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. |
043380,000002: ## Copyright: Public domain.
043381,000003: ## Filename: TVCROLLDAP.agc
043382,000004: ## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
043383,000005: ## build 072. This is for the Command Module's (CM)
043384,000006: ## Apollo Guidance Computer (AGC), for
043385,000007: ## Apollo 15-17.
043386,000008: ## Assembler: yaYUL
043387,000009: ## Contact: Steve Case <case1780@adelphia.net>
043388,000010: ## Website: www.ibiblio.org/apollo/index.html
043389,000011: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
043390,000012: ## Mod history: 2009-09-13 SMC Adapted from Comanche055 files.
043391,000013: ## 2009-09-15 JL Fix typos. Fix page numbers. Remove change comments. Restore hard tabs.
043392,000014: ## 2010-02-15 JL Temporary workaround for an error on p996.
043393,000015: ## 2010-02-20 RSB Un-##'d this header.
043394,000016: ## 2011-05-07 JL Removed workaround.
043395,000017: ## 2017-02-09 RSB Proofed comment text by diff'ing vs Comanche 55
043396,000018: ## and/or octopus/ProoferComments as most-appropriate.
043397,000019:
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Page 982 |
043399,000021:
043400,000022: # PROGRAM NAME...TVC ROLL AUTOPILOT
043401,000023: # LOG SECTION...TVCROLLDAP SUBROUTINE...DAPCSM
043402,000024: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
043403,000025:
043404,000026:
043405,000027: # FUNCTIONAL DESCRIPTION....
043406,000028:
043407,000029: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
043408,000030: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
043409,000031: # BY IGNITION (P40)
043410,000032: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
043411,000033: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
043412,000034: # *USES T6 CLOCK TO TIME JET FIRINGS
043413,000035: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
043414,000036: # *MINIMUM JET FIRING TIME = 15 MS
043415,000037: # *JET PAIRS FIRE ALTERNATELY
043416,000038: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
043417,000039: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
043418,000040: # OF A JET FIRING TIME IS MADE ON A LATER PASS
043419,000041:
043420,000042: # CALLING SEQUENCE....
043421,000043:
043422,000044: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
043423,000045: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
043424,000046:
043425,000047: # NORMAL EXIT MODES.... ENDOFJOB
043426,000048:
043427,000049: # ALARM OR ABORT EXIT MODES.... NONE
043428,000050:
043429,000051: # SUBROUTINES CALLED.....NONE
043430,000052:
043431,000053: # OTHER INTERFACES....
043432,000054:
043433,000055: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
043434,000056: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
043435,000057: # *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC
043436,000058: # SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS
043437,000059: # NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
043438,000060:
043439,000061: # ERASABLE INITIALIZATION REQUIRED....
043440,000062:
043441,000063: # *1/CONACC (S40.15)
043442,000064: # *OGAD (CDUX AT IGNITION)
043443,000065: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
043444,000066: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
043445,000067: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
043446,000068: # OUTPUT....
043447,000069:
043448,000070: # *ROLL JET PAIR FIRINGS
043449,000071:
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Page 983 |
043451,000073: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
043452,000074:
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Page 984 |
043454,000076: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
043455,000077: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
043456,000078:
043457,000079: # SWITCHING LOGIC IN THE PHASE PLANE....
043458,000080:
043459,000081: # OGARATE
043460,000082: # *
043461,000083: # *
043462,000084: # * * * * * * * * * * * *
043463,000085: # * (REGION 1, SEE TEXT BELOW)
043464,000086: # * *
043465,000087: # *
043466,000088: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
043467,000089: # * * .
043468,000090: # * * *
043469,000091: # * * (FIRE NEG ROLL JETS)
043470,000092: # * * *
043471,000093: # (-DB,+LMCRATE)....* *
043472,000094: # * * *
043473,000095: # * * OGAERROR
043474,000096: # ************************************************************************
043475,000097: # * * (-AK, OGAERR)
043476,000098: # * * * (REGION 6-PRIME)
043477,000099: # * * (SEE TEXT BELOW)
043478,000100: # * * *
043479,000101: # * * ...STRAIGHT LINE
043480,000102: # (FIRE POS ROLL JETS) * * * .
043481,000103: # * (COAST) *
043482,000104: # * * * * * * * * * * *
043483,000105: # * -MINLIM
043484,000106: # * *
043485,000107: # *
043486,000108: # * * * * * * * * * * * * * * * *
043487,000109: # * -MAXLIM
043488,000110: # *
043489,000111: # *
043490,000112:
043491,000113: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
043492,000114: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
043493,000115: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
043494,000116: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
043495,000117: # SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
043496,000118: # ABOVE.
043497,000119:
043498,000120: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
043499,000121: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
043500,000122: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
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043502,000124:
043503,000125: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
043504,000126: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
043505,000127: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
043506,000128: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
043507,000129: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
043508,000130: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
043509,000131: # INSTEAD. TAKE AN OPERATING POINT IN REGION 6' . PASS A TANGENT TO
043510,000132: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
043511,000133: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
043512,000134: # THE INTERSECTION DEFINES DESIRED OGARATE. IF THE OPERATING POINT IS
043513,000135: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
043514,000136: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
043515,000137: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
043516,000138: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
043517,000139: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
043518,000140: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
043519,000141: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
043520,000142: # APPROXIMATION.
043521,000143:
043522,000144: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
043523,000145: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
043524,000146: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
043525,000147: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
043526,000148: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
043527,000149: # THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
043528,000150: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
043529,000151: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
043530,000152: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
043531,000153: # FAILED-ON.
043532,000154:
043533,000155: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
043534,000156: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
043535,000157: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
043536,000158: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
043537,000159: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
043538,000160: # FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,
043539,000161: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
043540,000162:
043541,000163:
043542,000164: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
043543,000165: # 2
043544,000166: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
043545,000167:
043546,000168:
043547,000169: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
043548,000170:
043549,000171: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
043550,000172:
043551,000173: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
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Page 986 |
043553,000175:
043554,000176: # EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
043555,000177:
043556,000178: # DOGADOT = NUM/DEN, WHERE
043557,000179: # 2
043558,000180: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
043559,000181: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
043560,000182: # +LMCRATE
043561,000183:
043562,000184: # DEN = (-SLOPE)(LMCRATE)(1/CONACC) - SGN(DELOGA)
043563,000185:
043564,000186: # 2
043565,000187: # DELOGA = OGAERROR - (DB - OGARATE (1/CONACC)/2) SGN(OGARATE)
043566,000188:
043567,000189:
043568,000190: # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)
043569,000191: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
043570,000192: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
043571,000193: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
043572,000194: # OGAERROR= DELOGA + DB SGN(OGARATE)
043573,000195: # OGARATE= -LMCRATE SGN(OGARATE)
043574,000196:
043575,000197: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
043576,000198: # ALSO, AT POINT WHERE DOGARATE IS COMPUTED, REGISTER DELOGA IS USED
043577,000199: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
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043579,000201:
043580,000202: # ROLLDAP CODING....
043581,000203:
043582,000204: 16,2000 SETLOC DAPROLL
043583,000205: 16,2000 BANK
043584,000206: 16,3342 E6,1645 EBANK= OGANOW
043585,000207: 16,3342 COUNT* $$/ROLL
043586,000208: 16,3342 31645 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
043587,000209: 16,3343 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
043588,000210: 16,3344 21646 MSU OGAPAST
043589,000211: 16,3345 00006 EXTEND
043590,000212: 16,3346 74764 MP BIT5
043591,000213: 16,3347 22000 LXCH A
043592,000214: 16,3350 55533 TS OGARATE # SC.AT B-4 REV/SEC
043593,000215:
043594,000216: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
043595,000217: # EXAMINE DURATION OF LAST JET FIRING IF JETS NOW ON.
043596,000218:
043597,000219: 16,3351 31571 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
043598,000220: 16,3352 00006 EXTEND
043599,000221: 16,3353 13355 BZF +2 # ROLL JETS ARE NOW OFF.
043600,000222: 16,3354 13363 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
043601,000223:
043602,000224: 16,3355 31573 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
043603,000225: 16,3356 00006 EXTEND # IF POSITIVE, DONT FIRE
043604,000226: 16,3357 13363 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
043605,000227:
043606,000228: 16,3360 34772 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
043607,000229: 16,3361 55573 TS TEMREG # RESET TEMREG
043608,000230: 16,3362 15314 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
043609,000231:
043610,000232: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
043611,000233:
043612,000234: 16,3363 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
043613,000235: 16,3364 00006 EXTEND
043614,000236: 16,3365 71631 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
043615,000237: 16,3366 00006 EXTEND
043616,000238: 16,3367 71533 MP OGARATE
043617,000239: 16,3370 63756 AD DB # SCALED AT 2(+0) REV
043618,000240: 16,3371 55573 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
043619,000241:
043620,000242: # GET SIGN OF OGARATE
043621,000243:
043622,000244: 16,3372 31533 CA OGARATE
043623,000245: 16,3373 00006 EXTEND
043624,000246: 16,3374 63377 BZMF +3 # LET SGN(0) BE NEGATIVE
043625,000247: 16,3375 34770 CA BIT1
043626,000248: 16,3376 13400 TCF +2
043627,000249: 16,3377 44770 CS BIT1
043628,000250: 16,3400 55651 TS SGNRT # + OR - 2(-14)
043629,000251:
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043631,000253: # CALCULATE DISTANCE FROM SWITCH PARABOLA (DELOGA)
043632,000254:
043633,000255: 16,3401 00006 EXTEND
043634,000256: 16,3402 71573 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
043635,000257: 16,3403 40001 CS L
043636,000258: 16,3404 61647 AD OGA # SCALED AT 2(+0) REV
043637,000259: 16,3405 55652 DELOGAC TS DELOGA # SCALE B+0 REV, PLUS TO RIGHT OF C-PARAB
043638,000260:
043639,000261: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
043640,000262:
043641,000263: 16,3406 00006 EXTEND
043642,000264: 16,3407 63412 BZMF +3
043643,000265: 16,3410 34346 CAF PRIO30 # =CA (30000)
043644,000266: 16,3411 13413 TCF +2
043645,000267: 16,3412 34752 CAF BIT15 # =CS (40000)
043646,000268: 16,3413 55653 TS I
043647,000269:
043648,000270: 16,3414 51653 INDEX I # TEST ON I SGN(OGARATE)
043649,000271: 16,3415 01651 0 SGNRT # CA OR CS
043650,000272: 16,3416 40000 COM
043651,000273: 16,3417 00006 EXTEND
043652,000274: 16,3420 63471 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
043653,000275:
043654,000276: # NO JET FIRE YET, TEST FOR MAX OGARATE
043655,000277:
043656,000278: 16,3421 51653 INDEX I
043657,000279: 16,3422 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
043658,000280: 16,3423 55654 TS IOGARATE # I.E. I OGARATE
043659,000281: 16,3424 63763 AD MAXLIM # SCALED AT 2(-4) REV/SEC
043660,000282: 16,3425 00006 EXTEND
043661,000283: 16,3426 63550 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
043662,000284:
043663,000285: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
043664,000286: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG QUANTITY
043665,000287:
043666,000288: 16,3427 31533 CA OGARATE
043667,000289: 16,3430 00006 EXTEND
043668,000290: 16,3431 74753 MP BIT14
043669,000291: 16,3432 55573 TS TEMREG
043670,000292: 16,3433 31647 CA OGA
043671,000293: 16,3434 00006 EXTEND
043672,000294: 16,3435 73757 MP -SLOPE
043673,000295: 16,3436 20001 DDOUBL
043674,000296: 16,3437 20001 DDOUBL
043675,000297: 16,3440 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
043676,000298: 16,3441 61573 AD TEMREG
043677,000299:
043678,000300: 16,3442 51653 INDEX I
043679,000301: 16,3443 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
043680,000302: 16,3444 40000 COM
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043682,000304: 16,3445 63761 AD INTERCEP # SCALED AT 2(-3) REV.
043683,000305: 16,3446 40000 COM
043684,000306: 16,3447 00006 EXTEND
043685,000307: 16,3450 63661 REG2TST BZMF NOROLL # IF REGION 2 (COAST SIDE OF STRT LINE)
043686,000308:
043687,000309: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM BOUNDARY
043688,000310:
043689,000311: 16,3451 31654 CA IOGARATE # ALWAYS NEGATIVE
043690,000312: 16,3452 63762 AD MINLIM # SCALED AT 2(-4) REV/SEC
043691,000313: 16,3453 00006 EXTEND
043692,000314: 16,3454 63661 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
043693,000315:
043694,000316: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
043695,000317:
043696,000318: 16,3455 51653 INDEX I
043697,000319: 16,3456 01647 0 OGA
043698,000320: 16,3457 40000 COM
043699,000321: 16,3460 63756 AD DB
043700,000322: 16,3461 40000 COM
043701,000323: 16,3462 00006 EXTEND
043702,000324: 16,3463 63661 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
043703,000325:
043704,000326: # JETS MUST FIRE NOW. OGARATE IS NEG. (OR VISA VERSA). USE DIRECT STR. LINE.
043705,000327: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
043706,000328: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
043707,000329: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
043708,000330: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
043709,000331: # OPERATING POINTS IN REGIONS 6 OR 6')
043710,000332:
043711,000333: 16,3464 31647 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
043712,000334: 16,3465 55652 TS DELOGA # ACTUAL STATE
043713,000335: 16,3466 31533 CA OGARATE
043714,000336: 16,3467 55650 TS DELOGART # ACTUAL STATE, I.E. DEL OGARATE
043715,000337: 16,3470 13500 TCF ONROLL
043716,000338:
043717,000339: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VISA VERSA), USE INDIRECT
043718,000340: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
043719,000341: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
043720,000342: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1')
043721,000343:
043722,000344: 16,3471 51653 ROLLON INDEX I
043723,000345: 16,3472 03756 0 DB
043724,000346: 16,3473 27652 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
043725,000347:
043726,000348: 16,3474 43760 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
043727,000349: 16,3475 51653 INDEX I
043728,000350: 16,3476 00000 0 A
043729,000351: 16,3477 55650 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
043730,000352:
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Page 990 |
043732,000354:
043733,000355: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
043734,000356:
043735,000357: 16,3500 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
043736,000358: 16,3501 71631 MP 1/CONACC
043737,000359: 16,3502 60000 DOUBLE
043738,000360: 16,3503 00006 EXTEND
043739,000361: 16,3504 73757 MP -SLOPE
043740,000362: 16,3505 55573 TS TEMREG # 2(-SLOPE)RATE /CONACC
043741,000363: 16,3506 00006 EXTEND
043742,000364: 16,3507 71650 MP DELOGART
043743,000365: 16,3510 55650 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
043744,000366: 16,3511 44756 CS BIT11
043745,000367: 16,3512 51653 INDEX I
043746,000368: 16,3513 00000 0 A
043747,000369: 16,3514 27573 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
043748,000370:
043749,000371: 16,3515 51653 INDEX I
043750,000372: 16,3516 01652 0 DELOGA
043751,000373: 16,3517 40000 COM
043752,000374: 16,3520 63756 AD DB
043753,000375: 16,3521 40000 COM
043754,000376: 16,3522 00006 EXTEND
043755,000377: 16,3523 73757 MP -SLOPE
043756,000378: 16,3524 27650 ADS DELOGART
043757,000379: 16,3525 33760 CA LMCRATE
043758,000380: 16,3526 00006 EXTEND
043759,000381: 16,3527 74756 MP BIT11
043760,000382: 16,3530 61650 RATENUM AD DELOGART # NUMERATOR COMPLETED
043761,000383:
043762,000384: 16,3531 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
043763,000385: 16,3532 34772 CA ZERO
043764,000386: 16,3533 00006 EXTEND
043765,000387: 16,3534 11573 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
043766,000388: 16,3535 00006 EXTEND
043767,000389: 16,3536 13544 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
043768,000390:
043769,000391: 16,3537 10000 MINLIMAP CCS A
043770,000392: 16,3540 34750 CAF POSMAX # POSITIVE OVERFLOW
043771,000393: 16,3541 13553 TCF ROLLSET
043772,000394: 16,3542 44750 CS POSMAX # NEGATIVE OVERFLOW
043773,000395: 16,3543 13553 TCF ROLLSET
043774,000396:
043775,000397: 16,3544 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 IN L
043776,000398: 16,3545 00006 EXTEND
043777,000399: 16,3546 11573 DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
043778,000400: 16,3547 13553 TCF ROLLSET # (SCALED AT B-4 REV/SEC)
043779,000401:
043780,000402: 16,3550 43763 RATELIM CS MAXLIM
043781,000403: 16,3551 51653 INDEX I
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|
Page 991 |
043783,000405: 16,3552 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
043784,000406:
043785,000407: # COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE
043786,000408:
043787,000409: 16,3553 55573 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
043788,000410: 16,3554 00006 EXTEND
043789,000411: 16,3555 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
043790,000412: 16,3556 55573 TS TEMREG # OVERFLOW PROTECT
043791,000413: 16,3557 13562 TCF +3 # " "
043792,000414: 16,3560 50000 INDEX A # " "
043793,000415: 16,3561 44751 CS LIMITS # " "
043794,000416: 16,3562 00006 EXTEND
043795,000417: 16,3563 77652 MP T6SCALE # T6SCALE = 8/10.24
043796,000418: 16,3564 00006 EXTEND
043797,000419: 16,3565 71631 MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60)
043798,000420: 16,3566 20001 DDOUBL
043799,000421: 16,3567 20001 DDOUBL
043800,000422: 16,3570 55573 TS TEMREG # OVERFLOW PROTECT
043801,000423: 16,3571 13574 TCF +3 # " "
043802,000424: 16,3572 50000 INDEX A # " "
043803,000425: 16,3573 44751 CS LIMITS # " "
043804,000426: 16,3574 55573 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
043805,000427: 16,3575 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
043806,000428: 16,3576 13661 BZF NOROLL
043807,000429:
043808,000430: # JET FIRE TIME IS NZ, TEST FOR JETS NOW ON.
043809,000431:
043810,000432: 16,3577 31573 CAE TEMREG # DESIRED CHANGE IN OGARATE
043811,000433: 16,3600 00006 EXTEND
043812,000434: 16,3601 71571 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
043813,000435: 16,3602 10000 CCS A
043814,000436: 16,3603 13607 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
043815,000437: 16,3604 13612 TCF NEWROLL # START NEW FIRING NOW, PLUS
043816,000438: 16,3605 13661 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
043817,000439: 16,3606 13612 TCF NEWROLL # START NEW FIRING NOW, MINUS
043818,000440:
043819,000441: # CONTINUE PRESENT FIRING
043820,000442:
043821,000443: 16,3607 34772 MOREROLL CAF ZERO
043822,000444: 16,3610 55653 TS I # USE TEMP. AS MOREROLL SWITCH
043823,000445: 16,3611 13623 TCF MAXTFIRE
043824,000446:
043825,000447: # START NEW FIRING, BUT CHECK IF GREATER THAN MIN FIRE TIME.
043826,000448:
043827,000449: 16,3612 11573 NEWROLL CCS TEMREG # CALL THIS T6FIRE
043828,000450: 16,3613 64770 AD ONE
043829,000451: 16,3614 13616 TCF +2
043830,000452: 16,3615 64770 AD ONE
043831,000453: 16,3616 40000 COM # -MAG(T6FIRE)
043832,000454: 16,3617 65001 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
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|
Page 992 |
043834,000456: 16,3620 40000 COM
043835,000457: 16,3621 00006 EXTEND
043836,000458: 16,3622 63661 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
043837,000459:
043838,000460: # PROCEED WITH NEW FIRING, BUT NOT LONGER THAN TMAXFIRE.
043839,000461:
043840,000462: 16,3623 31573 MAXTFIRE CA TEMREG
043841,000463: 16,3624 00006 EXTEND
043842,000464: 16,3625 74766 MP 1/TMXFIR # I.E. 1/TMAXFIRE
043843,000465: 16,3626 00006 EXTEND
043844,000466: 16,3627 13635 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
043845,000467:
043846,000468: 16,3630 10000 CCS A
043847,000469: 16,3631 33764 CAF TMAXFIRE # USE MAXIMUM
043848,000470: 16,3632 13634 TCF +2
043849,000471: 16,3633 43764 CS TMAXFIRE # USE MAXIMUM
043850,000472: 16,3634 55573 TS TEMREG
043851,000473:
043852,000474: # SET UP SIGN OF REQUIRED TORQUE.
043853,000475:
043854,000476: 16,3635 11573 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
043855,000477: 16,3636 34750 CA POSMAX # POSITIVE TORQUE REQUIRED
043856,000478: 16,3637 13641 TCF +2
043857,000479: 16,3640 34752 CA NEGMAX # NEGATIVE TORQUE REQUIRED
043858,000480: 16,3641 55571 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
043859,000481:
043860,000482: 16,3642 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
043861,000483: 16,3643 00006 EXTEND
043862,000484: 16,3644 63647 BZMF +3 # POSITIVE TORQUE REQUIRED
043863,000485: 16,3645 41573 CS TEMREG
043864,000486: 16,3646 55573 TS TEMREG
043865,000487:
043866,000488: 16,3647 31653 FIRELOOK CA I # IS IT MOREROLL
043867,000489: 16,3650 00006 EXTEND
043868,000490: 16,3651 13653 BZF FIREPLUG # YES
043869,000491: 16,3652 13664 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
043870,000492:
043871,000493: 16,3653 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
043872,000494: 16,3654 00006 EXTEND
043873,000495: 16,3655 61573 SU TEMREG
043874,000496: 16,3656 00006 EXTEND
043875,000497: 16,3657 65314 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
043876,000498: 16,3660 13664 TCF JETROLL
043877,000499:
043878,000500: 16,3661 44772 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
043879,000501: 16,3662 55571 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
043880,000502: 16,3663 55573 TS TEMREG
043881,000503:
043882,000504: 16,3664 00006 JETROLL EXTEND
043883,000505: 16,3665 33755 DCA NOROL1T6
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Page 993 |
043885,000507: 16,3666 52111 DXCH T6LOC
043886,000508: 16,3667 31573 CA TEMREG # ENTER JET FIRING TIME
043887,000509: 16,3670 54031 TS TIME6
043888,000510:
043889,000511: 16,3671 31653 CA I # I=0 IF MOREROLL,KEEP SAME JETS ON
043890,000512: 16,3672 00006 EXTEND
043891,000513: 16,3673 15314 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
043892,000514:
043893,000515: 16,3674 11571 CCS ROLLFIRE
043894,000516: 16,3675 13701 TCF +TORQUE
043895,000517: 16,3676 13742 TCF T6ENABL
043896,000518: 16,3677 13722 TCF -TORQUE
043897,000519: 16,3700 13742 TCF T6ENABL
043898,000520:
043899,000521: # PROCEED WITH PLUS TORQUE.
043900,000522:
043901,000523: 16,3701 31572 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
043902,000524: 16,3702 74770 MASK BIT1 # WAS IT NO.9-11
043903,000525: 16,3703 00006 EXTEND
043904,000526: 16,3704 13714 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
043905,000527:
043906,000528: 16,3705 44770 NO.13-15 CS BIT1
043907,000529: 16,3706 71572 MASK ROLLWORD
043908,000530: 16,3707 55572 TS ROLLWORD # CHANGE BIT 1 TO ZERO
043909,000531: 16,3710 35014 CAF +ROLL2
043910,000532: 16,3711 00006 EXTEND
043911,000533: 16,3712 01006 WRITE CHAN6
043912,000534: 16,3713 13742 TCF T6ENABL
043913,000535:
043914,000536: 16,3714 34770 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
043915,000537: 16,3715 27572 ADS ROLLWORD # CHANGE BIT 1 TO ONE
043916,000538: 16,3716 34773 CAF +ROLL1
043917,000539: 16,3717 00006 EXTEND
043918,000540: 16,3720 01006 WRITE CHAN6
043919,000541: 16,3721 13742 TCF T6ENABL
043920,000542:
043921,000543: 16,3722 31572 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
043922,000544: 16,3723 74767 MASK BIT2 # WAS IT NO.12-10
043923,000545: 16,3724 00006 EXTEND
043924,000546: 16,3725 13735 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
043925,000547:
043926,000548: 16,3726 44767 NO.16-14 CS BIT2
043927,000549: 16,3727 71572 MASK ROLLWORD
043928,000550: 16,3730 55572 TS ROLLWORD # CHANGE BIT 2 TO ZERO
043929,000551: 16,3731 33765 CAF -ROLL2
043930,000552: 16,3732 00006 EXTEND
043931,000553: 16,3733 01006 WRITE CHAN6
043932,000554: 16,3734 13742 TCF T6ENABL
043933,000555:
043934,000556: 16,3735 34767 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
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Page 994 |
043936,000558: 16,3736 27572 ADS ROLLWORD # CHANGE BIT 2 TO ONE
043937,000559: 16,3737 34355 CAF -ROLL1
043938,000560: 16,3740 00006 EXTEND
043939,000561: 16,3741 01006 WRITE CHAN6
043940,000562:
043941,000563: 16,3742 34752 T6ENABL CAF BIT15
043942,000564: 16,3743 00006 EXTEND
043943,000565: 16,3744 05013 WOR CHAN13
043944,000566: 16,3745 15314 RDAPEND TCF TASKOVER # EXIT ROLL DAP
043945,000567:
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Page 995 |
043947,000569:
043948,000570: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
043949,000571:
043950,000572: 16,3746 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
043951,000573: 16,3747 34772 CAF ZERO # CALLED BY ..JETROLL..)
043952,000574: 16,3750 55571 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
043953,000575: 16,3751 00006 EXTEND
043954,000576: 16,3752 01006 KILLJETS WRITE CHAN6
043955,000577: 16,3753 15325 TCF NOQRSM
043956,000578:
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Page 996 |
043958,000580:
043959,000581: # CONSTANTS FOR ROLL AUTOPILOT....
043960,000582:
043961,000583: 16,3754 E6,1446 EBANK= CNTR
043962,000584: 16,3754 03746 34066 NOROL1T6 2CADR NOROLL1
043963,000585:
043964,000586: 16,3756 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
043965,000587:
043966,000588: 16,3757 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
043967,000589: # PER SEC
043968,000590: 16,3760 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
043969,000591: # B-4 REV/SEC
043970,000592: 16,3761 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
043971,000593:
043972,000594: 16,3762 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
043973,000595:
043974,000596: 16,3763 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
043975,000597:
043976,000598: # TMINFIRE DEC 1.5 B+4 15 MS (14MIN), SC.AT 16 BITS/CS
043977,000599: 16,3764 5001 TMINFIRE = BITS4&5
043978,000600:
043979,000601: 16,3764 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
043980,000602:
043981,000603: 16,3765 4766 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
043982,000604: # ROUNDS TO OCT00004, SO ALLOWS 2.56
043983,000605: # SEC FIRINGS BEFORE APPLYING LIMIT
043984,000606: 16,3765 7652 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
043985,000607:
043986,000608: 16,3765 4773 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
043987,000609: 16,3765 5014 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
043988,000610: 16,3765 4355 -ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10
043989,000611: 16,3765 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc