/apollo/index.html
015192,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
015193,000019:
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015195,000021: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE-KALCMANU
015196,000022:
015197,000023:
015198,000024: # MOD 2 DATE 5/1/67 BY DON KEENE
015199,000025: # PROGRAM DESCRIPTION
015200,000026:
015201,000027: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
015202,000028: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
015203,000029: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
015204,000030: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
015205,000031: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
015206,000032:
015207,000033: # CPHI = COMMANDED OUTER GIMBAL ANGLE
015208,000034: # CTHETA = COMMANDED INNER GIMBAL ANGLE
015209,000035: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
015210,000036:
015211,000037: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
015212,000038: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
015213,000039: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
015214,000040: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
015215,000041: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
015216,000042: # -
015217,000043: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
015218,000044: # -
015219,000045: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
015220,000046: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
015221,000047: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
015222,000048:
015223,000049: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
015224,000050: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
015225,000051: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
015226,000052: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
015227,000053: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
015228,000054: # -
015229,000055: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
015230,000056:
015231,000057: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
015232,000058: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
015233,000059: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
015234,000060: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
015235,000061: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
015236,000062: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
015237,000063: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
015238,000064: # DESIRED FINAL GIMBAL ANGLES.
015239,000065:
015240,000066:
015241,000067: # PROGRAM LOGIC FLOW
015242,000068:
015243,000069: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
015244,000070: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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015246,000072: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
015247,000073: # * * *
015248,000074: # MEMBER AXES (MIS, MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
015249,000075: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
015250,000076:
015251,000077: # A) AM LESS THAN .25 DEGREES (MINANG)
015252,000078: # B) AM GREATER THAN 170 DEGREES (MAXANG)
015253,000079:
015254,000080: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
015255,000081: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
015256,000082:
015257,000083: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
015258,000084: # - *
015259,000085: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
015260,000086: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
015261,000087: # -
015262,000088: # TO DETERMINE COF.
015263,000089:
015264,000090: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
015265,000091: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
015266,000092: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
015267,000093: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
015268,000094: # YAW.
015269,000095:
015270,000096: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
015271,000097: # -
015272,000098: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
015273,000099: # DESIRED REFERENCE MATRIX IS THEN,
015274,000100:
015275,000101: # * * *
015276,000102: # MIS = MIS DEL
015277,000103: # N+1 N
015278,000104:
015279,000105: # *
015280,000106: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
015281,000107: # *
015282,000108: # FROM MIS.
015283,000109:
015284,000110: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
015285,000111: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
015286,000112: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
015287,000113: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
015288,000114: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
015289,000115: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
015290,000116:
015291,000117: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
015292,000118: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
015293,000119:
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015295,000121: # CALLING SEQUENCE
015296,000122:
015297,000123: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
015298,000124: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
015299,000125: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
015300,000126: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
015301,000127:
015302,000128: # *
015303,000129: # CAF PRIO XX
015304,000130: # --
015305,000131: # INHINT
015306,000132: # TC FINDVAC
015307,000133: # 2CADR KALCMAN3
015308,000134: # RELINT
015309,000135:
015310,000136: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
015311,000137: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
015312,000138:
015313,000139: # L TC BANKCALL
015314,000140: # L+1 CADR ATTSTALL
015315,000141: # L+2 (BAD RETURN)
015316,000142: # L+3 (GOOD RETURN)
015317,000143:
015318,000144: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
015319,000145: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
015320,000146: # WAS IN GIMBAL LOCK.
015321,000147:
015322,000148: # ***NOTA BENE*** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
015323,000149: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
015324,000150: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
015325,000151: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
015326,000152: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
015327,000153: # SUBROUTINES
015328,000154:
015329,000155: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
015330,000156: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
015331,000157:
015332,000158: # MXM3
015333,000159: # ----
015334,000160:
015335,000161: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
015336,000162: # DOWN LIST, I.E.,
015337,000163:
015338,000164: # (M M M )
015339,000165: # ( 0 1 2)
015340,000166: # * ( ) * *
015341,000167: # M = (M M M ) = M1 X M2
015342,000168: # ( 3 4 5)
015343,000169: # ( )
015344,000170: # (M M M )
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015346,000172: # ( 6 7 8)
015347,000173:
015348,000174: # *
015349,000175: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
015350,000176: # *
015351,000177: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
015352,000178: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
015353,000179: # 8
015354,000180:
015355,000181: # TRANSPOS
015356,000182: # --------
015357,000183:
015358,000184: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
015359,000185: #
015360,000186: # * * T
015361,000187: # M = M1
015362,000188:
015363,000189: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
015364,000190: # *
015365,000191: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
015366,000192:
015367,000193: # CDU TO DCM
015368,000194: # ----------
015369,000195:
015370,000196: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
015371,000197: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
015372,000198:
015373,000199: # M = COSY COSZ
015374,000200: # 0
015375,000201:
015376,000202: # M = -COSY SINZ COSX + SINY SINX
015377,000203: # 1
015378,000204:
015379,000205: # M = COSY SINZ SINX + SINY COSX
015380,000206: # 2
015381,000207:
015382,000208: # M = SINZ
015383,000209: # 3
015384,000210:
015385,000211: # M = COSZ COSX
015386,000212: # 4
015387,000213:
015388,000214: # M = -COSZ SINX
015389,000215: # 5
015390,000216:
015391,000217: # M = -SINY COSZ
015392,000218: # 6
015393,000219: #
015394,000220: # M = SINY SINZ COSX + COSY SINX
015395,000221: # 7
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015397,000223: # M = -SINY SINZ SINX + COSY COSX
015398,000224: # 8
015399,000225:
015400,000226: # WHERE X = OUTER GIMBAL ANGLE
015401,000227: # Y = INNER GIMBAL ANGLE
015402,000228: # Z = MIDDLE GIMBAL ANGLE
015403,000229:
015404,000230: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
015405,000231:
015406,000232: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
015407,000233: # X Y Z
015408,000234: # STABLE MEMBER AXES (B , B , B ) ARE
015409,000235: # X Y Z
015410,000236:
015411,000237: # (B ) (A )
015412,000238: # ( X) ( X)
015413,000239: # ( ) ( )
015414,000240: # ( ) * ( )
015415,000241: # (B ) = M (A )
015416,000242: # ( Y) ( Y)
015417,000243: # ( ) ( )
015418,000244: # (B ) (A )
015419,000245: # ( Z) ( Z)
015420,000246:
015421,000247: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
015422,000248: # *
015423,000249: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
015424,000250:
015425,000251: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
015426,000252: # REGISTER X2.
015427,000253:
015428,000254:
015429,000255: # DCM TO CDU
015430,000256: # ----------
015431,000257: # *
015432,000258: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
015433,000259: # *
015434,000260: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
015435,000261: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
015436,000262: # FOR THIS CONVERSION ARE
015437,000263:
015438,000264: # Z = ARCSIN (M )
015439,000265: # 3
015440,000266:
015441,000267: # Y = ARCSIN (-M /COSZ)
015442,000268: # 6
015443,000269:
015444,000270: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
015445,000271: # 0
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015447,000273: # X = ARCSIN (-M /COSZ)
015448,000274: # 5
015449,000275:
015450,000276: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
015451,000277: # 4
015452,000278:
015453,000279: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
015454,000280: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
015455,000281: # THE PUSH DOWN LIST.
015456,000282:
015457,000283:
015458,000284: # DELCOMP
015459,000285: # -------
015460,000286:
015461,000287: # *
015462,000288: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
015463,000289: # -
015464,000290: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
015465,000291:
015466,000292: # * * --T *
015467,000293: # DEL = I COSA + UU (1-COSA) + V SINA
015468,000294: # X
015469,000295:
015470,000296: # WHERE * (1 0 0)
015471,000297: # I = (0 1 0)
015472,000298: # (0 0 1)
015473,000299:
015474,000300:
015475,000301: # 2
015476,000302: # (U U U U U )
015477,000303: # ( X X Y X Z)
015478,000304: # ( )
015479,000305: # --T ( 2 )
015480,000306: # UU = (U U U U U )
015481,000307: # ( Y X Y Y Z)
015482,000308: # ( )
015483,000309: # ( 2 )
015484,000310: # (U U U U U )
015485,000311: # ( Z X Z Y Z )
015486,000312:
015487,000313:
015488,000314: # (0 -U U )
015489,000315: # ( Z Y )
015490,000316: # * ( )
015491,000317: # V = (U 0 -U )
015492,000318: # X ( Z X)
015493,000319: # ( )
015494,000320: # (-U U 0 )
015495,000321: # ( Y X )
015496,000322:
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015498,000324: # -
015499,000325: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
015500,000326: # A = ROTATION ANGLE
015501,000327:
015502,000328: # *
015503,000329: # THE INTERPRETATION OF DEL IS AS FOLLOWS
015504,000330:
015505,000331: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
015506,000332: # X Y Z
015507,000333: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
015508,000334: # X Y Z
015509,000335:
015510,000336: # (B ) (A )
015511,000337: # ( X) ( X)
015512,000338: # ( ) * ( )
015513,000339: # (B ) = DEL (A )
015514,000340: # ( Y) ( Y)
015515,000341: # ( ) ( )
015516,000342: # (B ) (A )
015517,000343: # ( Z) ( Z)
015518,000344:
015519,000345: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
015520,000346: # -
015521,000347: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
015522,000348: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
015523,000349: # MUST THEN BE LOADED INTO D(MPAC).
015524,000350:
015525,000351: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
015526,000352:
015527,000353:
015528,000354:
015529,000355: # READCDUK
015530,000356: # --------
015531,000357:
015532,000358: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
015533,000359:
015534,000360:
015535,000361:
015536,000362: # SIGNMPAC
015537,000363: # --------
015538,000364:
015539,000365: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
015540,000366:
015541,000367:
015542,000368:
015543,000369: # PROGRAM STORAGE ALLOCATION
015544,000370:
015545,000371: # 1) FIXED MEMORY 1059 WORDS
015546,000372: # 2) ERASABLE MEMORY 98
015547,000373: # 3) STATE SWITCHES 3
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015549,000375: # 4) FLAGS 1
015550,000376:
015551,000377:
015552,000378: # JOB PRIORITIES
015553,000379:
015554,000380: # 1) KALCMANU TBD
015555,000381: # 2) ONE SECOND UPDATE TBD
015556,000382:
015557,000383:
015558,000384: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
015559,000385:
015560,000386: # STATE FLAGWRD 2 SETTING MEANING
015561,000387: # SWITCH NO. BIT NO.
015562,000388:
015563,000389: # *
015564,000390: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
015565,000391: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
015566,000392: # *
015567,000393: # 32 13 0 CONTINUE UPDATE PROCESS
015568,000394: # 1 START UPDATE PROCESS
015569,000395:
015570,000396: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
015571,000397: # 1 IGNORE ANY FINAL P-AXIS YAW
015572,000398:
015573,000399: # 34 11 0 SIGNAL END OF KALCMANU
015574,000400: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
015575,000401:
015576,000402:
015577,000403: # * INTERNAL TO KALCMANU
015578,000404:
015579,000405:
015580,000406: # SUGGESTIONS FOR PROGRAM INTEGRATION
015581,000407:
015582,000408: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
015583,000409:
015584,000410: # CPHI
015585,000411: # CTHETA
015586,000412: # CPSI
015587,000413: # POINTVSM +5
015588,000414: # SCAXIS +5
015589,000415: # DELDCDU
015590,000416: # DELDCDU1
015591,000417: # DELDCDU2
015592,000418: # RATEINDX
015593,000419:
015594,000420: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
015595,000421:
015596,000422: # MXM3
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015598,000424: # TRANSPOS
015599,000425: # SIGNMPAC
015600,000426: # READCDUK
015601,000427: # CDUTODCM
015602,000428:
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015604,000430: 15,2050 BANK 15
015605,000431: 22,2000 SETLOC KALCMON1
015606,000432: 22,2000 BANK
015607,000433:
015608,000434: 22,2004 E6,1674 EBANK= BCDU
015609,000435:
015610,000436: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
015611,000437: # LOCATIONS, CPHI, CTHETA, CPSI.
015612,000438:
015613,000439: 22,2004 COUNT* $$/KALC
015614,000440: 22,2004 06036 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
015615,000441: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
015616,000442: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
015617,000443: 22,2007 03275 STORE BCDU # STORE INITIAL S/C ANGLES
015618,000444: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
015619,000445: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
015620,000446: 22,2012 51025 DSU BPL
015621,000447: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
015622,000448: 22,2014 44724 TOOBADF
015623,000449: 22,2015 72364 AXC,2 TLOAD
015624,000450: 22,2016 03244 MIS
015625,000451: 22,2017 03275 BCDU
015626,000452: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
015627,000453: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
015628,000454: 22,2022 72364 AXC,2 TLOAD
015629,000455: 22,2023 02234 MFS # PREPARE TO CALCULATE ARRAY MFS
015630,000456: 22,2024 00322 CPHI
015631,000457: 22,2025 77624 CALL
015632,000458: 22,2026 44410 CDUTODCM
015633,000459: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
015634,000460: 22,2030 03244 MIS
015635,000461: 22,2031 44326 TRANSPOS
015636,000462: 22,2032 45575 VLOAD STADR
015637,000463: 22,2033 50461 STOVL TMIS +12D
015638,000464: 22,2034 77626 STADR
015639,000465: 22,2035 50467 STOVL TMIS +6
015640,000466: 22,2036 77626 STADR
015641,000467: 22,2037 74475 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
015642,000468: 22,2040 75160 AXC,1 AXC,2
015643,000469: 22,2041 03301 TMIS
015644,000470: 22,2042 02234 MFS
015645,000471: 22,2043 77624 CALL
015646,000472: 22,2044 44312 MXM3
015647,000473: 22,2045 45575 VLOAD STADR
015648,000474: 22,2046 51526 STOVL MFI +12D
015649,000475: 22,2047 77626 STADR
015650,000476: 22,2050 51534 STOVL MFI +6
015651,000477: 22,2051 77626 STADR
015652,000478: 22,2052 75542 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
015653,000479: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 365
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015655,000481: 22,2054 00023 18D
015656,000482: 22,2055 44335 TRNSPSPD
015657,000483: 22,2056 45575 VLOAD STADR
015658,000484: 22,2057 50461 STOVL TMFI +12D
015659,000485: 22,2060 77626 STADR
015660,000486: 22,2061 50467 STOVL TMFI +6
015661,000487: 22,2062 77626 STADR
015662,000488: 22,2063 74475 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
015663,000489: #
015664,000490: # CALCULATE COFSKEW AND MFISYM
015665,000491:
015666,000492: 22,2064 45345 DLOAD DSU
015667,000493: 22,2065 03304 TMFI +2
015668,000494: 22,2066 02237 MFI +2
015669,000495: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
015670,000496: 22,2070 02241 MFI +4
015671,000497: 22,2071 03306 TMFI +4
015672,000498: 22,2072 45325 PDDL DSU
015673,000499: 22,2073 03314 TMFI +10D
015674,000500: 22,2074 02247 MFI +10D
015675,000501: 22,2075 77666 VDEF
015676,000502: 22,2076 03324 STORE COFSKEW # EQUALS MFISKEW
015677,000503: #
015678,000504: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015679,000505:
015680,000506: 22,2077 43345 DLOAD DAD
015681,000507: 22,2100 02235 MFI
015682,000508: 22,2101 02255 MFI +16D
015683,000509: 22,2102 43225 DSU DAD
015684,000510: 22,2103 06414 DP1/4TH
015685,000511: 22,2104 02245 MFI +8D
015686,000512: 22,2105 03332 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015687,000513: 22,2106 77726 ARCCOS
015688,000514: 22,2107 03334 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
015689,000515: 22,2110 51025 DSU BPL
015690,000516: 22,2111 04363 MINANG
015691,000517: 22,2112 44117 CHECKMAX
015692,000518: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
015693,000519: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
015694,000520: 22,2115 37234 STCALL CDUXD # ABOUT COMMANDED ANGLES
015695,000521: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
015696,000522:
015697,000523: 22,2117 45345 CHECKMAX DLOAD DSU
015698,000524: 22,2120 03334 AM
015699,000525: 22,2121 04365 MAXANG
015700,000526: 22,2122 77244 BPL VLOAD
015701,000527: 22,2123 44131 ALTCALC # UNIT
015702,000528: 22,2124 03324 COFSKEW # COFSKEW
015703,000529: 22,2125 77656 UNIT
015704,000530: 22,2126 03267 STORE COF # COF IS THE MANEUVER AXIS
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015706,000532: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
015707,000533: 22,2130 44744 LOCSKIRT
015708,000534: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
015709,000535: 22,2132 02235 MFI
015710,000536: 22,2133 03302 TMFI
015711,000537: 22,2134 77762 VSR1
015712,000538: 22,2135 27302 STOVL MFISYM
015713,000539: 22,2136 02243 MFI +6
015714,000540: 22,2137 74455 VAD VSR1
015715,000541: 22,2140 03310 TMFI +6
015716,000542: 22,2141 27310 STOVL MFISYM +6
015717,000543: 22,2142 02251 MFI +12D
015718,000544: 22,2143 74455 VAD VSR1
015719,000545: 22,2144 03316 TMFI +12D
015720,000546: 22,2145 03316 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
015721,000547:
015722,000548:
015723,000549: # CALCULATE COF
015724,000550:
015725,000551:
015726,000552: 22,2146 70545 DLOAD SR1
015727,000553: 22,2147 03332 CAM
015728,000554: 22,2150 45325 PDDL DSU # PDO CAM $4
015729,000555: 22,2151 06422 DPHALF
015730,000556: 22,2152 03332 CAM
015731,000557: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
015732,000558: 22,2154 21664 SIGNMPAC
015733,000559: 22,2155 03322 MFISYM +16D
015734,000560: 22,2156 56225 DSU DDV
015735,000561: 22,2157 00001 0
015736,000562: 22,2160 00003 2
015737,000563: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015738,000564: 22,2162 03312 MFISYM +8D # $ ROOT 2
015739,000565: 22,2163 56225 DSU DDV
015740,000566: 22,2164 00001 0
015741,000567: 22,2165 00003 2
015742,000568: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
015743,000569: 22,2167 03302 MFISYM
015744,000570: 22,2170 56225 DSU DDV
015745,000571: 22,2171 00001 0
015746,000572: 22,2172 00003 2
015747,000573: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
015748,000574: 22,2174 77656 UNIT
015749,000575: 22,2175 03267 STORE COF
015750,000576: #
015751,000577: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015752,000578:
015753,000579: 22,2176 45345 COFMAXGO DLOAD DSU
015754,000580: 22,2177 03267 COF
015755,000581: 22,2200 03271 COF +2
015756,000582: 22,2201 71240 BMN DLOAD # COFY G COFX
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Page 367
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015758,000584: 22,2202 44211 COMP12
015759,000585: 22,2203 03267 COF
015760,000586: 22,2204 50025 DSU BMN
015761,000587: 22,2205 03273 COF +4
015762,000588: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
015763,000589: 22,2207 77650 GOTO
015764,000590: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
015765,000591: 22,2211 45345 COMP12 DLOAD DSU
015766,000592: 22,2212 03271 COF +2
015767,000593: 22,2213 03273 COF +4
015768,000594: 22,2214 77640 BMN
015769,000595: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
015770,000596:
015771,000597: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
015772,000598: 22,2217 03326 COFSKEW +2 # UY
015773,000599: 22,2220 44224 U2POS
015774,000600: 22,2221 57575 VLOAD VCOMP
