Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
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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014690,000002: ## Copyright: Public domain.
014691,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014692,000004: ## Purpose: A section of Luminary revision 163.
014693,000005: ## It is part of the reconstructed source code for the first
014694,000006: ## (unflown) release of the flight software for the Lunar
014695,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
014696,000008: ## The code has been recreated from a reconstructed copy of
014697,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
014698,000010: ## It has been adapted such that the resulting bugger words
014699,000011: ## exactly match those specified for Luminary 163 in NASA
014700,000012: ## drawing 2021152N, which gives relatively high confidence
014701,000013: ## that the reconstruction is correct.
014702,000014: ## Reference: pp. 347-368
014703,000015: ## Assembler: yaYUL
014704,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014705,000017: ## Website: www.ibiblio.org/apollo/index.html
014706,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
014707,000019:
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Page 347
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014709,000021: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE-KALCMANU
014710,000022:
014711,000023:
014712,000024: # MOD 2 DATE 5/1/67 BY DON KEENE
014713,000025:
014714,000026: # PROGRAM DESCRIPTION
014715,000027:
014716,000028: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014717,000029: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014718,000030: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014719,000031: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014720,000032: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014721,000033:
014722,000034: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014723,000035: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014724,000036: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014725,000037:
014726,000038: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014727,000039: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014728,000040: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014729,000041: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014730,000042: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014731,000043: # -
014732,000044: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014733,000045: # -
014734,000046: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014735,000047: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014736,000048: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014737,000049:
014738,000050: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014739,000051: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014740,000052: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014741,000053: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014742,000054: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014743,000055: # -
014744,000056: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014745,000057:
014746,000058: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014747,000059: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014748,000060: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014749,000061: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014750,000062: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014751,000063: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014752,000064: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014753,000065: # DESIRED FINAL GIMBAL ANGLES.
014754,000066:
014755,000067:
014756,000068: # PROGRAM LOGIC FLOW
014757,000069:
014758,000070: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014759,000071: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
014760,000072:
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014762,000074: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014763,000075: # * * *
014764,000076: # MEMBER AXES (MIS, MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014765,000077: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014766,000078:
014767,000079: # A) AM LESS THAN .25 DEGREES (MINANG)
014768,000080: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014769,000081:
014770,000082: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014771,000083: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014772,000084:
014773,000085: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014774,000086: # - *
014775,000087: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014776,000088: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014777,000089: # -
014778,000090: # TO DETERMINE COF.
014779,000091:
014780,000092: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014781,000093: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014782,000094: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014783,000095: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014784,000096: # YAW.
014785,000097:
014786,000098: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014787,000099: # -
014788,000100: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014789,000101: # DESIRED REFERENCE MATRIX IS THEN,
014790,000102:
014791,000103: # * * *
014792,000104: # MIS = MIS DEL
014793,000105: # N+1 N
014794,000106: # *
014795,000107: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014796,000108: # *
014797,000109: # FROM MIS.
014798,000110:
014799,000111: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014800,000112: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014801,000113: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014802,000114: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014803,000115: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014804,000116: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014805,000117:
014806,000118: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014807,000119: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014808,000120:
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014810,000122: # CALLING SEQUENCE
014811,000123:
014812,000124: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014813,000125: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014814,000126: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014815,000127: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014816,000128:
014817,000129: # *
014818,000130: # CAF PRIO XX
014819,000131: # --
014820,000132: # INHINT
014821,000133: # TC FINDVAC
014822,000134: # 2CADR KALCMAN3
014823,000135: # RELINT
014824,000136:
014825,000137: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014826,000138: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014827,000139:
014828,000140: # L TC BANKCALL
014829,000141: # L+1 CADR ATTSTALL
014830,000142: # L+2 (BAD RETURN)
014831,000143: # L+3 (GOOD RETURN)
014832,000144:
014833,000145: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014834,000146: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014835,000147: # WAS IN GIMBAL LOCK.
014836,000148:
014837,000149: # ***NOTA BENE*** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014838,000150: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014839,000151: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014840,000152: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014841,000153: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014842,000154: # SUBROUTINES
014843,000155:
014844,000156: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014845,000157: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014846,000158:
014847,000159: # MXM3
014848,000160: # ----
014849,000161:
014850,000162: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014851,000163: # DOWN LIST, I.E.,
014852,000164:
014853,000165: # (M M M )
014854,000166: # ( 0 1 2)
014855,000167: # * ( ) * *
014856,000168: # M = (M M M ) = M1 X M2
014857,000169: # ( 3 4 5)
014858,000170: # ( )
014859,000171: # (M M M )
014860,000172:
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014862,000174: # ( 6 7 8)
014863,000175:
014864,000176: # *
014865,000177: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014866,000178: # *
014867,000179: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014868,000180: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014869,000181: # 8
014870,000182:
014871,000183: # TRANSPOS
014872,000184: # --------
014873,000185:
014874,000186: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014875,000187:
014876,000188: # * * T
014877,000189: # M = M1
014878,000190:
014879,000191: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014880,000192: # *
014881,000193: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014882,000194:
014883,000195: # CDU TO DCM
014884,000196: # ----------
014885,000197:
014886,000198: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014887,000199: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014888,000200:
014889,000201: # M = COSY COSZ
014890,000202: # 0
014891,000203:
014892,000204: # M = -COSY SINZ COSX + SINY SINX
014893,000205: # 1
014894,000206:
014895,000207: # M = COSY SINZ SINX + SINY COSX
014896,000208: # 2
014897,000209:
014898,000210: # M = SINZ
014899,000211: # 3
014900,000212:
014901,000213: # M = COSZ COSX
014902,000214: # 4
014903,000215:
014904,000216: # M = -COSZ SINX
014905,000217: # 5
014906,000218:
014907,000219: # M = -SINY COSZ
014908,000220: # 6
014909,000221:
014910,000222: # M = SINY SINZ COSX + COSY SINX
014911,000223: # 7
014912,000224:
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014914,000226: # M = -SINY SINZ SINX + COSY COSX
014915,000227: # 8
014916,000228:
014917,000229: # WHERE X = OUTER GIMBAL ANGLE
014918,000230: # Y = INNER GIMBAL ANGLE
014919,000231: # Z = MIDDLE GIMBAL ANGLE
014920,000232:
014921,000233: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014922,000234:
014923,000235: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014924,000236: # X Y Z
014925,000237: # STABLE MEMBER AXES (B , B , B ) ARE
014926,000238: # X Y Z
014927,000239:
014928,000240: # (B ) (A )
014929,000241: # ( X) ( X)
014930,000242: # ( ) ( )
014931,000243: # ( ) * ( )
014932,000244: # (B ) = M (A )
014933,000245: # ( Y) ( Y)
014934,000246: # ( ) ( )
014935,000247: # (B ) (A )
014936,000248: # ( Z) ( Z)
014937,000249:
014938,000250: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014939,000251: # *
014940,000252: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014941,000253:
014942,000254: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014943,000255: # REGISTER X2.
014944,000256:
014945,000257:
014946,000258: # DCM TO CDU
014947,000259: # ----------
014948,000260: # *
014949,000261: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014950,000262: # *
014951,000263: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014952,000264: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014953,000265: # FOR THIS CONVERSION ARE
014954,000266:
014955,000267: # Z = ARCSIN (M )
014956,000268: # 3
014957,000269:
014958,000270: # Y = ARCSIN (-M /COSZ)
014959,000271: # 6
014960,000272:
014961,000273: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014962,000274: # 0
014963,000275:
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014965,000277: # X = ARCSIN (-M /COSZ)
014966,000278: # 5
014967,000279:
014968,000280: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014969,000281: # 4
014970,000282:
014971,000283: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014972,000284: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014973,000285: # THE PUSH DOWN LIST.
014974,000286:
014975,000287:
014976,000288: # DELCOMP
014977,000289: # -------
014978,000290:
014979,000291: # *
014980,000292: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014981,000293: # -
014982,000294: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014983,000295:
014984,000296: # * * --T *
014985,000297: # DEL = I COSA + UU (1-COSA) + V SINA
014986,000298: # X
014987,000299:
014988,000300: # WHERE * (1 0 0)
014989,000301: # I = (0 1 0)
014990,000302: # (0 0 1)
014991,000303:
014992,000304:
014993,000305: # 2
014994,000306: # (U U U U U )
014995,000307: # ( X X Y X Z)
014996,000308: # ( )
014997,000309: # --T ( 2 )
014998,000310: # UU = (U U U U U )
014999,000311: # ( Y X Y Y Z )
015000,000312: # ( )
015001,000313: # ( 2 )
015002,000314: # (U U U U U )
015003,000315: # ( Z X Z Y Z )
015004,000316:
015005,000317:
015006,000318: # (0 -U U )
015007,000319: # ( Z Y )
015008,000320: # * ( )
015009,000321: # V = (U 0 -U )
015010,000322: # X ( Z X)
015011,000323: # ( )
015012,000324: # (-U U 0 )
015013,000325: # ( Y X )
015014,000326:
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015016,000328: # -
015017,000329: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
015018,000330: # A = ROTATION ANGLE
015019,000331:
015020,000332: # *
015021,000333: # THE INTERPRETATION OF DEL IS AS FOLLOWS
015022,000334:
015023,000335: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
015024,000336: # X Y Z
015025,000337: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
015026,000338: # X Y Z
015027,000339:
015028,000340: # (B ) (A )
015029,000341: # ( X) ( X)
015030,000342: # ( ) * ( )
015031,000343: # (B ) = DEL (A )
015032,000344: # ( Y) ( Y)
015033,000345: # ( ) ( )
015034,000346: # (B ) (A )
015035,000347: # ( Z) ( Z)
015036,000348:
015037,000349: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
015038,000350: # -
015039,000351: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
015040,000352: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
015041,000353: # MUST THEN BE LOADED INTO D(MPAC).
015042,000354:
015043,000355: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
015044,000356:
015045,000357:
015046,000358: # READCDUK
015047,000359: # --------
015048,000360:
015049,000361: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
015050,000362:
015051,000363:
015052,000364: # SIGNMPAC
015053,000365: # --------
015054,000366:
015055,000367: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
015056,000368:
015057,000369:
015058,000370: # PROGRAM STORAGE ALLOCATION
015059,000371:
015060,000372: # 1) FIXED MEMORY 1059 WORDS
015061,000373: # 2) ERASABLE MEMORY 98
015062,000374: # 3) STATE SWITCHES 3
015063,000375:
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Page 354
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015065,000377: # 4) FLAGS 1
015066,000378:
015067,000379: # JOB PRIORITIES
015068,000380:
015069,000381: # 1) KALCMANU TBD
015070,000382: # 2) ONE SECOND UPDATE TBD
015071,000383:
015072,000384:
015073,000385: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
015074,000386:
015075,000387:
015076,000388: # STATE FLAGWRD 2 SETTING MEANING
015077,000389: # SWITCH NO. BIT NO.
015078,000390:
015079,000391: # *
015080,000392: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
015081,000393: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
015082,000394:
015083,000395: # *
015084,000396: # 32 13 0 CONTINUE UPDATE PROCESS
015085,000397: # 1 START UPDATE PROCESS
015086,000398:
015087,000399: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
015088,000400: # 1 IGNORE ANY FINAL P-AXIS YAW
015089,000401:
015090,000402: # 34 11 0 SIGNAL END OF KALCMANU
015091,000403: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
015092,000404:
015093,000405:
015094,000406: # * INTERNAL TO KALCMANU
015095,000407:
015096,000408:
015097,000409: # SUGGESTIONS FOR PROGRAM INTEGRATION
015098,000410:
015099,000411: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
015100,000412:
015101,000413: # CPHI
015102,000414: # CTHETA
015103,000415: # CPSI
015104,000416: # POINTVSM +5
015105,000417: # SCAXIS +5
015106,000418: # DELDCDU
015107,000419: # DELDCDU1
015108,000420: # DELDCDU2
015109,000421: # RATEINDX
015110,000422:
015111,000423: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
015112,000424:
015113,000425: # MXM3
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Page 355
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015115,000427: # TRANSPOS
015116,000428: # SIGNMPAC
015117,000429: # READCDUK
015118,000430: # CDUTODCM
015119,000431:
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015121,000433: 15,2050 BANK 15
015122,000434: 22,2000 SETLOC KALCMON1
015123,000435: 22,2000 BANK
015124,000436:
015125,000437: 22,2004 E6,1675 EBANK= BCDU
015126,000438:
015127,000439: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
015128,000440: # LOCATIONS, CPHI, CTHETA, CPSI.
015129,000441:
015130,000442: 22,2004 COUNT* $$/KALC
015131,000443: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
015132,000444: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
015133,000445: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
015134,000446: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
015135,000447: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
015136,000448: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
015137,000449: 22,2012 51025 DSU BPL
015138,000450: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
015139,000451: 22,2014 44724 TOOBADF
015140,000452: 22,2015 72364 AXC,2 TLOAD
015141,000453: 22,2016 03245 MIS
015142,000454: 22,2017 03276 BCDU
015143,000455: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
015144,000456: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
015145,000457: 22,2022 72364 AXC,2 TLOAD
015146,000458: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
015147,000459: 22,2024 00322 CPHI
015148,000460: 22,2025 77624 CALL
015149,000461: 22,2026 44410 CDUTODCM
015150,000462: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
015151,000463: 22,2030 03245 MIS
015152,000464: 22,2031 44326 TRANSPOS
015153,000465: 22,2032 45575 VLOAD STADR
015154,000466: 22,2033 50460 STOVL TMIS +12D
015155,000467: 22,2034 77626 STADR
015156,000468: 22,2035 50466 STOVL TMIS +6
015157,000469: 22,2036 77626 STADR
015158,000470: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
015159,000471: 22,2040 75160 AXC,1 AXC,2
015160,000472: 22,2041 03302 TMIS
015161,000473: 22,2042 02230 MFS
015162,000474: 22,2043 77624 CALL
015163,000475: 22,2044 44312 MXM3
015164,000476: 22,2045 45575 VLOAD STADR
015165,000477: 22,2046 51532 STOVL MFI +12D
015166,000478: 22,2047 77626 STADR
015167,000479: 22,2050 51540 STOVL MFI +6
015168,000480: 22,2051 77626 STADR
015169,000481: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
015170,000482: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
015171,000483:
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Page 357
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015173,000485: 22,2054 00023 18D
015174,000486: 22,2055 44335 TRNSPSPD
015175,000487: 22,2056 45575 VLOAD STADR
015176,000488: 22,2057 50460 STOVL TMFI +12D
015177,000489: 22,2060 77626 STADR
015178,000490: 22,2061 50466 STOVL TMFI +6
015179,000491: 22,2062 77626 STADR
015180,000492: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
015181,000493:
015182,000494: # CALCULATE COFSKEW AND MFISYM
015183,000495:
015184,000496: 22,2064 45345 DLOAD DSU
015185,000497: 22,2065 03305 TMFI +2
015186,000498: 22,2066 02233 MFI +2
015187,000499: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
015188,000500: 22,2070 02235 MFI +4
015189,000501: 22,2071 03307 TMFI +4
015190,000502: 22,2072 45325 PDDL DSU
015191,000503: 22,2073 03315 TMFI +10D
015192,000504: 22,2074 02243 MFI +10D
015193,000505: 22,2075 77666 VDEF
015194,000506: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
015195,000507:
015196,000508: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015197,000509:
015198,000510: 22,2077 43345 DLOAD DAD
015199,000511: 22,2100 02231 MFI
015200,000512: 22,2101 02251 MFI +16D
015201,000513: 22,2102 43225 DSU DAD
015202,000514: 22,2103 06510 DP1/4TH
015203,000515: 22,2104 02241 MFI +8D
015204,000516: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015205,000517: 22,2106 77726 ARCCOS
015206,000518: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
015207,000519: 22,2110 51025 DSU BPL
015208,000520: 22,2111 04363 MINANG
015209,000521: 22,2112 44117 CHECKMAX
015210,000522: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
015211,000523: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
015212,000524: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
015213,000525: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
015214,000526:
015215,000527: 22,2117 45345 CHECKMAX DLOAD DSU
015216,000528: 22,2120 03335 AM
015217,000529: 22,2121 04365 MAXANG
015218,000530: 22,2122 77244 BPL VLOAD
015219,000531: 22,2123 44131 ALTCALC # UNIT
015220,000532: 22,2124 03325 COFSKEW # COFSKEW
015221,000533: 22,2125 77656 UNIT
015222,000534: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
015223,000535:
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Page 358
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015225,000537: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
015226,000538: 22,2130 44744 LOCSKIRT
015227,000539: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
015228,000540: 22,2132 02231 MFI
015229,000541: 22,2133 03303 TMFI
015230,000542: 22,2134 77762 VSR1
015231,000543: 22,2135 27303 STOVL MFISYM
015232,000544: 22,2136 02237 MFI +6
015233,000545: 22,2137 74455 VAD VSR1
015234,000546: 22,2140 03311 TMFI +6
015235,000547: 22,2141 27311 STOVL MFISYM +6
015236,000548: 22,2142 02245 MFI +12D
015237,000549: 22,2143 74455 VAD VSR1
015238,000550: 22,2144 03317 TMFI +12D
015239,000551: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
015240,000552:
015241,000553:
015242,000554: # CALCULATE COF
015243,000555:
015244,000556:
015245,000557: 22,2146 70545 DLOAD SR1
015246,000558: 22,2147 03333 CAM
015247,000559: 22,2150 45325 PDDL DSU # PDO CAM $4
015248,000560: 22,2151 06516 DPHALF
015249,000561: 22,2152 03333 CAM
015250,000562: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
015251,000563: 22,2154 21713 SIGNMPAC
015252,000564: 22,2155 03323 MFISYM +16D
015253,000565: 22,2156 56225 DSU DDV
015254,000566: 22,2157 00001 0
015255,000567: 22,2160 00003 2
015256,000568: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015257,000569: 22,2162 03313 MFISYM +8D # $ ROOT 2
015258,000570: 22,2163 56225 DSU DDV
015259,000571: 22,2164 00001 0
015260,000572: 22,2165 00003 2
015261,000573: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
015262,000574: 22,2167 03303 MFISYM
015263,000575: 22,2170 56225 DSU DDV
015264,000576: 22,2171 00001 0
015265,000577: 22,2172 00003 2
015266,000578: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
015267,000579: 22,2174 77656 UNIT
015268,000580: 22,2175 03270 STORE COF
015269,000581:
015270,000582: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015271,000583:
015272,000584: 22,2176 45345 COFMAXGO DLOAD DSU
015273,000585: 22,2177 03270 COF
015274,000586: 22,2200 03272 COF +2
015275,000587: 22,2201 71240 BMN DLOAD # COFY G COFX
015276,000588:
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015278,000590: 22,2202 44211 COMP12
015279,000591: 22,2203 03270 COF
015280,000592: 22,2204 50025 DSU BMN
015281,000593: 22,2205 03274 COF +4
015282,000594: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
015283,000595: 22,2207 77650 GOTO
015284,000596: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
015285,000597: 22,2211 45345 COMP12 DLOAD DSU
015286,000598: 22,2212 03272 COF +2
015287,000599: 22,2213 03274 COF +4
015288,000600: 22,2214 77640 BMN
015289,000601: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
015290,000602:
015291,000603: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
015292,000604: 22,2217 03327 COFSKEW +2 # UY
015293,000605: 22,2220 44224 U2POS
015294,000606: 22,2221 57575 VLOAD VCOMP
015295,000607: 22,2222 03270 COF
015296,000608: 22,2223 03270 STORE COF
015297,000609: 22,2224 51145 U2POS DLOAD BPL
015298,000610: 22,2225 03305 MFISYM +2 # UX UY
015299,000611: 22,2226 44232 OKU21
015300,000612: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
015301,000613: 22,2230 03270 COF
015302,000614: 22,2231 03270 STORE COF
015303,000615: 22,2232 51145 OKU21 DLOAD BPL
015304,000616: 22,2233 03315 MFISYM +10D # UY UZ
015305,000617: 22,2234 44744 LOCSKIRT
015306,000618: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015307,000619: 22,2236 03274 COF +4
015308,000620: 22,2237 03274 STORE COF +4
015309,000621: 22,2240 77650 GOTO
015310,000622: 22,2241 44744 LOCSKIRT
015311,000623: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
015312,000624: 22,2243 03325 COFSKEW # UX
015313,000625: 22,2244 44250 U1POS
015314,000626: 22,2245 57575 VLOAD VCOMP
015315,000627: 22,2246 03270 COF
015316,000628: 22,2247 03270 STORE COF
015317,000629: 22,2250 51145 U1POS DLOAD BPL
015318,000630: 22,2251 03305 MFISYM +2 # UX UY
015319,000631: 22,2252 44256 OKU12
015320,000632: 22,2253 57545 DLOAD DCOMP
015321,000633: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
015322,000634: 22,2255 03272 STORE COF +2
015323,000635: 22,2256 51145 OKU12 DLOAD BPL
015324,000636: 22,2257 03307 MFISYM +4 # UX UZ
015325,000637: 22,2260 44744 LOCSKIRT
015326,000638: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015327,000639: 22,2262 03274 COF +4
015328,000640:
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Page 360
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015330,000642: 22,2263 03274 STORE COF +4
015331,000643: 22,2264 77650 GOTO
015332,000644: 22,2265 44744 LOCSKIRT
015333,000645: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
015334,000646: 22,2267 03331 COFSKEW +4 # UZ
015335,000647: 22,2270 44274 U3POS
015336,000648: 22,2271 57575 VLOAD VCOMP
015337,000649: 22,2272 03270 COF
015338,000650: 22,2273 03270 STORE COF
015339,000651: 22,2274 51145 U3POS DLOAD BPL
015340,000652: 22,2275 03307 MFISYM +4 # UX UZ
015341,000653: 22,2276 44302 OKU31
015342,000654: 22,2277 57545 DLOAD DCOMP
015343,000655: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
015344,000656: 22,2301 03270 STORE COF
015345,000657: 22,2302 51145 OKU31 DLOAD BPL
015346,000658: 22,2303 03315 MFISYM +10D # UY UZ
015347,000659: 22,2304 44744 LOCSKIRT
015348,000660: 22,2305 57545 DLOAD DCOMP
015349,000661: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
015350,000662: 22,2307 03272 STORE COF +2
015351,000663: 22,2310 77650 GOTO
015352,000664: 22,2311 44744 LOCSKIRT
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Page 361
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015354,000666: # MATRIX OPERATIONS
015355,000667:
015356,000668: 13,2207 BANK 13
015357,000669: 22,2000 SETLOC KALCMON2
015358,000670: 22,2000 BANK
015359,000671:
015360,000672: 22,2312 E6,1675 EBANK= BCDU
015361,000673:
015362,000674: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
015363,000675: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
015364,000676: 22,2314 00001 0,1 # AND MPAC
015365,000677: 22,2315 62703 VXM* PDVL*
015366,000678: 22,2316 77776 0,2
015367,000679: 22,2317 00007 6,1
015368,000680: 22,2320 62703 VXM* PDVL*
015369,000681: 22,2321 77776 0,2
015370,000682: 22,2322 00015 12D,1
015371,000683: 22,2323 41503 VXM* PUSH
015372,000684: 22,2324 77776 0,2
015373,000685: 22,2325 77616 RVQ
015374,000686:
015375,000687:
015376,000688: # RETURN WITH M1XM2 IN PD LIST
015377,000689:
015378,000690: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
015379,000691: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
015380,000692: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
015381,000693: 22,2331 62713 PDVL* PDVL*
015382,000694: 22,2332 00007 6,1
015383,000695: 22,2333 00015 12D,1
015384,000696: 22,2334 77606 PUSH # MATRIX IN PD
015385,000697: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
015386,000698: 22,2336 50120 INDEX FIXLOC
015387,000699: 22,2337 52013 DXCH 12
015388,000700: 22,2340 50120 INDEX FIXLOC
015389,000701: 22,2341 52017 DXCH 16
015390,000702: 22,2342 50120 INDEX FIXLOC
015391,000703: 22,2343 52013 DXCH 12
015392,000704: 22,2344 50120 INDEX FIXLOC
015393,000705: 22,2345 52015 DXCH 14
015394,000706: 22,2346 50120 INDEX FIXLOC
015395,000707: 22,2347 52005 DXCH 4
015396,000708: 22,2350 50120 INDEX FIXLOC
015397,000709: 22,2351 52015 DXCH 14
015398,000710: 22,2352 50120 INDEX FIXLOC
015399,000711: 22,2353 52003 DXCH 2
015400,000712: 22,2354 50120 INDEX FIXLOC
015401,000713: 22,2355 52007 DXCH 6
015402,000714: 22,2356 50120 INDEX FIXLOC
015403,000715: 22,2357 52003 DXCH 2
015404,000716:
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015406,000718: 22,2360 06042 TC INTPRET
015407,000719: 22,2361 77616 RVQ
015408,000720:
015409,000721: 15,2050 BANK 15
015410,000722: 22,2000 SETLOC KALCMON1
015411,000723: 22,2000 BANK
015412,000724:
015413,000725: 22,2362 E6,1675 EBANK= BCDU
015414,000726:
015415,000727: 22,2362 00013 13563 MINANG 2DEC 0.00069375
015416,000728: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
015417,000729: # GIMBAL LOCK CONSTANTS
015418,000730:
015419,000731: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
015420,000732: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
015421,000733:
015422,000734: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
015423,000735: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
015424,000736: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
015425,000737: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
015426,000738: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
015427,000739: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
015428,000740: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
015429,000741: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
015430,000742:
015431,000743: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
015432,000744: 22,2404 54156 TS MPAC +2
015433,000745: 22,2405 00006 EXTEND
015434,000746: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
015435,000747: 22,2407 16501 TCF TLOAD +6
015436,000748:
015437,000749:
015438,000750: 22,2410 66370 CDUTODCM AXT,1 SSP
015439,000751: 22,2411 00003 OCT 3
015440,000752: 22,2412 00051 S1
015441,000753: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
015442,000754: 22,2414 00010 STORE 7
015443,000755: 22,2415 77601 SETPD
015444,000756: 22,2416 00001 0
015445,000757: 22,2417 47133 LOOPSIN SLOAD* RTB
015446,000758: 22,2420 00013 10D,1
015447,000759: 22,2421 21577 CDULOGIC
015448,000760:
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015450,000762: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
015451,000763: 22,2423 65356 SIN PDDL # 2 COS(PHI)
015452,000764: 22,2424 00013 10D # 4 SIN(THETA)
015453,000765: 22,2425 41546 COS PUSH # 6 COS(THETA)
015454,000766: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
015455,000767: 22,2427 44417 LOOPSIN # 10 COS(PSI)
015456,000768: 22,2430 00007 6
015457,000769: 22,2431 72405 DMP SL1
015458,000770: 22,2432 00013 10D
015459,000771: 22,2433 10001 STORE 0,2 # C0=COS(THETA)COS(PSI)
015460,000772: 22,2434 41345 DLOAD DMP
015461,000773: 22,2435 00005 4
015462,000774: 22,2436 00001 0
015463,000775: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
015464,000776: 22,2440 00007 6
015465,000777: 22,2441 00011 8D
015466,000778: 22,2442 72405 DMP SL1
015467,000779: 22,2443 00003 2
015468,000780: 22,2444 72421 BDSU SL1
015469,000781: 22,2445 00015 12D
015470,000782: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
015471,000783: 22,2447 41345 DLOAD DMP
015472,000784: 22,2450 00003 2
015473,000785: 22,2451 00005 4
015474,000786: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015475,000787: 22,2453 00007 6
015476,000788: 22,2454 00011 8D
015477,000789: 22,2455 72405 DMP SL1
015478,000790: 22,2456 00001 0
015479,000791: 22,2457 72415 DAD SL1
015480,000792: 22,2460 00017 14D
015481,000793: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015482,000794: 22,2462 77745 DLOAD
015483,000795: 22,2463 00011 8D
015484,000796: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015485,000797: 22,2465 77745 DLOAD
015486,000798: 22,2466 00013 10D
015487,000799: 22,2467 72405 DMP SL1
015488,000800: 22,2470 00003 2
015489,000801: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015490,000802: 22,2472 41345 DLOAD DMP
015491,000803: 22,2473 00013 10D
015492,000804: 22,2474 00001 0
015493,000805: 22,2475 72476 DCOMP SL1
015494,000806: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015495,000807: 22,2477 41345 DLOAD DMP
015496,000808: 22,2500 00005 4
015497,000809: 22,2501 00013 10D
015498,000810: 22,2502 72476 DCOMP SL1
015499,000811: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
015500,000812:
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015502,000814: 22,2504 77745 DLOAD
015503,000815: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015504,000816: 22,2506 00011 8D
015505,000817: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
015506,000818: 22,2510 00007 6
015507,000819: 22,2511 00001 0
015508,000820: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015509,000821: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015510,000822: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015511,000823: 22,2515 77745 DLOAD
015512,000824: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015513,000825: 22,2517 00011 8D
015514,000826: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
015515,000827: 22,2521 00007 6
015516,000828: 22,2522 00003 2
015517,000829: 22,2523 72425 DSU SL1 # (PUSH UP 6)
015518,000830: 22,2524 77626 STADR
015519,000831: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015520,000832: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
015521,000833:
015522,000834: # CALCULATION OF THE MATRIX DEL......
015523,000835:
015524,000836: # * * --T *
015525,000837: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
015526,000838:
015527,000839: # -
015528,000840: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015529,000841: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
015530,000842: # -
015531,000843: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015532,000844:
015533,000845: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
015534,000846: 22,2530 00001 0
015535,000847: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
015536,000848: 22,2532 41546 COS PUSH # PD2 = COS(A)
015537,000849: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
015538,000850: 22,2534 41021 BDSU BOVB
015539,000851: 22,2535 06516 DPHALF
015540,000852: 22,2536 21713 SIGNMPAC
015541,000853: 22,2537 77725 PDDL # PD4 = 1-COS(A)
015542,000854:
015543,000855: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
015544,000856:
015545,000857: 22,2540 03270 COF
015546,000858: 22,2541 41316 DSQ DMP
015547,000859: 22,2542 00005 4
015548,000860: 22,2543 52415 DAD SL3
015549,000861: 22,2544 00003 2
015550,000862: 22,2545 77604 BOVB
015551,000863: 22,2546 21713 SIGNMPAC
015552,000864:
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015554,000866: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015555,000867: 22,2550 03272 COF +2
015556,000868: 22,2551 41316 DSQ DMP
015557,000869: 22,2552 00005 4
015558,000870: 22,2553 52415 DAD SL3
015559,000871: 22,2554 00003 2
015560,000872: 22,2555 77604 BOVB
015561,000873: 22,2556 21713 SIGNMPAC
015562,000874: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015563,000875: 22,2560 03274 COF +4
015564,000876: 22,2561 41316 DSQ DMP
015565,000877: 22,2562 00005 4
015566,000878: 22,2563 52415 DAD SL3
015567,000879: 22,2564 00003 2
015568,000880: 22,2565 77604 BOVB
015569,000881: 22,2566 21713 SIGNMPAC
015570,000882: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015571,000883:
015572,000884: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015573,000885:
015574,000886: 22,2570 41345 DLOAD DMP
015575,000887: 22,2571 03270 COF
015576,000888: 22,2572 03272 COF +2
015577,000889: 22,2573 72405 DMP SL1
015578,000890: 22,2574 00005 4
015579,000891: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
015580,000892: 22,2576 03274 COF +4
015581,000893: 22,2577 00001 0
015582,000894: 22,2600 43206 PUSH DAD # D8 UZ SIN A $ 4
015583,000895: 22,2601 00007 6
015584,000896: 22,2602 41112 SL2 BOVB
015585,000897: 22,2603 21713 SIGNMPAC
015586,000898: 22,2604 16237 STODL KEL +6
015587,000899: 22,2605 62421 BDSU SL2
015588,000900: 22,2606 77604 BOVB
015589,000901: 22,2607 21713 SIGNMPAC
015590,000902: 22,2610 16233 STODL KEL +2
015591,000903: 22,2611 03270 COF
015592,000904: 22,2612 41205 DMP DMP
015593,000905: 22,2613 03274 COF +4
015594,000906: 22,2614 00005 4
015595,000907: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
015596,000908: 22,2616 03272 COF +2
015597,000909: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015598,000910: 22,2620 00001 0
015599,000911: 22,2621 62415 DAD SL2
015600,000912: 22,2622 00007 6
015601,000913: 22,2623 77604 BOVB
015602,000914: 22,2624 21713 SIGNMPAC
015603,000915: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
015604,000916:
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015606,000918: 22,2626 62421 BDSU SL2
015607,000919: 22,2627 77604 BOVB
015608,000920: 22,2630 21713 SIGNMPAC
015609,000921: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015610,000922: 22,2632 03272 COF +2
015611,000923: 22,2633 41205 DMP DMP
015612,000924: 22,2634 03274 COF +4
015613,000925: 22,2635 00005 4
015614,000926: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
015615,000927: 22,2637 03270 COF
015616,000928: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015617,000929: 22,2641 00001 0
015618,000930: 22,2642 62415 DAD SL2
015619,000931: 22,2643 00007 6
015620,000932: 22,2644 77604 BOVB
015621,000933: 22,2645 21713 SIGNMPAC
015622,000934: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015623,000935: 22,2647 62421 BDSU SL2
015624,000936: 22,2650 77604 BOVB
015625,000937: 22,2651 21713 SIGNMPAC
015626,000938: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015627,000939: 22,2653 77616 RVQ
015628,000940:
015629,000941:
015630,000942: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015631,000943: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015632,000944: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015633,000945: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015634,000946:
015635,000947: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015636,000948:
015637,000949: # C =COS(THETA)COS(PSI)
015638,000950: # 0
015639,000951: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
015640,000952: # 1
015641,000953: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
015642,000954: # 2
015643,000955: # C =SIN(PSI)
015644,000956: # 3
015645,000957: # C =COS(PSI)COS(PHI)
015646,000958: # 4
015647,000959: # C =-COS(PSI)SIN(PHI)
015648,000960: # 5
015649,000961: # C =-SIN(THETA)COS(PSI)
015650,000962: # 6
015651,000963: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
015652,000964: # 7
015653,000965: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
015654,000966: # 8
015655,000967:
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015657,000969:
015658,000970: # WHERE PHI = OGA
015659,000971: # THETA = IGA
015660,000972: # PSI = MGA
015661,000973:
015662,000974: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015663,000975: 22,2655 00007 6,1
015664,000976: 22,2656 71406 PUSH COS # PD +0 PSI
015665,000977: 22,2657 41152 SL1 BOVB
015666,000978: 22,2660 21713 SIGNMPAC
015667,000979: 22,2661 00051 STORE S1
015668,000980: 22,2662 57543 DLOAD* DCOMP
015669,000981: 22,2663 00015 12D,1
015670,000982: 22,2664 67471 DDV ARCSIN
015671,000983: 22,2665 00051 S1
015672,000984: 22,2666 51123 PDDL* BPL # PD +2 THETA
015673,000985: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015674,000986: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015675,000987: 22,2671 57545 DLOAD DCOMP
015676,000988: 22,2672 43244 BPL DAD
015677,000989: 22,2673 44677 SUHALFA
015678,000990: 22,2674 06516 DPHALF
015679,000991: 22,2675 77650 GOTO
015680,000992: 22,2676 44701 CALCPHI
015681,000993: 22,2677 77625 SUHALFA DSU
015682,000994: 22,2700 06516 DPHALF
015683,000995: 22,2701 77606 CALCPHI PUSH
015684,000996: 22,2702 57543 OKTHETA DLOAD* DCOMP
015685,000997: 22,2703 00013 10D,1
015686,000998: 22,2704 67471 DDV ARCSIN
015687,000999: 22,2705 00051 S1
015688,001000: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015689,001001: 22,2707 00011 8D,1
015690,001002: 22,2710 44722 OKPHI
015691,001003: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015692,001004: 22,2712 43244 BPL DAD
015693,001005: 22,2713 44717 SUHALFAP
015694,001006: 22,2714 06516 DPHALF
015695,001007: 22,2715 77650 GOTO
015696,001008: 22,2716 44723 VECOFANG
015697,001009: 22,2717 52025 SUHALFAP DSU GOTO
015698,001010: 22,2720 06516 DPHALF
015699,001011: 22,2721 44723 VECOFANG
015700,001012: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015701,001013: 22,2723 43466 VECOFANG VDEF RVQ
015702,001014:
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015704,001016: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015705,001017:
015706,001018: 22,2724 77776 TOOBADF EXIT
015707,001019: 22,2725 05600 TC ALARM
015708,001020: 22,2726 00401 OCT 00401
015709,001021:
015710,001022: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015711,001023:
015712,001024: 22,2730 04616 TC BANKCALL
015713,001025: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015714,001026:
015715,001027: 22,2732 04616 NOGO TC BANKCALL
015716,001028: 22,2733 40166 CADR STOPRATE # STOP RATES
015717,001029:
015718,001030: 22,2734 34752 CAF TWO
015719,001031: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015720,001032: 22,2736 05214 TC WAITLIST
015721,001033: 22,2737 E6,1675 EBANK= BCDU
015722,001034: 22,2737 03234 44066 2CADR GOODMANU
015723,001035:
015724,001036: 22,2741 15155 TCF ENDOFJOB
015725,001037:
015726,001038: 22,2742 77776 TOOBADI EXIT
015727,001039: 22,2743 12732 TCF NOGO
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc