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
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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.
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023710,000002: ## Copyright: Public domain.
023711,000003: ## Filename: Q,R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
023712,000004: ## Purpose: Part of the source code for Aurora (revision 12).
023713,000005: ## Assembler: yaYUL
023714,000006: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
023715,000007: ## Website: https://www.ibiblio.org/apollo.
023716,000008: ## Pages: 562-593
023717,000009: ## Mod history: 2016-09-20 JL Created.
023718,000010: ## 2016-09-30 HG Started transcribing from scan
023719,000011: ## 2016-10-08 HG Change TS Q -> TC Q (p. 584)
023720,000012: ## 2016-10-15 HG fix label MAXJET -> MAXTJET
023721,000013: ## ORGTOA -> URGTOA
023722,000014: ## TQRGTTM1 -> TQRGTTMI
023723,000015: ## NEGQERROR -> NEGQEROR
023724,000016: ## fix operand NEGSCP -> NEGCSP
023725,000017: ## UREGNCYQ -> URGENCYQ
023726,000018: ## .5ACCMNS -> .5ACCMNE
023727,000019: ## 25,32.QR -> 25/32.QR
023728,000020: ## Q-NORTJS -> Q-NORJTS
023729,000021: ## -RATDEB -> -RATEDB
023730,000022: ## CHECKSTIK -> CHEKSTIK
023731,000023: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
023732,000024: ## and fixed the errors found.
023733,000025:
023734,000026: ## This source code has been transcribed or otherwise adapted from
023735,000027: ## digitized images of a hardcopy from the private collection of
023736,000028: ## Don Eyles. The digitization was performed by archive.org.
023737,000029:
023738,000030: ## Notations on the hardcopy document read, in part:
023739,000031:
023740,000032: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
023741,000033: ## NOV 10, 1966
023742,000034:
023743,000035: ## [Note that this is the date the hardcopy was made, not the
023744,000036: ## date of the program revision or the assembly.]
023745,000037:
023746,000038: ## The scan images (with suitable reduction in storage size and consequent
023747,000039: ## reduction in image quality) are available online at
023748,000040: ## https://www.ibiblio.org/apollo.
023749,000041: ## The original high-quality digital images are available at archive.org:
023750,000042: ## https://archive.org/details/aurora00dapg
023751,000043:
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Page 562 |
023753,000045: 24,2000 BANK 24
023754,000046: 24,2000 E6,1551 EBANK= DT
023755,000047: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE Q,R-AXIS ACTION OF THE LEM USING THE RCS JETS.
023756,000048: # THE NOMINAL TIME BETWEEN THE Q,R-AXIS RUPTS IS 100 MS (UNLESS THE TRIM GIMBAL CONTROL SYSTEM IS USED, IN WHICH
023757,000049: # CASE THIS PROGRAM IS IDLE).
023758,000050:
023759,000051: 24,2000 02555 54006 NULLFILT 2CADR FILDUMMY
023760,000052:
023761,000053: 24,2002 32705 QRAXIS CAF MS30QR # RESET TIME IMMEDIATELY: DT = 30 MS
023762,000054: 24,2003 54030 TS TIME5
023763,000055:
023764,000056: 24,2004 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
023765,000057: 24,2005 00006 EXTEND
023766,000058: 24,2006 22012 QXCH QRUPT
023767,000059:
023768,000060: # SET UP A DUMMY KALMAN FILTER T5RUPT. (THIS MAY BE RESET TO THE KALMAN FILTER INITIALIZATION PASS, IF THE TRIM
023769,000061: # GIMBAL CONTROL SYSTEM SHOULD BE USED.)
023770,000062:
023771,000063: 24,2007 00006 EXTEND
023772,000064: 24,2010 32001 DCA NULLFILT
023773,000065: 24,2011 52346 DXCH T5ADR
023774,000066:
023775,000067: # CALCULATE LEM BODY RATES FOR Q AND R AXES:
023776,000068:
023777,000069: # THIS COMPUTATION IS VALID FOR BOTH ASCENT AND DESCENT SINCE THE OFFSET ACCELERATION TERM IS INCLUDED ALWAYS,
023778,000070: # BUT HAS VALUE ZERO IN DESCENT, AND SINCE THE WEIGHTING FACTORS ARE IN ERASABLE AND DISTINCT.
023779,000071:
023780,000072: # FIRST, CONSTRUCT Y AND Z CDU INCREMENTS:
023781,000073:
023782,000074: 24,2012 30033 CAE CDUY # 2'S COMPLEMENT MEASUREMENT SCALED AT PI
023783,000075: 24,2013 54001 TS L # (SAVE FOR UPDATING OF OLDYFORQ)
023784,000076: 24,2014 00006 EXTEND # FORM INCREMENT IN CDUY FOR LAST 100 MS
023785,000077: 24,2015 21433 MSU OLDYFORQ # (100 MS OLD CDUY SAVED FROM LAST PASS)
023786,000078: 24,2016 23433 LXCH OLDYFORQ # UPDATE OLDYFORQ WITH NEW CDUY VALUE
023787,000079: 24,2017 00006 EXTEND # RESCALE DELTA CDUY FROM PI RADIANS TO
023788,000080: 24,2020 77651 MP BIT7 # PI/2(6) RADIANS BY MULTIPLYING BY 64
023789,000081: 24,2021 22065 LXCH ITEMP1 # SAVE 1'S COMPLEMENT VALUE TEMPORARILY
023790,000082: 24,2022 30034 CAE CDUZ # 2'S COMPLEMENT MEASUREMENT SCALED AT PI
023791,000083: 24,2023 54001 TS L # (SAVE FOR UPDATING OF OLDZFORQ)
023792,000084: 24,2024 00006 EXTEND # FORM INCREMENT IN CDUZ FOR LAST 100 MS
023793,000085: 24,2025 21434 MSU OLDZFORQ # (100 MS OLD CDUZ SAVED FROM LAST PASS)
023794,000086: 24,2026 23434 LXCH OLDZFORQ # UPDATE OLDZFORQ WITH NEW CDUZ VALUE
023795,000087: 24,2027 00006 EXTEND # RESCALE DELTA CDUZ FROM PI RADIANS TO
023796,000088: 24,2030 77651 MP BIT7 # PI/2(6) RADIANS BY MULTIPLYING BY 64
023797,000089: 24,2031 22066 LXCH ITEMP2 # SAVE 1'S COMPLEMENT VALUE TEMPORARILY
023798,000090:
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Page 563 |
023800,000092:
023801,000093: # SECOND, TRANSFORM CPU INCREMENTS TO BODY-ANGLE INCREMENTS:
023802,000094: 24,2032 31406 CAE M31 # MATRIX*VECTOR(WITH X COMPONENT ZERO)
023803,000095: 24,2033 00006 EXTEND
023804,000096: 24,2034 70065 MP ITEMP1 # M31 * ITEMP1 = M31 * DELTA CDUY
023805,000097: 24,2035 54070 TS ITEMP3
023806,000098: 24,2036 31403 CAE M32 # M32 * ITEMP2 = M32 * DELTA CDUZ
023807,000099: 24,2037 00006 EXTEND
023808,000100: 24,2040 70066 MP ITEMP2 # DELTAR = M31*(DEL CDUY) + M32*(DEL CDUZ)
023809,000101: 24,2041 26070 ADS ITEMP3 # R-BODY-ANGLE INCREMENT SCALED AT PI/2(6)
023810,000102:
023811,000103: 24,2042 31405 CAE M21 # MATRIX*VECTOR(WITH X COMPONENT ZERO)
023812,000104: 24,2043 00006 EXTEND # CLOBBERS ITEMP2=DEL CDUZ, FOR EFFICIENCY
023813,000105: 24,2044 70065 MP ITEMP1 # M21 * ITEMP1 = M21 * DELTA CDUY
023814,000106: 24,2045 56066 XCH ITEMP2 # M22 * ITEMP2 = M22 * DELTA CDUZ
023815,000107: 24,2046 00006 EXTEND
023816,000108: 24,2047 71401 MP M22 # DELTAQ = M21*(DEL CDUY) + M22*(DEL CDUZ)
023817,000109: 24,2050 26066 ADS ITEMP2 # Q-BODY-ANGLE INCREMENT SCALED AT PI/2(6)
023818,000110:
023819,000111: # FINALLY, DERIVE Q AND R BODY ANGULAR RATES:
023820,000112:
023821,000113: 24,2051 00006 EXTEND # WFORQR IS K/(NOMINAL DT) SCALED AT 16
023822,000114: 24,2052 71656 MP WFORQR # FORM WEIGHTED VALUE OF MEASURED DATA
023823,000115: 24,2053 57417 XCH OMEGAQ # SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
023824,000116: 24,2054 00006 EXTEND # (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
023825,000117: 24,2055 71657 MP (1-K)QR # (K CHANGES EVERY 2 SECS IN ASCENT)
023826,000118: 24,2056 61616 AD JETRATEQ # WEIGHTED TERM DUE TO JET ACCELERATION
023827,000119: 24,2057 61642 AD AOSQTERM # TERM DUE TO ASCENT OFFSET ACCELERATION
023828,000120: 24,2060 27417 ADS OMEGAQ # TOTAL RATE ESTIMATE SCALED AT PI/4
023829,000121:
023830,000122: 24,2061 30070 CAE ITEMP3 # GET DELTAR
023831,000123: 24,2062 00006 EXTEND # WFORQR IS K/(NOMINAL DT) SCALED AT 16
023832,000124: 24,2063 71656 MP WFORQR # FORM WEIGHTED VALUE OF MEASURED DATA
023833,000125: 24,2064 57421 XCH OMEGAR # SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
023834,000126: 24,2065 00006 EXTEND # (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
023835,000127: 24,2066 71657 MP (1-K)QR # (K CHANGES EVERY 2 SECS IN ASCENT)
023836,000128: 24,2067 61617 AD JETRATER # WEIGHTED TERM DUE TO JET ACCELERATION
023837,000129: 24,2070 61643 AD AOSRTERM # TERM DUE TO ASCENT OFFSET ACCELERATION
023838,000130: 24,2071 27421 ADS OMEGAR # TOTAL RATE ESTIMATE SCALED AT PI/4
023839,000131:
023840,000132: 24,2072 01614 TC QJUMPADR
023841,000133: 24,2073 32164 SKIPQRAX CA NORMQADR
023842,000134: 24,2074 55614 TS QJUMPADR
023843,000135: 24,2075 37665 CA ZERO
023844,000136: 24,2076 55616 TS JETRATEQ
023845,000137: 24,2077 55617 TS JETRATER
023846,000138: 24,2100 31626 CA TQR
023847,000139: 24,2101 62721 AD NEGCSP2
023848,000140: 24,2102 10000 CCS A
023849,000141: 24,2103 02113 TC QRTORQUE
023850,000142:
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Page 564 |
023852,000144: 24,2104 14606 TCF RESUME
023853,000145: 24,2105 02113 TC QRTORQUE
023854,000146: 24,2106 41616 CS JETRATEQ
023855,000147: 24,2107 27417 ADS OMEGAQ
023856,000148: 24,2110 41617 CS JETRATER
023857,000149: 24,2111 27421 ADS OMEGAR
023858,000150: 24,2112 14606 TCF RESUME
023859,000151: 24,2113 67657 QRTORQUE AD ONE
023860,000152: 24,2114 00006 EXTEND
023861,000153: 24,2115 77653 MP BIT5
023862,000154: 24,2116 30001 CA L
023863,000155: 24,2117 00006 EXTEND
023864,000156: 24,2120 72722 MP 16/25QR
023865,000157: 24,2121 55626 TS TQR
023866,000158: 24,2122 00006 EXTEND
023867,000159: 24,2123 71620 MP NO.QJETS
023868,000160: 24,2124 30001 CAE L
023869,000161: 24,2125 00006 EXTEND
023870,000162: 24,2126 71630 MP 1JACCQ
023871,000163: 24,2127 55616 TS JETRATEQ
023872,000164: 24,2130 27640 ADS SUMRATEQ
023873,000165: 24,2131 31626 CAE TQR
023874,000166: 24,2132 00006 EXTEND
023875,000167: 24,2133 71621 MP NO.RJETS
023876,000168: 24,2134 30001 CAE L
023877,000169: 24,2135 00006 EXTEND
023878,000170: 24,2136 71631 MP 1JACCR
023879,000171: 24,2137 55617 TS JETRATER
023880,000172: 24,2140 27641 ADS SUMRATER
023881,000173: 24,2141 31656 CAE WFORQR
023882,000174: 24,2142 00006 EXTEND
023883,000175: 24,2143 71626 MP TQR
023884,000176: 24,2144 61660 AD (1-K)/8
023885,000177: 24,2145 00006 EXTEND
023886,000178: 24,2146 77654 MP BIT4
023887,000179: 24,2147 22065 LXCH ITEMP1
023888,000180: 24,2150 31616 CAE JETRATEQ
023889,000181: 24,2151 00006 EXTEND
023890,000182: 24,2152 70065 MP ITEMP1
023891,000183: 24,2153 55616 TS JETRATEQ
023892,000184: 24,2154 31617 CAE JETRATER
023893,000185: 24,2155 00006 EXTEND
023894,000186: 24,2156 70065 MP ITEMP1
023895,000187: 24,2157 55617 TS JETRATER
023896,000188: 24,2160 37665 CA ZERO
023897,000189: 24,2161 55620 TS NO.QJETS
023898,000190: 24,2162 55621 TS NO.RJETS
023899,000191: 24,2163 00002 TC Q
023900,000192: 24,2164 02165 NORMQADR GENADR NORMALQ
023901,000193: 24,2165 37643 NORMALQ CAF BIT13 # CHECKING ATTITUDE HOLD BIT
023902,000194:
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023904,000196: 24,2166 00006 EXTEND
023905,000197: 24,2167 02031 RAND 31 # BITS INVERTED
023906,000198: 24,2170 00006 EXTEND
023907,000199: 24,2171 12205 BZF CHKBIT10
023908,000200: 24,2172 37642 CAF BIT14 # ATT HOLD BIT NOT PRESENT. CHECK FOR AUTO
023909,000201: 24,2173 00006 EXTEND
023910,000202: 24,2174 02031 RAND 31
023911,000203: 24,2175 00006 EXTEND
023912,000204: 24,2176 12743 BZF ATTSTEER # AUTOMATIC STEERING, CHECK FOR RATE HOLD
023913,000205: 24,2177 00006 EXTEND # IF MODE SELECT SW OFF DO DAPIDLER NEXT
023914,000206: 24,2200 32204 DCA IDLEADRQ
023915,000207: 24,2201 52346 DXCH T5ADR
023916,000208: 24,2202 14606 TCF RESUME
023917,000209:
023918,000210: 24,2203 03141 46006 IDLEADRQ 2CADR DAPIDLER
023919,000211:
023920,000212: 24,2205 37646 CHKBIT10 CAF BIT10 # BIT10=1 FOR MIN IMP USE OF RHC
023921,000213: 24,2206 70765 MASK DAPBOOLS
023922,000214: 24,2207 00006 EXTEND
023923,000215: 24,2210 12250 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
023924,000216:
023925,000217: 24,2211 30773 CAE DELAYCTR # SET TO 2 BY RUPT 10
023926,000218: 24,2212 00006 EXTEND
023927,000219: 24,2213 12504 BZF XTRANS
023928,000220:
023929,000221: 24,2214 32713 CA MINTADR
023930,000222: 24,2215 55514 TS TJETADR
023931,000223:
023932,000224: 24,2216 37657 CA BIT1
023933,000225: 24,2217 00006 EXTEND
023934,000226: 24,2220 02031 RAND 31
023935,000227: 24,2221 00006 EXTEND
023936,000228: 24,2222 13453 BZF 2JETS+Q
023937,000229:
023938,000230: 24,2223 37656 CA BIT2
023939,000231: 24,2224 00006 EXTEND
023940,000232: 24,2225 02031 RAND 31
023941,000233: 24,2226 00006 EXTEND
023942,000234: 24,2227 13271 BZF 2JETS-Q
023943,000235:
023944,000236: 24,2230 37653 CA BIT5
023945,000237: 24,2231 00006 EXTEND
023946,000238: 24,2232 02031 RAND 31
023947,000239: 24,2233 00006 EXTEND
023948,000240: 24,2234 13433 BZF 2JETS+R
023949,000241:
023950,000242: 24,2235 37652 CA BIT6
023951,000243: 24,2236 00006 EXTEND
023952,000244: 24,2237 02031 RAND 31
023953,000245: 24,2240 00006 EXTEND
023954,000246:
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Page 566 |
023956,000248: 24,2241 13224 BZF 2JETS-R
023957,000249:
023958,000250: 24,2242 12504 TCF XTRANS
023959,000251:
023960,000252: 24,2243 32702 MINTJET CAF +T6TJMIN
023961,000253: 24,2244 55626 TS TQR
023962,000254: 24,2245 37665 CA ZERO
023963,000255: 24,2246 54773 TS DELAYCTR
023964,000256: 24,2247 12554 TCF TORQUEV
023965,000257:
023966,000258: 24,2250 37641 CHEKSTIK CAF BIT15 # OUT-OF-DETENT BIT
023967,000259: 24,2251 00006 EXTEND
023968,000260: 24,2252 02031 RAND 31 # BITS INVERTED
023969,000261:
023970,000262: 24,2253 00006 EXTEND
023971,000263: 24,2254 12317 BZF RHCACTIV # BRANCH IF OUT OF DETENT
023972,000264: 24,2255 37657 CA BIT1 # OUR RATE COMMAND BIT
023973,000265: 24,2256 70765 MASK DAPBOOLS
023974,000266:
023975,000267: 24,2257 00006 EXTEND
023976,000268: 24,2260 62743 BZMF ATTSTEER # AUTOMATIC STEERING, CHECK FOR RATE HOLD
023977,000269: # WE WERE IN RATE COMMAND AND RATES MUST BE MADE SMALLER
023978,000270:
023979,000271: # ARE RATES SMALL ENOUGH NOW
023980,000272: 24,2261 31416 CA OMEGAP
023981,000273: 24,2262 00006 EXTEND
023982,000274: 24,2263 70000 SQUARE
023983,000275: 24,2264 52066 DXCH ITEMP1
023984,000276:
023985,000277: 24,2265 31417 CA OMEGAQ
023986,000278: 24,2266 00006 EXTEND
023987,000279: 24,2267 70000 SQUARE
023988,000280: 24,2270 20066 DAS ITEMP1
023989,000281:
023990,000282: 24,2271 31421 CA OMEGAR
023991,000283: 24,2272 00006 EXTEND
023992,000284: 24,2273 70000 SQUARE
023993,000285: 24,2274 20066 DAS ITEMP1
023994,000286:
023995,000287: # WE NOW HAVE SQUARED MAGNITUDE OF RATE VECTOR IN ITEMP1
023996,000288: 24,2275 42707 CS 16/32400 # 1DEG/SEC SCALED AT PI.PI/16
023997,000289: 24,2276 60065 AD ITEMP1
023998,000290: 24,2277 00006 EXTEND
023999,000291: 24,2300 62306 BZMF RATESMAL
024000,000292:
024001,000293: # THE RATE IS NOT SMALL ENOUGH YET.
024002,000294:
024003,000295: 24,2301 31417 CA OMEGAQ
024004,000296: 24,2302 55424 TS QRATEDIF
024005,000297: 24,2303 31421 CA OMEGAR
024006,000298:
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Page 567 |
024008,000300: 24,2304 55425 TS RRATEDIF
024009,000301: 24,2305 12352 TCF OBEYQRRC
024010,000302:
024011,000303: 24,2306 47657 RATESMAL CS BIT1
024012,000304: 24,2307 70765 MASK DAPBOOLS # RATE COMMAND BIT SET TO ZERO
024013,000305: 24,2310 54765 TS DAPBOOLS
024014,000306:
024015,000307: 24,2311 30032 CAE CDUX
024016,000308: 24,2312 54774 TS CDUXD
024017,000309: 24,2313 30033 CAE CDUY
024018,000310: 24,2314 54775 TS CDUYD
024019,000311: 24,2315 30034 CAE CDUZ
024020,000312: 24,2316 54776 TS CDUZD
024021,000313:
024022,000314: 24,2317 37657 RHCACTIV CAF BIT1
024023,000315: 24,2320 70765 MASK DAPBOOLS
024024,000316: 24,2321 00006 EXTEND
024025,000317: 24,2322 12504 BZF XTRANS # LET P AXIS SET THE RATE COMMAND BIT
024026,000318: # COMPUTE RATE ERRORS
024027,000319: 24,2323 30042 CAE Q-RHCCTR
024028,000320: 24,2324 00006 EXTEND
024029,000321: 24,2325 77647 MP BIT9
024030,000322: 24,2326 32714 CA -.88975
024031,000323: 24,2327 00006 EXTEND
024032,000324: 24,2330 70001 MP L # -Q RATE COMMAND SCALED AT PI/4
024033,000325: 24,2331 61417 AD OMEGAQ
024034,000326: 24,2332 55424 TS QRATEDIF
024035,000327:
024036,000328: 24,2333 30044 CAE R-RHCCTR
024037,000329: 24,2334 00006 EXTEND
024038,000330: 24,2335 77647 MP BIT9
024039,000331: 24,2336 32714 CA -.88975
024040,000332: 24,2337 00006 EXTEND
024041,000333: 24,2340 70001 MP L # -R RATE COMMAND SCALED AT PI/4.
024042,000334: 24,2341 61421 AD OMEGAR
024043,000335: 24,2342 55425 TS RRATEDIF
024044,000336:
024045,000337: # ZERO,ENABLE,AND START COUNTERS
024046,000338: 24,2343 37665 CAF ZERO
024047,000339: 24,2344 54043 TS P-RHCCTR
024048,000340: 24,2345 54042 TS Q-RHCCTR
024049,000341: 24,2346 54044 TS R-RHCCTR
024050,000342: 24,2347 32710 CAF BIT8,9
024051,000343: 24,2350 00006 EXTEND
024052,000344: 24,2351 05013 WOR 13
024053,000345:
024054,000346: 24,2352 32734 OBEYQRRC CA RTJETADR
024055,000347: 24,2353 55514 TS TJETADR
024056,000348:
024057,000349: 24,2354 11424 CCS QRATEDIF
024058,000350:
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024060,000352: 24,2355 12416 TCF POSQEROR
024061,000353: 24,2356 12360 TCF NOQJETS
024062,000354: 24,2357 12365 TCF NEGQEROR
024063,000355:
024064,000356: 24,2360 11425 NOQJETS CCS RRATEDIF # CHECK SIGN OF RATE ERROR AND GET ABVAL
024065,000357: 24,2361 12445 TCF R+,CHKDB
024066,000358: 24,2362 12504 TCF XTRANS
024067,000359: 24,2363 12456 TCF R-,CHKDB
024068,000360: 24,2364 12504 TCF XTRANS
024069,000361:
024070,000362: 24,2365 61506 NEGQEROR AD -RATEDB
024071,000363: 24,2366 00006 EXTEND
024072,000364: 24,2367 62360 BZMF NOQJETS
024073,000365:
024074,000366: 24,2370 11425 CCS RRATEDIF
024075,000367: 24,2371 12402 TCF R+Q-CHKR
024076,000368: 24,2372 12374 TCF Q-NORJTS
024077,000369: 24,2373 12407 TCF R-Q-CHKR
024078,000370:
024079,000371: 24,2374 41424 Q-NORJTS CS QRATEDIF
024080,000372: 24,2375 55443 TS RATEDIF
024081,000373: 24,2376 61507 AD -2JETLIM
024082,000374: 24,2377 00006 EXTEND
024083,000375: 24,2400 63453 BZMF 2JETS+Q
024084,000376: 24,2401 13447 TCF 4JETS+Q
024085,000377:
024086,000378: 24,2402 61506 R+Q-CHKR AD -RATEDB
024087,000379: 24,2403 00006 EXTEND
024088,000380: 24,2404 62374 BZMF Q-NORJTS
024089,000381: 24,2405 03656 TC EDOTVGEN
024090,000382: 24,2406 13360 TCF 2-V.RATE
024091,000383:
024092,000384: 24,2407 61506 R-Q-CHKR AD -RATEDB
024093,000385: 24,2410 00006 EXTEND
024094,000386: 24,2411 62374 BZMF Q-NORJTS
024095,000387: 24,2412 03652 TC EDOTUGEN
024096,000388: 24,2413 00006 EXTEND
024097,000389: 24,2414 61425 SU RRATEDIF
024098,000390: 24,2415 13405 TCF 2+U.RATE
024099,000391:
024100,000392: 24,2416 61506 POSQEROR AD -RATEDB
024101,000393: 24,2417 00006 EXTEND
024102,000394: 24,2420 62360 BZMF NOQJETS
024103,000395:
024104,000396: 24,2421 11425 CCS RRATEDIF
024105,000397: 24,2422 12433 TCF R+Q+CHKR
024106,000398: 24,2423 12425 TCF Q+NORJTS
024107,000399: 24,2424 12440 TCF R-Q+CHKR
024108,000400:
024109,000401: 24,2425 31424 Q+NORJTS CA QRATEDIF
024110,000402:
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Page 569 |
024112,000404: 24,2426 55443 TS RATEDIF
024113,000405: 24,2427 61507 AD -2JETLIM
024114,000406: 24,2430 00006 EXTEND
024115,000407: 24,2431 63271 BZMF 2JETS-Q
024116,000408: 24,2432 13265 TCF 4JETS-Q
024117,000409:
024118,000410: 24,2433 61506 R+Q+CHKR AD -RATEDB
024119,000411: 24,2434 00006 EXTEND
024120,000412: 24,2435 62425 BZMF Q+NORJTS
024121,000413: 24,2436 03652 TC EDOTUGEN
024122,000414: 24,2437 13245 TCF 2-U.RATE
024123,000415:
024124,000416: 24,2440 61506 R-Q+CHKR AD -RATEDB
024125,000417: 24,2441 00006 EXTEND
024126,000418: 24,2442 62425 BZMF Q+NORJTS
024127,000419: 24,2443 03656 TC EDOTVGEN
024128,000420: 24,2444 13312 TCF 2+V.RATE
024129,000421:
024130,000422: 24,2445 61506 R+,CHKDB AD -RATEDB
024131,000423: 24,2446 00006 EXTEND
024132,000424: 24,2447 62504 BZMF XTRANS
024133,000425: 24,2450 31425 CA RRATEDIF
024134,000426: 24,2451 55443 TS RATEDIF
024135,000427: 24,2452 61507 AD -2JETLIM
024136,000428: 24,2453 00006 EXTEND
024137,000429: 24,2454 63224 BZMF 2JETS-R
024138,000430: 24,2455 13220 TCF 4JETS-R
024139,000431:
024140,000432: 24,2456 61506 R-,CHKDB AD -RATEDB
024141,000433: 24,2457 00006 EXTEND
024142,000434: 24,2460 62504 BZMF XTRANS
024143,000435: 24,2461 41425 CS RRATEDIF
024144,000436: 24,2462 55443 TS RATEDIF
024145,000437: 24,2463 61507 AD -2JETLIM
024146,000438: 24,2464 00006 EXTEND
024147,000439: 24,2465 63433 BZMF 2JETS+R
024148,000440: 24,2466 13427 TCF 4JETS+R
024149,000441:
024150,000442: 24,2467 11443 RTJETIME CCS RATEDIF # SCALED AT PI/4 RADIANS/SECOND
024151,000443: 24,2470 67657 AD ONE
024152,000444: 24,2471 12473 TCF +2
024153,000445: 24,2472 67657 AD ONE # ABS(RATEDIF)
024154,000446: 24,2473 00006 EXTEND
024155,000447: 24,2474 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SECOND(2)/RADIANS
024156,000448: 24,2475 00006 EXTEND
024157,000449: 24,2476 77654 MP BIT4 # SCALED AT 2(3) SECONDS
024158,000450: 24,2477 30001 CAE L
024159,000451: 24,2500 00006 EXTEND
024160,000452: 24,2501 72703 MP 25/32.QR # TJET NOW PROPERLY SCALED IN A
024161,000453: 24,2502 55626 TS TQR # AT 2(4)16/25 SECONDS
024162,000454:
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|
Page 570 |
024164,000456: 24,2503 12554 TCF TORQUEV
024165,000457:
024166,000458:
024167,000459:
024168,000460: # TRANSLATION WITHOUT ROTATION IS ACCOMPLISHED IN XTRANS SECTION
024169,000461:
024170,000462: 24,2504 37665 XTRANS CA ZERO
024171,000463: 24,2505 55504 TS ADDTLT6
024172,000464: 24,2506 55503 TS ADDT6JTS
024173,000465: 24,2507 37652 CA BIT6
024174,000466: 24,2510 70765 MASK DAPBOOLS # CHECKING THE ULLAGE BIT
024175,000467:
024176,000468: 24,2511 00006 EXTEND
024177,000469: 24,2512 12516 BZF +4
024178,000470: 24,2513 32723 CA ALL+XJTS # ULLAGE JETS
024179,000471: 24,2514 04225 WRITEON TC WRITEQR
024180,000472: 24,2515 14606 TCF RESUME
024181,000473: 24,2516 37651 +4 CAF BIT7
024182,000474: 24,2517 00006 EXTEND
024183,000475: 24,2520 02031 RAND 31
024184,000476: 24,2521 00006 EXTEND
024185,000477: 24,2522 12532 BZF +XTRANS
024186,000478:
024187,000479: 24,2523 37650 CA BIT8 # -X TRANS BIT.INVERTED
024188,000480: 24,2524 00006 EXTEND
024189,000481: 24,2525 02031 RAND 31
024190,000482: 24,2526 00006 EXTEND
024191,000483: 24,2527 12543 BZF -XTRANS
024192,000484: 24,2530 37665 NOTORQUE CA ZERO
024193,000485: 24,2531 12514 TCF WRITEON
024194,000486: 24,2532 32724 +XTRANS CAF 2,10-OUT # CHECK FOR FAILURE OF 2 OR 10
024195,000487: 24,2533 00006 EXTEND
024196,000488: 24,2534 06032 RXOR 32
024197,000489: 24,2535 00006 EXTEND
024198,000490: 24,2536 12541 BZF +3 # 2 AND 10 GOOD
024199,000491: 24,2537 32726 CA +X,B # SINCE 2 OR 10 FAILED, USE 6 AND 14 OF B
024200,000492: 24,2540 12514 TCF WRITEON
024201,000493: 24,2541 32725 +3 CA +X,A # 2 AND 10 SYSTEM A
024202,000494: 24,2542 12514 TCF WRITEON
024203,000495: 24,2543 32727 -XTRANS CAF 1,9-OUT # CHECK FOR FAILURE OF 1 OR 9
024204,000496: 24,2544 00006 EXTEND
024205,000497: 24,2545 06032 RXOR 32
024206,000498: 24,2546 00006 EXTEND
024207,000499: 24,2547 12552 BZF +3 # 1 AND 9 GOOD
024208,000500: 24,2550 32730 CA -X,A # SINCE 1 OR 9 FAILED, USE 5 AND 13 OF A
024209,000501: 24,2551 12514 TCF WRITEON
024210,000502: 24,2552 32731 +3 CA -X,B # 1 AND 9 SYSTEM B
024211,000503: 24,2553 12514 TCF WRITEON
024212,000504:
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|
Page 571 |
024214,000506: # DO NECESSARY PARTS OF Q,R-AXES TORQUE VECTOR RECONSTRUCTION HERE AND NOW. FOR OTHER PARTS WAIT UNTIL THE NEXT
024215,000507: # P-AXIS RCS DAP T5RUPT.
024216,000508:
024217,000509: 24,2554 41626 TORQUEV CS TQR # CALCULATED Q,R JET TIME (AS IN TIME6)
024218,000510: 24,2555 62702 AD +T6TJMIN
024219,000511: 24,2556 00006 EXTEND # CORRECT BRANCH.
024220,000512: 24,2557 62567 BZMF TQRGTTMI # BRANCH FOR TQR = OR GREATER THAN MINIMP.
024221,000513: 24,2560 37665 CA ZERO
024222,000514: 24,2561 55505 TS TOFJTCHG # SINCE TQR LESS THAN A MINIMUM IMPULSE,
024223,000515: 24,2562 55616 TS JETRATEQ # ZERO ALL OF THESE REGISTERS AND GO TO
024224,000516: 24,2563 55617 TS JETRATER # JET LIST.
024225,000517: 24,2564 31502 CA JTSATCHG
024226,000518: 24,2565 04225 TC WRITEQR
024227,000519: 24,2566 14606 TCF RESUME
024228,000520: 24,2567 31626 TQRGTTMI CA TQR
024229,000521: 24,2570 55505 TS TOFJTCHG
024230,000522: 24,2571 62701 AD -1.5CSP
024231,000523: 24,2572 00006 EXTEND
024232,000524: 24,2573 62630 BZMF DOQRSKIP
024233,000525: 24,2574 31630 CA 1JACCQ
024234,000526: 24,2575 00006 EXTEND
024235,000527: 24,2576 71620 MP NO.QJETS
024236,000528: 24,2577 30001 CA L
024237,000529: 24,2600 54065 TS ITEMP1
024238,000530: 24,2601 00006 EXTEND
024239,000531: 24,2602 71623 MP QR.1STOQ
|
|
Note: in the scan the two statements above (EXTEND, MP QR.1STOQ) are boxed in (red) and a marked with a question mark I.E. ---------------------------- | EXTEND | | MP QR.1STOQ | ? ---------------------------- |
024245,000537: 24,2603 55616 TS JETRATEQ
024246,000538: 24,2604 30065 CA ITEMP1
024247,000539: 24,2605 00006 EXTEND
024248,000540: 24,2606 72627 MP 0.1AT1
024249,000541: 24,2607 27640 ADS SUMRATEQ
024250,000542: 24,2610 31631 CA 1JACCR
024251,000543: 24,2611 00006 EXTEND
024252,000544: 24,2612 71621 MP NO.RJETS
024253,000545: 24,2613 30001 CA L
024254,000546: 24,2614 54065 TS ITEMP1
024255,000547: 24,2615 00006 EXTEND
024256,000548: 24,2616 71623 MP QR.1STOQ
|
|
Note: in the scan the two statements above (EXTEND, MP QR.1STOQ) are boxed in (red) and a marked with a question mark See above. |
024259,000551: 24,2617 55617 TS JETRATER
024260,000552: 24,2620 30065 CA ITEMP1
024261,000553: 24,2621 00006 EXTEND
024262,000554: 24,2622 72627 MP 0.1AT1
024263,000555: 24,2623 27641 ADS SUMRATER
024264,000556: 24,2624 31501 CA JTSONNOW
024265,000557: 24,2625 12514 TCF WRITEON
024266,000558: 24,2626 02073 SKIPQRAD GENADR SKIPQRAX
024267,000559: 24,2627 03146 0.1AT1 DEC +0.10000
024268,000560: 24,2630 32626 DOQRSKIP CA SKIPQRAD
024269,000561: 24,2631 55614 TS QJUMPADR
024270,000562: # CHANGE JET ON AND OFF BITS TO ACCOUNT FOR THE PRESENT STATE OF THE
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|
Page 572 |
024272,000564: # CHANNEL. THE CHANGES ACCOUNT FOR PURE ROTATION ONLY- NOT TRANSLATION.
024273,000565: 24,2632 31501 CA JTSONNOW # = JETS WHICH ARE TO GO ON NOW.
024274,000566: 24,2633 00006 EXTEND
024275,000567: 24,2634 02005 RAND 5 # MASK THE CHANNEL WITH THE DESIRED STATE.
024276,000568: 24,2635 00006 EXTEND
024277,000569: 24,2636 12663 BZF NOQRON # A IS ZERO IF NO JETS TO GO ON ARE ON.
024278,000570: 24,2637 67641 AD BIT15 # MAKE DIFFERENCE CORRESPOND TO A QR JET.
024279,000571: 24,2640 00006 EXTEND
024280,000572: 24,2641 61501 SU JTSONNOW # RESULT IS COMPLEMENT OF JET BITS WHICH
024281,000573: 24,2642 54001 TS L # ARE TO BE ON FOR 6.5MS MORE THAN CALC.
024282,000574: 24,2643 00006 EXTEND
024283,000575: 24,2644 12670 BZF JTSAREON # A=0,THUS ALL JETS TO GO ON ARE NOW ON.
024284,000576: 24,2645 31502 TRSLTMN2 CAE JTSATCHG
024285,000577: 24,2646 77637 MASK POSMAX # REMOVE BIT15 FROM JTSATCHG.
024286,000578: 24,2647 00006 EXTEND
024287,000579: 24,2650 12654 BZF NOTRANS # IF JTSATCHG = 0 THEN NO TRANSLATION NOW.
024288,000580: 24,2651 32712 CA 14-TQRMN
024289,000581: 24,2652 27505 ADS TOFJTCHG # INSURE T GREATER THAN 14 MS.
024290,000582: 24,2653 12674 TCF TOJTLST
024291,000583: 24,2654 40001 NOTRANS CS L
024292,000584: 24,2655 67641 AD BIT15 # MAKE JET BITS CORRESPOND TO QR AXIS.
024293,000585: 24,2656 57502 XCH JTSATCHG # JTSONNOW - L = JETS ON AT TOFJTCHG.
024294,000586: 24,2657 55503 TS ADDT6JTS # JTS ON AT TOFJTCHG +ONDELAY.
024295,000587: 24,2660 32712 CA 14-TQRMN
024296,000588: 24,2661 55504 TS ADDTLT6
024297,000589: 24,2662 12674 TCF TOJTLST
024298,000590: 24,2663 32712 NOQRON CA 14-TQRMN
024299,000591: 24,2664 27505 ADS TOFJTCHG
024300,000592: 24,2665 37665 CA ZERO
024301,000593: 24,2666 55504 TS ADDTLT6
024302,000594: 24,2667 12674 TCF TOJTLST
024303,000595: 24,2670 32711 JTSAREON CA MCOMPTQR
024304,000596: 24,2671 27505 ADS TOFJTCHG
024305,000597: 24,2672 37665 CA ZERO
024306,000598: 24,2673 55504 TS ADDTLT6
024307,000599: 24,2674 31501 TOJTLST CA JTSONNOW
024308,000600: 24,2675 04225 TC WRITEQR
024309,000601: 24,2676 00006 EXTEND
024310,000602: 24,2677 32733 DCA JTLSTADR
024311,000603: 24,2700 52006 DTCB
024312,000604: 24,2701 77417 -1.5CSP DEC -0.01465
024313,000605: 24,2702 00014 +T6TJMIN DEC +.00073
024314,000606: 24,2703 31000 25/32.QR DEC 0.78125
024315,000607: 24,2704 37776 MS20QR OCTAL 37776
024316,000608: 24,2705 37775 MS30QR OCTAL 37775
024317,000609: 24,2706 37773 MS50QR OCTAL 37773
024318,000610: 24,2707 00010 16/32400 DEC 0.00049
024319,000611: 24,2710 00600 BIT8,9 OCTAL 00600
024320,000612: 24,2711 77765 MCOMPTQR OCTAL 77765 # -10 MS COMPUTATION TIME
024321,000613: 24,2712 00013 14-TQRMN DEC 11 B-14
024322,000614:
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Page 573 |
024324,000616: 24,2713 02243 MINTADR GENADR MINTJET
024325,000617: 24,2714 43415 -.88975 DEC -.88975
024326,000618: 24,2715 20000 (1-K),QR DEC 0.50000 # K = 1/2
024327,000619: 24,2716 02000 (1-KQ)/8 DEC 0.06250
024328,000620: 24,2717 77557 -90MS DEC -.00879
024329,000621: 24,2720 00220 +90MS DEC 0.00879
024330,000622: 24,2721 77537 NEGCSP2 DEC -.00977
024331,000623: 24,2722 24366 16/25QR DEC 0.64000
024332,000624: 24,2723 40252 ALL+XJTS OCTAL 40252
024333,000625: 24,2724 00201 2,10-OUT OCTAL 00201
024334,000626: 24,2725 40042 +X,A OCTAL 40042
024335,000627: 24,2726 40210 +X,B OCTAL 40210
024336,000628: 24,2727 00104 1,9-OUT OCTAL 00104
024337,000629: 24,2730 40104 -X,A OCTAL 40104
024338,000630: 24,2731 40021 -X,B OCTAL 40021
024339,000631: 24,2732 02716 46006 JTLSTADR 2CADR JTLST
024340,000632:
024341,000633: 24,2734 02467 RTJETADR GENADR RTJETIME
024342,000634:
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Page 574 |
024344,000636: # Q,R-AXES ATTITUDE STEERING CALCULATIONS:
024345,000637:
024346,000638: # (EXECUTED WHEN LGC IS IN AUTOMATIC SCSMODE OR IF SCSMODE IS ATTITUDE HOLD AND THE ROTATIONAL HAND CONTROLLER IS
024347,000639: # NEITHER OUT OF DETENT NOR IS THE RATE COMMAND BIT SET IN DAPBOOLS)
024348,000640:
024349,000641: # IMMEDIATELY AFTER CALCULATING THE ATTITUDE ERRORS, THE FOLLOWING TESTS ARE MADE TO DETERMINE WHETHER THE DESCENT
024350,000642: # ENGINE TRIM GIMBAL SHOULD BE USED TO CONTROL THE LEM ATTITUDE RATHER THAN THE RCS JETS:
024351,000643:
024352,000644: # 1) IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
024353,000645: # 2) ARE THE Q,R-AXES RCS JETS OFF?
024354,000646: # 3) ARE BOTH TRIM GIMBAL DRIVES OFF?
024355,000647: # 4) IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
024356,000648:
024357,000649: 24,2735 32742 GOTOGTS CAF INITFILT # ERRORS NOW CONTROLLABLE BY TRIM GIMBAL
024358,000650: 24,2736 54345 TS T5ADR # SET T5RUPT TO GO TO FILTER INITIALIZING
024359,000651: 24,2737 14606 TCF RESUME # PROGRAM
024360,000652:
024361,000653: 24,2740 07400 BGIM24 OCTAL 07400
024362,000654: 24,2741 03644 DESCADR GENADR TJET-LAW # RETURN ADDRESS FOR JET SELECT LOGIC
024363,000655: 24,2742 02000 INITFILT GENADR FILTINIT # ADDRESS OF FILTER INITIALIZATION RUPT
024364,000656:
024365,000657: # "ATTSTEER" IS THE NOMINAL ENTRY POINT FOR REACTION CONTROL SYSTEM ATTITUDE STEERING:
024366,000658: # BEGIN ATTSTEER BY CHECKING IF RATE HOLD MODE(CURRENTLY USED ONLY AT SIVB
024367,000659: # -LEM SEPARATION-206 MISSION PHASE 6) IS REQUESTED(BIT 14 OF DAPBOOLS ON)
024368,000660: # IF BIT 14 IS OFF, BRANCH TO QERRCALC DIRECTLY AND BEGIN AUTOMATIC
024369,000661: # STEERING. IF BIT 14 IS ON, TEST BIT 3 OF DAPBOOLS TO SEE IF THE DESIRED
024370,000662: # RATE HAS BEEN SAVED YET. IF IT IS ON, THIS IS NOT THE FIRST PASS AND
024371,000663: # THE RATE HAS BEEN SAVED. GO DIRECTLY TO QERRCALC FOR AUTOMATIC STEERING
024372,000664: # IF THE BIT IS OFF, THE RATE MUST BE SAVED. TRANSFER TO SAVERATE(BANK25)
024373,000665: # AND RETURN AFTER FIRST PASS TO RESUME AND DAPIDLER.
024374,000666:
024375,000667: # IN ORDER TO USE RATE HOLD, THE MISSION PROGRAMMER MUST SET BIT 14 OF
024376,000668: # DAPBOOLS ON AND SET BIT 3 OF DAPBOOLS TO ZERO. UPON RETURNING FROM THE
024377,000669: # FIRST PASS AT LEAST THROUGH RATE HOLD, THE MISSION PROGRAMMER MUST RESET
024378,000670: # BIT 3 TO ITS PREVIOUS VALUE IF THIS IS NOT 1, BECAUSE SAVERATE SETS BIT3
024379,000671: # TO 1 FOR ALL PASSES AFTER THE FIRST IN ORDER NOT TO SAVE THE RATE AGAIN.
024380,000672:
024381,000673: # IN ADDITION TO NON-RATE HOLD MODE AND NON-FIRST PASS RATE HOLD MODE
024382,000674: # EXITS TO QERRCALC, THE FIRST PASS EXITS TO RESUME, IE. OUT OF INTERRUPT
024383,000675: # AND BACK TO DAPIDLER TO AWAIT THE NEXT CALL TO DAP.
024384,000676:
024385,000677: # RATE HOLD PRODUCES THE FOLLOWING OUTPUT IN ERASABLE --
024386,000678:
024387,000679: # CDUD - SCALED AT +/-PI, DESIRED GIMBAL ANGLE
024388,000680:
024389,000681: # DELCDU - SCALED AT +/-PI, INCREMENT TO CDUD EVERY 100 MS.
024390,000682:
024391,000683: # OMEGAPD, QD, RD - SCALED AT +/-PI/4, BODY AXIS RATES
024392,000684:
024393,000685: # ALL THESE ARE USED BY AUTOMATIC STEERING MODE EQUATIONS.
024394,000686:
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Page 575 |
024396,000688: # RATE HOLD REQUIRES OMEGAP, Q, R EVERY .25 SEC, AND ALSO REQUIRES PILOT-
024397,000689: # TO-GIMBAL AXIS MATRIX ELEMENTS, MR12, 22, 13, 23 TO BE LOCATED IN THAT
024398,000690: # ORDER.
024399,000691:
024400,000692: # FINALLY, RATE HOLD LEAVES DEBRIS IN --
024401,000693:
024402,000694: # DLCDUIDX - LOOP INDEX USED IN COMPUTING DELCDUS, = 1, 0
024403,000695:
024404,000696: # ITEMP1 - STORES TEMPORARY PRODUCTS AND SUMS, LEFT WITH DELCDUY IN 1S.
024405,000697:
024406,000698:
024407,000699:
024408,000700: 24,2743 40765 ATTSTEER CS DAPBOOLS # DOES BIT14 OF DAPBOOLS REQUEST RATE HOLD
024409,000701: 24,2744 77642 MASK BIT14 # (SIVB-LEM SEPARATION)
024410,000702: 24,2745 10000 CCS A
024411,000703: 24,2746 13025 TCF QERRCALC # NO, GO DIRECTLY TO AUTOMATIC STEERING
024412,000704:
024413,000705: # CHECK DAPBOOLS, BIT3, TO SEE IF DESIRED RATE HAS BEEN SAVED YET
024414,000706:
024415,000707: 24,2747 30765 CAE DAPBOOLS # DOES BIT3 SHOW THAT THE DESIRED RATE HAS
024416,000708: 24,2750 77655 MASK BIT3 # BEEN SAVED(NOT FIRST PASS). IF NOT, GO
024417,000709: 24,2751 10000 CCS A # SAVE DESIRED RATES IN THE OMEGADS
024418,000710: 24,2752 12771 TCF NEXDLCDU -1 # YES, COMPUTE THE DELCDUS.
024419,000711:
024420,000712: # SAVERATE IS ENTERED ONLY DURING THE FIRST PASS THROUGH RATE HOLD. IT
024421,000713: # SAVES THE CURRENT CDUS FIRST IN CDUDS AND THEN SAVES THE BODY RATES,
024422,000714: # OMEGAP, Q, R IN OMEGAPD, QD, RD. NEXT, WE SET BIT 3 OF DAPBOOLS TO 1.
024423,000715:
024424,000716: 24,2753 00006 SAVERATE EXTEND # COME HERE FIRST TIME INTO RATE HOLD IN
024425,000717: 24,2754 30034 DCA CDUY
024426,000718: 24,2755 52776 DXCH CDUYD # ORDER TO SET UP RATES, CDUS, AND DELCDUS
024427,000719: 24,2756 30032 CAE CDUX
024428,000720: 24,2757 54774 TS CDUXD # FIRST, CDUDS = CDUS AT SIVB SEPARATION
024429,000721:
024430,000722: 24,2760 00006 EXTEND # NEXT, SAVE CURRENT SIVB SEPARATION RATES
024431,000723: 24,2761 31417 DCA OMEGAP
024432,000724: 24,2762 53427 DXCH OMEGAPD # OMEGAP AND OMEGAR, IN OMEGAPD AND
024433,000725: 24,2763 31421 CAE OMEGAR
024434,000726: 24,2764 55430 TS OMEGARD # OMEGARD. LEM HELD TO RATES FOR 13 SECS.
024435,000727:
024436,000728: 24,2765 37655 CAF BIT3 # RESET BIT 3 = 1 SO THAT RATES NOT SAVED
024437,000729: 24,2766 26765 ADS DAPBOOLS # AGAIN IN RATE HOLD PASSES
024438,000730: 24,2767 14606 TCF RESUME # RETURN TO IDLE AFTER SAVING RATE
024439,000731:
024440,000732: 24,2770 00632 100MSCAL DEC .025 # 100 MS. SCALED AT 4 SEC. RATE HOLD DELT
024441,000733:
024442,000734: # TO COMPUTE TEH DELCDUS, Y AND Z, WE SET UP A LOOP AND SOLVE THE EQUATION
024443,000735:
024444,000736: # C(DELCDUY+DLCDUIDX)=(OMEGAQD.C(MR12+DLCDUIDX)+OMEGARD.C(MR13+DLCDUIDX))
024445,000737: # .(100MS) SCALED AT PI IN 2S COMPLEMENT(LIKE CDUS)
024446,000738:
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Page 576 |
024448,000740: # DURING THIS COMPUTATION, ITEMP1 IS USED TO STORE THE PARTIAL SUMS AND
024449,000741: # PRODUCTS. DELCDUY IS RESCALED TO 1 AS MR12 AND MR13 ARE SCALED AT 2.
024450,000742: # AFTER CONVERTING TO TWOS COMPLEMENT, WE SET DELCDUX TO ZERO TO AVOID ANY
024451,000743: # ROLL DURING RATE HOLD MODE. NOTE THAT DELCDUS ARE COMPUTED IN THE NEGA-
024452,000744: # TIVE TO ALLOW 2S COMP. MOD. SUBTRACT LATER ON (CDU-(-DELCDU))
024453,000745:
024454,000746: 24,2771 37657 CAF ONE # SET UP LOOP INDEX TO COMPUTE DELCDUS.
024455,000747: 24,2772 55672 NEXDLCDU TS DLCDUIDX # DLCDUIDX = C(A)
024456,000748:
024457,000749: 24,2773 41427 CS OMEGAQD # DLCDUIDX = 1 DLCDUIDX = 0
024458,000750: 24,2774 00006 EXTEND # ITEMP1=-OMEGAQD.MR22
024459,000751: 24,2775 51672 INDEX DLCDUIDX
024460,000752: 24,2776 71400 MP MR12 # MR22 SCALED AT 1 MR12 SCALED AT 2
024461,000753: 24,2777 54065 TS ITEMP1 # ITEMP1=-OMEGAQD.MR12
024462,000754:
024463,000755: 24,3000 41430 CS OMEGARD # C(A)=ITEMP1 -OMEGARD.MR23
024464,000756: 24,3001 00006 EXTEND
024465,000757: 24,3002 51672 INDEX DLCDUIDX # C(A)=ITEMP1 -OMEGARD.MR13
024466,000758: 24,3003 71402 MP MR13 # MR23 SCALED AT 1 MR13 SCALED AT 2
024467,000759: 24,3004 60065 AD ITEMP1
024468,000760: 24,3005 00006 EXTEND # DELT = 100 MS. SCALED AT 4 SEC.
024469,000761: 24,3006 72770 MP 100MSCAL
024470,000762: 24,3007 54065 TS ITEMP1 # ITEMP1 = C(A) . DELT
024471,000763:
024472,000764: 24,3010 11672 CCS DLCDUIDX # CHECK INDEX FOR RESCALING
024473,000765: 24,3011 13014 TCF +3 # DELCDUZ SCALED AT PI/4, RESCALE UNNEEDED
024474,000766: 24,3012 30065 CAE ITEMP1 # DELCDUY SCALED AT PI/2, RESCALE BY
024475,000767: 24,3013 26065 ADS ITEMP1 # ADDING TO ITSELF
024476,000768:
024477,000769: 24,3014 10065 CCS ITEMP1 # CONVERT DELCDUS TO TWOS COMPLEMENT (SAME
024478,000770: 24,3015 67657 AD ONE # AS CDUS). ADD ONE TO RESTORE PRE-CCS A
024479,000771: 24,3016 13020 TCF STODLCDU # STORE DIRECT IF POSITIVE ZERO
024480,000772: 24,3017 40000 COM # COMPLEMENT IF NEGATIVE, CCS INCREMENTS
024481,000773: 24,3020 51672 STODLCDU INDEX DLCDUIDX # IF NEGATIVE ZERO, STORE POSITIVE ZERO
024482,000774: 24,3021 55674 TS DELCDUY # STORE FINAL DELCDUZ OR DELCDUY
024483,000775:
024484,000776: 24,3022 11672 CCS DLCDUIDX # TEST INDEX DLCDUIDX, EITHER 1 OR 0
024485,000777: 24,3023 12772 TCF NEXDLCDU # IF 1, DO DELCDUY
024486,000778: 24,3024 55673 TS DELCDUX # DELCDUZ,Y DONE, 0 TO DELCDUX-NO ROLL
024487,000779:
024488,000780: 24,3025 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
024489,000781: 24,3026 00006 EXTEND
024490,000782: 24,3027 20775 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
024491,000783: 24,3030 54065 TS ITEMP1 # SAVE FOR RERRCALC
024492,000784: 24,3031 00006 EXTEND
024493,000785: 24,3032 71405 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
024494,000786: 24,3033 57413 XCH ER # SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
024495,000787: 24,3034 30034 CAE CDUZ # SECOND TERM CALCULATION:
024496,000788: 24,3035 00006 EXTEND
024497,000789: 24,3036 20776 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
024498,000790:
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|
Page 577 |
024500,000792: 24,3037 54066 TS ITEMP2 # SAVE FOR RERRCALC
024501,000793: 24,3040 00006 EXTEND
024502,000794: 24,3041 71401 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
024503,000795: 24,3042 27413 ADS ER # SAVE SUM OF TERMS, NO OVERFLOW EVER
024504,000796: 24,3043 55477 TS QERROR # SAVE QERROR FOR EIGHT-BALL DISPLAY
024505,000797:
024506,000798: 24,3044 30065 RERRCALC CAE ITEMP1 # R-ERROR CALCULATION:
024507,000799: 24,3045 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
024508,000800: 24,3046 71406 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
024509,000801: 24,3047 57411 XCH E # SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
024510,000802: 24,3050 30066 CAE ITEMP2 # SECOND TERM CALCULATION:
024511,000803: 24,3051 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
024512,000804: 24,3052 71403 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
024513,000805: 24,3053 27411 ADS E # SAVE SUM OF TERMS, NO OVERFLOW EVER
024514,000806: 24,3054 55500 TS RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY
024515,000807:
024516,000808: # TEST (1): IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
024517,000809:
024518,000810: 24,3055 37656 CAF BIT2 # TEST TO SEE IF LEM AND DAP MODES ALLOW
024519,000811: 24,3056 70765 MASK DAPBOOLS # USE OF TRIM GIMBAL CONTROL SYSTEM:
024520,000812: 24,3057 10000 CCS A # BIT2 = 0 MEANS THAT TRIM GIMBAL CONTROL
024521,000813: 24,3060 13122 TCF STILLRCS # IS POSSIBLE, SO TEST OTHER TG CONDITIONS
024522,000814:
024523,000815: # TEST (2): ARE THE Q,R-AXES RCS JETS OFF?
024524,000816: 24,3061 00006 EXTEND # BUT, IF JETS ARE OFF AND TRIM GIMBAL MAY
024525,000817: 24,3062 00005 READ 5 # POSSIBLY BE USED: BEING IN THE JET COAST
024526,000818: 24,3063 10000 CCS A # REGION OF THE PHASE PLANE IS A NECESSARY
024527,000819: 24,3064 13122 TCF STILLRCS # BUT INSUFFICIENT REASON FOR GTS USE
024528,000820:
024529,000821: # TEST (3): ARE BOTH TRIM GIMBAL DRIVES OFF?
024530,000822:
024531,000823: 24,3065 00006 EXTEND # BITS 9-12 OF CHANNEL 12 ARE THE SIGNALS
024532,000824: 24,3066 00012 READ 12 # WHICH DRIVE THE TRIM GIMBAL ENGINE:
024533,000825: 24,3067 72740 MASK BGIM24 # IF NONE OF THESE BITS ARE ON, THEN BOTH
024534,000826: 24,3070 10000 CCS A # WAITLIST TASKS TO TURN OFF THE DRIVES
024535,000827: 24,3071 13122 TCF STILLRCS # HAVE BEEN DONE AND GTS CONTROL CAN OCCUR
024536,000828:
024537,000829: # TEST (4): IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
024538,000830:
024539,000831: 24,3072 37657 CA BIT1
024540,000832: 24,3073 54073 LOOPTOP TS QRCNTR
024541,000833: 24,3074 60000 DOUBLE
024542,000834: 24,3075 50000 INDEX A
024543,000835: 24,3076 11417 CCS OMEGAQ # IS ERROR RATE SMALL ENOUGH FOR GTS.
024544,000836: 24,3077 63120 AD -RATLM+1 # -.5 DEG/SEC SCALED AT PI/4 + 1 BIT
024545,000837: 24,3100 13102 TCF +2
024546,000838: 24,3101 63120 AD -RATLM+1
024547,000839: 24,3102 00006 EXTEND
024548,000840: 24,3103 63105 BZMF +2 # IS RATE LESS,EQUAL .5 DEG/SEC.
024549,000841: 24,3104 13122 TCF STILLRCS # NO. SO USE RCS.
024550,000842:
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|
Page 578 |
024552,000844: 24,3105 50073 INDEX QRCNTR # YES. TRY THE ERROR MAGNITUDE.
024553,000845: 24,3106 11477 CCS QDIFF # IS ERROR SMALL ENOUGH FOR GTS.
024554,000846: 24,3107 63121 AD -XBND+1 # -1.4 DEG SCALED AT PI + 1 BIT
024555,000847: 24,3110 13112 TCF +2
024556,000848: 24,3111 63121 AD -XBND+1
024557,000849: 24,3112 00006 EXTEND
024558,000850: 24,3113 63115 BZMF +2 # IS ERROR LESS,EQUAL 1.4 DEG.
024559,000851: 24,3114 13122 TCF STILLRCS # NO. USE RCS CONTROL.
024560,000852: 24,3115 10073 CCS QRCNTR # THIS AXIS IS FINE. ARE BOTH DONE.
024561,000853: 24,3116 13073 TCF LOOPTOP # NOW TRY THE Q AXIS.
024562,000854: 24,3117 12735 TCF GOTOGTS # TRANSFER TO TRIM GIMBAL CONTROL
024563,000855: 24,3120 77512 -RATLM+1 OCT 77512 # -.5 DEG/SEC SCALED AT PI/4 + 1 BIT
024564,000856: 24,3121 77601 -XBND+1 OCT 77601 # -1.4 DEG SCALED AT PI. + 1 BIT.
024565,000857: # "STILLRCS" IS THE ENTRY POINT TO RCS ATTITUDE STEERING WHENEVER IT IS FOUND THAT THE TRIM GIMBAL CONTROL
024566,000858: # SYSTEM SHOULD NOT BE USED:
024567,000859:
024568,000860: 24,3122 32741 STILLRCS CAF DESCADR # SET JET SELECT LOGIC RETURN ADDRESS TO
024569,000861: 24,3123 55514 TS TJETADR # THE Q,R-AXIS TJETLAW CALCULATION
024570,000862:
024571,000863: 24,3124 04177 TC T6JOBCHK # CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
024572,000864:
024573,000865: 24,3125 31662 RURGENCY CAE 1/NJTSR # SET-UP URGENCY SUBROUTINE
024574,000866: 24,3126 55471 TS 1/NJETAC
|
|
Note: Target (See below) |
024576,000868: 24,3127 41430 CS OMEGARD # EDOTR = OMEGAR - OMEGARD
024577,000869: 24,3130 61421 AD OMEGAR
024578,000870: 24,3131 55425 TS EDOTR # SCALED AT PI/4 RADIANS
024579,000871: 24,3132 03525 TC URGROUTN # *** SUBROUTINE CALL ***
024580,000872: 24,3133 55516 TS URGENCYR # URGENCY LEFT IN A SCALED AT 2(4) SECS
024581,000873:
024582,000874: 24,3134 53412 DXCH E # MOVE R-AXIS VARIABLES TO R-AXIS ERASABLE
024583,000875: 24,3135 53414 DXCH ER # FROM Q-XIS (COMMON) ERASABLE
024584,000876: 24,3136 55411 TS E
024585,000877: 24,3137 31407 CAE EDOT # (LLOK AT REORG FOR EFFIC: JDA 7/17/66)
024586,000878: 24,3140 55410 TS EDOT(R)
024587,000879:
024588,000880: 24,3141 31661 QURGENCY CAE 1/NJTSQ # SET-UP URGENCY SUBROUTINE
024589,000881: 24,3142 55471 TS 1/NJETAC
024590,000882: 24,3143 41427 CS OMEGAQD # EDOTQ = OMEGAQ - OMEGAQD
024591,000883: 24,3144 61417 AD OMEGAQ
024592,000884: 24,3145 55424 TS EDOTQ # SCALED AT PI/4 RADIANS
024593,000885: 24,3146 03525 TC URGROUTN # *** SUBROUTINE CALL ***
024594,000886:
024595,000887: 24,3147 55515 TS URGENCYQ # URGENCY LEFT IN A SCALED AT 2(4) SECS
|
|
Note: in the scan the statements starting with QURGENCY are marked with red side bars and a red box. The box has the marker CAE EDOTQ and an arrow pointing in between the two statements marked as 'Target' above. |
024599,000891: ##
|
|
... TS 1/NJETAC <------| CS OMEGARD | | ... | | QURGENCY | CAE 1/NJTSQ | | | TS 1/NJETAC | | |---------------------------| | | CS OMEGAQD | | CAE | AD OMEGAQ |---| EDOTQ | TS EDOTQ | |---------------------------| | TC URGROUTN | | TS URGENCYQ | |
024616,000908: ##
024617,000909:
024618,000910: 24,3150 00006 EXTEND
024619,000911: 24,3151 13321 BZF BURGZERO # TEST FOR BOTH URGENCIES ZERO
024620,000912:
024621,000913: 24,3152 00006 EXTEND
024622,000914: 24,3153 73336 MP -TAN22.5
024623,000915: 24,3154 61516 AD URGENCYR
024624,000916: 24,3155 00006 EXTEND
024625,000917:
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|
Page 579 |
024627,000919: 24,3156 73334 MP COS22.5
024628,000920: 24,3157 55521 TS TERMA # UR.COS(22.5)-UQ.SIN(22.5)
024629,000921:
024630,000922: 24,3160 41516 CS URGENCYR
024631,000923: 24,3161 00006 EXTEND
024632,000924: 24,3162 73336 MP -TAN22.5
024633,000925: 24,3163 61515 AD URGENCYQ
024634,000926: 24,3164 00006 EXTEND
024635,000927: 24,3165 73334 MP COS22.5
024636,000928: 24,3166 55522 TS TERMB # UR.SIN(22.5)+UQ.COS(22.5)
024637,000929:
024638,000930: 24,3167 61521 A+B/A-B AD TERMA
024639,000931: 24,3170 55517 TS A+B
024640,000932: 24,3171 41522 A-B/ONLY CS TERMB
024641,000933: 24,3172 61521 AD TERMA
024642,000934: 24,3173 55520 TS A-B
024643,000935:
024644,000936: # AXIS AND MODE SELECTION
024645,000937:
024646,000938: 24,3174 31522 CAE TERMB # B URGENCY TEST
024647,000939: 24,3175 00006 EXTEND
024648,000940: 24,3176 63337 BZMF NEGBURG
024649,000941:
024650,000942: 24,3177 31521 POSBURG CAE TERMA # A URGENCY TEST
024651,000943: 24,3200 00006 EXTEND
024652,000944: 24,3201 63254 BZMF NEGAPOSB
024653,000945:
024654,000946: 24,3202 31520 POSAPOSB CA A-B
024655,000947: 24,3203 00006 EXTEND
024656,000948: 24,3204 63232 BZMF MINUSU # NEGATIVE U-AXIS SELECTED
024657,000949:
024658,000950: 24,3205 00006 2/4JET-R EXTEND
024659,000951: 24,3206 31414 DCA ER
024660,000952: 24,3207 53412 DXCH E
024661,000953: 24,3210 31410 CAE EDOT(R)
024662,000954: 24,3211 55407 TS EDOT
024663,000955: 24,3212 31652 CAE .5ACCMNR
024664,000956: 24,3213 55650 TS .5ACCMNE
024665,000957: 24,3214 33524 CAF URM # 2/4 JET URGENCY TEST -R AXIS
024666,000958: 24,3215 61516 AD URGENCYR
024667,000959: 24,3216 00006 EXTEND
024668,000960: 24,3217 63224 BZMF 2JETS-R
024669,000961:
024670,000962: 24,3220 31446 4JETS-R CAE 1/2JTSR # MOVE 1/NJETAC UNMODIFIED
024671,000963: 24,3221 55471 TS 1/NJETAC
024672,000964: 24,3222 47663 CS SEVEN
024673,000965: 24,3223 13460 TCF POLTYPE # GO FIND BEST POLICY
024674,000966:
024675,000967: 24,3224 11666 2JETS-R CCS RMANDACC # ASCENT 4-JET OVER-RIDE TEST
024676,000968: 24,3225 13220 TCF 4JETS-R
024677,000969:
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|
Page 580 |
024679,000971: 24,3226 31446 CAE 1/2JTSR
024680,000972: 24,3227 55471 TS 1/NJETAC
024681,000973: 24,3230 46162 CS SIX
024682,000974: 24,3231 13460 TCF POLTYPE # GO FIND BEST POLICY
024683,000975:
024684,000976: 24,3232 31653 MINUSU CAE .5ACCMNU
024685,000977: 24,3233 55650 TS .5ACCMNE
024686,000978: 24,3234 31515 CAE URGENCYQ # 2 JET OPT/MAND TEST: -U AXIS
024687,000979: 24,3235 61516 AD URGENCYR
024688,000980: 24,3236 10000 CCS A
024689,000981: 24,3237 63524 AD NEGURGUM
024690,000982: 24,3240 13242 TCF +2
024691,000983: 24,3241 63524 AD NEGURGUM
024692,000984: 24,3242 00006 EXTEND
024693,000985: 24,3243 63247 BZMF 2JETS-U
024694,000986:
024695,000987: 24,3244 03474 2JETSM-U TC UXFORM
024696,000988: 24,3245 47664 2-U.RATE CS FIVE
024697,000989: 24,3246 13460 TCF POLTYPE # GO FIND BEST POLICY
024698,000990:
024699,000991: 24,3247 11667 2JETS-U CCS UMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024700,000992: 24,3250 13244 TCF 2JETSM-U
024701,000993: 24,3251 03474 TC UXFORM
024702,000994: 24,3252 47655 CS FOUR
024703,000995: 24,3253 13460 TCF POLTYPE # GO FIND BEST POLICY
024704,000996:
024705,000997: 24,3254 31517 NEGAPOSB CAE A+B
024706,000998: 24,3255 00006 EXTEND
024707,000999: 24,3256 63277 BZMF PLUSV
024708,001000:
024709,001001: 24,3257 31651 2/4JET-Q CAE .5ACCMNQ
024710,001002: 24,3260 55650 TS .5ACCMNE
024711,001003: 24,3261 33524 CAF UQM # 204 JET URGENCY TEST: -Q AXIS
024712,001004: 24,3262 61515 AD URGENCYQ
024713,001005: 24,3263 00006 EXTEND
024714,001006: 24,3264 63273 BZMF 2JETS-Q +2 # (FIRST TWO INSTRUCTIONS UNNECESSARY)
024715,001007:
024716,001008: 24,3265 31445 4JETS-Q CAE 1/2JTSQ # MOVE 1/NJETAC UNMODIFIED
024717,001009: 24,3266 55471 TS 1/NJETAC
024718,001010: 24,3267 46165 CS THREE
024719,001011: 24,3270 13460 TCF POLTYPE # GO FIND BEST POLICY
024720,001012:
024721,001013: 24,3271 11665 2JETS-Q CCS QMANDACC # ASCENT 4-JET OVER-RIDE TEST
024722,001014: 24,3272 13265 TCF 4JETS-Q
024723,001015: 24,3273 31445 CAE 1/2JTSQ
024724,001016: 24,3274 55471 TS 1/NJETAC
024725,001017: 24,3275 47656 CS TWO
024726,001018: 24,3276 13460 TCF POLTYPE # GO FIND BEST POLICY
024727,001019:
024728,001020: 24,3277 31654 PLUSV CAE .5ACCMNV
024729,001021:
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|
Page 581 |
024731,001023: 24,3300 55650 TS .5ACCMNE
024732,001024: 24,3301 41515 CS URGENCYQ # 2 JET OPT/MAND TEST: +V AXIS
024733,001025: 24,3302 61516 AD URGENCYR
024734,001026: 24,3303 10000 CCS A
024735,001027: 24,3304 63524 AD NEGURGVM
024736,001028: 24,3305 13307 TCF +2
024737,001029: 24,3306 63524 AD NEGURGVM
024738,001030: 24,3307 00006 EXTEND
024739,001031: 24,3310 63314 BZMF 2JETS+V
024740,001032:
024741,001033: 24,3311 03466 2JETSM+V TC VXFORM
024742,001034: 24,3312 47657 2+V.RATE CS ONE
024743,001035: 24,3313 13460 TCF POLTYPE # GO FIND BEST POLICY
024744,001036:
024745,001037: 24,3314 11670 2JETS+V CCS VMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024746,001038: 24,3315 13311 TCF 2JETSM+V
024747,001039: 24,3316 03466 TC VXFORM
024748,001040: 24,3317 37665 CAF ZERO
024749,001041: 24,3320 13460 TCF POLTYPE # GO FIND BEST POLICY
024750,001042:
024751,001043: 24,3321 31516 BURGZERO CAE URGENCYR # TEST FOR SECOND URGENCY ALSO ZERO
024752,001044: 24,3322 00006 EXTEND
024753,001045: 24,3323 12504 BZF XTRANS # NO ROTATION NEEDED NOW
024754,001046:
024755,001047: 24,3324 00006 EXTEND # TIME SAVING A+B CALCULATION
024756,001048: 24,3325 73335 MP SIN22.5
024757,001049: 24,3326 55522 TS TERMB # US.SIN(22.5)
024758,001050: 24,3327 31516 CAE URGENCYR
024759,001051: 24,3330 00006 EXTEND
024760,001052: 24,3331 73334 MP COS22.5
024761,001053: 24,3332 55521 TS TERMA # UR.COS(22.5)
024762,001054: 24,3333 13171 TCF A-B/ONLY
024763,001055: 24,3334 35441 COS22.5 DEC 0.92388 # COSINE OF 22.5 DEGREES
024764,001056: 24,3335 14176 SIN22.5 DEC 0.38268 # SINE OF 22.5 DEGREES
024765,001057: 24,3336 62575 -TAN22.5 DEC -.41421 # NEGATIVE OF TANGENT OF 22.5 DEGREES
024766,001058:
024767,001059: 24,3337 31521 NEGBURG CAE TERMA # A URGENCY TEST
024768,001060: 24,3340 00006 EXTEND
024769,001061: 24,3341 63367 BZMF NEGANEGB
024770,001062:
024771,001063: 24,3342 31517 POSANEGB CAE A+B
024772,001064: 24,3343 00006 EXTEND
024773,001065: 24,3344 63441 BZMF 2/4JET+Q
024774,001066:
024775,001067: 24,3345 31654 MINUSV CAE .5ACCMNV
024776,001068: 24,3346 55650 TS .5ACCMNE
024777,001069: 24,3347 41515 CS URGENCYQ # 2 JET OPT/MAND TEST: -V AXIS
024778,001070: 24,3350 61516 AD URGENCYR
024779,001071: 24,3351 10000 CCS A
024780,001072: 24,3352 63524 AD NEGURGVM
024781,001073:
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Page 582 |
024783,001075: 24,3353 13355 TCF +2
024784,001076: 24,3354 63524 AD NEGURGVM
024785,001077: 24,3355 00006 EXTEND
024786,001078: 24,3356 63362 BZMF 2JETS-V
024787,001079:
024788,001080: 24,3357 03466 2JETSM-V TC VXFORM
024789,001081: 24,3360 37657 2-V.RATE CAF ONE
024790,001082: 24,3361 13460 TCF POLTYPE # GO FIND BEST POLICY
024791,001083:
024792,001084: 24,3362 11670 2JETS-V CCS VMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024793,001085: 24,3363 13357 TCF 2JETSM-V
024794,001086: 24,3364 03466 TC VXFORM
024795,001087: 24,3365 37656 CAF TWO
024796,001088: 24,3366 13460 TCF POLTYPE # GO FIND BEST POLICY
024797,001089:
024798,001090: 24,3367 31520 NEGANEGB CAE A-B
024799,001091: 24,3370 00006 EXTEND
024800,001092: 24,3371 63414 BZMF 2/4JET+R
024801,001093:
024802,001094: 24,3372 31653 PLUSU CAE .5ACCMNU
024803,001095: 24,3373 55650 TS .5ACCMNE
024804,001096: 24,3374 31515 CAE URGENCYQ # 2 JET OPT/MAND TEST: +U AXIS
024805,001097: 24,3375 61516 AD URGENCYR
024806,001098: 24,3376 10000 CCS A
024807,001099: 24,3377 63524 AD NEGURGUM
024808,001100: 24,3400 13402 TCF +2
024809,001101: 24,3401 63524 AD NEGURGUM
024810,001102: 24,3402 00006 EXTEND
024811,001103: 24,3403 63407 BZMF 2JETS+U
024812,001104:
024813,001105: 24,3404 03474 2JETSM+U TC UXFORM
024814,001106: 24,3405 36165 2+U.RATE CAF THREE
024815,001107: 24,3406 13460 TCF POLTYPE # GO FIND BEST POLICY
024816,001108:
024817,001109: 24,3407 11667 2JETS+U CCS UMANDACC # ASCENT 2-JET MANDATORY OVER-RIDE TEST
024818,001110: 24,3410 13404 TCF 2JETSM+U
024819,001111: 24,3411 03474 TC UXFORM
024820,001112: 24,3412 37655 CAF FOUR
024821,001113: 24,3413 13460 TCF POLTYPE # GO FIND BEST POLICY
024822,001114:
024823,001115: 24,3414 00006 2/4JET+R EXTEND
024824,001116: 24,3415 31414 DCA ER
024825,001117: 24,3416 53412 DXCH E
024826,001118: 24,3417 31410 CAE EDOT(R)
024827,001119: 24,3420 55407 TS EDOT
024828,001120: 24,3421 31652 CAE .5ACCMNR
024829,001121: 24,3422 55650 TS .5ACCMNE
024830,001122: 24,3423 33524 CAF URM # 2/4 JET URGENCY TEST +R AXIS
024831,001123: 24,3424 61516 AD URGENCYR
024832,001124: 24,3425 00006 EXTEND
024833,001125:
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|
Page 583 |
024835,001127: 24,3426 63433 BZMF 2JETS+R
024836,001128:
024837,001129: 24,3427 31446 4JETS+R CAE 1/2JTSR # MOVE 1/NJETAC UNMODIFIED
024838,001130: 24,3430 55471 TS 1/NJETAC
024839,001131: 24,3431 37664 CAF FIVE
024840,001132: 24,3432 13460 TCF POLTYPE # GO FIND BEST POLICY
024841,001133:
024842,001134: 24,3433 11666 2JETS+R CCS RMANDACC # ASCENT 4-JET OVER-RIDE TEST
024843,001135: 24,3434 13427 TCF 4JETS+R
024844,001136: 24,3435 31446 CAE 1/2JTSR
024845,001137: 24,3436 55471 TS 1/NJETAC
024846,001138: 24,3437 36162 CAF SIX
024847,001139: 24,3440 13460 TCF POLTYPE # GO FIND BEST POLICY
024848,001140:
024849,001141: 24,3441 31651 2/4JET+Q CAE .5ACCMNQ
024850,001142: 24,3442 55650 TS .5ACCMNE
024851,001143: 24,3443 33524 CAF UQM # 2/4 JET URGENCY TEST: + Q AXIS
024852,001144: 24,3444 61515 AD URGENCYQ
024853,001145: 24,3445 00006 EXTEND
024854,001146: 24,3446 63455 BZMF 2JETS+Q +2 # (FIRST TWO INSTRUCTIONS UNNECESSARY)
024855,001147:
024856,001148: 24,3447 31445 4JETS+Q CAE 1/2JTSQ # MOVE 1/NJETAC UNMODIFIED
024857,001149: 24,3450 55471 TS 1/NJETAC
024858,001150: 24,3451 37663 CAF SEVEN
024859,001151: 24,3452 13460 TCF POLTYPE # GO FIND BEST POLICY
024860,001152:
024861,001153: 24,3453 11665 2JETS+Q CCS QMANDACC # ASCENT 4-JET OVER-RIDE TEST
024862,001154: 24,3454 13447 TCF 4JETS+Q
024863,001155: 24,3455 31445 CAE 1/2JTSQ
024864,001156: 24,3456 55471 TS 1/NJETAC
024865,001157: 24,3457 37654 CAF EIGHT
024866,001158:
024867,001159: 24,3460 55523 POLTYPE TS POLRELOC
024868,001160: 24,3461 00006 EXTEND
024869,001161: 24,3462 33465 DCA POLADR
024870,001162: 24,3463 52006 DTCB
024871,001163: 24,3464 02216 52006 POLADR 2CADR POLTYPEP
024872,001164:
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Page 584 |
024874,001166: # SUBROUTINES UXFORM AND VXFORM CALCULATE NEEDED VALUES FOR T-JET LAW
024875,001167: # (THEY GO OFF TO REDUCE RATE, IF NECESSARY, AND THEN DO NOT RETURN)
024876,001168:
024877,001169: 24,3466 31450 VXFORM CAE 1/2JETSV # GET INVERSE OF V-JET ACCELERATION
024878,001170: 24,3467 55471 TS 1/NJETAC
024879,001171: 24,3470 41411 CS EQ # COMPLEMENT FOR TRANSFORMATION
024880,001172: 24,3471 55411 TS EQ
024881,001173: 24,3472 41424 CS EDOTQ
024882,001174: 24,3473 13477 TCF UVXFORM +1
024883,001175: 24,3474 31447 UXFORM CAE 1/2JETSU # SET INVERSE OF U-JET ACCELERATION
024884,001176: 24,3475 55471 TS 1/NJETAC
024885,001177:
024886,001178: 24,3476 31424 UVXFORM CAE EDOTQ # TRANSFORM ANGULAR RATE TO U/V-AXIS
024887,001179: 24,3477 61425 AD EDOTR
024888,001180: 24,3500 00006 EXTEND
024889,001181: 24,3501 73523 MP .707
024890,001182: 24,3502 55407 TS EDOT # SAVE FOR REDUCEUV
024891,001183: 24,3503 00006 EXTEND
024892,001184: 24,3504 77655 MP BIT3
024893,001185: 24,3505 00006 EXTEND
024894,001186: 24,3506 13510 BZF +2 # CHECK FOR VALUE BEYOND SCALING RANGE
024895,001187: 24,3507 13672 TCF REDUCEQR # SAME AS REDUCEUV
024896,001188: 24,3510 30001 CAE L
024897,001189: 24,3511 55407 TS EDOT # SAVE RATE SCALED AT PI/16
024898,001190: 24,3512 00006 EXTEND
024899,001191: 24,3513 70000 SQUARE
024900,001192: 24,3514 55412 TS EDOT(2) # SAVE RATE SQUARED SCALED AT PI(2)/2(8)
024901,001193:
024902,001194: 24,3515 31411 CAE EQ # TRANSFORM ANGULAR ERROR TO U/V-AXIS
024903,001195: 24,3516 61413 AD ER
024904,001196: 24,3517 00006 EXTEND
024905,001197: 24,3520 73523 MP .707
024906,001198: 24,3521 55411 TS E # SAVE ERROR SCALED AT PI
024907,001199: 24,3522 00002 TC Q
024908,001200:
024909,001201: 24,3523 26501 .707 DEC 0.70711 # SQRT(1/2)
024910,001202:
024911,001203:
024912,001204:
024913,001205: 24,3524 71777 NEGURGUM DEC -.18750
024914,001206: 24,3525 24,3524 NEGURGVM EQUALS NEGURGUM
024915,001207: 24,3525 24,3524 UQM EQUALS NEGURGUM
024916,001208: 24,3525 24,3524 URM EQUALS NEGURGUM
024917,001209:
024918,001210:
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Page 585 |
024920,001212: # GENERALIZED URGENCY SUBROUTINE FOR USE ON ALL PILOT AXES (P,Q,R)...
024921,001213:
024922,001214: # DEPENDING ON THE AXIS PROBLEM, EDOTP,EDOTQ,EDOTR IS EXPECTED TO ARRIVE IN A AND 1/2JTSP,1/2JTSQ,1/2JTSR IN
024923,001215: # 1/NJETAC. NOTE THAT THE Q,R-AXIS PROBLEM IS EXPECTED TO DO THE R-AXIS PROBLEM FIRST (FOR EFFICIENT USE OF
024924,001216: # ERASABLE) AND THE Q,R-AXIS PROBLEM DOES NOT USE TPSIG.
024925,001217: # (THIS ROUTINE SHOULD BE IN THE FIXED BANK OF THE Q,R-AXIS PROBLEM SINCE IT IS CALLED ONLY ONCE FROM THE P-AXIS.)
024926,001218:
024927,001219: 24,3525 55407 URGROUTN TS EDOT # SAVE FOR REDUCEQR
024928,001220: 24,3526 00006 EXTEND # EXPECT EDOT IN A SCALED AT PI/4 RAD/SEC
024929,001221: 24,3527 77655 MP BIT3 # TRY TO RESCALE TO PI/16 RADIANS/SECOND
024930,001222: 24,3530 00006 EXTEND
024931,001223: 24,3531 13533 BZF +2 # OVERFLOW CHECK ON NEW SCALING
024932,001224: 24,3532 13666 TCF REDUCERA # DISTINGUISH BETWEEN P AND Q,R
024933,001225: 24,3533 10001 +2 CCS L # INSURE NON-ZERO EDOT (TPSIG FLAG)
024934,001226: 24,3534 67656 AD TWO
024935,001227: 24,3535 13537 TCF +2
024936,001228: 24,3536 40000 COM
024937,001229: 24,3537 67667 +2 AD NEG1
024938,001230: 24,3540 55440 TS TPSIG # (FOR P-AXIS PROBLEM ONLY)
024939,001231: 24,3541 55407 TS EDOT # SAVE FOR T-JET LAW SCALED AT PI/16
024940,001232:
024941,001233: 24,3542 00006 EXTEND
024942,001234: 24,3543 70000 SQUARE
024943,001235: 24,3544 55412 TS EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
024944,001236:
024945,001237: 24,3545 00006 EXTEND # 1/2JTSP,1/2JTSQ,1/2JTSR IN 1/NJETAC
024946,001238: 24,3546 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
024947,001239: 24,3547 00006 EXTEND
024948,001240: 24,3550 61415 SU DB # DEADBAND SCALED AT PI RADIANS
024949,001241: 24,3551 55451 TS FPQR # .5(1/ACC)EDOT(2) - DB SCALED AT PI RADS
024950,001242:
024951,001243: 24,3552 31412 CAE EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
024952,001244: 24,3553 00006 EXTEND
024953,001245: 24,3554 71650 MP .5ACCMNE # .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD
024954,001246: 24,3555 61415 AD DB # SCALED AT PI RADIANS
024955,001247: 24,3556 55467 TS FPQRMIN # .5(1/ACCMIN)EDOT(2) + DB AT PI RADIANS
024956,001248:
024957,001249: 24,3557 11407 CCS EDOT # EDOT TEST ON SIGN
024958,001250: 24,3560 31411 CAE E # P,Q,R-AXIS ERROR SCALED AT PI RADIANS
024959,001251: 24,3561 13563 TCF +2
024960,001252: 24,3562 13602 TCF EDOTNEG
024961,001253: 24,3563 27451 +2 ADS FPQR # E + .5(1/ACC)EDOT(2) - DB AT PI RADIANS
024962,001254:
024963,001255: 24,3564 11407 FTEST CCS EDOT # EDOT GUARANTEED NOT +0 OR -0
024964,001256: 24,3565 11451 CCS FPQR # FPQR GUARANTEED NOT +0
024965,001257: 24,3566 13573 TCF TPSIGCHG # EDOT.G.+0, FPQR.G.+0
024966,001258: 24,3567 11451 CCS FPQR # EDOT.L.-0
024967,001259: 24,3570 13606 TCF FPMINCAL # EDOT.L.-0,FPQR.G.+0/EDOT.G.+0,FPQR.L.-0
024968,001260: 24,3571 13606 TCF FPMINCAL # EDOT.G.+0, FPQR.E.-0 (FROM FIRST CCS)
024969,001261: 24,3572 13573 TCF TPSIGCHG # EDOT.L.-0, FPQR.L.-0
024970,001262:
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|
Page 586 |
024972,001264: 24,3573 41440 TPSIGCHG CS TPSIG # EDOT.L.-0, FPQR.E.-0 (FROM 2ND CCS)
024973,001265: 24,3574 55440 TS TPSIG # (SIGN OF P-AXIS JETS IF NEEDED)
024974,001266: 24,3575 31407 CAE EDOT # SCALED AT PI/16 RADIANS/SECOND
024975,001267: 24,3576 00006 EXTEND
024976,001268: 24,3577 77645 MP BIT11 # SCALE TO PI RADIANS/SECOND
024977,001269: 24,3600 61451 AD FPQR # (IMPLICIT MULT OF FPQR BY 1/SEC)
024978,001270: 24,3601 13626 TCF URGMULT # THIS URGENCY = (1/ACC)(FPQR+EDOT)
024979,001271:
024980,001272: 24,3602 41451 EDOTNEG CS FPQR # SCALED AT PI RADIANS
024981,001273: 24,3603 61411 AD E
024982,001274: 24,3604 55451 TS FPQR # E - .5(1/ACC)EDOT(2) + DB
024983,001275: 24,3605 13564 TCF FTEST
024984,001276:
024985,001277: 24,3606 11451 FPMINCAL CCS FPQR # NECESSARY RETEST ON FPQR
024986,001278: 24,3607 41467 CS FPQRMIN
024987,001279: 24,3610 13612 TCF +2 # E - .5(1/ACCMIN)EDOT(2) - DB
024988,001280: 24,3611 31467 CAE FPQRMIN
024989,001281: 24,3612 61411 AD E # E + .5(1/ACCMIN)EDOT(2) + DB
024990,001282: 24,3613 55467 TS FPQRMIN # (SCALED AT PI RADIANS)
024991,001283:
024992,001284: 24,3614 11407 CCS EDOT # EDOT GUARANTEED NOT +0 OR -0
024993,001285: 24,3615 11467 CCS FPQRMIN # FPQRMIN GUARANTEED NOT +0 (CALL IT F)
024994,001286: 24,3616 13623 TCF ZEROURG # EDOT.G.+0, F.G.+0
024995,001287: 24,3617 11467 CCS FPQRMIN # EDOT.L.-0
024996,001288: 24,3620 13625 TCF NORMURG # EDOT.L.-0, F.G.+0 / EDOT.G.+0, F.L.-0
024997,001289: 24,3621 13625 TCF NORMURG # EDOT.G.+0, F.E.-0 (FROM FIRST CCS)
024998,001290: 24,3622 13623 TCF ZEROURG # EDOT.L.-0, F.L.-0
024999,001291: 24,3623 37665 ZEROURG CAF ZERO # EDOT.L.-0, F.E.-0 (FROM SECOND CCS)
025000,001292: 24,3624 13642 TCF URGSTORE # THIS URGENCY ZERO (IN COAST REGIAN)
025001,001293:
025002,001294: 24,3625 31467 NORMURG CAE FPQRMIN # THIS URGENCY FPQRMIN(1/ACC)
025003,001295: 24,3626 00006 URGMULT EXTEND
025004,001296: 24,3627 71471 MP 1/NJETAC
025005,001297: 24,3630 00006 EXTEND # SCALE FROM 2(9) TO 2(4) SECONDS
025006,001298: 24,3631 77652 MP BIT6 # 1/NJETAC = 1/2JETAC, WANT 1/1JETAC
025007,001299: 24,3632 00006 EXTEND
025008,001300: 24,3633 13641 BZF URGTOA
025009,001301: 24,3634 10000 CCS A
025010,001302: 24,3635 37637 CA POSMAX
025011,001303: 24,3636 13642 TCF URGSTORE
025012,001304: 24,3637 47637 CS POSMAX
025013,001305: 24,3640 13642 TCF URGSTORE
025014,001306: 24,3641 30001 URGTOA CA L
025015,001307: 24,3642 00002 URGSTORE TC Q # *** RETURN ***
025016,001308:
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Page 587 |
025018,001310: # GENERALIZED T-JET LAW SUBROUTINE FOR USE BY BOTH THE P-AXIS AND Q,R-AXIS PROBLEMS (ONCE EACH)...
025019,001311:
025020,001312: # DEPENDING ON THE AXIS ABOUT WHICH ROTATION IS DEEMED MOST URGENT, 1/JACC FOR THAT AXIS IS EXPECTED IN 1/NJETAC
025021,001313: # AND THE CORRESPONDING VALUES FOR E, EDOT, AND EDOT(2) ARE ALSO EXPECTED TO BE SET UP IN ADVANCE.
025022,001314: # (THIS ROUTINE MAY RESIDE IN THE FIXED BANK OF EITHER THE P-AXIS OR Q,R-AXIS PROBLEM.)
025023,001315:
025024,001316: # ***** IMPORTANT NOTICE *****
025025,001317:
025026,001318: # NOTE THAT TJETLOC IS THE LOCAL ENTRY POINT FOR THIS PROGRAM AND TJETLAW IS THE CROSS-BANK ENTRY. SEE BELOW
025027,001319: # FOR THE TWO CALLING SEQUENCES FOR OPTIMAL USE AND BE ASSURED THAT FOR EITHER CASE ISWRETRN MUST BE USED AND
025028,001320: # RUPTREG3 CONTAINS THE EVENTUAL RETURN ADDRESS.
025029,001321:
025030,001322: # LOCAL CALL:
025031,001323: # TC TJETLOC
025032,001324: # TCF NO ROTATION JETS
025033,001325: # TS TIME CALCULATED
025034,001326:
025035,001327: # CROSS-BANK CALL:
025036,001328: # CAF TJETLAWCADR
025037,001329: # TC ISWCALL
025038,001330: # TCF NO ROTATION JETS
025039,001331: # TS TIME CALCULATED
025040,001332:
025041,001333:
025042,001334:
025043,001335: # ***** VERY IMPORTANT NOTICE *****
025044,001336:
025045,001337: # SINCE THE Q,R-AXES SWITCHED FIXED BANK BECAME VERY FULL (DUE TO THE ADDITION OF RATE-HOLD MODE AND A BETTER
025046,001338: # RCS-GTS INTERFACE), THE LOCAL CALL AND LOCAL ENTRY POINT FOR THE T-JET LAW HAVE BEEN DELETED AS OF REVISION 7
025047,001339: # OF AURORA (BY JON ADDELSTON 10/24/66).
025048,001340:
025049,001341:
025050,001342:
025051,001343: # FOR CONVENIENCE, WE INCLUDE HERE THE CALL FROM THE Q,R-AXIS PROBLEM:
025052,001344:
025053,001345: 24,3643 BANK 24
025054,001346: 24,3643 51644 QR-JETLW CADR TJET-LAW # CADR OF Q,R-ENTRY TO TJETLAW SUBROUTINE
025055,001347:
025056,001348: 24,3644 04177 TJET-LAW TC T6JOBCHK # CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
025057,001349:
025058,001350: 24,3645 33643 CAF QR-JETLW # T-JETLAW CALLING SEQUENCE (LIKE P-AXIS)
025059,001351: 24,3646 04162 TC ISWCALL # (IN INTERBANK COMMUNICATION LOG SECTION)
025060,001352: 24,3647 12504 TCF XTRANS # GO TO XTRANS SINCE NO ROTATION IS USED
025061,001353: 24,3650 55626 TS TQR # SAVE CALCULATED TIME FOR THE TORQUE
025062,001354: 24,3651 12554 TCF TORQUEV # VECTOR RECONSTRUCTION PROBLEM
025063,001355:
025064,001356:
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|
Note: the following seems to be fully assembled code injected as comment. See the VERY IMPORTANT NOTICE above . |
025066,001358: # 24,1000 0 0006 1 TJETLOC EXTEND LOCAL ENTRY FAKES CROSS-BANK IN SMALL DT
025067,001359:
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Page 588 |
025069,001361: # 24,1001 22 076 0 QXCH RUPTREG3 SAVE RETURN WHERE ISWCALL DOES
025070,001362: # 24,1002 3 4174 1 CAF ISWRETRN +3 GET CADR OF RUPTREG3 FROM TC INSTRUCTION
025071,001363: # 24,1003 54 002 1 TS Q SO TC Q GOES TO RUPTREG3 FOR RETURN
025072,001364:
025073,001365: 25,2000 BANK 25
025074,001366:
025075,001367: 25,2000 41407 TJETLAW CS EDOT # TEST EDOT SIGN
025076,001368: 25,2001 00006 EXTEND
025077,001369: 25,2002 62006 BZMF +4
025078,001370: 25,2003 55407 TS EDOT # SIGNS OF E AND EDOT CHANGED IF EDOT NEG
025079,001371: 25,2004 41411 CS E # TO CONSIDER FUNCTIONS IN UPPER HALF OF
025080,001372: 25,2005 55411 TS E # THE E,EDOT PHASE PLANE
025081,001373:
025082,001374: 25,2006 31412 CAE EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025083,001375: 25,2007 00006 EXTEND # (1/NJETAC HAS BEEN SET FOR N JETS)
025084,001376: 25,2010 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
025085,001377: 25,2011 00006 EXTEND
025086,001378: 25,2012 77642 MP BIT14 # .5EDOT(2)/NJETACC SCALED AT PI RADIANS
025087,001379: 25,2013 61411 AD E # SCALED AT PI RADIANS (ERROR)
025088,001380: 25,2014 00006 EXTEND
025089,001381: 25,2015 61415 SU DB # SCALED AT PI RADIANS (DEADBAND)
025090,001382: 25,2016 55454 TS HDAP # E + .5EDOT(2)/NJETACC - DB
025091,001383:
025092,001384: 25,2017 00006 EXTEND
025093,001385: 25,2020 62070 BZMF NEGHDAP
025094,001386:
025095,001387: 25,2021 31407 CAE EDOT # SCALED AT PI/16 RAD/SEC (RATE)
025096,001388: 25,2022 00006 EXTEND
025097,001389: 25,2023 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD (ACC) (-1)
025098,001390: 25,2024 55521 TS TERMA # SCALED AT 2(4) SEC (CNTRL SMPL PERIOD)
025099,001391: 25,2025 62205 AD NEGCSP # EDOT/NJETACC - CSP SCALED AT 16 SECONDS
025100,001392:
025101,001393: 25,2026 00006 EXTEND
025102,001394: 25,2027 62032 BZMF +3
025103,001395:
025104,001396: 25,2030 37642 MAXTJET CAF BIT14 # (1/2) IS LIKE POSMAX AT THIS SCALING
025105,001397: 25,2031 12057 TCF NORMRETN # (OVERFLOW IS THUS PREVENTED)
025106,001398:
025107,001399: 25,2032 41454 CS HDAP # -DBMINIMP + E + EDOT(2)/NJETACC - DB
025108,001400: 25,2033 61647 AD MINIMPDB # SCALED AT PI RADIANS
025109,001401: 25,2034 00006 EXTEND
025110,001402: 25,2035 62116 BZMF MAINBRCH
025111,001403:
025112,001404: 25,2036 31521 CAE TERMA # EDOT/NJETACC - .5TJMIN SCALED AT 16 SECS
025113,001405: 25,2037 62211 AD -20MS # - 20 MS SCALED AT 16.
025114,001406: 25,2040 00006 EXTEND
025115,001407: 25,2041 62044 BZMF TJMIN
025116,001408:
025117,001409: 25,2042 62210 AD 23.75MS # WE GET TERMA + 3.75 MS.
025118,001410: 25,2043 12164 TCF TJETSCAL
025119,001411:
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Page 589 |
025121,001413: 25,2044 42067 TJMIN CS PAXCALL # WE KNOW WE DO P AXIS SINCE WE HAVE RUPT-
025122,001414: 25,2045 60076 AD RUPTREG3 # REG3 = T-JETLAW +3(Q-AXIS CALL NOT AT
025123,001415: 25,2046 00006 EXTEND # SAME LOCATION-- WE HOPE - AND INSURE.).
025124,001416: 25,2047 12061 BZF WEDOP
025125,001417: 25,2050 31620 CAE NO.QJETS # NO. OF Q JETS ON
025126,001418: 25,2051 00006 EXTEND
025127,001419: 25,2052 12063 BZF WEDOR
025128,001420: 25,2053 31621 CAE NO.RJETS # NO. OF R JETS ON
025129,001421: 25,2054 00006 EXTEND
025130,001422: 25,2055 12065 BZF WEDOQ
025131,001423: 25,2056 32206 DOTJMIN CAF +TJMINT6
025132,001424: 25,2057 24076 NORMRETN INCR RUPTREG3 # *** RETURN +1 ***
025133,001425: 25,2060 00002 TC Q # BACK TO ISWRETRN
025134,001426: 25,2061 55416 WEDOP TS OMEGAP
025135,001427: 25,2062 12056 TCF DOTJMIN
025136,001428: 25,2063 55421 WEDOR TS OMEGAR
025137,001429: 25,2064 12056 TCF DOTJMIN
025138,001430: 25,2065 55417 WEDOQ TS OMEGAQ
025139,001431: 25,2066 12056 TCF DOTJMIN
025140,001432: 25,2067 02666 PAXCALL GENADR T-JETLAW +3
025141,001433: 25,2070 31412 NEGHDAP CAE EDOT(2) # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025142,001434: 25,2071 00006 EXTEND
025143,001435: 25,2072 71650 MP .5ACCMNE # .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD
025144,001436: 25,2073 61411 AD E # SCALED AT PI RADIANS (ERROR)
025145,001437: 25,2074 61415 AD DB # SCALED AT PI RADIANS (DEADBAND)
025146,001438: 25,2075 61646 AD DBMINIMP
025147,001439: 25,2076 00006 EXTEND
025148,001440: 25,2077 62101 BZMF +2
025149,001441: 25,2100 00002 TC Q # *** RETURN *** (NO JETS)
025150,001442:
025151,001443: 25,2101 42212 +2 CS MAXRATE # 10 DEG/SEC SCALED AT PI/16 RAD/SEC
025152,001444: 25,2102 61407 AD EDOT # EDOT - MAXRATE
025153,001445: 25,2103 00006 EXTEND
025154,001446: 25,2104 62106 BZMF +2
025155,001447: 25,2105 00002 TC Q # *** RETURN *** (NO JETS)
025156,001448:
025157,001449: 25,2106 41407 +2 CS EDOT # SCALED AT PI/16 RAD/SEC (RATE)
025158,001450: 25,2107 00006 EXTEND
025159,001451: 25,2110 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD (ACC)(-1)
025160,001452: 25,2111 55521 TS TERMA # -EDOT/NJETACC SCALED AT 2(4) SECONDS
025161,001453:
025162,001454: 25,2112 41454 CS HDAP # - E + .5EDOT(2)/NJETACC + DB
025163,001455: 25,2113 61411 AD E
025164,001456: 25,2114 61411 AD E # TWICE ERROR NEGATES E OF HDAP(OLD)
025165,001457: 25,2115 61647 AD MINIMPDB
025166,001458: 25,2116 55454 MAINBRCH TS HDAP # -HDAP(OLD) + 2E + DBMINIMP AT PI RADS
025167,001459:
025168,001460: 25,2117 31471 CAE 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
025169,001461: 25,2120 00006 EXTEND
025170,001462: 25,2121 77642 MP BIT14 # (1/2)(1/NJETAC)
025171,001463:
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Page 590 |
025173,001465: 25,2122 61650 AD .5ACCMNE
025174,001466: 25,2123 55456 TS DENOM # .5(1/NJETACC) + .5(1/ACCMIN) AT 2(8)/PI
025175,001467:
025176,001468: 25,2124 00006 EXTEND
025177,001469: 25,2125 72213 MP MAXRATE2 # SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025178,001470: 25,2126 61454 AD HDAP # DENOM.MAXRATE(2) + HDAP AT PI RADIANS
025179,001471: 25,2127 00006 EXTEND
025180,001472: 25,2130 62170 BZMF NOROOT
025181,001473:
025182,001474: 25,2131 31454 CAE HDAP # SCALED AT PI RADIANS
025183,001475: 25,2132 00006 EXTEND
025184,001476: 25,2133 11456 DV DENOM # SCALED AT 2(8)/PI SEC(2)/RAD(2)
025185,001477: 25,2134 00006 EXTEND
025186,001478: 25,2135 71471 MP 1/NJETAC
025187,001479: 25,2136 00006 EXTEND
025188,001480: 25,2137 71471 MP 1/NJETAC
025189,001481: 25,2140 55522 TS TERMB # -(HDAP/DENOM)(1/NJETACC)(2) AT 2(8) SECS
025190,001482:
025191,001483: 25,2141 32205 CAF NEGCSP # SCALED AT 2(4) SECONDS
025192,001484: 25,2142 61521 AD TERMA
025193,001485: 25,2143 00006 EXTEND
025194,001486: 25,2144 70000 SQUARE # SCALED AT 2(8) SECONDS
025195,001487: 25,2145 61522 AD TERMB
025196,001488: 25,2146 00006 EXTEND # (TERMA - CSP)(2) + TERMB
025197,001489: 25,2147 62030 BZMF MAXTJET
025198,001490: 25,2150 32207 CAF -TJMIN16
025199,001491: 25,2151 61521 AD TERMA # TERMA - TJMIN SCALED AT 2(4) SECONDS
025200,001492: 25,2152 00006 EXTEND
025201,001493: 25,2153 62175 BZMF MAYNOJET
025202,001494:
025203,001495: 25,2154 00006 PREROOT EXTEND # MUST SAVE Q .
025204,001496:
025205,001497: 25,2155 23517 QXCH A+B
025206,001498: 25,2156 04177 TC T6JOBCHK
025207,001499: 25,2157 41522 CS TERMB
025208,001500: 25,2160 04275 TC SPROOT # SQRT(-TERMB) SCALED AT 2(4) SECONDS
025209,001501:
025210,001502: 25,2161 00006 EXTEND # MUST RESTORE OLD Q AFTER SPROOT
025211,001503: 25,2162 23517 QXCH A+B
025212,001504:
025213,001505: 25,2163 61521 TJSUM AD TERMA # TERMA + SQRT(-TERMB)
025214,001506: 25,2164 60000 TJETSCAL DOUBLE # NOW SCALED AT 2(3) SECONDS
025215,001507: 25,2165 00006 EXTEND
025216,001508: 25,2166 72215 MP 25/32QR # SCALED T O 16/25 2(4) SECONDS.
025217,001509: 25,2167 12057 TCF NORMRETN # *** RETURN +1 ***
025218,001510:
025219,001511: 25,2170 32212 NOROOT CAF MAXRATE
025220,001512: 25,2171 62214 AD .6DEG/SC # MAXRATE + DEL SCALED AT PI/16 RAD/SEC
025221,001513: 25,2172 00006 EXTEND
025222,001514: 25,2173 71471 MP 1/NJETAC # SCALED AT 2(8)/PI SEC(2)/RAD
025223,001515:
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Page 591 |
025225,001517: 25,2174 12163 TCF TJSUM # SCALED AT 2(4) RADIANS
025226,001518:
025227,001519: 25,2175 32207 MAYNOJET CAF -TJMIN16
025228,001520: 25,2176 61521 AD TERMA # TERMA - TJMIN SCALED AT 2(4) SECONDS
025229,001521: 25,2177 00006 EXTEND
025230,001522: 25,2200 70000 SQUARE # SCALED AT 2(8) SEC(2)
025231,001523: 25,2201 61522 AD TERMB
025232,001524: 25,2202 00006 EXTEND
025233,001525: 25,2203 62154 BZMF PREROOT # (TERMA - TJMIN)(2) + TERMB AT 2(8)
025234,001526: 25,2204 00002 TC Q # *** RETURN *** (NO JETS)
025235,001527:
025236,001528: 25,2205 77631 NEGCSP DEC -.00625 # 100 MS SCALED AT 2(4) SECONDS
025237,001529: 25,2206 00014 +TJMINT6 DEC +.00073
025238,001530: 25,2207 77767 -TJMIN16 DEC -.00047
025239,001531: 25,2210 25,2207 -TJMINQR EQUALS -TJMIN16
025240,001532: 25,2210 00030 23.75MS DEC 0.00148 # 23.75 MS SCALED AT 16 SECONDS.
025241,001533: 25,2211 77753 -20MS DEC -.00125 # - 20 MS SCALED AT 16 SECONDS.
025242,001534: 25,2212 34344 MAXRATE DEC 0.88889 # 10 DEGREES/SECOND SCALED AT PI/16
025243,001535: 25,2213 31221 MAXRATE2 DEC 0.79012 # 100 DEG(2)/SEC(2) SCALED AT PI(2)/2(8)
025244,001536: 25,2214 01552 .6DEG/SC DEC 0.05333 # 6/10 DEGREES/SECOND SCALED AT PI/16
025245,001537: 25,2215 31000 25/32QR DEC 0.78125
025246,001538:
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Page 592 |
025248,001540: # THESE TWO SUBROUTINES TRANSFORM EDOTQ,EDOTR INTO THE U/V-AXIS (RESPECTIVELY) FOR THE RATE COMMAND MODE (ONLY).
025249,001541: # VALUE IS STORED IN EDOTGEN SCALED AT PI/4 RADIANS/SECOND.
025250,001542:
025251,001543: 24,3652 BANK 24
025252,001544:
025253,001545: 24,3652 31447 EDOTUGEN CAE 1/2JETSU # FOR U-AXIS TRANSFORMATION
025254,001546: 24,3653 55471 TS 1/NJETAC
025255,001547: 24,3654 31424 CAE EDOTQ
025256,001548: 24,3655 13661 TCF +4
025257,001549: 24,3656 31450 EDOTVGEN CAE 1/2JETSV # FOR V-AXIS TRANSFORMATION
025258,001550: 24,3657 55471 TS 1/NJETAC
025259,001551: 24,3660 41424 CS EDOTQ
025260,001552: 24,3661 61425 AD EDOTR
025261,001553: 24,3662 00006 EXTEND
025262,001554: 24,3663 73523 MP .707
025263,001555: 24,3664 55443 TS RATEDIF
025264,001556: 24,3665 00002 TC Q
025265,001557:
025266,001558:
025267,001559:
025268,001560: # THESE PROGRAMS REDUCE THE RATE ERROR TO 10.6 DEGREES/SECOND.
025269,001561:
025270,001562: 24,3666 41407 REDUCERA CS EDOT # TEST FOR P-AXIS PROBLEM
025271,001563: 24,3667 61423 AD EDOTP # EXACT MATCH MEANS P-AXIS
025272,001564: 24,3670 00006 EXTEND
025273,001565: 24,3671 13703 BZF REDUCEP # P-AXIS SUM IS ALWAYS MINUS ZERO
025274,001566:
025275,001567: 24,3672 03715 REDUCEQR TC REDUCESC # GET SHRINK FACTOR
025276,001568: 24,3673 00006 EXTEND # SHRINK Q-AXIS COMPONENT
025277,001569: 24,3674 71424 MP EDOTQ
025278,001570: 24,3675 55424 TS QRATEDIF
025279,001571:
025280,001572: 24,3676 31425 CAE EDOTR # SHRINK R-AXIS COMPONENT
025281,001573: 24,3677 00006 EXTEND
025282,001574: 24,3700 71407 MP EDOT
025283,001575: 24,3701 55425 TS RRATEDIF
025284,001576:
025285,001577: 24,3702 12352 TCF OBEYQRRC
025286,001578:
025287,001579: 24,3703 03715 REDUCEP TC REDUCESC # GET SHRINK FACTOR
025288,001580: 24,3704 00006 EXTEND # SHRINK P-AXIS COMPONENT
025289,001581: 24,3705 71423 MP EDOTP
025290,001582: 24,3706 55423 TS EDOTP
025291,001583: 24,3707 55440 TS TPSIG
025292,001584:
025293,001585: 24,3710 00006 EXTEND
025294,001586: 24,3711 33714 DCA +2
025295,001587: 24,3712 52006 DTCB
025296,001588: 24,3713 02424 46006 2CADR OBEYRAPE
025297,001589:
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025299,001591: 24,3715 33722 REDUCESC CAF 10.6D/S # SCALED AT PI/4
025300,001592: 24,3716 00006 EXTEND
025301,001593: 24,3717 11407 DV EDOT # RESULT SCALED AT 1
025302,001594: 24,3720 55407 TS EDOT # SAVE FACTOR IN EDOT FOR R SHRINKAGE
025303,001595: 24,3721 00002 TC Q # *** RETURN ***
025304,001596:
025305,001597: 24,3722 07313 10.6D/S DEC 0.23111 # 10.6 DEGRESS/SECOND SCALED AT PI/4
025306,001598:
025307,001599:
025308,001600:
025309,001601: 24,3723 ENDDAP24 EQUALS
End of include-file Q,R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc. Parent file is MAIN.agc