GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
042265,000002: ## Copyright: Public domain.
042266,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
042267,000004: ## Purpose: Part of the source code for Colossus build 237.
042268,000005: ## This is for the Command Module's (CM) Apollo Guidance
042269,000006: ## Computer (AGC), for Apollo 8.
042270,000007: ## Assembler: yaYUL
042271,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
042272,000009: ## Website: www.ibiblio.org/apollo/index.html
042273,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
042274,000011: ## Mod history: 2011-03-17 JL Adapted from corresponding Colossus 249 file.
042275,000012: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
042276,000013: ## and fixed errors found.
042277,000014:
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Page 970 |
042279,000016: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
042280,000017: # START OF T5 INTERRUPT PROGRAM
042281,000018:
042282,000019: 20,3550 BANK 20
042283,000020: 21,2000 SETLOC DAPS3
042284,000021: 21,2000 BANK
042285,000022:
042286,000023: 21,2071 COUNT 21/DAPRC
042287,000024:
042288,000025: 21,2071 E6,1510 EBANK= KMPAC
042289,000026: 21,2071 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
042290,000027: 21,2072 31465 CA T5PHASE # ON A T5 RUPT.
042291,000028: 21,2073 00006 EXTEND
042292,000029: 21,2074 62076 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
042293,000030: 21,2075 12100 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
042294,000031: 21,2076 44712 CS ONE
042295,000032: 21,2077 55465 TS T5PHASE
042296,000033: 21,2100 00006 EXTEND
042297,000034: 21,2101 32105 DCA RCSLOC
042298,000035: 21,2102 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
042299,000036: 21,2103 12107 TCF RCSATT +1
042300,000037: 21,2104 E6,1510 EBANK= KMPAC
042301,000038: 21,2104 02106 42066 RCSLOC 2CADR RCSATT
042302,000039:
042303,000040:
042304,000041: 21,2106 22016 RCSATT LXCH BANKRUPT # SAVE BB
042305,000042: 21,2107 00006 EXTEND # SAVE Q
042306,000043: 21,2110 22012 QXCH QRUPT
042307,000044: 21,2111 34674 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
042308,000045: 21,2112 00006 EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
042309,000046: 21,2113 02031 RAND CHAN31 # PILOT IS FULLY ENABLED)
042310,000047: 21,2114 00006 EXTEND
042311,000048: 21,2115 12144 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
042312,000049: # GO TO SETT5
042313,000050:
042314,000051: 21,2116 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
042315,000052: 21,2117 74675 MASK BIT14
042316,000053: 21,2120 27501 ADS RCSFLAGS # SET NORATE FLAG,
042317,000054: 21,2121 34672 CAF POSMAX
042318,000055: 21,2122 55332 TS HOLDFLAG # SET HOLDFLAG +,
042319,000056: 21,2123 34714 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
042320,000057: 21,2124 55567 TS ERRORX
042321,000058: 21,2125 55570 TS ERRORY
042322,000059: 21,2126 55571 TS ERRORZ
042323,000060: 21,2127 34675 CAF BIT14
042324,000061: 21,2130 00006 EXTEND
042325,000062: 21,2131 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
042326,000063: 21,2132 00006 EXTEND
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Page 971 |
042328,000065: 21,2133 12144 BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
042329,000066:
042330,000067: 21,2134 55465 TS T5PHASE # IF NOT IN FREE MODE,
042331,000068: 21,2135 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
042332,000069: 21,2136 54030 TS TIME5 # IN 100 MS VIA T5RUPT
042333,000070:
042334,000071: 21,2137 02616 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
042335,000072:
042336,000073: 21,2140 12334 TCF KMATRIX
042337,000074: 21,2141 37770 DELTATT OCT 37770 # 80MS (TIME5)
042338,000075: 21,2142 37776 DELTATT2 OCT 37776 # 20MS (TIME5)
042339,000076: 21,2143 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5)
042340,000077: 21,2144 CHAN5 EQUALS 5
042341,000078: 21,2144 CHAN6 EQUALS 6
042342,000079: 21,2144 7671 PRIO34A = PRIO34
042343,000080:
042344,000081: # CHECK PHASE OF T5 PROGRAM
042345,000082:
042346,000083: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO
042347,000084: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
042348,000085: # TO ALLOW FOR THE EXECUTION OF OTHER
042349,000086: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
042350,000087: # VARIABLES AT TURN ON.
042351,000088: # THE CODING OF T5PHASE IS...
042352,000089:
042353,000090: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
042354,000091: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
042355,000092: # - = RESTART DAP
042356,000093: # -0 = PHASE1 OF THE T5 PROGRAM
042357,000094:
042358,000095: 21,2144 11465 SETT5 CCS T5PHASE
042359,000096: 21,2145 12530 TCF FRESHDAP # TURN ON AUTOPILOT
042360,000097: 21,2146 12645 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
042361,000098: 21,2147 12532 TCF REDAP # RESTART AUTOPILOT
042362,000099:
042363,000100:
042364,000101: 21,2150 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
042365,000102: 21,2151 30030 CA TIME5
042366,000103: 21,2152 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
042367,000104: 21,2153 32142 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
042368,000105: 21,2154 54030 TS TIME5 # OF PROGRAM
042369,000106:
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Page 972 |
042371,000108: # IMU STATUS CHECK
042372,000109:
042373,000110: 21,2155 41321 CS IMODES33 # CHECK IMU STATUS
042374,000111: 21,2156 74705 MASK BIT6 # BIT6 = 0 IMU OK
042375,000112: 21,2157 10000 CCS A # BIT6 = 1 NO IMU
042376,000113: 21,2160 12174 TCF RATEFILT
042377,000114: 21,2161 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
042378,000115: 21,2162 74675 MASK BIT14 # INITIALIZED
042379,000116: 21,2163 27501 ADS RCSFLAGS
042380,000117: 21,2164 34675 CAF BIT14 # NO ATTITUDE REFERENCE
042381,000118: 21,2165 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
042382,000119: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
042383,000120: # ATTITUDE HOLD
042384,000121: 21,2166 00006 EXTEND
042385,000122: 21,2167 02031 RAND CHAN31 # CHECK FOR FREE MODE
042386,000123: 21,2170 00006 EXTEND
042387,000124: 21,2171 12403 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
042388,000125: 21,2172 12520 TCF REINIT # .....TILT...............................
042389,000126: 21,2173 00030 BITS4,5 OCT 30
042390,000127:
042391,000128:
042392,000129: 21,2174 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
042393,000130: 21,2175 74675 MASK BIT14
042394,000131: 21,2176 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
042395,000132: 21,2177 12201 BZF +2
042396,000133: 21,2200 12334 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
042397,000134:
042398,000135: # RATE FILTER TIMING = 7.72MS
042399,000136:
042400,000137: # RATE FILTER EQUATIONS
042401,000138: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
042402,000139: # -1
042403,000140: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
042404,000141: # -1
042405,000142: # - * - -
042406,000143: # WHERE DELRHO = AMGB (CDU - CDU )
042407,000144: # -1
042408,000145:
042409,000146: 21,2201 34711 CAF TWO
042410,000147: 21,2202 55506 DRHOLOOP TS SPNDX
042411,000148: 21,2203 60000 DOUBLE
042412,000149: 21,2204 55507 TS DPNDX
042413,000150: 21,2205 51507 INDEX DPNDX
042414,000151: 21,2206 41552 CS DRHO # DRHO SCALED 180 DEGS
042415,000152: 21,2207 00006 EXTEND
042416,000153: 21,2210 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
042417,000154: 21,2211 73063 MP GAIN1
042418,000155: 21,2212 51507 INDEX DPNDX
042419,000156: 21,2213 21553 DAS DRHO # (1 -.064)DRHO
042420,000157: 21,2214 00006 EXTEND
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Page 973 |
042422,000159: 21,2215 51507 INDEX DPNDX
042423,000160: 21,2216 41534 DCS ADOT
042424,000161: 21,2217 53511 DXCH KMPAC # -(.1)ADOT
042425,000162: 21,2220 34676 CA QUARTER
042426,000163: 21,2221 02026 TC SMALLMP
042427,000164: 21,2222 53511 DXCH KMPAC
042428,000165: 21,2223 51507 INDEX DPNDX
042429,000166: 21,2224 21553 DAS DRHO
042430,000167: 21,2225 11506 CCS SPNDX
042431,000168: 21,2226 12202 TCF DRHOLOOP
042432,000169:
042433,000170: 21,2227 30032 CA CDUX # MEASURED BODY RATES--
042434,000171: 21,2230 57635 XCH RHO
042435,000172: 21,2231 00006 EXTEND
042436,000173: 21,2232 21635 MSU RHO # - * - -
042437,000174: 21,2233 40000 COM # DELRHO = AMGB (CDU - CDU )
042438,000175: # -1
042439,000176: 21,2234 22007 ZL
042440,000177: 21,2235 53516 DXCH DELTEMPX
042441,000178: 21,2236 30033 CA CDUY
042442,000179: 21,2237 57636 XCH RHO1
042443,000180: 21,2240 00006 EXTEND
042444,000181: 21,2241 21636 MSU RHO1
042445,000182: 21,2242 40000 COM
042446,000183: 21,2243 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
042447,000184: 21,2244 00006 EXTEND
042448,000185: 21,2245 71640 MP AMGB1
042449,000186: 21,2246 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
042450,000187: # MUST BE DOUBLE PRECISION OR WILL LOSE
042451,000188: # PULSES
042452,000189: 21,2247 31641 CA AMGB4
042453,000190: 21,2250 00006 EXTEND
042454,000191: 21,2251 71502 MP T5TEMP
042455,000192: 21,2252 53520 DXCH DELTEMPY
042456,000193: 21,2253 31643 CA AMGB7
042457,000194: 21,2254 00006 EXTEND
042458,000195: 21,2255 71502 MP T5TEMP
042459,000196: 21,2256 53522 DXCH DELTEMPZ
042460,000197: 21,2257 30034 CA CDUZ
042461,000198: 21,2260 57637 XCH RHO2
042462,000199: 21,2261 00006 EXTEND
042463,000200: 21,2262 21637 MSU RHO2
042464,000201: 21,2263 40000 COM
042465,000202: 21,2264 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
042466,000203: 21,2265 00006 EXTEND
042467,000204: 21,2266 71642 MP AMGB5
042468,000205: 21,2267 21520 DAS DELTEMPY # DELTEMPY =AMGB4(CDUY-RHO1)
042469,000206: # + AMGB5(CDUZ-RHO2)
042470,000207: 21,2270 31644 CA AMGB8
042471,000208: 21,2271 00006 EXTEND
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Page 974 |
042473,000210: 21,2272 71502 MP T5TEMP
042474,000211: 21,2273 21522 DAS DELTEMPZ # DELTEMPZ =AMGB7(CDUY-RHO1)
042475,000212: # + AMGB8(CDUZ-RHO2)
042476,000213: 21,2274 34711 CAF TWO
042477,000214: 21,2275 55506 ADOTLOOP TS SPNDX
042478,000215: 21,2276 60000 DOUBLE
042479,000216: 21,2277 55507 TS DPNDX
042480,000217: 21,2300 00006 EXTEND
042481,000218: 21,2301 51507 INDEX DPNDX
042482,000219: 21,2302 31516 DCA DELTEMPX
042483,000220: 21,2303 51507 INDEX DPNDX
042484,000221: 21,2304 21553 DAS DRHO
042485,000222: 21,2305 00006 EXTEND
042486,000223: 21,2306 51507 INDEX DPNDX
042487,000224: 21,2307 31516 DCA DELTEMPX
042488,000225: 21,2310 51507 INDEX DPNDX
042489,000226: 21,2311 21542 DAS MERRORX
042490,000227: 21,2312 51507 INDEX DPNDX
042491,000228: 21,2313 31552 CA DRHO
042492,000229: 21,2314 60000 DOUBLE # N.B.
042493,000230: 21,2315 60000 DOUBLE # N.B.
042494,000231: 21,2316 00006 EXTEND
042495,000232: 21,2317 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
042496,000233: 21,2320 73101 MP GAIN2
042497,000234: 21,2321 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
042498,000235: 21,2322 21534 DAS ADOT # -1
042499,000236: 21,2323 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
042500,000237: 21,2324 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
042501,000238: 21,2325 00006 EXTEND
042502,000239: 21,2326 51506 INDEX SPNDX
042503,000240: 21,2327 71547 MP DFT
042504,000241: 21,2330 51507 INDEX DPNDX
042505,000242: 21,2331 21534 DAS ADOT # KMJ(DFT)
042506,000243: 21,2332 11506 CCS SPNDX
042507,000244: 21,2333 12275 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
042508,000245: 21,2334 31560 KMATRIX CA ATTSEC
042509,000246: 21,2335 74721 MASK LOW4
042510,000247: 21,2336 10000 CCS A
042511,000248: 21,2337 12345 TCF TENTHSEK
042512,000249: 21,2340 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
042513,000250: 21,2341 05027 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
042514,000251: 21,2342 E6,1510 EBANK= KMPAC
042515,000252: 21,2342 03444 44066 2CADR AMBGUPDT
042516,000253: 21,2344 34334 CAF NINE
042517,000254:
042518,000255: 21,2345 55560 TENTHSEK TS ATTSEC
042519,000256:
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Page 975 |
042521,000258: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
042522,000259: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
042523,000260:
042524,000261: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
042525,000262: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
042526,000263: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
042527,000264:
042528,000265: # THE STEERING PROGRAMS-
042529,000266: # 1) ATTITUDE MANEUVER ROUTINE
042530,000267: # 2) LEM TRACKING
042531,000268:
042532,000269: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
042533,000270: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
042534,000271:
042535,000272: # HOLDFLAG CODING-
042536,000273:
042537,000274: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
042538,000275: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
042539,000276: # ALSO IGNORE AUTOMATIC STEERING
042540,000277: # SET = + BY
042541,000278: # 1) INITIALIZATION PHASE OF AUTOPILOT
042542,000279: # 2) OCCURANCE OF RHC COMMANDS
042543,000280: # 3) FREE MODE
042544,000281: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
042545,000282: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
042546,000283: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
042547,000284: # FUNCTIONS AS IF IT WERE.)
042548,000285: # 5) S/C CONTROL SWITCH IN SCS
042549,000286: # 6) IMU POWER OFF
042550,000287: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
042551,000288: # - = PERFORMING AUTOMATIC MANEUVER
042552,000289: # -0 = NOT USED AT PRESENT
042553,000290:
042554,000291:
042555,000292: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
042556,000293: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
042557,000294: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
042558,000295:
042559,000296:
042560,000297: 21,2346 41332 CS HOLDFLAG
042561,000298: 21,2347 00006 EXTEND
042562,000299: 21,2350 62375 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
042563,000300: # COMMANDS
042564,000301: 21,2351 34711 DCDUINCR CAF TWO
042565,000302: 21,2352 55506 DELOOP TS SPNDX
042566,000303: 21,2353 60000 DOUBLE
042567,000304: 21,2354 55507 TS DPNDX
042568,000305: 21,2355 00006 EXTEND
042569,000306: 21,2356 50000 INDEX A
042570,000307: 21,2357 31647 DCA CDUXD
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Page 976 |
042572,000309: 21,2360 53511 DXCH KMPAC
042573,000310: 21,2361 00006 EXTEND
042574,000311: 21,2362 51507 INDEX DPNDX
042575,000312: 21,2363 31576 DCA DELCDUX
042576,000313: 21,2364 02040 TC DPADD
042577,000314: 21,2365 00006 EXTEND
042578,000315: 21,2366 31511 DCA KMPAC
042579,000316: 21,2367 51506 INDEX SPNDX
042580,000317: 21,2370 55572 TS THETADX
042581,000318: 21,2371 51507 INDEX DPNDX
042582,000319: 21,2372 53647 DXCH CDUXD
042583,000320: 21,2373 11506 CCS SPNDX
042584,000321: 21,2374 12352 TCF DELOOP
042585,000322:
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Page 977 |
042587,000324: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
042588,000325:
042589,000326: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
042590,000327:
042591,000328: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
042592,000329: # GENERATED INTERNALLY BY THE AUTOPILOT
042593,000330:
042594,000331: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
042595,000332: # WITH RESPECT TO THE CONTENTS OF N22
042596,000333:
042597,000334: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
042598,000335: # WITH RESPECT TO THE CONTENTS OF N17
042599,000336:
042600,000337: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
042601,000338: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
042602,000339:
042603,000340: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042604,000341: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042605,000342: # AS A FLY-TO INDICATOR.
042606,000343:
042607,000344: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
042608,000345: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
042609,000346: # AS A FLY-TO INDICATOR.
042610,000347:
042611,000348: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
042612,000349: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
042613,000350:
042614,000351: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
042615,000352: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
042616,000353: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
042617,000354:
042618,000355:
042619,000356: 21,2375 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
042620,000357: 21,2376 74707 MASK BIT4
042621,000358: 21,2377 00006 EXTEND
042622,000359: 21,2400 13144 BZF FDAIDSP2
042623,000360:
042624,000361: 21,2401 27501 FDAIDSP1 ADS RCSFLAGS
042625,000362: 21,2402 02404 TC NEEDLER
042626,000363: 21,2403 15222 KRESUME1 TCF RESUME # END PHASE 1
042627,000364:
|
|
Page 978 |
042629,000366: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
042630,000367:
042631,000368: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
042632,000369:
042633,000370: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
042634,000371: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
042635,000372: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
042636,000373: # THE DACS.
042637,000374:
042638,000375:
042639,000376: # CALLING SEQUENCE:
042640,000377:
042641,000378: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
042642,000379: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
042643,000380:
042644,000381: # CS RCSFLAGS IN EBANK6
042645,000382: # MASK BIT3
042646,000383: # ADS RCSFLAGS
042647,000384:
042648,000385: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
042649,000386:
042650,000387: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
042651,000388: # AK1 SCALED 180 DEGREES TO CHANGE
042652,000389: # AK2 SCALED 180 DEGREES
042653,000390:
042654,000391: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
042655,000392: # (= 384 BITS IN IMU ERROR COUNTER)
042656,000393:
042657,000394: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
042658,000395:
042659,000396: # INHINT
042660,000397: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
042661,000398: # CADR NEEDLER
042662,000399: # RELINT
042663,000400:
042664,000401: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
042665,000402: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
042666,000403: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
042667,000404:
042668,000405: # ERASABLE USED:
042669,000406: # AK CDUXCMD
042670,000407: # AK1 CDUYCMD
042671,000408: # AK2 CDUZCMD
042672,000409: # EDRIVEX A,L,Q
042673,000410: # EDRIVEY T5TEMP
042674,000411: # EDRIVEZ SPNDX
042675,000412:
042676,000413: # SWITCHES: RCSFLAGS BITS 3,2
042677,000414:
042678,000415: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
|
|
Page 979 |
042680,000417: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
042681,000418: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
042682,000419:
042683,000420:
042684,000421: # SIGN CONVENTION< AK = THETAC - THETA
042685,000422: # WHERE THETAC = COMMAND ANGLE
042686,000423: # THETA = PRESENT ANGLE
042687,000424:
042688,000425:
042689,000426: 21,2404 34707 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
042690,000427: 21,2405 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
042691,000428: 21,2406 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
042692,000429: 21,2407 00006 EXTEND
042693,000430: 21,2410 12415 BZF NEEDLER1
042694,000431: 21,2411 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
042695,000432: 21,2412 74710 MASK BIT3
042696,000433: 21,2413 27501 ADS RCSFLAGS
042697,000434: 21,2414 00002 TC Q
042698,000435:
042699,000436: 21,2415 31501 NEEDLER1 CA RCSFLAGS
042700,000437: 21,2416 76211 MASK SIX
042701,000438: 21,2417 00006 EXTEND
042702,000439: 21,2420 12455 BZF NEEDLES3
042703,000440: 21,2421 74710 MASK BIT3
042704,000441: 21,2422 00006 EXTEND
042705,000442: 21,2423 12446 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
042706,000443:
042707,000444: 21,2424 44705 CS BIT6 # FIRST PASS BIT3 = 1
042708,000445: 21,2425 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
042709,000446: 21,2426 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
042710,000447: 21,2427 44714 NEEDLE11 CS ZERO # ENABLING COUNTERS.
042711,000448: 21,2430 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
042712,000449: 21,2431 55477 TS AK1
042713,000450: 21,2432 55500 TS AK2
042714,000451: 21,2433 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
042715,000452: 21,2434 55504 TS EDRIVEY
042716,000453: 21,2435 55505 TS EDRIVEZ
042717,000454: 21,2436 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
042718,000455: 21,2437 54051 TS CDUYCMD
042719,000456: 21,2440 54052 TS CDUZCMD
042720,000457: 21,2441 46211 CS SIX # RESET RCSFLAGS FOR PASS2
042721,000458: 21,2442 71501 MASK RCSFLAGS
042722,000459: 21,2443 64711 AD BIT2
042723,000460: 21,2444 55501 TS RCSFLAGS
042724,000461: 21,2445 00002 TC Q # END PASS1
042725,000462:
042726,000463: 21,2446 34705 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
042727,000464: 21,2447 00006 EXTEND
042728,000465: 21,2450 05012 WOR CHAN12
042729,000466: 21,2451 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
|
|
Page 980 |
042731,000468: 21,2452 71501 MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR
042732,000469: 21,2453 55501 TS RCSFLAGS # RELAY CLOSURE
042733,000470: 21,2454 00002 TC Q
042734,000471:
042735,000472:
042736,000473: 21,2455 34705 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
042737,000474: 21,2456 00006 EXTEND # IS ENABLED
042738,000475: 21,2457 02012 RAND CHAN12
042739,000476: 21,2460 00006 EXTEND # IF NOT RECYCLE NEEDLES
042740,000477: 21,2461 12411 BZF NEEDLER +5
042741,000478:
042742,000479: 21,2462 34711 NEEDLES CAF TWO
042743,000480: 21,2463 55506 DACLOOP TS SPNDX
042744,000481: 21,2464 44676 CS QUARTER
042745,000482: 21,2465 00006 EXTEND
042746,000483: 21,2466 51506 INDEX SPNDX
042747,000484: 21,2467 71476 MP AK
042748,000485: 21,2470 54001 TS L
042749,000486: 21,2471 10000 CCS A
042750,000487: 21,2472 32526 CA DACLIMIT
042751,000488: 21,2473 12475 TCF +2
042752,000489: 21,2474 42526 CS DACLIMIT
042753,000490: 21,2475 60001 AD L
042754,000491: 21,2476 55502 TS T5TEMP # OVFLO CHK
042755,000492: 21,2477 12503 TCF +4
042756,000493: 21,2500 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
042757,000494: 21,2501 32526 CAF DACLIMIT
042758,000495: 21,2502 54001 TS L
042759,000496: 21,2503 51506 INDEX SPNDX
042760,000497: 21,2504 41503 CS EDRIVEX # CURRENT VALUE OF DAC
042761,000498: 21,2505 60001 AD L
042762,000499: 21,2506 51506 INDEX SPNDX
042763,000500: 21,2507 26050 ADS CDUXCMD
042764,000501: 21,2510 51506 INDEX SPNDX
042765,000502: 21,2511 23503 LXCH EDRIVEX
042766,000503: 21,2512 11506 CCS SPNDX
042767,000504: 21,2513 12463 TCF DACLOOP
042768,000505: 21,2514 37707 CAF 13,14,15
042769,000506: 21,2515 00006 EXTEND
042770,000507: 21,2516 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
042771,000508: 21,2517 00002 TC Q
042772,000509:
042773,000510: 21,2520 32524 REINIT CAF DELAY200 # ........TILT LOGIC
042774,000511: 21,2521 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
042775,000512: 21,2522 55465 TS T5PHASE
042776,000513: 21,2523 15222 TCF RESUME
042777,000514: 21,2524 37754 DELAY200 DEC 16364 B-14 # 200MS
042778,000515:
042779,000516:
042780,000517: 21,2525 77177 DEC -384 B-14
042781,000518:
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|
Page 981 |
042783,000520: 21,2526 37200 DACLIMIT DEC 16000 B-14
042784,000521: 21,2527 00600 DEC 384 B-14
042785,000522:
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|
Page 982 |
042787,000524: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
042788,000525:
042789,000526: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
042790,000527:
042791,000528: # WBODY (+1) DFT TAU2
042792,000529: # WBODY1 (+1) DFT1 BIAS
042793,000530: # WBODY2 (+1) DFT2 BIAS1
042794,000531: # ADOT (+1) DRHO (+1) BIAS2
042795,000532: # ADOT1 (+1) DRHO1 (+1) ERRORX
042796,000533: # ADOT2 (+1) DRHO2 (+1) ERRORY
042797,000534: # MERRORX (+1) ATTSEC ERRORZ
042798,000535: # MERRORY (+1) TAU
042799,000536: # MERRORZ (+1) TAU1
042800,000537: 21,2530 34712 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
042801,000538: 21,2531 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
042802,000539: # ATTITUDE HOLD REFERENCE
042803,000540:
042804,000541: 21,2532 04633 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
042805,000542: 21,2533 40145 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
042806,000543:
042807,000544: 21,2534 04633 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
042808,000545: 21,2535 40276 CADR S40.14 # TO AUTOPILOT GAINS
042809,000546:
042810,000547: 21,2536 32607 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
042811,000548: 21,2537 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
042812,000549: 21,2540 34714 CAF ZERO
042813,000550: 21,2541 51506 INDEX SPNDX
042814,000551: 21,2542 55525 TS WBODY
042815,000552: 21,2543 11506 CCS SPNDX
042816,000553: 21,2544 12537 TCF ZEROT5
042817,000554: 21,2545 02616 TCR ZEROJET
042818,000555:
042819,000556: 21,2546 44714 CS ZERO
042820,000557: 21,2547 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
042821,000558:
042822,000559: 21,2550 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
042823,000560: # MANUAL RATE MODES
042824,000561: 21,2551 32610 CAF =.24
042825,000562: 21,2552 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
042826,000563:
042827,000564: 21,2553 34710 CAF FOUR
042828,000565: 21,2554 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
042829,000566: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
042830,000567: # IN (80MS - T5TIME(40MS)). THEREFORE
042831,000568: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
042832,000569: # MS FROM NOW AND EVERY 100MS THEREAFTER
042833,000570:
042834,000571: 21,2555 34717 CAF ELEVEN
042835,000572: 21,2556 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
042836,000573: # TO INITIALIZE THE S/C ANGULAR RATES
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|
Page 983 |
042838,000575: 21,2557 30032 CA CDUX
042839,000576: 21,2560 55635 TS RHO
042840,000577: 21,2561 30033 CA CDUY
042841,000578: 21,2562 55636 TS RHO1
042842,000579: 21,2563 30034 CA CDUZ
042843,000580: 21,2564 55637 TS RHO2
042844,000581: 21,2565 34714 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
042845,000582: 21,2566 55465 TS T5PHASE # PHASE2 OF PROGRAM
042846,000583:
042847,000584: 21,2567 41321 CS IMODES33 # CHECK IMU STATUS
042848,000585: 21,2570 74705 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
042849,000586: 21,2571 10000 CCS A # IF BIT6 = 1 IMU NOT READY
042850,000587: 21,2572 12576 TCF IMUAOK
042851,000588: 21,2573 55617 TS ATTKALMN # CANNOT USE IMU
042852,000589: 21,2574 32612 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
042853,000590: 21,2575 12603 TCF RCSSWIT # DONT START UP RATE FILTER
042854,000591: # SIGNAL NO RATE FILTER
042855,000592:
042856,000593: 21,2576 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
042857,000594: 21,2577 05027 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
042858,000595: 21,2600 E6,1510 EBANK= KMPAC
042859,000596: 21,2600 03444 44066 2CADR AMBGUPDT
042860,000597: 21,2602 32611 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
042861,000598: 21,2603 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
042862,000599: # SET BIT3 -INITIALIZE NEEDLES
042863,000600: # CLEAR BIT4 -RESET FOR FDAIDSP1
042864,000601: 21,2604 32613 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
042865,000602: # ERROR COUNTER TO ZERO.
042866,000603: # (MINIMUM DELAY = 15 MS)
042867,000604: 21,2605 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
042868,000605: 21,2606 05222 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
042869,000606: # FILTER WILL BEGIN OPERATING ZOOMS FROM
042870,000607: # NOW
042871,000608:
042872,000609: # CONSTANTS USED IN INITIALIZATION PROGRAM
042873,000610:
042874,000611: 21,2607 00044 NO.T5VAR DEC 36 B-14
042875,000612: 21,2610 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
042876,000613: 21,2611 00004 RCSINIT OCT 00004
042877,000614: 21,2612 20004 RCSINITB OCT 20004
042878,000615: 21,2613 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
042879,000616: 21,2614 E6,1510 EBANK= KMPAC
042880,000617: 21,2614 03646 36066 T6ADDR 2CADR T6START
042881,000618:
042882,000619:
042883,000620: 21,2616 34717 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
042884,000621: 21,2617 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
042885,000622: 21,2620 34714 CAF ZERO # AND RWORD1.
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|
Page 984 |
042887,000624: 21,2621 51506 INDEX SPNDX
042888,000625: 21,2622 55451 TS RWORD1
042889,000626: 21,2623 11506 CCS SPNDX
042890,000627: 21,2624 12617 TCF ZEROJET +1
042891,000628:
042892,000629: 21,2625 34710 CAF FOUR
042893,000630: 21,2626 55462 TS BLAST1 +1
042894,000631: 21,2627 34717 CAF ELEVEN
042895,000632: 21,2630 55464 TS BLAST2 +1
042896,000633:
042897,000634: 21,2631 44712 CS BIT1
042898,000635: 21,2632 71501 MASK RCSFLAGS
042899,000636: 21,2633 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
042900,000637:
042901,000638: 21,2634 00006 EXTEND
042902,000639: 21,2635 32615 DCA T6ADDR
042903,000640: 21,2636 53311 DXCH T6LOC
042904,000641: 21,2637 33034 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
042905,000642: 21,2640 54031 TS TIME6
042906,000643: 21,2641 34674 CAF BIT15
042907,000644: 21,2642 00006 EXTEND
042908,000645: 21,2643 05013 WOR CHAN13
042909,000646:
042910,000647: 21,2644 00002 TC Q
042911,000648:
042912,000649: 21,2645 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
042913,000650: 21,2646 13132 TCF KALUPDT
042914,000651:
042915,000652:
042916,000653: 21,2647 12651 TCF +2 # ONLY IF ATTKALMN POSITIVE
042917,000654: 21,2650 12651 TCF +1
042918,000655: 21,2651 32142 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
042919,000656: 21,2652 56030 XCH TIME5 # (JET SELECTION LOGIC )
042920,000657: 21,2653 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
042921,000658:
042922,000659:
042923,000660: 21,2654 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
042924,000661: 21,2655 74674 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
042925,000662: 21,2656 00006 EXTEND # ATTKALMN TO -1
042926,000663: 21,2657 12661 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
042927,000664: 21,2660 44712 CS ONE
042928,000665: 21,2661 55617 NOHIAUTO TS ATTKALMN
042929,000666:
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|
Page 985 |
042931,000668: # MANUAL ROTATION COMMANDS
042932,000669: 21,2662 43016 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
042933,000670: 21,2663 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
042934,000671: 21,2664 55501 TS RCSFLAGS
042935,000672:
042936,000673: 21,2665 00006 EXTEND
042937,000674: 21,2666 00031 READ CHAN31
042938,000675: 21,2667 54001 TS L
042939,000676: 21,2670 31632 CA CH31TEMP
042940,000677: 21,2671 00006 EXTEND
042941,000678: 21,2672 06001 RXOR LCHAN
042942,000679: 21,2673 73022 MASK MANROT # = OCT00077
042943,000680: 21,2674 00006 EXTEND
042944,000681: 21,2675 62710 BZMF NOCHANGE
042945,000682:
042946,000683: 21,2676 22000 LXCH A
042947,000684: 21,2677 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
042948,000685:
042949,000686: 21,2700 30001 CA L
042950,000687: 21,2701 00006 EXTEND
042951,000688: 21,2702 74706 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
042952,000689: 21,2703 30001 CA L
042953,000690: 21,2704 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
042954,000691: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
042955,000692: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
042956,000693: # PITCH
042957,000694:
042958,000695: 21,2705 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND
042959,000696: 21,2706 73023 MASK OCT16000 # 11 OF RCSFLAGS)
042960,000697: 21,2707 27501 ADS RCSFLAGS
042961,000698:
042962,000699: 21,2710 41632 NOCHANGE CS CH31TEMP
042963,000700: 21,2711 73022 MASK MANROT
042964,000701: 21,2712 00006 EXTEND
042965,000702: 21,2713 63234 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
042966,000703:
042967,000704: 21,2714 55332 TS HOLDFLAG # SET HOLDFLAG +
042968,000705:
042969,000706: 21,2715 03114 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
042970,000707: # YMANNDX, AND RMANNDX ARE ALL SET, BY
042971,000708: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
042972,000709: # +, OR - ROTATION RESPECTIVELY AS
042973,000710: # COMMANDED BY THE RHC.
042974,000711:
042975,000712: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
042976,000713: # THE RHC IS RETURNED TO DETENT, THE
042977,000714: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
042978,000715: # STICKCHK SO PMANNDX, YMANNDX, AND
042979,000716: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
042980,000717: # LEFT SET TO THEIR LAST OUT OF DETENT
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|
Page 986 |
042982,000719: # VALUES.
042983,000720:
042984,000721: 21,2716 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
042985,000722: 21,2717 74675 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
042986,000723: 21,2720 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
042987,000724:
042988,000725: 21,2721 34675 CAF BIT14
042989,000726: 21,2722 00006 EXTEND
042990,000727: 21,2723 02031 RAND CHAN31
042991,000728: 21,2724 00006 EXTEND
042992,000729: 21,2725 63035 BZMF FREEFUNC
042993,000730:
042994,000731: 21,2726 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
042995,000732: 21,2727 74675 MASK BIT14 # HAS BEEN INITIALIZED
042996,000733: 21,2730 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
042997,000734: 21,2731 12520 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
042998,000735:
042999,000736: 21,2732 44715 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
043000,000737: 21,2733 61130 AD RATEINDX # ATTKALMN TO -1.
043001,000738: 21,2734 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
043002,000739: 21,2735 62740 BZMF +3
043003,000740: 21,2736 44712 CS ONE
043004,000741: 21,2737 55617 TS ATTKALMN
043005,000742:
043006,000743:
043007,000744: 21,2740 34711 CAF TWO # AUTO-HOLD MANUAL ROTATION
043008,000745: 21,2741 55506 SETWBODY TS SPNDX
043009,000746: 21,2742 60000 DOUBLE
043010,000747: 21,2743 55507 TS DPNDX
043011,000748: 21,2744 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
043012,000749: 21,2745 31656 CA RMANNDX # = 1 + ROTATION
043013,000750: 21,2746 00006 EXTEND # = 2 - ROTATION
043014,000751: 21,2747 12771 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
043015,000752: # GO TO NORATE.
043016,000753:
043017,000754: 21,2750 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
043018,000755: 21,2751 54002 TS Q # = 2 0.2 DEG/SEC
043019,000756: 21,2752 50002 INDEX Q # = 4 0.5 DEG/SEC
043020,000757: 21,2753 33023 CA MANTABLE -1 # = 6 4.0 DEG/SEC
043021,000758: 21,2754 00006 EXTEND
043022,000759: 21,2755 74702 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
043023,000760: 21,2756 51507 INDEX DPNDX # TO GET COMMANDED RATE.
043024,000761: 21,2757 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
043025,000762:
043026,000763: 21,2760 31501 CA RCSFLAGS
043027,000764: 21,2761 73023 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12AND
043028,000765: 21,2762 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
043029,000766: 21,2763 13001 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
043030,000767: # ERROR.
043031,000768:
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Page 987 |
043033,000770: 21,2764 34714 ZEROER CA ZERO # ZEROER ZEROS MERRORS
043034,000771: 21,2765 22007 ZL
043035,000772: 21,2766 51507 INDEX DPNDX
043036,000773: 21,2767 53542 DXCH MERRORX
043037,000774: 21,2770 13007 TCF SPNDXCHK
043038,000775:
043039,000776: 21,2771 22007 NORATE ZL
043040,000777: 21,2772 51507 INDEX DPNDX
043041,000778: 21,2773 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
043042,000779: 21,2774 31501 CA RCSFLAGS
043043,000780: 21,2775 73023 MASK OCT16000
043044,000781: 21,2776 00006 EXTEND # IS RATE DAMPING COMPLETED
043045,000782: 21,2777 13007 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
043046,000783: 21,3000 12764 TCF ZEROER # NO,GO TO ZEROER
043047,000784:
043048,000785: 21,3001 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
043049,000786: 21,3002 43023 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
043050,000787: 21,3003 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
043051,000788: 21,3004 74704 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
043052,000789: 21,3005 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
043053,000790: 21,3006 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
043054,000791:
043055,000792: 21,3007 51507 SPNDXCHK INDEX DPNDX
043056,000793: 21,3010 31541 CA MERRORX
043057,000794: 21,3011 51506 INDEX SPNDX
043058,000795: 21,3012 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
043059,000796: 21,3013 11506 CCS SPNDX
043060,000797: 21,3014 12741 TCF SETWBODY
043061,000798: 21,3015 13425 TCF JETS
043062,000799:
043063,000800:
043064,000801: 21,3016 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
043065,000802:
043066,000803: 21,3017 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
043067,000804: 21,3020 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
043068,000805: 21,3021 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
043069,000806: # PRESERVED
043070,000807: # FOR INDEXING
043071,000808: 21,3022 00077 MANROT OCT 77
043072,000809: 21,3023 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
043073,000810: 21,3024 00165 MANTABLE DEC .0071111
043074,000811: 21,3025 77612 DEC -.0071111
043075,000812: 21,3026 00722 DEC .028444
043076,000813: 21,3027 77055 DEC -.028444
043077,000814: 21,3030 02215 DEC .071111
043078,000815: 21,3031 75562 DEC -.071111
043079,000816: 21,3032 22151 DEC .568889
043080,000817: 21,3033 55626 DEC -.568889
043081,000818: 21,3034 00027 =+14MS DEC 23 B-14
043082,000819: 21,3035 51656 FREEFUNC INDEX RMANNDX # ACCELERATION
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Page 988 |
043084,000821: 21,3036 33047 CA FREETAU # COMMANDS
043085,000822: 21,3037 55561 TS TAU
043086,000823: 21,3040 51657 INDEX PMANNDX
043087,000824: 21,3041 33047 CA FREETAU # FREETAU 0 SEC
043088,000825: 21,3042 55562 TS TAU1 # +1 +0.10 SEC
043089,000826: 21,3043 51660 INDEX YMANNDX # +2 -0.10 SEC
043090,000827: 21,3044 33047 CA FREETAU # (+3) 0 SEC
043091,000828: 21,3045 55563 TS TAU2
043092,000829: 21,3046 13053 TCF T6PROGM
043093,000830:
043094,000831: 21,3047 00000 FREETAU DEC 0 B-14
043095,000832: 21,3050 00740 DEC 480 B-14
043096,000833: 21,3051 77037 DEC -480 B-14
043097,000834: 21,3052 00000 DEC 0 B-14
043098,000835:
043099,000836: 21,3053 34714 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
043100,000837: 21,3054 55567 TS ERRORX
043101,000838: 21,3055 55570 TS ERRORY
043102,000839: 21,3056 55571 TS ERRORZ
043103,000840: 21,3057 13743 TCF T6PROG
043104,000841:
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Page 989 |
043106,000843: 21,3060 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
043107,000844: 21,3061 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
043108,000845: 21,3062 06604 DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043109,000846: 21,3063 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
043110,000847: 21,3064 12132 DEC .3180 # OF ATTITUDE RATES
043111,000848: 21,3065 13030 DEC .3452
043112,000849: 21,3066 14047 DEC .3774
043113,000850: 21,3067 15241 DEC .4161
043114,000851: 21,3070 16650 DEC .4634
043115,000852: 21,3071 20555 DEC .5223
043116,000853: 21,3072 23065 DEC .5970
043117,000854: 21,3073 26137 DEC .6933
043118,000855: 21,3074 32053 DEC .8151
043119,000856: 21,3075 35712 DEC .9342
043120,000857:
043121,000858: 21,3076 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
043122,000859: 21,3077 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
043123,000860: 21,3100 00435 DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
043124,000861: 21,3101 00032 GAIN2 DEC .0016 # SCALED 10
043125,000862: 21,3102 01350 DEC .0454
043126,000863: 21,3103 01575 DEC .0545
043127,000864: 21,3104 02103 DEC .0666
043128,000865: 21,3105 02523 DEC .0832
043129,000866: 21,3106 03327 DEC .1069
043130,000867: 21,3107 04432 DEC .1422
043131,000868: 21,3110 06264 DEC .1985
043132,000869: 21,3111 11351 DEC .2955
043133,000870: 21,3112 17324 DEC .4817
043134,000871: 21,3113 33622 DEC .8683
043135,000872: 21,3114 55502 STICKCHK TS T5TEMP
043136,000873: 21,3115 76214 MASK THREE # INDECES FOR MANUAL ROTATION
043137,000874: 21,3116 55657 TS PMANNDX
043138,000875: 21,3117 31502 CA T5TEMP
043139,000876: 21,3120 00006 EXTEND # MAN RATE 0 0 RATE (DP)
043140,000877: 21,3121 74676 MP QUARTER # +1 +RATE (DP)
043141,000878: 21,3122 55502 TS T5TEMP # +2 -RATE (DP)
043142,000879: 21,3123 76214 MASK THREE # (+3) 0 RATE (DP)
043143,000880: 21,3124 55660 TS YMANNDX
043144,000881: 21,3125 31502 CA T5TEMP
043145,000882: 21,3126 00006 EXTEND
043146,000883: 21,3127 74676 MP QUARTER
043147,000884: 21,3130 55656 TS RMANNDX
043148,000885: 21,3131 00002 TC Q
043149,000886:
043150,000887:
043151,000888: 21,3132 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
043152,000889: # KALMAN FILTER TAKES 1.1 SEC
043153,000890:
043154,000891: 21,3133 32141 CA DELTATT # =1SEC - 80MS
043155,000892: 21,3134 61634 AD T5TIME # + DELAYS
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Page 990 |
043157,000894: 21,3135 54030 TS TIME5
043158,000895: 21,3136 13141 TCF +3
043159,000896: 21,3137 32142 CAF DELTATT2 # SAFETY PLAY TO ASSURE
043160,000897: 21,3140 54030 TS TIME5 # A T5RUPT
043161,000898:
043162,000899:
043163,000900: 21,3141 44714 KRESUME2 CS ZERO # RESET FOR PHASE1
043164,000901: 21,3142 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM
043165,000902: 21,3143 15222 TCF RESUME
043166,000903:
043167,000904:
043168,000905: 21,3144 44707 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
043169,000906: 21,3145 71501 MASK RCSFLAGS
043170,000907: 21,3146 55501 TS RCSFLAGS
043171,000908:
043172,000909: 21,3147 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
043173,000910: 21,3150 74702 MASK BIT9 # ERRORS
043174,000911: 21,3151 00006 EXTEND
043175,000912: 21,3152 13161 BZF FDAITOTL
043176,000913: 21,3153 00006 EXTEND
043177,000914: 21,3154 41570 DCS ERRORX # OFF -DISPLAY AUTOPILOT FOLLOWING ERROR
043178,000915: 21,3155 53477 DXCH AK
043179,000916: 21,3156 41571 CS ERRORZ
043180,000917: 21,3157 55500 TS AK2
043181,000918: 21,3160 15222 TCF RESUME # END PHASE 1
043182,000919:
043183,000920:
043184,000921: 21,3161 30105 FDAITOTL CA FLAGWRD9
043185,000922: 21,3162 74705 MASK BIT6
043186,000923: 21,3163 00006 EXTEND
043187,000924: 21,3164 13227 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
043188,000925: # IF SO, GO TO WRTN17
043189,000926: 21,3165 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
043190,000927: 21,3166 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
043191,000928: 21,3167 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
043192,000929: 21,3170 31155 CA CPHI # COMPONENTS OF N22
043193,000930:
043194,000931: 21,3171 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
043195,000932: 21,3172 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
043196,000933: 21,3173 55476 TS AK
043197,000934: 21,3174 31513 CA WTEMP
043198,000935: 21,3175 00006 EXTEND
043199,000936: 21,3176 20033 MSU CDUY
043200,000937: 21,3177 55502 TS T5TEMP
043201,000938: 21,3200 00006 EXTEND
043202,000939: 21,3201 71640 MP AMGB1
043203,000940: 21,3202 27476 ADS AK
043204,000941: 21,3203 31502 CA T5TEMP
043205,000942: 21,3204 00006 EXTEND
043206,000943: 21,3205 71641 MP AMGB4
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Page 991 |
043208,000945: 21,3206 55477 TS AK1
043209,000946: 21,3207 31502 CA T5TEMP
043210,000947: 21,3210 00006 EXTEND
043211,000948: 21,3211 71643 MP AMGB7
043212,000949: 21,3212 55500 TS AK2
043213,000950: 21,3213 31514 CA WTEMP +1
043214,000951: 21,3214 00006 EXTEND
043215,000952: 21,3215 20034 MSU CDUZ
043216,000953: 21,3216 55502 TS T5TEMP
043217,000954: 21,3217 00006 EXTEND
043218,000955: 21,3220 71642 MP AMGB5
043219,000956: 21,3221 27477 ADS AK1
043220,000957: 21,3222 31502 CA T5TEMP
043221,000958: 21,3223 00006 EXTEND
043222,000959: 21,3224 71644 MP AMGB8
043223,000960: 21,3225 27500 ADS AK2
043224,000961: 21,3226 15222 TCF RESUME # END PHASE1 OF RCS DAP
043225,000962:
043226,000963: 21,3227 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
043227,000964: 21,3230 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
043228,000965: 21,3231 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
043229,000966: 21,3232 31333 CA CPHIX
043230,000967: 21,3233 13171 TCF GETAKS
043231,000968:
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Page 992 Empty page. |
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc