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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021269,000002: ## Copyright: Public domain.
021270,000003: ## Filename: R60,R62.agc
021271,000004: ## Purpose: A section of LUM69 revision 2.
021272,000005: ## It is part of the reconstructed source code for the flown
021273,000006: ## version of the flight software for the Lunar Module's (LM)
021274,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
021275,000008: ## been recreated from a copy of Luminary revsion 069, using
021276,000009: ## changes present in Luminary 099 which were described in
021277,000010: ## Luminary memos 75 and 78. The code has been adapted such
021278,000011: ## that the resulting bugger words exactly match those specified
021279,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
021280,000013: ## relatively high confidence that the reconstruction is correct.
021281,000014: ## Reference: pp. 485-497
021282,000015: ## Assembler: yaYUL
021283,000016: ## Contact: Ron Burkey <info@sandroid.org>.
021284,000017: ## Website: www.ibiblio.org/apollo/index.html
021285,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
021286,000019:
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021288,000021: # MOD NO: 0 DATE: 1 MAY 1968
021289,000022: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
021290,000023:
021291,000024: # FUNCTIONAL DESCRIPTION:
021292,000025:
021293,000026: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
021294,000027: # ATTITUDE.
021295,000028:
021296,000029: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
021297,000030: # CALCULATED (VECPOINT).
021298,000031:
021299,000032: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021300,000033:
021301,000034: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
021302,000035:
021303,000036: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
021304,000037: # ASTRONAUT RESPONSE.
021305,000038:
021306,000039: # 5. DISPLAY RESPONSE RETURNS:
021307,000040:
021308,000041: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
021309,000042:
021310,000043: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
021311,000044: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
021312,000045: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
021313,000046:
021314,000047: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
021315,000048:
021316,000049: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
021317,000050: # (VECPOINT).
021318,000051:
021319,000052: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021320,000053:
021321,000054: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
021322,000055: #
021323,000056: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
021324,000057:
021325,000058: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
021326,000059:
021327,000060: # 11. DO A PHASECHANGE.
021328,000061:
021329,000062: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
021330,000063:
021331,000064: # GIMBAL ANGLES (GOMANUR).
021332,000065: # 13. AT END OF MANEUVER GO TO STEP 3.
021333,000066:
021334,000067: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
021335,000068: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
021336,000069: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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021338,000071: # STEP 5C.
021339,000072:
021340,000073: # CALLING SEQUENCE: TC BANKCALL
021341,000074: # CADR R60LEM
021342,000075:
021343,000076: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
021344,000077: # 3AXISFLG.
021345,000078:
021346,000079: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
021347,000080: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
021348,000081:
021349,000082: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
021350,000083: # TC BANKJUMP
021351,000084:
021352,000085: # ALARMS: NONE
021353,000086:
021354,000087: # OUTPUT: NONE
021355,000088:
021356,000089: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
021357,000090:
021358,000091: 34,2000 BANK 34
021359,000092: 26,2000 SETLOC MANUVER
021360,000093: 26,2000 BANK
021361,000094:
021362,000095: 26,2101 1164 EBANK= TEMPR60
021363,000096:
021364,000097: 26,2101 COUNT* $$/R06
021365,000098: 26,2101 04645 R60LEM TC MAKECADR
021366,000099: 26,2102 55164 TS TEMPR60
021367,000100:
021368,000101: 26,2103 34746 REDOMANN CAF 3AXISBIT
021369,000102: 26,2104 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021370,000103: 26,2105 10000 CCS A
021371,000104: 26,2106 12114 TCF TOBALL # YES
021372,000105: 26,2107 06036 TC INTPRET
021373,000106: 26,2110 77624 CALL
021374,000107: 26,2111 56016 VECPOINT # TO COMPUTE FINAL ANGLES
021375,000108: 26,2112 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
021376,000109: 26,2113 77776 EXIT
021377,000110:
021378,000111: 26,2114 04616 TOBALL TC BANKCALL
021379,000112: 26,2115 54244 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021380,000113: 26,2116 32232 TOBALLA CAF V06N18
021381,000114: 26,2117 04616 TC BANKCALL
021382,000115: 26,2120 20563 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
021383,000116: 26,2121 02220 TC R61TEST
021384,000117: 26,2122 02126 TC REDOMANC # PROCEED
021385,000118: 26,2123 02153 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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021387,000120: 26,2124 02157 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021388,000121: 26,2125 05155 TC ENDOFJOB
021389,000122:
021390,000123: 26,2126 34746 REDOMANC CAF 3AXISBIT
021391,000124: 26,2127 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021392,000125: 26,2130 10000 CCS A
021393,000126: 26,2131 12137 TCF TOBALLC # YES
021394,000127: 26,2132 06036 TC INTPRET
021395,000128: 26,2133 77624 CALL
021396,000129: 26,2134 56016 VECPOINT # TO COMPUTE FINAL ANGLES
021397,000130: 26,2135 00322 STORE CPHI # STORE ANGLES
021398,000131: 26,2136 77776 EXIT
021399,000132:
021400,000133: 26,2137 04616 TOBALLC TC BANKCALL
021401,000134: 26,2140 54244 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021402,000135: 26,2141 02233 TC G+N,AUTO # CHECK AUTO MODE
021403,000136: 26,2142 10000 CCS A
021404,000137: 26,2143 12116 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
021405,000138:
021406,000139: 26,2144 32232 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
021407,000140: 26,2145 04616 TC BANKCALL # -
021408,000141: 26,2146 20327 CADR GODSPR # -
021409,000142: 26,2147 02157 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021410,000143:
021411,000144: 26,2150 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
021412,000145: 26,2151 17723 CADR GOMANUR
021413,000146:
021414,000147: 26,2152 12116 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
021415,000148: 26,2153 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
021416,000149: 26,2154 00124 ADRES 3AXISFLG
021417,000150: 26,2155 31164 CAE TEMPR60 # -
021418,000151: 26,2156 04640 TC BANKJUMP # -
021419,000152:
021420,000153: 26,2157 40100 CHKLINUS CS FLAGWRD4
021421,000154: 26,2160 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
021422,000155: 26,2161 10000 CCS A # -
021423,000156: 26,2162 00002 TC Q # NO - EXIT
021424,000157: 26,2163 30002 CA Q
021425,000158: 26,2164 54156 TS MPAC +2 # SAVE RETURN
021426,000159: 26,2165 46244 CS THREE # OBTAIN LOCATION FOR RESTART
021427,000160: 26,2166 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
021428,000161: 26,2167 55055 TS TBASE2
021429,000162:
021430,000163: 26,2170 05353 TC PHASCHNG
021431,000164: 26,2171 00132 OCT 00132
021432,000165:
021433,000166: 26,2172 34745 CAF BIT7
021434,000167: 26,2173 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
021435,000168: 26,2174 00156 TC MPAC +2
021436,000169:
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021438,000171: 26,2175 37713 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
021439,000172: 26,2176 05146 TC PRIOCHNG
021440,000173:
021441,000174: 26,2177 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021442,000175: 26,2200 70075 MASK FLAGWRD1
021443,000176: 26,2201 10000 CCS A
021444,000177: 26,2202 12215 TCF RER60
021445,000178:
021446,000179: 26,2203 34745 CAF RNDVZBIT # IS IT P20?
021447,000180: 26,2204 70074 MASK FLAGWRD0
021448,000181: 26,2205 10000 CCS A
021449,000182: 26,2206 02212 TC +4 # YES
021450,000183: 26,2207 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
021451,000184: 26,2210 40112 OCT 40112
021452,000185:
021453,000186: 26,2211 05155 TC ENDOFJOB
021454,000187:
021455,000188: 26,2212 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
021456,000189: 26,2213 40072 OCT 40072
021457,000190:
021458,000191: 26,2214 05155 TC ENDOFJOB
021459,000192:
021460,000193: 26,2215 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
021461,000194: 26,2216 00077 ADRES PDSPFLAG
021462,000195:
021463,000196: 26,2217 01055 TC TBASE2
021464,000197:
021465,000198: 26,2220 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
021466,000199: 26,2221 00006 EXTEND
021467,000200: 26,2222 12153 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
021468,000201:
021469,000202: 26,2223 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
021470,000203: 26,2224 74740 MASK PDSPFBIT
021471,000204: 26,2225 00006 EXTEND
021472,000205: 26,2226 16001 BZF GOTOPOOH # NO
021473,000206: 26,2227 06022 TC GOTOV56 # YES
021474,000207:
021475,000208: 26,2230 20100 BIT14+7 OCT 20100 # -
021476,000209: 26,2231 00203 OCT203 OCT 203
021477,000210: 26,2232 01422 V06N18 VN 0618
021478,000211:
021479,000212: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021480,000213:
021481,000214: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
021482,000215: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021483,000216:
021484,000217: 26,2233 00006 G+N,AUTO EXTEND
021485,000218: 26,2234 00030 READ CHAN30
021486,000219: 26,2235 74742 MASK BIT10
021487,000220: 26,2236 10000 CCS A
021488,000221: 26,2237 00002 TC Q # NOT IN G+N C(A) = +
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021490,000223: 26,2240 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
021491,000224: 26,2241 00031 READ CHAN31
021492,000225: 26,2242 74736 MASK BIT14
021493,000226: 26,2243 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
021494,000227:
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021496,000229: # PROGRAM DESCRIPTION BALLANGS
021497,000230: # MOD NO. LOG SECTION R60,R62
021498,000231:
021499,000232: # WRITTEN BY RAMA M. AIYAWAR
021500,000233: # FUNCTIONAL DESCRIPTION
021501,000234:
021502,000235: # COMPUTES LM FDAI BALL DISPLAY ANGLES
021503,000236: # CALLING SEQUENCE
021504,000237:
021505,000238: # TC BALLANGS
021506,000239: # NORMAL EXIT MODE
021507,000240:
021508,000241: # TC BALLEXIT (SAVED Q)
021509,000242:
021510,000243: # ALARM OR EXIT MODE NIL
021511,000244: # SUBROUTINES CALLED
021512,000245: # CD*TR*G
021513,000246: # ARCTAN
021514,000247:
021515,000248: # INPUT
021516,000249:
021517,000250: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021518,000251: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021519,000252: # OUTPUT
021520,000253:
021521,000254: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021522,000255: # SP,2S COMPLIMENT.
021523,000256: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021524,000257:
021525,000258: # ERASABLE INITIALIZATION REQUIRED
021526,000259:
021527,000260: # CPHI,CTHETA,CPSI EACH A SP REGISTER
021528,000261: # DEBRIS
021529,000262:
021530,000263: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021531,000264:
021532,000265: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021533,000266: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021534,000267:
021535,000268: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021536,000269:
021537,000270: 26,2000 SETLOC BAWLANGS
021538,000271: 26,2000 BANK
021539,000272:
021540,000273: 26,2244 COUNT* $$/BALL
021541,000274: 26,2244 04645 BALLANGS TC MAKECADR
021542,000275: 26,2245 55342 TS BALLEXIT
021543,000276: 26,2246 30321 CA CPHI
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021545,000278: 26,2247 54772 TS CDUSPOT +4
021546,000279: 26,2250 30322 CA CTHETA
021547,000280: 26,2251 54766 TS CDUSPOT
021548,000281: 26,2252 30323 CA CPSI
021549,000282: 26,2253 54770 TS CDUSPOT +2
021550,000283:
021551,000284: 26,2254 06036 TC INTPRET
021552,000285: 26,2255 45001 SETPD CALL
021553,000286: 26,2256 00001 0D
021554,000287: 26,2257 47447 CD*TR*G
021555,000288:
021556,000289: 26,2260 41345 DLOAD DMP
021557,000290: 26,2261 00743 SINCDUX # SIN (OGA)
021558,000291: 26,2262 00747 COSCDUZ # COS (MGA)
021559,000292:
021560,000293: 26,2263 57552 SL1 DCOMP # SCALE
021561,000294: 26,2264 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
021562,000295: 26,2265 00741 SINCDUZ
021563,000296: 26,2266 14023 STODL SINTH # (SINTH = 18D IN PD)
021564,000297: 26,2267 00747 COSCDUZ
021565,000298: 26,2270 72405 DMP SL1 # RESCALE
021566,000299: 26,2271 00751 COSCDUX
021567,000300: 26,2272 34021 STCALL COSTH # (COSTH= 16D IN PD)
021568,000301: 26,2273 26510 ARCTAN
021569,000302: 26,2274 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021570,000303: 26,2275 00741 SINCDUZ
021571,000304: 26,2276 00743 SINCDUX
021572,000305: 26,2277 41512 SL2 PUSH # SXSZ INTO 4 PD
021573,000306: 26,2300 65205 DMP PDDL # SXSZCY INTO 4 PD
021574,000307: 26,2301 00745 COSCDUY
021575,000308: 26,2302 65205 DMP PDDL # SXSZSY INTO 6 PD
021576,000309: 26,2303 00737 SINCDUY
021577,000310: 26,2304 00751 COSCDUX
021578,000311: 26,2305 72405 DMP SL1 # CXCY
021579,000312: 26,2306 00745 COSCDUY
021580,000313: 26,2307 45425 DSU STADR # PULL UP FROM 6 PD
021581,000314: 26,2310 63756 STODL COSTH # COSTH = CXCY - SXSZSY
021582,000315: 26,2311 00737 SINCDUY
021583,000316: 26,2312 72405 DMP SL1
021584,000317: 26,2313 00751 COSCDUX # CXSY
021585,000318: 26,2314 45415 DAD STADR # PULL UP FROM 4 PD
021586,000319: 26,2315 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
021587,000320: 26,2316 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
021588,000321: 26,2317 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
021589,000322: 26,2320 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021590,000323: 26,2321 21524 V1STO2S
021591,000324: 26,2322 02351 STORE FDAIX # MODE IS TP
021592,000325: 26,2323 77776 EXIT
021593,000326:
021594,000327: 26,2324 31342 ENDBALL CA BALLEXIT
021595,000328:
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021597,000330: 26,2325 04640 TC BANKJUMP
021598,000331:
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021600,000333: # PROGRAM DESCRIPTION - VECPOINT
021601,000334:
021602,000335: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
021603,000336: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021604,000337: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021605,000338: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021606,000339: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
021607,000340: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021608,000341: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
021609,000342: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021610,000343: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021611,000344: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021612,000345: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021613,000346: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
021614,000347: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021615,000348: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021616,000349: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021617,000350: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021618,000351: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021619,000352: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021620,000353: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021621,000354:
021622,000355: # CALLING SEQUENCE -
021623,000356: # 1) LOAD SCAXIS, POINTVSM
021624,000357: # 2) CALL
021625,000358: # VECPOINT
021626,000359:
021627,000360: # RETURNS WITH
021628,000361:
021629,000362: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
021630,000363: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
021631,000364: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021632,000365:
021633,000366: # ERASABLES USED -
021634,000367:
021635,000368: # 1) SCAXIS 6
021636,000369: # 2) POINTVSM 6
021637,000370: # 3) MIS 18
021638,000371: # 4) DEL 18
021639,000372: # 5) COF 6
021640,000373: # 6) VECQTEMP 1
021641,000374: # 7) ALL OF VAC AREA 43
021642,000375:
021643,000376: # TOTAL 99
021644,000377:
021645,000378: 27,2000 SETLOC VECPT
021646,000379: 27,2000 BANK
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021648,000381: 27,2016 COUNT* $$/VECPT
021649,000382:
021650,000383: 27,2016 E6,1674 EBANK= BCDU
021651,000384:
021652,000385: 27,2016 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
021653,000386: 27,2017 03323 VECQTEMP
021654,000387: 27,2020 56021 VECLEAR # AND CLEAR OVFIND
021655,000388: 27,2021 47164 VECLEAR AXC,2 RTB
021656,000389: 27,2022 03244 MIS # READ THE PRESENT CDU ANGLES AND
021657,000390: 27,2023 44403 READCDUK # STORE THEM IN PD25, 26, 27
021658,000391: 27,2024 34032 STCALL 25D
021659,000392: 27,2025 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
021660,000393: 27,2026 61375 VLOAD VXM
021661,000394: 27,2027 03767 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
021662,000395: 27,2030 03245 MIS # INITIAL S/C AXES (VF = POINTVSM)
021663,000396: 27,2031 77656 UNIT
021664,000397: 27,2032 00035 STORE 28D
021665,000398: # PD 28 29 30 31 32 33
021666,000399: 27,2033 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
021667,000400: 27,2034 03761 SCAXIS # WHERE VI = SCAXIS
021668,000401: 27,2035 57400 BOV VCOMP
021669,000402: 27,2036 56146 PICKAXIS
021670,000403: 27,2037 17267 STODL COF # CHECK MAGNITUDE
021671,000404: 27,2040 00045 36D # OF CROSS PRODUCT
021672,000405: 27,2041 50025 DSU BMN # VECTOR, IF LESS
021673,000406: 27,2042 14367 DPB-14 # THAN B-14 ASSUME
021674,000407: 27,2043 56146 PICKAXIS # UNIT OPERATION
021675,000408: 27,2044 50375 VLOAD DOT # INVALID.
021676,000409: 27,2045 03761 SCAXIS
021677,000410: 27,2046 00035 28D
021678,000411: 27,2047 65552 SL1 ARCCOS
021679,000412: 27,2050 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
021680,000413: 27,2051 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
021681,000414: 27,2052 75160 AXC,1 AXC,2
021682,000415: 27,2053 03244 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
021683,000416: 27,2054 02234 KEL # S/C AXES TO STABLE MEMBER AXES
021684,000417: 27,2055 77624 CALL # MFS = MIS MFI
021685,000418: 27,2056 44312 MXM3 # (IN PD LIST)
021686,000419:
021687,000420: 27,2057 51545 DLOAD ABS
021688,000421: 27,2060 00007 6 # MFS6 = SIN(CPSI) $2
021689,000422: 27,2061 50025 DSU BMN
021690,000423: 27,2062 14354 SINGIMLC # = SIN(59 DEGS) $2
021691,000424: 27,2063 56136 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
021692,000425: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021693,000426:
021694,000427: 27,2064 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
021695,000428: 27,2065 03761 SCAXIS # THE THRUST AXIS
021696,000429: 27,2066 51025 DSU BPL
021697,000430: 27,2067 14356 SINVEC1 # SIN 49.4 DEGS $2
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021699,000432: 27,2070 56136 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
021700,000433: 27,2071 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
021701,000434: 27,2072 77626 STADR
021702,000435: 27,2073 50516 STOVL MIS +12D
021703,000436: 27,2074 77626 STADR # STORE MFS (IN PD LIST) IN MIS
021704,000437: 27,2075 50524 STOVL MIS +6
021705,000438: 27,2076 77626 STADR
021706,000439: 27,2077 50532 STOVL MIS
021707,000440: 27,2100 03253 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
021708,000441: 27,2101 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
021709,000442: 27,2102 56103 IGSAMEX # FINAL X S/C AXIS
021710,000443:
021711,000444: 27,2103 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
021712,000445: 27,2104 03761 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
021713,000446: 27,2105 56112 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
021714,000447: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021715,000448: # OTHERWISE U = -SCAXIS
021716,000449:
021717,000450: 27,2106 57575 VLOAD VCOMP
021718,000451: 27,2107 03761 SCAXIS
021719,000452: 27,2110 37267 STCALL COF # ROTATE ABOUT -SCAXIS
021720,000453: 27,2111 56115 CHEKAXIS
021721,000454: 27,2112 77775 U=SCAXIS VLOAD
021722,000455: 27,2113 03761 SCAXIS
021723,000456: 27,2114 03267 STORE COF # ROTATE ABOUT + SCAXIS
021724,000457: 27,2115 51545 CHEKAXIS DLOAD ABS
021725,000458: 27,2116 03761 SCAXIS # SEE IF WE ARE POINTING THE AOT
021726,000459: 27,2117 51025 DSU BPL
021727,000460: 27,2120 14360 SINVEC2 # SIN 29.5 DEGS $2
021728,000461: 27,2121 56125 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021729,000462: 27,2122 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
021730,000463: 27,2123 14364 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
021731,000464: 27,2124 56127 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
021732,000465: # OF GIMBAL LOCK (VECANG2 $360)
021733,000466: 27,2125 77745 PICKANG1 DLOAD
021734,000467: 27,2126 14362 VECANG1 # = 50 DEGS $360
021735,000468: 27,2127 77624 COMPMFSN CALL
021736,000469: 27,2130 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
021737,000470: 27,2131 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
021738,000471: 27,2132 03244 MIS
021739,000472: 27,2133 02234 KEL
021740,000473: 27,2134 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
021741,000474: 27,2135 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
021742,000475: # WHICH WILL ALIGN VI WITH VF AND AVOID
021743,000476: # GIMBAL LOCK
021744,000477: 27,2136 45160 FINDGIMB AXC,1 CALL
021745,000478: 27,2137 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
021746,000479: 27,2140 44654 DCMTOCDU # THIS MATRIX
021747,000480: 27,2141 40234 RTB SETPD
021748,000481: 27,2142 21524 V1STO2S # CONVERT TO 2:S COMPLEMENT
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021750,000483: 27,2143 00001 0
021751,000484: 27,2144 77650 GOTO
021752,000485: 27,2145 03323 VECQTEMP # RETURN TO CALLER
021753,000486:
021754,000487: 27,2146 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
021755,000488: 27,2147 00035 28D
021756,000489: 27,2150 03761 SCAXIS
021757,000490: 27,2151 72240 BMN TLOAD
021758,000491: 27,2152 54326 ROT180
021759,000492: 27,2153 00032 25D
021760,000493: 27,2154 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
021761,000494: 27,2155 03323 VECQTEMP # PRESENT CDU ANGLES
021762,000495:
021763,000496: 35,2000 BANK 35
021764,000497: 26,2000 SETLOC MANUVER1
021765,000498: 26,2000 BANK
021766,000499: 26,2326 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
021767,000500: 26,2327 03253 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
021768,000501: 26,2330 06422 HIDPHALF # INITIAL S/C AXES.
021769,000502: 26,2331 47256 UNIT VXV # FIND Y(SM) X X(I)
021770,000503: 26,2332 03761 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
021771,000504: 26,2333 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
021772,000505: 26,2334 54350 PICKX # Y(SM) PERPENDICULAR TO VI
021773,000506: 26,2335 17267 STODL COF
021774,000507: 26,2336 00045 36D # CHECK MAGNITUDE
021775,000508: 26,2337 50025 DSU BMN # OF THIS VECTOR.
021776,000509: 26,2340 14367 DPB-14 # IF LESS THAN B-14,
021777,000510: 26,2341 54350 PICKX # PICK X-AXIS.
021778,000511: 26,2342 77775 VLOAD
021779,000512: 26,2343 03267 COF
021780,000513: 26,2344 17267 XROT STODL COF
021781,000514: 26,2345 06422 HIDPHALF
021782,000515: 26,2346 77650 GOTO
021783,000516: 26,2347 56050 COMPMATX
021784,000517: 26,2350 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
021785,000518: 26,2351 06422 HIDPHALF
021786,000519: 26,2352 54344 XROT
021787,000520: 26,2353 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
021788,000521:
021789,000522: 26,2355 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
021790,000523:
021791,000524: 26,2357 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
021792,000525:
021793,000526: 26,2361 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
021794,000527:
021795,000528: 26,2363 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
021796,000529:
021797,000530: 26,2365 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
021798,000531: 26,2366 00001 DPB-14 OCT 00001
021799,000532: 26,2367 00000 OCT 00000
021800,000533:
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021802,000535: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
021803,000536:
021804,000537: 34,2000 BANK 34
021805,000538: 23,2000 SETLOC R62
021806,000539: 23,2000 BANK
021807,000540: 23,2065 E6,1674 EBANK= BCDU
021808,000541:
021809,000542: 23,2065 COUNT* $$/R62
021810,000543:
021811,000544: 23,2065 23,2065 R62DISP EQUALS R62FLASH
021812,000545:
021813,000546: 23,2065 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
021814,000547: 23,2066 04616 TC BANKCALL # ICDU ANGLES
021815,000548: 23,2067 20351 CADR GOFLASH
021816,000549: 23,2070 15472 TCF ENDEXT # TERMINATE
021817,000550: 23,2071 12073 TCF GOMOVE # PROCEED
021818,000551: 23,2072 12065 TCF R62FLASH # ENTER
021819,000552:
021820,000553: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
021821,000554: # POINT
021822,000555: 23,2073 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
021823,000556: 23,2074 00124 ADRES 3AXISFLG
021824,000557:
021825,000558: 23,2075 04616 TC BANKCALL
021826,000559: 23,2076 54101 CADR R60LEM
021827,000560: 23,2077 15472 TCF ENDEXT # END R62
021828,000561:
End of include-file R60,R62.agc. Parent file is MAIN.agc