Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 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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038991,000002: ## Copyright: Public domain.
038992,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
038993,000004: ## Purpose: A section of Luminary revision 97.
038994,000005: ## It is part of the reconstructed source code for the
038995,000006: ## original release of the flight software for the Lunar
038996,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
038997,000008: ## The code has been recreated from a copy of Luminary 99
038998,000009: ## revision 001, using asterisks indicating changed lines in
038999,000010: ## the listing and Luminary Memos #83 and #85, which list
039000,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
039001,000012: ## code has been adapted such that the resulting bugger words
039002,000013: ## exactly match those specified for Luminary 97 in NASA drawing
039003,000014: ## 2021152D, which gives relatively high confidence that the
039004,000015: ## reconstruction is correct.
039005,000016: ## Reference: pp. 908-925
039006,000017: ## Assembler: yaYUL
039007,000018: ## Contact: Ron Burkey <info@sandroid.org>.
039008,000019: ## Website: www.ibiblio.org/apollo/index.html
039009,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
039010,000021:
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Page 908
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039012,000023: # PROGRAM NAME: FINDCDUW
039013,000024: # MOD NUMBER: 1 68 07 15
039014,000025: # MOD AUTHOR: KLUMPP
039015,000026:
039016,000027: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039017,000028: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039018,000029: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039019,000030: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039020,000031: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039021,000032: # MODES.
039022,000033: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039023,000034: # AUTOPILOT COMMANDS WHENEVER
039024,000035: # 1) NOT IN PNGCS-AUTO, OR
039025,000036: # 2) ENGINE IS OFF.
039026,000037:
039027,000038: # FUNCTIONAL DESCRIPTION:
039028,000039:
039029,000040: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039030,000041: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039031,000042: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039032,000043: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039033,000044: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039034,000045: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039035,000046: # ACCELERATIONS AVAILABLE).
039036,000047:
039037,000048: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039038,000049: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039039,000050: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039040,000051:
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Page 909
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039042,000053: # SPECIFICATIONS:
039043,000054:
039044,000055: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039045,000056: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039046,000057:
039047,000058: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039048,000059: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039049,000060: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039050,000061:
039051,000062: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039052,000063: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039053,000064: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039054,000065: # WITHOUT ISSUING AUTOPILOT CMDS.
039055,000066: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039056,000067: # ISSUING AUTOPILOT CMDS.
039057,000068:
039058,000069: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039059,000070: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039060,000071: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039061,000072:
039062,000073: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039063,000074: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039064,000075: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039065,000076:
039066,000077: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039067,000078: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039068,000079: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039069,000080: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039070,000081: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039071,000082:
039072,000083: # OUTPUTS: DELCDUX,Y,Z
039073,000084: # OMEGAPD,+1,+2
039074,000085: # DELPEROR,+1,+2
039075,000086: # CPHI,+1,+2 FOR NOUN22
039076,000087:
039077,000088: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039078,000089: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039079,000090: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039080,000091:
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Page 910
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039082,000093: # INITIALIZATION FOR FINDCDUW
039083,000094:
039084,000095: 30,3104 BANK 30
039085,000096: 30,2000 SETLOC FCDUW
039086,000097: 30,2000 BANK
039087,000098:
039088,000099: 30,3104 E6,1646 EBANK= ECDUW
039089,000100: 30,3104 COUNT* $$/FCDUW
039090,000101:
039091,000102: 30,3104 77775 INITCDUW VLOAD
039092,000103: 30,3105 06520 UNITX
039093,000104: 30,3106 03270 STORE UNFV/2
039094,000105: 30,3107 03262 STORE UNWC/2
039095,000106: 30,3110 77616 RVQ
039096,000107:
039097,000108: # FINDCDUW PRELIMINARIES
039098,000109:
039099,000110: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039100,000111: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039101,000112: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039102,000113: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
039103,000114: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039104,000115: 30,3116 77420 STQ EXIT
039105,000116: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
039106,000117:
039107,000118: # MORE HAUSKEEPING
039108,000119: 30,3120 33761 CA ECDUWL
039109,000120: 30,3121 56003 XCH EBANK # SET EBANK
039110,000121: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
039111,000122:
039112,000123: 30,3123 30111 CA DAPBOOLS
039113,000124: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039114,000125: 30,3125 10000 CCS A
039115,000126: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
039116,000127: 30,3127 55650 TS NDXCDUW
039117,000128:
039118,000129: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039119,000130: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039120,000131:
039121,000132: 30,3132 70111 MASK DAPBOOLS
039122,000133: 30,3133 55651 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039123,000134:
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Page 911
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039125,000136: # FETCH BASIC DATA
039126,000137: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039127,000138:
039128,000139: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039129,000140: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039130,000141: 30,3137 30033 CA CDUY
039131,000142: 30,3140 54766 TS CDUSPOTY
039132,000143: 30,3141 30034 CA CDUZ
039133,000144: 30,3142 54770 TS CDUSPOTZ
039134,000145:
039135,000146: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
039136,000147: 30,3144 00006 EXTEND
039137,000148: 30,3145 02030 RAND CHAN30
039138,000149: 30,3146 10000 CCS A
039139,000150: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039140,000151:
039141,000152: 30,3150 34736 CA BIT14 # AUTO MODE BIT
039142,000153: 30,3151 00006 EXTEND
039143,000154: 30,3152 02031 RAND CHAN31
039144,000155: 30,3153 10000 CCS A
039145,000156: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039146,000157:
039147,000158: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039148,000159:
039149,000160: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039150,000161: 30,3157 54772 TS CDUSPOTX
039151,000162: 30,3160 31636 CA CDUYD
039152,000163: 30,3161 54766 TS CDUSPOTY
039153,000164: 30,3162 31637 CA CDUZD
039154,000165: 30,3163 54770 TS CDUSPOTZ
039155,000166:
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Page 912
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039157,000168: # FETCH INPUTS
039158,000169: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039159,000170: 30,3165 77634 RTB
039160,000171: 30,3166 21726 NORMUNIT
039161,000172: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039162,000173: 30,3170 03262 UNWC/2
039163,000174: 30,3171 47034 RTB RTB
039164,000175: 30,3172 21726 NORMUNIT
039165,000176: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039166,000177: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039167,000178: 30,3175 00325 DELV
039168,000179: 30,3176 53404 BOVB UNIT
039169,000180: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039170,000181: 30,3200 45000 BOV CALL
039171,000182: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039172,000183: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039173,000184:
039174,000185: # THRUST DIRECTION FILTER
039175,000186:
039176,000187: 30,3203 77776 EXIT
039177,000188:
039178,000189: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039179,000190: 30,3205 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039180,000191: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039181,000192: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039182,000193:
039183,000194: 30,3210 31673 CA UNFVZ/2
039184,000195: 30,3211 22161 LXCH MPAC +5
039185,000196: 30,3212 03503 TC FLTRSUB
039186,000197: 30,3213 55673 TS UNFVZ/2
039187,000198:
039188,000199: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039189,000200:
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Page 913
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039191,000202: # FIND A SUITABLE WINDOW POINTING VECTOR
039192,000203:
039193,000204: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039194,000205: 30,3216 03252 FLAGOODW
039195,000206: 30,3217 61223 FETCHZNB
039196,000207: 30,3220 45175 VLOAD CALL
039197,000208: 30,3221 00015 UNZ/2
039198,000209: 30,3222 61523 UNWCTEST
039199,000210:
039200,000211: 30,3223 77775 FETCHZNB VLOAD
039201,000212: 30,3224 02162 ZNBPIP
039202,000213: 30,3225 34015 STCALL UNZ/2
039203,000214: 30,3226 61523 UNWCTEST
039204,000215:
039205,000216: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039206,000217: 30,3230 02146 XNBPIP
039207,000218: 30,3231 00015 STORE UNZ/2
039208,000219:
039209,000220: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039210,000221:
039211,000222: 30,3232 47375 DCMCL VLOAD VXV
039212,000223: 30,3233 00015 UNZ/2
039213,000224: 30,3234 00001 UNX/2
039214,000225: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039215,000226: 30,3236 76435 VXV VSL1
039216,000227: 30,3237 00001 UNX/2
039217,000228: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039218,000229: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039219,000230: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
039220,000231: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039221,000232: 30,3244 03272 UNFVY/2 # MUST BE SMALL
039222,000233: 30,3245 53372 VSL1 VAD
039223,000234: 30,3246 00001 UNX/2
039224,000235: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039225,000236: 30,3250 00001 STORE UNX/2 # UNX/2
039226,000237: 30,3251 76435 VXV VSL1
039227,000238: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039228,000239: 30,3253 00007 STORE UNY/2 # UNY/2
039229,000240: 30,3254 47276 VCOMP VXV
039230,000241: 30,3255 00001 UNX/2
039231,000242: 30,3256 77772 VSL1
039232,000243: 30,3257 00015 STORE UNZ/2 # UNZ/2
039233,000244:
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Page 914
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039235,000246: # COMPUTE THE REQUIRED GIMBAL ANGLES
039236,000247:
039237,000248: 30,3260 77624 CALL
039238,000249: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039239,000250: 30,3262 77776 EXIT
039240,000251:
039241,000252: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039242,000253:
039243,000254: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
039244,000255: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039245,000256: 30,3265 33773 CA CDUZDLIM
039246,000257: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039247,000258: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039248,000259: 30,3270 00006 EXTEND
039249,000260: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039250,000261: 30,3272 00006 EXTEND
039251,000262: 30,3273 13275 BZF +2
039252,000263: 30,3274 13756 TCF ALARMMGA
039253,000264:
039254,000265: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039255,000266:
039256,000267: 30,3276 22007 ZL
039257,000268: 30,3277 34752 CA TWO
039258,000269: 30,3300 54142 DELGMBLP TS TEM2
039259,000270:
039260,000271: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039261,000272: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039262,000273: 30,3303 70000 SQUARE
039263,000274: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039264,000275: 30,3305 00006 EXTEND
039265,000276: 30,3306 63311 BZMF +3
039266,000277: 30,3307 34755 CA ZERO
039267,000278: 30,3310 55651 TS FLAGOODW
039268,000279:
039269,000280: 30,3311 50142 INDEX TEM2
039270,000281: 30,3312 30154 CA MPAC
039271,000282: 30,3313 50142 INDEX TEM2
039272,000283: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
039273,000284: 30,3315 00006 EXTEND
039274,000285: 30,3316 50142 INDEX TEM2
039275,000286: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039276,000287: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039277,000288: 30,3321 50142 INDEX TEM2
039278,000289: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039279,000290: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
039280,000291: 30,3324 10142 CCS TEM2
039281,000292: 30,3325 13300 TCF DELGMBLP
039282,000293:
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Page 915
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039284,000295: # BRANCHES TO NOATTCNT
039285,000296: 30,3326 11652 CCS FLPAUTNO
039286,000297: 30,3327 13752 TCF NOATTCNT +2 # NOT PNGCS AUTO
039287,000298:
039288,000299: 30,3330 30101 CA FLAGWRD5
039289,000300: 30,3331 74745 MASK ENGONBIT
039290,000301: 30,3332 00006 EXTEND
039291,000302: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
039292,000303:
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Page 916
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039294,000305: # LIMIT THE ATTITUDE ANGLE CHANGES
039295,000306:
039296,000307: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039297,000308: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039298,000309: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039299,000310: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039300,000311:
039301,000312: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039302,000313: # * * * * * *
039303,000314: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039304,000315: # * * * * * *
039305,000316: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039306,000317:
039307,000318: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039308,000319: 30,3335 51650 INDEX NDXCDUW
039309,000320: 30,3336 33767 CA DAZMAX
039310,000321: 30,3337 03727 TC LIMITSUB
039311,000322: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
039312,000323:
039313,000324: 30,3341 31676 CA -DELGMB +1
039314,000325: 30,3342 00006 EXTEND
039315,000326: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039316,000327: 30,3344 54001 TS L
039317,000328: 30,3345 51650 INDEX NDXCDUW
039318,000329: 30,3346 33771 CA DAY/2MAX
039319,000330: 30,3347 03727 TC LIMITSUB
039320,000331: 30,3350 00006 EXTEND
039321,000332: 30,3351 10746 DV COSCDUZ
039322,000333: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039323,000334:
039324,000335: 30,3353 00006 EXTEND
039325,000336: 30,3354 70740 MP SINCDUZ
039326,000337: 30,3355 20001 DDOUBL
039327,000338: 30,3356 40000 COM
039328,000339: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039329,000340: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039330,000341: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039331,000342: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039332,000343: 30,3363 33767 CA DAXMAX
039333,000344: 30,3364 03727 TC LIMITSUB
039334,000345: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
039335,000346: 30,3366 11651 CCS FLAGOODW
039336,000347: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039337,000348: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039338,000349: 30,3371 41676 CS -DELGMB +1
039339,000350: 30,3372 00006 EXTEND
039340,000351: 30,3373 70740 MP SINCDUZ
039341,000352: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039342,000353: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039343,000354: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039344,000355:
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Page 917
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039346,000357: # COMPUTE COMMANDED ATTITUDE RATES
039347,000358:
039348,000359: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039349,000360: # * * * * * *
039350,000361: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039351,000362: # * * * * * *
039352,000363: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039353,000364:
039354,000365: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039355,000366: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039356,000367: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039357,000368:
039358,000369: 30,3376 41675 CS -DELGMB
039359,000370: 30,3377 55643 TS OMEGAPD
039360,000371: 30,3400 41676 CS -DELGMB +1
039361,000372: 30,3401 00006 EXTEND
039362,000373: 30,3402 70740 MP SINCDUZ
039363,000374: 30,3403 20001 DDOUBL
039364,000375: 30,3404 27643 ADS OMEGAPD
039365,000376: 30,3405 27643 ADS OMEGAPD
039366,000377:
039367,000378: 30,3406 41676 CS -DELGMB +1
039368,000379: 30,3407 00006 EXTEND
039369,000380: 30,3410 70750 MP COSCDUX
039370,000381: 30,3411 20001 DDOUBL
039371,000382: 30,3412 00006 EXTEND
039372,000383: 30,3413 70746 MP COSCDUZ
039373,000384: 30,3414 55644 TS OMEGAQD
039374,000385: 30,3415 41677 CS -DELGMB +2
039375,000386: 30,3416 00006 EXTEND
039376,000387: 30,3417 70742 MP SINCDUX
039377,000388: 30,3420 27644 ADS OMEGAQD
039378,000389: 30,3421 27644 ADS OMEGAQD
039379,000390: 30,3422 27644 ADS OMEGAQD
039380,000391:
039381,000392: 30,3423 31676 CA -DELGMB +1
039382,000393: 30,3424 00006 EXTEND
039383,000394: 30,3425 70742 MP SINCDUX
039384,000395: 30,3426 20001 DDOUBL
039385,000396: 30,3427 00006 EXTEND
039386,000397: 30,3430 70746 MP COSCDUZ
039387,000398: 30,3431 55645 TS OMEGARD
039388,000399: 30,3432 41677 CS -DELGMB +2
039389,000400: 30,3433 00006 EXTEND
039390,000401: 30,3434 70750 MP COSCDUX
039391,000402: 30,3435 27645 ADS OMEGARD
039392,000403: 30,3436 27645 ADS OMEGARD
039393,000404: 30,3437 27645 ADS OMEGARD
039394,000405:
|
|
Page 918
|
039396,000407: # FINAL TRANSFER
039397,000408:
039398,000409: 30,3440 34752 CA TWO
039399,000410: 30,3441 54142 CDUWXFR TS TEM2
039400,000411: 30,3442 50142 INDEX TEM2
039401,000412: 30,3443 31675 CA -DELGMB
039402,000413: 30,3444 00006 EXTEND
039403,000414: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039404,000415: 30,3446 03743 TC ONESTO2S
039405,000416: 30,3447 50142 INDEX TEM2
039406,000417: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
039407,000418:
039408,000419: 30,3451 50142 INDEX TEM2
039409,000420: 30,3452 11643 CCS OMEGAPD
039410,000421: 30,3453 64753 AD ONE
039411,000422: 30,3454 13456 TCF +2
039412,000423: 30,3455 64753 AD ONE
039413,000424: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039414,000425: 30,3457 50142 INDEX TEM2
039415,000426: 30,3460 71643 MP OMEGAPD
039416,000427: 30,3461 00006 EXTEND
039417,000428: 30,3462 74741 MP BIT11 # 1/16
039418,000429: 30,3463 00006 EXTEND
039419,000430: 30,3464 50142 INDEX TEM2 # 2
039420,000431: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039421,000432: 30,3466 54001 TS L
039422,000433: 30,3467 33771 CA DELERLIM
039423,000434: 30,3470 03727 TC LIMITSUB
039424,000435: 30,3471 50142 INDEX TEM2
039425,000436: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039426,000437: 30,3473 10142 CCS TEM2
039427,000438: 30,3474 13441 TCF CDUWXFR
039428,000439:
039429,000440: # HAUSKEEPING AND RETURN
039430,000441:
039431,000442: 30,3475 31646 TCQCDUW CA ECDUWUSR
039432,000443: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
039433,000444:
039434,000445: 30,3477 06037 TC INTPRET
039435,000446: 30,3500 52001 SETPD GOTO
039436,000447: 30,3501 00001 0
039437,000448: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039438,000449:
|
|
Page 919
|
039440,000451: # THRUST VECTOR FILTER SUBROUTINE
039441,000452:
039442,000453: 30,3503 00006 FLTRSUB EXTEND
039443,000454: 30,3504 22142 QXCH TEM2
039444,000455: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039445,000456: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039446,000457: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039447,000458: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039448,000459: 30,3511 51650 INDEX NDXCDUW
039449,000460: 30,3512 73762 MP GAINFLTR
039450,000461: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
039451,000462: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039452,000463: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039453,000464: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
039454,000465: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
039455,000466: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039456,000467: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039457,000468: 30,3522 00142 TC TEM2
039458,000469:
039459,000470: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039460,000471:
039461,000472: 30,3523 63441 UNWCTEST DOT DSQ
039462,000473: 30,3524 00001 UNX/2
039463,000474: 30,3525 50025 DSU BMN
039464,000475: 30,3526 21767 DOTSWFMX
039465,000476: 30,3527 61232 DCMCL
039466,000477: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039467,000478: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
039468,000479: 30,3532 00000 0
039469,000480:
|
|
Page 920
|
039471,000482: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039472,000483: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039473,000484: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039474,000485:
039475,000486: 30,3533 63545 NB2CDUSP DLOAD DSQ
039476,000487: 30,3534 00003 2
039477,000488: 30,3535 51021 BDSU BPL
039478,000489: 30,3536 06512 DP1/4TH
039479,000490: 30,3537 61542 +3
039480,000491: 30,3540 77745 DLOAD
039481,000492: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039482,000493: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039483,000494:
039484,000495: 30,3543 00006 EXTEND
039485,000496: 30,3544 30155 DCA MPAC
039486,000497: 30,3545 20001 DDOUBL
039487,000498: 30,3546 54145 TS TEM5
039488,000499: 30,3547 13552 TCF +3
039489,000500: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039490,000501: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039491,000502:
039492,000503: 30,3552 50120 INDEX FIXLOC
039493,000504: 30,3553 30002 CA 2
039494,000505: 30,3554 22154 LXCH MPAC
039495,000506: 30,3555 03622 TC ARCTRGSP
039496,000507: 30,3556 54156 TS MPAC +2 # CDUZ
039497,000508:
039498,000509: 30,3557 34755 CA ZERO
039499,000510: 30,3560 03600 TC DVBYCOSM
039500,000511: 30,3561 34751 CA FOUR
039501,000512: 30,3562 03600 TC DVBYCOSM
039502,000513: 30,3563 40141 CS TEM1
039503,000514: 30,3564 03622 TC ARCTRGSP
039504,000515: 30,3565 54155 TS MPAC +1 # CDUY
039505,000516:
039506,000517: 30,3566 34750 CA BIT4
039507,000518: 30,3567 03600 TC DVBYCOSM
039508,000519: 30,3570 33577 CA 16OCT
039509,000520: 30,3571 03600 TC DVBYCOSM
039510,000521: 30,3572 40141 CS TEM1
039511,000522: 30,3573 03622 TC ARCTRGSP
039512,000523: 30,3574 54154 TS MPAC # CDUX
039513,000524:
039514,000525: 30,3575 06037 TC INTPRET
039515,000526: 30,3576 77616 RVQ
039516,000527:
039517,000528: 30,3577 00016 16OCT OCT 16
039518,000529:
|
|
Page 921
|
039520,000531: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039521,000532: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039522,000533: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039523,000534: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039524,000535: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039525,000536: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039526,000537: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039527,000538:
039528,000539: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039529,000540: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039530,000541: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039531,000542: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039532,000543:
039533,000544: 30,3600 60120 DVBYCOSM AD FIXLOC
039534,000545: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
039535,000546:
039536,000547: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039537,000548: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039538,000549: 30,3604 00006 EXTEND
039539,000550: 30,3605 63607 BZMF +2
039540,000551: 30,3606 40000 COM
039541,000552: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039542,000553: 30,3610 00006 EXTEND
039543,000554: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039544,000555:
039545,000556: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039546,000557: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039547,000558: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039548,000559: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039549,000560: 30,3616 10145 DV TEM5
039550,000561: 30,3617 54001 TSL&TCQ TS L
039551,000562: 30,3620 22141 LXCH TEM1
039552,000563: 30,3621 00002 TC Q
039553,000564:
|
|
Page 922
|
039555,000566: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039556,000567: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039557,000568: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039558,000569:
039559,000570: 30,3622 00006 ARCTRGSP EXTEND
039560,000571: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039561,000572:
039562,000573: 30,3624 00006 EXTEND
039563,000574: 30,3625 22144 QXCH TEM4
039564,000575: 30,3626 54142 TS TEM2
039565,000576: 30,3627 30001 CA L
039566,000577: 30,3630 54143 TS TEM3
039567,000578: 30,3631 34755 CA ZERO
039568,000579: 30,3632 00006 EXTEND
039569,000580: 30,3633 10142 DV TEM2
039570,000581: 30,3634 00006 EXTEND
039571,000582: 30,3635 13654 BZF USECOS
039572,000583:
039573,000584: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039574,000585: 30,3637 34755 CA ZERO
039575,000586: 30,3640 13644 TCF +4
039576,000587: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039577,000588: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039578,000589: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039579,000590: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
039580,000591: 30,3645 30142 CA TEM2
039581,000592: 30,3646 03672 TC SPARCSIN -1
039582,000593: 30,3647 03743 TC ONESTO2S
039583,000594: 30,3650 00006 EXTEND
039584,000595: 30,3651 20143 MSU TEM3
039585,000596: 30,3652 03743 1TO2&TCQ TC ONESTO2S
039586,000597: 30,3653 00144 TC TEM4
039587,000598:
039588,000599: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
039589,000600: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039590,000601: 30,3656 64736 AD HALF
039591,000602: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
039592,000603: 30,3660 10142 CCS TEM2
039593,000604: 30,3661 30143 CA TEM3
039594,000605: 30,3662 13652 TCF 1TO2&TCQ
039595,000606: 30,3663 40143 CS TEM3
039596,000607: 30,3664 13652 TCF 1TO2&TCQ
039597,000608:
039598,000609: 30,3665 10001 SINZERO CCS L
039599,000610: 30,3666 34755 CA ZERO
039600,000611: 30,3667 00002 TC Q
039601,000612: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
039602,000613: 30,3671 00002 TC Q
039603,000614:
|
|
Page 923
|
039605,000616: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039606,000617: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039607,000618: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039608,000619: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039609,000620:
039610,000621: 30,3672 60000 DOUBLE
039611,000622: 30,3673 54021 SPARCSIN TS SR
039612,000623: 30,3674 13700 TCF +4
039613,000624: 30,3675 50000 INDEX A
039614,000625: 30,3676 44734 CS LIMITS
039615,000626: 30,3677 54021 TS SR
039616,000627: 30,3700 00006 EXTEND
039617,000628: 30,3701 70000 MP A
039618,000629: 30,3702 54141 TS TEM1
039619,000630: 30,3703 00006 EXTEND
039620,000631: 30,3704 73726 MP DPL9
039621,000632: 30,3705 63725 AD DPL7
039622,000633: 30,3706 00006 EXTEND
039623,000634: 30,3707 70141 MP TEM1
039624,000635: 30,3710 63724 AD DPL5
039625,000636: 30,3711 00006 EXTEND
039626,000637: 30,3712 70141 MP TEM1
039627,000638: 30,3713 63723 AD DPL3
039628,000639: 30,3714 00006 EXTEND
039629,000640: 30,3715 70141 MP TEM1
039630,000641: 30,3716 63722 AD DPL1
039631,000642: 30,3717 00006 EXTEND
039632,000643: 30,3720 70021 MP SR
039633,000644: 30,3721 00002 TC Q
039634,000645: 30,3722 24406 DPL1 DEC 10502 B-14
039635,000646: 30,3723 00660 DPL3 DEC 432 B-14
039636,000647: 30,3724 16204 DPL5 DEC 7300 B-14
039637,000648: 30,3725 50744 DPL7 DEC -11803 B-14
039638,000649: 30,3726 20315 DPL9 DEC 8397 B-14
039639,000650:
|
|
Page 924
|
039641,000652: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039642,000653: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039643,000654: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039644,000655:
039645,000656: # VERSION COURTESY HUGH BLAIR-SMITH
039646,000657:
039647,000658: 30,3727 54141 LIMITSUB TS TEM1
039648,000659: 30,3730 34755 CA ZERO
039649,000660: 30,3731 00006 EXTEND
039650,000661: 30,3732 10141 DV TEM1
039651,000662: 30,3733 10000 CCS A
039652,000663: 30,3734 22141 LXCH TEM1
039653,000664: 30,3735 13737 TCF +2
039654,000665: 30,3736 13741 TCF +3
039655,000666: 30,3737 30001 CA L
039656,000667: 30,3740 00002 TC Q
039657,000668: 30,3741 40141 CS TEM1
039658,000669: 30,3742 00002 TC Q
039659,000670:
039660,000671: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039661,000672:
039662,000673: 30,3743 10000 ONESTO2S CCS A
039663,000674: 30,3744 64753 AD ONE
039664,000675: 30,3745 00002 TC Q
039665,000676: 30,3746 40000 CS A
039666,000677: 30,3747 00002 TC Q
039667,000678:
039668,000679: # NO ATTITUDE CONTROL
039669,000680:
039670,000681: 30,3750 05567 NOATTCNT TC ALARM
039671,000682: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
039672,000683:
039673,000684: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039674,000685: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039675,000686: 30,3754 40165 FCADR STOPRATE
039676,000687: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039677,000688:
039678,000689: # MIDDLE GIMBAL ANGLE ALARM
039679,000690:
039680,000691: 30,3756 05567 ALARMMGA TC ALARM
039681,000692: 30,3757 00401 OCT 00401
039682,000693: 30,3760 13275 TCF MGARET
039683,000694:
|
|
Page 925
|
039685,000696: # ************************************************************************
039686,000697: # CONSTANTS
039687,000698: # ************************************************************************
039688,000699:
039689,000700: # ADDRESS CONSTANTS
039690,000701:
039691,000702: 30,3761 03246 ECDUWL ECADR ECDUW
039692,000703:
039693,000704: # THRUST DIRECTION FILTER CONSTANTS
039694,000705:
039695,000706: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039696,000707: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
039697,000708:
039698,000709: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039699,000710: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039700,000711:
039701,000712: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039702,000713: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039703,000714:
039704,000715: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039705,000716:
039706,000717: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039707,000718: # LOWER PART COMES FROM NEXT CONSTANT
039708,000719:
039709,000720: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039710,000721: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039711,000722:
039712,000723: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039713,000724: 30,3772 00133 DEC .0055555555
039714,000725:
039715,000726: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039716,000727:
039717,000728: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039718,000729:
039719,000730: # CONSTANTS FOR DATA TRANSFER
039720,000731:
039721,000732: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039722,000733: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039723,000734:
039724,000735: 30,3775 30,3771 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039725,000736:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc