Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version 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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction 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 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 98 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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019786,000002: ## Copyright: Public domain.
019787,000003: ## Filename: R60,R62.agc
019788,000004: ## Purpose: A section of Luminary revision 98.
019789,000005: ## It is part of the reconstructed source code for the a
019790,000006: ## development version of the flight software for the Lunar
019791,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
019792,000008: ## The code has been recreated from a copy of Luminary 99
019793,000009: ## revision 001, using asterisks indicating changed lines in
019794,000010: ## the listing and Luminary Memo #85, which lists changes between
019795,000011: ## Luminary 98 and 99.
019796,000012: ## Reference: pp. 472-485
019797,000013: ## Assembler: yaYUL
019798,000014: ## Contact: Ron Burkey <info@sandroid.org>.
019799,000015: ## Website: www.ibiblio.org/apollo/index.html
019800,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
019801,000017:
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019803,000019: # MOD NO: 0 DATE: 1 MAY 1968
019804,000020: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
019805,000021:
019806,000022: # FUNCTIONAL DESCRIPTION:
019807,000023:
019808,000024: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019809,000025: # ATTITUDE.
019810,000026:
019811,000027: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
019812,000028: # CALCULATED (VECPOINT).
019813,000029:
019814,000030: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019815,000031:
019816,000032: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
019817,000033:
019818,000034: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
019819,000035: # ASTRONAUT RESPONSE.
019820,000036:
019821,000037: # 5. DISPLAY RESPONSE RETURNS:
019822,000038:
019823,000039: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
019824,000040:
019825,000041: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
019826,000042: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
019827,000043: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
019828,000044:
019829,000045: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
019830,000046:
019831,000047: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
019832,000048: # (VECPOINT).
019833,000049:
019834,000050: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019835,000051:
019836,000052: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
019837,000053: #
019838,000054: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
019839,000055:
019840,000056: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
019841,000057:
019842,000058: # 11. DO A PHASECHANGE.
019843,000059:
019844,000060: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
019845,000061: # GIMBAL ANGLES (GOMANUR).
019846,000062:
019847,000063: # 13. AT END OF MANEUVER GO TO STEP 3.
019848,000064:
019849,000065: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
019850,000066: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
019851,000067: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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019853,000069: # STEP 5C.
019854,000070:
019855,000071: # CALLING SEQUENCE: TC BANKCALL
019856,000072: # CADR R60LEM
019857,000073:
019858,000074: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
019859,000075: # 3AXISFLG.
019860,000076:
019861,000077: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
019862,000078: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
019863,000079:
019864,000080: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
019865,000081: # TC BANKJUMP
019866,000082:
019867,000083: # ALARMS: NONE
019868,000084:
019869,000085: # OUTPUT: NONE
019870,000086:
019871,000087: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
019872,000088:
019873,000089: 34,2000 BANK 34
019874,000090: 26,2000 SETLOC MANUVER
019875,000091: 26,2000 BANK
019876,000092:
019877,000093: 26,2123 1164 EBANK= TEMPR60
019878,000094:
019879,000095: 26,2123 COUNT* $$/R06
019880,000096: 26,2123 04645 R60LEM TC MAKECADR
019881,000097: 26,2124 55164 TS TEMPR60
019882,000098:
019883,000099: 26,2125 34746 REDOMANN CAF 3AXISBIT
019884,000100: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019885,000101: 26,2127 10000 CCS A
019886,000102: 26,2130 12136 TCF TOBALL # YES
019887,000103: 26,2131 06037 TC INTPRET
019888,000104: 26,2132 77624 CALL
019889,000105: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
019890,000106: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
019891,000107: 26,2135 77776 EXIT
019892,000108:
019893,000109: 26,2136 04616 TOBALL TC BANKCALL
019894,000110: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
019895,000111: 26,2140 32254 TOBALLA CAF V06N18
019896,000112: 26,2141 04616 TC BANKCALL
019897,000113: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
019898,000114: 26,2143 02242 TC R61TEST
019899,000115: 26,2144 02150 TC REDOMANC # PROCEED
019900,000116: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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019902,000118: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
019903,000119: 26,2147 05155 TC ENDOFJOB
019904,000120:
019905,000121: 26,2150 34746 REDOMANC CAF 3AXISBIT
019906,000122: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019907,000123: 26,2152 10000 CCS A
019908,000124: 26,2153 12161 TCF TOBALLC # YES
019909,000125: 26,2154 06037 TC INTPRET
019910,000126: 26,2155 77624 CALL
019911,000127: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
019912,000128: 26,2157 00322 STORE CPHI # STORE ANGLES
019913,000129: 26,2160 77776 EXIT
019914,000130:
019915,000131: 26,2161 04616 TOBALLC TC BANKCALL
019916,000132: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
019917,000133: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
019918,000134: 26,2164 10000 CCS A
019919,000135: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
019920,000136:
019921,000137: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
019922,000138: 26,2167 04616 TC BANKCALL # -
019923,000139: 26,2170 20451 CADR GODSPR # -
019924,000140: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
019925,000141:
019926,000142: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
019927,000143: 26,2173 17750 CADR GOMANUR
019928,000144:
019929,000145: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
019930,000146: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
019931,000147: 26,2176 00124 ADRES 3AXISFLG
019932,000148: 26,2177 31164 CAE TEMPR60 # -
019933,000149: 26,2200 04640 TC BANKJUMP # -
019934,000150:
019935,000151: 26,2201 40100 CHKLINUS CS FLAGWRD4
019936,000152: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
019937,000153: 26,2203 10000 CCS A # -
019938,000154: 26,2204 00002 TC Q # NO - EXIT
019939,000155: 26,2205 30002 CA Q
019940,000156: 26,2206 54156 TS MPAC +2 # SAVE RETURN
019941,000157: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
019942,000158: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
019943,000159: 26,2211 55055 TS TBASE2
019944,000160:
019945,000161: 26,2212 05353 TC PHASCHNG
019946,000162: 26,2213 00132 OCT 00132
019947,000163:
019948,000164: 26,2214 34745 CAF BIT7
019949,000165: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
019950,000166: 26,2216 00156 TC MPAC +2
019951,000167:
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019953,000169: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
019954,000170: 26,2220 05146 TC PRIOCHNG
019955,000171:
019956,000172: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
019957,000173: 26,2222 70075 MASK FLAGWRD1
019958,000174: 26,2223 10000 CCS A
019959,000175: 26,2224 12237 TCF RER60
019960,000176:
019961,000177: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
019962,000178: 26,2226 70074 MASK FLAGWRD0
019963,000179: 26,2227 10000 CCS A
019964,000180: 26,2230 02234 TC +4 # YES
019965,000181: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
019966,000182: 26,2232 40112 OCT 40112
019967,000183:
019968,000184: 26,2233 05155 TC ENDOFJOB
019969,000185:
019970,000186: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
019971,000187: 26,2235 40072 OCT 40072
019972,000188:
019973,000189: 26,2236 05155 TC ENDOFJOB
019974,000190:
019975,000191: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
019976,000192: 26,2240 00077 ADRES PDSPFLAG
019977,000193:
019978,000194: 26,2241 01055 TC TBASE2
019979,000195:
019980,000196: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
019981,000197: 26,2243 00006 EXTEND
019982,000198: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
019983,000199:
019984,000200: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
019985,000201: 26,2246 74740 MASK PDSPFBIT
019986,000202: 26,2247 00006 EXTEND
019987,000203: 26,2250 16001 BZF GOTOPOOH # NO
019988,000204: 26,2251 06022 TC GOTOV56 # YES
019989,000205:
019990,000206: 26,2252 20100 BIT14+7 OCT 20100 # -
019991,000207: 26,2253 00203 OCT203 OCT 203
019992,000208: 26,2254 01422 V06N18 VN 0618
019993,000209:
019994,000210: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
019995,000211:
019996,000212: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
019997,000213: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
019998,000214:
019999,000215: 26,2255 00006 G+N,AUTO EXTEND
020000,000216: 26,2256 00030 READ CHAN30
020001,000217: 26,2257 74742 MASK BIT10
020002,000218: 26,2260 10000 CCS A
020003,000219: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
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020005,000221: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020006,000222: 26,2263 00031 READ CHAN31
020007,000223: 26,2264 74736 MASK BIT14
020008,000224: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020009,000225:
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020011,000227: # PROGRAM DESCRIPTION BALLANGS
020012,000228: # MOD NO. LOG SECTION R60,R62
020013,000229:
020014,000230: # WRITTEN BY RAMA M. AIYAWAR
020015,000231:
020016,000232: # FUNCTIONAL DESCRIPTION
020017,000233:
020018,000234: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020019,000235:
020020,000236: # CALLING SEQUENCE
020021,000237:
020022,000238: # TC BALLANGS
020023,000239:
020024,000240: # NORMAL EXIT MODE
020025,000241:
020026,000242: # TC BALLEXIT (SAVED Q)
020027,000243:
020028,000244: # ALARM OR EXIT MODE NIL
020029,000245:
020030,000246: # SUBROUTINES CALLED
020031,000247:
020032,000248: # CD*TR*G
020033,000249: # ARCTAN
020034,000250:
020035,000251: # INPUT
020036,000252:
020037,000253: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020038,000254: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020039,000255:
020040,000256: # OUTPUT
020041,000257:
020042,000258: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020043,000259: # SP,2S COMPLIMENT.
020044,000260:
020045,000261: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020046,000262:
020047,000263: # ERASABLE INITIALIZATION REQUIRED
020048,000264:
020049,000265: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020050,000266:
020051,000267: # DEBRIS
020052,000268:
020053,000269: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020054,000270:
020055,000271: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020056,000272: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020057,000273:
020058,000274: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020059,000275:
020060,000276: 26,2000 SETLOC BAWLANGS
020061,000277: 26,2000 BANK
020062,000278:
020063,000279: 26,2266 COUNT* $$/BALL
020064,000280: 26,2266 04645 BALLANGS TC MAKECADR
020065,000281: 26,2267 55342 TS BALLEXIT
020066,000282: 26,2270 30321 CA CPHI
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020068,000284: 26,2271 54772 TS CDUSPOT +4
020069,000285: 26,2272 30322 CA CTHETA
020070,000286: 26,2273 54766 TS CDUSPOT
020071,000287: 26,2274 30323 CA CPSI
020072,000288: 26,2275 54770 TS CDUSPOT +2
020073,000289:
020074,000290: 26,2276 06037 TC INTPRET
020075,000291: 26,2277 45001 SETPD CALL
020076,000292: 26,2300 00001 0D
020077,000293: 26,2301 47543 CD*TR*G
020078,000294:
020079,000295: 26,2302 41345 DLOAD DMP
020080,000296: 26,2303 00743 SINCDUX # SIN (OGA)
020081,000297: 26,2304 00747 COSCDUZ # COS (MGA)
020082,000298:
020083,000299: 26,2305 57552 SL1 DCOMP # SCALE
020084,000300: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020085,000301: 26,2307 00741 SINCDUZ
020086,000302: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020087,000303: 26,2311 00747 COSCDUZ
020088,000304: 26,2312 72405 DMP SL1 # RESCALE
020089,000305: 26,2313 00751 COSCDUX
020090,000306: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020091,000307: 26,2315 26510 ARCTAN
020092,000308: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020093,000309: 26,2317 00741 SINCDUZ
020094,000310: 26,2320 00743 SINCDUX
020095,000311: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020096,000312: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020097,000313: 26,2323 00745 COSCDUY
020098,000314: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020099,000315: 26,2325 00737 SINCDUY
020100,000316: 26,2326 00751 COSCDUX
020101,000317: 26,2327 72405 DMP SL1 # CXCY
020102,000318: 26,2330 00745 COSCDUY
020103,000319: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020104,000320: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020105,000321: 26,2333 00737 SINCDUY
020106,000322: 26,2334 72405 DMP SL1
020107,000323: 26,2335 00751 COSCDUX # CXSY
020108,000324: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020109,000325: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020110,000326: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020111,000327: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020112,000328: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020113,000329: 26,2343 21620 V1STO2S
020114,000330: 26,2344 02345 STORE FDAIX # MODE IS TP
020115,000331: 26,2345 77776 EXIT
020116,000332:
020117,000333: 26,2346 31342 ENDBALL CA BALLEXIT
020118,000334:
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020120,000336: 26,2347 04640 TC BANKJUMP
020121,000337:
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020123,000339: # PROGRAM DESCRIPTION - VECPOINT
020124,000340:
020125,000341: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020126,000342: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020127,000343: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020128,000344: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020129,000345: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020130,000346: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020131,000347: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020132,000348: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020133,000349:
020134,000350: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020135,000351: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020136,000352: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020137,000353: # 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,
020138,000354: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020139,000355: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020140,000356: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020141,000357:
020142,000358: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020143,000359: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020144,000360: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020145,000361: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020146,000362:
020147,000363: # CALLING SEQUENCE -
020148,000364:
020149,000365: # 1) LOAD SCAXIS, POINTVSM
020150,000366: # 2) CALL
020151,000367: # VECPOINT
020152,000368:
020153,000369: # RETURNS WITH
020154,000370:
020155,000371: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020156,000372: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020157,000373: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020158,000374:
020159,000375: # ERASABLES USED -
020160,000376:
020161,000377: # 1) SCAXIS 6
020162,000378: # 2) POINTVSM 6
020163,000379: # 3) MIS 18
020164,000380: # 4) DEL 18
020165,000381: # 5) COF 6
020166,000382: # 6) VECQTEMP 1
020167,000383: # 7) ALL OF VAC AREA 43
020168,000384:
020169,000385: # TOTAL 99
020170,000386:
020171,000387: 27,2000 SETLOC VECPT
020172,000388: 27,2000 BANK
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Page 481
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020174,000390: 27,2032 COUNT* $$/VECPT
020175,000391:
020176,000392: 27,2032 E6,1676 EBANK= BCDU
020177,000393:
020178,000394: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020179,000395: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020180,000396: 27,2034 56035 VECPNT2
020181,000397: 27,2035 52164 VECPNT2 AXC,2 GOTO
020182,000398: 27,2036 03246 MIS
020183,000399: 27,2037 56046 STORANG
020184,000400: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020185,000401: 27,2041 03325 VECQTEMP
020186,000402: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020187,000403: 27,2043 47164 VECLEAR AXC,2 RTB
020188,000404: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020189,000405: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020190,000406: 27,2046 34032 STORANG STCALL 25D
020191,000407: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020192,000408: 27,2050 61375 VLOAD VXM
020193,000409: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020194,000410: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020195,000411: 27,2053 77656 UNIT
020196,000412: 27,2054 00035 STORE 28D
020197,000413: # PD 28 29 30 31 32 33
020198,000414: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020199,000415: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020200,000416: 27,2057 57400 BOV VCOMP
020201,000417: 27,2060 56170 PICKAXIS
020202,000418: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020203,000419: 27,2062 00045 36D # OF CROSS PRODUCT
020204,000420: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020205,000421: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020206,000422: 27,2065 56170 PICKAXIS # UNIT OPERATION
020207,000423: 27,2066 50375 VLOAD DOT # INVALID.
020208,000424: 27,2067 03765 SCAXIS
020209,000425: 27,2070 00035 28D
020210,000426: 27,2071 65552 SL1 ARCCOS
020211,000427: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020212,000428: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020213,000429: 27,2074 75160 AXC,1 AXC,2
020214,000430: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020215,000431: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020216,000432: 27,2077 77624 CALL # MFS = MIS MFI
020217,000433: 27,2100 44312 MXM3 # (IN PD LIST)
020218,000434:
020219,000435: 27,2101 51545 DLOAD ABS
020220,000436: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020221,000437: 27,2103 50025 DSU BMN
020222,000438: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020223,000439: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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020225,000441: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020226,000442:
020227,000443: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020228,000444: 27,2107 03765 SCAXIS # THE THRUST AXIS
020229,000445: 27,2110 51025 DSU BPL
020230,000446: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020231,000447: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020232,000448: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020233,000449: 27,2114 77626 STADR
020234,000450: 27,2115 50514 STOVL MIS +12D
020235,000451: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020236,000452: 27,2117 50522 STOVL MIS +6
020237,000453: 27,2120 77626 STADR
020238,000454: 27,2121 50530 STOVL MIS
020239,000455: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020240,000456: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020241,000457: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020242,000458:
020243,000459: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020244,000460: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020245,000461: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020246,000462: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020247,000463: # OTHERWISE U = -SCAXIS
020248,000464:
020249,000465: 27,2130 57575 VLOAD VCOMP
020250,000466: 27,2131 03765 SCAXIS
020251,000467: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020252,000468: 27,2133 56137 CHEKAXIS
020253,000469: 27,2134 77775 U=SCAXIS VLOAD
020254,000470: 27,2135 03765 SCAXIS
020255,000471: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020256,000472: 27,2137 51545 CHEKAXIS DLOAD ABS
020257,000473: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020258,000474: 27,2141 51025 DSU BPL
020259,000475: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020260,000476: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020261,000477: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020262,000478: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020263,000479: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020264,000480: # OF GIMBAL LOCK (VECANG2 $360)
020265,000481: 27,2147 77745 PICKANG1 DLOAD
020266,000482: 27,2150 14404 VECANG1 # = 50 DEGS $360
020267,000483: 27,2151 77624 COMPMFSN CALL
020268,000484: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020269,000485: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020270,000486: 27,2154 03246 MIS
020271,000487: 27,2155 02230 KEL
020272,000488: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020273,000489: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020274,000490: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 483
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020276,000492: # GIMBAL LOCK
020277,000493: 27,2160 45160 FINDGIMB AXC,1 CALL
020278,000494: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020279,000495: 27,2162 44654 DCMTOCDU # THIS MATRIX
020280,000496: 27,2163 40234 RTB SETPD
020281,000497: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020282,000498: 27,2165 00001 0
020283,000499: 27,2166 77650 GOTO
020284,000500: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020285,000501:
020286,000502: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020287,000503: 27,2171 00035 28D
020288,000504: 27,2172 03765 SCAXIS
020289,000505: 27,2173 72240 BMN TLOAD
020290,000506: 27,2174 54350 ROT180
020291,000507: 27,2175 00032 25D
020292,000508: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020293,000509: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020294,000510:
020295,000511: 35,2000 BANK 35
020296,000512: 26,2000 SETLOC MANUVER1
020297,000513: 26,2000 BANK
020298,000514: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020299,000515: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020300,000516: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020301,000517: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020302,000518: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020303,000519: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020304,000520: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020305,000521: 26,2357 17271 STODL COF
020306,000522: 26,2360 00045 36D # CHECK MAGNITUDE
020307,000523: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020308,000524: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020309,000525: 26,2363 54372 PICKX # PICK X-AXIS.
020310,000526: 26,2364 77775 VLOAD
020311,000527: 26,2365 03271 COF
020312,000528: 26,2366 17271 XROT STODL COF
020313,000529: 26,2367 06520 HIDPHALF
020314,000530: 26,2370 77650 GOTO
020315,000531: 26,2371 56072 COMPMATX
020316,000532: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020317,000533: 26,2373 06520 HIDPHALF
020318,000534: 26,2374 54366 XROT
020319,000535: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020320,000536:
020321,000537: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020322,000538:
020323,000539: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020324,000540:
020325,000541: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 484
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020327,000543: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020328,000544:
020329,000545: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020330,000546: 26,2410 00001 DPB-14 OCT 00001
020331,000547: 26,2411 00000 OCT 00000
020332,000548:
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Page 485
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020334,000550: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020335,000551:
020336,000552: 34,2000 BANK 34
020337,000553: 23,2000 SETLOC R62
020338,000554: 23,2000 BANK
020339,000555: 23,2103 E6,1676 EBANK= BCDU
020340,000556:
020341,000557: 23,2103 COUNT* $$/R62
020342,000558:
020343,000559: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020344,000560:
020345,000561: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020346,000562: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020347,000563: 23,2105 20476 CADR GOFLASH
020348,000564: 23,2106 15472 TCF ENDEXT # TERMINATE
020349,000565: 23,2107 12111 TCF GOMOVE # PROCEED
020350,000566: 23,2110 12103 TCF R62FLASH # ENTER
020351,000567:
020352,000568: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020353,000569: # POINT
020354,000570: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020355,000571: 23,2112 00124 ADRES 3AXISFLG
020356,000572:
020357,000573: 23,2113 04616 TC BANKCALL
020358,000574: 23,2114 54123 CADR R60LEM
020359,000575: 23,2115 15472 TCF ENDEXT # END R62
020360,000576:
End of include-file R60,R62.agc. Parent file is MAIN.agc