Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 listing.
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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046407,000002: ## Copyright: Public domain.
046408,000003: ## Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
046409,000004: ## Purpose: A section of Artemis revision 071.
046410,000005: ## It is part of the reconstructed source code for the first
046411,000006: ## release of the flight software for the Command Module's
046412,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
046413,000008: ## 17. The code has been recreated from a copy of Artemis 072.
046414,000009: ## It has been adapted such that the resulting bugger words
046415,000010: ## exactly match those specified for Artemis 071 in NASA
046416,000011: ## drawing 2021154-, which gives relatively high confidence
046417,000012: ## that the reconstruction is correct.
046418,000013: ## Reference: 1063
046419,000014: ## Assembler: yaYUL
046420,000015: ## Contact: Ron Burkey <info@sandroid.org>.
046421,000016: ## Website: www.ibiblio.org/apollo/index.html
046422,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
046423,000018:
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Page 1063
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046425,000020:
046426,000021: # SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046427,000022: # DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC.
046428,000023:
046429,000024: # CM/DSTBY = 1 FOR DAP OPERATION
046430,000025: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046431,000026:
046432,000027:
046433,000028: 15,2000 SETLOC ETRYDAP
046434,000029: 15,2000 BANK
046435,000030:
046436,000031: 15,2063 COUNT* $$/DAPEN
046437,000032: 15,2063 E6,1661 EBANK= AOG
046438,000033:
046439,000034: 15,2063 34355 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
046440,000035: 15,2064 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
046441,000036:
046442,000037: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
046443,000038: # PHASCHNG PROTECTION IS IN CM/DAPIC.
046444,000039:
046445,000040: 15,2065 34763 CA NOIMUDAP # CHECK FOR FINE ALIGN MODE OF CDU.
046446,000041: 15,2066 71334 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
046447,000042: 15,2067 00006 EXTEND # GIMBAL DIFFERENCES)
046448,000043: 15,2070 12076 BZF READGYM1 # OK
046449,000044:
046450,000045: 15,2071 44770 CS GYMDIBIT # NOT IN FINE ALIGN, SO IDLE
046451,000046: 15,2072 70102 MASK CM/FLAGS # SET GYMDIFSW =0
046452,000047: 15,2073 54102 TS CM/FLAGS
046453,000048: 15,2074 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
046454,000049: 15,2075 02143 TC CM/GYMIC +2
046455,000050:
046456,000051: 15,2076 30032 READGYM1 CA CDUX
046457,000052: 15,2077 57661 XCH AOG
046458,000053: 15,2100 00006 EXTEND
046459,000054: 15,2101 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
046460,000055: 15,2102 55675 TS -DELAOG
046461,000056:
046462,000057: 15,2103 30033 CA CDUY
046463,000058: 15,2104 57662 XCH AIG
046464,000059: 15,2105 00006 EXTEND
046465,000060: 15,2106 21662 MSU AIG
046466,000061: 15,2107 55676 TS -DELAIG
046467,000062:
046468,000063: 15,2110 30034 CA CDUZ
046469,000064: 15,2111 57663 XCH AMG
046470,000065: 15,2112 00006 EXTEND
046471,000066: 15,2113 21663 MSU AMG
046472,000067: 15,2114 55677 TS -DELAMG
046473,000068:
046474,000069: 15,2115 30102 DOBRATE? CA CM/FLAGS
046475,000070: 15,2116 74767 MASK CM/DSBIT
046476,000071: 15,2117 10000 CCS A
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Page 1064
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046478,000073: 15,2120 12135 TCF CKGYMSW
046479,000074:
046480,000075: 15,2121 06000 TC FLUSHJET # TURN OFF ALL JETS
046481,000076:
046482,000077: 15,2122 05402 TC PHASCHNG
046483,000078: 15,2123 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
046484,000079:
046485,000080: 15,2124 05314 TC TASKOVER
046486,000081:
046487,000082: 15,2125 34770 DOBRATE CA ONE # DO BODYRATE
046488,000083: 15,2126 55720 DOBRATE1 TS JETEM # SKIP BODYRATE.
046489,000084:
046490,000085: 15,2127 34355 CA TEN # KEEP CDU READ GOING.
046491,000086: 15,2130 05223 TC TWIDDLE
046492,000087: 15,2131 02063 ADRES READGYMB
046493,000088: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046494,000089:
046495,000090: 15,2132 11720 CCS JETEM
046496,000091: 15,2133 02165 TC BODYRATE
046497,000092: 15,2134 05314 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
046498,000093:
046499,000094: 15,2135 40102 CKGYMSW CS CM/FLAGS
046500,000095: 15,2136 74770 MASK GYMDIBIT
046501,000096: 15,2137 00006 EXTEND
046502,000097: 15,2140 12125 BZF DOBRATE
046503,000098: 15,2141 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
046504,000099: 15,2142 34772 CAF ZERO
046505,000100: 15,2143 55711 +2 TS JETAG
046506,000101: 15,2144 55706 TS OLDELP
046507,000102: 15,2145 55707 TS OLDELQ
046508,000103: 15,2146 55710 TS OLDELR
046509,000104: 15,2147 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
046510,000105: 15,2150 02126 TC DOBRATE1
046511,000106:
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Page 1065
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046513,000108:
046514,000109: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046515,000110:
046516,000111: 15,2151 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
046517,000112: 15,2152 00002 TC Q # NO OVFL
046518,000113: 15,2153 50000 INDEX A
046519,000114: 15,2154 34751 CAF LIMITS
046520,000115: 15,2155 26001 ADS L
046521,000116: 15,2156 00002 TC Q
046522,000117:
046523,000118: 6000 SETLOC FFTAG6
046524,000119: 6000 BANK
046525,000120:
046526,000121: 6000 COUNT* $$/DAPEN
046527,000122: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
046528,000123: 6001 00006 EXTEND
046529,000124: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
046530,000125: 6003 00006 EXTEND
046531,000126: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
046532,000127: 6005 00002 TC Q
046533,000128:
046534,000129: 15,2000 SETLOC ETRYDAP
046535,000130: 15,2000 BANK
046536,000131:
046537,000132: 15,2157 COUNT* $$/DAPEN
046538,000133: 15,2157 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046539,000134: 15,2160 61720 AD JETEM # OF CONSTANT ACCELERATION.
046540,000135: 15,2161 00006 EXTEND
046541,000136: 15,2162 74753 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
046542,000137: 15,2163 61720 AD JETEM
046543,000138: 15,2164 00002 TC Q
046544,000139:
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Page 1066
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046546,000141:
046547,000142: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046548,000143:
046549,000144: 20,2000 SETLOC DAPS1
046550,000145: 20,2000 BANK
046551,000146:
046552,000147: 20,3624 COUNT* $$/DAPEN
046553,000148: 20,3624 E6,1661 EBANK= AOG
046554,000149:
046555,000150: 20,3624 04611 CM/DAPON TC E6SETTER
046556,000151:
046557,000152: 20,3625 05561 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
046558,000153: 20,3626 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CM FLAGS.
046559,000154: 20,3627 05561 TC DOWNFLAG # RESET DAPBIT2
046560,000155: 20,3630 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
046561,000156: 20,3631 00006 EXTEND
046562,000157: 20,3632 33747 DCA T5IDLER1 # DISABLE RCS CALCULATION
046563,000158: 20,3633 52113 DXCH T5LOC
046564,000159: 20,3634 00006 EXTEND
046565,000160: 20,3635 33747 DCA T5IDLER1 # DISABLE RCS JET CALLS
046566,000161: 20,3636 52111 DXCH T6LOC
046567,000162:
046568,000163: 20,3637 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
046569,000164:
046570,000165: 20,3640 47673 CS 13,14,15
046571,000166: 20,3641 71465 MASK DAPDATR1 # SET CONFIG BITS =0 FOR ENTRY
046572,000167: 20,3642 55465 TS DAPDATR1
046573,000168: 20,3643 03647 TC +4
046574,000169:
046575,000170: 20,3644 35011 NOTYET CA .5SEC
046576,000171: 20,3645 04636 TC BANKCALL
046577,000172: 20,3646 01731 CADR DELAYJOB # (DELAYJOB DOES INHINT)
046578,000173: 20,3647 34756 +4 CA GMDIFBIT # GAMDIFSW = 94D BIT11 INITLY=0
046579,000174: 20,3650 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046580,000175: 20,3651 00006 EXTEND
046581,000176: 20,3652 13644 BZF NOTYET
046582,000177:
046583,000178: 20,3653 44770 CS ONE # ACTIVATE CM/DAP
046584,000179: 20,3654 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
046585,000180: # NEXT PASS.
046586,000181: 20,3655 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
046587,000182: # HEADSUP IS SET IN P62.
046588,000183: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046589,000184:
046590,000185: 20,3656 30007 CA 7
046591,000186: 20,3657 55711 TS JETAG
046592,000187: 20,3660 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
046593,000188: # IN CASE CMDAPMOD IS NOT +1.
046594,000189: 20,3661 00004 INHINT
046595,000190: 20,3662 00006 EXTEND
046596,000191: 20,3663 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
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Page 1067
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046598,000193: 20,3664 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
046599,000194: 20,3665 31664 CA ROLL/180
046600,000195: 20,3666 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
046601,000196: 20,3667 00006 EXTEND
046602,000197: 20,3670 74753 MP HALF
046603,000198: 20,3671 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
046604,000199:
046605,000200: 20,3672 40102 CS CM/FLAGS
046606,000201: 20,3673 74755 MASK CMARMBIT # CMDAPARM = 93D BIT12 INITLY=0
046607,000202: 20,3674 26102 ADS CM/FLAGS # SET BIT TO 1.
046608,000203:
046609,000204: 20,3675 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
046610,000205: 20,3676 74770 MASK NODOBIT # V 37 ENTRIES
046611,000206: 20,3677 26076 ADS FLAGWRD2
046612,000207:
046613,000208: 20,3700 00003 RELINT
046614,000209:
046615,000210: 20,3701 04655 TC POSTJUMP
046616,000211: 20,3702 54343 CADR P62.1
046617,000212:
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Page 1068
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046619,000214:
046620,000215: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
046621,000216: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
046622,000217: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046623,000218: # SET AVEGEXIT TO CONTINUE AT CM/POSE
046624,000219:
046625,000220: 20,3703 04611 CM/DAPIC TC E6SETTER
046626,000221:
046627,000222: 20,3704 00004 INHINT
046628,000223: 20,3705 41044 CM/DAP2C CS PIPTIME +1
046629,000224: # PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046630,000225: 20,3706 55720 TS JETEM
046631,000226:
046632,000227: 20,3707 34753 CA POS1/2
046633,000228: 20,3710 64753 AD POS1/2
046634,000229: 20,3711 60025 AD TIME1 # OVFL GUARANTEED
046635,000230: 20,3712 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
046636,000231:
046637,000232: 20,3713 44773 CS FIVE
046638,000233: 20,3714 61720 AD JETEM
046639,000234: 20,3715 10000 CCS A
046640,000235: 20,3716 63745 AD -CDUT+1
046641,000236: 20,3717 13715 TCF -2
046642,000237: 20,3720 13721 NOOP
046643,000238: 20,3721 64770 AD ONE # SEND NO ZERO TO WTLST
046644,000239: 20,3722 55725 TS CM/GYMDT # FOR RESTART
046645,000240: 20,3723 05233 TC WAITLIST
046646,000241: 20,3724 E6,1661 EBANK= AOG
046647,000242: 20,3724 02063 32066 2CADR READGYMB
046648,000243:
046649,000244:
046650,000245: 20,3726 43744 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
046651,000246: 20,3727 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
046652,000247: 20,3730 64355 AD CM/SWIC2 # SET CM/DSTBY, LATSW
046653,000248: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046654,000249: # CALC. (P62.3) GOES TO ENDEXIT.
046655,000250: 20,3731 54102 TS CM/FLAGS
046656,000251:
046657,000252: 20,3732 30007 CA 7
046658,000253: 20,3733 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTION
046659,000254: 20,3734 34770 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
046660,000255: 20,3735 54305 TS SW/NDX # UPBUFF.
046661,000256:
046662,000257: 20,3736 05362 TC 2PHSCHNG # DOES INHINT/RELINT
046663,000258: 20,3737 40116 OCT 40116 # SAVE TBASE6
046664,000259: 20,3740 05024 OCT 05024
046665,000260: 20,3741 13000 OCT 13000
046666,000261:
046667,000262: 20,3742 01,2336 6P11SPT1 = 6.11SPOT
046668,000263: 20,3742 04655 TC POSTJUMP
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Page 1069
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046670,000265: 20,3743 54327 CADR P62.2
046671,000266:
046672,000267: 20,3744 16017 CM/SWIC1 OCT 16017
046673,000268: 20,3745 4355 CM/SWIC2 = TEN # 00012 : CM/DSTBY, LATSW
046674,000269: 20,3745 77766 -CDUT+1 OCT 77766
046675,000270: 20,3746 0112 EBANK= T5LOC
046676,000271: 20,3746 03226 12060 T5IDLER1 2CADR T5IDLOC
046677,000272:
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Page 1070
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046679,000274:
046680,000275: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046681,000276: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1
046682,000277:
046683,000278: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
046684,000279: # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
046685,000280: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046686,000281: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046687,000282: # THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046688,000283:
046689,000284: 20,3750 E6,1661 EBANK= AOG
046690,000285: 15,2000 SETLOC ETRYDAP
046691,000286: 15,2000 BANK
046692,000287:
046693,000288: 15,2165 COUNT* $$/DAPEN
046694,000289: 15,2165 31663 BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046695,000290: 15,2166 05060 TC SPCOS
046696,000291: 15,2167 55511 TS COSM
046697,000292:
046698,000293: 15,2170 31661 CA AOG # C(AOG) = AOG/180
046699,000294: 15,2171 05061 TC SPSIN # SINO
046700,000295: 15,2172 55512 TS SINO # SINO = SIN(AOG)
046701,000296:
046702,000297: 15,2173 00006 EXTEND
046703,000298: 15,2174 71511 MP COSM
046704,000299: 15,2175 55514 TS SINOCOSM # SO CM
046705,000300:
046706,000301: 15,2176 31661 CA AOG
046707,000302: 15,2177 05060 TC SPCOS # COSO
046708,000303: 15,2200 55513 TS COSO
046709,000304:
046710,000305: 15,2201 00006 EXTEND
046711,000306: 15,2202 71511 MP COSM
046712,000307: 15,2203 55515 TS COSOCOSM # CO CM
046713,000308:
046714,000309: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046715,000310:
046716,000311: 15,2204 41677 CS -DELAMG
046717,000312: 15,2205 00006 EXTEND
046718,000313: 15,2206 71512 MP SINO
046719,000314: 15,2207 53721 DXCH JETEM # 2 LOCS _
046720,000315: 15,2210 41676 CS -DELAIG
046721,000316: 15,2211 00006 EXTEND
046722,000317: 15,2212 71515 MP COSOCOSM
046723,000318: 15,2213 21721 DAS JETEM
046724,000319: 15,2214 31720 CA JETEM
046725,000320: 15,2215 57707 XCH OLDELQ
046726,000321: 15,2216 02157 TC RATEAVG
046727,000322: 15,2217 55702 TS QREL # PITCHDOT = Q TCDU/180
046728,000323:
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Page 1071
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046730,000325:
046731,000326: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
046732,000327:
046733,000328: 15,2220 41677 CS -DELAMG
046734,000329: 15,2221 00006 EXTEND
046735,000330: 15,2222 71513 MP COSO
046736,000331: 15,2223 53721 DXCH JETEM
046737,000332: 15,2224 31676 CA -DELAIG
046738,000333: 15,2225 00006 EXTEND
046739,000334: 15,2226 71514 MP SINOCOSM
046740,000335: 15,2227 21721 DAS JETEM
046741,000336: 15,2230 31720 CA JETEM
046742,000337: 15,2231 57710 XCH OLDELR
046743,000338: 15,2232 02157 TC RATEAVG
046744,000339: 15,2233 55703 TS RREL # YAWDOT = R TCDU/180
046745,000340:
046746,000341: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
046747,000342:
046748,000343: 15,2234 31663 CA AMG
046749,000344: 15,2235 05061 TC SPSIN
046750,000345: 15,2236 55510 TS SINM
046751,000346:
046752,000347: 15,2237 00006 EXTEND
046753,000348: 15,2240 71676 MP -DELAIG
046754,000349: 15,2241 55720 TS JETEM
046755,000350: 15,2242 34772 CA ZERO
046756,000351: 15,2243 20001 DDOUBL # ROUND L INTO A
046757,000352: 15,2244 61675 AD -DELAOG
046758,000353: 15,2245 61720 AD JETEM
046759,000354: 15,2246 40000 CS A
046760,000355: 15,2247 55720 TS JETEM
046761,000356: 15,2250 57706 XCH OLDELP
046762,000357: 15,2251 02157 TC RATEAVG
046763,000358: 15,2252 55701 TS PREL # ROLLDOT = P TCDU/180
046764,000359:
046765,000360: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
046766,000361:
046767,000362: 15,2253 11723 CCS GAMDOT
046768,000363: 15,2254 02256 TC +2
046769,000364: 15,2255 02300 TC NOGAMDUT
046770,000365: 15,2256 41664 CS ROLL/180
046771,000366: 15,2257 05061 TC SPSIN
046772,000367: 15,2260 00006 EXTEND
046773,000368: 15,2261 71723 MP GAMDOT
046774,000369: 15,2262 55721 TS JETEM +1 # -SR GAMDOT
046775,000370: 15,2263 00006 EXTEND
046776,000371: 15,2264 72626 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
046777,000372: 15,2265 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
046778,000373:
046779,000374: 15,2266 31664 CA ROLL/180
046780,000375: 15,2267 05060 TC SPCOS
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Page 1072
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046782,000377: 15,2270 40000 COM
046783,000378: 15,2271 00006 EXTEND
046784,000379: 15,2272 71723 MP GAMDOT
046785,000380: 15,2273 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
046786,000381:
046787,000382: 15,2274 41721 CS JETEM +1 # B( ) = -SR GAMDOT
046788,000383: 15,2275 00006 EXTEND
046789,000384: 15,2276 72627 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
046790,000385: 15,2277 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
046791,000386:
046792,000387: 15,2300 34755 NOGAMDUT CA CMARMBIT # CMDAPARM = 93D BIT 12
046793,000388: 15,2301 70102 MASK CM/FLAGS
046794,000389: 15,2302 00006 EXTEND
046795,000390: 15,2303 15314 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
046796,000391:
046797,000392: 15,2304 34750 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
046798,000393: 15,2305 54030 TS TIME5
046799,000394:
046800,000395: 15,2306 00006 EXTEND
046801,000396: 15,2307 32313 DCA ATDOTCAD
046802,000397: 15,2310 52113 DXCH T5LOC
046803,000398: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046804,000399:
046805,000400: 15,2311 05314 TC TASKOVER
046806,000401:
046807,000402: 15,2312 E6,1661 EBANK= AOG
046808,000403: 15,2312 02314 32066 ATDOTCAD 2CADR ATTRATES
046809,000404:
|
|
Page 1073
|
046811,000406:
046812,000407: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
046813,000408:
046814,000409: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
046815,000410: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
046816,000411: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
046817,000412:
046818,000413: 15,2314 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
046819,000414: 15,2315 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
046820,000415: 15,2316 22012 QXCH QRUPT
046821,000416: 15,2317 30021 CA SR
046822,000417: 15,2320 60000 DOUBLE
046823,000418: 15,2321 55623 TS CM/SAVE
046824,000419: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046825,000420:
046826,000421: 15,2322 31702 CA QREL
046827,000422: 15,2323 61665 AD ALFA/180
046828,000423: 15,2324 02151 TC ANGOVCOR
046829,000424: 15,2325 55665 TS ALFA/180
046830,000425: 15,2326 05060 TC SPCOS
046831,000426: 15,2327 55506 TS CALFA # CALFA
046832,000427: 15,2330 55705 TS PHIDOT
046833,000428:
046834,000429: 15,2331 00006 EXTEND
046835,000430: 15,2332 71701 MP PREL
046836,000431: 15,2333 57705 XCH PHIDOT # CA PREL
046837,000432: 15,2334 00006 EXTEND
046838,000433: 15,2335 71703 MP RREL # CA RREL
046839,000434: 15,2336 55704 TS BETADOT
046840,000435:
046841,000436: 15,2337 31665 CA ALFA/180
046842,000437: 15,2340 05061 TC SPSIN
046843,000438: 15,2341 55507 TS SALFA # SIN(ALFA)
046844,000439:
046845,000440: 15,2342 00006 EXTEND
046846,000441: 15,2343 71703 MP RREL # SA RREL
046847,000442: 15,2344 27705 ADS PHIDOT # CB PHIDOT, SAVED.
046848,000443:
046849,000444: 15,2345 41507 CS SALFA
046850,000445: 15,2346 00006 EXTEND
046851,000446: 15,2347 71701 MP PREL
046852,000447: 15,2350 27704 ADS BETADOT # SAVE BETADOT TCDU/180
046853,000448: 15,2351 27666 ADS BETA/180 # BETA DONE.
046854,000449:
046855,000450: 15,2352 05061 TC SPSIN
046856,000451: 15,2353 00006 EXTEND
046857,000452: 15,2354 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
046858,000453: 15,2355 61665 AD ALFA/180
046859,000454: 15,2356 02151 TC ANGOVCOR
046860,000455: 15,2357 55665 TS ALFA/180 # ALFA DONE.
|
|
Page 1074
|
046862,000457: 15,2360 40000 COM
046863,000458: 15,2361 61603 AD ALFACOM
046864,000459: 15,2362 02151 TC ANGOVCOR # JUST IN CASE ...
046865,000460: 15,2363 55477 TS AK1
046866,000461: 15,2364 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
046867,000462:
046868,000463: 15,2365 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
046869,000464: 15,2366 61664 AD ROLL/180
046870,000465: 15,2367 02151 TC ANGOVCOR
046871,000466: 15,2370 55714 TS ROLLTM # ROLL/180 FOR TM.
046872,000467: 15,2371 55664 TS ROLL/180 # ROLL DONE.
046873,000468:
046874,000469: # START YAW AUTOPILOT HERE . RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
046875,000470:
046876,000471: 15,2372 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
046877,000472: 15,2373 61604 AD BETACOM
046878,000473: 15,2374 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
046879,000474: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
046880,000475: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
046881,000476: # BE R-AXIS ERROR.
046882,000477:
046883,000478: 15,2375 34766 CA .05GBIT # .05GSW = 102D BIT3 SW=0, LESS .05G
046884,000479: 15,2376 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
046885,000480: 15,2377 00006 EXTEND
046886,000481: 15,2400 12466 BZF EXDAP # IF G LESS THAN .05
046887,000482: 15,2401 44770 CS ONE # IF G GEQ THAN .05
046888,000483: 15,2402 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
046889,000484:
046890,000485: 15,2403 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
046891,000486: 15,2404 55500 TS AK2 # IN ATM. (MODE =-1)
046892,000487:
046893,000488: 15,2405 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
046894,000489: 15,2406 00006 EXTEND
046895,000490: 15,2407 72626 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
046896,000491: 15,2410 61703 AD RREL
046897,000492: 15,2411 02456 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
046898,000493: 15,2412 50000 INDEX A # +/- 1 IF NOT
046899,000494: 15,2413 32631 CAF YJETCODE
046900,000495:
046901,000496: 15,2414 55720 TS JETEM
046902,000497:
046903,000498: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
046904,000499:
046905,000500: 15,2415 31702 CA QREL
046906,000501: 15,2416 02456 TC 2D/SDZ
046907,000502: 15,2417 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
046908,000503: 15,2420 32634 CAF P/RJCODE
046909,000504: 15,2421 27720 ADS JETEM # COMBINE ALL NEW BITS.
046910,000505:
046911,000506: 15,2422 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
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|
Page 1075
|
046913,000508: 15,2423 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
046914,000509:
046915,000510: 15,2424 11711 CCS JETAG
046916,000511: 15,2425 02645 TC CM/RCS
046917,000512: 15,2426 03325 TC CM/FDAI
046918,000513: 15,2427 03332 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
046919,000514:
|
|
Page 1076
|
046921,000516:
046922,000517: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
046923,000518:
046924,000519: 15,2430 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
046925,000520: 15,2431 62624 AD YAWLIM
046926,000521: 15,2432 12462 TCF DZCOM
046927,000522: 15,2433 62624 AD YAWLIM
046928,000523: 15,2434 12463 TCF DZNOCOM
046929,000524:
046930,000525: # BIASED DZ FOR EXT ATM DAP.
046931,000526: 15,2435 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
046932,000527: 15,2436 10000 CCS A # START ERROR DZ.
046933,000528: 15,2437 42623 CS CM/BIAS # = .6/180
046934,000529: 15,2440 12442 TCF +2
046935,000530: 15,2441 32623 CA CM/BIAS
046936,000531: 15,2442 60001 AD L # BIAS THE ERROR.
046937,000532: 15,2443 22002 LXCH Q # SAVE CALLERS RETURN ADDRESS.
046938,000533: 15,2444 02430 TC 3DDZ # GO GENERATE THE ERROR BIT.
046939,000534: 15,2445 52002 DXCH L # BIT TO L, RESTORE CALLERS Q.
046940,000535: 15,2446 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
046941,000536: 15,2447 62621 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
046942,000537: 15,2450 12452 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
046943,000538: 15,2451 62621 AD 4D/SLIM
046944,000539: 15,2452 54000 TS A
046945,000540: 15,2453 12455 TCF +2 # RATE OK. CONTINUE
046946,000541: 15,2454 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
046947,000542: 15,2455 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
046948,000543:
046949,000544: 15,2456 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
046950,000545: 15,2457 62622 AD YDOTLIM # 1.0 - YDOT DZ ( OR PDOT)
046951,000546: 15,2460 12463 TCF +3
046952,000547: 15,2461 62622 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
046953,000548: 15,2462 40000 DZCOM COM
046954,000549: 15,2463 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
046955,000550: 15,2464 34772 CA ZERO # SET C(A) = +0 INSIDE
046956,000551: 15,2465 00002 TC Q
046957,000552:
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|
Page 1077
|
046959,000554:
046960,000555: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
046961,000556:
046962,000557: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
046963,000558: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
046964,000559: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
046965,000560: # R-AXIS = CONTROL
046966,000561:
046967,000562: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
046968,000563: # RATE = PREL
046969,000564: # P-AXIS = CONTROL
046970,000565:
046971,000566: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
046972,000567: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
046973,000568: # RATE = BETADOT
046974,000569: # P-AXIS = CONTROL
046975,000570:
046976,000571: # ROLL: YAW ERROR = SGN(SALF) (ROLLC -ROLL) RATE DAMP ONLY.
046977,000572: # RATE = RREL
046978,000573: # R-AXIS = CONTROL
046979,000574:
046980,000575: # 3. FOR ALL CASES, USE
046981,000576: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
046982,000577: # RATE = QREL
046983,000578: # Q-AXIS = CONTROL
046984,000579:
046985,000580:
046986,000581:
046987,000582: 15,2466 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
046988,000583: 15,2467 11506 CCS CALFA
046989,000584: 15,2470 62625 AD C45LIM # =1.0-COS(45)
046990,000585: 15,2471 12473 TCF +2
046991,000586: 15,2472 62625 AD C45LIM
046992,000587: 15,2473 54000 TS A
046993,000588: 15,2474 12555 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
046994,000589:
046995,000590: 15,2475 11506 CCS CALFA # |CALFA| > 0.707
046996,000591: 15,2476 12477 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
046997,000592:
046998,000593: 15,2477 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
046999,000594: 15,2500 02513 TC EXDAP4
047000,000595: 15,2501 02503 TC +2
047001,000596: 15,2502 02513 TC EXDAP4
047002,000597: 15,2503 05402 TC PHASCHNG # SINGLE PASS THROUGH HERE.
047003,000598: 15,2504 40334 OCT 40334
047004,000599: 15,2505 01,2170 4P33SPT1 = 4.33SPOT
047005,000600: 15,2505 44770 CS ONE
047006,000601: 15,2506 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
047007,000602: 15,2507 32620 CA NSEC
047008,000603: 15,2510 05233 TC WAITLIST
047009,000604: 15,2511 E6,1661 EBANK= AOG
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|
Page 1078
|
047011,000606: 15,2511 02375 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
047012,000607:
047013,000608: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047014,000609: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047015,000610:
047016,000611: 15,2513 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
047017,000612: 15,2514 12522 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
047018,000613: 15,2515 12522 TCF EXDAP3
047019,000614: 15,2516 34772 CA ZERO
047020,000615: 15,2517 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
047021,000616: 15,2520 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
047022,000617: 15,2521 55711 TS JETAG # RESTORE PROPER VALUE +0
047023,000618:
047024,000619: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047025,000620: 15,2522 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
047026,000621: 15,2523 31573 CA RAXERR # C()= BETACOM - BETA/180
047027,000622: 15,2524 12530 TCF EXDAP1
047028,000623: 15,2525 44772 CS ZERO
047029,000624: 15,2526 55700 TS CMDAPMOD # FOR CM/RCS
047030,000625: 15,2527 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
047031,000626: 15,2530 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
047032,000627: 15,2531 55500 TS AK2 # WANT RAXERR FOR TM.
047033,000628: 15,2532 54001 TS L
047034,000629: 15,2533 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
047035,000630: 15,2534 02537 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
047036,000631: 15,2535 34770 CA ONE # USE BETADOT TO COORD IN MODE +0
047037,000632: 15,2536 50000 INDEX A # OTHERWISE USE RREL.
047038,000633: 15,2537 31703 CA RREL
047039,000634: 15,2540 02435 TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
047040,000635: # IF GEQ 4D/S, SET ERROR BIT IN L =0)
047041,000636: 15,2541 00006 EXTEND
047042,000637: 15,2542 04001 ROR LCHAN # L HAS BETA BIT
047043,000638: 15,2543 50000 INDEX A
047044,000639: 15,2544 32631 CAF YJETCODE
047045,000640: 15,2545 55720 TS JETEM
047046,000641:
047047,000642: 15,2546 31572 CA QAXERR # ALFA ERROR.
047048,000643: 15,2547 54001 TS L
047049,000644: 15,2550 31702 CA QREL # FOR ALFADOT USE QREL
047050,000645: 15,2551 02435 TC BIASEDZ
047051,000646: 15,2552 00006 EXTEND
047052,000647: 15,2553 04001 ROR LCHAN
047053,000648: 15,2554 12417 TCF EXDAPIN # CONTINUE ON IN DAP
047054,000649:
047055,000650: 15,2555 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
047056,000651:
047057,000652: 15,2556 44770 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
047058,000653: 15,2557 55711 TS JETAG # TO 2 SEC FOR ROLL JETS.( IF CMDAPMOD
047059,000654: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
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|
Page 1079
|
047061,000656: 15,2560 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
047062,000657: 15,2561 55727 TS P63FLAG
047063,000658: 15,2562 12563 NOOP
047064,000659:
047065,000660: 15,2563 11507 CCS SALFA # BETA CONTROL WITH P JETS
047066,000661: 15,2564 41573 CS RAXERR # B()= BETACOM - BETA/180
047067,000662: 15,2565 12567 TCF +2
047068,000663: 15,2566 31573 CA RAXERR
047069,000664: 15,2567 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
047070,000665: 15,2570 00006 EXTEND
047071,000666: 15,2571 74753 MP HALF # CM/FDAI EXPECTS ERROR/360.
047072,000667: 15,2572 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
047073,000668: 15,2573 54001 TS L
047074,000669: 15,2574 11507 CCS SALFA
047075,000670: 15,2575 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
047076,000671: 15,2576 02600 TC +2
047077,000672: 15,2577 31704 CA BETADOT
047078,000673: 15,2600 02435 TC BIASEDZ
047079,000674: 15,2601 00006 EXTEND
047080,000675: 15,2602 04001 ROR LCHAN
047081,000676: 15,2603 50000 INDEX A
047082,000677: 15,2604 32634 CAF P/RJCODE # GET ROLL CODE
047083,000678: 15,2605 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
047084,000679: 15,2606 01006 WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST
047085,000680:
047086,000681: 15,2607 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
047087,000682: 15,2610 00006 EXTEND
047088,000683: 15,2611 21664 MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.?
047089,000684: 15,2612 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
047090,000685: 15,2613 11507 CCS SALFA
047091,000686: 15,2614 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
047092,000687: 15,2615 02530 TC EXDAP1
047093,000688: 15,2616 40001 CS L
047094,000689: 15,2617 02530 TC EXDAP1
047095,000690:
047096,000691: 15,2620 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
047097,000692: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047098,000693: 15,2621 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
047099,000694: 15,2622 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
047100,000695: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047101,000696:
047102,000697: 15,2623 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
047103,000698: 15,2624 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
047104,000699: 15,2625 11277 C45LIM DEC .29289 # =1.0-COS(45)
047105,000700:
047106,000701: 15,2626 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
047107,000702: 15,2627 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
047108,000703:
047109,000704: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047110,000705: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
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|
Page 1080
|
047112,000707: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
047113,000708:
047114,000709:
047115,000710: # JET CODE TABLES FOLLOW _
047116,000711:
047117,000712: 15,2630 00120 OCTAL 00120 # POS Y
047118,000713: 15,2631 00000 YJETCODE OCTAL 00000 # RCS JET BITS
047119,000714: 15,2632 00240 OCTAL 00240 # NEG Y
047120,000715: 15,2633 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
047121,000716: 15,2634 00000 P/RJCODE OCTAL 00000
047122,000717: 15,2635 00012 OCTAL 00012 # NEG R ALSO NEG P
047123,000718:
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|
Page 1081
|
047125,000720:
047126,000721: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
047127,000722: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
047128,000723: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
047129,000724: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
047130,000725: # NEXT UPDATE.
047131,000726:
047132,000727: 15,2636 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
047133,000728: 15,2637 55712 TS TUSED
047134,000729: # THE 5 CS APPEARS IN TIMETST.
047135,000730: 15,2640 34770 CA ONE # RATHER THAN INCR, FOR SAFETY
047136,000731: 15,2641 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
047137,000732: 15,2642 05402 TC PHASCHNG
047138,000733: 15,2643 00001 OCT 00001
047139,000734:
047140,000735: 15,2644 05314 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
047141,000736:
047142,000737: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
047143,000738: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
047144,000739: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
047145,000740: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
047146,000741:
047147,000742: 15,2645 4752 HALFPR EQUALS NEG1/2 +1
047148,000743:
047149,000744: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
047150,000745: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
047151,000746: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
047152,000747: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
047153,000748:
047154,000749: 15,2645 44770 CM/RCS CS ONE
047155,000750: 15,2646 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
047156,000751:
047157,000752: 15,2647 45004 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
047158,000753: 15,2650 00006 EXTEND
047159,000754: 15,2651 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
047160,000755: 15,2652 60001 AD L # -2 RDOT T/180 IN L
047161,000756: 15,2653 55613 TS -VT/180 # SAVE -2VT/180 HERE
047162,000757:
047163,000758: 15,2654 41664 CS ROLL/180
047164,000759: 15,2655 54021 TS SR # SAVE (-R/180) /2
047165,000760:
047166,000761: 15,2656 40102 CS CM/FLAGS
047167,000762: 15,2657 74765 MASK LATSWBIT # LATSW = 101D BIT4
047168,000763: 15,2660 00006 EXTEND # ROLL OVER TOP $
047169,000764: 15,2661 12667 BZF GETLCX # NO, TAKE SHORTEST PATH
047170,000765: 15,2662 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
047171,000766: 15,2663 31715 CA ROLLC # (ROLLC/180) /2
047172,000767: 15,2664 60021 AD SR # -(R/180) /2
047173,000768: 15,2665 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
047174,000769: 15,2666 12727 TCF COMPAT # POSSIBLE OVFL ABOVE.
047175,000770:
|
|
Page 1082
|
047177,000772: 15,2667 34753 GETLCX CA POS1/2 # FORM RCOM/360
047178,000773: 15,2670 60000 DOUBLE
047179,000774: 15,2671 61715 AD ROLLC
047180,000775: 15,2672 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
047181,000776:
047182,000777: 15,2673 30021 CA SR # FORM -R/360
047183,000778: 15,2674 64751 AD NEG1/2
047184,000779: 15,2675 64751 AD NEG1/2 # IGNORE OVFL
047185,000780: 15,2676 57614 XCH LCX/360 # -R/360
047186,000781: 15,2677 27614 ADS LCX/360 # LCX/360 = RCOM/360 -R/360 RANGE (-1,1)
047187,000782:
047188,000783: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
047189,000784:
047190,000785: 15,2700 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
047191,000786: 15,2701 64770 AD ONE # (BASED ON SINGLE JET ACCELERATION)
047192,000787: 15,2702 12704 TCF +2
047193,000788: 15,2703 64770 AD ONE
047194,000789: 15,2704 00006 EXTEND
047195,000790: 15,2705 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
047196,000791: 15,2706 00006 EXTEND
047197,000792: 15,2707 73375 MP 1/16A1 # = 180/(16 A1 TT)
047198,000793: 15,2710 00006 EXTEND
047199,000794: 15,2711 11506 DV CALFA
047200,000795: 15,2712 54001 TS L
047201,000796: 15,2713 11614 CCS LCX/360
047202,000797: 15,2714 34753 CAF POS1/2
047203,000798: 15,2715 12717 TCF +2
047204,000799: 15,2716 44753 CS POS1/2
047205,000800: 15,2717 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEG $
047206,000801: 15,2720 60001 AD L
047207,000802: 15,2721 54001 TS L
047208,000803: 15,2722 12727 TCF COMPAT # YES, GO ON.
047209,000804: 15,2723 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
047210,000805: 15,2724 44752 CS HALFPR # +A YIELDS -1/2
047211,000806: 15,2725 60000 DOUBLE
047212,000807: 15,2726 27614 ADS LCX/360
047213,000808:
047214,000809: 15,2727 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
047215,000810: 15,2730 00006 EXTEND
047216,000811: 15,2731 71506 MP CALFA # COS ALFA
047217,000812: 15,2732 55614 TS LCX/360 # SCALED LCX OK HERE.
047218,000813:
047219,000814: 15,2733 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
047220,000815: 15,2734 03323 TC DZCALL1 # EXIT, SETTING JETAG=0.(C(A)=0)
047221,000816: # ALL 3 AXES ALREADY DONE.
047222,000817: 15,2735 02736 TC +1 # G LESS THAN .05. CA POS. CONTINUE
047223,000818: 15,2736 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
047224,000819: 15,2737 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
047225,000820: 15,2740 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
047226,000821: 15,2741 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT.( /360)
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|
Page 1083
|
047228,000823: 15,2742 31613 CA -VT/180 # GET - 2 VT/180
047229,000824: 15,2743 54021 TS SR
047230,000825: 15,2744 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
047231,000826: 15,2745 55570 TS -VT/180E # DIAGNOSTIC ****
047232,000827: 15,2746 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
047233,000828: 15,2747 00006 EXTEND
047234,000829: 15,2750 71613 MP -VT/180 # B(A) = -2VT/180
047235,000830: 15,2751 00006 EXTEND
047236,000831: 15,2752 73375 MP 180/8ATT
047237,000832: 15,2753 55616 TS VSQ/4API
047238,000833:
047239,000834: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 - .5 BUFLIM/360 POS ?
047240,000835:
047241,000836: 15,2754 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
047242,000837: 15,2755 40000 COM
047243,000838: 15,2756 63401 AD BUFLIM # =BUFLIM/(2 360)
047244,000839: 15,2757 54001 TS L
047245,000840: 15,2760 11613 CCS -VT/180
047246,000841: 15,2761 40001 CS L
047247,000842: 15,2762 12764 TCF +2
047248,000843: 15,2763 30001 CA L
047249,000844: 15,2764 61614 AD LCX/360
047250,000845: 15,2765 63401 AD BUFLIM
047251,000846: 15,2766 00006 EXTEND
047252,000847: 15,2767 63004 BZMF REFLECT # POINT (X,V) IN LHP.
047253,000848:
047254,000849: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG ?
047255,000850:
047256,000851: 15,2770 40000 COM
047257,000852: 15,2771 63401 AD BUFLIM
047258,000853: 15,2772 63401 AD BUFLIM
047259,000854: 15,2773 00006 EXTEND
047260,000855: 15,2774 63013 BZMF DZ1 # POINT (X,V) IN RHP.
047261,000856:
047262,000857: # IS POINT WITHIN VELOCITY DZ?
047263,000858:
047264,000859: 15,2775 44355 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG ?
047265,000860: 15,2776 61616 AD VSQ/4API
047266,000861: 15,2777 00006 EXTEND
047267,000862: 15,3000 63305 BZMF DZCALL # YES.
047268,000863:
047269,000864: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047270,000865:
047271,000866: 15,3001 41617 CS JNDX
047272,000867: 15,3002 55620 TS JNDX1
047273,000868: 15,3003 03066 TC OVRLINE1
047274,000869:
047275,000870: 15,3004 41613 REFLECT CS -VT/180 # REFLECT LHP INTO RHP REL TO TERM CONTR
047276,000871: 15,3005 55613 TS -VT/180
047277,000872: 15,3006 54021 TS SR # -VT/360 SAVED FOR DZ.
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|
Page 1084
|
047279,000874: 15,3007 41614 CS LCX/360
047280,000875: 15,3010 55614 TS LCX/360
047281,000876: 15,3011 41617 CS JNDX
047282,000877: 15,3012 55617 TS JNDX
047283,000878:
047284,000879: # IS VSQ/4API - (VSQ/4API) MIN NEG $
047285,000880:
047286,000881: 15,3013 44355 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
047287,000882: 15,3014 61616 AD VSQ/4API
047288,000883: 15,3015 00006 EXTEND
047289,000884: 15,3016 63020 BZMF DZ2 # YES, GO TEST FURTHER.
047290,000885: 15,3017 13025 TCF MAXVTEST # NO
047291,000886:
047292,000887: # IS X/360 - XMIN/360 -VT/360 NEG $
047293,000888:
047294,000889: 15,3020 43377 DZ2 CS XMIN/360 # XMIN/360 = 4/360
047295,000890: 15,3021 61614 AD LCX/360
047296,000891: 15,3022 60021 AD SR # C(SR) = -VT/360
047297,000892: 15,3023 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
047298,000893: 15,3024 63305 BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0.
047299,000894:
047300,000895: # IS XD/360 - VM/360K - XS/360 POS ?
047301,000896:
047302,000897: 15,3025 41617 MAXVTEST CS JNDX
047303,000898: 15,3026 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
047304,000899: 15,3027 43401 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
047305,000900: 15,3030 61616 AD VSQ/4API
047306,000901: 15,3031 61614 AD LCX/360
047307,000902: 15,3032 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
047308,000903: # BUT C(XD/360) = (XD - XS) /360
047309,000904: 15,3033 63400 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
047310,000905: 15,3034 40000 COM
047311,000906: 15,3035 00006 EXTEND
047312,000907: 15,3036 63044 BZMF MAXVTIM1 # YES, THRUST TO VM
047313,000908: 15,3037 31615 CA XD/360
047314,000909: 15,3040 00006 EXTEND
047315,000910: 15,3041 74753 MP KTRCS
047316,000911: 15,3042 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
047317,000912:
047318,000913: 15,3043 03047 TC GETON1 # INSURE THAT Q IS POS AS TAG.
047319,000914: 15,3044 00006 MAXVTIM1 EXTEND
047320,000915: 15,3045 22007 ZQ # SET +0 AS TAG
047321,000916: 15,3046 43400 CS -VMT/180
047322,000917: 15,3047 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180.
047323,000918: 15,3050 61613 AD -VT/180
047324,000919: 15,3051 60000 DOUBLE
047325,000920: 15,3052 00006 EXTEND
047326,000921: 15,3053 73375 MP 180/8ATT
047327,000922: 15,3054 55621 TS TON1 # TON1 / 4T
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Page 1085
|
047329,000924: 15,3055 00006 EXTEND
047330,000925: 15,3056 63060 BZMF OVRLINE
047331,000926: 15,3057 03072 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
047332,000927:
047333,000928: 15,3060 10002 OVRLINE CCS Q
047334,000929: 15,3061 13066 TCF OVRLINE1
047335,000930: 15,3062 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
047336,000931: 15,3063 55617 TS JNDX
047337,000932: 15,3064 41621 CS TON1
047338,000933: 15,3065 13071 TCF OVRLINE2 +1
047339,000934:
047340,000935: 15,3066 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
047341,000936: 15,3067 55567 TS VDT/180
047342,000937: 15,3070 34772 OVRLINE2 CA ZERO
047343,000938: 15,3071 55621 +1 TS TON1
047344,000939: 15,3072 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
047345,000940: 15,3073 60000 DOUBLE
047346,000941: 15,3074 00006 EXTEND
047347,000942: 15,3075 73375 MP 180/8ATT
047348,000943: 15,3076 60000 DOUBLE # FOR SECOND BURN, A1
047349,000944: 15,3077 55607 TS TON2 # = TON2 / 4T
047350,000945:
047351,000946: 15,3100 40000 COM
047352,000947: 15,3101 00006 EXTEND
047353,000948: 15,3102 63106 BZMF GETOFF
047354,000949: 15,3103 55607 TS TON2
047355,000950: 15,3104 31617 CA JNDX
047356,000951: 15,3105 55620 TS JNDX1
047357,000952:
047358,000953: 15,3106 41607 GETOFF CS TON2 # TON2 / 4T
047359,000954: 15,3107 00006 EXTEND
047360,000955: 15,3110 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
047361,000956: 15,3111 55615 TS XD/360 # USE AS TEMP
047362,000957: 15,3112 41567 CS VDT/180
047363,000958: 15,3113 00006 EXTEND
047364,000959: 15,3114 13130 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
047365,000960: 15,3115 61613 AD -VT/180
047366,000961: 15,3116 00006 EXTEND
047367,000962: 15,3117 71621 MP TON1 # TON1 /4T
047368,000963: 15,3120 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
047369,000964: 15,3121 61614 AD LCX/360
047370,000965: 15,3122 22007 ZL
047371,000966: 15,3123 56001 XCH L # TEST THE DIVIDE
047372,000967: 15,3124 00006 EXTEND
047373,000968: 15,3125 11567 DV VDT/180
047374,000969: 15,3126 00006 EXTEND
047375,000970: 15,3127 13132 BZF GETOFF2 # DIVIDE OK
047376,000971:
047377,000972: 15,3130 35020 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
047378,000973: 15,3131 13137 TCF TIMSCAL
047379,000974:
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Page 1086
|
047381,000976: 15,3132 56001 GETOFF2 XCH L # GET NUMERATOR.
047382,000977: 15,3133 00006 EXTEND
047383,000978: 15,3134 11567 DV VDT/180 # C(A) = TOFF / 2T
047384,000979: 15,3135 00006 EXTEND
047385,000980: 15,3136 75020 MP 2JETT
047386,000981: 15,3137 55605 TIMSCAL TS TOFF # IN CS
047387,000982:
047388,000983: 15,3140 33376 CAF 4JETT
047389,000984: 15,3141 00006 EXTEND
047390,000985: 15,3142 71621 MP TON1 # C(TON1) = TON1 / 4T
047391,000986: 15,3143 55621 TS TON1 # IN CS
047392,000987:
047393,000988: 15,3144 33376 CAF 4JETT
047394,000989: 15,3145 00006 EXTEND
047395,000990: 15,3146 71607 MP TON2 # C(TON2) = TON2 / 4T
047396,000991: 15,3147 55607 TS TON2 # IN CS
047397,000992:
047398,000993: 15,3150 34772 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
047399,000994: 15,3151 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
047400,000995:
047401,000996: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047402,000997: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047403,000998: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047404,000999:
047405,001000: 15,3152 34770 CA ONE
047406,001001: 15,3153 54305 TS SW/NDX
047407,001002:
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|
Page 1087
|
047409,001004:
047410,001005: # TIMETEST SECTION FOR RCS
047411,001006: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
047412,001007: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047413,001008: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM ( HERE CHOSEN AS 2 CS) AND
047414,001009: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
047415,001010: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
047416,001011: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047417,001012: # SECTION JETCALL BELOW PROCESSES THIS LIST.
047418,001013:
047419,001014: 15,3154 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
047420,001015: 15,3155 64753 AD POS1/2
047421,001016: 15,3156 64753 AD POS1/2 # OVFL GUARANTEED.
047422,001017: 15,3157 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
047423,001018:
047424,001019: 15,3160 33374 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
047425,001020: # THE +2 REQUIRED FOR PROPER BRANCH.
047426,001021: 15,3161 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
047427,001022:
047428,001023: 15,3162 44767 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
047429,001024: 15,3163 61621 AD TON1
047430,001025: 15,3164 00006 EXTEND
047431,001026: 15,3165 63177 BZMF TIMETST1
047432,001027: 15,3166 51617 INDEX JNDX
047433,001028: 15,3167 32634 CAF P/RJCODE
047434,001029: 15,3170 55622 TS T1BITS
047435,001030:
047436,001031: 15,3171 31621 CA TON1
047437,001032: 15,3172 27712 ADS TUSED
047438,001033: 15,3173 00006 EXTEND
047439,001034: 15,3174 63201 BZMF TOFFTEST
047440,001035: 15,3175 34772 CA ZERO
047441,001036: 15,3176 13232 TCF TIMETST3
047442,001037: 15,3177 44770 TIMETST1 CS ONE
047443,001038: 15,3200 55621 TS TON1
047444,001039: 15,3201 44767 TOFFTEST CS TWO
047445,001040: 15,3202 61605 AD TOFF
047446,001041: 15,3203 00006 EXTEND
047447,001042: 15,3204 63213 BZMF TIMETST2
047448,001043: 15,3205 31605 CA TOFF
047449,001044: 15,3206 27712 ADS TUSED
047450,001045: 15,3207 00006 EXTEND
047451,001046: 15,3210 63215 BZMF TON2TEST
047452,001047: 15,3211 34772 CA ZERO
047453,001048: 15,3212 13234 TCF TIMETST4
047454,001049: 15,3213 44770 TIMETST2 CS ONE
047455,001050: 15,3214 55605 TS TOFF
047456,001051: 15,3215 44767 TON2TEST CS TWO
047457,001052: 15,3216 61607 AD TON2
047458,001053: 15,3217 00006 EXTEND
047459,001054: 15,3220 63235 BZMF TIMETST5
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|
Page 1088
|
047461,001056: 15,3221 51620 INDEX JNDX1
047462,001057: 15,3222 32634 CAF P/RJCODE
047463,001058: 15,3223 55610 TS T2BITS
047464,001059: 15,3224 31607 CA TON2
047465,001060: 15,3225 27712 ADS TUSED
047466,001061: 15,3226 00006 EXTEND
047467,001062: 15,3227 63237 BZMF JETCALL1
047468,001063: 15,3230 34772 CA ZERO
047469,001064: 15,3231 13236 TCF TIMETST5 +1
047470,001065: 15,3232 55621 TIMETST3 TS TON1
047471,001066: 15,3233 44770 CS ONE
047472,001067: 15,3234 55605 TIMETST4 TS TOFF
047473,001068: 15,3235 44770 TIMETST5 CS ONE
047474,001069: 15,3236 55607 +1 TS TON2
047475,001070:
047476,001071: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047477,001072: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047478,001073: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
047479,001074: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
047480,001075: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047481,001076: # THAN ONE REGISTER.
047482,001077:
047483,001078: 15,3237 34772 JETCALL1 CA ZERO
047484,001079: 15,3240 55611 TS OUTTAG
047485,001080: 15,3241 55612 TS NUJET
047486,001081: 15,3242 55606 TS TBITS
047487,001082: 15,3243 53622 DXCH TON1
047488,001083: 15,3244 10000 CCS A
047489,001084: 15,3245 13262 TCF JETCALL2 # CALL WTLST
047490,001085: 15,3246 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
047491,001086: 15,3247 44770 CS ONE
047492,001087: 15,3250 53606 DXCH TOFF
047493,001088: 15,3251 10000 CCS A
047494,001089: 15,3252 13262 TCF JETCALL2 # CALL WTLST
047495,001090: 15,3253 23612 LXCH NUJET
047496,001091: 15,3254 44770 CS ONE
047497,001092: 15,3255 53610 DXCH TON2
047498,001093: 15,3256 10000 CCS A
047499,001094: 15,3257 13262 TCF JETCALL2 # CALL WTLST
047500,001095: 15,3260 23612 LXCH NUJET
047501,001096: 15,3261 03270 TC JETACTN # C(A) = +0
047502,001097: 15,3262 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
047503,001098: 15,3263 27612 ADS NUJET
047504,001099: 15,3264 56001 XCH L
047505,001100: 15,3265 64770 AD ONE # RESTORE FOR CCS
047506,001101: 15,3266 05223 TC TWIDDLE
047507,001102: 15,3267 03276 ADRES JETCALL
047508,001103: 15,3270 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
047509,001104: 15,3271 00006 +1 EXTEND # NO NEED TO SAVE OLD CODES
047510,001105: 15,3272 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
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Page 1089
|
047512,001107: 15,3273 11611 CCS OUTTAG
047513,001108: 15,3274 05314 TC TASKOVER
047514,001109: 15,3275 03333 ROLLDUMP TC CM/FDAIR
047515,001110:
047516,001111: # EDIT DUMP AT ABOVE LOCATION.
047517,001112:
047518,001113: # WAITLIST ENTRIES COME HERE.
047519,001114:
047520,001115: 15,3276 34767 JETCALL CAF CM/DSBIT # CM/DSTBY = BIT2 103D
047521,001116: 15,3277 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
047522,001117: 15,3300 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
047523,001118: 15,3301 00006 EXTEND
047524,001119: 15,3302 13271 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
047525,001120: 15,3303 22007 ZL # NO, CONTINUE.
047526,001121: 15,3304 13246 TCF JETCALL3 # C(A) POS, C(L) = +0
047527,001122:
047528,001123: # DEAD ZONE ENTRIES COME HERE.
047529,001124:
047530,001125: 15,3305 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047531,001126: 15,3306 74770 MASK BIT1
047532,001127: 15,3307 54001 TS L # C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
047533,001128: 15,3310 50000 INDEX A # ERASBLE ORDER: ROLLTM,ROLLC,ROLLC +1.
047534,001129: 15,3311 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
047535,001130: 15,3312 50001 INDEX L
047536,001131: 15,3313 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
047537,001132: 15,3314 60001 AD L # (BOTH MUST BE SCALED DEG/180)
047538,001133: 15,3315 02151 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC .
047539,001134: 15,3316 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE,
047540,001135: # OTHERWISE, SAVE ROLL COMMAND.
047541,001136:
047542,001137: 15,3317 34772 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
047543,001138: 15,3320 00006 EXTEND # INHINT NOT NEEDED HERE.
047544,001139: 15,3321 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
047545,001140: 15,3322 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
047546,001141: 15,3323 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
047547,001142: 15,3324 03275 TC ROLLDUMP
047548,001143:
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Page 1090
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047550,001145:
047551,001146: # CM ENTRY FDAI DISPLAY
047552,001147:
047553,001148: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES . DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047554,001149: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
047555,001150: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047556,001151: # ROLL ROLLC-ROLL
047557,001152: # PITCH ALFAC-ALFA
047558,001153: # YAW BETAC-BETA
047559,001154:
047560,001155: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
047561,001156: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
047562,001157:
047563,001158: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
047564,001159: 15,3325 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047565,001160: 15,3326 00006 EXTEND
047566,001161: 15,3327 71506 MP CALFA # FOR ASSUMED COORDINATION.
047567,001162: 15,3330 00006 EXTEND
047568,001163: 15,3331 74753 MP HALF
047569,001164: 15,3332 27713 -1 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
047570,001165:
047571,001166: # EDIT DUMP AT ABOVE LOCATION.
047572,001167: 15,3333 34753 CM/FDAIR CA HALF
047573,001168: 15,3334 00006 EXTEND
047574,001169: 15,3335 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047575,001170: 15,3336 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047576,001171:
047577,001172: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
047578,001173: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047579,001174: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047580,001175: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047581,001176: # THE SUBSEQUENT PASS.
047582,001177:
047583,001178:
047584,001179: 15,3337 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
047585,001180: 15,3340 54305 TS SW/NDX
047586,001181: 15,3341 00006 EXTEND # INDEX.
047587,001182: 15,3342 63346 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
047588,001183: # ENDBUF.
047589,001184: # INDEX IS POS FOR NEEDLES
047590,001185:
047591,001186: 15,3343 04714 TC IBNKCALL
047592,001187: 15,3344 42425 CADR NEEDLER
047593,001188:
047594,001189: 15,3345 03364 TC CM/END
047595,001190:
047596,001191: # INDEX IS NEG FOR TM FILE
047597,001192:
047598,001193: 15,3346 66214 CMTMFILE AD THREE
047599,001194: 15,3347 00006 EXTEND
047600,001195: 15,3350 63354 BZMF SAVENDX
047601,001196:
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Page 1091
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047603,001198: 15,3351 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
047604,001199: 15,3352 54304 TS CMTMTIME
047605,001200: 15,3353 44776 CS THIRTEEN # INITIALIZE COUNTER
047606,001201: 15,3354 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
047607,001202: 15,3355 00006 EXTEND
047608,001203: 15,3356 31702 DCA PREL
047609,001204: 15,3357 50305 INDEX SW/NDX
047610,001205: 15,3360 52324 DXCH ENDBUF -1
047611,001206: 15,3361 31703 CA RREL
047612,001207: 15,3362 50305 INDEX SW/NDX
047613,001208: 15,3363 54325 TS ENDBUF +1
047614,001209:
047615,001210: 15,3364 31623 CM/END CA CM/SAVE
047616,001211: 15,3365 54021 TS SR
047617,001212: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047618,001213:
047619,001214: 15,3366 00006 EXTEND
047620,001215: 15,3367 33373 DCA T5IDLER2
047621,001216: 15,3370 52113 DXCH T5LOC
047622,001217: 15,3371 05323 TC RESUME
047623,001218:
047624,001219: 15,3372 0112 EBANK= T5LOC
047625,001220: 15,3372 03226 12060 T5IDLER2 2CADR T5IDLOC
047626,001221:
047627,001222: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047628,001223: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047629,001224: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047630,001225: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
047631,001226: # EACH 2 SECONDS.
047632,001227:
047633,001228: # THE SEQUENCE IS: SP TIME INITIAL TIME
047634,001229: # SWITCH ALSO INDEX.
047635,001230: # P ROLL RATE
047636,001231: # Q PITCH RATE
047637,001232: # R YAW RATE
047638,001233: # ETC.
047639,001234:
047640,001235: # CMTMTIME = UPBUFF
047641,001236: # SW/NDX = UPBUFF +1
047642,001237: # ENDBUF = UPBUFF +16D
047643,001238:
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Page 1092
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047645,001240:
047646,001241: # SPACER
047647,001242:
047648,001243: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
047649,001244: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
047650,001245: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047651,001246: # XBUF = 4DEG
047652,001247:
047653,001248: 15,3374 77464 -T-3 DEC -203 B-14 # CS
047654,001249: # VSQMIN DEC .61050061 E-3 VSQ MIN/4 A PI = 4/(4 (9.1) 180)
047655,001250: 15,3375 4355 VSQMIN = OCT12
047656,001251: 15,3375 5004 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
047657,001252: 15,3375 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
047658,001253: 15,3376 15,3400 -VMT/180 = -VM/360K # = 20 (2) / 180
047659,001254: 15,3376 5020 2JETT = 4SECS # CS 2 (2) 100 INTEGER
047660,001255: 15,3376 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
047661,001256: 15,3377 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
047662,001257: 15,3400 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
047663,001258: 15,3401 15,3375 1/16A1 = 180/8ATT
047664,001259: # 1/16A1 = 180/(16 A1 TT)
047665,001260: # =180/(16 4.55 4)
047666,001261: 15,3401 00133 XS/360 DEC 91 B-14 # =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047667,001262: 15,3402 15,3401 BUFLIM = XS/360 # 4/(2 360)
047668,001263:
047669,001264: 15,3402 4753 KTRCS = HALF # KT = (.25) 2 = .5
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc