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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020301,000002: ## Copyright: Public domain.
020302,000003: ## Filename: R60,R62.agc
020303,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
020304,000005: ## This was the original program released for the Apollo 13 LM,
020305,000006: ## although several more revisions would follow. It has been
020306,000007: ## reconstructed from a listing of Luminary 131, from which it
020307,000008: ## differs on only two lines in P70-P71. The difference is
020308,000009: ## described in detail in Luminary memo #129, which was used
020309,000010: ## to perform the reconstruction. This file is intended to be a
020310,000011: ## faithful reconstruction, except that the code format has been
020311,000012: ## changed to conform to the requirements of the yaYUL assembler
020312,000013: ## rather than the original YUL assembler.
020313,000014: ## Reference: pp. 476-489
020314,000015: ## Contact: Ron Burkey <info@sandroid.org>.
020315,000016: ## Website: www.ibiblio.org/apollo/index.html
020316,000017: ## Mod history: 05/14/03 RSB. Began transcribing.
020317,000018: ## 05/14/05 RSB Corrected website reference above.
020318,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
020319,000020: ## original harcopy, as opposed to the PDF page
020320,000021: ## numbers in 1701.pdf.
020321,000022: ## 2017-01-27 RSB Back-ported a comment-text fix identified in Luminary 69.
020322,000023: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
020323,000024: ## 2017-02-28 RSB Fixed lingering typos.
020324,000025: ## 2017-03-09 RSB Comment text fixes noted in proofing Luminary 116.
020325,000026: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
020326,000027:
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Page 476
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020328,000029: # MOD NO: 0 DATE: 1 MAY 1968
020329,000030: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020330,000031:
020331,000032: # FUNCTIONAL DESCRIPTION:
020332,000033:
020333,000034: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020334,000035: # ATTITUDE.
020335,000036:
020336,000037: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020337,000038: # CALCULATED (VECPOINT).
020338,000039:
020339,000040: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020340,000041:
020341,000042: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020342,000043:
020343,000044: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020344,000045: # ASTRONAUT RESPONSE.
020345,000046:
020346,000047: # 5. DISPLAY RESPONSE RETURNS:
020347,000048:
020348,000049: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020349,000050:
020350,000051: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020351,000052: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020352,000053: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020353,000054:
020354,000055: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020355,000056:
020356,000057: # 6. IF THE 3-AXIS FLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020357,000058: # (VECPOINT).
020358,000059:
020359,000060: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020360,000061:
020361,000062: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020362,000063: #
020363,000064: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020364,000065:
020365,000066: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020366,000067:
020367,000068: # 11. DO A PHASECHANGE.
020368,000069:
020369,000070: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020370,000071: # GIMBAL ANGLES (GOMANUR).
020371,000072:
020372,000073: # 13. AT END OF MANEUVER GO TO STEP 3.
020373,000074:
020374,000075: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020375,000076: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020376,000077: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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Page 477
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020378,000079: # STEP 5C.
020379,000080:
020380,000081: # CALLING SEQUENCE: TC BANKCALL
020381,000082: # CADR R60LEM
020382,000083:
020383,000084: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
020384,000085: # 3AXISFLG.
020385,000086:
020386,000087: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020387,000088: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020388,000089:
020389,000090: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020390,000091: # TC BANKJUMP
020391,000092:
020392,000093: # ALARMS: NONE
020393,000094:
020394,000095: # OUTPUT: NONE
020395,000096:
020396,000097: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020397,000098:
020398,000099: 34,2000 BANK 34
020399,000100: 26,2000 SETLOC MANUVER
020400,000101: 26,2000 BANK
020401,000102:
020402,000103: 26,2123 1163 EBANK= TEMPR60
020403,000104:
020404,000105: 26,2123 COUNT* $$/R06
020405,000106: 26,2123 04645 R60LEM TC MAKECADR
020406,000107: 26,2124 55163 TS TEMPR60
020407,000108:
020408,000109: 26,2125 34746 REDOMANN CAF 3AXISBIT
020409,000110: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020410,000111: 26,2127 10000 CCS A
020411,000112: 26,2130 12136 TCF TOBALL # YES
020412,000113: 26,2131 06042 TC INTPRET
020413,000114: 26,2132 77624 CALL
020414,000115: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020415,000116: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020416,000117: 26,2135 77776 EXIT
020417,000118:
020418,000119: 26,2136 05504 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
020419,000120: 26,2137 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES
020420,000121: 26,2140 05516 TC DOWNFLAG
020421,000122: 26,2141 00000 ADRES NEED2FLG
020422,000123: 26,2142 04616 TC BANKCALL
020423,000124: 26,2143 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020424,000125: 26,2144 32260 TOBALLA CAF V06N18
020425,000126: 26,2145 04616 TC BANKCALL
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Page 478
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020427,000128: 26,2146 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020428,000129: 26,2147 02246 TC R61TEST
020429,000130: 26,2150 02154 TC REDOMANC # PROCEED
020430,000131: 26,2151 02201 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
020431,000132: 26,2152 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020432,000133: 26,2153 05155 TC ENDOFJOB
020433,000134:
020434,000135: 26,2154 34746 REDOMANC CAF 3AXISBIT
020435,000136: 26,2155 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020436,000137: 26,2156 10000 CCS A
020437,000138: 26,2157 12165 TCF TOBALLC # YES
020438,000139: 26,2160 06042 TC INTPRET
020439,000140: 26,2161 77624 CALL
020440,000141: 26,2162 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020441,000142: 26,2163 00322 STORE CPHI # STORE ANGLES
020442,000143: 26,2164 77776 EXIT
020443,000144:
020444,000145: 26,2165 04616 TOBALLC TC BANKCALL
020445,000146: 26,2166 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020446,000147: 26,2167 02261 TC G+N,AUTO # CHECK AUTO MODE
020447,000148: 26,2170 10000 CCS A
020448,000149: 26,2171 12144 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020449,000150:
020450,000151: 26,2172 32260 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020451,000152: 26,2173 04616 TC BANKCALL # -
020452,000153: 26,2174 20452 CADR GODSPR # -
020453,000154: 26,2175 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020454,000155:
020455,000156: 26,2176 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020456,000157: 26,2177 17741 CADR GOMANUR
020457,000158:
020458,000159: 26,2200 12144 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020459,000160: 26,2201 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020460,000161: 26,2202 00124 ADRES 3AXISFLG
020461,000162: 26,2203 31163 CAE TEMPR60 # -
020462,000163: 26,2204 04640 TC BANKJUMP # -
020463,000164:
020464,000165: 26,2205 40100 CHKLINUS CS FLAGWRD4
020465,000166: 26,2206 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020466,000167: 26,2207 10000 CCS A # -
020467,000168: 26,2210 00002 TC Q # NO - EXIT
020468,000169: 26,2211 30002 CA Q
020469,000170: 26,2212 54156 TS MPAC +2 # SAVE RETURN
020470,000171: 26,2213 46250 CS THREE # OBTAIN LOCATION FOR RESTART
020471,000172: 26,2214 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020472,000173: 26,2215 55054 TS TBASE2
020473,000174:
020474,000175: 26,2216 05353 TC PHASCHNG
020475,000176: 26,2217 00132 OCT 00132
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Page 479
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020477,000178: 26,2220 34745 CAF BIT7
020478,000179: 26,2221 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020479,000180: 26,2222 00156 TC MPAC +2
020480,000181:
020481,000182: 26,2223 37717 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020482,000183: 26,2224 05146 TC PRIOCHNG
020483,000184:
020484,000185: 26,2225 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020485,000186: 26,2226 70075 MASK FLAGWRD1
020486,000187: 26,2227 10000 CCS A
020487,000188: 26,2230 12243 TCF RER60
020488,000189:
020489,000190: 26,2231 34745 CAF RNDVZBIT # IS IT P20?
020490,000191: 26,2232 70074 MASK FLAGWRD0
020491,000192: 26,2233 10000 CCS A
020492,000193: 26,2234 02240 TC +4 # YES
020493,000194: 26,2235 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020494,000195: 26,2236 40112 OCT 40112
020495,000196:
020496,000197: 26,2237 05155 TC ENDOFJOB
020497,000198:
020498,000199: 26,2240 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020499,000200: 26,2241 40072 OCT 40072
020500,000201:
020501,000202: 26,2242 05155 TC ENDOFJOB
020502,000203:
020503,000204: 26,2243 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020504,000205: 26,2244 00077 ADRES PDSPFLAG
020505,000206:
020506,000207: 26,2245 01054 TC TBASE2
020507,000208:
020508,000209: 26,2246 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020509,000210: 26,2247 00006 EXTEND
020510,000211: 26,2250 12201 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020511,000212:
020512,000213: 26,2251 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020513,000214: 26,2252 74740 MASK PDSPFBIT
020514,000215: 26,2253 00006 EXTEND
020515,000216: 26,2254 16001 BZF GOTOPOOH # NO
020516,000217: 26,2255 06025 TC GOTOV56 # YES
020517,000218:
020518,000219: 26,2256 20100 BIT14+7 OCT 20100 # -
020519,000220: 26,2257 00203 OCT203 OCT 203
020520,000221: 26,2260 01422 V06N18 VN 0618
020521,000222:
020522,000223: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020523,000224:
020524,000225: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020525,000226: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020526,000227:
020527,000228: 26,2261 00006 G+N,AUTO EXTEND
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Page 480
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020529,000230: 26,2262 00030 READ CHAN30
020530,000231: 26,2263 74742 MASK BIT10
020531,000232: 26,2264 10000 CCS A
020532,000233: 26,2265 00002 TC Q # NOT IN G+N C(A) = +
020533,000234: 26,2266 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020534,000235: 26,2267 00031 READ CHAN31
020535,000236: 26,2270 74736 MASK BIT14
020536,000237: 26,2271 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020537,000238:
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Page 481
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020539,000240: # PROGRAM DESCRIPTION BALLANGS
020540,000241: # MOD NO. LOG SECTION R60,R62
020541,000242: # WRITTEN BY RAMA M. AIYAWAR
020542,000243:
020543,000244: # FUNCTIONAL DESCRIPTION
020544,000245:
020545,000246: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020546,000247:
020547,000248: # CALLING SEQUENCE
020548,000249:
020549,000250: # TC BALLANGS
020550,000251:
020551,000252: # NORMAL EXIT MODE
020552,000253:
020553,000254: # TC BALLEXIT (SAVED Q)
020554,000255:
020555,000256: # ALARM OR EXIT MODE NIL
020556,000257:
020557,000258: # SUBROUTINES CALLED
020558,000259:
020559,000260: # CD*TR*G
020560,000261: # ARCTAN
020561,000262:
020562,000263: # INPUT
020563,000264:
020564,000265: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020565,000266: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020566,000267:
020567,000268: # OUTPUT
020568,000269:
020569,000270: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020570,000271: # SP,2S COMPLIMENT.
020571,000272:
020572,000273: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020573,000274:
020574,000275: # ERASABLE INITIALIZATION REQUIRED
020575,000276:
020576,000277: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020577,000278:
020578,000279: # DEBRIS
020579,000280:
020580,000281: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020581,000282:
020582,000283: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020583,000284: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020584,000285:
020585,000286: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020586,000287:
020587,000288: 26,2000 SETLOC BAWLANGS
020588,000289: 26,2000 BANK
020589,000290:
020590,000291: 26,2272 COUNT* $$/BALL
020591,000292: 26,2272 04645 BALLANGS TC MAKECADR
020592,000293: 26,2273 55337 TS BALLEXIT
020593,000294: 26,2274 30321 CA CPHI
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Page 482
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020595,000296: 26,2275 54771 TS CDUSPOT +4
020596,000297: 26,2276 30322 CA CTHETA
020597,000298: 26,2277 54765 TS CDUSPOT
020598,000299: 26,2300 30323 CA CPSI
020599,000300: 26,2301 54767 TS CDUSPOT +2
020600,000301:
020601,000302: 26,2302 06042 TC INTPRET
020602,000303: 26,2303 45001 SETPD CALL
020603,000304: 26,2304 00001 0D
020604,000305: 26,2305 47545 CD*TR*G
020605,000306:
020606,000307: 26,2306 41345 DLOAD DMP
020607,000308: 26,2307 00742 SINCDUX # SIN (OGA)
020608,000309: 26,2310 00746 COSCDUZ # COS (MGA)
020609,000310:
020610,000311: 26,2311 57552 SL1 DCOMP # SCALE
020611,000312: 26,2312 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020612,000313: 26,2313 00740 SINCDUZ
020613,000314: 26,2314 14023 STODL SINTH # (SINTH = 18D IN PD)
020614,000315: 26,2315 00746 COSCDUZ
020615,000316: 26,2316 72405 DMP SL1 # RESCALE
020616,000317: 26,2317 00750 COSCDUX
020617,000318: 26,2320 34021 STCALL COSTH # (COSTH = 16D IN PD)
020618,000319: 26,2321 26506 ARCTAN
020619,000320: 26,2322 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020620,000321: 26,2323 00740 SINCDUZ
020621,000322: 26,2324 00742 SINCDUX
020622,000323: 26,2325 41512 SL2 PUSH # SXSZ INTO 4 PD
020623,000324: 26,2326 65205 DMP PDDL # SXSZCY INTO 4 PD
020624,000325: 26,2327 00744 COSCDUY
020625,000326: 26,2330 65205 DMP PDDL # SXSZSY INTO 6 PD
020626,000327: 26,2331 00736 SINCDUY
020627,000328: 26,2332 00750 COSCDUX
020628,000329: 26,2333 72405 DMP SL1 # CXCY
020629,000330: 26,2334 00744 COSCDUY
020630,000331: 26,2335 45425 DSU STADR # PULL UP FROM 6 PD
020631,000332: 26,2336 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020632,000333: 26,2337 00736 SINCDUY
020633,000334: 26,2340 72405 DMP SL1
020634,000335: 26,2341 00750 COSCDUX # CXSY
020635,000336: 26,2342 45415 DAD STADR # PULL UP FROM 4 PD
020636,000337: 26,2343 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020637,000338: 26,2344 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020638,000339: 26,2345 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
020639,000340: 26,2346 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020640,000341: 26,2347 21621 V1STO2S
020641,000342: 26,2350 02345 STORE FDAIX # MODE IS TP
020642,000343: 26,2351 77776 EXIT
020643,000344:
020644,000345: 26,2352 31337 ENDBALL CA BALLEXIT
020645,000346:
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Page 483
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020647,000348: 26,2353 04640 TC BANKJUMP
020648,000349:
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Page 484
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020650,000351: # PROGRAM DESCRIPTION - VECPOINT
020651,000352:
020652,000353: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020653,000354: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020654,000355: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020655,000356: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020656,000357: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020657,000358: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020658,000359: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020659,000360: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020660,000361:
020661,000362: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020662,000363: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020663,000364: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020664,000365: # 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,
020665,000366: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020666,000367: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020667,000368: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020668,000369:
020669,000370: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020670,000371: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020671,000372: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020672,000373: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020673,000374:
020674,000375: # CALLING SEQUENCE -
020675,000376:
020676,000377: # 1) LOAD SCAXIS, POINTVSM
020677,000378: # 2) CALL
020678,000379: # VECPOINT
020679,000380:
020680,000381: # RETURNS WITH
020681,000382:
020682,000383: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020683,000384: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020684,000385: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020685,000386:
020686,000387: # ERASABLES USED -
020687,000388:
020688,000389: # 1) SCAXIS 6
020689,000390: # 2) POINTVSM 6
020690,000391: # 3) MIS 18
020691,000392: # 4) DEL 18
020692,000393: # 5) COF 6
020693,000394: # 6) VECQTEMP 1
020694,000395: # 7) ALL OF VAC AREA 43
020695,000396:
020696,000397: # TOTAL 99
020697,000398:
020698,000399: 27,2000 SETLOC VECPT
020699,000400: 27,2000 BANK
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Page 485
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020701,000402: 27,2032 COUNT* $$/VECPT
020702,000403:
020703,000404: 27,2032 E6,1675 EBANK= BCDU
020704,000405:
020705,000406: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020706,000407: 27,2033 03324 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020707,000408: 27,2034 56035 VECPNT2
020708,000409: 27,2035 52164 VECPNT2 AXC,2 GOTO
020709,000410: 27,2036 03245 MIS
020710,000411: 27,2037 56046 STORANG
020711,000412: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020712,000413: 27,2041 03324 VECQTEMP
020713,000414: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020714,000415: 27,2043 47164 VECLEAR AXC,2 RTB
020715,000416: 27,2044 03245 MIS # READ THE PRESENT CDU ANGLES AND
020716,000417: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020717,000418: 27,2046 34032 STORANG STCALL 25D
020718,000419: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020719,000420: 27,2050 61375 VLOAD VXM
020720,000421: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020721,000422: 27,2052 03246 MIS # INITIAL S/C AXES (VF = POINTVSM)
020722,000423: 27,2053 77656 UNIT
020723,000424: 27,2054 00035 STORE 28D
020724,000425: # PD 28 29 30 31 32 33
020725,000426: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020726,000427: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020727,000428: 27,2057 57400 BOV VCOMP
020728,000429: 27,2060 56170 PICKAXIS
020729,000430: 27,2061 17270 STODL COF # CHECK MAGNITUDE
020730,000431: 27,2062 00045 36D # OF CROSS PRODUCT
020731,000432: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020732,000433: 27,2064 14415 DPB-14 # THAN B-14 ASSUME
020733,000434: 27,2065 56170 PICKAXIS # UNIT OPERATION
020734,000435: 27,2066 50375 VLOAD DOT # INVALID.
020735,000436: 27,2067 03765 SCAXIS
020736,000437: 27,2070 00035 28D
020737,000438: 27,2071 65552 SL1 ARCCOS
020738,000439: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020739,000440: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020740,000441: 27,2074 75160 AXC,1 AXC,2
020741,000442: 27,2075 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020742,000443: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020743,000444: 27,2077 77624 CALL # MFS = MIS MFI
020744,000445: 27,2100 44312 MXM3 # (IN PD LIST)
020745,000446:
020746,000447: 27,2101 51545 DLOAD ABS
020747,000448: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020748,000449: 27,2103 50025 DSU BMN
020749,000450: 27,2104 14402 SINGIMLC # = SIN(59 DEGS) $2
020750,000451: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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020752,000453: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020753,000454:
020754,000455: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020755,000456: 27,2107 03765 SCAXIS # THE THRUST AXIS
020756,000457: 27,2110 51025 DSU BPL
020757,000458: 27,2111 14404 SINVEC1 # SIN 49.4 DEGS $2
020758,000459: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020759,000460: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020760,000461: 27,2114 77626 STADR
020761,000462: 27,2115 50515 STOVL MIS +12D
020762,000463: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020763,000464: 27,2117 50523 STOVL MIS +6
020764,000465: 27,2120 77626 STADR
020765,000466: 27,2121 50531 STOVL MIS
020766,000467: 27,2122 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020767,000468: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020768,000469: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020769,000470:
020770,000471: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020771,000472: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020772,000473: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020773,000474: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020774,000475: # OTHERWISE U = -SCAXIS
020775,000476:
020776,000477: 27,2130 57575 VLOAD VCOMP
020777,000478: 27,2131 03765 SCAXIS
020778,000479: 27,2132 37270 STCALL COF # ROTATE ABOUT -SCAXIS
020779,000480: 27,2133 56137 CHEKAXIS
020780,000481: 27,2134 77775 U=SCAXIS VLOAD
020781,000482: 27,2135 03765 SCAXIS
020782,000483: 27,2136 03270 STORE COF # ROTATE ABOUT + SCAXIS
020783,000484: 27,2137 51545 CHEKAXIS DLOAD ABS
020784,000485: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020785,000486: 27,2141 51025 DSU BPL
020786,000487: 27,2142 14406 SINVEC2 # SIN 29.5 DEGS $2
020787,000488: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020788,000489: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020789,000490: 27,2145 14412 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020790,000491: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020791,000492: # OF GIMBAL LOCK (VECANG2 $360)
020792,000493: 27,2147 77745 PICKANG1 DLOAD
020793,000494: 27,2150 14410 VECANG1 # = 50 DEGS $ 360
020794,000495: 27,2151 77624 COMPMFSN CALL
020795,000496: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020796,000497: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020797,000498: 27,2154 03245 MIS
020798,000499: 27,2155 02230 KEL
020799,000500: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020800,000501: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020801,000502: # WHICH WILL ALIGN VI WITH VF AND AVOID
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020803,000504: # GIMBAL LOCK
020804,000505: 27,2160 45160 FINDGIMB AXC,1 CALL
020805,000506: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020806,000507: 27,2162 44654 DCMTOCDU # THIS MATRIX
020807,000508: 27,2163 40234 RTB SETPD
020808,000509: 27,2164 21621 V1STO2S # CONVERT TO 2:S COMPLEMENT
020809,000510: 27,2165 00001 0
020810,000511: 27,2166 77650 GOTO
020811,000512: 27,2167 03324 VECQTEMP # RETURN TO CALLER
020812,000513:
020813,000514: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020814,000515: 27,2171 00035 28D
020815,000516: 27,2172 03765 SCAXIS
020816,000517: 27,2173 72240 BMN TLOAD
020817,000518: 27,2174 54354 ROT180
020818,000519: 27,2175 00032 25D
020819,000520: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020820,000521: 27,2177 03324 VECQTEMP # PRESENT CDU ANGLES
020821,000522:
020822,000523: 35,2000 BANK 35
020823,000524: 26,2000 SETLOC MANUVER1
020824,000525: 26,2000 BANK
020825,000526: 26,2354 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020826,000527: 26,2355 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020827,000528: 26,2356 06522 HIDPHALF # INITIAL S/C AXES.
020828,000529: 26,2357 47256 UNIT VXV # FIND Y(SM) X X(I)
020829,000530: 26,2360 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020830,000531: 26,2361 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020831,000532: 26,2362 54376 PICKX # Y(SM) PERPENDICULAR TO VI
020832,000533: 26,2363 17270 STODL COF
020833,000534: 26,2364 00045 36D # CHECK MAGNITUDE
020834,000535: 26,2365 50025 DSU BMN # OF THIS VECTOR.
020835,000536: 26,2366 14415 DPB-14 # IF LESS THAN B-14,
020836,000537: 26,2367 54376 PICKX # PICK X-AXIS.
020837,000538: 26,2370 77775 VLOAD
020838,000539: 26,2371 03270 COF
020839,000540: 26,2372 17270 XROT STODL COF
020840,000541: 26,2373 06522 HIDPHALF
020841,000542: 26,2374 77650 GOTO
020842,000543: 26,2375 56072 COMPMATX
020843,000544: 26,2376 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020844,000545: 26,2377 06522 HIDPHALF
020845,000546: 26,2400 54372 XROT
020846,000547: 26,2401 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020847,000548: 26,2403 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020848,000549: 26,2405 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020849,000550: 26,2407 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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020851,000552: 26,2411 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020852,000553:
020853,000554: 26,2413 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020854,000555: 26,2414 00001 DPB-14 OCT 00001
020855,000556: 26,2415 00000 OCT 00000
020856,000557:
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Page 489
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020858,000559: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020859,000560:
020860,000561: 34,2000 BANK 34
020861,000562: 23,2000 SETLOC R62
020862,000563: 23,2000 BANK
020863,000564: 23,2103 E6,1675 EBANK= BCDU
020864,000565:
020865,000566: 23,2103 COUNT* $$/R62
020866,000567:
020867,000568: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020868,000569:
020869,000570: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020870,000571: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020871,000572: 23,2105 20477 CADR GOFLASH
020872,000573: 23,2106 15472 TCF ENDEXT # TERMINATE
020873,000574: 23,2107 12111 TCF GOMOVE # PROCEED
020874,000575: 23,2110 12103 TCF R62FLASH # ENTER
020875,000576:
020876,000577: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020877,000578: # POINT
020878,000579: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020879,000580: 23,2112 00124 ADRES 3AXISFLG
020880,000581:
020881,000582: 23,2113 04616 TC BANKCALL
020882,000583: 23,2114 54123 CADR R60LEM
020883,000584: 23,2115 15472 TCF ENDEXT # END R62
020884,000585:
End of include-file R60,R62.agc. Parent file is MAIN.agc