015775,000601: 22,2222 03267 COF
015776,000602: 22,2223 03267 STORE COF
015777,000603: 22,2224 51145 U2POS DLOAD BPL
015778,000604: 22,2225 03304 MFISYM +2 # UX UY
015779,000605: 22,2226 44232 OKU21
015780,000606: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
015781,000607: 22,2230 03267 COF
015782,000608: 22,2231 03267 STORE COF
015783,000609: 22,2232 51145 OKU21 DLOAD BPL
015784,000610: 22,2233 03314 MFISYM +10D # UY UZ
015785,000611: 22,2234 44744 LOCSKIRT
015786,000612: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015787,000613: 22,2236 03273 COF +4
015788,000614: 22,2237 03273 STORE COF +4
015789,000615: 22,2240 77650 GOTO
015790,000616: 22,2241 44744 LOCSKIRT
015791,000617: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
015792,000618: 22,2243 03324 COFSKEW # UX
015793,000619: 22,2244 44250 U1POS
015794,000620: 22,2245 57575 VLOAD VCOMP
015795,000621: 22,2246 03267 COF
015796,000622: 22,2247 03267 STORE COF
015797,000623: 22,2250 51145 U1POS DLOAD BPL
015798,000624: 22,2251 03304 MFISYM +2 # UX UY
015799,000625: 22,2252 44256 OKU12
015800,000626: 22,2253 57545 DLOAD DCOMP
015801,000627: 22,2254 03271 COF +2 # SIGN OF UY OPPOSITE TO UX
015802,000628: 22,2255 03271 STORE COF +2
015803,000629: 22,2256 51145 OKU12 DLOAD BPL
015804,000630: 22,2257 03306 MFISYM +4 # UX UZ
015805,000631: 22,2260 44744 LOCSKIRT
015806,000632: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015807,000633: 22,2262 03273 COF +4
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Page 368
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015809,000635: 22,2263 03273 STORE COF +4
015810,000636: 22,2264 77650 GOTO
015811,000637: 22,2265 44744 LOCSKIRT
015812,000638: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
015813,000639: 22,2267 03330 COFSKEW +4 # UZ
015814,000640: 22,2270 44274 U3POS
015815,000641: 22,2271 57575 VLOAD VCOMP
015816,000642: 22,2272 03267 COF
015817,000643: 22,2273 03267 STORE COF
015818,000644: 22,2274 51145 U3POS DLOAD BPL
015819,000645: 22,2275 03306 MFISYM +4 # UX UZ
015820,000646: 22,2276 44302 OKU31
015821,000647: 22,2277 57545 DLOAD DCOMP
015822,000648: 22,2300 03267 COF # SIGN OF UX OPPOSITE TO UZ
015823,000649: 22,2301 03267 STORE COF
015824,000650: 22,2302 51145 OKU31 DLOAD BPL
015825,000651: 22,2303 03314 MFISYM +10D # UY UZ
015826,000652: 22,2304 44744 LOCSKIRT
015827,000653: 22,2305 57545 DLOAD DCOMP
015828,000654: 22,2306 03271 COF +2 # SIGN OF UY OPPOSITE TO UZ
015829,000655: 22,2307 03271 STORE COF +2
015830,000656: 22,2310 77650 GOTO
015831,000657: 22,2311 44744 LOCSKIRT
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Page 369
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015833,000659: # MATRIX OPERATIONS
015834,000660:
015835,000661: 13,2207 BANK 13
015836,000662: 22,2000 SETLOC KALCMON2
015837,000663: 22,2000 BANK
015838,000664:
015839,000665: 22,2312 E6,1674 EBANK= BCDU
015840,000666:
015841,000667: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
015842,000668: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
015843,000669: 22,2314 00001 0,1 # AND MPAC
015844,000670: 22,2315 62703 VXM* PDVL*
015845,000671: 22,2316 77776 0,2
015846,000672: 22,2317 00007 6,1
015847,000673: 22,2320 62703 VXM* PDVL*
015848,000674: 22,2321 77776 0,2
015849,000675: 22,2322 00015 12D,1
015850,000676: 22,2323 41503 VXM* PUSH
015851,000677: 22,2324 77776 0,2
015852,000678: 22,2325 77616 RVQ
015853,000679:
015854,000680:
015855,000681: # RETURN WITH M1XM2 IN PD LIST
015856,000682:
015857,000683: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
015858,000684: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
015859,000685: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
015860,000686: 22,2331 62713 PDVL* PDVL*
015861,000687: 22,2332 00007 6,1
015862,000688: 22,2333 00015 12D,1
015863,000689: 22,2334 77606 PUSH # MATRIX IN PD
015864,000690: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
015865,000691: 22,2336 50120 INDEX FIXLOC
015866,000692: 22,2337 52013 DXCH 12
015867,000693: 22,2340 50120 INDEX FIXLOC
015868,000694: 22,2341 52017 DXCH 16
015869,000695: 22,2342 50120 INDEX FIXLOC
015870,000696: 22,2343 52013 DXCH 12
015871,000697: 22,2344 50120 INDEX FIXLOC
015872,000698: 22,2345 52015 DXCH 14
015873,000699: 22,2346 50120 INDEX FIXLOC
015874,000700: 22,2347 52005 DXCH 4
015875,000701: 22,2350 50120 INDEX FIXLOC
015876,000702: 22,2351 52015 DXCH 14
015877,000703: 22,2352 50120 INDEX FIXLOC
015878,000704: 22,2353 52003 DXCH 2
015879,000705: 22,2354 50120 INDEX FIXLOC
015880,000706: 22,2355 52007 DXCH 6
015881,000707: 22,2356 50120 INDEX FIXLOC
015882,000708: 22,2357 52003 DXCH 2
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015884,000710: 22,2360 06036 TC INTPRET
015885,000711: 22,2361 77616 RVQ
015886,000712:
015887,000713: 15,2050 BANK 15
015888,000714: 22,2000 SETLOC KALCMON1
015889,000715: 22,2000 BANK
015890,000716:
015891,000717: 22,2362 E6,1674 EBANK= BCDU
015892,000718:
015893,000719: 22,2362 00013 13563 MINANG 2DEC 0.00069375
015894,000720:
015895,000721: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
015896,000722:
015897,000723: # GIMBAL LOCK CONSTANTS
015898,000724:
015899,000725: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
015900,000726: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
015901,000727:
015902,000728: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
015903,000729:
015904,000730: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
015905,000731:
015906,000732: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
015907,000733:
015908,000734: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
015909,000735:
015910,000736: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
015911,000737:
015912,000738: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
015913,000739:
015914,000740: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
015915,000741: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
015916,000742:
015917,000743: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
015918,000744: 22,2404 54156 TS MPAC +2
015919,000745: 22,2405 00006 EXTEND
015920,000746: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
015921,000747: 22,2407 16475 TCF TLOAD +6
015922,000748:
015923,000749: 22,2410 66370 CDUTODCM AXT,1 SSP
015924,000750: 22,2411 00003 OCT 3
015925,000751: 22,2412 00051 S1
015926,000752: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
015927,000753: 22,2414 00010 STORE 7
015928,000754: 22,2415 77601 SETPD
015929,000755: 22,2416 00001 0
015930,000756: 22,2417 47133 LOOPSIN SLOAD* RTB
015931,000757: 22,2420 00013 10D,1
015932,000758: 22,2421 21465 CDULOGIC
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Page 371
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015934,000760: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
015935,000761: 22,2423 65356 SIN PDDL # 2 COS(PHI)
015936,000762: 22,2424 00013 10D # 4 SIN(THETA)
015937,000763: 22,2425 41546 COS PUSH # 6 COS(THETA)
015938,000764: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
015939,000765: 22,2427 44417 LOOPSIN # 10 COS(PSI)
015940,000766: 22,2430 00007 6
015941,000767: 22,2431 72405 DMP SL1
015942,000768: 22,2432 00013 10D
015943,000769: 22,2433 10001 STORE 0,2 # C0=COS(THETA)COS(PSI)
015944,000770: 22,2434 41345 DLOAD DMP
015945,000771: 22,2435 00005 4
015946,000772: 22,2436 00001 0
015947,000773: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
015948,000774: 22,2440 00007 6
015949,000775: 22,2441 00011 8D
015950,000776: 22,2442 72405 DMP SL1
015951,000777: 22,2443 00003 2
015952,000778: 22,2444 72421 BDSU SL1
015953,000779: 22,2445 00015 12D
015954,000780: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
015955,000781: 22,2447 41345 DLOAD DMP
015956,000782: 22,2450 00003 2
015957,000783: 22,2451 00005 4
015958,000784: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015959,000785: 22,2453 00007 6
015960,000786: 22,2454 00011 8D
015961,000787: 22,2455 72405 DMP SL1
015962,000788: 22,2456 00001 0
015963,000789: 22,2457 72415 DAD SL1
015964,000790: 22,2460 00017 14D
015965,000791: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015966,000792: 22,2462 77745 DLOAD
015967,000793: 22,2463 00011 8D
015968,000794: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015969,000795: 22,2465 77745 DLOAD
015970,000796: 22,2466 00013 10D
015971,000797: 22,2467 72405 DMP SL1
015972,000798: 22,2470 00003 2
015973,000799: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015974,000800: 22,2472 41345 DLOAD DMP
015975,000801: 22,2473 00013 10D
015976,000802: 22,2474 00001 0
015977,000803: 22,2475 72476 DCOMP SL1
015978,000804: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015979,000805: 22,2477 41345 DLOAD DMP
015980,000806: 22,2500 00005 4
015981,000807: 22,2501 00013 10D
015982,000808: 22,2502 72476 DCOMP SL1
015983,000809: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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015985,000811: 22,2504 77745 DLOAD
015986,000812: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015987,000813: 22,2506 00011 8D
015988,000814: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
015989,000815: 22,2510 00007 6
015990,000816: 22,2511 00001 0
015991,000817: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015992,000818: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015993,000819: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015994,000820: 22,2515 77745 DLOAD
015995,000821: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015996,000822: 22,2517 00011 8D
015997,000823: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
015998,000824: 22,2521 00007 6
015999,000825: 22,2522 00003 2
016000,000826: 22,2523 72425 DSU SL1 # (PUSH UP 6)
016001,000827: 22,2524 77626 STADR
016002,000828: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
016003,000829: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
016004,000830:
016005,000831: # CALCULATION OF THE MATRIX DEL......
016006,000832:
016007,000833: # * * --T *
016008,000834: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
016009,000835:
016010,000836: # -
016011,000837: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
016012,000838: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
016013,000839: # -
016014,000840: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
016015,000841:
016016,000842: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
016017,000843: 22,2530 00001 0
016018,000844: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
016019,000845: 22,2532 41546 COS PUSH # PD2 = COS(A)
016020,000846: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
016021,000847: 22,2534 41021 BDSU BOVB
016022,000848: 22,2535 06422 DPHALF
016023,000849: 22,2536 21664 SIGNMPAC
016024,000850: 22,2537 77725 PDDL # PD4 = 1-COS(A)
016025,000851:
016026,000852: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
016027,000853:
016028,000854: 22,2540 03267 COF
016029,000855: 22,2541 41316 DSQ DMP
016030,000856: 22,2542 00005 4
016031,000857: 22,2543 52415 DAD SL3
016032,000858: 22,2544 00003 2
016033,000859: 22,2545 77604 BOVB
016034,000860: 22,2546 21664 SIGNMPAC
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016036,000862: 22,2547 16235 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
016037,000863: 22,2550 03271 COF +2
016038,000864: 22,2551 41316 DSQ DMP
016039,000865: 22,2552 00005 4
016040,000866: 22,2553 52415 DAD SL3
016041,000867: 22,2554 00003 2
016042,000868: 22,2555 77604 BOVB
016043,000869: 22,2556 21664 SIGNMPAC
016044,000870: 22,2557 16245 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
016045,000871: 22,2560 03273 COF +4
016046,000872: 22,2561 41316 DSQ DMP
016047,000873: 22,2562 00005 4
016048,000874: 22,2563 52415 DAD SL3
016049,000875: 22,2564 00003 2
016050,000876: 22,2565 77604 BOVB
016051,000877: 22,2566 21664 SIGNMPAC
016052,000878: 22,2567 02255 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
016053,000879:
016054,000880: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
016055,000881:
016056,000882: 22,2570 41345 DLOAD DMP
016057,000883: 22,2571 03267 COF
016058,000884: 22,2572 03271 COF +2
016059,000885: 22,2573 72405 DMP SL1
016060,000886: 22,2574 00005 4
016061,000887: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
016062,000888: 22,2576 03273 COF +4
016063,000889: 22,2577 00001 0
016064,000890: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
016065,000891: 22,2601 00007 6
016066,000892: 22,2602 41112 SL2 BOVB
016067,000893: 22,2603 21664 SIGNMPAC
016068,000894: 22,2604 16243 STODL KEL +6
016069,000895: 22,2605 62421 BDSU SL2
016070,000896: 22,2606 77604 BOVB
016071,000897: 22,2607 21664 SIGNMPAC
016072,000898: 22,2610 16237 STODL KEL +2
016073,000899: 22,2611 03267 COF
016074,000900: 22,2612 41205 DMP DMP
016075,000901: 22,2613 03273 COF +4
016076,000902: 22,2614 00005 4
016077,000903: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
016078,000904: 22,2616 03271 COF +2
016079,000905: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
016080,000906: 22,2620 00001 0
016081,000907: 22,2621 62415 DAD SL2
016082,000908: 22,2622 00007 6
016083,000909: 22,2623 77604 BOVB
016084,000910: 22,2624 21664 SIGNMPAC
016085,000911: 22,2625 16241 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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016087,000913: 22,2626 62421 BDSU SL2
016088,000914: 22,2627 77604 BOVB
016089,000915: 22,2630 21664 SIGNMPAC
016090,000916: 22,2631 16251 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
016091,000917: 22,2632 03271 COF +2
016092,000918: 22,2633 41205 DMP DMP
016093,000919: 22,2634 03273 COF +4
016094,000920: 22,2635 00005 4
016095,000921: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
016096,000922: 22,2637 03267 COF
016097,000923: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
016098,000924: 22,2641 00001 0
016099,000925: 22,2642 62415 DAD SL2
016100,000926: 22,2643 00007 6
016101,000927: 22,2644 77604 BOVB
016102,000928: 22,2645 21664 SIGNMPAC
016103,000929: 22,2646 16253 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
016104,000930: 22,2647 62421 BDSU SL2
016105,000931: 22,2650 77604 BOVB
016106,000932: 22,2651 21664 SIGNMPAC
016107,000933: 22,2652 02247 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
016108,000934: 22,2653 77616 RVQ
016109,000935:
016110,000936:
016111,000937: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
016112,000938: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
016113,000939: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
016114,000940: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
016115,000941:
016116,000942: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
016117,000943:
016118,000944: # C =COS(THETA)COS(PSI)
016119,000945: # 0
016120,000946: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
016121,000947: # 1
016122,000948: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
016123,000949: # 2
016124,000950: # C =SIN(PSI)
016125,000951: # 3
016126,000952: # C =COS(PSI)COS(PHI)
016127,000953: # 4
016128,000954: # C =-COS(PSI)SIN(PHI)
016129,000955: # 5
016130,000956: # C =-SIN(THETA)COS(PSI)
016131,000957: # 6
016132,000958: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
016133,000959: # 7
016134,000960: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
016135,000961: # 8
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016137,000963: # WHERE PHI = OGA
016138,000964: # THETA = IGA
016139,000965: # PSI = MGA
016140,000966:
016141,000967: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
016142,000968: 22,2655 00007 6,1
016143,000969: 22,2656 71406 PUSH COS # PD +0 PSI
016144,000970: 22,2657 41152 SL1 BOVB
016145,000971: 22,2660 21664 SIGNMPAC
016146,000972: 22,2661 00051 STORE S1
016147,000973: 22,2662 57543 DLOAD* DCOMP
016148,000974: 22,2663 00015 12D,1
016149,000975: 22,2664 67471 DDV ARCSIN
016150,000976: 22,2665 00051 S1
016151,000977: 22,2666 51123 PDDL* BPL # PD +2 THETA
016152,000978: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
016153,000979: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
016154,000980: 22,2671 57545 DLOAD DCOMP
016155,000981: 22,2672 43244 BPL DAD
016156,000982: 22,2673 44677 SUHALFA
016157,000983: 22,2674 06422 DPHALF
016158,000984: 22,2675 77650 GOTO
016159,000985: 22,2676 44701 CALCPHI
016160,000986: 22,2677 77625 SUHALFA DSU
016161,000987: 22,2700 06422 DPHALF
016162,000988: 22,2701 77606 CALCPHI PUSH
016163,000989: 22,2702 57543 OKTHETA DLOAD* DCOMP
016164,000990: 22,2703 00013 10D,1
016165,000991: 22,2704 67471 DDV ARCSIN
016166,000992: 22,2705 00051 S1
016167,000993: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
016168,000994: 22,2707 00011 8D,1
016169,000995: 22,2710 44722 OKPHI
016170,000996: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
016171,000997: 22,2712 43244 BPL DAD
016172,000998: 22,2713 44717 SUHALFAP
016173,000999: 22,2714 06422 DPHALF
016174,001000: 22,2715 77650 GOTO
016175,001001: 22,2716 44723 VECOFANG
016176,001002: 22,2717 52025 SUHALFAP DSU GOTO
016177,001003: 22,2720 06422 DPHALF
016178,001004: 22,2721 44723 VECOFANG
016179,001005: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
016180,001006: 22,2723 43466 VECOFANG VDEF RVQ
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016182,001008: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
016183,001009:
016184,001010: 22,2724 77776 TOOBADF EXIT
016185,001011: 22,2725 05567 TC ALARM
016186,001012: 22,2726 00401 OCT 00401
016187,001013:
016188,001014: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
016189,001015:
016190,001016: 22,2730 04616 TC BANKCALL
016191,001017: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
016192,001018:
016193,001019: 22,2732 04616 NOGO TC BANKCALL
016194,001020: 22,2733 40165 CADR STOPRATE # STOP RATES
016195,001021:
016196,001022: 22,2734 34752 CAF TWO
016197,001023: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
016198,001024: 22,2736 05203 TC WAITLIST
016199,001025: 22,2737 E6,1674 EBANK= BCDU
016200,001026: 22,2737 03234 44066 2CADR GOODMANU
016201,001027:
016202,001028: 22,2741 15155 TCF ENDOFJOB
016203,001029:
016204,001030: 22,2742 77776 TOOBADI EXIT
016205,001031: 22,2743 12732 TCF NOGO
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc