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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019889,000002: ## Copyright: Public domain.
019890,000003: ## Filename: R60,R62.agc
019891,000004: ## Purpose: A section of Luminary revision 97.
019892,000005: ## It is part of the reconstructed source code for the
019893,000006: ## original release of the flight software for the Lunar
019894,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
019895,000008: ## The code has been recreated from a copy of Luminary 99
019896,000009: ## revision 001, using asterisks indicating changed lines in
019897,000010: ## the listing and Luminary Memos #83 and #85, which list
019898,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
019899,000012: ## code has been adapted such that the resulting bugger words
019900,000013: ## exactly match those specified for Luminary 97 in NASA drawing
019901,000014: ## 2021152D, which gives relatively high confidence that the
019902,000015: ## reconstruction is correct.
019903,000016: ## Reference: pp. 472-485
019904,000017: ## Assembler: yaYUL
019905,000018: ## Contact: Ron Burkey <info@sandroid.org>.
019906,000019: ## Website: www.ibiblio.org/apollo/index.html
019907,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
019908,000021:
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019910,000023: # MOD NO: 0 DATE: 1 MAY 1968
019911,000024: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
019912,000025:
019913,000026: # FUNCTIONAL DESCRIPTION:
019914,000027:
019915,000028: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019916,000029: # ATTITUDE.
019917,000030:
019918,000031: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
019919,000032: # CALCULATED (VECPOINT).
019920,000033:
019921,000034: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019922,000035:
019923,000036: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
019924,000037:
019925,000038: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
019926,000039: # ASTRONAUT RESPONSE.
019927,000040:
019928,000041: # 5. DISPLAY RESPONSE RETURNS:
019929,000042:
019930,000043: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
019931,000044:
019932,000045: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
019933,000046: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
019934,000047: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
019935,000048:
019936,000049: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
019937,000050:
019938,000051: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
019939,000052: # (VECPOINT).
019940,000053:
019941,000054: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019942,000055:
019943,000056: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
019944,000057: #
019945,000058: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
019946,000059:
019947,000060: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
019948,000061:
019949,000062: # 11. DO A PHASECHANGE.
019950,000063:
019951,000064: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
019952,000065: # GIMBAL ANGLES (GOMANUR).
019953,000066:
019954,000067: # 13. AT END OF MANEUVER GO TO STEP 3.
019955,000068:
019956,000069: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
019957,000070: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
019958,000071: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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019960,000073: # STEP 5C.
019961,000074:
019962,000075: # CALLING SEQUENCE: TC BANKCALL
019963,000076: # CADR R60LEM
019964,000077:
019965,000078: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
019966,000079: # 3AXISFLG.
019967,000080:
019968,000081: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
019969,000082: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
019970,000083:
019971,000084: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
019972,000085: # TC BANKJUMP
019973,000086:
019974,000087: # ALARMS: NONE
019975,000088:
019976,000089: # OUTPUT: NONE
019977,000090:
019978,000091: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
019979,000092:
019980,000093: 34,2000 BANK 34
019981,000094: 26,2000 SETLOC MANUVER
019982,000095: 26,2000 BANK
019983,000096:
019984,000097: 26,2123 1164 EBANK= TEMPR60
019985,000098:
019986,000099: 26,2123 COUNT* $$/R06
019987,000100: 26,2123 04645 R60LEM TC MAKECADR
019988,000101: 26,2124 55164 TS TEMPR60
019989,000102:
019990,000103: 26,2125 34746 REDOMANN CAF 3AXISBIT
019991,000104: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019992,000105: 26,2127 10000 CCS A
019993,000106: 26,2130 12136 TCF TOBALL # YES
019994,000107: 26,2131 06037 TC INTPRET
019995,000108: 26,2132 77624 CALL
019996,000109: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
019997,000110: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
019998,000111: 26,2135 77776 EXIT
019999,000112:
020000,000113: 26,2136 04616 TOBALL TC BANKCALL
020001,000114: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020002,000115: 26,2140 32254 TOBALLA CAF V06N18
020003,000116: 26,2141 04616 TC BANKCALL
020004,000117: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020005,000118: 26,2143 02242 TC R61TEST
020006,000119: 26,2144 02150 TC REDOMANC # PROCEED
020007,000120: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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020009,000122: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020010,000123: 26,2147 05155 TC ENDOFJOB
020011,000124:
020012,000125: 26,2150 34746 REDOMANC CAF 3AXISBIT
020013,000126: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020014,000127: 26,2152 10000 CCS A
020015,000128: 26,2153 12161 TCF TOBALLC # YES
020016,000129: 26,2154 06037 TC INTPRET
020017,000130: 26,2155 77624 CALL
020018,000131: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020019,000132: 26,2157 00322 STORE CPHI # STORE ANGLES
020020,000133: 26,2160 77776 EXIT
020021,000134:
020022,000135: 26,2161 04616 TOBALLC TC BANKCALL
020023,000136: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020024,000137: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
020025,000138: 26,2164 10000 CCS A
020026,000139: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020027,000140:
020028,000141: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020029,000142: 26,2167 04616 TC BANKCALL # -
020030,000143: 26,2170 20451 CADR GODSPR # -
020031,000144: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020032,000145:
020033,000146: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020034,000147: 26,2173 17750 CADR GOMANUR
020035,000148:
020036,000149: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020037,000150: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020038,000151: 26,2176 00124 ADRES 3AXISFLG
020039,000152: 26,2177 31164 CAE TEMPR60 # -
020040,000153: 26,2200 04640 TC BANKJUMP # -
020041,000154:
020042,000155: 26,2201 40100 CHKLINUS CS FLAGWRD4
020043,000156: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020044,000157: 26,2203 10000 CCS A # -
020045,000158: 26,2204 00002 TC Q # NO - EXIT
020046,000159: 26,2205 30002 CA Q
020047,000160: 26,2206 54156 TS MPAC +2 # SAVE RETURN
020048,000161: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
020049,000162: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020050,000163: 26,2211 55055 TS TBASE2
020051,000164:
020052,000165: 26,2212 05353 TC PHASCHNG
020053,000166: 26,2213 00132 OCT 00132
020054,000167:
020055,000168: 26,2214 34745 CAF BIT7
020056,000169: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020057,000170: 26,2216 00156 TC MPAC +2
020058,000171:
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020060,000173: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020061,000174: 26,2220 05146 TC PRIOCHNG
020062,000175:
020063,000176: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020064,000177: 26,2222 70075 MASK FLAGWRD1
020065,000178: 26,2223 10000 CCS A
020066,000179: 26,2224 12237 TCF RER60
020067,000180:
020068,000181: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
020069,000182: 26,2226 70074 MASK FLAGWRD0
020070,000183: 26,2227 10000 CCS A
020071,000184: 26,2230 02234 TC +4 # YES
020072,000185: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020073,000186: 26,2232 40112 OCT 40112
020074,000187:
020075,000188: 26,2233 05155 TC ENDOFJOB
020076,000189:
020077,000190: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020078,000191: 26,2235 40072 OCT 40072
020079,000192:
020080,000193: 26,2236 05155 TC ENDOFJOB
020081,000194:
020082,000195: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020083,000196: 26,2240 00077 ADRES PDSPFLAG
020084,000197:
020085,000198: 26,2241 01055 TC TBASE2
020086,000199:
020087,000200: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020088,000201: 26,2243 00006 EXTEND
020089,000202: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020090,000203:
020091,000204: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020092,000205: 26,2246 74740 MASK PDSPFBIT
020093,000206: 26,2247 00006 EXTEND
020094,000207: 26,2250 16001 BZF GOTOPOOH # NO
020095,000208: 26,2251 06022 TC GOTOV56 # YES
020096,000209:
020097,000210: 26,2252 20100 BIT14+7 OCT 20100 # -
020098,000211: 26,2253 00203 OCT203 OCT 203
020099,000212: 26,2254 01422 V06N18 VN 0618
020100,000213:
020101,000214: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020102,000215:
020103,000216: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020104,000217: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020105,000218:
020106,000219: 26,2255 00006 G+N,AUTO EXTEND
020107,000220: 26,2256 00030 READ CHAN30
020108,000221: 26,2257 74742 MASK BIT10
020109,000222: 26,2260 10000 CCS A
020110,000223: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
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020112,000225: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020113,000226: 26,2263 00031 READ CHAN31
020114,000227: 26,2264 74736 MASK BIT14
020115,000228: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020116,000229:
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020118,000231: # PROGRAM DESCRIPTION BALLANGS
020119,000232: # MOD NO. LOG SECTION R60,R62
020120,000233:
020121,000234: # WRITTEN BY RAMA M. AIYAWAR
020122,000235:
020123,000236: # FUNCTIONAL DESCRIPTION
020124,000237:
020125,000238: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020126,000239:
020127,000240: # CALLING SEQUENCE
020128,000241:
020129,000242: # TC BALLANGS
020130,000243:
020131,000244: # NORMAL EXIT MODE
020132,000245:
020133,000246: # TC BALLEXIT (SAVED Q)
020134,000247:
020135,000248: # ALARM OR EXIT MODE NIL
020136,000249:
020137,000250: # SUBROUTINES CALLED
020138,000251:
020139,000252: # CD*TR*G
020140,000253: # ARCTAN
020141,000254:
020142,000255: # INPUT
020143,000256:
020144,000257: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020145,000258: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020146,000259:
020147,000260: # OUTPUT
020148,000261:
020149,000262: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020150,000263: # SP,2S COMPLIMENT.
020151,000264:
020152,000265: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020153,000266:
020154,000267: # ERASABLE INITIALIZATION REQUIRED
020155,000268:
020156,000269: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020157,000270:
020158,000271: # DEBRIS
020159,000272:
020160,000273: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020161,000274:
020162,000275: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020163,000276: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020164,000277:
020165,000278: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020166,000279:
020167,000280: 26,2000 SETLOC BAWLANGS
020168,000281: 26,2000 BANK
020169,000282:
020170,000283: 26,2266 COUNT* $$/BALL
020171,000284: 26,2266 04645 BALLANGS TC MAKECADR
020172,000285: 26,2267 55342 TS BALLEXIT
020173,000286: 26,2270 30321 CA CPHI
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Page 478
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020175,000288: 26,2271 54772 TS CDUSPOT +4
020176,000289: 26,2272 30322 CA CTHETA
020177,000290: 26,2273 54766 TS CDUSPOT
020178,000291: 26,2274 30323 CA CPSI
020179,000292: 26,2275 54770 TS CDUSPOT +2
020180,000293:
020181,000294: 26,2276 06037 TC INTPRET
020182,000295: 26,2277 45001 SETPD CALL
020183,000296: 26,2300 00001 0D
020184,000297: 26,2301 47543 CD*TR*G
020185,000298:
020186,000299: 26,2302 41345 DLOAD DMP
020187,000300: 26,2303 00743 SINCDUX # SIN (OGA)
020188,000301: 26,2304 00747 COSCDUZ # COS (MGA)
020189,000302:
020190,000303: 26,2305 57552 SL1 DCOMP # SCALE
020191,000304: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020192,000305: 26,2307 00741 SINCDUZ
020193,000306: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020194,000307: 26,2311 00747 COSCDUZ
020195,000308: 26,2312 72405 DMP SL1 # RESCALE
020196,000309: 26,2313 00751 COSCDUX
020197,000310: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020198,000311: 26,2315 26510 ARCTAN
020199,000312: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020200,000313: 26,2317 00741 SINCDUZ
020201,000314: 26,2320 00743 SINCDUX
020202,000315: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020203,000316: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020204,000317: 26,2323 00745 COSCDUY
020205,000318: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020206,000319: 26,2325 00737 SINCDUY
020207,000320: 26,2326 00751 COSCDUX
020208,000321: 26,2327 72405 DMP SL1 # CXCY
020209,000322: 26,2330 00745 COSCDUY
020210,000323: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020211,000324: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020212,000325: 26,2333 00737 SINCDUY
020213,000326: 26,2334 72405 DMP SL1
020214,000327: 26,2335 00751 COSCDUX # CXSY
020215,000328: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020216,000329: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020217,000330: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020218,000331: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020219,000332: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020220,000333: 26,2343 21620 V1STO2S
020221,000334: 26,2344 02345 STORE FDAIX # MODE IS TP
020222,000335: 26,2345 77776 EXIT
020223,000336:
020224,000337: 26,2346 31342 ENDBALL CA BALLEXIT
020225,000338:
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020227,000340: 26,2347 04640 TC BANKJUMP
020228,000341:
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020230,000343: # PROGRAM DESCRIPTION - VECPOINT
020231,000344:
020232,000345: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020233,000346: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020234,000347: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020235,000348: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020236,000349: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020237,000350: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020238,000351: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020239,000352: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020240,000353:
020241,000354: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020242,000355: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020243,000356: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020244,000357: # 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,
020245,000358: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020246,000359: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020247,000360: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020248,000361:
020249,000362: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020250,000363: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020251,000364: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020252,000365: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020253,000366:
020254,000367: # CALLING SEQUENCE -
020255,000368:
020256,000369: # 1) LOAD SCAXIS, POINTVSM
020257,000370: # 2) CALL
020258,000371: # VECPOINT
020259,000372:
020260,000373: # RETURNS WITH
020261,000374:
020262,000375: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020263,000376: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020264,000377: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020265,000378:
020266,000379: # ERASABLES USED -
020267,000380:
020268,000381: # 1) SCAXIS 6
020269,000382: # 2) POINTVSM 6
020270,000383: # 3) MIS 18
020271,000384: # 4) DEL 18
020272,000385: # 5) COF 6
020273,000386: # 6) VECQTEMP 1
020274,000387: # 7) ALL OF VAC AREA 43
020275,000388:
020276,000389: # TOTAL 99
020277,000390:
020278,000391: 27,2000 SETLOC VECPT
020279,000392: 27,2000 BANK
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Page 481
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020281,000394: 27,2032 COUNT* $$/VECPT
020282,000395:
020283,000396: 27,2032 E6,1676 EBANK= BCDU
020284,000397:
020285,000398: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020286,000399: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020287,000400: 27,2034 56035 VECPNT2
020288,000401: 27,2035 52164 VECPNT2 AXC,2 GOTO
020289,000402: 27,2036 03246 MIS
020290,000403: 27,2037 56046 STORANG
020291,000404: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020292,000405: 27,2041 03325 VECQTEMP
020293,000406: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020294,000407: 27,2043 47164 VECLEAR AXC,2 RTB
020295,000408: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020296,000409: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020297,000410: 27,2046 34032 STORANG STCALL 25D
020298,000411: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020299,000412: 27,2050 61375 VLOAD VXM
020300,000413: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020301,000414: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020302,000415: 27,2053 77656 UNIT
020303,000416: 27,2054 00035 STORE 28D
020304,000417: # PD 28 29 30 31 32 33
020305,000418: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020306,000419: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020307,000420: 27,2057 57400 BOV VCOMP
020308,000421: 27,2060 56170 PICKAXIS
020309,000422: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020310,000423: 27,2062 00045 36D # OF CROSS PRODUCT
020311,000424: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020312,000425: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020313,000426: 27,2065 56170 PICKAXIS # UNIT OPERATION
020314,000427: 27,2066 50375 VLOAD DOT # INVALID.
020315,000428: 27,2067 03765 SCAXIS
020316,000429: 27,2070 00035 28D
020317,000430: 27,2071 65552 SL1 ARCCOS
020318,000431: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020319,000432: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020320,000433: 27,2074 75160 AXC,1 AXC,2
020321,000434: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020322,000435: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020323,000436: 27,2077 77624 CALL # MFS = MIS MFI
020324,000437: 27,2100 44312 MXM3 # (IN PD LIST)
020325,000438:
020326,000439: 27,2101 51545 DLOAD ABS
020327,000440: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020328,000441: 27,2103 50025 DSU BMN
020329,000442: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020330,000443: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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020332,000445: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020333,000446:
020334,000447: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020335,000448: 27,2107 03765 SCAXIS # THE THRUST AXIS
020336,000449: 27,2110 51025 DSU BPL
020337,000450: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020338,000451: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020339,000452: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020340,000453: 27,2114 77626 STADR
020341,000454: 27,2115 50514 STOVL MIS +12D
020342,000455: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020343,000456: 27,2117 50522 STOVL MIS +6
020344,000457: 27,2120 77626 STADR
020345,000458: 27,2121 50530 STOVL MIS
020346,000459: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020347,000460: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020348,000461: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020349,000462:
020350,000463: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020351,000464: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020352,000465: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020353,000466: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020354,000467: # OTHERWISE U = -SCAXIS
020355,000468:
020356,000469: 27,2130 57575 VLOAD VCOMP
020357,000470: 27,2131 03765 SCAXIS
020358,000471: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020359,000472: 27,2133 56137 CHEKAXIS
020360,000473: 27,2134 77775 U=SCAXIS VLOAD
020361,000474: 27,2135 03765 SCAXIS
020362,000475: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020363,000476: 27,2137 51545 CHEKAXIS DLOAD ABS
020364,000477: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020365,000478: 27,2141 51025 DSU BPL
020366,000479: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020367,000480: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020368,000481: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020369,000482: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020370,000483: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020371,000484: # OF GIMBAL LOCK (VECANG2 $360)
020372,000485: 27,2147 77745 PICKANG1 DLOAD
020373,000486: 27,2150 14404 VECANG1 # = 50 DEGS $360
020374,000487: 27,2151 77624 COMPMFSN CALL
020375,000488: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020376,000489: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020377,000490: 27,2154 03246 MIS
020378,000491: 27,2155 02230 KEL
020379,000492: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020380,000493: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020381,000494: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 483
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020383,000496: # GIMBAL LOCK
020384,000497: 27,2160 45160 FINDGIMB AXC,1 CALL
020385,000498: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020386,000499: 27,2162 44654 DCMTOCDU # THIS MATRIX
020387,000500: 27,2163 40234 RTB SETPD
020388,000501: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020389,000502: 27,2165 00001 0
020390,000503: 27,2166 77650 GOTO
020391,000504: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020392,000505:
020393,000506: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020394,000507: 27,2171 00035 28D
020395,000508: 27,2172 03765 SCAXIS
020396,000509: 27,2173 72240 BMN TLOAD
020397,000510: 27,2174 54350 ROT180
020398,000511: 27,2175 00032 25D
020399,000512: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020400,000513: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020401,000514:
020402,000515: 35,2000 BANK 35
020403,000516: 26,2000 SETLOC MANUVER1
020404,000517: 26,2000 BANK
020405,000518: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020406,000519: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020407,000520: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020408,000521: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020409,000522: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020410,000523: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020411,000524: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020412,000525: 26,2357 17271 STODL COF
020413,000526: 26,2360 00045 36D # CHECK MAGNITUDE
020414,000527: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020415,000528: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020416,000529: 26,2363 54372 PICKX # PICK X-AXIS.
020417,000530: 26,2364 77775 VLOAD
020418,000531: 26,2365 03271 COF
020419,000532: 26,2366 17271 XROT STODL COF
020420,000533: 26,2367 06520 HIDPHALF
020421,000534: 26,2370 77650 GOTO
020422,000535: 26,2371 56072 COMPMATX
020423,000536: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020424,000537: 26,2373 06520 HIDPHALF
020425,000538: 26,2374 54366 XROT
020426,000539: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020427,000540:
020428,000541: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020429,000542:
020430,000543: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020431,000544:
020432,000545: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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020434,000547: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020435,000548:
020436,000549: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020437,000550: 26,2410 00001 DPB-14 OCT 00001
020438,000551: 26,2411 00000 OCT 00000
020439,000552:
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Page 485
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020441,000554: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020442,000555:
020443,000556: 34,2000 BANK 34
020444,000557: 23,2000 SETLOC R62
020445,000558: 23,2000 BANK
020446,000559: 23,2103 E6,1676 EBANK= BCDU
020447,000560:
020448,000561: 23,2103 COUNT* $$/R62
020449,000562:
020450,000563: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020451,000564:
020452,000565: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020453,000566: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020454,000567: 23,2105 20476 CADR GOFLASH
020455,000568: 23,2106 15472 TCF ENDEXT # TERMINATE
020456,000569: 23,2107 12111 TCF GOMOVE # PROCEED
020457,000570: 23,2110 12103 TCF R62FLASH # ENTER
020458,000571:
020459,000572: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020460,000573: # POINT
020461,000574: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020462,000575: 23,2112 00124 ADRES 3AXISFLG
020463,000576:
020464,000577: 23,2113 04616 TC BANKCALL
020465,000578: 23,2114 54123 CADR R60LEM
020466,000579: 23,2115 15472 TCF ENDEXT # END R62
020467,000580:
End of include-file R60,R62.agc. Parent file is MAIN.agc