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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020837,000002: ## Copyright: Public domain.
020838,000003: ## Filename: R60,R62.agc
020839,000004: ## Purpose: A section of Luminary revision 163.
020840,000005: ## It is part of the reconstructed source code for the first
020841,000006: ## (unflown) release of the flight software for the Lunar
020842,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
020843,000008: ## The code has been recreated from a reconstructed copy of
020844,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
020845,000010: ## It has been adapted such that the resulting bugger words
020846,000011: ## exactly match those specified for Luminary 163 in NASA
020847,000012: ## drawing 2021152N, which gives relatively high confidence
020848,000013: ## that the reconstruction is correct.
020849,000014: ## Reference: pp. 480-493
020850,000015: ## Assembler: yaYUL
020851,000016: ## Contact: Ron Burkey <info@sandroid.org>.
020852,000017: ## Website: www.ibiblio.org/apollo/index.html
020853,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
020854,000019:
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020856,000021: # MOD NO: 0 DATE: 1 MAY 1968
020857,000022:
020858,000023: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020859,000024:
020860,000025: # FUNCTIONAL DESCRIPTION:
020861,000026:
020862,000027: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020863,000028: # ATTITUDE.
020864,000029:
020865,000030: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020866,000031: # CALCULATED (VECPOINT).
020867,000032:
020868,000033: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020869,000034:
020870,000035: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020871,000036:
020872,000037: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020873,000038: # ASTRONAUT RESPONSE.
020874,000039:
020875,000040: # 5. DISPLAY RESPONSE RETURNS:
020876,000041:
020877,000042: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020878,000043:
020879,000044: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020880,000045: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020881,000046: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020882,000047:
020883,000048: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020884,000049:
020885,000050: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020886,000051: # (VECPOINT).
020887,000052:
020888,000053: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020889,000054:
020890,000055: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020891,000056:
020892,000057: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020893,000058:
020894,000059: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020895,000060:
020896,000061: # 11. DO A PHASECHANGE.
020897,000062:
020898,000063: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020899,000064:
020900,000065: # GIMBAL ANGLES (GOMANUR).
020901,000066: # 13. AT END OF MANEUVER GO TO STEP 3.
020902,000067:
020903,000068: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020904,000069: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020905,000070: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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020907,000072: # STEP 5C.
020908,000073:
020909,000074: # CALLING SEQUENCE: TC BANKCALL
020910,000075: # CADR R60LEM
020911,000076:
020912,000077: # ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT)
020913,000078: # 3AXISFLG.
020914,000079:
020915,000080: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020916,000081: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020917,000082:
020918,000083: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020919,000084: # TC BANKJUMP
020920,000085:
020921,000086: # ALARMS: NONE
020922,000087:
020923,000088: # OUTPUT: NONE
020924,000089:
020925,000090: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020926,000091:
020927,000092:
020928,000093: 34,2000 BANK 34
020929,000094: 26,2000 SETLOC MANUVER
020930,000095: 26,2000 BANK
020931,000096:
020932,000097: 26,2125 1163 EBANK= TEMPR60
020933,000098:
020934,000099: 26,2125 COUNT* $$/R06
020935,000100: 26,2125 04645 R60LEM TC MAKECADR
020936,000101: 26,2126 55163 TS TEMPR60
020937,000102:
020938,000103: 26,2127 34746 REDOMANN CAF 3AXISBIT
020939,000104: 26,2130 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020940,000105: 26,2131 10000 CCS A
020941,000106: 26,2132 12140 TCF TOBALL # YES
020942,000107: 26,2133 06042 TC INTPRET
020943,000108: 26,2134 77624 CALL
020944,000109: 26,2135 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020945,000110: 26,2136 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
020946,000111: 26,2137 77776 EXIT
020947,000112:
020948,000113: 26,2140 05515 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
020949,000114: 26,2141 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES
020950,000115: 26,2142 05527 TC DOWNFLAG
020951,000116: 26,2143 00000 ADRES NEED2FLG
020952,000117: 26,2144 04616 TC BANKCALL
020953,000118: 26,2145 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020954,000119: 26,2146 32262 TOBALLA CAF V06N18
020955,000120: 26,2147 04616 TC BANKCALL
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020957,000122: 26,2150 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020958,000123: 26,2151 02250 TC R61TEST
020959,000124: 26,2152 02156 TC REDOMANC # PROCEED
020960,000125: 26,2153 02203 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
020961,000126: 26,2154 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020962,000127: 26,2155 05155 TC ENDOFJOB
020963,000128:
020964,000129: 26,2156 34746 REDOMANC CAF 3AXISBIT
020965,000130: 26,2157 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020966,000131: 26,2160 10000 CCS A
020967,000132: 26,2161 12167 TCF TOBALLC # YES
020968,000133: 26,2162 06042 TC INTPRET
020969,000134: 26,2163 77624 CALL
020970,000135: 26,2164 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020971,000136: 26,2165 00322 STORE CPHI # STORE ANGLES
020972,000137: 26,2166 77776 EXIT
020973,000138:
020974,000139: 26,2167 04616 TOBALLC TC BANKCALL
020975,000140: 26,2170 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020976,000141: 26,2171 02263 TC G+N,AUTO # CHECK AUTO MODE
020977,000142: 26,2172 10000 CCS A
020978,000143: 26,2173 12146 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020979,000144:
020980,000145: 26,2174 32262 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020981,000146: 26,2175 04616 TC BANKCALL # -
020982,000147: 26,2176 20452 CADR GODSPR # -
020983,000148: 26,2177 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020984,000149:
020985,000150: 26,2200 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020986,000151: 26,2201 17754 CADR GOMANUR
020987,000152:
020988,000153: 26,2202 12146 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020989,000154: 26,2203 05527 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020990,000155: 26,2204 00124 ADRES 3AXISFLG
020991,000156: 26,2205 31163 CAE TEMPR60 # -
020992,000157: 26,2206 04640 TC BANKJUMP # -
020993,000158:
020994,000159: 26,2207 40100 CHKLINUS CS FLAGWRD4
020995,000160: 26,2210 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020996,000161: 26,2211 10000 CCS A # -
020997,000162: 26,2212 00002 TC Q # NO - EXIT
020998,000163: 26,2213 30002 CA Q
020999,000164: 26,2214 54156 TS MPAC +2 # SAVE RETURN
021000,000165: 26,2215 46250 CS THREE # OBTAIN LOCATION FOR RESTART
021001,000166: 26,2216 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
021002,000167: 26,2217 55054 TS TBASE2
021003,000168:
021004,000169: 26,2220 05364 TC PHASCHNG
021005,000170: 26,2221 00132 OCT 00132
021006,000171:
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021008,000173: 26,2222 34745 CAF BIT7
021009,000174: 26,2223 05475 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
021010,000175: 26,2224 00156 TC MPAC +2
021011,000176:
021012,000177: 26,2225 37717 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
021013,000178: 26,2226 05146 TC PRIOCHNG
021014,000179:
021015,000180: 26,2227 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021016,000181: 26,2230 70075 MASK FLAGWRD1
021017,000182: 26,2231 10000 CCS A
021018,000183: 26,2232 12245 TCF RER60
021019,000184:
021020,000185: 26,2233 34745 CAF RNDVZBIT # IS IT P20?
021021,000186: 26,2234 70074 MASK FLAGWRD0
021022,000187: 26,2235 10000 CCS A
021023,000188: 26,2236 02242 TC +4 # YES
021024,000189: 26,2237 05364 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
021025,000190: 26,2240 40112 OCT 40112
021026,000191:
021027,000192: 26,2241 05155 TC ENDOFJOB
021028,000193:
021029,000194: 26,2242 05364 TC PHASCHNG # SET 2.7 SPOT FOR P20
021030,000195: 26,2243 40072 OCT 40072
021031,000196:
021032,000197: 26,2244 05155 TC ENDOFJOB
021033,000198:
021034,000199: 26,2245 05515 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
021035,000200: 26,2246 00077 ADRES PDSPFLAG
021036,000201:
021037,000202: 26,2247 01054 TC TBASE2
021038,000203:
021039,000204: 26,2250 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
021040,000205: 26,2251 00006 EXTEND
021041,000206: 26,2252 12203 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
021042,000207:
021043,000208: 26,2253 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
021044,000209: 26,2254 74740 MASK PDSPFBIT
021045,000210: 26,2255 00006 EXTEND
021046,000211: 26,2256 16001 BZF GOTOPOOH # NO
021047,000212: 26,2257 06025 TC GOTOV56 # YES
021048,000213:
021049,000214: 26,2260 20100 BIT14+7 OCT 20100 # -
021050,000215: 26,2261 00203 OCT203 OCT 203
021051,000216: 26,2262 01422 V06N18 VN 0618
021052,000217: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021053,000218:
021054,000219: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
021055,000220: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021056,000221:
021057,000222: 26,2263 00006 G+N,AUTO EXTEND
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021059,000224: 26,2264 00030 READ CHAN30
021060,000225: 26,2265 74742 MASK BIT10
021061,000226: 26,2266 10000 CCS A
021062,000227: 26,2267 00002 TC Q # NOT IN G+N C(A) = +
021063,000228: 26,2270 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
021064,000229: 26,2271 00031 READ CHAN31
021065,000230: 26,2272 74736 MASK BIT14
021066,000231: 26,2273 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
021067,000232:
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021069,000234: # PROGRAM DESCRIPTION BALLANGS
021070,000235: # MOD NO. LOG SECTION R60,R62
021071,000236:
021072,000237: # WRITTEN BY RAMA M.AIYAWAR
021073,000238: # FUNCTIONAL DESCRIPTION
021074,000239:
021075,000240: # COMPUTES LM FDAI BALL DISPLAY ANGLES
021076,000241: # CALLING SEQUENCE
021077,000242:
021078,000243: # TC BALLANGS
021079,000244: # NORMAL EXIT MODE
021080,000245:
021081,000246: # TC BALLEXIT (SAVED Q)
021082,000247:
021083,000248: # ALARM OR EXIT MODE NIL
021084,000249: # SUBROUTINES CALLED
021085,000250: # CD*TR*G
021086,000251: # ARCTAN
021087,000252:
021088,000253: # INPUT
021089,000254:
021090,000255: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021091,000256: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021092,000257: # OUTPUT
021093,000258:
021094,000259: # FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021095,000260: # SP,2S COMPLIMENT.
021096,000261: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021097,000262:
021098,000263: # ERASABLE INITIALIZATION REQUIRED
021099,000264:
021100,000265: # CPHI,CTHETA,CPSI EACH A SP REGISTER
021101,000266: # DEBRIS
021102,000267:
021103,000268: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021104,000269:
021105,000270:
021106,000271: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021107,000272: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021108,000273:
021109,000274: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021110,000275:
021111,000276: 26,2000 SETLOC BAWLANGS
021112,000277: 26,2000 BANK
021113,000278:
021114,000279: 26,2274 COUNT* $$/BALL
021115,000280: 26,2274 04645 BALLANGS TC MAKECADR
021116,000281: 26,2275 55337 TS BALLEXIT
021117,000282: 26,2276 30321 CA CPHI
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021119,000284: 26,2277 54771 TS CDUSPOT +4
021120,000285: 26,2300 30322 CA CTHETA
021121,000286: 26,2301 54765 TS CDUSPOT
021122,000287: 26,2302 30323 CA CPSI
021123,000288: 26,2303 54767 TS CDUSPOT +2
021124,000289:
021125,000290: 26,2304 06042 TC INTPRET
021126,000291: 26,2305 45001 SETPD CALL
021127,000292: 26,2306 00001 0D
021128,000293: 26,2307 47541 CD*TR*G
021129,000294:
021130,000295: 26,2310 41345 DLOAD DMP
021131,000296: 26,2311 00742 SINCDUX # SIN (OGA)
021132,000297: 26,2312 00746 COSCDUZ # COS (MGA)
021133,000298:
021134,000299: 26,2313 57552 SL1 DCOMP # SCALE
021135,000300: 26,2314 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
021136,000301: 26,2315 00740 SINCDUZ
021137,000302: 26,2316 14023 STODL SINTH # (SINTH = 18D IN PD)
021138,000303: 26,2317 00746 COSCDUZ
021139,000304: 26,2320 72405 DMP SL1 # RESCALE
021140,000305: 26,2321 00750 COSCDUX
021141,000306: 26,2322 34021 STCALL COSTH # (COSTH = 16D IN PD)
021142,000307: 26,2323 26506 ARCTAN
021143,000308: 26,2324 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021144,000309: 26,2325 00740 SINCDUZ
021145,000310: 26,2326 00742 SINCDUX
021146,000311: 26,2327 41512 SL2 PUSH # SXSZ INTO 4 PD
021147,000312: 26,2330 65205 DMP PDDL # SXSZCY INTO 4 PD
021148,000313: 26,2331 00744 COSCDUY
021149,000314: 26,2332 65205 DMP PDDL # SXSZSY INTO 6 PD
021150,000315: 26,2333 00736 SINCDUY
021151,000316: 26,2334 00750 COSCDUX
021152,000317: 26,2335 72405 DMP SL1 # CXCY
021153,000318: 26,2336 00744 COSCDUY
021154,000319: 26,2337 45425 DSU STADR # PULL UP FROM 6 PD
021155,000320: 26,2340 63756 STODL COSTH # COSTH = CXCY - SXSZSY
021156,000321: 26,2341 00736 SINCDUY
021157,000322: 26,2342 72405 DMP SL1
021158,000323: 26,2343 00750 COSCDUX # CXSY
021159,000324: 26,2344 45415 DAD STADR # PULL UP FROM 4 PD
021160,000325: 26,2345 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
021161,000326: 26,2346 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH
021162,000327: 26,2347 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
021163,000328: 26,2350 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021164,000329: 26,2351 21621 V1STO2S
021165,000330: 26,2352 02345 STORE FDAIX # MODE IS TP
021166,000331: 26,2353 77776 EXIT
021167,000332:
021168,000333: 26,2354 31337 ENDBALL CA BALLEXIT
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021170,000335: 26,2355 04640 TC BANKJUMP
021171,000336:
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021173,000338: # PROGRAM DESCRIPTION - VECPOINT
021174,000339:
021175,000340:
021176,000341: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
021177,000342: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021178,000343: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021179,000344: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021180,000345: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
021181,000346: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021182,000347: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
021183,000348: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021184,000349: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021185,000350: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021186,000351: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021187,000352: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR-X) AXIS,
021188,000353: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021189,000354: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021190,000355: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021191,000356: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021192,000357: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021193,000358: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021194,000359: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021195,000360:
021196,000361: # CALLING SEQUENCE -
021197,000362: # 1) LOAD SCAXIS, POINTVSM
021198,000363: # 2) CALL
021199,000364: # VECPOINT
021200,000365:
021201,000366: # RETURNS WITH
021202,000367:
021203,000368: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
021204,000369: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
021205,000370: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021206,000371:
021207,000372:
021208,000373: # ERASABLES USED -
021209,000374:
021210,000375: # 1) SCAXIS 6
021211,000376: # 2) POINTVSM 6
021212,000377: # 3) MIS 18
021213,000378: # 4) DEL 18
021214,000379: # 5) COF 6
021215,000380: # 6) VECQTEMP 1
021216,000381: # 7) ALL OF VAC AREA 43
021217,000382:
021218,000383: # TOTAL 99
021219,000384:
021220,000385: 27,2000 SETLOC VECPT
021221,000386: 27,2000 BANK
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Page 489
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021223,000388: 27,2032 COUNT* $$/VECPT
021224,000389:
021225,000390: 27,2032 E6,1675 EBANK= BCDU
021226,000391:
021227,000392: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
021228,000393: 27,2033 03324 VECQTEMP # NOT PRESENT-ENTER WITH CDUD'S IN MPAC
021229,000394: 27,2034 56035 VECPNT2
021230,000395: 27,2035 52164 VECPNT2 AXC,2 GOTO
021231,000396: 27,2036 03245 MIS
021232,000397: 27,2037 56046 STORANG
021233,000398: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
021234,000399: 27,2041 03324 VECQTEMP
021235,000400: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
021236,000401: 27,2043 47164 VECLEAR AXC,2 RTB
021237,000402: 27,2044 03245 MIS # READ THE PRESENT CDU ANGLES AND
021238,000403: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
021239,000404: 27,2046 34032 STORANG STCALL 25D
021240,000405: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
021241,000406: 27,2050 61375 VLOAD VXM
021242,000407: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
021243,000408: 27,2052 03246 MIS # INITIAL S/C AXES ( VF = POINTVSM)
021244,000409: 27,2053 77656 UNIT
021245,000410: 27,2054 00035 STORE 28D
021246,000411: # PD 28 29 30 31 32 33
021247,000412: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
021248,000413: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
021249,000414: 27,2057 57400 BOV VCOMP
021250,000415: 27,2060 56170 PICKAXIS
021251,000416: 27,2061 17270 STODL COF # CHECK MAGNITUDE
021252,000417: 27,2062 00045 36D # OF CROSS PRODUCT
021253,000418: 27,2063 50025 DSU BMN # VECTOR, IF LESS
021254,000419: 27,2064 14417 DPB-14 # THAN B-14 ASSUME
021255,000420: 27,2065 56170 PICKAXIS # UNIT OPERATION
021256,000421: 27,2066 50375 VLOAD DOT # INVALID.
021257,000422: 27,2067 03765 SCAXIS
021258,000423: 27,2070 00035 28D
021259,000424: 27,2071 65552 SL1 ARCCOS
021260,000425: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
021261,000426: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
021262,000427: 27,2074 75160 AXC,1 AXC,2
021263,000428: 27,2075 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
021264,000429: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
021265,000430: 27,2077 77624 CALL # MFS = MIS MFI
021266,000431: 27,2100 44312 MXM3 # (IN PD LIST)
021267,000432:
021268,000433: 27,2101 51545 DLOAD ABS
021269,000434: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
021270,000435: 27,2103 50025 DSU BMN
021271,000436: 27,2104 14404 SINGIMLC # = SIN(59 DEGS) $2
021272,000437: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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021274,000439: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021275,000440:
021276,000441: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
021277,000442: 27,2107 03765 SCAXIS # THE THRUST AXIS
021278,000443: 27,2110 51025 DSU BPL
021279,000444: 27,2111 14406 SINVEC1 # SIN 49.4 DEGS $2
021280,000445: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
021281,000446: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
021282,000447: 27,2114 77626 STADR
021283,000448: 27,2115 50515 STOVL MIS +12D
021284,000449: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
021285,000450: 27,2117 50523 STOVL MIS +6
021286,000451: 27,2120 77626 STADR
021287,000452: 27,2121 50531 STOVL MIS
021288,000453: 27,2122 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
021289,000454: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
021290,000455: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
021291,000456:
021292,000457: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
021293,000458: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
021294,000459: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
021295,000460: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021296,000461: # OTHERWISE U = -SCAXIS
021297,000462:
021298,000463: 27,2130 57575 VLOAD VCOMP
021299,000464: 27,2131 03765 SCAXIS
021300,000465: 27,2132 37270 STCALL COF # ROTATE ABOUT -SCAXIS
021301,000466: 27,2133 56137 CHEKAXIS
021302,000467: 27,2134 77775 U=SCAXIS VLOAD
021303,000468: 27,2135 03765 SCAXIS
021304,000469: 27,2136 03270 STORE COF # ROTATE ABOUT + SCAXIS
021305,000470: 27,2137 51545 CHEKAXIS DLOAD ABS
021306,000471: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
021307,000472: 27,2141 51025 DSU BPL
021308,000473: 27,2142 14410 SINVEC2 # SIN 29.5 DEGS $2
021309,000474: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021310,000475: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
021311,000476: 27,2145 14414 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
021312,000477: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
021313,000478: # OF GIMBAL LOCK (VECANG2 $360)
021314,000479: 27,2147 77745 PICKANG1 DLOAD
021315,000480: 27,2150 14412 VECANG1 # = 50 DEGS $ 360
021316,000481: 27,2151 77624 COMPMFSN CALL
021317,000482: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
021318,000483: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
021319,000484: 27,2154 03245 MIS
021320,000485: 27,2155 02230 KEL
021321,000486: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
021322,000487: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
021323,000488: # WHICH WILL ALIGN VI WITH VF AND AVOID
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021325,000490: # GIMBAL LOCK
021326,000491: 27,2160 45160 FINDGIMB AXC,1 CALL
021327,000492: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
021328,000493: 27,2162 44654 DCMTOCDU # THIS MATRIX
021329,000494: 27,2163 40234 RTB SETPD
021330,000495: 27,2164 21621 V1STO2S # CONVERT TO 2:S COMPLEMENT
021331,000496: 27,2165 00001 0
021332,000497: 27,2166 77650 GOTO
021333,000498: 27,2167 03324 VECQTEMP # RETURN TO CALLER
021334,000499:
021335,000500: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
021336,000501: 27,2171 00035 28D
021337,000502: 27,2172 03765 SCAXIS
021338,000503: 27,2173 72240 BMN TLOAD
021339,000504: 27,2174 54356 ROT180
021340,000505: 27,2175 00032 25D
021341,000506: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
021342,000507: 27,2177 03324 VECQTEMP # PRESENT CDU ANGLES
021343,000508:
021344,000509: 35,2000 BANK 35
021345,000510: 26,2000 SETLOC MANUVER1
021346,000511: 26,2000 BANK
021347,000512: 26,2356 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
021348,000513: 26,2357 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
021349,000514: 26,2360 06516 HIDPHALF # INITIAL S/C AXES.
021350,000515: 26,2361 47256 UNIT VXV # FIND Y(SM) X X(I)
021351,000516: 26,2362 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
021352,000517: 26,2363 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
021353,000518: 26,2364 54400 PICKX # Y(SM) PERPENDICULAR TO VI
021354,000519: 26,2365 17270 STODL COF
021355,000520: 26,2366 00045 36D # CHECK MAGNITUDE
021356,000521: 26,2367 50025 DSU BMN # OF THIS VECTOR.
021357,000522: 26,2370 14417 DPB-14 # IF LESS THAN B-14,
021358,000523: 26,2371 54400 PICKX # PICK X-AXIS.
021359,000524: 26,2372 77775 VLOAD
021360,000525: 26,2373 03270 COF
021361,000526: 26,2374 17270 XROT STODL COF
021362,000527: 26,2375 06516 HIDPHALF
021363,000528: 26,2376 77650 GOTO
021364,000529: 26,2377 56072 COMPMATX
021365,000530: 26,2400 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
021366,000531: 26,2401 06516 HIDPHALF
021367,000532: 26,2402 54374 XROT
021368,000533: 26,2403 15555 35172 SINGIMLC 2DEC .4285836003 # =SIN(59) $2
021369,000534:
021370,000535: 26,2405 14113 36326 SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
021371,000536:
021372,000537: 26,2407 07701 35703 SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
021373,000538:
021374,000539: 26,2411 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
021375,000540:
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021377,000542: 26,2413 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
021378,000543:
021379,000544: 26,2415 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
021380,000545: 26,2416 00001 DPB-14 OCT 00001
021381,000546: 26,2417 00000 OCT 00000
021382,000547:
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Page 493
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021384,000549: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
021385,000550:
021386,000551:
021387,000552: 34,2000 BANK 34
021388,000553: 23,2000 SETLOC R62
021389,000554: 23,2000 BANK
021390,000555: 23,2103 E6,1675 EBANK= BCDU
021391,000556:
021392,000557: 23,2103 COUNT* $$/R62
021393,000558:
021394,000559: 23,2103 23,2103 R62DISP EQUALS R62FLASH
021395,000560:
021396,000561: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
021397,000562: 23,2104 04616 TC BANKCALL # ICDU ANGLES
021398,000563: 23,2105 20477 CADR GOFLASH
021399,000564: 23,2106 15503 TCF ENDEXT # TERMINATE
021400,000565: 23,2107 12111 TCF GOMOVE # PROCEED
021401,000566: 23,2110 12103 TCF R62FLASH # ENTER
021402,000567:
021403,000568: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
021404,000569: # POINT
021405,000570: 23,2111 05515 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
021406,000571: 23,2112 00124 ADRES 3AXISFLG
021407,000572:
021408,000573: 23,2113 04616 TC BANKCALL
021409,000574: 23,2114 54125 CADR R60LEM
021410,000575: 23,2115 15503 TCF ENDEXT # END R62
021411,000576:
End of include-file R60,R62.agc. Parent file is MAIN.agc