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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060323,000002: ## Copyright: Public domain.
060324,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
060325,000004: ## Purpose: A section of Luminary revision 163.
060326,000005: ## It is part of the reconstructed source code for the first
060327,000006: ## (unflown) release of the flight software for the Lunar
060328,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
060329,000008: ## The code has been recreated from a reconstructed copy of
060330,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
060331,000010: ## It has been adapted such that the resulting bugger words
060332,000011: ## exactly match those specified for Luminary 163 in NASA
060333,000012: ## drawing 2021152N, which gives relatively high confidence
060334,000013: ## that the reconstruction is correct.
060335,000014: ## Reference: pp. 1409-1429
060336,000015: ## Assembler: yaYUL
060337,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060338,000017: ## Website: www.ibiblio.org/apollo/index.html
060339,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
060340,000019:
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Page 1409
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060342,000021: 16,2213 BANK 16
060343,000022: 16,2000 SETLOC DAPS1
060344,000023: 16,2000 BANK
060345,000024:
060346,000025: 16,2213 E6,1464 EBANK= PERROR
060347,000026: 16,2213 COUNT* $$/DAPP
060348,000027:
060349,000028: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060350,000029: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060351,000030:
060352,000031: 16,2213 37732 PAXIS CA MS100
060353,000032: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
060354,000033: # CHRONIZATION WITH OTHER INTERRUPTS ***
060355,000034:
060356,000035: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
060357,000036: 16,2216 00006 EXTEND
060358,000037: 16,2217 22012 QXCH QRUPT
060359,000038:
060360,000039: # CHECK IF DAP PASS IS PERMISSIBLE
060361,000040:
060362,000041: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
060363,000042: 16,2221 05635 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
060364,000043: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO
060365,000044:
060366,000045: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060367,000046:
060368,000047: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
060369,000048: 16,2225 55747 TS DAPTREG4
060370,000049: 16,2226 30033 CA CDUY
060371,000050: 16,2227 55750 TS DAPTREG5
060372,000051: 16,2230 30034 CA CDUZ
060373,000052: 16,2231 55751 TS DAPTREG6
060374,000053: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060375,000054:
060376,000055: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060377,000056: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060378,000057:
060379,000058: 16,2232 31634 CA CDUXD
060380,000059: 16,2233 00006 EXTEND
060381,000060: 16,2234 21637 MSU DELCDUX
060382,000061: 16,2235 02256 TC 1STOTWOS
060383,000062: 16,2236 55634 TS CDUXD
060384,000063: 16,2237 31635 CA CDUYD
060385,000064: 16,2240 00006 EXTEND
060386,000065: 16,2241 21640 MSU DELCDUY
060387,000066: 16,2242 02256 TC 1STOTWOS
060388,000067: 16,2243 55635 TS CDUYD
060389,000068: 16,2244 31636 CA CDUZD
060390,000069: 16,2245 00006 EXTEND
060391,000070: 16,2246 21641 MSU DELCDUZ
060392,000071:
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Page 1410
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060394,000073: 16,2247 02256 TC 1STOTWOS
060395,000074: 16,2250 55636 TS CDUZD
060396,000075: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
060397,000076: 16,2252 27445 DIM TCP # TIME COUNTERS.
060398,000077: 16,2253 00006 EXTEND
060399,000078: 16,2254 27457 DIM TCQR
060400,000079: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
060401,000080: # RETURNS TO BACKP.
060402,000081:
060403,000082: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
060404,000083:
060405,000084: # JETRATEQ= 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
060406,000085:
060407,000086: # JETRATER= 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
060408,000087:
060409,000088: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
060410,000089: 16,2256 10000 1STOTWOS CCS A
060411,000090: 16,2257 64753 AD ONE
060412,000091: 16,2260 00002 TC Q
060413,000092: 16,2261 40000 CS A
060414,000093: 16,2262 00002 TC Q
060415,000094: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
060416,000095: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
060417,000096: 16,2265 21427 DAS OMEGAU # OVERFLOW
060418,000097:
060419,000098: 16,2266 00006 +3 EXTEND
060420,000099: 16,2267 31427 DCA OMEGAU
060421,000100: 16,2270 53743 DXCH DAPTEMP5
060422,000101: 16,2271 11426 CCS OMEGAU
060423,000102: 16,2272 12274 TCF +2
060424,000103: 16,2273 12304 TCF DIVIDER
060425,000104: 16,2274 62315 AD -OCT630
060426,000105: 16,2275 00006 EXTEND
060427,000106: 16,2276 62304 BZMF DIVIDER
060428,000107:
060429,000108: 16,2277 11426 CCS OMEGAU
060430,000109: 16,2300 34733 CA POSMAX # 45 DEG/SEC
060431,000110: 16,2301 00002 TC Q
060432,000111: 16,2302 44733 CS POSMAX
060433,000112: 16,2303 00002 TC Q
060434,000113:
060435,000114: 16,2304 53427 DIVIDER DXCH OMEGAU
060436,000115: 16,2305 00006 EXTEND
060437,000116: 16,2306 11747 DV DAPTREG4
060438,000117: 16,2307 00002 TC Q
060439,000118:
060440,000119: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
060441,000120: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
060442,000121: 16,2312 50000 INDEX A
060443,000122: 16,2313 44734 CS BIT15 -1
060444,000123:
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Page 1411
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060446,000125: 16,2314 00002 TC Q
060447,000126:
060448,000127: 16,2315 77147 -OCT630 OCT 77147
060449,000128:
060450,000129: 16,2316 31736 BACKP CA DAPTEMP1
060451,000130: 16,2317 00006 EXTEND
060452,000131: 16,2320 71530 MP 1JACC
060453,000132: 16,2321 55744 TS JETRATE
060454,000133: # BEGINNING OF THE RATE DERIVATION
060455,000134: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
060456,000135: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
060457,000136: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
060458,000137: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
060459,000138: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
060460,000139: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP,ECT.
060461,000140: # OMEGAU DP-TEMPORARY STORAGE
060462,000141:
060463,000142: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060464,000143:
060465,000144: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE
060466,000145: 16,2323 54001 TS L
060467,000146: 16,2324 00006 EXTEND
060468,000147: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
060469,000148: 16,2326 23440 LXCH OLDXFORP
060470,000149: 16,2327 55736 TS DAPTEMP1
060471,000150: 16,2330 33623 CA 1/40
060472,000151: 16,2331 55747 TS DAPTREG4
060473,000152: 16,2332 41744 CS JETRATE
060474,000153: 16,2333 00006 EXTEND
060475,000154: 16,2334 74736 MP BIT14
060476,000155: 16,2335 27430 ADS TRAPEDP
060477,000156: 16,2336 31745 CA JETRATEQ
060478,000157: 16,2337 61544 AD AOSQTERM
060479,000158: 16,2340 00006 EXTEND
060480,000159: 16,2341 77741 MP -BIT14
060481,000160: 16,2342 27431 ADS TRAPEDQ
060482,000161: 16,2343 31746 CA JETRATER
060483,000162: 16,2344 61545 AD AOSRTERM
060484,000163: 16,2345 00006 EXTEND
060485,000164: 16,2346 77741 MP -BIT14
060486,000165: 16,2347 27432 ADS TRAPEDR
060487,000166:
060488,000167: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE
060489,000168: 16,2351 54001 TS L
060490,000169: 16,2352 00006 EXTEND
060491,000170: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
060492,000171: 16,2354 23441 LXCH OLDYFORP
060493,000172: 16,2355 55737 TS DAPTEMP2
060494,000173: 16,2356 00006 EXTEND
060495,000174: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1412
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060497,000176: 16,2360 61736 AD DAPTEMP1
060498,000177: 16,2361 53427 DXCH OMEGAU
060499,000178:
060500,000179: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
060501,000180:
060502,000181: 16,2363 00006 EXTEND
060503,000182: 16,2364 61421 SU OMEGAP
060504,000183: 16,2365 27430 ADS TRAPEDP
060505,000184: 16,2366 02310 TC OVERSUB
060506,000185: 16,2367 55430 TS TRAPEDP
060507,000186: 16,2370 00006 EXTEND
060508,000187: 16,2371 31743 DCA DAPTEMP5
060509,000188: 16,2372 21447 DAS DXERROR
060510,000189: 16,2373 41454 CS PLAST
060511,000190: 16,2374 00006 EXTEND
060512,000191: 16,2375 73623 MP 1/40
060513,000192: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
060514,000193: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE
060515,000194: 16,2400 54001 TS L
060516,000195: 16,2401 00006 EXTEND
060517,000196: 16,2402 21442 MSU OLDZFORQ
060518,000197: 16,2403 55740 TS DAPTEMP3
060519,000198: 16,2404 23442 LXCH OLDZFORQ
060520,000199: 16,2405 31415 CA M21
060521,000200: 16,2406 00006 EXTEND
060522,000201: 16,2407 71737 MP DAPTEMP2
060523,000202: 16,2410 53427 DXCH OMEGAU
060524,000203: 16,2411 31417 CA M22
060525,000204: 16,2412 02263 TC SUBDIVDE
060526,000205:
060527,000206: 16,2413 00006 EXTEND
060528,000207: 16,2414 61422 SU OMEGAQ
060529,000208: 16,2415 27431 ADS TRAPEDQ
060530,000209: 16,2416 02310 TC OVERSUB
060531,000210: 16,2417 55431 TS TRAPEDQ
060532,000211: 16,2420 00006 EXTEND
060533,000212: 16,2421 31743 DCA DAPTEMP5
060534,000213: 16,2422 21451 DAS DYERROR
060535,000214: 16,2423 41455 CS QLAST
060536,000215: 16,2424 00006 EXTEND
060537,000216: 16,2425 73623 MP 1/40
060538,000217: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
060539,000218: 16,2427 31416 CA M31
060540,000219: 16,2430 00006 EXTEND
060541,000220: 16,2431 71737 MP DAPTEMP2
060542,000221: 16,2432 53427 DXCH OMEGAU
060543,000222: 16,2433 31420 CA M32
060544,000223:
060545,000224: 16,2434 02263 TC SUBDIVDE
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Page 1413
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060547,000226: 16,2435 00006 EXTEND
060548,000227: 16,2436 61423 SU OMEGAR
060549,000228: 16,2437 27432 ADS TRAPEDR
060550,000229: 16,2440 02310 TC OVERSUB
060551,000230: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
060552,000231:
060553,000232: 16,2442 00006 EXTEND
060554,000233: 16,2443 31743 DCA DAPTEMP5
060555,000234: 16,2444 21453 DAS DZERROR
060556,000235: 16,2445 41456 CS RLAST
060557,000236: 16,2446 00006 EXTEND
060558,000237: 16,2447 73623 MP 1/40
060559,000238: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
060560,000239: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
060561,000240: 16,2452 74737 MASK CSMDOCKD
060562,000241: 16,2453 00006 EXTEND
060563,000242: 16,2454 12462 BZF LMONLY
060564,000243: 16,2455 00006 EXTEND # DOCKED
060565,000244: 16,2456 31405 DCA DKOMEGAN
060566,000245: 16,2457 53750 DXCH DAPTREG4
060567,000246: 16,2460 31403 CA DKTRAP
060568,000247: 16,2461 12466 TCF +5
060569,000248: 16,2462 00006 LMONLY EXTEND # UNDOCKED
060570,000249: 16,2463 31410 DCA LMOMEGAN
060571,000250: 16,2464 53750 DXCH DAPTREG4
060572,000251: 16,2465 31406 CA LMTRAP
060573,000252: 16,2466 55751 +5 TS DAPTREG6
060574,000253: 16,2467 11430 CCS TRAPEDP
060575,000254: 16,2470 12472 TCF +2
060576,000255: 16,2471 12507 TCF SMALPDIF
060577,000256: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060578,000257: 16,2473 00006 EXTEND
060579,000258: 16,2474 62507 BZMF SMALPDIF
060580,000259: 16,2475 22007 ZL
060581,000260: 16,2476 23430 LXCH TRAPEDP
060582,000261: 16,2477 34755 CA ZERO
060583,000262: 16,2500 00006 EXTEND
060584,000263: 16,2501 11433 DV NPTRAPS
060585,000264: 16,2502 27421 ADS OMEGAP
060586,000265: 16,2503 02310 TC OVERSUB
060587,000266: 16,2504 55421 TS OMEGAP
060588,000267: 16,2505 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060589,000268: 16,2506 55433 TS NPTRAPS
060590,000269: 16,2507 25433 SMALPDIF INCR NPTRAPS
060591,000270: 16,2510 31744 P-RATE CA JETRATE
060592,000271: 16,2511 27421 ADS OMEGAP
060593,000272: 16,2512 02310 TC OVERSUB
060594,000273: 16,2513 55421 TS OMEGAP
060595,000274:
060596,000275: 16,2514 11431 CCS TRAPEDQ
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Page 1414
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060598,000277: 16,2515 12517 TCF +2
060599,000278: 16,2516 12544 TCF Q-RATE
060600,000279: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060601,000280: 16,2520 00006 EXTEND
060602,000281: 16,2521 62544 BZMF Q-RATE
060603,000282: 16,2522 22007 ZL
060604,000283: 16,2523 23431 LXCH TRAPEDQ
060605,000284: 16,2524 34755 CA ZERO
060606,000285: 16,2525 00006 EXTEND
060607,000286: 16,2526 11434 DV NQTRAPS
060608,000287: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
060609,000288: 16,2530 27422 ADS OMEGAQ
060610,000289: 16,2531 02310 TC OVERSUB
060611,000290: 16,2532 55422 TS OMEGAQ
060612,000291: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060613,000292: 16,2534 57434 XCH NQTRAPS
060614,000293: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060615,000294: 16,2536 57736 XCH DAPTEMP1
060616,000295: 16,2537 00006 EXTEND
060617,000296: 16,2540 74756 MP FIVE
060618,000297: 16,2541 00006 EXTEND
060619,000298: 16,2542 11736 DV DAPTEMP1
060620,000299: 16,2543 27536 ADS AOSQ
060621,000300: 16,2544 25434 Q-RATE INCR NQTRAPS
060622,000301: 16,2545 31745 CA JETRATEQ
060623,000302: 16,2546 61544 AD AOSQTERM
060624,000303: 16,2547 27422 ADS OMEGAQ
060625,000304: 16,2550 02310 TC OVERSUB
060626,000305: 16,2551 55422 TS OMEGAQ
060627,000306:
060628,000307: 16,2552 11432 CCS TRAPEDR
060629,000308: 16,2553 12555 TCF +2
060630,000309: 16,2554 12602 TCF R-RATE
060631,000310: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060632,000311: 16,2556 00006 EXTEND
060633,000312: 16,2557 62602 BZMF R-RATE
060634,000313: 16,2560 22007 ZL
060635,000314: 16,2561 23432 LXCH TRAPEDR
060636,000315: 16,2562 34755 CA ZERO
060637,000316: 16,2563 00006 EXTEND
060638,000317: 16,2564 11435 DV NRTRAPS
060639,000318: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
060640,000319: 16,2566 27423 ADS OMEGAR
060641,000320: 16,2567 02310 TC OVERSUB
060642,000321: 16,2570 55423 TS OMEGAR
060643,000322: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060644,000323: 16,2572 57435 XCH NRTRAPS
060645,000324: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060646,000325: 16,2574 57737 XCH DAPTEMP2
060647,000326: 16,2575 00006 EXTEND
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Page 1415
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060649,000328: 16,2576 74756 MP FIVE
060650,000329: 16,2577 00006 EXTEND
060651,000330: 16,2600 11737 DV DAPTEMP2
060652,000331: 16,2601 27540 ADS AOSR
060653,000332: 16,2602 25435 R-RATE INCR NRTRAPS
060654,000333: 16,2603 31746 CA JETRATER
060655,000334: 16,2604 61545 AD AOSRTERM
060656,000335: 16,2605 27423 ADS OMEGAR
060657,000336: 16,2606 02310 TC OVERSUB
060658,000337: 16,2607 55423 TS OMEGAR
060659,000338:
060660,000339: # END OF RATE DERIVATION
060661,000340:
060662,000341: # BEGIN OFFSET ESTIMATER
060663,000342:
060664,000343: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060665,000344:
060666,000345: # AOS = AOS + K*SUMRATE
060667,000346:
060668,000347: 16,2610 40111 CS DAPBOOLS
060669,000348: 16,2611 74744 MASK DRIFTBIT
060670,000349: 16,2612 10000 CCS A
060671,000350: 16,2613 12624 TCF WORKTIME
060672,000351: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
060673,000352: 16,2615 55425 TS ALPHAR
060674,000353: 16,2616 55544 TS AOSQTERM
060675,000354: 16,2617 55545 TS AOSRTERM
060676,000355: 16,2620 55536 TS AOSQ
060677,000356: 16,2621 55540 TS AOSR
060678,000357: 16,2622 12667 TCF PRETIMCK
060679,000358: 16,2623 00074 KAOS DEC 60 B-14
060680,000359: 16,2624 31510 WORKTIME CA QACCDOT
060681,000360: 16,2625 00006 EXTEND
060682,000361: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060683,000362: 16,2627 21537 DAS AOSQ
060684,000363: 16,2630 31536 CA AOSQ
060685,000364: 16,2631 55424 TS ALPHAQ
060686,000365: 16,2632 00006 EXTEND
060687,000366: 16,2633 73621 MP 200MS # .2 AT 1
060688,000367: 16,2634 55544 TS AOSQTERM
060689,000368: 16,2635 31512 CA RACCDOT
060690,000369: 16,2636 00006 EXTEND
060691,000370: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060692,000371: 16,2640 21541 DAS AOSR
060693,000372: 16,2641 31540 CA AOSR
060694,000373: 16,2642 55425 TS ALPHAR
060695,000374: 16,2643 00006 EXTEND
060696,000375: 16,2644 73621 MP 200MS # .2 AT 1
060697,000376: 16,2645 55545 TS AOSRTERM
060698,000377: 16,2646 12667 TCF PRETIMCK
060699,000378:
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Page 1416
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060701,000380:
060702,000381:
060703,000382: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
060704,000383: 16,2650 71262 MASK RCSFLAGS
060705,000384: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
060706,000385: 16,2652 03741 TC ACDT+C12 # VALID.
060707,000386:
060708,000387: 16,2653 52011 DXCH ARUPT
060709,000388: 16,2654 53753 DXCH DAPARUPT
060710,000389: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
060711,000390: 16,2656 56017 XCH BRUPT
060712,000391: 16,2657 22012 LXCH QRUPT
060713,000392: 16,2660 53755 DXCH DAPBQRPT
060714,000393: 16,2661 32665 CA SUPERADR
060715,000394: 16,2662 52016 DXCH ZRUPT
060716,000395: 16,2663 53757 DXCH DAPZRUPT
060717,000396: 16,2664 15306 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
060718,000397: # FORM OF A JASK, AT SUPERJOB.
060719,000398:
060720,000399: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
060721,000400: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060722,000401:
060723,000402: 16,2666 13644 SUPERJOB TCF RATELOOP
060724,000403: 16,2667 11631 PRETIMCK CCS QGIMTIMR
060725,000404: 16,2670 12710 TCF DECQTIMR # POSITIVE- COUNTING DOWN
060726,000405: 16,2671 12714 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
060727,000406: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
060728,000407: 16,2673 12712 TCF DECRTIMR # (NEG ZERO- IMPOSSIBLE)
060729,000408: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
060730,000409:
060731,000410: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
060732,000411: 16,2676 27766 DIM PJETCTR
060733,000412: 16,2677 00006 EXTEND
060734,000413: 16,2700 27767 DIM UJETCTR
060735,000414: 16,2701 00006 EXTEND
060736,000415: 16,2702 27770 DIM VJETCTR
060737,000416: 16,2703 34740 CA BIT12
060738,000417: 16,2704 71262 MASK RCSFLAGS
060739,000418: 16,2705 00006 EXTEND
060740,000419: 16,2706 12734 BZF SKIPPAXS
060741,000420: 16,2707 02740 TC CHKVISFZ
060742,000421: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
060743,000422: 16,2711 12672 TCF CHKRTIMR
060744,000423: 16,2712 55633 DECRTIMR TS RGIMTIMR
060745,000424: 16,2713 12675 TCF CHKRTIMR +3
060746,000425:
060747,000426: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
060748,000427: 16,2715 55510 TS QACCDOT
060749,000428: 16,2716 45007 CS QGIMBITS
060750,000429: 16,2717 00006 EXTEND
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Page 1417
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060752,000431: 16,2720 03012 WAND CHAN12
060753,000432: 16,2721 34735 CAF NEGMAX
060754,000433: 16,2722 55631 TS QGIMTIMR
060755,000434: 16,2723 12672 TCF CHKRTIMR
060756,000435: 16,2724 55503 TURNOFFR TS NEGUR
060757,000436: 16,2725 55512 TS RACCDOT
060758,000437: 16,2726 45020 CS RGIMBITS
060759,000438: 16,2727 00006 EXTEND
060760,000439: 16,2730 03012 WAND CHAN12
060761,000440: 16,2731 34735 CAF NEGMAX
060762,000441: 16,2732 55633 TS RGIMTIMR
060763,000442: 16,2733 12675 TCF CHKRTIMR +3
060764,000443: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
060765,000444: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
060766,000445:
060767,000446: 16,2734 41262 SKIPPAXS CS RCSFLAGS
060768,000447: 16,2735 74740 MASK BIT12
060769,000448: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
060770,000449: 16,2737 13627 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
060771,000450:
060772,000451: # Y-Z TRANSLATION
060773,000452:
060774,000453: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060775,000454:
060776,000455: # OUTPUT: NEXTP
060777,000456:
060778,000457: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060779,000458: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060780,000459:
060781,000460: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
060782,000461: # ALARM (IF NO PAIR)
060783,000462:
060784,000463: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060785,000464: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
060786,000465: 16,2740 00006 CHKVISFZ EXTEND
060787,000466: 16,2741 00031 READ CHAN31
060788,000467: 16,2742 40000 CS A
060789,000468: 16,2743 73616 MASK 07400OCT
060790,000469: 16,2744 00006 EXTEND
060791,000470: 16,2745 13014 BZF TSNEXTP
060792,000471: 16,2746 00006 EXTEND
060793,000472: 16,2747 74745 MP BIT7
060794,000473: 16,2750 50000 INDEX A
060795,000474: 16,2751 33575 CA INDXYZ
060796,000475: 16,2752 55743 TS ROTINDEX
060797,000476: 16,2753 36245 TRYUORV CA SIX
060798,000477: 16,2754 03554 TC SELECTYZ
060799,000478: 16,2755 46245 CS SIX
060800,000479: 16,2756 61742 AD NUMBERT
060801,000480: 16,2757 00006 EXTEND
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Page 1418
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060803,000482: 16,2760 13013 BZF TSNEXTP -1
060804,000483: 16,2761 44756 CS FIVE
060805,000484: 16,2762 61743 AD ROTINDEX
060806,000485: 16,2763 00006 EXTEND
060807,000486: 16,2764 63002 BZMF ALTERYZ
060808,000487: 16,2765 41742 CS NUMBERT
060809,000488: 16,2766 64751 AD FOUR
060810,000489: 16,2767 00006 EXTEND
060811,000490: 16,2770 63013 BZMF TSNEXTP -1
060812,000491: 16,2771 05600 ABORTYZ TC ALARM
060813,000492: 16,2772 02001 OCT 02001
060814,000493: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060815,000494: 16,2774 23262 LXCH RCSFLAGS
060816,000495: 16,2775 00006 EXTEND
060817,000496: 16,2776 06001 RXOR 1
060818,000497: 16,2777 55262 TS RCSFLAGS
060819,000498: 16,3000 34755 CA ZERO
060820,000499: 16,3001 13014 TCF TSNEXTP
060821,000500: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060822,000501: 16,3003 23262 LXCH RCSFLAGS
060823,000502: 16,3004 00006 EXTEND
060824,000503: 16,3005 06001 RXOR 1
060825,000504: 16,3006 55262 TS RCSFLAGS
060826,000505: 16,3007 74753 MASK BIT1
060827,000506: 16,3010 64751 AD FOUR
060828,000507: 16,3011 27743 ADS ROTINDEX
060829,000508: 16,3012 12753 TCF TRYUORV
060830,000509: 16,3013 31740 CA POLYTEMP
060831,000510: 16,3014 55472 TSNEXTP TS NEXTP
060832,000511: # STATE LOGIC
060833,000512:
060834,000513: # CHECK IN ORDER: IF ON
060835,000514: # LPDPHASE GO TO PURGENCY
060836,000515: # PULSES MINIMUM PULSE LOGIC
060837,000516: # DETENT(BIT15 CH31) RATE COMMAND
060838,000517: # GO TO PURGENCY
060839,000518: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060840,000519: 16,3016 00006 EXTEND
060841,000520: 16,3017 02031 RAND CHAN31
060842,000521: 16,3020 00006 EXTEND
060843,000522: 16,3021 13027 BZF MANMODE
060844,000523:
060845,000524: 16,3022 30111 CA DAPBOOLS
060846,000525: 16,3023 74743 MASK XOVINHIB
060847,000526: 16,3024 10000 CCS A
060848,000527: 16,3025 13466 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060849,000528:
060850,000529: 16,3026 13071 TCF DETENTCK
060851,000530: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060852,000531: 16,3030 70111 MASK DAPBOOLS
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Page 1419
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060854,000533: 16,3031 00006 EXTEND
060855,000534: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060856,000535:
060857,000536: 16,3033 34755 CA ZERO
060858,000537: 16,3034 55464 TS PERROR
060859,000538: # MINIMUM IMPULSE MODE
060860,000539:
060861,000540: 16,3035 30032 CA CDUX
060862,000541: 16,3036 55634 TS CDUXD
060863,000542:
060864,000543: 16,3037 11460 CCS OLDPMIN
060865,000544: 16,3040 13054 TCF CHECKP
060866,000545:
060867,000546: 16,3041 34751 FIREP CA BIT3
060868,000547: 16,3042 00006 EXTEND
060869,000548: 16,3043 02031 RAND CHAN31
060870,000549: 16,3044 00006 EXTEND
060871,000550: 16,3045 13064 BZF +XMIN
060872,000551:
060873,000552: 16,3046 34750 CA BIT4
060874,000553: 16,3047 00006 EXTEND
060875,000554: 16,3050 02031 RAND CHAN31
060876,000555: 16,3051 00006 EXTEND
060877,000556: 16,3052 13062 BZF -XMIN
060878,000557:
060879,000558: 16,3053 13445 TCF JETSOFF
060880,000559:
060881,000560: 16,3054 00006 CHECKP EXTEND
060882,000561: 16,3055 00031 READ CHAN31
060883,000562: 16,3056 40000 CS A
060884,000563: 16,3057 75752 MASK OCT14
060885,000564: 16,3060 55460 TS OLDPMIN
060886,000565: 16,3061 13445 TCF JETSOFF
060887,000566:
060888,000567: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060889,000568: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060890,000569: 16,3064 34363 +XMIN CA TEN
060891,000570: 16,3065 55524 TS TJP
060892,000571: 16,3066 34753 CA ONE
060893,000572: 16,3067 55460 TS OLDPMIN
060894,000573: 16,3070 13353 TCF PJETSLEC -6
060895,000574:
060896,000575: # MANUAL RATE COMMAND MODE
060897,000576: # ========================
060898,000577: # BY ROBERT F. STENGEL
060899,000578:
060900,000579: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060901,000580: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060902,000581: # RATE CONTROL AND ATTITUDE HOLD.
060903,000582:
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Page 1420
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060905,000584: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060906,000585: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060907,000586: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060908,000587: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060909,000588: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060910,000589: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060911,000590:
060912,000591: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060913,000592: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060914,000593: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060915,000594:
060916,000595: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060917,000596: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060918,000597: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060919,000598: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060920,000599: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060921,000600: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060922,000601:
060923,000602:
060924,000603: 16,3071 00006 DETENTCK EXTEND
060925,000604: 16,3072 00031 READ CHAN31
060926,000605: 16,3073 55443 TS CH31TEMP
060927,000606: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060928,000607: 16,3075 00006 EXTEND
060929,000608: 16,3076 13222 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060930,000609: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060931,000610: 16,3100 70111 MASK DAPBOOLS
060932,000611: 16,3101 00006 EXTEND
060933,000612: 16,3102 13466 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
060934,000613: # ........................................................................
060935,000614: 16,3103 34743 CA BIT9 # JUST IN DETENT??
060936,000615: 16,3104 71262 MASK RCSFLAGS
060937,000616: 16,3105 00006 EXTEND
060938,000617: 16,3106 13120 BZF RUTH
060939,000618: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
060940,000619: 16,3110 00006 EXTEND
060941,000620: 16,3111 02031 RAND CHAN31
060942,000621: 16,3112 00006 EXTEND
060943,000622: 16,3113 13217 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
060944,000623:
060945,000624: 16,3114 45014 CS BITS9,11 # IN AUTO.
060946,000625: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE)
060947,000626: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060948,000627: 16,3117 13217 TCF RATEDAMP
060949,000628:
060950,000629: 16,3120 31262 RUTH CA RCSFLAGS
060951,000630: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
060952,000631: 16,3122 00006 EXTEND
060953,000632: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
060954,000633: 16,3124 13217 TCF RATEDAMP
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Page 1421
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060956,000635: 16,3125 31262 CA RCSFLAGS
060957,000636: 16,3126 74741 MASK QRBIT
060958,000637: 16,3127 00006 EXTEND
060959,000638: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
060960,000639: 16,3131 13217 TCF RATEDAMP
060961,000640: # ============================================
060962,000641: 16,3132 4753 1/10SEC = BIT1
060963,000642: 16,3132 4771 40CYC = OCT50
060964,000643: 16,3132 74777 PQRBIT OCT 74777
060965,000644: 16,3133 5014 BITS9,11 EQUALS EBANK5
060966,000645: 16,3133 00056 LINRATP DEC 46 B-14
060967,000646: # ============================================
060968,000647: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
060969,000648: 16,3135 00004 INHINT # ALL AXES.
060970,000649: 16,3136 70111 MASK DAPBOOLS
060971,000650: 16,3137 54111 TS DAPBOOLS
060972,000651:
060973,000652: # READ CDUS INTO CDU DESIRED REGISTERS
060974,000653:
060975,000654: 16,3140 34737 CAF BIT13
060976,000655: 16,3141 00006 EXTEND
060977,000656: 16,3142 02031 RAND CHAN31
060978,000657: 16,3143 00006 EXTEND
060979,000658: 16,3144 13150 BZF +4
060980,000659: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE)
060981,000660: 16,3146 55634 TS CDUXD
060982,000661: 16,3147 03152 TC +3
060983,000662: 16,3150 04674 TC IBNKCALL
060984,000663: 16,3151 40154 FCADR ZATTEROR
060985,000664: 16,3152 00003 RELINT
060986,000665: 16,3153 13466 TCF PURGENCY
060987,000666:
060988,000667: 16,3154 55464 JUSTOUT TS PERROR # INITIALIZATION - FIRST MANUAL PASS (A=0)
060989,000668: 16,3155 55446 TS DXERROR
060990,000669: 16,3156 55447 TS DXERROR +1
060991,000670: 16,3157 55450 TS DYERROR
060992,000671: 16,3160 55451 TS DYERROR +1
060993,000672: 16,3161 55452 TS DZERROR
060994,000673: 16,3162 55453 TS DZERROR +1
060995,000674: 16,3163 55454 TS PLAST
060996,000675: 16,3164 55455 TS QLAST
060997,000676: 16,3165 55456 TS RLAST
060998,000677: 16,3166 54042 TS Q-RHCCTR
060999,000678: 16,3167 54044 TS R-RHCCTR
061000,000679: 16,3170 33132 CA PQRBIT
061001,000680: 16,3171 71262 MASK RCSFLAGS
061002,000681: 16,3172 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
061003,000682: 16,3173 03200 TC ZEROENBL
061004,000683: 16,3174 34740 CA OURRCBIT # SET INTERNAL RATE COMMAND FLAG (WHICH
061005,000684: 16,3175 26111 ADS DAPBOOLS # WAS FOUND TO BE ZERO EARLIER)
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Page 1422
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061007,000686: 16,3176 00003 RELINT
061008,000687: 16,3177 13445 TCF JETSOFF
061009,000688: 16,3200 22044 ZEROENBL LXCH R-RHCCTR
061010,000689: 16,3201 30042 CA Q-RHCCTR
061011,000690: 16,3202 53463 DXCH SAVEHAND
061012,000691: 16,3203 34755 CA ZERO
061013,000692: 16,3204 54043 TS P-RHCCTR
061014,000693: 16,3205 54042 TS Q-RHCCTR
061015,000694: 16,3206 54044 TS R-RHCCTR
061016,000695: 16,3207 00004 INHINT
061017,000696: 16,3210 00006 EXTEND
061018,000697: 16,3211 23265 QXCH C13QSAV
061019,000698: 16,3212 06022 TC C13STALL
061020,000699:
061021,000700: 16,3213 33622 CA BITS8,9
061022,000701: 16,3214 00006 EXTEND
061023,000702: 16,3215 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
061024,000703: 16,3216 01265 TC C13QSAV
061025,000704:
061026,000705: 16,3217 34755 RATEDAMP CA ZERO
061027,000706: 16,3220 54043 TS P-RHCCTR
061028,000707: 16,3221 13231 TCF RATERROR
061029,000708:
061030,000709: 16,3222 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1
061031,000710: 16,3223 74743 MASK BIT9
061032,000711: 16,3224 27262 ADS RCSFLAGS
061033,000712: 16,3225 34740 CA OURRCBIT # P CONTROL
061034,000713: 16,3226 70111 MASK DAPBOOLS
061035,000714: 16,3227 00006 EXTEND
061036,000715: 16,3230 13154 BZF JUSTOUT
061037,000716: 16,3231 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
061038,000717: 16,3232 55634 TS CDUXD # X-AXIS OVERRIDE
061039,000718: 16,3233 10043 CCS P-RHCCTR
061040,000719: 16,3234 13237 TCF +3
061041,000720: 16,3235 13237 TCF +2
061042,000721: 16,3236 13237 TCF +1
061043,000722: 16,3237 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
061044,000723: 16,3240 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
061045,000724: 16,3241 63133 AD LINRATP # AUTOPILOT)
061046,000725: 16,3242 00006 EXTEND
061047,000726: 16,3243 70043 MP P-RHCCTR
061048,000727: 16,3244 30001 CA L
061049,000728: 16,3245 00006 EXTEND
061050,000729: 16,3246 71444 MP STIKSENS
061051,000730: 16,3247 57454 XCH PLAST
061052,000731: 16,3250 40000 COM
061053,000732: 16,3251 61454 AD PLAST
061054,000733: 16,3252 55736 TS DAPTEMP1
061055,000734: 16,3253 03200 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
061056,000735: 16,3254 00003 RELINT
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Page 1423
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061058,000737: 16,3255 41454 CS PLAST
061059,000738: 16,3256 61421 AD OMEGAP
061060,000739: 16,3257 55427 TS EDOTP
061061,000740: 16,3260 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
061062,000741: 16,3261 13264 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
061063,000742: 16,3262 13272 TCF +8 # CHECK FOR DIRECT RATE CONTROL LAST TIME.
061064,000743: 16,3263 13264 TCF +1
061065,000744: 16,3264 61476 AD -RATEDB
061066,000745: 16,3265 00006 EXTEND
061067,000746: 16,3266 63272 BZMF +4
061068,000747: 16,3267 34771 CA 40CYC
061069,000748: 16,3270 55445 TS TCP
061070,000749: 16,3271 03303 TC PEGI
061071,000750: 16,3272 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
061072,000751: 16,3273 74742 MASK PBIT
061073,000752: 16,3274 00006 EXTEND
061074,000753: 16,3275 13277 BZF +2
061075,000754: 16,3276 03303 TC PEGI # TO PURE RATE COMMAND
061076,000755: 16,3277 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
061077,000756: 16,3300 55751 TS E # X-ATTITUDE ERROR (SP)
061078,000757: 16,3301 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061079,000758: 16,3302 03472 TC PURGENCY +4
061080,000759: 16,3303 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
061081,000760: 16,3304 55634 TS CDUXD
061082,000761: 16,3305 34755 CA ZERO
061083,000762: 16,3306 55446 TS DXERROR
061084,000763: 16,3307 55447 TS DXERROR +1
061085,000764: 16,3310 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061086,000765: 16,3311 11427 CCS EDOTP
061087,000766: 16,3312 03315 TC +3
061088,000767: 16,3313 03315 TC +2
061089,000768: 16,3314 03315 TC +1
061090,000769: 16,3315 55736 TS ABSEDOTP
061091,000770: 16,3316 61476 AD TARGETDB
061092,000771: 16,3317 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
061093,000772: 16,3320 63330 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
061094,000773: 16,3321 31445 CA TCP
061095,000774: 16,3322 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
061096,000775: 16,3323 63330 BZMF LAST
061097,000776: 16,3324 41262 CS RCSFLAGS
061098,000777: 16,3325 74742 MASK PBIT
061099,000778: 16,3326 27262 ADS RCSFLAGS # BIT 10 IS 1.
061100,000779: 16,3327 13333 TCF +4
061101,000780: 16,3330 44742 LAST CS PBIT
061102,000781: 16,3331 71262 MASK RCSFLAGS
061103,000782: 16,3332 55262 TS RCSFLAGS # BIT 10 IS 0.
061104,000783: 16,3333 41427 CS EDOTP
061105,000784: 16,3334 00006 EXTEND
061106,000785: 16,3335 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
061107,000786: 16,3336 20001 DAS A
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Page 1424
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061109,000788: 16,3337 02310 TC OVERSUB
061110,000789: 16,3340 00006 EXTEND
061111,000790: 16,3341 77721 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
061112,000791: 16,3342 55524 TS TJP # 4.JET TIME
061113,000792: 16,3343 31736 CA ABSEDOTP
061114,000793: 16,3344 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
061115,000794: 16,3345 00006 EXTEND
061116,000795: 16,3346 63351 BZMF +3
061117,000796:
061118,000797: 16,3347 36245 CA SIX
061119,000798: 16,3350 13360 TCF +8D
061120,000799: 16,3351 31524 CA TJP
061121,000800: 16,3352 27524 ADS TJP
061122,000801: # GOES TO PJETSLEC FOR TWO JETS
061123,000802:
061124,000803: # P-JET-SELECTION-ROUTINE (ROTATION)
061125,000804:
061126,000805: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
061127,000806: # TJP + FOR +P ROTATION
061128,000807:
061129,000808: # OUTPUT: CHANNEL 6
061130,000809: # PJUMPADR FOR P-AXIS SKIP
061131,000810: # (JTLST CALL) (SMALL TJP)
061132,000811:
061133,000812: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
061134,000813: # +P -P
061135,000814: # 7,15 8,16
061136,000815: # 4,12 3,11
061137,000816: # 4,7 8,11
061138,000817: # 7,12 11,16
061139,000818: # 12,15 3,16
061140,000819: # 4,15 3,8
061141,000820: # ALARM ALARM
061142,000821: 16,3353 34747 CA AORBSYST
061143,000822: 16,3354 70101 MASK FLAGWRD5
061144,000823: 16,3355 10000 CCS A
061145,000824: 16,3356 34753 CA ONE
061146,000825: 16,3357 64751 AD FOUR
061147,000826: 16,3360 55742 TS NUMBERT
061148,000827: 16,3361 34753 PJETSLEC CA ONE
061149,000828: 16,3362 54001 TS L
061150,000829: 16,3363 11524 CCS TJP
061151,000830: 16,3364 13371 TCF +5
061152,000831: 16,3365 13445 TCF JETSOFF
061153,000832: 16,3366 13370 TCF +2
061154,000833: 16,3367 13445 TCF JETSOFF
061155,000834: 16,3370 22007 ZL
061156,000835: 16,3371 64753 AD ONE
061157,000836: 16,3372 55736 TS ABSTJ
061158,000837: 16,3373 23743 LXCH ROTINDEX
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Page 1425
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061160,000839: 16,3374 03534 TC SELECTP
061161,000840: 16,3375 46245 CS SIX
061162,000841: 16,3376 61742 AD NUMBERT
061163,000842: 16,3377 00006 EXTEND
061164,000843: 16,3400 13402 BZF +2
061165,000844:
061166,000845: 16,3401 44752 CS TWO
061167,000846: 16,3402 64751 AD FOUR
061168,000847: 16,3403 55521 TS NO.PJETS
061169,000848: 16,3404 31740 CA POLYTEMP
061170,000849: 16,3405 05755 TC WRITEP
061171,000850: 16,3406 41736 CS ABSTJ
061172,000851: 16,3407 63615 AD +150MST6
061173,000852: 16,3410 00006 EXTEND
061174,000853: 16,3411 63627 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
061175,000854:
061176,000855: 16,3412 63575 AD -136MST6
061177,000856: 16,3413 00006 EXTEND
061178,000857: 16,3414 63421 BZMF +5
061179,000858:
061180,000859: 16,3415 27736 ADS ABSTJ
061181,000860: 16,3416 51743 INDEX ROTINDEX
061182,000861: 16,3417 33624 CA MINTIMES
061183,000862: 16,3420 55524 TS TJP
061184,000863:
061185,000864: 16,3421 31736 CA ABSTJ
061186,000865: 16,3422 22007 ZL
061187,000866: 16,3423 00004 INHINT
061188,000867: 16,3424 53471 DXCH T6FURTHA
061189,000868: 16,3425 04674 TC IBNKCALL
061190,000869: 16,3426 37143 CADR JTLST
061191,000870: 16,3427 44740 CS BIT12
061192,000871: 16,3430 71262 MASK RCSFLAGS
061193,000872: 16,3431 55262 TS RCSFLAGS # BIT 12 SET TO 0.
061194,000873: 16,3432 03434 TC ALTSYST
061195,000874: 16,3433 13627 TCF QRAXIS
061196,000875:
061197,000876: 16,3434 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS
061198,000877: 16,3435 54001 TS L
061199,000878: 16,3436 34747 CA AORBSYST
061200,000879: 16,3437 00006 EXTEND
061201,000880: 16,3440 06001 RXOR LCHAN
061202,000881: 16,3441 54101 TS FLAGWRD5
061203,000882: 16,3442 00003 RELINT
061204,000883: 16,3443 00002 TC Q
061205,000884:
061206,000885: 16,3444 03434 DKALT TC ALTSYST
061207,000886:
061208,000887: 16,3445 05754 JETSOFF TC WRITEP -1
061209,000888: 16,3446 34755 CA ZERO
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Page 1426
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061211,000890: 16,3447 55524 TS TJP
061212,000891: 16,3450 13627 TCF QRAXIS
061213,000892: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
061214,000893:
061215,000894: 16,3451 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
061216,000895: 16,3452 00006 EXTEND
061217,000896: 16,3453 21635 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
061218,000897: 16,3454 00006 EXTEND
061219,000898: 16,3455 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
061220,000899: 16,3456 57751 XCH E # SAVE FIRST TERM (OF TWO)
061221,000900: 16,3457 30032 CA CDUX # THIRD COMPONENT
061222,000901: 16,3460 00006 EXTEND
061223,000902: 16,3461 21634 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
061224,000903: # EXTEND
061225,000904: # MP M13
061226,000905: 16,3462 61274 AD DELPEROR # KALCMANU INERFACE ERROR
061227,000906: 16,3463 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
061228,000907: 16,3464 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
061229,000908: 16,3465 00002 TC Q # RETURN TO CALLER
061230,000909:
061231,000910: # P-AXIS URGENCY FUNCTION CALCULATION.
061232,000911:
061233,000912: 16,3466 03451 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
061234,000913: 16,3467 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
061235,000914: 16,3470 61421 AD OMEGAP # SPS-BACKUP MODE.
061236,000915: 16,3471 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
061237,000916:
061238,000917:
061239,000918: 16,3472 44753 CS ONE
061240,000919: 16,3473 55505 TS AXISCTR
061241,000920: 16,3474 30111 CA DAPBOOLS
061242,000921: 16,3475 74737 MASK CSMDOCKD
061243,000922: 16,3476 00006 EXTEND
061244,000923: 16,3477 13510 BZF HEADTJET
061245,000924: 16,3500 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
061246,000925: 16,3501 04674 TC IBNKCALL
061247,000926: 16,3502 43721 CADR SPSRCS
061248,000927:
061249,000928: 16,3503 31524 CA TJP
061250,000929: 16,3504 00006 EXTEND
061251,000930: 16,3505 13444 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
061252,000931: 16,3506 00003 RELINT
061253,000932: 16,3507 13353 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
061254,000933: 16,3510 34755 HEADTJET CA ZERO
061255,000934: 16,3511 55500 TS SENSETYP
061256,000935: 16,3512 00004 INHINT
061257,000936: 16,3513 04674 TC IBNKCALL
061258,000937: 16,3514 37304 CADR TJETLAW
061259,000938: 16,3515 00003 RELINT
061260,000939:
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Page 1427
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061262,000941: 16,3516 41740 CS FIREFCT
061263,000942: 16,3517 63533 AD -FOURDEG
061264,000943: 16,3520 00006 EXTEND
061265,000944: 16,3521 63353 BZMF PJETSLEC -6
061266,000945: 16,3522 11524 CCS TJP
061267,000946: 16,3523 13525 TCF +2
061268,000947: 16,3524 13445 TCF JETSOFF
061269,000948: 16,3525 63532 AD -160MST6
061270,000949: 16,3526 00006 EXTEND
061271,000950: 16,3527 63353 BZMF PJETSLEC -6
061272,000951: 16,3530 36245 CA SIX
061273,000952: 16,3531 13360 TCF PJETSLEC -1
061274,000953: 16,3532 77377 -160MST6 DEC -256 B-14
061275,000954: 16,3533 75117 -FOURDEG DEC -.08888
061276,000955:
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Page 1428
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061278,000957: # JET POLICY CONSTRUCTION SUBROUTINE
061279,000958:
061280,000959: # INPUT: ROTINDEX, NUMBERT
061281,000960:
061282,000961: # OUTPUT: POLYTEMP (JET POLICY)
061283,000962:
061284,000963: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
061285,000964: 16,3534 36245 SELECTP CA SIX
061286,000965: 16,3535 55741 TS TEMPNUM
061287,000966: 16,3536 51742 INDEX NUMBERT
061288,000967: 16,3537 33566 CA TYPEP
061289,000968: 16,3540 51743 INDEX ROTINDEX
061290,000969: 16,3541 73557 MASK JETSALL
061291,000970: 16,3542 55740 TS POLYTEMP
061292,000971: 16,3543 71260 MASK CH6MASK
061293,000972: 16,3544 10000 CCS A
061294,000973: 16,3545 13547 TCF +2
061295,000974: 16,3546 00002 TC Q
061296,000975: 16,3547 11741 CCS TEMPNUM
061297,000976: 16,3550 13554 TCF +4
061298,000977: 16,3551 05600 TC ALARM
061299,000978: 16,3552 02003 OCT 02003
061300,000979: 16,3553 13445 TCF JETSOFF # *****TCF ALARMJET *********************
061301,000980: 16,3554 55742 SELECTYZ TS NUMBERT
061302,000981: 16,3555 13535 TCF SELECTP +1
061303,000982: 16,3556 12773 -1 TCF ABORTYZ +2
061304,000983: 16,3557 00252 JETSALL OCT 00252
061305,000984: 16,3560 00125 OCT 00125 # +P
061306,000985: 16,3561 00140 OCT 00140 # -Y
061307,000986: 16,3562 00006 OCT 00006 # -Z
061308,000987: 16,3563 00220 OCT 00220 # +Y
061309,000988: 16,3564 00011 OCT 00011 # +Z
061310,000989: 16,3565 00151 OCT 00151 # +V
061311,000990: 16,3566 00146 TYPEP OCT 00146 # -U
061312,000991: 16,3567 00226 OCT 00226 # -V
061313,000992: 16,3570 00231 OCT 00231 # +U
061314,000993: 16,3571 00151 OCT 00151 # +V
061315,000994: 16,3572 00132 OCT 00132 # 1-3
061316,000995: 16,3573 00245 OCT 00245 # 2-4
061317,000996: 16,3574 00377 OCT 00377 # ALL
061318,000997: 16,3575 16,3575 INDXYZ = -136MST6
061319,000998: 16,3575 77445 -136MST6 DEC -218 B-14
061320,000999: 16,3576 00004 DEC 4 B-14
061321,001000: 16,3577 00002 DEC 2 B-14
061322,001001: 16,3600 07776 OCT 07776
061323,001002: 16,3601 00005 DEC 5 B-14
061324,001003: 16,3602 00011 DEC 9 B-14
061325,001004: 16,3603 00012 DEC 10 B-14
061326,001005: 16,3604 07776 OCT 07776
061327,001006: 16,3605 00003 DEC 3 B-14
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Page 1429
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061329,001008: 16,3606 00010 DEC 8 B-14
061330,001009: 16,3607 00007 DEC 7 B-14
061331,001010: 16,3610 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
061332,001011: 16,3611 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
061333,001012: 16,3612 07776 OCT 07776 # TO BE TC JETSALL -1
061334,001013: 16,3613 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
061335,001014: 16,3614 07776 OCT 07776
061336,001015: 16,3615 00360 +150MST6 DEC 240 B-14
061337,001016: 16,3616 07400 07400OCT OCT 07400
061338,001017: # T-JET LAW FIXED CONSTANTS
061339,001018:
061340,001019: 16,3617 00266 NORMSCL OCT 266
061341,001020: 16,3620 74631 -100MS DEC -.1
061342,001021: 16,3621 06315 200MS DEC .2
061343,001022: 16,3622 7721 25/32 = PRIO31 # (DEC .78125)
061344,001023: 16,3622 00600 BITS8,9 OCTAL 00600
061345,001024: 16,3623 00632 1/40 DEC .02500
061346,001025: 16,3624 77751 MINTIMES DEC -22 B-14
061347,001026: 16,3625 00026 DEC 22 B-14
061348,001027: 16,3626 02734 PSKIPADR GENADR SKIPPAXS
061349,001028:
061350,001029: # GOES TO Q,R-AXES RCS AUTOPILOT
061351,001030: 16,3627 41644 QRAXIS CS OMEGARD
061352,001031: 16,3630 61423 AD OMEGAR
061353,001032: 16,3631 02310 TC OVERSUB
061354,001033: 16,3632 55437 TS EDOTR
061355,001034: 16,3633 41643 CS OMEGAQD
061356,001035: 16,3634 61422 AD OMEGAQ
061357,001036: 16,3635 02310 TC OVERSUB
061358,001037: 16,3636 55436 TS EDOTQ
061359,001038: 16,3637 00006 EXTEND
061360,001039: 16,3640 33643 DCA QERRCALL
061361,001040: 16,3641 52006 DTCB
061362,001041:
061363,001042: 16,3642 E6,1536 EBANK= AOSQ
061364,001043: 16,3642 02124 36106 QERRCALL 2CADR CALLQERR
061365,001044:
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc