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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060945,000002: ## Copyright: Public domain.
060946,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
060947,000004: ## Purpose: A section of LUM69 revision 2.
060948,000005: ## It is part of the reconstructed source code for the flown
060949,000006: ## version of the flight software for the Lunar Module's (LM)
060950,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
060951,000008: ## been recreated from a copy of Luminary revsion 069, using
060952,000009: ## changes present in Luminary 099 which were described in
060953,000010: ## Luminary memos 75 and 78. The code has been adapted such
060954,000011: ## that the resulting bugger words exactly match those specified
060955,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
060956,000013: ## relatively high confidence that the reconstruction is correct.
060957,000014: ## Reference: pp. 1416-1435
060958,000015: ## Assembler: yaYUL
060959,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060960,000017: ## Website: www.ibiblio.org/apollo/index.html
060961,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
060962,000019:
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Page 1416
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060964,000021: 16,2210 BANK 16
060965,000022: 16,2000 SETLOC DAPS1
060966,000023: 16,2000 BANK
060967,000024:
060968,000025: 16,2210 E6,1462 EBANK= PERROR
060969,000026: 16,2210 COUNT* $$/DAPP
060970,000027:
060971,000028: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060972,000029: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060973,000030:
060974,000031: 16,2210 37726 PAXIS CA MS100
060975,000032: 16,2211 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
060976,000033: # CHRONIZATION WITH OTHER INTERRUPTS ***
060977,000034:
060978,000035: 16,2212 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
060979,000036: 16,2213 00006 EXTEND
060980,000037: 16,2214 22012 QXCH QRUPT
060981,000038:
060982,000039: # CHECK IF DAP PASS IS PERMISSIBLE
060983,000040:
060984,000041: 16,2215 11755 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
060985,000042: 16,2216 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
060986,000043: 16,2217 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
060987,000044:
060988,000045: 16,2220 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060989,000046:
060990,000047: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060991,000048:
060992,000049: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060993,000050: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060994,000051:
060995,000052: 16,2221 31633 CA CDUXD
060996,000053: 16,2222 00006 EXTEND
060997,000054: 16,2223 21636 MSU DELCDUX
060998,000055: 16,2224 02245 TC 1STOTWOS
060999,000056: 16,2225 55633 TS CDUXD
061000,000057: 16,2226 31634 CA CDUYD
061001,000058: 16,2227 00006 EXTEND
061002,000059: 16,2230 21637 MSU DELCDUY
061003,000060: 16,2231 02245 TC 1STOTWOS
061004,000061: 16,2232 55634 TS CDUYD
061005,000062: 16,2233 31635 CA CDUZD
061006,000063: 16,2234 00006 EXTEND
061007,000064: 16,2235 21640 MSU DELCDUZ
061008,000065: 16,2236 02245 TC 1STOTWOS
061009,000066: 16,2237 55635 TS CDUZD
061010,000067: 16,2240 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
061011,000068: 16,2241 27443 DIM TCP # TIME COUNTERS.
061012,000069: 16,2242 00006 EXTEND
061013,000070: 16,2243 27455 DIM TCQR
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Page 1417
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061015,000072: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
061016,000073: # RETURNS TO BACKP.
061017,000074:
061018,000075: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
061019,000076: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
061020,000077: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
061021,000078:
061022,000079: 16,2244 13624 TCF RATELOOP
061023,000080: 16,2245 10000 1STOTWOS CCS A
061024,000081: 16,2246 64753 AD ONE
061025,000082: 16,2247 00002 TC Q
061026,000083: 16,2250 40000 CS A
061027,000084: 16,2251 00002 TC Q
061028,000085: 16,2252 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
061029,000086: 16,2253 71737 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
061030,000087: 16,2254 21425 DAS OMEGAU # OVERFLOW
061031,000088:
061032,000089: 16,2255 00006 +3 EXTEND
061033,000090: 16,2256 31425 DCA OMEGAU
061034,000091: 16,2257 53742 DXCH DAPTEMP5
061035,000092: 16,2260 11424 CCS OMEGAU
061036,000093: 16,2261 12263 TCF +2
061037,000094: 16,2262 12273 TCF DIVIDER
061038,000095: 16,2263 62304 AD -OCT630
061039,000096: 16,2264 00006 EXTEND
061040,000097: 16,2265 62273 BZMF DIVIDER
061041,000098:
061042,000099: 16,2266 11424 CCS OMEGAU
061043,000100: 16,2267 34733 CA POSMAX # 45 DEG/SEC
061044,000101: 16,2270 00002 TC Q
061045,000102: 16,2271 44733 CS POSMAX
061046,000103: 16,2272 00002 TC Q
061047,000104:
061048,000105: 16,2273 53425 DIVIDER DXCH OMEGAU
061049,000106: 16,2274 00006 EXTEND
061050,000107: 16,2275 10061 DV ITEMP1
061051,000108: 16,2276 00002 TC Q
061052,000109:
061053,000110: 16,2277 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061054,000111: 16,2300 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061055,000112: 16,2301 50000 INDEX A
061056,000113: 16,2302 44734 CS BIT15 -1
061057,000114: 16,2303 00002 TC Q
061058,000115:
061059,000116: 16,2304 77147 -OCT630 OCT 77147
061060,000117:
061061,000118: 16,2305 31735 BACKP CA DAPTEMP1
061062,000119: 16,2306 00006 EXTEND
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Page 1418
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061064,000121: 16,2307 71530 MP 1JACC
061065,000122: 16,2310 55743 TS JETRATE
061066,000123:
061067,000124: # BEGINNING OF THE RATE DERIVATION
061068,000125: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
061069,000126: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
061070,000127: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
061071,000128: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
061072,000129: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
061073,000130: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
061074,000131: # OMEGAU DP-TEMPORARY STORAGE
061075,000132: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
061076,000133:
061077,000134: 16,2311 30032 CAE CDUX
061078,000135: 16,2312 54001 TS L
061079,000136: 16,2313 00006 EXTEND
061080,000137: 16,2314 21436 MSU OLDXFORP # SCALED AT PI
061081,000138: 16,2315 23436 LXCH OLDXFORP
061082,000139: 16,2316 55735 TS DAPTEMP1
061083,000140: 16,2317 33603 CA 1/40
061084,000141: 16,2320 54061 TS ITEMP1
061085,000142: 16,2321 41743 CS JETRATE
061086,000143: 16,2322 00006 EXTEND
061087,000144: 16,2323 74736 MP BIT14
061088,000145: 16,2324 27426 ADS TRAPEDP
061089,000146: 16,2325 31744 CA JETRATEQ
061090,000147: 16,2326 61545 AD AOSQTERM
061091,000148: 16,2327 00006 EXTEND
061092,000149: 16,2330 77735 MP -BIT14
061093,000150: 16,2331 27427 ADS TRAPEDQ
061094,000151: 16,2332 31745 CA JETRATER
061095,000152: 16,2333 61546 AD AOSRTERM
061096,000153: 16,2334 00006 EXTEND
061097,000154: 16,2335 77735 MP -BIT14
061098,000155: 16,2336 27430 ADS TRAPEDR
061099,000156:
061100,000157: 16,2337 30033 CA CDUY
061101,000158: 16,2340 54001 TS L
061102,000159: 16,2341 00006 EXTEND
061103,000160: 16,2342 21437 MSU OLDYFORP # SCALED AT PI
061104,000161: 16,2343 23437 LXCH OLDYFORP
061105,000162: 16,2344 55736 TS DAPTEMP2
061106,000163: 16,2345 00006 EXTEND
061107,000164: 16,2346 71412 MP M11 # M11 SCALED AT 1
061108,000165: 16,2347 61735 AD DAPTEMP1
061109,000166: 16,2350 53425 DXCH OMEGAU
061110,000167:
061111,000168: 16,2351 02255 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
061112,000169:
061113,000170: 16,2352 00006 EXTEND
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Page 1419
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061115,000172: 16,2353 61417 SU OMEGAP
061116,000173: 16,2354 27426 ADS TRAPEDP
061117,000174: 16,2355 02277 TC OVERSUB
061118,000175: 16,2356 55426 TS TRAPEDP
061119,000176: 16,2357 00006 EXTEND
061120,000177: 16,2360 31742 DCA DAPTEMP5
061121,000178: 16,2361 21445 DAS DXERROR
061122,000179: 16,2362 41452 CS PLAST
061123,000180: 16,2363 00006 EXTEND
061124,000181: 16,2364 73603 MP 1/40
061125,000182: 16,2365 21445 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
061126,000183: 16,2366 30034 CA CDUZ
061127,000184: 16,2367 54001 TS L
061128,000185: 16,2370 00006 EXTEND
061129,000186: 16,2371 21440 MSU OLDZFORQ
061130,000187: 16,2372 55737 TS DAPTEMP3
061131,000188: 16,2373 23440 LXCH OLDZFORQ
061132,000189: 16,2374 31413 CA M21
061133,000190: 16,2375 00006 EXTEND
061134,000191: 16,2376 71736 MP DAPTEMP2
061135,000192: 16,2377 53425 DXCH OMEGAU
061136,000193: 16,2400 31415 CA M22
061137,000194: 16,2401 02252 TC SUBDIVDE
061138,000195:
061139,000196: 16,2402 00006 EXTEND
061140,000197: 16,2403 61420 SU OMEGAQ
061141,000198: 16,2404 27427 ADS TRAPEDQ
061142,000199: 16,2405 02277 TC OVERSUB
061143,000200: 16,2406 55427 TS TRAPEDQ
061144,000201: 16,2407 00006 EXTEND
061145,000202: 16,2410 31742 DCA DAPTEMP5
061146,000203: 16,2411 21447 DAS DYERROR
061147,000204: 16,2412 41453 CS QLAST
061148,000205: 16,2413 00006 EXTEND
061149,000206: 16,2414 73603 MP 1/40
061150,000207: 16,2415 21447 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
061151,000208: 16,2416 31414 CA M31
061152,000209: 16,2417 00006 EXTEND
061153,000210: 16,2420 71736 MP DAPTEMP2
061154,000211: 16,2421 53425 DXCH OMEGAU
061155,000212: 16,2422 31416 CA M32
061156,000213:
061157,000214: 16,2423 02252 TC SUBDIVDE
061158,000215:
061159,000216: 16,2424 00006 EXTEND
061160,000217: 16,2425 61421 SU OMEGAR
061161,000218: 16,2426 27430 ADS TRAPEDR
061162,000219: 16,2427 02277 TC OVERSUB
061163,000220: 16,2430 55430 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
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Page 1420
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061165,000222: 16,2431 00006 EXTEND
061166,000223: 16,2432 31742 DCA DAPTEMP5
061167,000224: 16,2433 21451 DAS DZERROR
061168,000225: 16,2434 41454 CS RLAST
061169,000226: 16,2435 00006 EXTEND
061170,000227: 16,2436 73603 MP 1/40
061171,000228: 16,2437 21451 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
061172,000229: 16,2440 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
061173,000230: 16,2441 74737 MASK CSMDOCKD
061174,000231: 16,2442 00006 EXTEND
061175,000232: 16,2443 12451 BZF LMONLY
061176,000233: 16,2444 00006 EXTEND # DOCKED
061177,000234: 16,2445 31405 DCA DKOMEGAN
061178,000235: 16,2446 52062 DXCH ITEMP1
061179,000236: 16,2447 31403 CA DKTRAP
061180,000237: 16,2450 12455 TCF +5
061181,000238: 16,2451 00006 LMONLY EXTEND # UNDOCKED
061182,000239: 16,2452 31410 DCA LMOMEGAN
061183,000240: 16,2453 52062 DXCH ITEMP1
061184,000241: 16,2454 31406 CA LMTRAP
061185,000242: 16,2455 54063 +5 TS ITEMP3
061186,000243:
061187,000244: 16,2456 11426 CCS TRAPEDP
061188,000245: 16,2457 12461 TCF +2
061189,000246: 16,2460 12476 TCF SMALPDIF
061190,000247: 16,2461 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061191,000248: 16,2462 00006 EXTEND
061192,000249: 16,2463 62476 BZMF SMALPDIF
061193,000250: 16,2464 22007 ZL
061194,000251: 16,2465 23426 LXCH TRAPEDP
061195,000252: 16,2466 34755 CA ZERO
061196,000253: 16,2467 00006 EXTEND
061197,000254: 16,2470 11431 DV NPTRAPS
061198,000255: 16,2471 27417 ADS OMEGAP
061199,000256: 16,2472 02277 TC OVERSUB
061200,000257: 16,2473 55417 TS OMEGAP
061201,000258: 16,2474 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061202,000259: 16,2475 55431 TS NPTRAPS
061203,000260: 16,2476 25431 SMALPDIF INCR NPTRAPS
061204,000261: 16,2477 31743 P-RATE CA JETRATE
061205,000262: 16,2500 27417 ADS OMEGAP
061206,000263: 16,2501 02277 TC OVERSUB
061207,000264: 16,2502 55417 TS OMEGAP
061208,000265:
061209,000266: 16,2503 11427 CCS TRAPEDQ
061210,000267: 16,2504 12506 TCF +2
061211,000268: 16,2505 12533 TCF Q-RATE
061212,000269: 16,2506 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061213,000270: 16,2507 00006 EXTEND
061214,000271: 16,2510 62533 BZMF Q-RATE
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Page 1421
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061216,000273: 16,2511 22007 ZL
061217,000274: 16,2512 23427 LXCH TRAPEDQ
061218,000275: 16,2513 34755 CA ZERO
061219,000276: 16,2514 00006 EXTEND
061220,000277: 16,2515 11432 DV NQTRAPS
061221,000278: 16,2516 55735 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
061222,000279: 16,2517 27420 ADS OMEGAQ
061223,000280: 16,2520 02277 TC OVERSUB
061224,000281: 16,2521 55420 TS OMEGAQ
061225,000282: 16,2522 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061226,000283: 16,2523 57432 XCH NQTRAPS
061227,000284: 16,2524 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
061228,000285: 16,2525 57735 XCH DAPTEMP1
061229,000286: 16,2526 00006 EXTEND
061230,000287: 16,2527 74756 MP FIVE
061231,000288: 16,2530 00006 EXTEND
061232,000289: 16,2531 11735 DV DAPTEMP1
061233,000290: 16,2532 27537 ADS AOSQ
061234,000291: 16,2533 25432 Q-RATE INCR NQTRAPS
061235,000292: 16,2534 31744 CA JETRATEQ
061236,000293: 16,2535 61545 AD AOSQTERM
061237,000294: 16,2536 27420 ADS OMEGAQ
061238,000295: 16,2537 02277 TC OVERSUB
061239,000296: 16,2540 55420 TS OMEGAQ
061240,000297:
061241,000298: 16,2541 11430 CCS TRAPEDR
061242,000299: 16,2542 12544 TCF +2
061243,000300: 16,2543 12571 TCF R-RATE
061244,000301: 16,2544 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061245,000302: 16,2545 00006 EXTEND
061246,000303: 16,2546 62571 BZMF R-RATE
061247,000304: 16,2547 22007 ZL
061248,000305: 16,2550 23430 LXCH TRAPEDR
061249,000306: 16,2551 34755 CA ZERO
061250,000307: 16,2552 00006 EXTEND
061251,000308: 16,2553 11433 DV NRTRAPS
061252,000309: 16,2554 55736 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
061253,000310: 16,2555 27421 ADS OMEGAR
061254,000311: 16,2556 02277 TC OVERSUB
061255,000312: 16,2557 55421 TS OMEGAR
061256,000313: 16,2560 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061257,000314: 16,2561 57433 XCH NRTRAPS
061258,000315: 16,2562 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
061259,000316: 16,2563 57736 XCH DAPTEMP2
061260,000317: 16,2564 00006 EXTEND
061261,000318: 16,2565 74756 MP FIVE
061262,000319: 16,2566 00006 EXTEND
061263,000320: 16,2567 11736 DV DAPTEMP2
061264,000321: 16,2570 27541 ADS AOSR
061265,000322: 16,2571 25433 R-RATE INCR NRTRAPS
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Page 1422
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061267,000324: 16,2572 31745 CA JETRATER
061268,000325: 16,2573 61546 AD AOSRTERM
061269,000326: 16,2574 27421 ADS OMEGAR
061270,000327: 16,2575 02277 TC OVERSUB
061271,000328: 16,2576 55421 TS OMEGAR
061272,000329:
061273,000330: # END OF RATE DERIVATION
061274,000331: # BEGIN OFFSET ESTIMATER
061275,000332: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
061276,000333: # AOS = AOS + K*SUMRATE
061277,000334:
061278,000335: 16,2577 40111 CS DAPBOOLS
061279,000336: 16,2600 74744 MASK DRIFTBIT
061280,000337: 16,2601 10000 CCS A
061281,000338: 16,2602 12613 TCF WORKTIME
061282,000339: 16,2603 55422 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
061283,000340: 16,2604 55423 TS ALPHAR
061284,000341: 16,2605 55545 TS AOSQTERM
061285,000342: 16,2606 55546 TS AOSRTERM
061286,000343: 16,2607 55537 TS AOSQ
061287,000344: 16,2610 55541 TS AOSR
061288,000345: 16,2611 12635 TCF PAXFILT
061289,000346: 16,2612 00074 KAOS DEC 60 B-14
061290,000347: 16,2613 31510 WORKTIME CA QACCDOT
061291,000348: 16,2614 00006 EXTEND
061292,000349: 16,2615 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061293,000350: 16,2616 21540 DAS AOSQ
061294,000351: 16,2617 31537 CA AOSQ
061295,000352: 16,2620 55422 TS ALPHAQ
061296,000353: 16,2621 00006 EXTEND
061297,000354: 16,2622 73601 MP 200MS # .2 AT 1
061298,000355: 16,2623 55545 TS AOSQTERM
061299,000356: 16,2624 31512 CA RACCDOT
061300,000357: 16,2625 00006 EXTEND
061301,000358: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061302,000359: 16,2627 21542 DAS AOSR
061303,000360: 16,2630 31541 CA AOSR
061304,000361: 16,2631 55423 TS ALPHAR
061305,000362: 16,2632 00006 EXTEND
061306,000363: 16,2633 73601 MP 200MS # .2 AT 1
061307,000364: 16,2634 55546 TS AOSRTERM
061308,000365:
061309,000366: 16,2635 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
061310,000367: 16,2636 71273 MASK RCSFLAGS
061311,000368: 16,2637 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
061312,000369: 16,2640 03721 TC ACDT+C12 # VALID.
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Page 1423
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061314,000371: 16,2641 52011 DXCH ARUPT
061315,000372: 16,2642 53752 DXCH DAPARUPT
061316,000373: 16,2643 32654 CA SUPERJOB # SETTING UP THE SUPERJOB
061317,000374: 16,2644 56017 XCH BRUPT
061318,000375: 16,2645 22012 LXCH QRUPT
061319,000376: 16,2646 53754 DXCH DAPBQRPT
061320,000377: 16,2647 32653 CA SUPERADR
061321,000378: 16,2650 52016 DXCH ZRUPT
061322,000379: 16,2651 53756 DXCH DAPZRUPT
061323,000380: 16,2652 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
061324,000381: # FORM OF A JASK, AT SUPERJOB.
061325,000382:
061326,000383: 16,2653 02655 SUPERADR GENADR SUPERJOB +1
061327,000384:
061328,000385: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
061329,000386:
061330,000387: 16,2654 11630 SUPERJOB CCS QGIMTIMR # Q-AXIS GIMBAL DRIVE TIMER
061331,000388: 16,2655 12667 TCF DECQTIMR # POSITIVE- COUNTING DOWN
061332,000389: 16,2656 12673 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
061333,000390: 16,2657 11632 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
061334,000391: 16,2660 12671 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
061335,000392: 16,2661 12703 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
061336,000393:
061337,000394: 16,2662 34740 CA BIT12
061338,000395: 16,2663 71273 MASK RCSFLAGS
061339,000396: 16,2664 00006 EXTEND
061340,000397: 16,2665 12713 BZF SKIPPAXS
061341,000398: 16,2666 02717 TC CHKVISFZ
061342,000399: 16,2667 55630 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
061343,000400: 16,2670 12657 TCF CHKRTIMR
061344,000401: 16,2671 55632 DECRTIMR TS RGIMTIMR
061345,000402: 16,2672 12662 TCF CHKRTIMR +3
061346,000403:
061347,000404: 16,2673 55500 TURNOFFQ TS NEGUQ # HALT DRIVES.
061348,000405: 16,2674 55510 TS QACCDOT
061349,000406: 16,2675 45007 CS QGIMBITS
061350,000407: 16,2676 00006 EXTEND
061351,000408: 16,2677 03012 WAND CHAN12
061352,000409: 16,2700 34735 CAF NEGMAX
061353,000410: 16,2701 55630 TS QGIMTIMR
061354,000411: 16,2702 12657 TCF CHKRTIMR
061355,000412: 16,2703 55502 TURNOFFR TS NEGUR
061356,000413: 16,2704 55512 TS RACCDOT
061357,000414: 16,2705 45020 CS RGIMBITS
061358,000415: 16,2706 00006 EXTEND
061359,000416: 16,2707 03012 WAND CHAN12
061360,000417: 16,2710 34735 CAF NEGMAX
061361,000418: 16,2711 55632 TS RGIMTIMR
061362,000419: 16,2712 12662 TCF CHKRTIMR +3
061363,000420: 16,2713 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
061364,000421: 16,2713 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
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Page 1424
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061366,000423: 16,2713 41273 SKIPPAXS CS RCSFLAGS
061367,000424: 16,2714 74740 MASK BIT12
061368,000425: 16,2715 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
061369,000426: 16,2716 13607 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
061370,000427:
061371,000428: # Y-Z TRANSLATION
061372,000429:
061373,000430: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
061374,000431:
061375,000432: # OUTPUT: NEXTP
061376,000433:
061377,000434: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
061378,000435: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
061379,000436: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
061380,000437: # ALARM (IF NO PAIR)
061381,000438: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
061382,000439: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
061383,000440:
061384,000441: 16,2717 00006 CHKVISFZ EXTEND
061385,000442: 16,2720 00031 READ CHAN31
061386,000443: 16,2721 40000 CS A
061387,000444: 16,2722 73576 MASK 07400OCT
061388,000445: 16,2723 00006 EXTEND
061389,000446: 16,2724 12773 BZF TSNEXTP
061390,000447: 16,2725 00006 EXTEND
061391,000448: 16,2726 74745 MP BIT7
061392,000449: 16,2727 50000 INDEX A
061393,000450: 16,2730 33555 CA INDXYZ
061394,000451: 16,2731 55742 TS ROTINDEX
061395,000452: 16,2732 36241 TRYUORV CA SIX
061396,000453: 16,2733 03534 TC SELECTYZ
061397,000454: 16,2734 46241 CS SIX
061398,000455: 16,2735 61741 AD NUMBERT
061399,000456: 16,2736 00006 EXTEND
061400,000457: 16,2737 12772 BZF TSNEXTP -1
061401,000458: 16,2740 44756 CS FIVE
061402,000459: 16,2741 61742 AD ROTINDEX
061403,000460: 16,2742 00006 EXTEND
061404,000461: 16,2743 62761 BZMF ALTERYZ
061405,000462: 16,2744 41741 CS NUMBERT
061406,000463: 16,2745 64751 AD FOUR
061407,000464: 16,2746 00006 EXTEND
061408,000465: 16,2747 62772 BZMF TSNEXTP -1
061409,000466: 16,2750 05567 ABORTYZ TC ALARM
061410,000467: 16,2751 02001 OCT 02001
061411,000468: 16,2752 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061412,000469: 16,2753 23273 LXCH RCSFLAGS
061413,000470: 16,2754 00006 EXTEND
061414,000471: 16,2755 06001 RXOR 1
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Page 1425
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061416,000473: 16,2756 55273 TS RCSFLAGS
061417,000474: 16,2757 34755 CA ZERO
061418,000475: 16,2760 12773 TCF TSNEXTP
061419,000476: 16,2761 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061420,000477: 16,2762 23273 LXCH RCSFLAGS
061421,000478: 16,2763 00006 EXTEND
061422,000479: 16,2764 06001 RXOR 1
061423,000480: 16,2765 55273 TS RCSFLAGS
061424,000481: 16,2766 74753 MASK BIT1
061425,000482: 16,2767 64751 AD FOUR
061426,000483: 16,2770 27742 ADS ROTINDEX
061427,000484: 16,2771 12732 TCF TRYUORV
061428,000485: 16,2772 31737 CA POLYTEMP
061429,000486: 16,2773 55470 TSNEXTP TS NEXTP
061430,000487:
061431,000488: # STATE LOGIC
061432,000489: # CHECK IN ORDER: IF ON
061433,000490: # LPDPHASE GO TO PURGENCY
061434,000491: # PULSES MINIMUM PULSE LOGIC
061435,000492: # DETENT(BIT15 CH31) RATE COMMAND
061436,000493: # GO TO PURGENCY
061437,000494:
061438,000495: 16,2774 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
061439,000496: 16,2775 00006 EXTEND
061440,000497: 16,2776 02031 RAND CHAN31
061441,000498: 16,2777 00006 EXTEND
061442,000499: 16,3000 13006 BZF MANMODE
061443,000500:
061444,000501: 16,3001 30111 CA DAPBOOLS
061445,000502: 16,3002 74743 MASK XOVINHIB
061446,000503: 16,3003 10000 CCS A
061447,000504: 16,3004 13442 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
061448,000505:
061449,000506: 16,3005 13050 TCF DETENTCK
061450,000507: 16,3006 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
061451,000508: 16,3007 70111 MASK DAPBOOLS
061452,000509: 16,3010 00006 EXTEND
061453,000510: 16,3011 13050 BZF DETENTCK # BRANCH FOR RATE COMMAND
061454,000511:
061455,000512: 16,3012 34755 CA ZERO
061456,000513: 16,3013 55462 TS PERROR
061457,000514:
061458,000515: # MINIMUM IMPULSE MODE
061459,000516:
061460,000517: 16,3014 30032 CA CDUX
061461,000518: 16,3015 55633 TS CDUXD
061462,000519:
061463,000520: 16,3016 11456 CCS OLDPMIN
061464,000521: 16,3017 13033 TCF CHECKP
061465,000522:
061466,000523: 16,3020 34751 FIREP CA BIT3
061467,000524: 16,3021 00006 EXTEND
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Page 1426
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061469,000526: 16,3022 02031 RAND CHAN31
061470,000527: 16,3023 00006 EXTEND
061471,000528: 16,3024 13043 BZF +XMIN
061472,000529:
061473,000530: 16,3025 34750 CA BIT4
061474,000531: 16,3026 00006 EXTEND
061475,000532: 16,3027 02031 RAND CHAN31
061476,000533: 16,3030 00006 EXTEND
061477,000534: 16,3031 13041 BZF -XMIN
061478,000535:
061479,000536: 16,3032 13421 TCF JETSOFF
061480,000537:
061481,000538: 16,3033 00006 CHECKP EXTEND
061482,000539: 16,3034 00031 READ CHAN31
061483,000540: 16,3035 40000 CS A
061484,000541: 16,3036 75742 MASK OCT14
061485,000542: 16,3037 55456 TS OLDPMIN
061486,000543: 16,3040 13421 TCF JETSOFF
061487,000544:
061488,000545: 16,3041 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
061489,000546: 16,3042 13044 TCF +2 # IN JET SELECTION ROUTINE
061490,000547: 16,3043 34363 +XMIN CA TEN
061491,000548: 16,3044 55524 TS TJP
061492,000549: 16,3045 34753 CA ONE
061493,000550: 16,3046 55456 TS OLDPMIN
061494,000551: 16,3047 13327 TCF PJETSLEC -6
061495,000552:
061496,000553: # MANUAL RATE COMMAND MODE
061497,000554: # ========================
061498,000555: # BY ROBERT F. STENGEL
061499,000556:
061500,000557: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
061501,000558: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
061502,000559: # RATE CONTROL AND ATTITUDE HOLD.
061503,000560:
061504,000561: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
061505,000562: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
061506,000563: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
061507,000564: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
061508,000565: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
061509,000566: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
061510,000567:
061511,000568: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
061512,000569: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
061513,000570: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
061514,000571:
061515,000572: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
061516,000573: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
061517,000574: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
061518,000575: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
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Page 1427
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061520,000577: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
061521,000578: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
061522,000579:
061523,000580: 16,3050 00006 DETENTCK EXTEND
061524,000581: 16,3051 00031 READ CHAN31
061525,000582: 16,3052 55441 TS CH31TEMP
061526,000583: 16,3053 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
061527,000584: 16,3054 00006 EXTEND
061528,000585: 16,3055 13202 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
061529,000586: 16,3056 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
061530,000587: 16,3057 70111 MASK DAPBOOLS
061531,000588: 16,3060 00006 EXTEND
061532,000589: 16,3061 13442 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
061533,000590:
061534,000591: # ........................................................................
061535,000592:
061536,000593: 16,3062 34743 CA BIT9 # JUST IN DETENT??
061537,000594: 16,3063 71273 MASK RCSFLAGS
061538,000595: 16,3064 00006 EXTEND
061539,000596: 16,3065 13077 BZF RUTH
061540,000597: 16,3066 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
061541,000598: 16,3067 00006 EXTEND
061542,000599: 16,3070 02031 RAND CHAN31
061543,000600: 16,3071 00006 EXTEND
061544,000601: 16,3072 13177 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
061545,000602:
061546,000603: 16,3073 45014 CS BITS9,11 # IN AUTO.
061547,000604: 16,3074 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
061548,000605: 16,3075 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
061549,000606: 16,3076 13177 TCF RATEDAMP
061550,000607:
061551,000608: 16,3077 31273 RUTH CA RCSFLAGS
061552,000609: 16,3100 74742 MASK PBIT # IN ATTITUDE HOLD.
061553,000610: 16,3101 00006 EXTEND
061554,000611: 16,3102 13104 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
061555,000612: 16,3103 13177 TCF RATEDAMP
061556,000613: 16,3104 31273 CA RCSFLAGS
061557,000614: 16,3105 74741 MASK QRBIT
061558,000615: 16,3106 00006 EXTEND
061559,000616: 16,3107 13115 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
061560,000617: 16,3110 13177 TCF RATEDAMP
061561,000618:
061562,000619: # ============================================
061563,000620:
061564,000621: 16,3111 00001 1/10SEC OCT 1
061565,000622: 16,3112 00050 40CYC OCT 50
061566,000623: 16,3113 74777 PQRBIT OCT 74777
061567,000624: 16,3114 5014 BITS9,11 EQUALS EBANK5
061568,000625: 16,3114 00056 LINRATP DEC 46 B-14
061569,000626:
061570,000627: # ============================================
061571,000628:
061572,000629: 16,3115 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
061573,000630: 16,3116 00004 INHINT # ALL AXES.
061574,000631: 16,3117 70111 MASK DAPBOOLS
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Page 1428
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061576,000633: 16,3120 54111 TS DAPBOOLS
061577,000634:
061578,000635: # READ CDUS INTO CDU DESIRED REGISTERS
061579,000636:
061580,000637: 16,3121 34737 CAF BIT13
061581,000638: 16,3122 00006 EXTEND
061582,000639: 16,3123 02031 RAND CHAN31
061583,000640: 16,3124 00006 EXTEND
061584,000641: 16,3125 13131 BZF +4
061585,000642: 16,3126 30032 CA CDUX # (X-AXIS OVERRIDE)
061586,000643: 16,3127 55633 TS CDUXD
061587,000644: 16,3130 03133 TC +3
061588,000645: 16,3131 04674 TC IBNKCALL
061589,000646: 16,3132 40153 FCADR ZATTEROR
061590,000647: 16,3133 00003 RELINT
061591,000648: 16,3134 13442 TCF PURGENCY
061592,000649:
061593,000650: 16,3135 55462 TS PERROR
061594,000651: 16,3136 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
061595,000652: 16,3137 26111 ADS DAPBOOLS
061596,000653: 16,3140 34755 CA ZERO
061597,000654: 16,3141 55444 TS DXERROR
061598,000655: 16,3142 55445 TS DXERROR +1
061599,000656: 16,3143 55446 TS DYERROR
061600,000657: 16,3144 55447 TS DYERROR +1
061601,000658: 16,3145 55450 TS DZERROR
061602,000659: 16,3146 55451 TS DZERROR +1
061603,000660: 16,3147 55452 TS PLAST
061604,000661: 16,3150 55453 TS QLAST
061605,000662: 16,3151 55454 TS RLAST
061606,000663: 16,3152 54042 TS Q-RHCCTR
061607,000664: 16,3153 54044 TS R-RHCCTR
061608,000665: 16,3154 33113 CA PQRBIT
061609,000666: 16,3155 71273 MASK RCSFLAGS
061610,000667: 16,3156 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
061611,000668: 16,3157 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
061612,000669: 16,3160 74743 MASK BIT9
061613,000670: 16,3161 27273 ADS RCSFLAGS
061614,000671: 16,3162 03164 TC ZEROENBL
061615,000672: 16,3163 13421 TCF JETSOFF
061616,000673: 16,3164 22044 ZEROENBL LXCH R-RHCCTR
061617,000674: 16,3165 30042 CA Q-RHCCTR
061618,000675: 16,3166 53461 DXCH SAVEHAND
061619,000676: 16,3167 34755 CA ZERO
061620,000677: 16,3170 54043 TS P-RHCCTR
061621,000678: 16,3171 54042 TS Q-RHCCTR
061622,000679: 16,3172 54044 TS R-RHCCTR
061623,000680: 16,3173 33602 CA BITS8,9
061624,000681: 16,3174 00006 EXTEND
061625,000682: 16,3175 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
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Page 1429
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061627,000684: 16,3176 00002 TC Q
061628,000685: 16,3177 34755 RATEDAMP CA ZERO
061629,000686: 16,3200 54043 TS P-RHCCTR
061630,000687: 16,3201 13206 TCF RATERROR
061631,000688:
061632,000689: 16,3202 34740 RHCMOVED CA OURRCBIT # P CONTROL
061633,000690: 16,3203 70111 MASK DAPBOOLS
061634,000691: 16,3204 00006 EXTEND
061635,000692: 16,3205 13135 BZF JUSTOUT -1
061636,000693: 16,3206 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
061637,000694: 16,3207 55633 TS CDUXD # X-AXIS OVERRIDE
061638,000695: 16,3210 10043 CCS P-RHCCTR
061639,000696: 16,3211 13214 TCF +3
061640,000697: 16,3212 13214 TCF +2
061641,000698: 16,3213 13214 TCF +1
061642,000699: 16,3214 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
061643,000700: 16,3215 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
061644,000701: 16,3216 63114 AD LINRATP # AUTOPILOT)
061645,000702: 16,3217 00006 EXTEND
061646,000703: 16,3220 70043 MP P-RHCCTR
061647,000704: 16,3221 30001 CA L
061648,000705: 16,3222 00006 EXTEND
061649,000706: 16,3223 71442 MP STIKSENS
061650,000707: 16,3224 57452 XCH PLAST
061651,000708: 16,3225 40000 COM
061652,000709: 16,3226 61452 AD PLAST
061653,000710: 16,3227 55735 TS DAPTEMP1
061654,000711: 16,3230 03164 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
061655,000712: 16,3231 41452 CS PLAST
061656,000713: 16,3232 61417 AD OMEGAP
061657,000714: 16,3233 55425 TS EDOTP
061658,000715: 16,3234 11735 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
061659,000716: 16,3235 13240 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
061660,000717: 16,3236 13246 TCF +8 # CHECK FOR DIRECT RATE CONTROL LAST TIME.
061661,000718: 16,3237 13240 TCF +1
061662,000719: 16,3240 61474 AD -RATEDB
061663,000720: 16,3241 00006 EXTEND
061664,000721: 16,3242 63246 BZMF +4
061665,000722: 16,3243 33112 CA 40CYC
061666,000723: 16,3244 55443 TS TCP
061667,000724: 16,3245 03257 TC PEGI
061668,000725: 16,3246 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
061669,000726: 16,3247 74742 MASK PBIT
061670,000727: 16,3250 00006 EXTEND
061671,000728: 16,3251 13253 BZF +2
061672,000729: 16,3252 03257 TC PEGI # TO PURE RATE COMMAND
061673,000730: 16,3253 31444 CA DXERROR # PSEUDO-AUTO CONTROL.
061674,000731: 16,3254 55750 TS E # X-ATTITUDE ERROR (SP)
061675,000732: 16,3255 55462 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061676,000733: 16,3256 03446 TC PURGENCY +4
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Page 1430
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061678,000735: 16,3257 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
061679,000736: 16,3260 55633 TS CDUXD
061680,000737: 16,3261 34755 CA ZERO
061681,000738: 16,3262 55444 TS DXERROR
061682,000739: 16,3263 55445 TS DXERROR +1
061683,000740: 16,3264 55462 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061684,000741: 16,3265 11425 CCS EDOTP
061685,000742: 16,3266 03271 TC +3
061686,000743: 16,3267 03271 TC +2
061687,000744: 16,3270 03271 TC +1
061688,000745: 16,3271 55735 TS ABSEDOTP
061689,000746: 16,3272 61474 AD TARGETDB
061690,000747: 16,3273 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
061691,000748: 16,3274 63304 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
061692,000749: 16,3275 31443 CA TCP
061693,000750: 16,3276 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
061694,000751: 16,3277 63304 BZMF LAST
061695,000752: 16,3300 41273 CS RCSFLAGS
061696,000753: 16,3301 74742 MASK PBIT
061697,000754: 16,3302 27273 ADS RCSFLAGS # BIT 10 IS 1.
061698,000755: 16,3303 13307 TCF +4
061699,000756: 16,3304 44742 LAST CS PBIT
061700,000757: 16,3305 71273 MASK RCSFLAGS
061701,000758: 16,3306 55273 TS RCSFLAGS # BIT 10 IS 0.
061702,000759: 16,3307 41425 CS EDOTP
061703,000760: 16,3310 00006 EXTEND
061704,000761: 16,3311 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
061705,000762: 16,3312 20001 DAS A
061706,000763: 16,3313 02277 TC OVERSUB
061707,000764: 16,3314 00006 EXTEND
061708,000765: 16,3315 77715 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
061709,000766: 16,3316 55524 TS TJP # 4.JET TIME
061710,000767: 16,3317 31735 CA ABSEDOTP
061711,000768: 16,3320 61473 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
061712,000769: 16,3321 00006 EXTEND
061713,000770: 16,3322 63325 BZMF +3
061714,000771:
061715,000772: 16,3323 36241 CA SIX
061716,000773: 16,3324 13334 TCF +8D
061717,000774: 16,3325 31524 CA TJP
061718,000775: 16,3326 27524 ADS TJP
061719,000776:
061720,000777: # GOES TO PJETSLEC FOR TWO JETS
061721,000778:
061722,000779: # P-JET-SELECTION-ROUTINE (ROTATION)
061723,000780:
061724,000781: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
061725,000782: # TJP + FOR +P ROTATION
061726,000783:
061727,000784: # OUTPUT: CHANNEL 6
061728,000785: # PJUMPADR FOR P-AXIS SKIP
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Page 1431
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061730,000787: # (JTLST CALL) (SMALL TJP)
061731,000788:
061732,000789: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
061733,000790: # +P -P
061734,000791: # 7,15 8,16
061735,000792: # 4,12 3,11
061736,000793: # 4,7 8,11
061737,000794: # 7,12 11,16
061738,000795: # 12,15 3,16
061739,000796: # 4,15 3,8
061740,000797: # ALARM ALARM
061741,000798:
061742,000799: 16,3327 34747 CA AORBSYST
061743,000800: 16,3330 70111 MASK DAPBOOLS
061744,000801: 16,3331 10000 CCS A
061745,000802: 16,3332 34753 CA ONE
061746,000803: 16,3333 64751 AD FOUR
061747,000804: 16,3334 55741 TS NUMBERT
061748,000805: 16,3335 34753 PJETSLEC CA ONE
061749,000806: 16,3336 54001 TS L
061750,000807: 16,3337 11524 CCS TJP
061751,000808: 16,3340 13345 TCF +5
061752,000809: 16,3341 13421 TCF JETSOFF
061753,000810: 16,3342 13344 TCF +2
061754,000811: 16,3343 13421 TCF JETSOFF
061755,000812: 16,3344 22007 ZL
061756,000813: 16,3345 64753 AD ONE
061757,000814: 16,3346 55735 TS ABSTJ
061758,000815: 16,3347 23742 LXCH ROTINDEX
061759,000816: 16,3350 03514 TC SELECTP
061760,000817: 16,3351 46241 CS SIX
061761,000818: 16,3352 61741 AD NUMBERT
061762,000819: 16,3353 00006 EXTEND
061763,000820: 16,3354 13356 BZF +2
061764,000821:
061765,000822: 16,3355 44752 CS TWO
061766,000823: 16,3356 64751 AD FOUR
061767,000824: 16,3357 55521 TS NO.PJETS
061768,000825: 16,3360 31737 CA POLYTEMP
061769,000826: 16,3361 05745 TC WRITEP
061770,000827: 16,3362 41735 CS ABSTJ
061771,000828: 16,3363 63575 AD +150MST6
061772,000829: 16,3364 00006 EXTEND
061773,000830: 16,3365 63607 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
061774,000831:
061775,000832: 16,3366 63555 AD -136MST6
061776,000833: 16,3367 00006 EXTEND
061777,000834: 16,3370 63375 BZMF +5
061778,000835:
061779,000836: 16,3371 27735 ADS ABSTJ
061780,000837: 16,3372 51742 INDEX ROTINDEX
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Page 1432
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061782,000839: 16,3373 33604 CA MINTIMES
061783,000840: 16,3374 55524 TS TJP
061784,000841:
061785,000842: 16,3375 31735 CA ABSTJ
061786,000843: 16,3376 22007 ZL
061787,000844: 16,3377 00004 INHINT
061788,000845: 16,3400 53467 DXCH T6FURTHA
061789,000846: 16,3401 04674 TC IBNKCALL
061790,000847: 16,3402 37046 CADR JTLST
061791,000848: 16,3403 44740 CS BIT12
061792,000849: 16,3404 71273 MASK RCSFLAGS
061793,000850: 16,3405 55273 TS RCSFLAGS # BIT 12 SET TO 0.
061794,000851: 16,3406 03410 TC ALTSYST
061795,000852: 16,3407 13607 TCF QRAXIS
061796,000853:
061797,000854: 16,3410 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
061798,000855: 16,3411 54001 TS L
061799,000856: 16,3412 34747 CA AORBSYST
061800,000857: 16,3413 00006 EXTEND
061801,000858: 16,3414 06001 RXOR LCHAN
061802,000859: 16,3415 54111 TS DAPBOOLS
061803,000860: 16,3416 00003 RELINT
061804,000861: 16,3417 00002 TC Q
061805,000862:
061806,000863: 16,3420 03410 DKALT TC ALTSYST
061807,000864:
061808,000865: 16,3421 05744 JETSOFF TC WRITEP -1
061809,000866: 16,3422 34755 CA ZERO
061810,000867: 16,3423 55524 TS TJP
061811,000868: 16,3424 13607 TCF QRAXIS
061812,000869:
061813,000870: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
061814,000871:
061815,000872: 16,3425 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
061816,000873: 16,3426 00006 EXTEND
061817,000874: 16,3427 21634 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
061818,000875: 16,3430 00006 EXTEND
061819,000876: 16,3431 71412 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
061820,000877: 16,3432 57750 XCH E # SAVE FIRST TERM (OF TWO)
061821,000878: 16,3433 30032 CA CDUX # THIRD COMPONENT
061822,000879: 16,3434 00006 EXTEND
061823,000880: 16,3435 21633 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
061824,000881: # EXTEND
061825,000882: # MP M13
061826,000883: 16,3436 61277 AD DELPEROR # KALCMANU INERFACE ERROR
061827,000884: 16,3437 27750 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
061828,000885: 16,3440 57462 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
061829,000886: 16,3441 00002 TC Q # RETURN TO CALLER
061830,000887:
061831,000888: # P-AXIS URGENCY FUNCTION CALCULATION.
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Page 1433
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061833,000890: 16,3442 03425 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
061834,000891: 16,3443 41641 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
061835,000892: 16,3444 61417 AD OMEGAP # SPS-BACKUP MODE.
061836,000893: 16,3445 55425 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
061837,000894:
061838,000895: 16,3446 44753 CS ONE
061839,000896: 16,3447 55476 TS AXISCTR
061840,000897: 16,3450 30111 CA DAPBOOLS
061841,000898: 16,3451 74737 MASK CSMDOCKD
061842,000899: 16,3452 00006 EXTEND
061843,000900: 16,3453 13470 BZF HEADTJET
061844,000901: 16,3454 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
061845,000902: 16,3455 04674 TC IBNKCALL
061846,000903: 16,3456 37700 CADR SPSRCS
061847,000904:
061848,000905: 16,3457 31524 CA TJP
061849,000906: 16,3460 00006 EXTEND
061850,000907: 16,3461 13420 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
061851,000908: 16,3462 00003 RELINT
061852,000909: 16,3463 41741 CS NUMBERT
061853,000910: 16,3464 66241 AD SIX
061854,000911: 16,3465 00006 EXTEND # IF NUMBERT = 6 BYPASS AORBSYST CHECK
061855,000912: 16,3466 13335 BZF PJETSLEC # AND USE FOUR JETS, OTHERWISE,
061856,000913: 16,3467 13327 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
061857,000914: 16,3470 34755 HEADTJET CA ZERO
061858,000915: 16,3471 55477 TS SENSETYP
061859,000916: 16,3472 00004 INHINT
061860,000917: 16,3473 04674 TC IBNKCALL
061861,000918: 16,3474 37207 CADR TJETLAW
061862,000919: 16,3475 00003 RELINT
061863,000920:
061864,000921: 16,3476 41737 CS FIREFCT
061865,000922: 16,3477 63513 AD -FOURDEG
061866,000923: 16,3500 00006 EXTEND
061867,000924: 16,3501 63327 BZMF PJETSLEC -6
061868,000925: 16,3502 11524 CCS TJP
061869,000926: 16,3503 13505 TCF +2
061870,000927: 16,3504 13421 TCF JETSOFF
061871,000928: 16,3505 63512 AD -160MST6
061872,000929: 16,3506 00006 EXTEND
061873,000930: 16,3507 63327 BZMF PJETSLEC -6
061874,000931: 16,3510 36241 CA SIX
061875,000932: 16,3511 13334 TCF PJETSLEC -1
061876,000933: 16,3512 77377 -160MST6 DEC -256 B-14
061877,000934: 16,3513 75117 -FOURDEG DEC -.08888
061878,000935:
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Page 1434
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061880,000937: # JET POLICY CONSTRUCTION SUBROUTINE
061881,000938:
061882,000939: # INPUT: ROTINDEX, NUMBERT
061883,000940:
061884,000941: # OUTPUT: POLYTEMP (JET POLICY)
061885,000942:
061886,000943: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
061887,000944:
061888,000945: 16,3514 36241 SELECTP CA SIX
061889,000946: 16,3515 55740 TS TEMPNUM
061890,000947: 16,3516 51741 INDEX NUMBERT
061891,000948: 16,3517 33546 CA TYPEP
061892,000949: 16,3520 51742 INDEX ROTINDEX
061893,000950: 16,3521 73537 MASK JETSALL
061894,000951: 16,3522 55737 TS POLYTEMP
061895,000952: 16,3523 71263 MASK CH6MASK
061896,000953: 16,3524 10000 CCS A
061897,000954: 16,3525 13527 TCF +2
061898,000955: 16,3526 00002 TC Q
061899,000956: 16,3527 11740 CCS TEMPNUM
061900,000957: 16,3530 13534 TCF +4
061901,000958: 16,3531 05567 TC ALARM
061902,000959: 16,3532 02003 OCT 02003
061903,000960: 16,3533 13421 TCF JETSOFF # *****TCF ALARMJET *********************
061904,000961: 16,3534 55741 SELECTYZ TS NUMBERT
061905,000962: 16,3535 13515 TCF SELECTP +1
061906,000963: 16,3536 12752 -1 TCF ABORTYZ +2
061907,000964: 16,3537 00252 JETSALL OCT 00252
061908,000965: 16,3540 00125 OCT 00125 # +P
061909,000966: 16,3541 00140 OCT 00140 # -Y
061910,000967: 16,3542 00006 OCT 00006 # -Z
061911,000968: 16,3543 00220 OCT 00220 # +Y
061912,000969: 16,3544 00011 OCT 00011 # +Z
061913,000970: 16,3545 00151 OCT 00151 # +V
061914,000971: 16,3546 00146 TYPEP OCT 00146 # -U
061915,000972: 16,3547 00226 OCT 00226 # -V
061916,000973: 16,3550 00231 OCT 00231 # +U
061917,000974: 16,3551 00151 OCT 00151 # +V
061918,000975: 16,3552 00132 OCT 00132 # 1-3
061919,000976: 16,3553 00245 OCT 00245 # 2-4
061920,000977: 16,3554 00377 OCT 00377 # ALL
061921,000978: 16,3555 16,3555 INDXYZ = -136MST6
061922,000979: 16,3555 77445 -136MST6 DEC -218 B-14
061923,000980: 16,3556 00004 DEC 4 B-14
061924,000981: 16,3557 00002 DEC 2 B-14
061925,000982: 16,3560 07776 OCT 07776
061926,000983: 16,3561 00005 DEC 5 B-14
061927,000984: 16,3562 00011 DEC 9 B-14
061928,000985: 16,3563 00012 DEC 10 B-14
061929,000986: 16,3564 07776 OCT 07776
061930,000987: 16,3565 00003 DEC 3 B-14
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Page 1435
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061932,000989: 16,3566 00010 DEC 8 B-14
061933,000990: 16,3567 00007 DEC 7 B-14
061934,000991: 16,3570 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
061935,000992: 16,3571 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
061936,000993: 16,3572 07776 OCT 07776 # TO BE TC JETSALL -1
061937,000994: 16,3573 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
061938,000995: 16,3574 07776 OCT 07776
061939,000996: 16,3575 00360 +150MST6 DEC 240 B-14
061940,000997: 16,3576 07400 07400OCT OCT 07400
061941,000998:
061942,000999: # T-JET LAW FIXED CONSTANTS
061943,001000:
061944,001001: 16,3577 00266 NORMSCL OCT 266
061945,001002: 16,3600 74631 -100MS DEC -.1
061946,001003: 16,3601 06315 200MS DEC .2
061947,001004: 16,3602 7715 25/32 = PRIO31 # (DEC .78125)
061948,001005: 16,3602 00600 BITS8,9 OCTAL 00600
061949,001006: 16,3603 00632 1/40 DEC .02500
061950,001007: 16,3604 77751 MINTIMES DEC -22 B-14
061951,001008: 16,3605 00026 DEC 22 B-14
061952,001009: 16,3606 02713 PSKIPADR GENADR SKIPPAXS
061953,001010:
061954,001011: # GOES TO Q,R-AXES RCS AUTOPILOT
061955,001012: 16,3607 41643 QRAXIS CS OMEGARD
061956,001013: 16,3610 61421 AD OMEGAR
061957,001014: 16,3611 02277 TC OVERSUB
061958,001015: 16,3612 55435 TS EDOTR
061959,001016: 16,3613 41642 CS OMEGAQD
061960,001017: 16,3614 61420 AD OMEGAQ
061961,001018: 16,3615 02277 TC OVERSUB
061962,001019: 16,3616 55434 TS EDOTQ
061963,001020: 16,3617 00006 EXTEND
061964,001021: 16,3620 33623 DCA QERRCALL
061965,001022: 16,3621 52006 DTCB
061966,001023:
061967,001024: 16,3622 E6,1537 EBANK= AOSQ
061968,001025: 16,3622 02043 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc