Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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014254,000002: ## Copyright: Public domain.
014255,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014256,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
014257,000005: ## This was the original program released for the Apollo 13 LM,
014258,000006: ## although several more revisions would follow. It has been
014259,000007: ## reconstructed from a listing of Luminary 131, from which it
014260,000008: ## differs on only two lines in P70-P71. The difference is
014261,000009: ## described in detail in Luminary memo #129, which was used
014262,000010: ## to perform the reconstruction. This file is intended to be a
014263,000011: ## faithful reconstruction, except that the code format has been
014264,000012: ## changed to conform to the requirements of the yaYUL assembler
014265,000013: ## rather than the original YUL assembler.
014266,000014: ## Reference: pp. 344-365
014267,000015: ## Contact: Ron Burkey <info@sandroid.org>.
014268,000016: ## Website: www.ibiblio.org/apollo/index.html
014269,000017: ## Mod history: 05/10/03 RSB. Began transcribing.
014270,000018: ## 05/14/05 RSB Corrected website reference above.
014271,000019: ## 2010-08-24 JL Added missing page number comments.
014272,000020: ## 2017-01-06 RSB Page numbers now agree with those on the
014273,000021: ## original harcopy, as opposed to the PDF page
014274,000022: ## numbers in 1701.pdf.
014275,000023: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
014276,000024: ## 2017-02-28 RSB Fixed lingering typos.
014277,000025: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014278,000026: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
014279,000027: ## side-by-side diff of Luminary 69/99/116/131/210.
014280,000028: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
014281,000029:
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Page 344
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014283,000031: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
014284,000032:
014285,000033: # MOD 2 DATE 5/1/67 BY DON KEENE
014286,000034:
014287,000035: # PROGRAM DESCRIPTION
014288,000036:
014289,000037: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014290,000038: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014291,000039: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014292,000040: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014293,000041: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014294,000042:
014295,000043: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014296,000044: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014297,000045: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014298,000046:
014299,000047: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014300,000048: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014301,000049:
014302,000050: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014303,000051: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014304,000052: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014305,000053: # -
014306,000054: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014307,000055: # -
014308,000056: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014309,000057: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014310,000058: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014311,000059:
014312,000060: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014313,000061: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014314,000062: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014315,000063: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014316,000064: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014317,000065: # -
014318,000066: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014319,000067:
014320,000068: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014321,000069: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014322,000070: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014323,000071: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014324,000072: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014325,000073: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014326,000074: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014327,000075: # DESIRED FINAL GIMBAL ANGLES.
014328,000076:
014329,000077: # PROGRAM LOGIC FLOW
014330,000078:
014331,000079: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014332,000080: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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014334,000082: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014335,000083: # * * *
014336,000084: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014337,000085: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014338,000086:
014339,000087: # A) AM LESS THAN .25 DEGREES (MINANG)
014340,000088: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014341,000089:
014342,000090: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014343,000091: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014344,000092:
014345,000093: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014346,000094: # - *
014347,000095: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014348,000096: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014349,000097: # -
014350,000098: # TO DETERMINE COF.
014351,000099:
014352,000100: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014353,000101: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014354,000102: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014355,000103: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014356,000104: # YAW.
014357,000105:
014358,000106: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014359,000107: # -
014360,000108: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014361,000109: # DESIRED REFERENCE MATRIX IS THEN,
014362,000110: # * * *
014363,000111: # MIS = MIS DEL
014364,000112: # N+1 N
014365,000113: # *
014366,000114: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014367,000115: # *
014368,000116: # FROM MIS.
014369,000117:
014370,000118: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014371,000119: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014372,000120: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014373,000121: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014374,000122: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014375,000123: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014376,000124:
014377,000125: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014378,000126: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014379,000127:
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014381,000129: # CALLING SEQUENCE
014382,000130:
014383,000131: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014384,000132: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014385,000133: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014386,000134: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014387,000135: # *
014388,000136: # CAF PRIO XX
014389,000137: # --
014390,000138: # INHINT
014391,000139: # TC FINDVAC
014392,000140: # 2CADR KALCMAN3
014393,000141: # RELINT
014394,000142:
014395,000143: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014396,000144: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014397,000145:
014398,000146: # L TC BANKCALL
014399,000147: # L+1 CADR ATTSTALL
014400,000148: # L+2 (BAD RETURN)
014401,000149: # L+3 (GOOD RETURN)
014402,000150:
014403,000151: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014404,000152: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014405,000153: # WAS IN GIMBAL LOCK.
014406,000154:
014407,000155: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014408,000156: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014409,000157:
014410,000158: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014411,000159: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014412,000160: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014413,000161: # SUBROUTINES
014414,000162:
014415,000163: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014416,000164: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014417,000165:
014418,000166: # MXM3
014419,000167: # ----
014420,000168:
014421,000169: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014422,000170: # DOWN LIST, I.E.,
014423,000171: # ( M M M )
014424,000172: # ( 0 1 2 )
014425,000173: # * ( ) * *
014426,000174: # M = ( M M M ) = M1 X M2
014427,000175: # ( 3 4 5 )
014428,000176: # ( )
014429,000177: # ( M M M )
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014431,000179: # ( 6 7 8 )
014432,000180: # *
014433,000181: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014434,000182: # *
014435,000183: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014436,000184: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014437,000185: # 8
014438,000186: # TRANSPOS
014439,000187: # --------
014440,000188:
014441,000189: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014442,000190: #
014443,000191: # * * T
014444,000192: # M = M1
014445,000193:
014446,000194: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014447,000195: # *
014448,000196: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014449,000197:
014450,000198: # CDU TO DCM
014451,000199: # ----------
014452,000200:
014453,000201: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014454,000202: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014455,000203:
014456,000204: # M = COSY COSZ
014457,000205: # 0
014458,000206:
014459,000207: # M = -COSY SINZ COSX + SINY SINX
014460,000208: # 1
014461,000209:
014462,000210: # M = COSY SINZ SINX + SINY COSX
014463,000211: # 2
014464,000212:
014465,000213: # M = SINZ
014466,000214: # 3
014467,000215:
014468,000216: # M = COSZ COSX
014469,000217: # 4
014470,000218:
014471,000219: # M = -COSZ SINX
014472,000220: # 5
014473,000221:
014474,000222: # M = -SINY COSZ
014475,000223: # 6
014476,000224: #
014477,000225: # M = SINY SINZ COSX + COSY SINX
014478,000226: # 7
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014480,000228: # M = -SINY SINZ SINX + COSY COSX
014481,000229: # 8
014482,000230:
014483,000231: # WHERE X = OUTER GIMBAL ANGLE
014484,000232: # Y = INNER GIMBAL ANGLE
014485,000233: # Z = MIDDLE GIMBAL ANGLE
014486,000234:
014487,000235: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014488,000236:
014489,000237: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014490,000238: # X Y Z
014491,000239: # STABLE MEMBER AXES (B , B , B ) ARE
014492,000240: # X Y Z
014493,000241:
014494,000242: # ( B ) ( A )
014495,000243: # ( X ) ( X )
014496,000244: # ( ) ( )
014497,000245: # ( ) * ( )
014498,000246: # ( B ) = M ( A )
014499,000247: # ( Y ) ( Y )
014500,000248: # ( ) ( )
014501,000249: # ( B ) ( A )
014502,000250: # ( Z ) ( Z )
014503,000251:
014504,000252: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014505,000253: # *
014506,000254: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014507,000255:
014508,000256: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014509,000257: # REGISTER X2.
014510,000258:
014511,000259: # DCM TO CDU
014512,000260: # ----------
014513,000261: # *
014514,000262: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROMA DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014515,000263: # *
014516,000264: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014517,000265: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014518,000266: # FOR THIS CONVERSION ARE
014519,000267:
014520,000268: # Z = ARCSIN (M )
014521,000269: # 3
014522,000270:
014523,000271: # Y = ARCSIN (-M /COSZ)
014524,000272: # 6
014525,000273:
014526,000274: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014527,000275: # 0
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014529,000277: # X = ARCSIN (-M /COSZ)
014530,000278: # 5
014531,000279:
014532,000280: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014533,000281: # 4
014534,000282:
014535,000283: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014536,000284: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014537,000285: # THE PUSH DOWN LIST.
014538,000286:
014539,000287: # DELCOMP
014540,000288: # -------
014541,000289: # *
014542,000290: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014543,000291: # -
014544,000292: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014545,000293:
014546,000294: # * * - -T *
014547,000295: # DEL = I COSA + U U (1 - COSA) + V SINA
014548,000296: # X
014549,000297:
014550,000298: # WHERE * ( 1 0 0 )
014551,000299: # I = ( 0 1 0 )
014552,000300: # ( 0 0 1 )
014553,000301:
014554,000302: # 2
014555,000303: # ( U U U U U )
014556,000304: # ( X X Y X Z )
014557,000305: # ( )
014558,000306: # - -T ( 2 )
014559,000307: # U U = ( U U U U U )
014560,000308: # ( Y X Y Y Z )
014561,000309: # ( )
014562,000310: # ( 2 )
014563,000311: # ( U U U U U )
014564,000312: # ( Z X Z Y Z )
014565,000313:
014566,000314:
014567,000315: # ( 0 -U U )
014568,000316: # ( Z Y )
014569,000317: # * ( )
014570,000318: # V = ( U 0 -U )
014571,000319: # X ( Z X )
014572,000320: # ( )
014573,000321: # ( -U U 0 )
014574,000322: # ( Y X )
014575,000323:
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014577,000325: # -
014578,000326: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014579,000327: # A = ROTATION ANGLE
014580,000328:
014581,000329: # *
014582,000330: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014583,000331:
014584,000332: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014585,000333: # X Y Z
014586,000334: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014587,000335: # X Y Z
014588,000336:
014589,000337: # ( B ) ( A )
014590,000338: # ( X ) ( X )
014591,000339: # ( ) * ( )
014592,000340: # ( B ) = DEL ( A )
014593,000341: # ( Y ) ( Y )
014594,000342: # ( ) ( )
014595,000343: # ( B ) ( A )
014596,000344: # ( Z ) ( Z )
014597,000345:
014598,000346: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014599,000347: # -
014600,000348: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014601,000349: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014602,000350: # MUST THEN BE LOADED INTO D(MPAC).
014603,000351: #
014604,000352: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014605,000353:
014606,000354: # READCDUK
014607,000355: # --------
014608,000356:
014609,000357: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014610,000358:
014611,000359: # SIGNMPAC
014612,000360: # --------
014613,000361:
014614,000362: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014615,000363:
014616,000364: # PROGRAM STORAGE ALLOCATION
014617,000365:
014618,000366: # 1) FIXED MEMORY 1059 WORDS
014619,000367: # 2) ERASABLE MEMORY 98
014620,000368: # 3) STATE SWITCHES 3
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Page 351
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014622,000370: # 4) FLAGS 1
014623,000371:
014624,000372: # JOB PRIORITIES
014625,000373:
014626,000374: # 1) KALCMANU TBD
014627,000375: # 2) ONE SECOND UPDATE TBD
014628,000376:
014629,000377: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014630,000378:
014631,000379: # STATE FLAGWRD 2 SETTING MEANING
014632,000380: # SWITCH NO. BIT NO.
014633,000381:
014634,000382: # *
014635,000383: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014636,000384: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014637,000385: # *
014638,000386: # 32 13 0 CONTINUE UPDATE PROCESS
014639,000387: # 1 START UPDATE PROCESS
014640,000388:
014641,000389: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014642,000390: # 1 IGNORE ANY FINAL P-AXIS YAW
014643,000391:
014644,000392: # 34 11 0 SIGNAL END OF KALCMANU
014645,000393: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014646,000394:
014647,000395: # * INTERNAL TO KALCMANU
014648,000396:
014649,000397: # SUGGESTIONS FOR PROGRAM INTEGRATION
014650,000398:
014651,000399: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014652,000400:
014653,000401: # CPHI
014654,000402: # CTHETA
014655,000403: # CPSI
014656,000404: # POINTVSM +5
014657,000405: # SCAXIS +5
014658,000406: # DELDCDU
014659,000407: # DELDCDU1
014660,000408: # DELDCDU2
014661,000409: # RATEINDX
014662,000410:
014663,000411: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014664,000412:
014665,000413: # MXM3
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014667,000415: # TRANSPOS
014668,000416: # SIGNMPAC
014669,000417: # READCDUK
014670,000418: # CDUTODCM
014671,000419:
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014673,000421: 15,2050 BANK 15
014674,000422: 22,2000 SETLOC KALCMON1
014675,000423: 22,2000 BANK
014676,000424:
014677,000425: 22,2004 E6,1675 EBANK= BCDU
014678,000426:
014679,000427: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014680,000428: # LOCATIONS, CPHI, CTHETA, CPSI.
014681,000429:
014682,000430: 22,2004 COUNT* $$/KALC
014683,000431: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014684,000432: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014685,000433: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014686,000434: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
014687,000435: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014688,000436: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014689,000437: 22,2012 51025 DSU BPL
014690,000438: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014691,000439: 22,2014 44724 TOOBADF
014692,000440: 22,2015 72364 AXC,2 TLOAD
014693,000441: 22,2016 03245 MIS
014694,000442: 22,2017 03276 BCDU
014695,000443: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014696,000444: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014697,000445: 22,2022 72364 AXC,2 TLOAD
014698,000446: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014699,000447: 22,2024 00322 CPHI
014700,000448: 22,2025 77624 CALL
014701,000449: 22,2026 44410 CDUTODCM
014702,000450: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014703,000451: 22,2030 03245 MIS
014704,000452: 22,2031 44326 TRANSPOS
014705,000453: 22,2032 45575 VLOAD STADR
014706,000454: 22,2033 50460 STOVL TMIS +12D
014707,000455: 22,2034 77626 STADR
014708,000456: 22,2035 50466 STOVL TMIS +6
014709,000457: 22,2036 77626 STADR
014710,000458: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014711,000459: 22,2040 75160 AXC,1 AXC,2
014712,000460: 22,2041 03302 TMIS
014713,000461: 22,2042 02230 MFS
014714,000462: 22,2043 77624 CALL
014715,000463: 22,2044 44312 MXM3
014716,000464: 22,2045 45575 VLOAD STADR
014717,000465: 22,2046 51532 STOVL MFI +12D
014718,000466: 22,2047 77626 STADR
014719,000467: 22,2050 51540 STOVL MFI +6
014720,000468: 22,2051 77626 STADR
014721,000469: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014722,000470: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 354
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014724,000472: 22,2054 00023 18D
014725,000473: 22,2055 44335 TRNSPSPD
014726,000474: 22,2056 45575 VLOAD STADR
014727,000475: 22,2057 50460 STOVL TMFI +12D
014728,000476: 22,2060 77626 STADR
014729,000477: 22,2061 50466 STOVL TMFI +6
014730,000478: 22,2062 77626 STADR
014731,000479: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014732,000480:
014733,000481: # CALCULATE COFSKEW AND MFISYM
014734,000482:
014735,000483: 22,2064 45345 DLOAD DSU
014736,000484: 22,2065 03305 TMFI +2
014737,000485: 22,2066 02233 MFI +2
014738,000486: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014739,000487: 22,2070 02235 MFI +4
014740,000488: 22,2071 03307 TMFI +4
014741,000489: 22,2072 45325 PDDL DSU
014742,000490: 22,2073 03315 TMFI +10D
014743,000491: 22,2074 02243 MFI +10D
014744,000492: 22,2075 77666 VDEF
014745,000493: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
014746,000494:
014747,000495: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014748,000496:
014749,000497: 22,2077 43345 DLOAD DAD
014750,000498: 22,2100 02231 MFI
014751,000499: 22,2101 02251 MFI +16D
014752,000500: 22,2102 43225 DSU DAD
014753,000501: 22,2103 06514 DP1/4TH
014754,000502: 22,2104 02241 MFI +8D
014755,000503: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014756,000504: 22,2106 77726 ARCCOS
014757,000505: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014758,000506: 22,2110 51025 DSU BPL
014759,000507: 22,2111 04363 MINANG
014760,000508: 22,2112 44117 CHECKMAX
014761,000509: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014762,000510: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014763,000511: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
014764,000512: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014765,000513:
014766,000514: 22,2117 45345 CHECKMAX DLOAD DSU
014767,000515: 22,2120 03335 AM
014768,000516: 22,2121 04365 MAXANG
014769,000517: 22,2122 77244 BPL VLOAD
014770,000518: 22,2123 44131 ALTCALC # UNIT
014771,000519: 22,2124 03325 COFSKEW # COFSKEW
014772,000520: 22,2125 77656 UNIT
014773,000521: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
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Page 355
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014775,000523: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014776,000524: 22,2130 44744 LOCSKIRT
014777,000525: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014778,000526: 22,2132 02231 MFI
014779,000527: 22,2133 03303 TMFI
014780,000528: 22,2134 77762 VSR1
014781,000529: 22,2135 27303 STOVL MFISYM
014782,000530: 22,2136 02237 MFI +6
014783,000531: 22,2137 74455 VAD VSR1
014784,000532: 22,2140 03311 TMFI +6
014785,000533: 22,2141 27311 STOVL MFISYM +6
014786,000534: 22,2142 02245 MFI +12D
014787,000535: 22,2143 74455 VAD VSR1
014788,000536: 22,2144 03317 TMFI +12D
014789,000537: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014790,000538:
014791,000539: # CALCULATE COF
014792,000540:
014793,000541: 22,2146 70545 DLOAD SR1
014794,000542: 22,2147 03333 CAM
014795,000543: 22,2150 45325 PDDL DSU # PDO CAM $4
014796,000544: 22,2151 06522 DPHALF
014797,000545: 22,2152 03333 CAM
014798,000546: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014799,000547: 22,2154 21713 SIGNMPAC
014800,000548: 22,2155 03323 MFISYM +16D
014801,000549: 22,2156 56225 DSU DDV
014802,000550: 22,2157 00001 0
014803,000551: 22,2160 00003 2
014804,000552: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014805,000553: 22,2162 03313 MFISYM +8D # $ ROOT 2
014806,000554: 22,2163 56225 DSU DDV
014807,000555: 22,2164 00001 0
014808,000556: 22,2165 00003 2
014809,000557: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014810,000558: 22,2167 03303 MFISYM
014811,000559: 22,2170 56225 DSU DDV
014812,000560: 22,2171 00001 0
014813,000561: 22,2172 00003 2
014814,000562: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014815,000563: 22,2174 77656 UNIT
014816,000564: 22,2175 03270 STORE COF
014817,000565:
014818,000566: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014819,000567:
014820,000568: 22,2176 45345 COFMAXGO DLOAD DSU
014821,000569: 22,2177 03270 COF
014822,000570: 22,2200 03272 COF +2
014823,000571: 22,2201 71240 BMN DLOAD # COFY G COFX
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Page 356
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014825,000573: 22,2202 44211 COMP12
014826,000574: 22,2203 03270 COF
014827,000575: 22,2204 50025 DSU BMN
014828,000576: 22,2205 03274 COF +4
014829,000577: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014830,000578: 22,2207 77650 GOTO
014831,000579: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014832,000580: 22,2211 45345 COMP12 DLOAD DSU
014833,000581: 22,2212 03272 COF +2
014834,000582: 22,2213 03274 COF +4
014835,000583: 22,2214 77640 BMN
014836,000584: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014837,000585:
014838,000586: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014839,000587: 22,2217 03327 COFSKEW +2 # UY
014840,000588: 22,2220 44224 U2POS
014841,000589: 22,2221 57575 VLOAD VCOMP
014842,000590: 22,2222 03270 COF
014843,000591: 22,2223 03270 STORE COF
014844,000592: 22,2224 51145 U2POS DLOAD BPL
014845,000593: 22,2225 03305 MFISYM +2 # UX UY
014846,000594: 22,2226 44232 OKU21
014847,000595: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014848,000596: 22,2230 03270 COF
014849,000597: 22,2231 03270 STORE COF
014850,000598: 22,2232 51145 OKU21 DLOAD BPL
014851,000599: 22,2233 03315 MFISYM +10D # UY UZ
014852,000600: 22,2234 44744 LOCSKIRT
014853,000601: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014854,000602: 22,2236 03274 COF +4
014855,000603: 22,2237 03274 STORE COF +4
014856,000604: 22,2240 77650 GOTO
014857,000605: 22,2241 44744 LOCSKIRT
014858,000606: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014859,000607: 22,2243 03325 COFSKEW # UX
014860,000608: 22,2244 44250 U1POS
014861,000609: 22,2245 57575 VLOAD VCOMP
014862,000610: 22,2246 03270 COF
014863,000611: 22,2247 03270 STORE COF
014864,000612: 22,2250 51145 U1POS DLOAD BPL
014865,000613: 22,2251 03305 MFISYM +2 # UX UY
014866,000614: 22,2252 44256 OKU12
014867,000615: 22,2253 57545 DLOAD DCOMP
014868,000616: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
014869,000617: 22,2255 03272 STORE COF +2
014870,000618: 22,2256 51145 OKU12 DLOAD BPL
014871,000619: 22,2257 03307 MFISYM +4 # UX UZ
014872,000620: 22,2260 44744 LOCSKIRT
014873,000621: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014874,000622: 22,2262 03274 COF +4
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Page 357
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014876,000624: 22,2263 03274 STORE COF +4
014877,000625: 22,2264 77650 GOTO
014878,000626: 22,2265 44744 LOCSKIRT
014879,000627: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014880,000628: 22,2267 03331 COFSKEW +4 # UZ
014881,000629: 22,2270 44274 U3POS
014882,000630: 22,2271 57575 VLOAD VCOMP
014883,000631: 22,2272 03270 COF
014884,000632: 22,2273 03270 STORE COF
014885,000633: 22,2274 51145 U3POS DLOAD BPL
014886,000634: 22,2275 03307 MFISYM +4 # UX UZ
014887,000635: 22,2276 44302 OKU31
014888,000636: 22,2277 57545 DLOAD DCOMP
014889,000637: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
014890,000638: 22,2301 03270 STORE COF
014891,000639: 22,2302 51145 OKU31 DLOAD BPL
014892,000640: 22,2303 03315 MFISYM +10D # UY UZ
014893,000641: 22,2304 44744 LOCSKIRT
014894,000642: 22,2305 57545 DLOAD DCOMP
014895,000643: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
014896,000644: 22,2307 03272 STORE COF +2
014897,000645: 22,2310 77650 GOTO
014898,000646: 22,2311 44744 LOCSKIRT
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Page 358
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014900,000648: # MATRIX OPERATIONS
014901,000649:
014902,000650: 13,2207 BANK 13
014903,000651: 22,2000 SETLOC KALCMON2
014904,000652: 22,2000 BANK
014905,000653:
014906,000654: 22,2312 E6,1675 EBANK= BCDU
014907,000655:
014908,000656: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014909,000657: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014910,000658: 22,2314 00001 0,1 # AND MPAC
014911,000659: 22,2315 62703 VXM* PDVL*
014912,000660: 22,2316 77776 0,2
014913,000661: 22,2317 00007 6,1
014914,000662: 22,2320 62703 VXM* PDVL*
014915,000663: 22,2321 77776 0,2
014916,000664: 22,2322 00015 12D,1
014917,000665: 22,2323 41503 VXM* PUSH
014918,000666: 22,2324 77776 0,2
014919,000667: 22,2325 77616 RVQ
014920,000668:
014921,000669: # RETURN WITH M1XM2 IN PD LIST
014922,000670:
014923,000671: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014924,000672: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014925,000673: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014926,000674: 22,2331 62713 PDVL* PDVL*
014927,000675: 22,2332 00007 6,1
014928,000676: 22,2333 00015 12D,1
014929,000677: 22,2334 77606 PUSH # MATRIX IN PD
014930,000678: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014931,000679: 22,2336 50120 INDEX FIXLOC
014932,000680: 22,2337 52013 DXCH 12
014933,000681: 22,2340 50120 INDEX FIXLOC
014934,000682: 22,2341 52017 DXCH 16
014935,000683: 22,2342 50120 INDEX FIXLOC
014936,000684: 22,2343 52013 DXCH 12
014937,000685: 22,2344 50120 INDEX FIXLOC
014938,000686: 22,2345 52015 DXCH 14
014939,000687: 22,2346 50120 INDEX FIXLOC
014940,000688: 22,2347 52005 DXCH 4
014941,000689: 22,2350 50120 INDEX FIXLOC
014942,000690: 22,2351 52015 DXCH 14
014943,000691: 22,2352 50120 INDEX FIXLOC
014944,000692: 22,2353 52003 DXCH 2
014945,000693: 22,2354 50120 INDEX FIXLOC
014946,000694: 22,2355 52007 DXCH 6
014947,000695: 22,2356 50120 INDEX FIXLOC
014948,000696: 22,2357 52003 DXCH 2
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Page 359
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014950,000698: 22,2360 06042 TC INTPRET
014951,000699: 22,2361 77616 RVQ
014952,000700:
014953,000701: 15,2050 BANK 15
014954,000702: 22,2000 SETLOC KALCMON1
014955,000703: 22,2000 BANK
014956,000704:
014957,000705: 22,2362 E6,1675 EBANK= BCDU
014958,000706:
014959,000707: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014960,000708: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014961,000709:
014962,000710: # GIMBAL LOCK CONSTANTS
014963,000711:
014964,000712: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014965,000713: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014966,000714:
014967,000715: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014968,000716: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014969,000717: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014970,000718: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014971,000719: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014972,000720: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014973,000721: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014974,000722:
014975,000723: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014976,000724:
014977,000725: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014978,000726: 22,2404 54156 TS MPAC +2
014979,000727: 22,2405 00006 EXTEND
014980,000728: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014981,000729: 22,2407 16501 TCF TLOAD +6
014982,000730:
014983,000731: 22,2410 66370 CDUTODCM AXT,1 SSP
014984,000732: 22,2411 00003 OCT 3
014985,000733: 22,2412 00051 S1
014986,000734: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014987,000735: 22,2414 00010 STORE 7
014988,000736: 22,2415 77601 SETPD
014989,000737: 22,2416 00001 0
014990,000738: 22,2417 47133 LOOPSIN SLOAD* RTB
014991,000739: 22,2420 00013 10D,1
014992,000740: 22,2421 21577 CDULOGIC
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Page 360
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014994,000742: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014995,000743: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014996,000744: 22,2424 00013 10D # 4 SIN(THETA)
014997,000745: 22,2425 41546 COS PUSH # 6 COS(THETA)
014998,000746: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014999,000747: 22,2427 44417 LOOPSIN # 10 COS(PSI)
015000,000748: 22,2430 00007 6
015001,000749: 22,2431 72405 DMP SL1
015002,000750: 22,2432 00013 10D
015003,000751: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
015004,000752: 22,2434 41345 DLOAD DMP
015005,000753: 22,2435 00005 4
015006,000754: 22,2436 00001 0
015007,000755: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
015008,000756: 22,2440 00007 6
015009,000757: 22,2441 00011 8D
015010,000758: 22,2442 72405 DMP SL1
015011,000759: 22,2443 00003 2
015012,000760: 22,2444 72421 BDSU SL1
015013,000761: 22,2445 00015 12D
015014,000762: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
015015,000763: 22,2447 41345 DLOAD DMP
015016,000764: 22,2450 00003 2
015017,000765: 22,2451 00005 4
015018,000766: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015019,000767: 22,2453 00007 6
015020,000768: 22,2454 00011 8D
015021,000769: 22,2455 72405 DMP SL1
015022,000770: 22,2456 00001 0
015023,000771: 22,2457 72415 DAD SL1
015024,000772: 22,2460 00017 14D
015025,000773: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015026,000774: 22,2462 77745 DLOAD
015027,000775: 22,2463 00011 8D
015028,000776: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015029,000777: 22,2465 77745 DLOAD
015030,000778: 22,2466 00013 10D
015031,000779: 22,2467 72405 DMP SL1
015032,000780: 22,2470 00003 2
015033,000781: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015034,000782: 22,2472 41345 DLOAD DMP
015035,000783: 22,2473 00013 10D
015036,000784: 22,2474 00001 0
015037,000785: 22,2475 72476 DCOMP SL1
015038,000786: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015039,000787: 22,2477 41345 DLOAD DMP
015040,000788: 22,2500 00005 4
015041,000789: 22,2501 00013 10D
015042,000790: 22,2502 72476 DCOMP SL1
015043,000791: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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Page 361
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015045,000793: 22,2504 77745 DLOAD
015046,000794: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015047,000795: 22,2506 00011 8D
015048,000796: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
015049,000797: 22,2510 00007 6
015050,000798: 22,2511 00001 0
015051,000799: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015052,000800: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015053,000801: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015054,000802: 22,2515 77745 DLOAD
015055,000803: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015056,000804: 22,2517 00011 8D
015057,000805: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
015058,000806: 22,2521 00007 6
015059,000807: 22,2522 00003 2
015060,000808: 22,2523 72425 DSU SL1 # (PUSH UP 6)
015061,000809: 22,2524 77626 STADR
015062,000810: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015063,000811: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
015064,000812:
015065,000813: # CALCULATION OF THE MATRIX DEL......
015066,000814:
015067,000815: # * * --T *
015068,000816: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
015069,000817: # -
015070,000818: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015071,000819: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
015072,000820: # -
015073,000821: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015074,000822:
015075,000823: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
015076,000824: 22,2530 00001 0
015077,000825: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
015078,000826: 22,2532 41546 COS PUSH # PD2 = COS(A)
015079,000827: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
015080,000828: 22,2534 41021 BDSU BOVB
015081,000829: 22,2535 06522 DPHALF
015082,000830: 22,2536 21713 SIGNMPAC
015083,000831: 22,2537 77725 PDDL # PD4 = 1-COS(A)
015084,000832:
015085,000833: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
015086,000834:
015087,000835: 22,2540 03270 COF
015088,000836: 22,2541 41316 DSQ DMP
015089,000837: 22,2542 00005 4
015090,000838: 22,2543 52415 DAD SL3
015091,000839: 22,2544 00003 2
015092,000840: 22,2545 77604 BOVB
015093,000841: 22,2546 21713 SIGNMPAC
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Page 362
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015095,000843: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015096,000844: 22,2550 03272 COF +2
015097,000845: 22,2551 41316 DSQ DMP
015098,000846: 22,2552 00005 4
015099,000847: 22,2553 52415 DAD SL3
015100,000848: 22,2554 00003 2
015101,000849: 22,2555 77604 BOVB
015102,000850: 22,2556 21713 SIGNMPAC
015103,000851: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015104,000852: 22,2560 03274 COF +4
015105,000853: 22,2561 41316 DSQ DMP
015106,000854: 22,2562 00005 4
015107,000855: 22,2563 52415 DAD SL3
015108,000856: 22,2564 00003 2
015109,000857: 22,2565 77604 BOVB
015110,000858: 22,2566 21713 SIGNMPAC
015111,000859: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015112,000860:
015113,000861: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015114,000862:
015115,000863: 22,2570 41345 DLOAD DMP
015116,000864: 22,2571 03270 COF
015117,000865: 22,2572 03272 COF +2
015118,000866: 22,2573 72405 DMP SL1
015119,000867: 22,2574 00005 4
015120,000868: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
015121,000869: 22,2576 03274 COF +4
015122,000870: 22,2577 00001 0
015123,000871: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
015124,000872: 22,2601 00007 6
015125,000873: 22,2602 41112 SL2 BOVB
015126,000874: 22,2603 21713 SIGNMPAC
015127,000875: 22,2604 16237 STODL KEL +6
015128,000876: 22,2605 62421 BDSU SL2
015129,000877: 22,2606 77604 BOVB
015130,000878: 22,2607 21713 SIGNMPAC
015131,000879: 22,2610 16233 STODL KEL +2
015132,000880: 22,2611 03270 COF
015133,000881: 22,2612 41205 DMP DMP
015134,000882: 22,2613 03274 COF +4
015135,000883: 22,2614 00005 4
015136,000884: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
015137,000885: 22,2616 03272 COF +2
015138,000886: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015139,000887: 22,2620 00001 0
015140,000888: 22,2621 62415 DAD SL2
015141,000889: 22,2622 00007 6
015142,000890: 22,2623 77604 BOVB
015143,000891: 22,2624 21713 SIGNMPAC
015144,000892: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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015146,000894: 22,2626 62421 BDSU SL2
015147,000895: 22,2627 77604 BOVB
015148,000896: 22,2630 21713 SIGNMPAC
015149,000897: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015150,000898: 22,2632 03272 COF +2
015151,000899: 22,2633 41205 DMP DMP
015152,000900: 22,2634 03274 COF +4
015153,000901: 22,2635 00005 4
015154,000902: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $4
015155,000903: 22,2637 03270 COF
015156,000904: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015157,000905: 22,2641 00001 0
015158,000906: 22,2642 62415 DAD SL2
015159,000907: 22,2643 00007 6
015160,000908: 22,2644 77604 BOVB
015161,000909: 22,2645 21713 SIGNMPAC
015162,000910: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015163,000911: 22,2647 62421 BDSU SL2
015164,000912: 22,2650 77604 BOVB
015165,000913: 22,2651 21713 SIGNMPAC
015166,000914: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015167,000915: 22,2653 77616 RVQ
015168,000916:
015169,000917: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015170,000918:
015171,000919: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015172,000920: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015173,000921: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015174,000922: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015175,000923:
015176,000924: # C =COS(THETA)COS(PSI)
015177,000925: # 0
015178,000926:
015179,000927: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
015180,000928: # 1
015181,000929:
015182,000930: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
015183,000931: # 2
015184,000932:
015185,000933: # C =SIN(PSI)
015186,000934: # 3
015187,000935:
015188,000936: # C =COS(PSI)COS(PHI)
015189,000937: # 4
015190,000938:
015191,000939: # C =-COS(PSI)SIN(PHI)
015192,000940: # 5
015193,000941:
015194,000942: # C =-SIN(THETA)COS(PSI)
015195,000943: # 6
015196,000944:
015197,000945: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
015198,000946: # 7
015199,000947:
015200,000948: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
015201,000949: # 8
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015203,000951:
015204,000952: # WHERE PHI = OGA
015205,000953: # THETA = IGA
015206,000954: # PSI = MGA
015207,000955:
015208,000956: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015209,000957: 22,2655 00007 6,1
015210,000958: 22,2656 71406 PUSH COS # PD +0 PSI
015211,000959: 22,2657 41152 SL1 BOVB
015212,000960: 22,2660 21713 SIGNMPAC
015213,000961: 22,2661 00051 STORE S1
015214,000962: 22,2662 57543 DLOAD* DCOMP
015215,000963: 22,2663 00015 12D,1
015216,000964: 22,2664 67471 DDV ARCSIN
015217,000965: 22,2665 00051 S1
015218,000966: 22,2666 51123 PDDL* BPL # PD +2 THETA
015219,000967: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015220,000968: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015221,000969: 22,2671 57545 DLOAD DCOMP
015222,000970: 22,2672 43244 BPL DAD
015223,000971: 22,2673 44677 SUHALFA
015224,000972: 22,2674 06522 DPHALF
015225,000973: 22,2675 77650 GOTO
015226,000974: 22,2676 44701 CALCPHI
015227,000975: 22,2677 77625 SUHALFA DSU
015228,000976: 22,2700 06522 DPHALF
015229,000977: 22,2701 77606 CALCPHI PUSH
015230,000978: 22,2702 57543 OKTHETA DLOAD* DCOMP
015231,000979: 22,2703 00013 10D,1
015232,000980: 22,2704 67471 DDV ARCSIN
015233,000981: 22,2705 00051 S1
015234,000982: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015235,000983: 22,2707 00011 8D,1
015236,000984: 22,2710 44722 OKPHI
015237,000985: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015238,000986: 22,2712 43244 BPL DAD
015239,000987: 22,2713 44717 SUHALFAP
015240,000988: 22,2714 06522 DPHALF
015241,000989: 22,2715 77650 GOTO
015242,000990: 22,2716 44723 VECOFANG
015243,000991: 22,2717 52025 SUHALFAP DSU GOTO
015244,000992: 22,2720 06522 DPHALF
015245,000993: 22,2721 44723 VECOFANG
015246,000994: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015247,000995: 22,2723 43466 VECOFANG VDEF RVQ
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015249,000997: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015250,000998:
015251,000999: 22,2724 77776 TOOBADF EXIT
015252,001000: 22,2725 05567 TC ALARM
015253,001001: 22,2726 00401 OCT 00401
015254,001002:
015255,001003: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015256,001004:
015257,001005: 22,2730 04616 TC BANKCALL
015258,001006: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015259,001007:
015260,001008: 22,2732 04616 NOGO TC BANKCALL
015261,001009: 22,2733 40166 CADR STOPRATE # STOP RATES
015262,001010:
015263,001011: 22,2734 34752 CAF TWO
015264,001012: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015265,001013: 22,2736 05203 TC WAITLIST
015266,001014: 22,2737 E6,1675 EBANK= BCDU
015267,001015: 22,2737 03234 44066 2CADR GOODMANU
015268,001016:
015269,001017: 22,2741 15155 TCF ENDOFJOB
015270,001018:
015271,001019: 22,2742 77776 TOOBADI EXIT
015272,001020: 22,2743 12732 TCF NOGO
015273,001021:
015274,001022:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc