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.
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.
|
022318,000002: ## Copyright: Public domain.
022319,000003: ## Filename: DIGITAL_AUTOPILOT_ERASABLE.agc
022320,000004: ## Purpose: Part of the source code for Aurora (revision 12).
022321,000005: ## Assembler: yaYUL
022322,000006: ## Contact: Ron Burkey <info@sandroid.org>.
022323,000007: ## Website: https://www.ibiblio.org/apollo.
022324,000008: ## Pages: 535-541
022325,000009: ## Mod history: 2016-09-20 JL Created.
022326,000010: ## 2016-09-30 MAS Began.
022327,000011: ## 2016-10-01 MAS Completed transcription.
022328,000012: ## 2016-10-04 HG Capitalize SETLOC`
022329,000013: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
022330,000014: ## but no errors found.
022331,000015:
022332,000016: ## This source code has been transcribed or otherwise adapted from
022333,000017: ## digitized images of a hardcopy from the private collection of
022334,000018: ## Don Eyles. The digitization was performed by archive.org.
022335,000019:
022336,000020: ## Notations on the hardcopy document read, in part:
022337,000021:
022338,000022: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
022339,000023: ## NOV 10, 1966
022340,000024:
022341,000025: ## [Note that this is the date the hardcopy was made, not the
022342,000026: ## date of the program revision or the assembly.]
022343,000027:
022344,000028: ## The scan images (with suitable reduction in storage size and consequent
022345,000029: ## reduction in image quality) are available online at
022346,000030: ## https://www.ibiblio.org/apollo.
022347,000031: ## The original high-quality digital images are available at archive.org:
022348,000032: ## https://archive.org/details/aurora00dapg
022349,000033:
|
|
Page 535 |
022351,000035: E6,1400 SETLOC 3000
022352,000036:
022353,000037: # AXIS TRANSFORMATION MATRIX - PILOT TO GIMBAL AXES:
022354,000038:
022355,000039: E6,1400 MR12 ERASE # SCALED AT 2 THESE FOUR P-G MATRIX ELE-
022356,000040: E6,1401 MR22 ERASE # SCALED AT 1 MENTS ARE IN THIS ORDER TO
022357,000041: E6,1402 MR13 ERASE # SCALED AT 2 COMPUTE RATE HOLD DELCDUS
022358,000042: E6,1403 MR23 ERASE # SCALED AT 1 WITH AN INDEXED LOOP
022359,000043: # AXIS TRANSFORMATION MATRIX - GIMBAL TO PILOT AXES:
022360,000044:
022361,000045: E6,1404 M11 ERASE # SCALED AT 1
022362,000046: E6,1405 M21 ERASE # SCALED AT 1
022363,000047: E6,1406 M31 ERASE
022364,000048: E6,1407 E6,1401 M22 EQUALS MR22 # SCALED AT 1
022365,000049: E6,1407 E6,1403 M32 EQUALS MR23 # SCALED AT 1
022366,000050: # ANGLE MEASUREMENTS.
022367,000051:
022368,000052: E6,1407 EDOT ERASE +1 # ERROR IN ANGULAR RATE:
022369,000053: E6,1411 E6,1410 EDOT(R) EQUALS EDOT +1 # SCALED DOWN TO PI/16 RADIANS/SECOND
022370,000054:
022371,000055: E6,1411 E ERASE +1 # ANGLE ERROR SCALED AT PI RADIANS
022372,000056: E6,1413 E6,1412 EDOT(2) EQUALS E +1 # ERROR RATE SQUARED SCALED AT PI(2)/16
022373,000057: E6,1413 E6,1411 EQ EQUALS E # THIS PAIR OF NAMES IS USED TO REFER TO
022374,000058: E6,1413 E6,1412 EDOT(2)Q EQUALS EDOT(2) # THE ABOVE ERASABLES AS Q-AXIS DATA
022375,000059: E6,1413 ER ERASE +1 # THIS PAIR OF NAMES REFERS TO LOCATIONS
022376,000060: E6,1415 E6,1414 EDOT(2)R EQUALS ER +1 # FOR THE R-AXIS DATA: INTERCHANGES WITH Q
022377,000061:
022378,000062: E6,1415 DB ERASE # ANGLE DEADBAND SCALED AT PI RADIANS
022379,000063:
022380,000064: E6,1416 OMEGAP ERASE +4 # BODY-AXIS ROT. RATES SCALED AT PI/4 AND
022381,000065: E6,1423 E6,1417 OMEGAQ EQUALS OMEGAP +1 # BODY-AXIS ACCELERATIONS SCALED AT PI/8
022382,000066: E6,1423 E6,1420 ALPHAQ EQUALS OMEGAP +2 # (IN DESCENT) OR PI/2 (IN ASCENT)
022383,000067: E6,1423 E6,1421 OMEGAR EQUALS OMEGAP +3 # THESE W,A PAIRS ARE NEEDED, ALPHAP HAS
022384,000068: E6,1423 E6,1422 ALPHAR EQUALS OMEGAP +4 # NO USE IN THE DIGITAL AUTOPILOT
022385,000069:
022386,000070: E6,1423 EDOTP ERASE +2 # ERRORS IN ANGULAR RATE:
022387,000071: E6,1426 E6,1424 EDOTQ EQUALS EDOTP +1 # EDOT = 3MEGA - OMEGA(DESIRED)
022388,000072: E6,1426 E6,1425 EDOTR EQUALS EDOTP +2 # SCALED AT PI/4 RADIANS/SECOND
022389,000073:
022390,000074: E6,1426 E6,1424 QRATEDIF EQUALS EDOTQ # ALTERNATIVE NAMES:
022391,000075: E6,1426 E6,1425 RRATEDIF EQUALS EDOTR # DELETE WHEN NO. OF REFERENCES = 0
022392,000076:
022393,000077: E6,1426 OMEGAPD ERASE +2 # DESIRED VEHICLE RATES DETERMINED BY THE
022394,000078: E6,1431 E6,1427 OMEGAQD EQUALS OMEGAPD +1 # "OUTER LOOP" USED TO CALCULATE EDOT
022395,000079: E6,1431 E6,1430 OMEGARD EQUALS OMEGAPD +2 # SCALED AT PI/4 RADIANS/SECOND
022396,000080:
022397,000081: E6,1431 OLDXFORP ERASE +3 # STORED CDU READINGS FOR P AND Q,R RATE
022398,000082: E6,1435 E6,1432 OLDYFORP EQUALS OLDXFORP +1 # DERIVATIONS: SCALED AT PI RADIANS (2'S)
022399,000083: E6,1435 E6,1433 OLDYFORQ EQUALS OLDXFORP +2 # (THERE MUST BE TWO REGISTERS FOR CDUY
022400,000084: E6,1435 E6,1434 OLDZFORQ EQUALS OLDXFORP +3 # SINCE P AND Q,R ARE NOT IN PHASE)
022401,000085:
|
|
Page 536 |
022403,000087: # RHC INPUTS SCALED AT PI/4 RAD/SEC.
022404,000088:
022405,000089: E6,1435 PCOM ERASE
022406,000090: E6,1436 RCOM ERASE
022407,000091: E6,1437 YCOM ERASE
022408,000092:
022409,000093: # RHC COUNTER REGISTERS.
022410,000094:
022411,000095: E6,1440 P-RHCCTR EQUALS 43
022412,000096: E6,1440 Q-RHCCTR EQUALS 42
022413,000097: E6,1440 R-RHCCTR EQUALS 44
022414,000098:
022415,000099: # OTHER VARIABLES.
022416,000100:
022417,000101: E6,1440 TPSIG ERASE
022418,000102: E6,1441 PRATECOM ERASE
022419,000103: E6,1442 EDOTGEN ERASE
022420,000104: E6,1443 RATEDIF ERASE
022421,000105: E6,1444 1/2JTSP ERASE
022422,000106: E6,1445 1/2JTSQ ERASE
022423,000107: E6,1446 1/2JTSR ERASE
022424,000108: E6,1447 1/2JETSU ERASE
022425,000109: E6,1450 1/2JETSV ERASE
022426,000110: E6,1451 FPQR ERASE
022427,000111: E6,1452 MINRA ERASE
022428,000112: E6,1453 MINRASQ ERASE
022429,000113: E6,1454 HDAP ERASE
022430,000114: E6,1455 U ERASE
022431,000115: E6,1456 DENOM ERASE
022432,000116: E6,1457 RATIO ERASE
022433,000117: E6,1460 TJSR ERASE
022434,000118: E6,1461 IXX ERASE
022435,000119: E6,1462 IYY ERASE
022436,000120: E6,1463 IZZ ERASE
022437,000121: E6,1464 4JETTORK ERASE
022438,000122: E6,1465 JETTORK4 ERASE
022439,000123: E6,1466 COSMG ERASE
022440,000124: E6,1467 0066 DELTAP EQUALS ITEMP2
022441,000125: E6,1467 FPQRMIN ERASE
022442,000126: E6,1470 NJET ERASE
022443,000127: E6,1471 1/NJETAC ERASE
022444,000128: E6,1472 PRATEDIF ERASE
022445,000129: E6,1473 LASTPER ERASE # THESE 6 REG USED FOR ATT ERR DISPLAY
022446,000130: E6,1474 LASTQER ERASE
022447,000131: E6,1475 LASTRER ERASE
022448,000132: E6,1476 PERROR ERASE
022449,000133: E6,1477 QERROR ERASE
022450,000134: E6,1500 RERROR ERASE
022451,000135:
022452,000136: # JET STATE CHANGE VARIABLES- TIME (TOFJTCHG),JET BITS WRITTEN NOW
|
|
Page 537 |
022454,000138: # (JTSONNOW), AND JET BITS WRITTEN AT T6 RUPT (JTSATCHG).
022455,000139:
022456,000140: E6,1501 JTSONNOW ERASE
022457,000141: E6,1502 JTSATCHG ERASE
022458,000142: E6,1503 ADDT6JTS ERASE
022459,000143: E6,1504 ADDTLT6 ERASE
022460,000144: E6,1505 TOFJTCHG ERASE
022461,000145:
022462,000146: E6,1506 -RATEDB ERASE
022463,000147: E6,1507 -2JETLIM ERASE
022464,000148:
022465,000149: # RCS FAILURE MONITOR ERASABLE - PROGRAM ON T4RUPT 4 TIMES/SECOND
022466,000150:
022467,000151: # *** FAILSW CAPABILITY FOR CHECKOUT ONLY ***
022468,000152:
022469,000153: E6,1510 FAILSW ERASE # IF POSITIVE NO RCSMONIT, OTHERWISE 0
022470,000154: E6,1511 LASTFAIL ERASE # LAST FAILURE CHANNEL RECORD, -0 INITIAL
022471,000155: E6,1512 CH5MASK ERASE # MASKS FOR TURNING ON P/Q,R JETS
022472,000156: E6,1513 CH6MASK ERASE # IN OUTPUT CHANNELS 5 AND 6
022473,000157: E6,1514 0065 FAILCTR EQUALS ITEMP1 # BIT POSITION COUNTER (INTERNAL)
022474,000158: E6,1514 0066 FAILTEMP EQUALS ITEMP2 # TEMPORARY RECORD OF FAILED BITS
022475,000159:
022476,000160: # Q,R AXIS ERASABLES
022477,000161:
022478,000162: E6,1514 0066 DELQ EQUALS ITEMP2
022479,000163: E6,1514 0070 DELTAR EQUALS ITEMP3
022480,000164: E6,1514 TJETADR ERASE
022481,000165: E6,1515 URGENCYQ ERASE
022482,000166: E6,1516 URGENCYR ERASE
022483,000167: E6,1517 A+B ERASE
022484,000168: E6,1520 A-B ERASE
022485,000169: E6,1521 TERMA ERASE
022486,000170: E6,1522 TERMB ERASE
022487,000171: E6,1523 POLRELOC ERASE
022488,000172: E6,1524 LOOPCTR ERASE
022489,000173: E6,1525 POLTEST ERASE
022490,000174:
|
|
Page 538 |
022492,000176: # TRIM GIMBAL CONTROL LAW ERASABLES:
022493,000177:
022494,000178: # THE FOLLOWING ASSIGNMENTS OF RUPTREGS AND ITEMPS HAS BEEN MADE IN AN EFFORT TO OPTIMIZE USE OF ERASABLES:
022495,000179:
022496,000180: E6,1526 0074 K2THETA EQUALS RUPTREG1 # D.P. K(2)THETA AND "NEGUSUM"
022497,000181: E6,1526 0075 ETHETA EQUALS RUPTREG2 # S.P. ERROR ANGLE SCALED AT PI/64 RADIANS
022498,000182: E6,1526 0076 A2CNTRAL EQUALS RUPTREG3 # D.P. ALPHA(2) SCALED AT PI(2)/64 R/S(2)
022499,000183: E6,1526 0076 SF1 EQUALS RUPTREG3 # S.P. VARIABLE SCALE FACTORS WHICH ARE
022500,000184: E6,1526 0077 SF2 EQUALS RUPTREG4 # S.P. - REALLY SINGLE BITS (OR ZERO)
022501,000185: E6,1526 0065 OMEGA.K EQUALS ITEMP1 # D.P. OMEGA*K SUPERCEDES K AND K(2)
022502,000186: E6,1526 0065 KCENTRAL EQUALS ITEMP1 # S.P. K FROM KQ OR KR FIRST AT PI/2(8)
022503,000187: E6,1526 0066 K2CNTRAL EQUALS ITEMP2 # S.P. K(2) FROM Q OR R 1ST AT PI(2)/2(16)
022504,000188: E6,1526 0070 WCENTRAL EQUALS ITEMP3 # S.P. OMEGA SCALED AT PI/4 RADIANS/SECOND
022505,000189: E6,1526 0071 ACENTRAL EQUALS ITEMP4 # S.P. ALPHA SCALED AT PI/8 RAD/SEC(2)
022506,000190: E6,1526 0072 DEL EQUALS ITEMP5 # S.P. SGN(FUNCTION)
022507,000191: E6,1526 0073 QRCNTR EQUALS ITEMP6 # S.P. COUNTER: Q,Y=0, R,Z=2
022508,000192:
022509,000193: # THE ABOVE QUANTITIES ARE ONLY NEEDED ON A VERY TEMPORARY BASIS AND HAVE BEEN PROVEN TO BE NON-CONFLICTING.
022510,000194:
022511,000195: E6,1526 L,PVT-CG ERASE # TRIM GIMBAL PIVOT TO CG DIST AT 8 FEET
022512,000196:
022513,000197: E6,1527 MULTFLAG ERASE # INDICATOR FOR SPDPMULT ROUTINE
022514,000198:
022515,000199: E6,1530 FUNCTION ERASE +1 # D.P. WORD FOR DRIVE FUNCTIONS
022516,000200:
022517,000201: E6,1532 NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
022518,000202: E6,1535 E6,1533 THRSTCMD EQUALS NEGUQ +1 # THRUST COMMAND AT 16384 LBS (SEPARATOR)
022519,000203: E6,1535 E6,1534 NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
022520,000204:
022521,000205: E6,1535 KQ ERASE +3 # .3ACCDOTQ SCALED AT PI/2(8)
022522,000206: E6,1541 E6,1536 KQ2 EQUALS KQ +1 # KQ2 = KQ*KQ
022523,000207: E6,1541 E6,1537 KR EQUALS KQ +2 # .3ACCDOTR SCALED AT PI/2(8)
022524,000208: E6,1541 E6,1540 KR2 EQUALS KQ +3 # KR2 = KR*KR
022525,000209:
022526,000210: E6,1541 ACCDOTQ ERASE +3 # Q-JERK SCALED AT PI/2(7) UNSIGNED
022527,000211: E6,1545 E6,1542 QACCDOT EQUALS ACCDOTQ +1 # Q-JERK SCALED AT PI/2(7) SIGNED
022528,000212: E6,1545 E6,1543 ACCDOTR EQUALS ACCDOTQ +2 # R-JERK SCALED AT PI/2(7) UNSIGNED
022529,000213: E6,1545 E6,1544 RACCDOT EQUALS ACCDOTQ +3 # R-JERK SCALED AT PI/2(7) SIGNED
022530,000214:
022531,000215: E6,1545 E6,1477 QDIFF EQUALS QERROR # ATTITUDE ERRORS:
022532,000216: E6,1545 E6,1500 RDIFF EQUALS RERROR # SCALED AT PI RADIANS
022533,000217:
022534,000218: E6,1545 TIMEOFFQ ERASE # TIMES TO GO UNTIL TRIM GIMBAL TURN-OFF.
022535,000219: E6,1546 TIMEOFFR ERASE # ZERO MEANS NO ACTION, SCALED AS WAITLIST
022536,000220:
|
|
Page 539 |
022538,000222: # KALMAN FILTER ERASABLES.
022539,000223:
022540,000224: E6,1547 STORCDUY ERASE # THIS S.P. PAIR IS USED TO SAVE CDUY,Z
022541,000225: E6,1550 STORCDUZ ERASE # FOR THE GTS RUPT
022542,000226:
022543,000227: E6,1551 0076 CDU EQUALS RUPTREG3 # RUPTREG3,4 USED AS D.P. WORD FOR CDU
022544,000228: # VALUE WITHIN FILTER 1S COMP AT 2PI RAD
022545,000229:
022546,000230: E6,1551 0065 CDUDOT EQUALS ITEMP1 # ITEMP1,2 USED AS D.P. WORD FOR CDUDOT
022547,000231: # VALUE WITHIN FILTER SCALED AT PI/4
022548,000232:
022549,000233: E6,1551 0070 CDU2DOT EQUALS ITEMP3 # ITEMP3,4 USED AS D.P. WORD FOR CDU2DOT
022550,000234: # VALUE WITHIN FILTER SCALED AT PI/8
022551,000235:
022552,000236: E6,1551 DT ERASE # TIME ELAPSED SCALED AT 1/8: NOMINAL=50MS
022553,000237: E6,1552 DAPTIME ERASE # USED TO RECORD LAST TIME FROM CHANNEL 4
022554,000238:
022555,000239: E6,1553 STEERADR ERASE # DTCALC SWITCH IN FILTER INITIALIZATION
022556,000240:
022557,000241: E6,1554 DPDIFF ERASE +1 # D.P. WEIGHTING VECTOR FACTOR AT P1
022558,000242: E6,1556 WPOINTER ERASE # POINTER TO WEIGHTING VECTOR TABLE
022559,000243: E6,1557 W0 ERASE +2 # THETA WEIGHT
022560,000244: E6,1562 E6,1560 W1 EQUALS W0 +1 # OMEGA WEIGHT
022561,000245: E6,1562 E6,1561 W2 EQUALS W1 +1 # ALPHA WEIGHT
022562,000246:
022563,000247: E6,1562 CDUYFIL ERASE +1 # Y-AXIS D.P. FILTERED THETA AT 2PI
022564,000248: E6,1564 CDUZFIL ERASE +1 # Z-AXIS D.P. FILTERED THETA AT 2PI
022565,000249: E6,1566 DCDUYFIL ERASE +1 # Y-AXIS D.P. FILTERED OMEGA AT PI/4
022566,000250: E6,1570 DCDUZFIL ERASE +1 # Z-AXIS D.P. FILTERED OMEGA AT PI/4
022567,000251: E6,1572 D2CDUYFL ERASE +1 # Y-AXIS D.P. FILTERED ALPHA AT PI/8
022568,000252: E6,1574 D2CDUZFL ERASE +1 # Z-AXIS D.P. FILTERED ALPHA AT PI/8
022569,000253: E6,1576 Y3DOT ERASE # Y-AXIS S.P. JERK AT PI/2(7)
022570,000254: E6,1577 CDU3DOT ERASE # LOOP REGISTER (SPACER)
022571,000255: E6,1600 Z3DOT ERASE # Z-AXIS S.P. JERK AT PI/2(7)
022572,000256:
022573,000257: E6,1601 PFILTADR ERASE +1 # 2CADR FOR FILTER RUPT 30 MS AFTER P-AXIS
022574,000258: E6,1603 PFRPTLST ERASE +7 # POST FILTER RUPT LIST
022575,000259: E6,1613 PJUMPADR ERASE
022576,000260: E6,1614 QJUMPADR ERASE
022577,000261: # TORQUE VECTOR RECONSTRUCTION VARIABLES:
022578,000262:
|
|
There is a line here saying "* DELETE". Presumably this indicates a change from the last revision. |
022580,000264: E6,1615 JETRATE ERASE +2 # WEIGHTED RATES DUE TO JETS APPLIED IN
022581,000265: E6,1620 E6,1616 JETRATEQ EQUALS JETRATE +1 # THE LAST CONTROL SAMPLE PERIOD OF 100 MS
022582,000266: E6,1620 E6,1617 JETRATER EQUALS JETRATE +2 # SCALED AT PI/4 RADIANS/SECOND
022583,000267:
022584,000268: E6,1620 NO.QJETS ERASE +1 # NUMBER OF Q AND R JETS THAT ARE GIVEN
022585,000269: E6,1622 E6,1621 NO.RJETS EQUALS NO.QJETS +1 # BY THE JET SELECT LOGIC
022586,000270:
022587,000271: E6,1622 100MSPTQ ERASE
022588,000272:
|
|
Page 540 |
022590,000274: E6,1623 QR.1STOQ ERASE
022591,000275: E6,1624 NO.PJETS ERASE
022592,000276: E6,1625 TP ERASE +1 # TIME CALCULATED BY TJETLAW FOR P, QR
022593,000277: E6,1627 E6,1626 TQR EQUALS TP +1 # SCALED AS TIME6, THEN TQR RESCALED TO 1
022594,000278:
022595,000279: E6,1627 1JACC ERASE +4 # ACCELERATIONS DUE TO 1 JET TORQUING
022596,000280: E6,1634 E6,1630 1JACCQ EQUALS 1JACC +1 # SCALED AT PI/4 RADIANS/SECOND
022597,000281: E6,1634 E6,1631 1JACCR EQUALS 1JACC +2
022598,000282: E6,1634 E6,1632 1JACCU EQUALS 1JACC +3 # FOR U,V-AXES THE SCALE FACTOR IS DIFF:
022599,000283: E6,1634 E6,1633 1JACCV EQUALS 1JACC +4 # SCALED AT PI/2 RADIANS/SECOND (FOR ASC)
022600,000284:
022601,000285: # ASCENT VARIABLES:
022602,000286:
022603,000287: E6,1634 AOSQ ERASE +3 # ASCENT OFFSET ACCELERATIONS
022604,000288: E6,1640 E6,1635 AOSR EQUALS AOSQ +1 # ESTIMATED EVERY 2 SECONDS BY AOSTASK
022605,000289: E6,1640 E6,1636 AOSU EQUALS AOSQ +2 # U,V-ACCS ARE FORMED BY VECTOR ADDITION
022606,000290: 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. |
022608,000292:
022609,000293: E6,1640 0070 ABVLAOSQ EQUALS ITEMP3 # ASCENT OFFSET ACCELERATIONS (ABVAL)
022610,000294: E6,1640 0071 ABVLAOSR EQUALS ABVLAOSQ +1 # SCALED AT PI/2 RADIANS/SECOND(2)
022611,000295: E6,1640 0072 ABVLAOSU EQUALS ABVLAOSQ +2
022612,000296: E6,1640 0073 ABVLAOSV EQUALS ABVLAOSQ +3
022613,000297:
022614,000298: E6,1640 SUMRATEQ ERASE +1 # SUM OF UN-WEIGHTED JETRATE TERMS
022615,000299: E6,1642 E6,1641 SUMRATER EQUALS SUMRATEQ +1 # SCALED AT PI/4 RADIANS/SECOND
022616,000300:
022617,000301: E6,1642 AOSQTERM ERASE +1 # (.1-.05K)AOS
022618,000302: E6,1644 E6,1643 AOSRTERM EQUALS AOSQTERM +1 # SCALED AT PI/4 RADIANS/SECOND
022619,000303:
022620,000304: E6,1644 OLDWFORQ ERASE +1 # OMEGA VALUE 2 SECONDS AGO
022621,000305: E6,1646 E6,1645 OLDWFORR EQUALS OLDWFORQ +1 # SCALED AT PI/4 RADIANS/SECOND
022622,000306:
022623,000307: E6,1646 DBMINIMP ERASE +1 # MINIMUM IMPULSE DEADBANDS (EQUAL IN DESC
022624,000308: E6,1650 E6,1647 MINIMPDB EQUALS DBMINIMP +1 # AT .3 DEG, 0,-DB RESPECTIVELY FOR ASC)
022625,000309: # SCALED AT PI RADIANS
022626,000310:
022627,000311: E6,1650 .5ACCMNE ERASE +4 # (1/2)(1/ACCMIN) WHICH IS THE INVERSE OF
022628,000312: E6,1655 E6,1651 .5ACCMNQ EQUALS .5ACCMNE +1 # THE MINIMUM ACCELERATION (A CONSTANT FOR
022629,000313: E6,1655 E6,1652 .5ACCMNR EQUALS .5ACCMNE +2 # DESCENT AND A VARIABLE FOR ASCENT DAP)
022630,000314: E6,1655 E6,1653 .5ACCMNU EQUALS .5ACCMNE +3 # SCALED AT 2(.8)/PI
022631,000315: E6,1655 E6,1654 .5ACCMNV EQUALS .5ACCMNE +4 # IN UNITS OF SECONDS(2)/RADIAN
022632,000316:
022633,000317: E6,1655 WFORP ERASE +1 # W = K/(NOMINAL DT)
022634,000318: E6,1657 E6,1656 WFORQR EQUALS WFORP +1 # SCALED AT 16
022635,000319:
022636,000320: E6,1657 (1-K)QR ERASE +1 # 1-K SCALED AT 1
022637,000321: E6,1661 E6,1660 (1-K)/8 EQUALS (1-K)QR +1 # 1-K SCALED AT 8
022638,000322:
022639,000323: E6,1661 1/NJTSQ ERASE +3 # 1/NJETACC FOR EACH AXIS
022640,000324: E6,1665 E6,1662 1/NJTSR EQUALS 1/NJTSQ +1 # FOR DESCENT THIS IS ALWAYS 1/2JTS
|
|
Page 541 |
022642,000326: E6,1665 E6,1663 1/NJTSU EQUALS 1/NJTSQ +2 # FOR ASCENT WITH HIGH OFFSET: 1/4JTS
022643,000327: E6,1665 E6,1664 1/NJTSV EQUALS 1/NJTSQ +3 # SCALED AT 2(8)/PI SEC(2)/RAD
022644,000328:
022645,000329: E6,1665 QMANDACC ERASE +3 # ASCENT FLAGS
022646,000330: E6,1671 E6,1666 RMANDACC EQUALS QMANDACC +1 # 0: INDICATES NO OVER-RIDE OF 2 JETS
022647,000331: E6,1671 E6,1667 UMANDACC EQUALS QMANDACC +2 # 1: INDICATES USE 4 INSTEAD OF 2 JETS
022648,000332: E6,1671 E6,1670 VMANDACC EQUALS QMANDACC +3 # (ALWAYS ZERO FOR DESCENT)
022649,000333:
022650,000334: E6,1671 KCOEFCTR ERASE # COUNTER FOR ASCENT DAP
022651,000335:
022652,000336:
022653,000337: # THE SAVE RATE INDEX AND THE THREE DELCDUS ARE LOCATED HERE TEMPORARILY, AWAITING MORE LOGICAL PLACEMENT WHEN THE
022654,000338: # DAP IS ASSEMBLED INTO SUNBURST
022655,000339:
022656,000340: E6,1672 DLCDUIDX ERASE # SAVE RATE INDEX, = 1, 0
022657,000341: E6,1673 DELCDUX ERASE
022658,000342: E6,1674 DELCDUY ERASE # DELCDUS ARE SCALED AT P1, LIKE THE CDUS
022659,000343: E6,1675 DELCDUZ ERASE
End of include-file DIGITAL_AUTOPILOT_ERASABLE.agc. Parent file is MAIN.agc