Source Code

These source code files have been transcribed or otherwise adapted from digitized images of a hardcopy from the private collection of Don Eyles. The digitization was performed by archive.org, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that the original high-quality images are available at archive.org. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

    473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP   NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.

022309,000002:                                                                                                  ## Copyright:    Public domain.
022310,000003:                                                                                                  ## Filename:     DIGITAL_AUTOPILOT_ERASABLE.agc
022311,000004:                                                                                                  ## Purpose:      Part of the source code for Aurora (revision 12).
022312,000005:                                                                                                  ## Assembler:    yaYUL
022313,000006:                                                                                                  ## Contact:      Ron Burkey <info@sandroid.org>.
022314,000007:                                                                                                  ## Website:      https://www.ibiblio.org/apollo.
022315,000008:                                                                                                  ## Pages:        535-541
022316,000009:                                                                                                  ## Mod history:  2016-09-20 JL   Created.
022317,000010:                                                                                                  ##               2016-09-30 MAS  Began.
022318,000011:                                                                                                  ##               2016-10-01 MAS  Completed transcription.
022319,000012:                                                                                                  ##               2016-10-04 HG   Capitalize SETLOC`
022320,000013:                                                                                                  ##               2016-12-08 RSB  Proofed comments with octopus/ProoferComments
022321,000014:                                                                                                  ##                               but no errors found.
022322,000015: 
022323,000016:                                                                                                  ## This source code has been transcribed or otherwise adapted from
022324,000017:                                                                                                  ## digitized images of a hardcopy from the private collection of 
022325,000018:                                                                                                  ## Don Eyles.  The digitization was performed by archive.org.
022326,000019: 
022327,000020:                                                                                                  ## Notations on the hardcopy document read, in part:
022328,000021: 
022329,000022:                                                                                                  ##       473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
022330,000023:                                                                                                  ##       NOV 10, 1966
022331,000024: 
022332,000025:                                                                                                  ##       [Note that this is the date the hardcopy was made, not the
022333,000026:                                                                                                  ##       date of the program revision or the assembly.]
022334,000027: 
022335,000028:                                                                                                  ## The scan images (with suitable reduction in storage size and consequent 
022336,000029:                                                                                                  ## reduction in image quality) are available online at 
022337,000030:                                                                                                  ##       https://www.ibiblio.org/apollo.  
022338,000031:                                                                                                  ## The original high-quality digital images are available at archive.org:
022339,000032:                                                                                                  ##       https://archive.org/details/aurora00dapg
022340,000033: 

Page 535

022342,000035: E6,1400                                           SETLOC   3000                                  
022343,000036: 
022344,000037:                                                                                                  #  AXIS TRANSFORMATION MATRIX - PILOT TO GIMBAL AXES:
022345,000038: 
022346,000039: E6,1400                        MR12               ERASE                                          #  SCALED AT 2   THESE FOUR P-G MATRIX ELE-
022347,000040: E6,1401                        MR22               ERASE                                          #  SCALED AT 1   MENTS ARE IN THIS ORDER TO
022348,000041: E6,1402                        MR13               ERASE                                          #  SCALED AT 2   COMPUTE RATE HOLD DELCDUS
022349,000042: E6,1403                        MR23               ERASE                                          #  SCALED AT 1   WITH AN INDEXED LOOP
022350,000043:                                                                                                  #  AXIS TRANSFORMATION MATRIX - GIMBAL TO PILOT AXES:
022351,000044: 
022352,000045: E6,1404                        M11                ERASE                                          #  SCALED AT 1
022353,000046: E6,1405                        M21                ERASE                                          #  SCALED AT 1
022354,000047: E6,1406                        M31                ERASE                                          
022355,000048: E6,1407  E6,1401               M22                EQUALS   MR22                                  #  SCALED AT 1
022356,000049: E6,1407  E6,1403               M32                EQUALS   MR23                                  #  SCALED AT 1
022357,000050:                                                                                                  #  ANGLE MEASUREMENTS.
022358,000051: 
022359,000052: E6,1407                        EDOT               ERASE    +1                                    #  ERROR IN ANGULAR RATE:
022360,000053: E6,1411  E6,1410               EDOT(R)            EQUALS   EDOT       +1                         #  SCALED DOWN TO PI/16 RADIANS/SECOND
022361,000054: 
022362,000055: E6,1411                        E                  ERASE    +1                                    #  ANGLE ERROR SCALED AT PI RADIANS
022363,000056: E6,1413  E6,1412               EDOT(2)            EQUALS   E          +1                         #  ERROR RATE SQUARED SCALED AT PI(2)/16
022364,000057: E6,1413  E6,1411               EQ                 EQUALS   E                                     #  THIS PAIR OF NAMES IS USED TO REFER TO
022365,000058: E6,1413  E6,1412               EDOT(2)Q           EQUALS   EDOT(2)                               #  THE ABOVE ERASABLES AS Q-AXIS DATA
022366,000059: E6,1413                        ER                 ERASE    +1                                    #  THIS PAIR OF NAMES REFERS TO LOCATIONS
022367,000060: E6,1415  E6,1414               EDOT(2)R           EQUALS   ER         +1                         #  FOR THE R-AXIS DATA: INTERCHANGES WITH Q
022368,000061: 
022369,000062: E6,1415                        DB                 ERASE                                          #  ANGLE DEADBAND SCALED AT PI RADIANS
022370,000063: 
022371,000064: E6,1416                        OMEGAP             ERASE    +4                                    #  BODY-AXIS ROT. RATES SCALED AT PI/4 AND
022372,000065: E6,1423  E6,1417               OMEGAQ             EQUALS   OMEGAP     +1                         #  BODY-AXIS ACCELERATIONS SCALED AT PI/8
022373,000066: E6,1423  E6,1420               ALPHAQ             EQUALS   OMEGAP     +2                         #  (IN DESCENT) OR PI/2 (IN ASCENT)
022374,000067: E6,1423  E6,1421               OMEGAR             EQUALS   OMEGAP     +3                         #  THESE W,A PAIRS ARE NEEDED, ALPHAP HAS
022375,000068: E6,1423  E6,1422               ALPHAR             EQUALS   OMEGAP     +4                         #  NO USE IN THE DIGITAL AUTOPILOT
022376,000069: 
022377,000070: E6,1423                        EDOTP              ERASE    +2                                    #  ERRORS IN ANGULAR RATE:
022378,000071: E6,1426  E6,1424               EDOTQ              EQUALS   EDOTP      +1                         #  EDOT = 3MEGA - OMEGA(DESIRED)
022379,000072: E6,1426  E6,1425               EDOTR              EQUALS   EDOTP      +2                         #  SCALED AT PI/4 RADIANS/SECOND
022380,000073: 
022381,000074: E6,1426  E6,1424               QRATEDIF           EQUALS   EDOTQ                                 #  ALTERNATIVE NAMES:
022382,000075: E6,1426  E6,1425               RRATEDIF           EQUALS   EDOTR                                 #  DELETE WHEN NO. OF REFERENCES = 0
022383,000076: 
022384,000077: E6,1426                        OMEGAPD            ERASE    +2                                    #  DESIRED VEHICLE RATES DETERMINED BY THE
022385,000078: E6,1431  E6,1427               OMEGAQD            EQUALS   OMEGAPD    +1                         #  "OUTER LOOP" USED TO CALCULATE EDOT
022386,000079: E6,1431  E6,1430               OMEGARD            EQUALS   OMEGAPD    +2                         #  SCALED AT PI/4 RADIANS/SECOND
022387,000080: 
022388,000081: E6,1431                        OLDXFORP           ERASE    +3                                    #  STORED CDU READINGS FOR P AND Q,R RATE
022389,000082: E6,1435  E6,1432               OLDYFORP           EQUALS   OLDXFORP   +1                         #  DERIVATIONS: SCALED AT PI RADIANS (2'S)
022390,000083: E6,1435  E6,1433               OLDYFORQ           EQUALS   OLDXFORP   +2                         #  (THERE MUST BE TWO REGISTERS FOR CDUY
022391,000084: E6,1435  E6,1434               OLDZFORQ           EQUALS   OLDXFORP   +3                         #  SINCE P AND Q,R ARE NOT IN PHASE)
022392,000085: 

Page 536

022394,000087:                                                                                                  #  RHC INPUTS SCALED AT PI/4 RAD/SEC.
022395,000088: 
022396,000089: E6,1435                        PCOM               ERASE                                          
022397,000090: E6,1436                        RCOM               ERASE                                          
022398,000091: E6,1437                        YCOM               ERASE                                          
022399,000092: 
022400,000093:                                                                                                  #  RHC COUNTER REGISTERS.
022401,000094: 
022402,000095: E6,1440                        P-RHCCTR           EQUALS   43                                    
022403,000096: E6,1440                        Q-RHCCTR           EQUALS   42                                    
022404,000097: E6,1440                        R-RHCCTR           EQUALS   44                                    
022405,000098: 
022406,000099:                                                                                                  #  OTHER VARIABLES.
022407,000100: 
022408,000101: E6,1440                        TPSIG              ERASE                                          
022409,000102: E6,1441                        PRATECOM           ERASE                                          
022410,000103: E6,1442                        EDOTGEN            ERASE                                          
022411,000104: E6,1443                        RATEDIF            ERASE                                          
022412,000105: E6,1444                        1/2JTSP            ERASE                                          
022413,000106: E6,1445                        1/2JTSQ            ERASE                                          
022414,000107: E6,1446                        1/2JTSR            ERASE                                          
022415,000108: E6,1447                        1/2JETSU           ERASE                                          
022416,000109: E6,1450                        1/2JETSV           ERASE                                          
022417,000110: E6,1451                        FPQR               ERASE                                          
022418,000111: E6,1452                        MINRA              ERASE                                          
022419,000112: E6,1453                        MINRASQ            ERASE                                          
022420,000113: E6,1454                        HDAP               ERASE                                          
022421,000114: E6,1455                        U                  ERASE                                          
022422,000115: E6,1456                        DENOM              ERASE                                          
022423,000116: E6,1457                        RATIO              ERASE                                          
022424,000117: E6,1460                        TJSR               ERASE                                          
022425,000118: E6,1461                        IXX                ERASE                                          
022426,000119: E6,1462                        IYY                ERASE                                          
022427,000120: E6,1463                        IZZ                ERASE                                          
022428,000121: E6,1464                        4JETTORK           ERASE                                          
022429,000122: E6,1465                        JETTORK4           ERASE                                          
022430,000123: E6,1466                        COSMG              ERASE                                          
022431,000124: E6,1467     0066               DELTAP             EQUALS   ITEMP2                                
022432,000125: E6,1467                        FPQRMIN            ERASE                                          
022433,000126: E6,1470                        NJET               ERASE                                          
022434,000127: E6,1471                        1/NJETAC           ERASE                                          
022435,000128: E6,1472                        PRATEDIF           ERASE                                          
022436,000129: E6,1473                        LASTPER            ERASE                                          #  THESE 6 REG USED FOR ATT ERR DISPLAY
022437,000130: E6,1474                        LASTQER            ERASE                                          
022438,000131: E6,1475                        LASTRER            ERASE                                          
022439,000132: E6,1476                        PERROR             ERASE                                          
022440,000133: E6,1477                        QERROR             ERASE                                          
022441,000134: E6,1500                        RERROR             ERASE                                          
022442,000135: 
022443,000136:                                                                                                  #  JET STATE CHANGE VARIABLES- TIME (TOFJTCHG),JET BITS WRITTEN NOW

Page 537

022445,000138:                                                                                                  #  (JTSONNOW), AND JET BITS WRITTEN AT T6 RUPT (JTSATCHG).
022446,000139: 
022447,000140: E6,1501                        JTSONNOW           ERASE                                          
022448,000141: E6,1502                        JTSATCHG           ERASE                                          
022449,000142: E6,1503                        ADDT6JTS           ERASE                                          
022450,000143: E6,1504                        ADDTLT6            ERASE                                          
022451,000144: E6,1505                        TOFJTCHG           ERASE                                          
022452,000145: 
022453,000146: E6,1506                        -RATEDB            ERASE                                          
022454,000147: E6,1507                        -2JETLIM           ERASE                                          
022455,000148: 
022456,000149:                                                                                                  #  RCS FAILURE MONITOR ERASABLE - PROGRAM ON T4RUPT 4 TIMES/SECOND
022457,000150: 
022458,000151:                                                                                                  #  *** FAILSW CAPABILITY FOR CHECKOUT ONLY ***
022459,000152: 
022460,000153: E6,1510                        FAILSW             ERASE                                          #  IF POSITIVE NO RCSMONIT, OTHERWISE 0
022461,000154: E6,1511                        LASTFAIL           ERASE                                          #  LAST FAILURE CHANNEL RECORD, -0 INITIAL
022462,000155: E6,1512                        CH5MASK            ERASE                                          #  MASKS FOR TURNING ON P/Q,R JETS
022463,000156: E6,1513                        CH6MASK            ERASE                                          #  IN OUTPUT CHANNELS 5 AND 6
022464,000157: E6,1514     0065               FAILCTR            EQUALS   ITEMP1                                #  BIT POSITION COUNTER (INTERNAL)
022465,000158: E6,1514     0066               FAILTEMP           EQUALS   ITEMP2                                #  TEMPORARY RECORD OF FAILED BITS
022466,000159: 
022467,000160:                                                                                                  #  Q,R AXIS ERASABLES
022468,000161: 
022469,000162: E6,1514     0066               DELQ               EQUALS   ITEMP2                                
022470,000163: E6,1514     0070               DELTAR             EQUALS   ITEMP3                                
022471,000164: E6,1514                        TJETADR            ERASE                                          
022472,000165: E6,1515                        URGENCYQ           ERASE                                          
022473,000166: E6,1516                        URGENCYR           ERASE                                          
022474,000167: E6,1517                        A+B                ERASE                                          
022475,000168: E6,1520                        A-B                ERASE                                          
022476,000169: E6,1521                        TERMA              ERASE                                          
022477,000170: E6,1522                        TERMB              ERASE                                          
022478,000171: E6,1523                        POLRELOC           ERASE                                          
022479,000172: E6,1524                        LOOPCTR            ERASE                                          
022480,000173: E6,1525                        POLTEST            ERASE                                          
022481,000174: 

Page 538

022483,000176:                                                                                                  #  TRIM GIMBAL CONTROL LAW ERASABLES:
022484,000177: 
022485,000178:                                                                                                  #  THE FOLLOWING ASSIGNMENTS OF RUPTREGS AND ITEMPS HAS BEEN MADE IN AN EFFORT TO OPTIMIZE USE OF ERASABLES:
022486,000179: 
022487,000180: E6,1526     0074               K2THETA            EQUALS   RUPTREG1                              #  D.P. K(2)THETA AND "NEGUSUM"
022488,000181: E6,1526     0075               ETHETA             EQUALS   RUPTREG2                              #  S.P. ERROR ANGLE SCALED AT PI/64 RADIANS
022489,000182: E6,1526     0076               A2CNTRAL           EQUALS   RUPTREG3                              #  D.P. ALPHA(2) SCALED AT PI(2)/64 R/S(2)
022490,000183: E6,1526     0076               SF1                EQUALS   RUPTREG3                              #  S.P. VARIABLE SCALE FACTORS WHICH ARE
022491,000184: E6,1526     0077               SF2                EQUALS   RUPTREG4                              #  S.P. - REALLY SINGLE BITS (OR ZERO)
022492,000185: E6,1526     0065               OMEGA.K            EQUALS   ITEMP1                                #  D.P. OMEGA*K SUPERCEDES K AND K(2)
022493,000186: E6,1526     0065               KCENTRAL           EQUALS   ITEMP1                                #  S.P. K FROM KQ OR KR FIRST AT PI/2(8)
022494,000187: E6,1526     0066               K2CNTRAL           EQUALS   ITEMP2                                #  S.P. K(2) FROM Q OR R 1ST AT PI(2)/2(16)
022495,000188: E6,1526     0070               WCENTRAL           EQUALS   ITEMP3                                #  S.P. OMEGA SCALED AT PI/4 RADIANS/SECOND
022496,000189: E6,1526     0071               ACENTRAL           EQUALS   ITEMP4                                #  S.P. ALPHA SCALED AT PI/8 RAD/SEC(2)
022497,000190: E6,1526     0072               DEL                EQUALS   ITEMP5                                #  S.P. SGN(FUNCTION)
022498,000191: E6,1526     0073               QRCNTR             EQUALS   ITEMP6                                #  S.P. COUNTER: Q,Y=0, R,Z=2
022499,000192: 
022500,000193:                                                                                                  #  THE ABOVE QUANTITIES ARE ONLY NEEDED ON A VERY TEMPORARY BASIS AND HAVE BEEN PROVEN TO BE NON-CONFLICTING.
022501,000194: 
022502,000195: E6,1526                        L,PVT-CG           ERASE                                          #  TRIM GIMBAL PIVOT TO CG DIST AT 8 FEET
022503,000196: 
022504,000197: E6,1527                        MULTFLAG           ERASE                                          #  INDICATOR FOR SPDPMULT ROUTINE
022505,000198: 
022506,000199: E6,1530                        FUNCTION           ERASE    +1                                    #  D.P. WORD FOR DRIVE FUNCTIONS
022507,000200: 
022508,000201: E6,1532                        NEGUQ              ERASE    +2                                    #  NEGATIVE OF Q-AXIS GIMBAL DRIVE
022509,000202: E6,1535  E6,1533               THRSTCMD           EQUALS   NEGUQ      +1                         #  THRUST COMMAND AT 16384 LBS (SEPARATOR)
022510,000203: E6,1535  E6,1534               NEGUR              EQUALS   NEGUQ      +2                         #  NEGATIVE OF R-AXIS GIMBAL DRIVE
022511,000204: 
022512,000205: E6,1535                        KQ                 ERASE    +3                                    #  .3ACCDOTQ SCALED AT PI/2(8)
022513,000206: E6,1541  E6,1536               KQ2                EQUALS   KQ         +1                         #  KQ2 = KQ*KQ
022514,000207: E6,1541  E6,1537               KR                 EQUALS   KQ         +2                         #  .3ACCDOTR SCALED AT PI/2(8)
022515,000208: E6,1541  E6,1540               KR2                EQUALS   KQ         +3                         #  KR2 = KR*KR
022516,000209: 
022517,000210: E6,1541                        ACCDOTQ            ERASE    +3                                    #  Q-JERK SCALED AT PI/2(7) UNSIGNED
022518,000211: E6,1545  E6,1542               QACCDOT            EQUALS   ACCDOTQ    +1                         #  Q-JERK SCALED AT PI/2(7) SIGNED
022519,000212: E6,1545  E6,1543               ACCDOTR            EQUALS   ACCDOTQ    +2                         #  R-JERK SCALED AT PI/2(7) UNSIGNED
022520,000213: E6,1545  E6,1544               RACCDOT            EQUALS   ACCDOTQ    +3                         #  R-JERK SCALED AT PI/2(7) SIGNED
022521,000214: 
022522,000215: E6,1545  E6,1477               QDIFF              EQUALS   QERROR                                #  ATTITUDE ERRORS:
022523,000216: E6,1545  E6,1500               RDIFF              EQUALS   RERROR                                #  SCALED AT PI RADIANS
022524,000217: 
022525,000218: E6,1545                        TIMEOFFQ           ERASE                                          #  TIMES TO GO UNTIL TRIM GIMBAL TURN-OFF.
022526,000219: E6,1546                        TIMEOFFR           ERASE                                          #  ZERO MEANS NO ACTION, SCALED AS WAITLIST
022527,000220: 

Page 539

022529,000222:                                                                                                  #  KALMAN FILTER ERASABLES.
022530,000223: 
022531,000224: E6,1547                        STORCDUY           ERASE                                          #  THIS S.P. PAIR IS USED TO SAVE CDUY,Z
022532,000225: E6,1550                        STORCDUZ           ERASE                                          #  FOR THE GTS RUPT
022533,000226: 
022534,000227: E6,1551     0076               CDU                EQUALS   RUPTREG3                              #  RUPTREG3,4 USED AS D.P. WORD FOR CDU
022535,000228:                                                                                                  #  VALUE WITHIN FILTER 1S COMP AT 2PI RAD
022536,000229: 
022537,000230: E6,1551     0065               CDUDOT             EQUALS   ITEMP1                                #  ITEMP1,2 USED AS D.P. WORD FOR CDUDOT
022538,000231:                                                                                                  #  VALUE WITHIN FILTER SCALED AT PI/4
022539,000232: 
022540,000233: E6,1551     0070               CDU2DOT            EQUALS   ITEMP3                                #  ITEMP3,4 USED AS D.P. WORD FOR CDU2DOT
022541,000234:                                                                                                  #  VALUE WITHIN FILTER SCALED AT PI/8
022542,000235: 
022543,000236: E6,1551                        DT                 ERASE                                          #  TIME ELAPSED SCALED AT 1/8: NOMINAL=50MS
022544,000237: E6,1552                        DAPTIME            ERASE                                          #  USED TO RECORD LAST TIME FROM CHANNEL 4
022545,000238: 
022546,000239: E6,1553                        STEERADR           ERASE                                          #  DTCALC SWITCH IN FILTER INITIALIZATION
022547,000240: 
022548,000241: E6,1554                        DPDIFF             ERASE    +1                                    #  D.P. WEIGHTING VECTOR FACTOR AT P1
022549,000242: E6,1556                        WPOINTER           ERASE                                          #  POINTER TO WEIGHTING VECTOR TABLE
022550,000243: E6,1557                        W0                 ERASE    +2                                    #  THETA WEIGHT
022551,000244: E6,1562  E6,1560               W1                 EQUALS   W0         +1                         #  OMEGA WEIGHT
022552,000245: E6,1562  E6,1561               W2                 EQUALS   W1         +1                         #  ALPHA WEIGHT
022553,000246: 
022554,000247: E6,1562                        CDUYFIL            ERASE    +1                                    #  Y-AXIS D.P. FILTERED THETA AT 2PI
022555,000248: E6,1564                        CDUZFIL            ERASE    +1                                    #  Z-AXIS D.P. FILTERED THETA AT 2PI
022556,000249: E6,1566                        DCDUYFIL           ERASE    +1                                    #  Y-AXIS D.P. FILTERED OMEGA AT PI/4
022557,000250: E6,1570                        DCDUZFIL           ERASE    +1                                    #  Z-AXIS D.P. FILTERED OMEGA AT PI/4
022558,000251: E6,1572                        D2CDUYFL           ERASE    +1                                    #  Y-AXIS D.P. FILTERED ALPHA AT PI/8
022559,000252: E6,1574                        D2CDUZFL           ERASE    +1                                    #  Z-AXIS D.P. FILTERED ALPHA AT PI/8
022560,000253: E6,1576                        Y3DOT              ERASE                                          #  Y-AXIS S.P. JERK AT PI/2(7)
022561,000254: E6,1577                        CDU3DOT            ERASE                                          #                    LOOP REGISTER (SPACER)
022562,000255: E6,1600                        Z3DOT              ERASE                                          #  Z-AXIS S.P. JERK AT PI/2(7)
022563,000256: 
022564,000257: E6,1601                        PFILTADR           ERASE    +1                                    #  2CADR FOR FILTER RUPT 30 MS AFTER P-AXIS
022565,000258: E6,1603                        PFRPTLST           ERASE    +7                                    #  POST FILTER RUPT LIST
022566,000259: E6,1613                        PJUMPADR           ERASE                                          
022567,000260: E6,1614                        QJUMPADR           ERASE                                          
022568,000261:                                                                                                  #  TORQUE VECTOR RECONSTRUCTION VARIABLES:
022569,000262: 

There is a line here saying "* DELETE". Presumably this indicates a change from the last revision.

022571,000264: E6,1615                        JETRATE            ERASE    +2                                    #  WEIGHTED RATES DUE TO JETS APPLIED IN
022572,000265: E6,1620  E6,1616               JETRATEQ           EQUALS   JETRATE    +1                         #  THE LAST CONTROL SAMPLE PERIOD OF 100 MS
022573,000266: E6,1620  E6,1617               JETRATER           EQUALS   JETRATE    +2                         #  SCALED AT PI/4 RADIANS/SECOND
022574,000267: 
022575,000268: E6,1620                        NO.QJETS           ERASE    +1                                    #  NUMBER OF Q AND R JETS THAT ARE GIVEN
022576,000269: E6,1622  E6,1621               NO.RJETS           EQUALS   NO.QJETS   +1                         #  BY THE JET SELECT LOGIC
022577,000270: 
022578,000271: E6,1622                        100MSPTQ           ERASE                                          
022579,000272: 

Page 540

022581,000274: E6,1623                        QR.1STOQ           ERASE                                          
022582,000275: E6,1624                        NO.PJETS           ERASE                                          
022583,000276: E6,1625                        TP                 ERASE    +1                                    #  TIME CALCULATED BY TJETLAW FOR P, QR
022584,000277: E6,1627  E6,1626               TQR                EQUALS   TP         +1                         #  SCALED AS TIME6, THEN TQR RESCALED TO 1
022585,000278: 
022586,000279: E6,1627                        1JACC              ERASE    +4                                    #  ACCELERATIONS DUE TO 1 JET TORQUING
022587,000280: E6,1634  E6,1630               1JACCQ             EQUALS   1JACC      +1                         #  SCALED AT PI/4 RADIANS/SECOND
022588,000281: E6,1634  E6,1631               1JACCR             EQUALS   1JACC      +2                         
022589,000282: E6,1634  E6,1632               1JACCU             EQUALS   1JACC      +3                         #  FOR U,V-AXES THE SCALE FACTOR IS  DIFF:
022590,000283: E6,1634  E6,1633               1JACCV             EQUALS   1JACC      +4                         #  SCALED AT PI/2 RADIANS/SECOND (FOR ASC)
022591,000284: 
022592,000285:                                                                                                  #  ASCENT VARIABLES:
022593,000286: 
022594,000287: E6,1634                        AOSQ               ERASE    +3                                    #  ASCENT OFFSET ACCELERATIONS
022595,000288: E6,1640  E6,1635               AOSR               EQUALS   AOSQ       +1                         #  ESTIMATED EVERY 2 SECONDS BY AOSTASK
022596,000289: E6,1640  E6,1636               AOSU               EQUALS   AOSQ       +2                         #  U,V-ACCS ARE FORMED BY VECTOR ADDITION
022597,000290: E6,1640  E6,1637               AOSV               EQUALS   AOSQ       +3                         #  SCALED AT PI/2 RADIANS/SECOND

The above line has "(2)" written after "radians/second" in pen.

022599,000292: 
022600,000293: E6,1640     0070               ABVLAOSQ           EQUALS   ITEMP3                                #  ASCENT OFFSET ACCELERATIONS (ABVAL)
022601,000294: E6,1640     0071               ABVLAOSR           EQUALS   ABVLAOSQ   +1                         #  SCALED AT PI/2 RADIANS/SECOND(2)
022602,000295: E6,1640     0072               ABVLAOSU           EQUALS   ABVLAOSQ   +2                         
022603,000296: E6,1640     0073               ABVLAOSV           EQUALS   ABVLAOSQ   +3                         
022604,000297: 
022605,000298: E6,1640                        SUMRATEQ           ERASE    +1                                    #  SUM OF UN-WEIGHTED JETRATE TERMS
022606,000299: E6,1642  E6,1641               SUMRATER           EQUALS   SUMRATEQ   +1                         #  SCALED AT PI/4 RADIANS/SECOND
022607,000300: 
022608,000301: E6,1642                        AOSQTERM           ERASE    +1                                    #  (.1-.05K)AOS
022609,000302: E6,1644  E6,1643               AOSRTERM           EQUALS   AOSQTERM   +1                         #  SCALED AT PI/4 RADIANS/SECOND
022610,000303: 
022611,000304: E6,1644                        OLDWFORQ           ERASE    +1                                    #  OMEGA VALUE 2 SECONDS AGO
022612,000305: E6,1646  E6,1645               OLDWFORR           EQUALS   OLDWFORQ   +1                         #  SCALED AT PI/4 RADIANS/SECOND
022613,000306: 
022614,000307: E6,1646                        DBMINIMP           ERASE    +1                                    #  MINIMUM IMPULSE DEADBANDS (EQUAL IN DESC
022615,000308: E6,1650  E6,1647               MINIMPDB           EQUALS   DBMINIMP   +1                         #  AT .3 DEG, 0,-DB RESPECTIVELY FOR ASC)
022616,000309:                                                                                                  #  SCALED AT PI RADIANS
022617,000310: 
022618,000311: E6,1650                        .5ACCMNE           ERASE    +4                                    #  (1/2)(1/ACCMIN) WHICH IS THE INVERSE OF
022619,000312: E6,1655  E6,1651               .5ACCMNQ           EQUALS   .5ACCMNE   +1                         #  THE MINIMUM ACCELERATION (A CONSTANT FOR
022620,000313: E6,1655  E6,1652               .5ACCMNR           EQUALS   .5ACCMNE   +2                         #  DESCENT AND A VARIABLE FOR ASCENT DAP)
022621,000314: E6,1655  E6,1653               .5ACCMNU           EQUALS   .5ACCMNE   +3                         #  SCALED AT 2(.8)/PI
022622,000315: E6,1655  E6,1654               .5ACCMNV           EQUALS   .5ACCMNE   +4                         #  IN UNITS OF SECONDS(2)/RADIAN
022623,000316: 
022624,000317: E6,1655                        WFORP              ERASE    +1                                    #  W = K/(NOMINAL DT)
022625,000318: E6,1657  E6,1656               WFORQR             EQUALS   WFORP      +1                         #  SCALED AT 16
022626,000319: 
022627,000320: E6,1657                        (1-K)QR            ERASE    +1                                    #  1-K SCALED AT 1
022628,000321: E6,1661  E6,1660               (1-K)/8            EQUALS   (1-K)QR    +1                         #  1-K SCALED AT 8
022629,000322: 
022630,000323: E6,1661                        1/NJTSQ            ERASE    +3                                    #  1/NJETACC FOR EACH AXIS
022631,000324: E6,1665  E6,1662               1/NJTSR            EQUALS   1/NJTSQ    +1                         #  FOR DESCENT THIS IS ALWAYS 1/2JTS

Page 541

022633,000326: E6,1665  E6,1663               1/NJTSU            EQUALS   1/NJTSQ    +2                         #  FOR ASCENT WITH HIGH OFFSET: 1/4JTS
022634,000327: E6,1665  E6,1664               1/NJTSV            EQUALS   1/NJTSQ    +3                         #  SCALED AT 2(8)/PI SEC(2)/RAD
022635,000328: 
022636,000329: E6,1665                        QMANDACC           ERASE    +3                                    #  ASCENT FLAGS
022637,000330: E6,1671  E6,1666               RMANDACC           EQUALS   QMANDACC   +1                         #  0: INDICATES NO OVER-RIDE OF 2 JETS
022638,000331: E6,1671  E6,1667               UMANDACC           EQUALS   QMANDACC   +2                         #  1: INDICATES USE 4 INSTEAD OF 2 JETS
022639,000332: E6,1671  E6,1670               VMANDACC           EQUALS   QMANDACC   +3                         #  (ALWAYS ZERO FOR DESCENT)
022640,000333: 
022641,000334: E6,1671                        KCOEFCTR           ERASE                                          #  COUNTER FOR ASCENT DAP
022642,000335: 
022643,000336: 
022644,000337:                                                                                                  #  THE SAVE RATE INDEX AND THE THREE DELCDUS ARE LOCATED HERE TEMPORARILY, AWAITING MORE LOGICAL PLACEMENT WHEN THE
022645,000338:                                                                                                  #  DAP IS ASSEMBLED INTO SUNBURST
022646,000339: 
022647,000340: E6,1672                        DLCDUIDX           ERASE                                          #  SAVE RATE INDEX, = 1, 0
022648,000341: E6,1673                        DELCDUX            ERASE                                          
022649,000342: E6,1674                        DELCDUY            ERASE                                          #  DELCDUS ARE SCALED AT P1, LIKE THE CDUS
022650,000343: E6,1675                        DELCDUZ            ERASE                                          

End of include-file DIGITAL_AUTOPILOT_ERASABLE.agc.  Parent file is MAIN.agc