GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 (Apollo 15-17 Command Module) program listing from a private
collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Photography was by Ron Burkey, and transcription
was performed by a team of volunteers. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision. |
046546,000002: ## Copyright: Public domain.
046547,000003: ## Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
046548,000004: ## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
046549,000005: ## build 072. This is for the Command Module's (CM)
046550,000006: ## Apollo Guidance Computer (AGC), for
046551,000007: ## Apollo 15-17.
046552,000008: ## Assembler: yaYUL
046553,000009: ## Contact: Sergio Navarro <sergionavarrog@gmail.com>
046554,000010: ## Website: www.ibiblio.org/apollo/index.html
046555,000011: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
046556,000012: ## Mod history: 2009-08-27 SN Adapted from corresponding Comanche 055 file.
046557,000013: ## 2009-09-03 JL Duplicate definition of VSQMIN, one line is a comment in page scan.
046558,000014: ## 2009-09-10 JL Fixed typos.
046559,000015: ## 2010-02-20 RSB Un-##'d this header.
046560,000016: ## 2017-01-21 RSB Proofed comment text by diff'ing vs Comanche 55
046561,000017: ## and corrected errors found.
046562,000018: ## 2017-03-16 RSB Comment-text fixes identified in 4-way side-by-side
046563,000019: ## diff of Colossus237/249/Comanche55/Artemis72.
046564,000020:
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Page 1063 |
046566,000022:
046567,000023: # SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046568,000024: # DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC.
046569,000025:
046570,000026: # CM/DSTBY = 1 FOR DAP OPERATION
046571,000027: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046572,000028:
046573,000029:
046574,000030: 15,2000 SETLOC ETRYDAP
046575,000031: 15,2000 BANK
046576,000032:
046577,000033: 15,2063 COUNT* $$/DAPEN
046578,000034: 15,2063 E6,1661 EBANK= AOG
046579,000035:
046580,000036: 15,2063 34355 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
046581,000037: 15,2064 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
046582,000038:
046583,000039: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
046584,000040: # PHASCHNG PROTECTION IS IN CM/DAPIC.
046585,000041:
046586,000042: 15,2065 34763 CA NOIMUDAP # CHECK FOR FINE ALIGN MODE OF CDU.
046587,000043: 15,2066 71334 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
046588,000044: 15,2067 00006 EXTEND # GIMBAL DIFFERENCES)
046589,000045: 15,2070 12076 BZF READGYM1 # OK
046590,000046:
046591,000047: 15,2071 44770 CS GYMDIBIT # NOT IN FINE ALIGN, SO IDLE
046592,000048: 15,2072 70102 MASK CM/FLAGS # SET GYMDIFSW =0
046593,000049: 15,2073 54102 TS CM/FLAGS
046594,000050: 15,2074 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
046595,000051: 15,2075 02143 TC CM/GYMIC +2
046596,000052:
046597,000053: 15,2076 30032 READGYM1 CA CDUX
046598,000054: 15,2077 57661 XCH AOG
046599,000055: 15,2100 00006 EXTEND
046600,000056: 15,2101 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
046601,000057: 15,2102 55675 TS -DELAOG
046602,000058:
046603,000059: 15,2103 30033 CA CDUY
046604,000060: 15,2104 57662 XCH AIG
046605,000061: 15,2105 00006 EXTEND
046606,000062: 15,2106 21662 MSU AIG
046607,000063: 15,2107 55676 TS -DELAIG
046608,000064:
046609,000065: 15,2110 30034 CA CDUZ
046610,000066: 15,2111 57663 XCH AMG
046611,000067: 15,2112 00006 EXTEND
046612,000068: 15,2113 21663 MSU AMG
046613,000069: 15,2114 55677 TS -DELAMG
046614,000070:
046615,000071: 15,2115 30102 DOBRATE? CA CM/FLAGS
046616,000072: 15,2116 74767 MASK CM/DSBIT
046617,000073: 15,2117 10000 CCS A
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Page 1064 |
046619,000075: 15,2120 12135 TCF CKGYMSW
046620,000076:
046621,000077: 15,2121 06000 TC FLUSHJET # TURN OFF ALL JETS
046622,000078:
046623,000079: 15,2122 05402 TC PHASCHNG
046624,000080: 15,2123 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
046625,000081:
046626,000082: 15,2124 05314 TC TASKOVER
046627,000083:
046628,000084: 15,2125 34770 DOBRATE CA ONE # DO BODYRATE
046629,000085: 15,2126 55720 DOBRATE1 TS JETEM # SKIP BODYRATE.
046630,000086:
046631,000087: 15,2127 34355 CA TEN # KEEP CDU READ GOING.
046632,000088: 15,2130 05223 TC TWIDDLE
046633,000089: 15,2131 02063 ADRES READGYMB
046634,000090: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046635,000091:
046636,000092: 15,2132 11720 CCS JETEM
046637,000093: 15,2133 02165 TC BODYRATE
046638,000094: 15,2134 05314 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
046639,000095:
046640,000096: 15,2135 40102 CKGYMSW CS CM/FLAGS
046641,000097: 15,2136 74770 MASK GYMDIBIT
046642,000098: 15,2137 00006 EXTEND
046643,000099: 15,2140 12125 BZF DOBRATE
046644,000100: 15,2141 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
046645,000101: 15,2142 34772 CAF ZERO
046646,000102: 15,2143 55711 +2 TS JETAG
046647,000103: 15,2144 55706 TS OLDELP
046648,000104: 15,2145 55707 TS OLDELQ
046649,000105: 15,2146 55710 TS OLDELR
046650,000106: 15,2147 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
046651,000107: 15,2150 02126 TC DOBRATE1
046652,000108:
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Page 1065 |
046654,000110:
046655,000111: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046656,000112:
046657,000113: 15,2151 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
046658,000114: 15,2152 00002 TC Q # NO OVFL
046659,000115: 15,2153 50000 INDEX A
046660,000116: 15,2154 34751 CAF LIMITS
046661,000117: 15,2155 26001 ADS L
046662,000118: 15,2156 00002 TC Q
046663,000119:
046664,000120: 6000 SETLOC FFTAG6
046665,000121: 6000 BANK
046666,000122:
046667,000123: 6000 COUNT* $$/DAPEN
046668,000124: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
046669,000125: 6001 00006 EXTEND
046670,000126: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
046671,000127: 6003 00006 EXTEND
046672,000128: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
046673,000129: 6005 00002 TC Q
046674,000130:
046675,000131: 15,2000 SETLOC ETRYDAP
046676,000132: 15,2000 BANK
046677,000133:
046678,000134: 15,2157 COUNT* $$/DAPEN
046679,000135: 15,2157 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046680,000136: 15,2160 61720 AD JETEM # OF CONSTANT ACCELERATION.
046681,000137: 15,2161 00006 EXTEND
046682,000138: 15,2162 74753 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
046683,000139: 15,2163 61720 AD JETEM
046684,000140: 15,2164 00002 TC Q
046685,000141:
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Page 1066 |
046687,000143:
046688,000144: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046689,000145:
046690,000146: 20,2000 SETLOC DAPS1
046691,000147: 20,2000 BANK
046692,000148:
046693,000149: 20,3624 COUNT* $$/DAPEN
046694,000150: 20,3624 E6,1661 EBANK= AOG
046695,000151:
046696,000152: 20,3624 04611 CM/DAPON TC E6SETTER
046697,000153:
046698,000154: 20,3625 05561 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
046699,000155: 20,3626 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CM FLAGS.
046700,000156: 20,3627 05561 TC DOWNFLAG # RESET DAPBIT2
046701,000157: 20,3630 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
046702,000158: 20,3631 00006 EXTEND
046703,000159: 20,3632 33747 DCA T5IDLER1 # DISABLE RCS CALCULATION
046704,000160: 20,3633 52113 DXCH T5LOC
046705,000161: 20,3634 00006 EXTEND
046706,000162: 20,3635 33747 DCA T5IDLER1 # DISABLE RCS JET CALLS
046707,000163: 20,3636 52111 DXCH T6LOC
046708,000164:
046709,000165: 20,3637 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
046710,000166:
046711,000167: 20,3640 47673 CS 13,14,15
046712,000168: 20,3641 71465 MASK DAPDATR1 # SET CONFIG BITS =0 FOR ENTRY
046713,000169: 20,3642 55465 TS DAPDATR1
046714,000170: 20,3643 03647 TC +4
046715,000171:
046716,000172: 20,3644 35011 NOTYET CA .5SEC
046717,000173: 20,3645 04636 TC BANKCALL
046718,000174: 20,3646 01731 CADR DELAYJOB # (DELAYJOB DOES INHINT)
046719,000175: 20,3647 34756 +4 CA GMDIFBIT # GAMDIFSW = 94D BIT11 INITLY=0
046720,000176: 20,3650 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046721,000177: 20,3651 00006 EXTEND
046722,000178: 20,3652 13644 BZF NOTYET
046723,000179:
046724,000180: 20,3653 44770 CS ONE # ACTIVATE CM/DAP
046725,000181: 20,3654 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
046726,000182: # NEXT PASS.
046727,000183: 20,3655 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
046728,000184: # HEADSUP IS SET IN P62.
046729,000185: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046730,000186:
046731,000187: 20,3656 30007 CA 7
046732,000188: 20,3657 55711 TS JETAG
046733,000189: 20,3660 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
046734,000190: # IN CASE CMDAPMOD IS NOT +1.
046735,000191: 20,3661 00004 INHINT
046736,000192: 20,3662 00006 EXTEND
046737,000193: 20,3663 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
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Page 1067 |
046739,000195: 20,3664 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
046740,000196: 20,3665 31664 CA ROLL/180
046741,000197: 20,3666 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
046742,000198: 20,3667 00006 EXTEND
046743,000199: 20,3670 74753 MP HALF
046744,000200: 20,3671 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
046745,000201:
046746,000202: 20,3672 40102 CS CM/FLAGS
046747,000203: 20,3673 74755 MASK CMARMBIT # CMDAPARM = 93D BIT12 INITLY=0
046748,000204: 20,3674 26102 ADS CM/FLAGS # SET BIT TO 1.
046749,000205:
046750,000206: 20,3675 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
046751,000207: 20,3676 74770 MASK NODOBIT # V 37 ENTRIES
046752,000208: 20,3677 26076 ADS FLAGWRD2
046753,000209:
046754,000210: 20,3700 00003 RELINT
046755,000211:
046756,000212: 20,3701 04655 TC POSTJUMP
046757,000213: 20,3702 54343 CADR P62.1
046758,000214:
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Page 1068 |
046760,000216:
046761,000217: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
046762,000218: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
046763,000219: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046764,000220: # SET AVEGEXIT TO CONTINUE AT CM/POSE
046765,000221:
046766,000222: 20,3703 04611 CM/DAPIC TC E6SETTER
046767,000223:
046768,000224: 20,3704 00004 INHINT
046769,000225: 20,3705 41044 CM/DAP2C CS PIPTIME +1
046770,000226: # PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046771,000227: 20,3706 55720 TS JETEM
046772,000228:
046773,000229: 20,3707 34753 CA POS1/2
046774,000230: 20,3710 64753 AD POS1/2
046775,000231: 20,3711 60025 AD TIME1 # OVFL GUARANTEED
046776,000232: 20,3712 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
046777,000233:
046778,000234: 20,3713 44773 CS FIVE
046779,000235: 20,3714 61720 AD JETEM
046780,000236: 20,3715 10000 CCS A
046781,000237: 20,3716 63745 AD -CDUT+1
046782,000238: 20,3717 13715 TCF -2
046783,000239: 20,3720 13721 NOOP
046784,000240: 20,3721 64770 AD ONE # SEND NO ZERO TO WTLST
046785,000241: 20,3722 55725 TS CM/GYMDT # FOR RESTART
046786,000242: 20,3723 05233 TC WAITLIST
046787,000243: 20,3724 E6,1661 EBANK= AOG
046788,000244: 20,3724 02063 32066 2CADR READGYMB
046789,000245:
046790,000246:
046791,000247: 20,3726 43744 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
046792,000248: 20,3727 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
046793,000249: 20,3730 64355 AD CM/SWIC2 # SET CM/DSTBY, LATSW
046794,000250: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046795,000251: # CALC. (P62.3) GOES TO ENDEXIT.
046796,000252: 20,3731 54102 TS CM/FLAGS
046797,000253:
046798,000254: 20,3732 30007 CA 7
046799,000255: 20,3733 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTION
046800,000256: 20,3734 34770 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
046801,000257: 20,3735 54305 TS SW/NDX # UPBUFF.
046802,000258:
046803,000259: 20,3736 05362 TC 2PHSCHNG # DOES INHINT/RELINT
046804,000260: 20,3737 40116 OCT 40116 # SAVE TBASE6
046805,000261: 20,3740 05024 OCT 05024
046806,000262: 20,3741 13000 OCT 13000
046807,000263:
046808,000264: 20,3742 01,2336 6P11SPT1 = 6.11SPOT
046809,000265: 20,3742 04655 TC POSTJUMP
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Page 1069 |
046811,000267: 20,3743 54327 CADR P62.2
046812,000268:
046813,000269: 20,3744 16017 CM/SWIC1 OCT 16017
046814,000270: 20,3745 4355 CM/SWIC2 = TEN # 00012 : CM/DSTBY, LATSW
046815,000271: 20,3745 77766 -CDUT+1 OCT 77766
046816,000272: 20,3746 0112 EBANK= T5LOC
046817,000273: 20,3746 03226 12060 T5IDLER1 2CADR T5IDLOC
046818,000274:
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Page 1070 |
046820,000276:
046821,000277: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046822,000278: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1
046823,000279:
046824,000280: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
046825,000281: # 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
046826,000282: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046827,000283: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046828,000284: # THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046829,000285:
046830,000286: 20,3750 E6,1661 EBANK= AOG
046831,000287: 15,2000 SETLOC ETRYDAP
046832,000288: 15,2000 BANK
046833,000289:
046834,000290: 15,2165 COUNT* $$/DAPEN
046835,000291: 15,2165 31663 BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046836,000292: 15,2166 05060 TC SPCOS
046837,000293: 15,2167 55511 TS COSM
046838,000294:
046839,000295: 15,2170 31661 CA AOG # C(AOG) = AOG/180
046840,000296: 15,2171 05061 TC SPSIN # SINO
046841,000297: 15,2172 55512 TS SINO # SINO = SIN(AOG)
046842,000298:
046843,000299: 15,2173 00006 EXTEND
046844,000300: 15,2174 71511 MP COSM
046845,000301: 15,2175 55514 TS SINOCOSM # SO CM
046846,000302:
046847,000303: 15,2176 31661 CA AOG
046848,000304: 15,2177 05060 TC SPCOS # COSO
046849,000305: 15,2200 55513 TS COSO
046850,000306:
046851,000307: 15,2201 00006 EXTEND
046852,000308: 15,2202 71511 MP COSM
046853,000309: 15,2203 55515 TS COSOCOSM # CO CM
046854,000310:
046855,000311: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046856,000312:
046857,000313: 15,2204 41677 CS -DELAMG
046858,000314: 15,2205 00006 EXTEND
046859,000315: 15,2206 71512 MP SINO
046860,000316: 15,2207 53721 DXCH JETEM # 2 LOCS _
046861,000317: 15,2210 41676 CS -DELAIG
046862,000318: 15,2211 00006 EXTEND
046863,000319: 15,2212 71515 MP COSOCOSM
046864,000320: 15,2213 21721 DAS JETEM
046865,000321: 15,2214 31720 CA JETEM
046866,000322: 15,2215 57707 XCH OLDELQ
046867,000323: 15,2216 02157 TC RATEAVG
046868,000324: 15,2217 55702 TS QREL # PITCHDOT = Q TCDU/180
046869,000325:
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Page 1071 |
046871,000327:
046872,000328: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
046873,000329:
046874,000330: 15,2220 41677 CS -DELAMG
046875,000331: 15,2221 00006 EXTEND
046876,000332: 15,2222 71513 MP COSO
046877,000333: 15,2223 53721 DXCH JETEM
046878,000334: 15,2224 31676 CA -DELAIG
046879,000335: 15,2225 00006 EXTEND
046880,000336: 15,2226 71514 MP SINOCOSM
046881,000337: 15,2227 21721 DAS JETEM
046882,000338: 15,2230 31720 CA JETEM
046883,000339: 15,2231 57710 XCH OLDELR
046884,000340: 15,2232 02157 TC RATEAVG
046885,000341: 15,2233 55703 TS RREL # YAWDOT = R TCDU/180
046886,000342:
046887,000343: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
046888,000344:
046889,000345: 15,2234 31663 CA AMG
046890,000346: 15,2235 05061 TC SPSIN
046891,000347: 15,2236 55510 TS SINM
046892,000348:
046893,000349: 15,2237 00006 EXTEND
046894,000350: 15,2240 71676 MP -DELAIG
046895,000351: 15,2241 55720 TS JETEM
046896,000352: 15,2242 34772 CA ZERO
046897,000353: 15,2243 20001 DDOUBL # ROUND L INTO A
046898,000354: 15,2244 61675 AD -DELAOG
046899,000355: 15,2245 61720 AD JETEM
046900,000356: 15,2246 40000 CS A
046901,000357: 15,2247 55720 TS JETEM
046902,000358: 15,2250 57706 XCH OLDELP
046903,000359: 15,2251 02157 TC RATEAVG
046904,000360: 15,2252 55701 TS PREL # ROLLDOT = P TCDU/180
046905,000361:
046906,000362: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
046907,000363:
046908,000364: 15,2253 11723 CCS GAMDOT
046909,000365: 15,2254 02256 TC +2
046910,000366: 15,2255 02300 TC NOGAMDUT
046911,000367: 15,2256 41664 CS ROLL/180
046912,000368: 15,2257 05061 TC SPSIN
046913,000369: 15,2260 00006 EXTEND
046914,000370: 15,2261 71723 MP GAMDOT
046915,000371: 15,2262 55721 TS JETEM +1 # -SR GAMDOT
046916,000372: 15,2263 00006 EXTEND
046917,000373: 15,2264 72626 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
046918,000374: 15,2265 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
046919,000375:
046920,000376: 15,2266 31664 CA ROLL/180
046921,000377: 15,2267 05060 TC SPCOS
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Page 1072 |
046923,000379: 15,2270 40000 COM
046924,000380: 15,2271 00006 EXTEND
046925,000381: 15,2272 71723 MP GAMDOT
046926,000382: 15,2273 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
046927,000383:
046928,000384: 15,2274 41721 CS JETEM +1 # B( ) = -SR GAMDOT
046929,000385: 15,2275 00006 EXTEND
046930,000386: 15,2276 72627 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
046931,000387: 15,2277 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
046932,000388:
046933,000389: 15,2300 34755 NOGAMDUT CA CMARMBIT # CMDAPARM = 93D BIT 12
046934,000390: 15,2301 70102 MASK CM/FLAGS
046935,000391: 15,2302 00006 EXTEND
046936,000392: 15,2303 15314 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
046937,000393:
046938,000394: 15,2304 34750 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
046939,000395: 15,2305 54030 TS TIME5
046940,000396:
046941,000397: 15,2306 00006 EXTEND
046942,000398: 15,2307 32313 DCA ATDOTCAD
046943,000399: 15,2310 52113 DXCH T5LOC
046944,000400: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046945,000401:
046946,000402: 15,2311 05314 TC TASKOVER
046947,000403:
046948,000404: 15,2312 E6,1661 EBANK= AOG
046949,000405: 15,2312 02314 32066 ATDOTCAD 2CADR ATTRATES
046950,000406:
|
|
Page 1073 |
046952,000408:
046953,000409: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
046954,000410:
046955,000411: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
046956,000412: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
046957,000413: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
046958,000414:
046959,000415: 15,2314 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
046960,000416: 15,2315 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
046961,000417: 15,2316 22012 QXCH QRUPT
046962,000418: 15,2317 30021 CA SR
046963,000419: 15,2320 60000 DOUBLE
046964,000420: 15,2321 55623 TS CM/SAVE
046965,000421: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046966,000422:
046967,000423: 15,2322 31702 CA QREL
046968,000424: 15,2323 61665 AD ALFA/180
046969,000425: 15,2324 02151 TC ANGOVCOR
046970,000426: 15,2325 55665 TS ALFA/180
046971,000427: 15,2326 05060 TC SPCOS
046972,000428: 15,2327 55506 TS CALFA # CALFA
046973,000429: 15,2330 55705 TS PHIDOT
046974,000430:
046975,000431: 15,2331 00006 EXTEND
046976,000432: 15,2332 71701 MP PREL
046977,000433: 15,2333 57705 XCH PHIDOT # CA PREL
046978,000434: 15,2334 00006 EXTEND
046979,000435: 15,2335 71703 MP RREL # CA RREL
046980,000436: 15,2336 55704 TS BETADOT
046981,000437:
046982,000438: 15,2337 31665 CA ALFA/180
046983,000439: 15,2340 05061 TC SPSIN
046984,000440: 15,2341 55507 TS SALFA # SIN(ALFA)
046985,000441:
046986,000442: 15,2342 00006 EXTEND
046987,000443: 15,2343 71703 MP RREL # SA RREL
046988,000444: 15,2344 27705 ADS PHIDOT # CB PHIDOT, SAVED.
046989,000445:
046990,000446: 15,2345 41507 CS SALFA
046991,000447: 15,2346 00006 EXTEND
046992,000448: 15,2347 71701 MP PREL
046993,000449: 15,2350 27704 ADS BETADOT # SAVE BETADOT TCDU/180
046994,000450: 15,2351 27666 ADS BETA/180 # BETA DONE.
046995,000451:
046996,000452: 15,2352 05061 TC SPSIN
046997,000453: 15,2353 00006 EXTEND
046998,000454: 15,2354 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
046999,000455: 15,2355 61665 AD ALFA/180
047000,000456: 15,2356 02151 TC ANGOVCOR
047001,000457: 15,2357 55665 TS ALFA/180 # ALFA DONE.
|
|
Page 1074 |
047003,000459: 15,2360 40000 COM
047004,000460: 15,2361 61603 AD ALFACOM
047005,000461: 15,2362 02151 TC ANGOVCOR # JUST IN CASE ...
047006,000462: 15,2363 55477 TS AK1
047007,000463: 15,2364 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
047008,000464:
047009,000465: 15,2365 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
047010,000466: 15,2366 61664 AD ROLL/180
047011,000467: 15,2367 02151 TC ANGOVCOR
047012,000468: 15,2370 55714 TS ROLLTM # ROLL/180 FOR TM.
047013,000469: 15,2371 55664 TS ROLL/180 # ROLL DONE.
047014,000470:
047015,000471: # START YAW AUTOPILOT HERE . RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
047016,000472:
047017,000473: 15,2372 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
047018,000474: 15,2373 61604 AD BETACOM
047019,000475: 15,2374 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
047020,000476: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
047021,000477: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
047022,000478: # BE R-AXIS ERROR.
047023,000479:
047024,000480: 15,2375 34766 CA .05GBIT # .05GSW = 102D BIT3 SW=0, LESS .05G
047025,000481: 15,2376 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
047026,000482: 15,2377 00006 EXTEND
047027,000483: 15,2400 12466 BZF EXDAP # IF G LESS THAN .05
047028,000484: 15,2401 44770 CS ONE # IF G GEQ THAN .05
047029,000485: 15,2402 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
047030,000486:
047031,000487: 15,2403 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
047032,000488: 15,2404 55500 TS AK2 # IN ATM. (MODE =-1)
047033,000489:
047034,000490: 15,2405 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
047035,000491: 15,2406 00006 EXTEND
047036,000492: 15,2407 72626 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
047037,000493: 15,2410 61703 AD RREL
047038,000494: 15,2411 02456 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
047039,000495: 15,2412 50000 INDEX A # +/- 1 IF NOT
047040,000496: 15,2413 32631 CAF YJETCODE
047041,000497:
047042,000498: 15,2414 55720 TS JETEM
047043,000499:
047044,000500: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
047045,000501:
047046,000502: 15,2415 31702 CA QREL
047047,000503: 15,2416 02456 TC 2D/SDZ
047048,000504: 15,2417 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
047049,000505: 15,2420 32634 CAF P/RJCODE
047050,000506: 15,2421 27720 ADS JETEM # COMBINE ALL NEW BITS.
047051,000507:
047052,000508: 15,2422 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
|
|
Page 1075 |
047054,000510: 15,2423 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
047055,000511:
047056,000512: 15,2424 11711 CCS JETAG
047057,000513: 15,2425 02645 TC CM/RCS
047058,000514: 15,2426 03325 TC CM/FDAI
047059,000515: 15,2427 03332 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
047060,000516:
|
|
Page 1076 |
047062,000518:
047063,000519: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
047064,000520:
047065,000521: 15,2430 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
047066,000522: 15,2431 62624 AD YAWLIM
047067,000523: 15,2432 12462 TCF DZCOM
047068,000524: 15,2433 62624 AD YAWLIM
047069,000525: 15,2434 12463 TCF DZNOCOM
047070,000526:
047071,000527: # BIASED DZ FOR EXT ATM DAP.
047072,000528: 15,2435 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
047073,000529: 15,2436 10000 CCS A # START ERROR DZ.
047074,000530: 15,2437 42623 CS CM/BIAS # = .6/180
047075,000531: 15,2440 12442 TCF +2
047076,000532: 15,2441 32623 CA CM/BIAS
047077,000533: 15,2442 60001 AD L # BIAS THE ERROR.
047078,000534: 15,2443 22002 LXCH Q # SAVE CALLERS RETURN ADDRESS.
047079,000535: 15,2444 02430 TC 3DDZ # GO GENERATE THE ERROR BIT.
047080,000536: 15,2445 52002 DXCH L # BIT TO L, RESTORE CALLERS Q.
047081,000537: 15,2446 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
047082,000538: 15,2447 62621 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
047083,000539: 15,2450 12452 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
047084,000540: 15,2451 62621 AD 4D/SLIM
047085,000541: 15,2452 54000 TS A
047086,000542: 15,2453 12455 TCF +2 # RATE OK. CONTINUE
047087,000543: 15,2454 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
047088,000544: 15,2455 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
047089,000545:
047090,000546: 15,2456 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
047091,000547: 15,2457 62622 AD YDOTLIM # 1.0 - YDOT DZ ( OR PDOT)
047092,000548: 15,2460 12463 TCF +3
047093,000549: 15,2461 62622 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
047094,000550: 15,2462 40000 DZCOM COM
047095,000551: 15,2463 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
047096,000552: 15,2464 34772 CA ZERO # SET C(A) = +0 INSIDE
047097,000553: 15,2465 00002 TC Q
047098,000554:
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|
Page 1077 |
047100,000556:
047101,000557: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
047102,000558:
047103,000559: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
047104,000560: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
047105,000561: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
047106,000562: # R-AXIS = CONTROL
047107,000563:
047108,000564: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
047109,000565: # RATE = PREL
047110,000566: # P-AXIS = CONTROL
047111,000567:
047112,000568: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
047113,000569: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
047114,000570: # RATE = BETADOT
047115,000571: # P-AXIS = CONTROL
047116,000572:
047117,000573: # ROLL: YAW ERROR = SGN(SALF) (ROLLC -ROLL) RATE DAMP ONLY.
047118,000574: # RATE = RREL
047119,000575: # R-AXIS = CONTROL
047120,000576:
047121,000577: # 3. FOR ALL CASES, USE
047122,000578: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
047123,000579: # RATE = QREL
047124,000580: # Q-AXIS = CONTROL
047125,000581:
047126,000582:
047127,000583:
047128,000584: 15,2466 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
047129,000585: 15,2467 11506 CCS CALFA
047130,000586: 15,2470 62625 AD C45LIM # =1.0-COS(45)
047131,000587: 15,2471 12473 TCF +2
047132,000588: 15,2472 62625 AD C45LIM
047133,000589: 15,2473 54000 TS A
047134,000590: 15,2474 12555 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
047135,000591:
047136,000592: 15,2475 11506 CCS CALFA # |CALFA| > 0.707
047137,000593: 15,2476 12477 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
047138,000594:
047139,000595: 15,2477 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
047140,000596: 15,2500 02513 TC EXDAP4
047141,000597: 15,2501 02503 TC +2
047142,000598: 15,2502 02513 TC EXDAP4
047143,000599: 15,2503 05402 TC PHASCHNG # SINGLE PASS THROUGH HERE.
047144,000600: 15,2504 40334 OCT 40334
047145,000601: 15,2505 01,2170 4P33SPT1 = 4.33SPOT
047146,000602: 15,2505 44770 CS ONE
047147,000603: 15,2506 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
047148,000604: 15,2507 32620 CA NSEC
047149,000605: 15,2510 05233 TC WAITLIST
047150,000606: 15,2511 E6,1661 EBANK= AOG
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|
Page 1078 |
047152,000608: 15,2511 02375 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
047153,000609:
047154,000610: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047155,000611: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047156,000612:
047157,000613: 15,2513 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
047158,000614: 15,2514 12522 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
047159,000615: 15,2515 12522 TCF EXDAP3
047160,000616: 15,2516 34772 CA ZERO
047161,000617: 15,2517 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
047162,000618: 15,2520 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
047163,000619: 15,2521 55711 TS JETAG # RESTORE PROPER VALUE +0
047164,000620:
047165,000621: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047166,000622: 15,2522 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
047167,000623: 15,2523 31573 CA RAXERR # C()= BETACOM - BETA/180
047168,000624: 15,2524 12530 TCF EXDAP1
047169,000625: 15,2525 44772 CS ZERO
047170,000626: 15,2526 55700 TS CMDAPMOD # FOR CM/RCS
047171,000627: 15,2527 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
047172,000628: 15,2530 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
047173,000629: 15,2531 55500 TS AK2 # WANT RAXERR FOR TM.
047174,000630: 15,2532 54001 TS L
047175,000631: 15,2533 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
047176,000632: 15,2534 02537 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
047177,000633: 15,2535 34770 CA ONE # USE BETADOT TO COORD IN MODE +0
047178,000634: 15,2536 50000 INDEX A # OTHERWISE USE RREL.
047179,000635: 15,2537 31703 CA RREL
047180,000636: 15,2540 02435 TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
047181,000637: # IF GEQ 4D/S, SET ERROR BIT IN L =0)
047182,000638: 15,2541 00006 EXTEND
047183,000639: 15,2542 04001 ROR LCHAN # L HAS BETA BIT
047184,000640: 15,2543 50000 INDEX A
047185,000641: 15,2544 32631 CAF YJETCODE
047186,000642: 15,2545 55720 TS JETEM
047187,000643:
047188,000644: 15,2546 31572 CA QAXERR # ALFA ERROR.
047189,000645: 15,2547 54001 TS L
047190,000646: 15,2550 31702 CA QREL # FOR ALFADOT USE QREL
047191,000647: 15,2551 02435 TC BIASEDZ
047192,000648: 15,2552 00006 EXTEND
047193,000649: 15,2553 04001 ROR LCHAN
047194,000650: 15,2554 12417 TCF EXDAPIN # CONTINUE ON IN DAP
047195,000651:
047196,000652: 15,2555 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
047197,000653:
047198,000654: 15,2556 44770 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
047199,000655: 15,2557 55711 TS JETAG # TO 2 SEC FOR ROLL JETS.( IF CMDAPMOD
047200,000656: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
|
|
Page 1079 |
047202,000658: 15,2560 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
047203,000659: 15,2561 55727 TS P63FLAG
047204,000660: 15,2562 12563 NOOP
047205,000661:
047206,000662: 15,2563 11507 CCS SALFA # BETA CONTROL WITH P JETS
047207,000663: 15,2564 41573 CS RAXERR # B()= BETACOM - BETA/180
047208,000664: 15,2565 12567 TCF +2
047209,000665: 15,2566 31573 CA RAXERR
047210,000666: 15,2567 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
047211,000667: 15,2570 00006 EXTEND
047212,000668: 15,2571 74753 MP HALF # CM/FDAI EXPECTS ERROR/360.
047213,000669: 15,2572 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
047214,000670: 15,2573 54001 TS L
047215,000671: 15,2574 11507 CCS SALFA
047216,000672: 15,2575 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
047217,000673: 15,2576 02600 TC +2
047218,000674: 15,2577 31704 CA BETADOT
047219,000675: 15,2600 02435 TC BIASEDZ
047220,000676: 15,2601 00006 EXTEND
047221,000677: 15,2602 04001 ROR LCHAN
047222,000678: 15,2603 50000 INDEX A
047223,000679: 15,2604 32634 CAF P/RJCODE # GET ROLL CODE
047224,000680: 15,2605 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
047225,000681: 15,2606 01006 WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST
047226,000682:
047227,000683: 15,2607 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
047228,000684: 15,2610 00006 EXTEND
047229,000685: 15,2611 21664 MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.?
047230,000686: 15,2612 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
047231,000687: 15,2613 11507 CCS SALFA
047232,000688: 15,2614 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
047233,000689: 15,2615 02530 TC EXDAP1
047234,000690: 15,2616 40001 CS L
047235,000691: 15,2617 02530 TC EXDAP1
047236,000692:
047237,000693: 15,2620 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
047238,000694: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047239,000695: 15,2621 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
047240,000696: 15,2622 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
047241,000697: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047242,000698:
047243,000699: 15,2623 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
047244,000700: 15,2624 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
047245,000701: 15,2625 11277 C45LIM DEC .29289 # =1.0-COS(45)
047246,000702:
047247,000703: 15,2626 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
047248,000704: 15,2627 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
047249,000705:
047250,000706: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047251,000707: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
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|
Page 1080 |
047253,000709: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
047254,000710:
047255,000711:
047256,000712: # JET CODE TABLES FOLLOW _
047257,000713:
047258,000714: 15,2630 00120 OCTAL 00120 # POS Y
047259,000715: 15,2631 00000 YJETCODE OCTAL 00000 # RCS JET BITS
047260,000716: 15,2632 00240 OCTAL 00240 # NEG Y
047261,000717: 15,2633 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
047262,000718: 15,2634 00000 P/RJCODE OCTAL 00000
047263,000719: 15,2635 00012 OCTAL 00012 # NEG R ALSO NEG P
047264,000720:
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|
Page 1081 |
047266,000722:
047267,000723: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
047268,000724: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
047269,000725: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
047270,000726: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
047271,000727: # NEXT UPDATE.
047272,000728:
047273,000729: 15,2636 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
047274,000730: 15,2637 55712 TS TUSED
047275,000731: # THE 5 CS APPEARS IN TIMETST.
047276,000732: 15,2640 34770 CA ONE # RATHER THAN INCR, FOR SAFETY
047277,000733: 15,2641 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
047278,000734: 15,2642 05402 TC PHASCHNG
047279,000735: 15,2643 00001 OCT 00001
047280,000736:
047281,000737: 15,2644 05314 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
047282,000738:
047283,000739: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
047284,000740: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
047285,000741: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
047286,000742: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
047287,000743:
047288,000744: 15,2645 4752 HALFPR EQUALS NEG1/2 +1
047289,000745:
047290,000746: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
047291,000747: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
047292,000748: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
047293,000749: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
047294,000750:
047295,000751: 15,2645 44770 CM/RCS CS ONE
047296,000752: 15,2646 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
047297,000753:
047298,000754: 15,2647 45004 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
047299,000755: 15,2650 00006 EXTEND
047300,000756: 15,2651 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
047301,000757: 15,2652 60001 AD L # -2 RDOT T/180 IN L
047302,000758: 15,2653 55613 TS -VT/180 # SAVE -2VT/180 HERE
047303,000759:
047304,000760: 15,2654 41664 CS ROLL/180
047305,000761: 15,2655 54021 TS SR # SAVE (-R/180) /2
047306,000762:
047307,000763: 15,2656 40102 CS CM/FLAGS
047308,000764: 15,2657 74765 MASK LATSWBIT # LATSW = 101D BIT4
047309,000765: 15,2660 00006 EXTEND # ROLL OVER TOP $
047310,000766: 15,2661 12667 BZF GETLCX # NO, TAKE SHORTEST PATH
047311,000767: 15,2662 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
047312,000768: 15,2663 31715 CA ROLLC # (ROLLC/180) /2
047313,000769: 15,2664 60021 AD SR # -(R/180) /2
047314,000770: 15,2665 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
047315,000771: 15,2666 12727 TCF COMPAT # POSSIBLE OVFL ABOVE.
047316,000772:
|
|
Page 1082 |
047318,000774: 15,2667 34753 GETLCX CA POS1/2 # FORM RCOM/360
047319,000775: 15,2670 60000 DOUBLE
047320,000776: 15,2671 61715 AD ROLLC
047321,000777: 15,2672 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
047322,000778:
047323,000779: 15,2673 30021 CA SR # FORM -R/360
047324,000780: 15,2674 64751 AD NEG1/2
047325,000781: 15,2675 64751 AD NEG1/2 # IGNORE OVFL
047326,000782: 15,2676 57614 XCH LCX/360 # -R/360
047327,000783: 15,2677 27614 ADS LCX/360 # LCX/360 = RCOM/360 -R/360 RANGE (-1,1)
047328,000784:
047329,000785: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
047330,000786:
047331,000787: 15,2700 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
047332,000788: 15,2701 64770 AD ONE # (BASED ON SINGLE JET ACCELERATION)
047333,000789: 15,2702 12704 TCF +2
047334,000790: 15,2703 64770 AD ONE
047335,000791: 15,2704 00006 EXTEND
047336,000792: 15,2705 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
047337,000793: 15,2706 00006 EXTEND
047338,000794: 15,2707 73375 MP 1/16A1 # = 180/(16 A1 TT)
047339,000795: 15,2710 00006 EXTEND
047340,000796: 15,2711 11506 DV CALFA
047341,000797: 15,2712 54001 TS L
047342,000798: 15,2713 11614 CCS LCX/360
047343,000799: 15,2714 34753 CAF POS1/2
047344,000800: 15,2715 12717 TCF +2
047345,000801: 15,2716 44753 CS POS1/2
047346,000802: 15,2717 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEG $
047347,000803: 15,2720 60001 AD L
047348,000804: 15,2721 54001 TS L
047349,000805: 15,2722 12727 TCF COMPAT # YES, GO ON.
047350,000806: 15,2723 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
047351,000807: 15,2724 44752 CS HALFPR # +A YIELDS -1/2
047352,000808: 15,2725 60000 DOUBLE
047353,000809: 15,2726 27614 ADS LCX/360
047354,000810:
047355,000811: 15,2727 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
047356,000812: 15,2730 00006 EXTEND
047357,000813: 15,2731 71506 MP CALFA # COS ALFA
047358,000814: 15,2732 55614 TS LCX/360 # SCALED LCX OK HERE.
047359,000815:
047360,000816: 15,2733 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
047361,000817: 15,2734 03323 TC DZCALL1 # EXIT, SETTING JETAG=0.(C(A)=0)
047362,000818: # ALL 3 AXES ALREADY DONE.
047363,000819: 15,2735 02736 TC +1 # G LESS THAN .05. CA POS. CONTINUE
047364,000820: 15,2736 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
047365,000821: 15,2737 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
047366,000822: 15,2740 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
047367,000823: 15,2741 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT.( /360)
|
|
Page 1083 |
047369,000825: 15,2742 31613 CA -VT/180 # GET - 2 VT/180
047370,000826: 15,2743 54021 TS SR
047371,000827: 15,2744 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
047372,000828: 15,2745 55570 TS -VT/180E # DIAGNOSTIC ****
047373,000829: 15,2746 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
047374,000830: 15,2747 00006 EXTEND
047375,000831: 15,2750 71613 MP -VT/180 # B(A) = -2VT/180
047376,000832: 15,2751 00006 EXTEND
047377,000833: 15,2752 73375 MP 180/8ATT
047378,000834: 15,2753 55616 TS VSQ/4API
047379,000835:
047380,000836: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 - .5 BUFLIM/360 POS ?
047381,000837:
047382,000838: 15,2754 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
047383,000839: 15,2755 40000 COM
047384,000840: 15,2756 63401 AD BUFLIM # =BUFLIM/(2 360)
047385,000841: 15,2757 54001 TS L
047386,000842: 15,2760 11613 CCS -VT/180
047387,000843: 15,2761 40001 CS L
047388,000844: 15,2762 12764 TCF +2
047389,000845: 15,2763 30001 CA L
047390,000846: 15,2764 61614 AD LCX/360
047391,000847: 15,2765 63401 AD BUFLIM
047392,000848: 15,2766 00006 EXTEND
047393,000849: 15,2767 63004 BZMF REFLECT # POINT (X,V) IN LHP.
047394,000850:
047395,000851: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG ?
047396,000852:
047397,000853: 15,2770 40000 COM
047398,000854: 15,2771 63401 AD BUFLIM
047399,000855: 15,2772 63401 AD BUFLIM
047400,000856: 15,2773 00006 EXTEND
047401,000857: 15,2774 63013 BZMF DZ1 # POINT (X,V) IN RHP.
047402,000858:
047403,000859: # IS POINT WITHIN VELOCITY DZ?
047404,000860:
047405,000861: 15,2775 44355 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG ?
047406,000862: 15,2776 61616 AD VSQ/4API
047407,000863: 15,2777 00006 EXTEND
047408,000864: 15,3000 63305 BZMF DZCALL # YES.
047409,000865:
047410,000866: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047411,000867:
047412,000868: 15,3001 41617 CS JNDX
047413,000869: 15,3002 55620 TS JNDX1
047414,000870: 15,3003 03066 TC OVRLINE1
047415,000871:
047416,000872: 15,3004 41613 REFLECT CS -VT/180 # REFLECT LHP INTO RHP REL TO TERM CONTR
047417,000873: 15,3005 55613 TS -VT/180
047418,000874: 15,3006 54021 TS SR # -VT/360 SAVED FOR DZ.
|
|
Page 1084 |
047420,000876: 15,3007 41614 CS LCX/360
047421,000877: 15,3010 55614 TS LCX/360
047422,000878: 15,3011 41617 CS JNDX
047423,000879: 15,3012 55617 TS JNDX
047424,000880:
047425,000881: # IS VSQ/4API - (VSQ/4API) MIN NEG $
047426,000882:
047427,000883: 15,3013 44355 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
047428,000884: 15,3014 61616 AD VSQ/4API
047429,000885: 15,3015 00006 EXTEND
047430,000886: 15,3016 63020 BZMF DZ2 # YES, GO TEST FURTHER.
047431,000887: 15,3017 13025 TCF MAXVTEST # NO
047432,000888:
047433,000889: # IS X/360 - XMIN/360 -VT/360 NEG $
047434,000890:
047435,000891: 15,3020 43377 DZ2 CS XMIN/360 # XMIN/360 = 4/360
047436,000892: 15,3021 61614 AD LCX/360
047437,000893: 15,3022 60021 AD SR # C(SR) = -VT/360
047438,000894: 15,3023 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
047439,000895: 15,3024 63305 BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0.
047440,000896:
047441,000897: # IS XD/360 - VM/360K - XS/360 POS ?
047442,000898:
047443,000899: 15,3025 41617 MAXVTEST CS JNDX
047444,000900: 15,3026 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
047445,000901: 15,3027 43401 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
047446,000902: 15,3030 61616 AD VSQ/4API
047447,000903: 15,3031 61614 AD LCX/360
047448,000904: 15,3032 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
047449,000905: # BUT C(XD/360) = (XD - XS) /360
047450,000906: 15,3033 63400 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
047451,000907: 15,3034 40000 COM
047452,000908: 15,3035 00006 EXTEND
047453,000909: 15,3036 63044 BZMF MAXVTIM1 # YES, THRUST TO VM
047454,000910: 15,3037 31615 CA XD/360
047455,000911: 15,3040 00006 EXTEND
047456,000912: 15,3041 74753 MP KTRCS
047457,000913: 15,3042 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
047458,000914:
047459,000915: 15,3043 03047 TC GETON1 # INSURE THAT Q IS POS AS TAG.
047460,000916: 15,3044 00006 MAXVTIM1 EXTEND
047461,000917: 15,3045 22007 ZQ # SET +0 AS TAG
047462,000918: 15,3046 43400 CS -VMT/180
047463,000919: 15,3047 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180.
047464,000920: 15,3050 61613 AD -VT/180
047465,000921: 15,3051 60000 DOUBLE
047466,000922: 15,3052 00006 EXTEND
047467,000923: 15,3053 73375 MP 180/8ATT
047468,000924: 15,3054 55621 TS TON1 # TON1 / 4T
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|
Page 1085 |
047470,000926: 15,3055 00006 EXTEND
047471,000927: 15,3056 63060 BZMF OVRLINE
047472,000928: 15,3057 03072 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
047473,000929:
047474,000930: 15,3060 10002 OVRLINE CCS Q
047475,000931: 15,3061 13066 TCF OVRLINE1
047476,000932: 15,3062 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
047477,000933: 15,3063 55617 TS JNDX
047478,000934: 15,3064 41621 CS TON1
047479,000935: 15,3065 13071 TCF OVRLINE2 +1
047480,000936:
047481,000937: 15,3066 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
047482,000938: 15,3067 55567 TS VDT/180
047483,000939: 15,3070 34772 OVRLINE2 CA ZERO
047484,000940: 15,3071 55621 +1 TS TON1
047485,000941: 15,3072 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
047486,000942: 15,3073 60000 DOUBLE
047487,000943: 15,3074 00006 EXTEND
047488,000944: 15,3075 73375 MP 180/8ATT
047489,000945: 15,3076 60000 DOUBLE # FOR SECOND BURN, A1
047490,000946: 15,3077 55607 TS TON2 # = TON2 / 4T
047491,000947:
047492,000948: 15,3100 40000 COM
047493,000949: 15,3101 00006 EXTEND
047494,000950: 15,3102 63106 BZMF GETOFF
047495,000951: 15,3103 55607 TS TON2
047496,000952: 15,3104 31617 CA JNDX
047497,000953: 15,3105 55620 TS JNDX1
047498,000954:
047499,000955: 15,3106 41607 GETOFF CS TON2 # TON2 / 4T
047500,000956: 15,3107 00006 EXTEND
047501,000957: 15,3110 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
047502,000958: 15,3111 55615 TS XD/360 # USE AS TEMP
047503,000959: 15,3112 41567 CS VDT/180
047504,000960: 15,3113 00006 EXTEND
047505,000961: 15,3114 13130 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
047506,000962: 15,3115 61613 AD -VT/180
047507,000963: 15,3116 00006 EXTEND
047508,000964: 15,3117 71621 MP TON1 # TON1 /4T
047509,000965: 15,3120 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
047510,000966: 15,3121 61614 AD LCX/360
047511,000967: 15,3122 22007 ZL
047512,000968: 15,3123 56001 XCH L # TEST THE DIVIDE
047513,000969: 15,3124 00006 EXTEND
047514,000970: 15,3125 11567 DV VDT/180
047515,000971: 15,3126 00006 EXTEND
047516,000972: 15,3127 13132 BZF GETOFF2 # DIVIDE OK
047517,000973:
047518,000974: 15,3130 35020 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
047519,000975: 15,3131 13137 TCF TIMSCAL
047520,000976:
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|
Page 1086 |
047522,000978: 15,3132 56001 GETOFF2 XCH L # GET NUMERATOR.
047523,000979: 15,3133 00006 EXTEND
047524,000980: 15,3134 11567 DV VDT/180 # C(A) = TOFF / 2T
047525,000981: 15,3135 00006 EXTEND
047526,000982: 15,3136 75020 MP 2JETT
047527,000983: 15,3137 55605 TIMSCAL TS TOFF # IN CS
047528,000984:
047529,000985: 15,3140 33376 CAF 4JETT
047530,000986: 15,3141 00006 EXTEND
047531,000987: 15,3142 71621 MP TON1 # C(TON1) = TON1 / 4T
047532,000988: 15,3143 55621 TS TON1 # IN CS
047533,000989:
047534,000990: 15,3144 33376 CAF 4JETT
047535,000991: 15,3145 00006 EXTEND
047536,000992: 15,3146 71607 MP TON2 # C(TON2) = TON2 / 4T
047537,000993: 15,3147 55607 TS TON2 # IN CS
047538,000994:
047539,000995: 15,3150 34772 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
047540,000996: 15,3151 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
047541,000997:
047542,000998: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047543,000999: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047544,001000: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047545,001001:
047546,001002: 15,3152 34770 CA ONE
047547,001003: 15,3153 54305 TS SW/NDX
047548,001004:
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|
Page 1087 |
047550,001006:
047551,001007: # TIMETEST SECTION FOR RCS
047552,001008: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
047553,001009: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047554,001010: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM ( HERE CHOSEN AS 2 CS) AND
047555,001011: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
047556,001012: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
047557,001013: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047558,001014: # SECTION JETCALL BELOW PROCESSES THIS LIST.
047559,001015:
047560,001016: 15,3154 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
047561,001017: 15,3155 64753 AD POS1/2
047562,001018: 15,3156 64753 AD POS1/2 # OVFL GUARANTEED.
047563,001019: 15,3157 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
047564,001020:
047565,001021: 15,3160 33374 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
047566,001022: # THE +2 REQUIRED FOR PROPER BRANCH.
047567,001023: 15,3161 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
047568,001024:
047569,001025: 15,3162 44767 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
047570,001026: 15,3163 61621 AD TON1
047571,001027: 15,3164 00006 EXTEND
047572,001028: 15,3165 63177 BZMF TIMETST1
047573,001029: 15,3166 51617 INDEX JNDX
047574,001030: 15,3167 32634 CAF P/RJCODE
047575,001031: 15,3170 55622 TS T1BITS
047576,001032:
047577,001033: 15,3171 31621 CA TON1
047578,001034: 15,3172 27712 ADS TUSED
047579,001035: 15,3173 00006 EXTEND
047580,001036: 15,3174 63201 BZMF TOFFTEST
047581,001037: 15,3175 34772 CA ZERO
047582,001038: 15,3176 13232 TCF TIMETST3
047583,001039: 15,3177 44770 TIMETST1 CS ONE
047584,001040: 15,3200 55621 TS TON1
047585,001041: 15,3201 44767 TOFFTEST CS TWO
047586,001042: 15,3202 61605 AD TOFF
047587,001043: 15,3203 00006 EXTEND
047588,001044: 15,3204 63213 BZMF TIMETST2
047589,001045: 15,3205 31605 CA TOFF
047590,001046: 15,3206 27712 ADS TUSED
047591,001047: 15,3207 00006 EXTEND
047592,001048: 15,3210 63215 BZMF TON2TEST
047593,001049: 15,3211 34772 CA ZERO
047594,001050: 15,3212 13234 TCF TIMETST4
047595,001051: 15,3213 44770 TIMETST2 CS ONE
047596,001052: 15,3214 55605 TS TOFF
047597,001053: 15,3215 44767 TON2TEST CS TWO
047598,001054: 15,3216 61607 AD TON2
047599,001055: 15,3217 00006 EXTEND
047600,001056: 15,3220 63235 BZMF TIMETST5
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|
Page 1088 |
047602,001058: 15,3221 51620 INDEX JNDX1
047603,001059: 15,3222 32634 CAF P/RJCODE
047604,001060: 15,3223 55610 TS T2BITS
047605,001061: 15,3224 31607 CA TON2
047606,001062: 15,3225 27712 ADS TUSED
047607,001063: 15,3226 00006 EXTEND
047608,001064: 15,3227 63237 BZMF JETCALL1
047609,001065: 15,3230 34772 CA ZERO
047610,001066: 15,3231 13236 TCF TIMETST5 +1
047611,001067: 15,3232 55621 TIMETST3 TS TON1
047612,001068: 15,3233 44770 CS ONE
047613,001069: 15,3234 55605 TIMETST4 TS TOFF
047614,001070: 15,3235 44770 TIMETST5 CS ONE
047615,001071: 15,3236 55607 +1 TS TON2
047616,001072:
047617,001073: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047618,001074: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047619,001075: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
047620,001076: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
047621,001077: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047622,001078: # THAN ONE REGISTER.
047623,001079:
047624,001080: 15,3237 34772 JETCALL1 CA ZERO
047625,001081: 15,3240 55611 TS OUTTAG
047626,001082: 15,3241 55612 TS NUJET
047627,001083: 15,3242 55606 TS TBITS
047628,001084: 15,3243 53622 DXCH TON1
047629,001085: 15,3244 10000 CCS A
047630,001086: 15,3245 13262 TCF JETCALL2 # CALL WTLST
047631,001087: 15,3246 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
047632,001088: 15,3247 44770 CS ONE
047633,001089: 15,3250 53606 DXCH TOFF
047634,001090: 15,3251 10000 CCS A
047635,001091: 15,3252 13262 TCF JETCALL2 # CALL WTLST
047636,001092: 15,3253 23612 LXCH NUJET
047637,001093: 15,3254 44770 CS ONE
047638,001094: 15,3255 53610 DXCH TON2
047639,001095: 15,3256 10000 CCS A
047640,001096: 15,3257 13262 TCF JETCALL2 # CALL WTLST
047641,001097: 15,3260 23612 LXCH NUJET
047642,001098: 15,3261 03270 TC JETACTN # C(A) = +0
047643,001099: 15,3262 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
047644,001100: 15,3263 27612 ADS NUJET
047645,001101: 15,3264 56001 XCH L
047646,001102: 15,3265 64770 AD ONE # RESTORE FOR CCS
047647,001103: 15,3266 05223 TC TWIDDLE
047648,001104: 15,3267 03276 ADRES JETCALL
047649,001105: 15,3270 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
047650,001106: 15,3271 00006 +1 EXTEND # NO NEED TO SAVE OLD CODES
047651,001107: 15,3272 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
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|
Page 1089 |
047653,001109: 15,3273 11611 CCS OUTTAG
047654,001110: 15,3274 05314 TC TASKOVER
047655,001111: 15,3275 03333 ROLLDUMP TC CM/FDAIR
047656,001112:
047657,001113: # EDIT DUMP AT ABOVE LOCATION.
047658,001114:
047659,001115: # WAITLIST ENTRIES COME HERE.
047660,001116:
047661,001117: 15,3276 34767 JETCALL CAF CM/DSBIT # CM/DSTBY = BIT2 103D
047662,001118: 15,3277 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
047663,001119: 15,3300 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
047664,001120: 15,3301 00006 EXTEND
047665,001121: 15,3302 13271 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
047666,001122: 15,3303 22007 ZL # NO, CONTINUE.
047667,001123: 15,3304 13246 TCF JETCALL3 # C(A) POS, C(L) = +0
047668,001124:
047669,001125: # DEAD ZONE ENTRIES COME HERE.
047670,001126:
047671,001127: 15,3305 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047672,001128: 15,3306 74770 MASK BIT1
047673,001129: 15,3307 54001 TS L # C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
047674,001130: 15,3310 50000 INDEX A # ERASBLE ORDER: ROLLTM,ROLLC,ROLLC +1.
047675,001131: 15,3311 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
047676,001132: 15,3312 50001 INDEX L
047677,001133: 15,3313 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
047678,001134: 15,3314 60001 AD L # (BOTH MUST BE SCALED DEG/180)
047679,001135: 15,3315 02151 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC .
047680,001136: 15,3316 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE,
047681,001137: # OTHERWISE, SAVE ROLL COMMAND.
047682,001138:
047683,001139: 15,3317 34772 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
047684,001140: 15,3320 00006 EXTEND # INHINT NOT NEEDED HERE.
047685,001141: 15,3321 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
047686,001142: 15,3322 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
047687,001143: 15,3323 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
047688,001144: 15,3324 03275 TC ROLLDUMP
047689,001145:
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Page 1090 |
047691,001147:
047692,001148: # CM ENTRY FDAI DISPLAY
047693,001149:
047694,001150: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES . DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047695,001151: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
047696,001152: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047697,001153: # ROLL ROLLC-ROLL
047698,001154: # PITCH ALFAC-ALFA
047699,001155: # YAW BETAC-BETA
047700,001156:
047701,001157: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
047702,001158: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
047703,001159:
047704,001160: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
047705,001161: 15,3325 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047706,001162: 15,3326 00006 EXTEND
047707,001163: 15,3327 71506 MP CALFA # FOR ASSUMED COORDINATION.
047708,001164: 15,3330 00006 EXTEND
047709,001165: 15,3331 74753 MP HALF
047710,001166: 15,3332 27713 -1 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
047711,001167:
047712,001168: # EDIT DUMP AT ABOVE LOCATION.
047713,001169: 15,3333 34753 CM/FDAIR CA HALF
047714,001170: 15,3334 00006 EXTEND
047715,001171: 15,3335 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047716,001172: 15,3336 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047717,001173:
047718,001174: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
047719,001175: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047720,001176: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047721,001177: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047722,001178: # THE SUBSEQUENT PASS.
047723,001179:
047724,001180:
047725,001181: 15,3337 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
047726,001182: 15,3340 54305 TS SW/NDX
047727,001183: 15,3341 00006 EXTEND # INDEX.
047728,001184: 15,3342 63346 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
047729,001185: # ENDBUF.
047730,001186: # INDEX IS POS FOR NEEDLES
047731,001187:
047732,001188: 15,3343 04714 TC IBNKCALL
047733,001189: 15,3344 42425 CADR NEEDLER
047734,001190:
047735,001191: 15,3345 03364 TC CM/END
047736,001192:
047737,001193: # INDEX IS NEG FOR TM FILE
047738,001194:
047739,001195: 15,3346 66214 CMTMFILE AD THREE
047740,001196: 15,3347 00006 EXTEND
047741,001197: 15,3350 63354 BZMF SAVENDX
047742,001198:
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Page 1091 |
047744,001200: 15,3351 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
047745,001201: 15,3352 54304 TS CMTMTIME
047746,001202: 15,3353 44776 CS THIRTEEN # INITIALIZE COUNTER
047747,001203: 15,3354 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
047748,001204: 15,3355 00006 EXTEND
047749,001205: 15,3356 31702 DCA PREL
047750,001206: 15,3357 50305 INDEX SW/NDX
047751,001207: 15,3360 52324 DXCH ENDBUF -1
047752,001208: 15,3361 31703 CA RREL
047753,001209: 15,3362 50305 INDEX SW/NDX
047754,001210: 15,3363 54325 TS ENDBUF +1
047755,001211:
047756,001212: 15,3364 31623 CM/END CA CM/SAVE
047757,001213: 15,3365 54021 TS SR
047758,001214: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047759,001215:
047760,001216: 15,3366 00006 EXTEND
047761,001217: 15,3367 33373 DCA T5IDLER2
047762,001218: 15,3370 52113 DXCH T5LOC
047763,001219: 15,3371 05323 TC RESUME
047764,001220:
047765,001221: 15,3372 0112 EBANK= T5LOC
047766,001222: 15,3372 03226 12060 T5IDLER2 2CADR T5IDLOC
047767,001223:
047768,001224: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047769,001225: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047770,001226: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047771,001227: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
047772,001228: # EACH 2 SECONDS.
047773,001229:
047774,001230: # THE SEQUENCE IS: SP TIME INITIAL TIME
047775,001231: # SWITCH ALSO INDEX.
047776,001232: # P ROLL RATE
047777,001233: # Q PITCH RATE
047778,001234: # R YAW RATE
047779,001235: # ETC.
047780,001236:
047781,001237: # CMTMTIME = UPBUFF
047782,001238: # SW/NDX = UPBUFF +1
047783,001239: # ENDBUF = UPBUFF +16D
047784,001240:
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Page 1092 |
047786,001242:
047787,001243: # SPACER
047788,001244:
047789,001245: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
047790,001246: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
047791,001247: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047792,001248: # XBUF = 4DEG
047793,001249:
047794,001250: 15,3374 77464 -T-3 DEC -203 B-14 # CS
047795,001251: # VSQMIN DEC .61050061 E-3 VSQ MIN/4 A PI = 4/(4 (9.1) 180)
047796,001252: 15,3375 4355 VSQMIN = OCT12
047797,001253: 15,3375 5004 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
047798,001254: 15,3375 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
047799,001255: 15,3376 15,3400 -VMT/180 = -VM/360K # = 20 (2) / 180
047800,001256: 15,3376 5020 2JETT = 4SECS # CS 2 (2) 100 INTEGER
047801,001257: 15,3376 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
047802,001258: 15,3377 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
047803,001259: 15,3400 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
047804,001260: 15,3401 15,3375 1/16A1 = 180/8ATT
047805,001261: # 1/16A1 = 180/(16 A1 TT)
047806,001262: # =180/(16 4.55 4)
047807,001263: 15,3401 00133 XS/360 DEC 91 B-14 # =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047808,001264: 15,3402 15,3401 BUFLIM = XS/360 # 4/(2 360)
047809,001265:
047810,001266: 15,3402 4753 KTRCS = HALF # KT = (.25) 2 = .5
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc