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, 1968
Note that the date is the date of the printout, not the date of the program revision.
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040019,000002: ## Copyright: Public domain.
040020,000003: ## Filename: TVCDAPS.agc
040021,000004: ## Purpose: Part of the source code for Colossus build 237.
040022,000005: ## This is for the Command Module's (CM) Apollo Guidance
040023,000006: ## Computer (AGC), for Apollo 8.
040024,000007: ## Assembler: yaYUL
040025,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
040026,000009: ## Website: www.ibiblio.org/apollo/index.html
040027,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
040028,000011: ## Mod history: 2011-03-06 JL Adapted from corresponding Colossus 249 file.
040029,000012: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
040030,000013: ## and fixed errors found.
040031,000014:
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Page 918
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040033,000016: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
040034,000017: # LOG SECTION....TVCDAP SUBROUTINE....DAPCSM
040035,000018: # MOD BY ENGEL DATE....27 OCT, 1967
040036,000019:
040037,000020: # FUNCTIONAL DESCRIPTION....
040038,000021:
040039,000022: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
040040,000023: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
040041,000024: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
040042,000025: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
040043,000026: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
040044,000027:
040045,000028: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
040046,000029: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
040047,000030: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
040048,000031: # INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER OR THE BRANCH
040049,000032: # POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER, OUTPUT LIMITER,
040050,000033: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
040051,000034:
040052,000035: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
040053,000036: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
040054,000037: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
040055,000038: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
040056,000039: # MODING.
040057,000040:
040058,000041: # REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY STUBBS
040059,000042: # (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
040060,000043: # REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
040061,000044: # LU (MIT IL JUNE 1966).
040062,000045:
040063,000046: # OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
040064,000047: # NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
040065,000048: # (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
040066,000049:
040067,000050: # CALLING SEQUENCE.... (TYPICALLY)
040068,000051:
040069,000052: # T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
040070,000053: # T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
040071,000054: # T5 CALL OF DAPINIT BY DAPINIT
040072,000055: # T5 CALL OF PITCHDAP BY DAPINIT
040073,000056: # T5 CALL OF YAWDAP BY PITCHDAP
040074,000057: # T5 CALL OF PITCHDAP BY YAWDAP
040075,000058: # ETC.
040076,000059: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
040077,000060:
040078,000061: # NORMAL EXIT MODE....RESUME
040079,000062:
040080,000063: # ALARM OR ABORT EXIT MODES....NONE
040081,000064:
040082,000065: # SUBROUTINES CALLED....
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Page 919
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040084,000067: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
040085,000068: # NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
040086,000069: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
040087,000070: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
040088,000071: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
040089,000072: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
040090,000073: # YAW DAPS
040091,000074: # OPTVARK, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
040092,000075: # PITCH AND YAW DAPS
040093,000076: # RESUME
040094,000077:
040095,000078: # OTHER INTERFACES....
040096,000079:
040097,000080: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
040098,000081: # S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
040099,000082: # TVCEXECUTIVE FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
040100,000083: # GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
040101,000084: # AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
040102,000085: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
040103,000086:
040104,000087: # ERASABLE INITIALIZATION REQUIRED....
040105,000088:
040106,000089: # 29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
040107,000090: # KP/KPDN (KPGEN3) AS IN S40.15 (R03)
040108,000091: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
040109,000092: # ENGINE-ON BIT (11.13) FOR RESTARTS
040110,000093: # TVCPHASE FOR RESTARTS (SEE IGNOVER, AND TVCINIT4)
040111,000094: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
040112,000095: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
040113,000096: # INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
040114,000097: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
040115,000098: # UPDATES EVERY 1/2 SECOND)
040116,000099: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
040117,000100: # UNLESS BENCH-TESTING.
040118,000101:
040119,000102: # OUTPUT....
040120,000103:
040121,000104: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
040122,000105: # TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
040123,000106: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
040124,000107: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
040125,000108: # DEBRIS....
040126,000109:
040127,000110: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
040128,000111:
040129,000112:
040130,000113: 17,2215 BANK 17
040131,000114: 20,2000 SETLOC DAPS2
040132,000115: 20,2000 BANK
040133,000116:
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Page 920
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040135,000118: 20,2326 E6,1742 EBANK= BZERO
040136,000119:
040137,000120:
040138,000121: 20,2326 COUNT* $$/DAPS
040139,000122:
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Page 921
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040141,000124: # PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
040142,000125:
040143,000126:
040144,000127: 20,2326 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
040145,000128: 20,2327 00006 EXTEND
040146,000129: 20,2330 22012 QXCH QRUPT
040147,000130:
040148,000131: 20,2331 33403 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
040149,000132: 20,2332 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
040150,000133: 20,2333 31635 CAE T5TVCDT
040151,000134: 20,2334 54030 TS TIME5
040152,000135:
040153,000136: 20,2335 11614 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
040154,000137: 20,2336 03471 TC HACK # TEST-START OR TEST-IN-PROGRESS
040155,000138: 20,2337 12341 TCF +2 # NO-TEST
040156,000139: 20,2340 03471 TC HACK # TEST-IN-PROGRESS
040157,000140:
040158,000141: 20,2341 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT
040159,000142: 20,2342 57655 XCH PCDUYPST # FOR PITCH AUTOPILOT
040160,000143: 20,2343 00006 EXTEND
040161,000144: 20,2344 21655 MSU PCDUYPST
040162,000145: 20,2345 55657 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
040163,000146:
040164,000147: 20,2346 30034 CAE CDUZ # COMPUTE CDUZDOT
040165,000148: 20,2347 57656 XCH PCDUZPST # FOR PITCH AUTOPILOT
040166,000149: 20,2350 00006 EXTEND
040167,000150: 20,2351 21656 MSU PCDUZPST
040168,000151: 20,2352 55660 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
040169,000152:
040170,000153: 20,2353 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
040171,000154: 20,2354 31616 DCA PERRB # ERROR, SC.AT B-1 REVS
040172,000155: 20,2355 53743 DXCH ERRBTMP
040173,000156:
040174,000157: 20,2356 00006 EXTEND
040175,000158: 20,2357 31530 DCA OMEGAYC
040176,000159: 20,2360 21743 DAS ERRBTMP
040177,000160:
040178,000161: 20,2361 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
040179,000162: 20,2362 00006 EXTEND
040180,000163: 20,2363 70750 MP COSCDUX
040181,000164: 20,2364 20001 DDOUBL
040182,000165: 20,2365 00006 EXTEND
040183,000166: 20,2366 71657 MP MCDUYDOT
040184,000167: 20,2367 20001 DDOUBL
040185,000168: 20,2370 53536 DXCH OMEGAYB
040186,000169:
040187,000170: 20,2371 41660 CS MCDUZDOT
040188,000171: 20,2372 00006 EXTEND
040189,000172: 20,2373 70742 MP SINCDUX
040190,000173: 20,2374 20001 DDOUBL
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Page 922
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040192,000175: 20,2375 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
040193,000176:
040194,000177: 20,2376 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
040195,000178: 20,2377 41536 DCS OMEGAYB
040196,000179: 20,2400 21743 DAS ERRBTMP
040197,000180:
040198,000181: 20,2401 03112 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
040199,000182:
040200,000183: 20,2402 31466 P1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040201,000184: 20,2403 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040202,000185: 20,2404 10000 CCS A
040203,000186: 20,2405 12410 TCF +3 # USE LEM-ON FILTER
040204,000187: 20,2406 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040205,000188: 20,2407 36215 CADR NP0NODE
040206,000189:
040207,000190: 20,2410 00006 PFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS.
040208,000191: 20,2411 41544 DCS PDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040209,000192: 20,2412 53745 DXCH JZERO
040210,000193:
040211,000194: 20,2413 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
040212,000195: 20,2414 61541 AD PNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
040213,000196: 20,2415 00006 EXTEND
040214,000197: 20,2416 74727 MP KPDN # KPDN, SC.AT B+1 SPASCREV
040215,000198: 20,2417 21745 DAS JZERO
040216,000199: 20,2420 31542 CAE PNSUM +1
040217,000200: 20,2421 00006 EXTEND
040218,000201: 20,2422 74727 MP KPDN
040219,000202: 20,2423 27745 ADS JZERO +1
040220,000203: 20,2424 54001 TS L
040221,000204: 20,2425 12427 TCF +2
040222,000205: 20,2426 27744 ADS JZERO # (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
040223,000206:
040224,000207: 20,2427 00006 JZSTORE EXTEND # PREPARE JZERO FOR DENOMINATOR LADDER
040225,000208: 20,2430 31745 DCA JZERO # SC.AT B+0 SPASCREV
040226,000209: 20,2431 20001 DDOUBL
040227,000210: 20,2432 20001 DDOUBL
040228,000211: 20,2433 20001 DDOUBL
040229,000212: 20,2434 53727 DXCH J1TMP # SC.AT B-3 SPASCREV
040230,000213:
040231,000214: 20,2435 03125 OPTVARKP TCR OPTVARK # PITCH VARIABLE-GAIN PACKAGE
040232,000215:
040233,000216: 20,2436 00006 POFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
040234,000217: 20,2437 41745 DCS CMDTMP # (GEN3DAP RETURNS AT POFFSET)
040235,000218: 20,2440 53745 DXCH CMDTMP
040236,000219: 20,2441 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
040237,000220: 20,2442 31626 DCA PDELOFF
040238,000221: 20,2443 21745 DAS CMDTMP
040239,000222:
040240,000223: 20,2444 31745 PROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
040241,000224: 20,2445 60000 DOUBLE
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Page 923
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040243,000226: 20,2446 54001 TS L
040244,000227: 20,2447 34714 CAF ZERO
040245,000228: 20,2450 61744 AD CMDTMP
040246,000229:
040247,000230: 20,2451 03145 PACLIM TCR ACTLIM # PITCH ACTUATOR-COMMAND-LIMITER
040248,000231:
040249,000232: 20,2452 41631 POUT CS PCMD # INCREMENTAL PITCH COMMAND
040250,000233: 20,2453 61744 AD CMDTMP
040251,000234: 20,2454 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
040252,000235: # PROTECT, SINCE ERROR CNTR ZEROED)
040253,000236:
040254,000237: 20,2455 34700 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
040255,000238: 20,2456 00006 EXTEND
040256,000239: 20,2457 05014 WOR CHAN14
040257,000240: 20,2460 31466 P2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040258,000241: 20,2461 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040259,000242: 20,2462 10000 CCS A
040260,000243: 20,2463 12466 TCF +3 # USE LEM-ON FILTER
040261,000244: 20,2464 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040262,000245: 20,2465 36250 CADR NP1NODE
040263,000246:
040264,000247:
040265,000248: 20,2466 31742 BZSTORE CAE ERRBTMP # PREPARE BZERO (UPPER WORD OF ERRBTMP)
040266,000249: 20,2467 60000 DOUBLE # FOR NUMERATOR LADDER....SC.AT B-1
040267,000250: 20,2470 55717 TS B1TMP # SC.AT B-2 REVS FOR LADDER
040268,000251:
040269,000252:
040270,000253: 20,2471 00006 PNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
040271,000254: 20,2472 31546 DCA B1 # NUMERATOR LADDER
040272,000255: 20,2473 53721 DXCH B2TMP
040273,000256: 20,2474 00006 EXTEND
040274,000257: 20,2475 31550 DCA B3
040275,000258: 20,2476 53723 DXCH B4TMP
040276,000259: 20,2477 00006 EXTEND
040277,000260: 20,2500 31552 DCA B5
040278,000261: 20,2501 53725 DXCH B6TMP
040279,000262:
040280,000263: 20,2502 03157 PNSUMC TCR NSUM # PITCH NUMERATOR SUM
040281,000264:
040282,000265: 20,2503 00006 PDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
040283,000266: 20,2504 31554 DCA J1 # DENOMINATOR LADDER
040284,000267: 20,2505 53731 DXCH J2TMP
040285,000268: 20,2506 00006 EXTEND
040286,000269: 20,2507 31556 DCA J2
040287,000270: 20,2510 53733 DXCH J3TMP
040288,000271: 20,2511 00006 EXTEND
040289,000272: 20,2512 31560 DCA J3
040290,000273: 20,2513 53735 DXCH J4TMP
040291,000274: 20,2514 00006 EXTEND
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Page 924
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040293,000276: 20,2515 31562 DCA J4
040294,000277: 20,2516 53737 DXCH J5TMP
040295,000278: 20,2517 00006 EXTEND
040296,000279: 20,2520 31564 DCA J5
040297,000280: 20,2521 53741 DXCH J6TMP
040298,000281:
040299,000282: 20,2522 03217 PDSUMC TCR DSUM # PITCH DENOMINATOR SUM
040300,000283:
040301,000284: 20,2523 31744 DELBARP CAE CMDTMP # UPDATE PITCH OFFSET-TRACKER-FILTER
040302,000285: 20,2524 00006 EXTEND # (GEN3DAP RETURNS AT ..DELBARP.. )
040303,000286: 20,2525 73404 MP 1-E(-AT)
040304,000287: 20,2526 53716 DXCH DELBRTMP
040305,000288: 20,2527 31621 CAE DELPBAR
040306,000289: 20,2530 00006 EXTEND
040307,000290: 20,2531 73405 MP E(-AT)
040308,000291: 20,2532 21716 DAS DELBRTMP
040309,000292: 20,2533 31622 CAE DELPBAR +1
040310,000293: 20,2534 00006 EXTEND
040311,000294: 20,2535 73405 MP E(-AT)
040312,000295: 20,2536 27716 ADS DELBRTMP +1
040313,000296: 20,2537 54001 TS L
040314,000297: 20,2540 12542 TCF +2
040315,000298: 20,2541 27715 ADS DELBRTMP
040316,000299:
040317,000300: 20,2542 02544 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
040318,000301:
040319,000302: 20,2543 15222 PDAPEND TCF RESUME # PITCH DAP COMPLETED
040320,000303:
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Page 925
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040322,000305: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
040323,000306:
040324,000307: 20,2544 25654 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
040325,000308: # NOTE POSSIBLE RE-ENTRY FROM RESTART
040326,000309: # PACKAGE, SHOULD A RESTART OCCUR
040327,000310: # DURING PITCH COPYCYCLE.
040328,000311:
040329,000312: 20,2545 00006 NEWB(S) EXTEND # UPDATE PITCH NUMERATOR LADDER FROM
040330,000313: 20,2546 31720 DCA B1TMP # TEMPORARIES
040331,000314: 20,2547 53546 DXCH B1
040332,000315: 20,2550 00006 EXTEND
040333,000316: 20,2551 31722 DCA B3TMP
040334,000317: 20,2552 53550 DXCH B3
040335,000318: 20,2553 00006 EXTEND
040336,000319: 20,2554 31724 DCA B5TMP
040337,000320: 20,2555 53552 DXCH B5
040338,000321:
040339,000322: 20,2556 00006 NEWJ(S) EXTEND # UPDATE PITCH DENOMINATOR LADDER FROM
040340,000323: 20,2557 31727 DCA J1TMP # TEMPORARIES
040341,000324: 20,2560 53554 DXCH J1
040342,000325: 20,2561 00006 EXTEND
040343,000326: 20,2562 31731 DCA J2TMP
040344,000327: 20,2563 53556 DXCH J2
040345,000328: 20,2564 00006 EXTEND
040346,000329: 20,2565 31733 DCA J3TMP
040347,000330: 20,2566 53560 DXCH J3
040348,000331: 20,2567 00006 EXTEND
040349,000332: 20,2570 31735 DCA J4TMP
040350,000333: 20,2571 53562 DXCH J4
040351,000334: 20,2572 00006 EXTEND # (ALSO NP1TMP,+1 TO NP1,+1)
040352,000335: 20,2573 31737 DCA J5TMP
040353,000336: 20,2574 53564 DXCH J5
040354,000337:
040355,000338: 20,2575 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
040356,000339: 20,2576 31743 DCA ERRBTMP
040357,000340: 20,2577 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
040358,000341: 20,2600 53616 DXCH PERRB
040359,000342:
040360,000343: 20,2601 00006 EXTEND # PITCH NUMERATOR SUM
040361,000344: 20,2602 31712 DCA NSUMTMP # (ALSO NP2TMP,+1 TO NP2,+1)
040362,000345: 20,2603 53542 DXCH PNSUM
040363,000346:
040364,000347: 20,2604 00006 EXTEND # PITCH DENOMINATOR SUM
040365,000348: 20,2605 31714 DCA DSUMTMP # (ALSO NP3TMP,+1 TO NP3,+1)
040366,000349: 20,2606 53544 DXCH PDSUM
040367,000350:
040368,000351: 20,2607 31744 CAE CMDTMP # PITCH ACTUATOR COMMAND
040369,000352: 20,2610 55631 TS PCMD
040370,000353:
040371,000354: 20,2611 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
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Page 926
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040373,000356: 20,2612 31716 DCA DELBRTMP
040374,000357: 20,2613 53622 DXCH DELPBAR
040375,000358:
040376,000359: 20,2614 25654 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED
040377,000360:
040378,000361: 20,2615 00002 TC Q
040379,000362:
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Page 927
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040381,000364: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
040382,000365:
040383,000366: 20,2616 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
040384,000367: 20,2617 00006 EXTEND
040385,000368: 20,2620 22012 QXCH QRUPT
040386,000369:
040387,000370: 20,2621 33401 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
040388,000371: 20,2622 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
040389,000372: 20,2623 31635 CAE T5TVCDT
040390,000373: 20,2624 54030 TS TIME5
040391,000374:
040392,000375: 20,2625 11614 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
040393,000376: 20,2626 03471 TC HACK # TEST-START OR TEST-IN-PROGRESS
040394,000377: 20,2627 12631 TCF +2 # NO-TEST
040395,000378: 20,2630 03471 TC HACK # TEST-IN-PROGRESS
040396,000379:
040397,000380: # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
040398,000381:
040399,000382: 20,2631 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
040400,000383: 20,2632 31620 DCA YERRB # ERROR, SC.AT B-1 REVS
040401,000384: 20,2633 53743 DXCH ERRBTMP
040402,000385:
040403,000386: 20,2634 00006 EXTEND
040404,000387: 20,2635 31532 DCA OMEGAZC
040405,000388: 20,2636 21743 DAS ERRBTMP
040406,000389:
040407,000390: 20,2637 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
040408,000391: 20,2640 00006 EXTEND
040409,000392: 20,2641 70742 MP SINCDUX
040410,000393: 20,2642 20001 DDOUBL
040411,000394: 20,2643 00006 EXTEND
040412,000395: 20,2644 71657 MP MCDUYDOT
040413,000396: 20,2645 20001 DDOUBL
040414,000397: 20,2646 53540 DXCH OMEGAZB
040415,000398:
040416,000399: 20,2647 41660 CS MCDUZDOT
040417,000400: 20,2650 00006 EXTEND
040418,000401: 20,2651 70750 MP COSCDUX
040419,000402: 20,2652 20001 DDOUBL
040420,000403: 20,2653 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
040421,000404:
040422,000405: 20,2654 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
040423,000406: 20,2655 41540 DCS OMEGAZB
040424,000407: 20,2656 21743 DAS ERRBTMP
040425,000408:
040426,000409: 20,2657 03112 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
040427,000410:
040428,000411: 20,2660 31466 Y1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040429,000412: 20,2661 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040430,000413:
|
|
Page 928
|
040432,000415: 20,2662 10000 CCS A
040433,000416: 20,2663 12666 TCF +3 # USE LEM-ON FILTER
040434,000417: 20,2664 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040435,000418: 20,2665 36407 CADR NY0NODE
040436,000419:
040437,000420: 20,2666 00006 YFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS
040438,000421: 20,2667 41570 DCS YDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040439,000422: 20,2670 53745 DXCH YZERO
040440,000423:
040441,000424: 20,2671 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
040442,000425: 20,2672 61565 AD YNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
040443,000426: 20,2673 00006 EXTEND
040444,000427: 20,2674 74727 MP KYDN # KYDN, SC.AT B+1 SPASCREV
040445,000428: 20,2675 21745 DAS YZERO
040446,000429: 20,2676 31566 CAE YNSUM +1
040447,000430: 20,2677 00006 EXTEND
040448,000431: 20,2700 74727 MP KYDN
040449,000432: 20,2701 27745 ADS YZERO +1
040450,000433: 20,2702 54001 TS L
040451,000434: 20,2703 12705 TCF +2
040452,000435: 20,2704 27744 ADS YZERO # (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
040453,000436:
040454,000437: 20,2705 00006 YZSTORE EXTEND # PREPARE YZERO FOR DENOMINATOR LADDER
040455,000438: 20,2706 31745 DCA YZERO # SC.AT B+0 SPASCREV
040456,000439: 20,2707 20001 DDOUBL
040457,000440: 20,2710 20001 DDOUBL
040458,000441: 20,2711 20001 DDOUBL
040459,000442: 20,2712 53727 DXCH Y1TMP # SC.AT B-3 SPASCREV
040460,000443:
040461,000444: 20,2713 03125 OPTVARKY TCR OPTVARK # YAW VARIABLE-GAIN PACKAGE
040462,000445:
040463,000446: 20,2714 00006 YOFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
040464,000447: 20,2715 41745 DCS CMDTMP # (GEN3DAP RETURNS AT YOFFSET)
040465,000448: 20,2716 53745 DXCH CMDTMP
040466,000449: 20,2717 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
040467,000450: 20,2720 31630 DCA YDELOFF
040468,000451: 20,2721 21745 DAS CMDTMP
040469,000452:
040470,000453: 20,2722 31745 YROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
040471,000454: 20,2723 60000 DOUBLE
040472,000455: 20,2724 54001 TS L
040473,000456: 20,2725 34714 CAF ZERO
040474,000457: 20,2726 61744 AD CMDTMP
040475,000458:
040476,000459: 20,2727 03145 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
040477,000460:
040478,000461: 20,2730 41632 YOUT CS YCMD # INCREMENTAL YAW COMMAND
040479,000462: 20,2731 61744 AD CMDTMP
040480,000463: 20,2732 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
040481,000464: # PROTECT, SINCE ERROR CNTR ZEROED)
040482,000465:
|
|
Page 929
|
040484,000467: 20,2733 34677 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
040485,000468: 20,2734 00006 EXTEND
040486,000469: 20,2735 05014 WOR CHAN14
040487,000470: 20,2736 31466 Y2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040488,000471: 20,2737 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040489,000472: 20,2740 10000 CCS A
040490,000473: 20,2741 12744 TCF +3 # USE LEM-ON FILTER
040491,000474: 20,2742 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040492,000475: 20,2743 36442 CADR NY1NODE
040493,000476:
040494,000477:
040495,000478: 20,2744 31742 CZSTORE CAE ERRBTMP # PREPARE CZERO (UPPER WORD OF ERRBTMP)
040496,000479: 20,2745 60000 DOUBLE # FOR NUMERATOR LADDER....SC.AT B-1
040497,000480: 20,2746 55717 TS C1TMP # SC.AT B-2 REVS FOR LADDER
040498,000481:
040499,000482:
040500,000483: 20,2747 00006 YNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
040501,000484: 20,2750 31572 DCA C1 # NUMERATOR LADDER
040502,000485: 20,2751 53721 DXCH C2TMP
040503,000486: 20,2752 00006 EXTEND
040504,000487: 20,2753 31574 DCA C3
040505,000488: 20,2754 53723 DXCH C4TMP
040506,000489: 20,2755 00006 EXTEND
040507,000490: 20,2756 31576 DCA C5
040508,000491: 20,2757 53725 DXCH C6TMP
040509,000492:
040510,000493: 20,2760 03157 YNSUMC TCR NSUM # YAW NUMERATOR SUM
040511,000494:
040512,000495:
040513,000496: 20,2761 00006 YDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
040514,000497: 20,2762 31600 DCA Y1 # DENOMINATOR LADDER
040515,000498: 20,2763 53731 DXCH Y2TMP
040516,000499: 20,2764 00006 EXTEND
040517,000500: 20,2765 31602 DCA Y2
040518,000501: 20,2766 53733 DXCH Y3TMP
040519,000502: 20,2767 00006 EXTEND
040520,000503: 20,2770 31604 DCA Y3
040521,000504: 20,2771 53735 DXCH Y4TMP
040522,000505: 20,2772 00006 EXTEND
040523,000506: 20,2773 31606 DCA Y4
040524,000507: 20,2774 53737 DXCH Y5TMP
040525,000508: 20,2775 00006 EXTEND
040526,000509: 20,2776 31610 DCA Y5
040527,000510: 20,2777 53741 DXCH Y6TMP
040528,000511:
040529,000512: 20,3000 03217 YDSUMC TCR DSUM # YAW DENOMINATOR SUM
040530,000513:
040531,000514: 20,3001 31744 DELBARY CAE CMDTMP # UPDATE YAW OFFSET-TRACKER-FILTER
040532,000515: 20,3002 00006 EXTEND # (GEN3DAP RETURNS AT ..DELBARY.. )
040533,000516: 20,3003 73404 MP 1-E(-AT)
|
|
Page 930
|
040535,000518: 20,3004 53716 DXCH DELBRTMP
040536,000519: 20,3005 31623 CAE DELYBAR
040537,000520: 20,3006 00006 EXTEND
040538,000521: 20,3007 73405 MP E(-AT)
040539,000522: 20,3010 21716 DAS DELBRTMP
040540,000523: 20,3011 31624 CAE DELYBAR +1
040541,000524: 20,3012 00006 EXTEND
040542,000525: 20,3013 73405 MP E(-AT)
040543,000526: 20,3014 27716 ADS DELBRTMP +1
040544,000527: 20,3015 54001 TS L
040545,000528: 20,3016 13020 TCF +2
040546,000529: 20,3017 27715 ADS DELBRTMP
040547,000530:
040548,000531: 20,3020 03022 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
040549,000532:
040550,000533: 20,3021 15222 YDAPEND TCF RESUME # YAW DAP COMPLETED
040551,000534:
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|
Page 931
|
040553,000536: # YAW TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
040554,000537:
040555,000538: 20,3022 25654 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
040556,000539: # NOTE POSSIBLE RE-ENTRY FROM RESTART
040557,000540: # PACKAGE, SHOULD A RESTART OCCUR
040558,000541: # DURING YAW COPYCYCLE.
040559,000542:
040560,000543: 20,3023 00006 NEWC(S) EXTEND # UPDATE YAW NUMERATOR LADDER FROM
040561,000544: 20,3024 31720 DCA C1TMP # TEMPORARIES
040562,000545: 20,3025 53572 DXCH C1
040563,000546: 20,3026 00006 EXTEND
040564,000547: 20,3027 31722 DCA C3TMP
040565,000548: 20,3030 53574 DXCH C3
040566,000549: 20,3031 00006 EXTEND
040567,000550: 20,3032 31724 DCA C5TMP
040568,000551: 20,3033 53576 DXCH C5
040569,000552:
040570,000553: 20,3034 00006 NEWY(S) EXTEND # UPDATE YAW DENOMINATOR LADDER FROM
040571,000554: 20,3035 31727 DCA Y1TMP # TEMPORARIES
040572,000555: 20,3036 53600 DXCH Y1
040573,000556: 20,3037 00006 EXTEND
040574,000557: 20,3040 31731 DCA Y2TMP
040575,000558: 20,3041 53602 DXCH Y2
040576,000559: 20,3042 00006 EXTEND
040577,000560: 20,3043 31733 DCA Y3TMP
040578,000561: 20,3044 53604 DXCH Y3
040579,000562: 20,3045 00006 EXTEND
040580,000563: 20,3046 31735 DCA Y4TMP
040581,000564: 20,3047 53606 DXCH Y4
040582,000565: 20,3050 00006 EXTEND # (ALSO NY1TMP,+1 TO NY1,+1)
040583,000566: 20,3051 31737 DCA Y5TMP
040584,000567: 20,3052 53610 DXCH Y5
040585,000568:
040586,000569: 20,3053 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
040587,000570: 20,3054 31743 DCA ERRBTMP
040588,000571: 20,3055 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
040589,000572: 20,3056 53620 DXCH YERRB
040590,000573:
040591,000574: 20,3057 00006 EXTEND # YAW NUMERATOR SUM
040592,000575: 20,3060 31712 DCA NSUMTMP # (ALSO NY2TMP,+1 TO NY2,+1)
040593,000576: 20,3061 53566 DXCH YNSUM
040594,000577:
040595,000578: 20,3062 00006 EXTEND # YAW DENOMINATOR SUM
040596,000579: 20,3063 31714 DCA DSUMTMP # (ALSO NY3TMP,+1 TO NY3,+1)
040597,000580: 20,3064 53570 DXCH YDSUM
040598,000581:
040599,000582: 20,3065 31744 CAE CMDTMP # YAW ACTUATOR COMMAND
040600,000583: 20,3066 55632 TS YCMD
040601,000584:
040602,000585: 20,3067 00006 EXTEND # YAW OFFSET-TRACKER-FILTER
|
|
Page 932
|
040604,000587: 20,3070 31716 DCA DELBRTMP
040605,000588: 20,3071 53624 DXCH DELYBAR
040606,000589:
040607,000590: 20,3072 34714 CAF ZERO # YAW COPYCYCLE COMPLETED
040608,000591: 20,3073 55654 TS TVCPHASE # RESET TVCPHASE
040609,000592:
040610,000593: 20,3074 00002 TC Q
040611,000594:
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|
Page 933
|
040613,000596: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
040614,000597:
040615,000598:
040616,000599: # INITIALIZATION PACKAGE FOR CDURATES....
040617,000600:
040618,000601: 20,3075 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
040619,000602:
040620,000603: 20,3076 37716 CAF NEGONE # SET UP
040621,000604: 20,3077 61635 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
040622,000605: 20,3100 64674 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
040623,000606: 20,3101 61635 AD T5TVCDT
040624,000607: 20,3102 54030 TS TIME5
040625,000608: 20,3103 33401 CAF PITCHT5 # (BBCON ALREADY THERE)
040626,000609: 20,3104 55312 TS T5LOC
040627,000610:
040628,000611: 20,3105 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
040629,000612: 20,3106 55655 TS PCDUYPST # PAST-VALUES
040630,000613: 20,3107 30034 CAE CDUZ
040631,000614: 20,3110 55656 TS PCDUZPST
040632,000615:
040633,000616: 20,3111 15224 TCF NOQRSM
040634,000617:
040635,000618:
040636,000619: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
040637,000620:
040638,000621: 20,3112 31742 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
040639,000622: 20,3113 00006 EXTEND # CHECKS UPPER WORD ONLY
040640,000623: 20,3114 74710 MP 1/ERRLIM
040641,000624: 20,3115 00006 EXTEND
040642,000625: 20,3116 13124 BZF +6
040643,000626: 20,3117 11742 CCS ERRBTMP
040644,000627: 20,3120 34676 CAF ERRLIM
040645,000628: 20,3121 13123 TCF +2
040646,000629: 20,3122 44676 CS ERRLIM
040647,000630: 20,3123 55742 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
040648,000631:
040649,000632: 20,3124 00002 TC Q
040650,000633:
040651,000634:
040652,000635: # VARIABLE-GAIN PACKAGE....
040653,000636:
040654,000637: 20,3125 31744 OPTVARK CAE CMDTMP # VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
040655,000638: 20,3126 00006 EXTEND # JZERO OR YZERO
040656,000639: 20,3127 71651 MP VARK # VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
040657,000640: 20,3130 53745 DXCH CMDTMP
040658,000641: 20,3131 22000 LXCH A # LO-ORDER WORD OF INPUT CMDTMP
040659,000642: 20,3132 00006 EXTEND
040660,000643: 20,3133 71651 MP VARK
040661,000644: 20,3134 27745 ADS CMDTMP +1
040662,000645: 20,3135 54001 TS L
|
|
Page 934
|
040664,000647: 20,3136 13140 TCF +2
040665,000648: 20,3137 27744 ADS CMDTMP
040666,000649:
040667,000650: 20,3140 53745 DXCH CMDTMP # FIX UP SCALING
040668,000651: 20,3141 20001 DDOUBL
040669,000652: 20,3142 20001 DDOUBL
040670,000653: 20,3143 53745 DXCH CMDTMP
040671,000654:
040672,000655: 20,3144 00002 TC Q
040673,000656:
040674,000657:
040675,000658: # ACTUATOR-COMMAND LIMITER PACKAGE....
040676,000659:
040677,000660: 20,3145 00006 ACTLIM EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
040678,000661: 20,3146 73400 MP 1/ACTSAT
040679,000662: 20,3147 00006 EXTEND
040680,000663: 20,3150 13156 BZF +6
040681,000664: 20,3151 11744 CCS CMDTMP # APPLY LIMITS
040682,000665: 20,3152 33377 CAF ACTSAT
040683,000666: 20,3153 13155 TCF +2
040684,000667: 20,3154 43377 CS ACTSAT
040685,000668: 20,3155 55744 TS CMDTMP # LIMITS WRITE OVER CMDTMP
040686,000669:
040687,000670: 20,3156 00002 TC Q
040688,000671:
040689,000672:
040690,000673: # NUMERATOR-SUM COMPUTATION....
040691,000674:
040692,000675: 20,3157 31717 NSUM CAE B1TMP # PREPARE NUMERATOR SUM, SCALING IS AT
040693,000676: 20,3160 00006 EXTEND # B+0 REVS ( = B+2 X B-2 )
040694,000677: 20,3161 73406 MP N1
040695,000678: 20,3162 53712 DXCH NSUMTMP
040696,000679:
040697,000680: 20,3163 31720 CAE B2TMP
040698,000681: 20,3164 00006 EXTEND
040699,000682: 20,3165 73407 MP N2
040700,000683: 20,3166 21712 DAS NSUMTMP
040701,000684:
040702,000685: 20,3167 31721 CAE B3TMP
040703,000686: 20,3170 00006 EXTEND
040704,000687: 20,3171 73410 MP N3
040705,000688: 20,3172 21712 DAS NSUMTMP
040706,000689:
040707,000690: 20,3173 31722 CAE B4TMP
040708,000691: 20,3174 00006 EXTEND
040709,000692: 20,3175 73411 MP N4
040710,000693: 20,3176 21712 DAS NSUMTMP
040711,000694:
040712,000695: 20,3177 31723 CAE B5TMP
040713,000696: 20,3200 00006 EXTEND
|
|
Page 935
|
040715,000698: 20,3201 73412 MP N5
040716,000699: 20,3202 21712 DAS NSUMTMP
040717,000700:
040718,000701: 20,3203 31724 CAE B6TMP
040719,000702: 20,3204 00006 EXTEND
040720,000703: 20,3205 73413 MP N6
040721,000704: 20,3206 21712 DAS NSUMTMP
040722,000705:
040723,000706: 20,3207 31725 CAE B7TMP
040724,000707: 20,3210 00006 EXTEND
040725,000708: 20,3211 73414 MP N7
040726,000709: 20,3212 21712 DAS NSUMTMP
040727,000710:
040728,000711: 20,3213 53712 NSUMSC DXCH NSUMTMP # FIX UP SCALING (NOW AT B+0 REVS)
040729,000712: 20,3214 20001 DDOUBL
040730,000713: 20,3215 53712 DXCH NSUMTMP # SC.AT B-1 REV
040731,000714:
040732,000715: 20,3216 00002 TC Q
040733,000716:
040734,000717:
040735,000718: # DENOMINATOR-SUM COMPUTATION....
040736,000719:
040737,000720: 20,3217 31726 DSUM CAE J1TMP # PREPARE DENOMINATOR SUM, SCALED
040738,000721: 20,3220 00006 EXTEND # AT B+1 SPASCREVS ( = B+4 X B-3 )
040739,000722: 20,3221 73415 MP D1 # (J1TMP = J,YZERO, SC.AT B-3 REVS)
040740,000723: 20,3222 53714 DXCH DSUMTMP
040741,000724: 20,3223 31726 CAE J1TMP
040742,000725: 20,3224 00006 EXTEND
040743,000726: 20,3225 73416 MP D1 +1
040744,000727: 20,3226 27714 ADS DSUMTMP +1
040745,000728: 20,3227 54001 TS L
040746,000729: 20,3230 13232 TCF +2
040747,000730: 20,3231 27713 ADS DSUMTMP
040748,000731: 20,3232 31727 CAE J1TMP +1
040749,000732: 20,3233 00006 EXTEND
040750,000733: 20,3234 73415 MP D1
040751,000734: 20,3235 27714 ADS DSUMTMP +1
040752,000735: 20,3236 54001 TS L
040753,000736: 20,3237 13241 TCF +2
040754,000737: 20,3240 27713 ADS DSUMTMP
040755,000738:
040756,000739: 20,3241 31730 D2J2 CAE J2TMP
040757,000740: 20,3242 00006 EXTEND
040758,000741: 20,3243 73417 MP D2
040759,000742: 20,3244 21714 DAS DSUMTMP
040760,000743: 20,3245 31730 CAE J2TMP
040761,000744: 20,3246 00006 EXTEND
040762,000745: 20,3247 73420 MP D2 +1
040763,000746: 20,3250 27714 ADS DSUMTMP +1
040764,000747: 20,3251 54001 TS L
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|
Page 936
|
040766,000749: 20,3252 13254 TCF +2
040767,000750: 20,3253 27713 ADS DSUMTMP
040768,000751: 20,3254 31731 CAE J2TMP +1
040769,000752: 20,3255 00006 EXTEND
040770,000753: 20,3256 73417 MP D2
040771,000754: 20,3257 27714 ADS DSUMTMP +1
040772,000755: 20,3260 54001 TS L
040773,000756: 20,3261 13263 TCF +2
040774,000757: 20,3262 27713 ADS DSUMTMP
040775,000758:
040776,000759: 20,3263 31732 D3J3 CAE J3TMP
040777,000760: 20,3264 00006 EXTEND
040778,000761: 20,3265 73421 MP D3
040779,000762: 20,3266 21714 DAS DSUMTMP
040780,000763: 20,3267 31732 CAE J3TMP
040781,000764: 20,3270 00006 EXTEND
040782,000765: 20,3271 73422 MP D3 +1
040783,000766: 20,3272 27714 ADS DSUMTMP +1
040784,000767: 20,3273 54001 TS L
040785,000768: 20,3274 13276 TCF +2
040786,000769: 20,3275 27713 ADS DSUMTMP
040787,000770: 20,3276 31733 CAE J3TMP +1
040788,000771: 20,3277 00006 EXTEND
040789,000772: 20,3300 73421 MP D3
040790,000773: 20,3301 27714 ADS DSUMTMP +1
040791,000774: 20,3302 54001 TS L
040792,000775: 20,3303 13305 TCF +2
040793,000776: 20,3304 27713 ADS DSUMTMP
040794,000777:
040795,000778: 20,3305 31734 D4J4 CAE J4TMP
040796,000779: 20,3306 00006 EXTEND
040797,000780: 20,3307 73423 MP D4
040798,000781: 20,3310 21714 DAS DSUMTMP
040799,000782: 20,3311 31734 CAE J4TMP
040800,000783: 20,3312 00006 EXTEND
040801,000784: 20,3313 73424 MP D4 +1
040802,000785: 20,3314 27714 ADS DSUMTMP +1
040803,000786: 20,3315 54001 TS L
040804,000787: 20,3316 13320 TCF +2
040805,000788: 20,3317 27713 ADS DSUMTMP
040806,000789: 20,3320 31735 CAE J4TMP +1
040807,000790: 20,3321 00006 EXTEND
040808,000791: 20,3322 73423 MP D4
040809,000792: 20,3323 27714 ADS DSUMTMP +1
040810,000793: 20,3324 54001 TS L
040811,000794: 20,3325 13327 TCF +2
040812,000795: 20,3326 27713 ADS DSUMTMP
040813,000796:
040814,000797: 20,3327 31736 D5J5 CAE J5TMP
040815,000798: 20,3330 00006 EXTEND
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Page 937
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040817,000800: 20,3331 73425 MP D5
040818,000801: 20,3332 21714 DAS DSUMTMP
040819,000802: 20,3333 31736 CAE J5TMP
040820,000803: 20,3334 00006 EXTEND
040821,000804: 20,3335 73426 MP D5 +1
040822,000805: 20,3336 27714 ADS DSUMTMP +1
040823,000806: 20,3337 54001 TS L
040824,000807: 20,3340 13342 TCF +2
040825,000808: 20,3341 27713 ADS DSUMTMP
040826,000809: 20,3342 31737 CAE J5TMP +1
040827,000810: 20,3343 00006 EXTEND
040828,000811: 20,3344 73425 MP D5
040829,000812: 20,3345 27714 ADS DSUMTMP +1
040830,000813: 20,3346 54001 TS L
040831,000814: 20,3347 13351 TCF +2
040832,000815: 20,3350 27713 ADS DSUMTMP
040833,000816:
040834,000817: 20,3351 31740 D6J6 CAE J6TMP
040835,000818: 20,3352 00006 EXTEND
040836,000819: 20,3353 73427 MP D6
040837,000820: 20,3354 21714 DAS DSUMTMP
040838,000821: 20,3355 31740 CAE J6TMP
040839,000822: 20,3356 00006 EXTEND
040840,000823: 20,3357 73430 MP D6 +1
040841,000824: 20,3360 27714 ADS DSUMTMP +1
040842,000825: 20,3361 54001 TS L
040843,000826: 20,3362 13364 TCF +2
040844,000827: 20,3363 27713 ADS DSUMTMP
040845,000828: 20,3364 31741 CAE J6TMP +1
040846,000829: 20,3365 00006 EXTEND
040847,000830: 20,3366 73427 MP D6
040848,000831: 20,3367 27714 ADS DSUMTMP +1
040849,000832: 20,3370 54001 TS L
040850,000833: 20,3371 13373 TCF +2
040851,000834: 20,3372 27713 ADS DSUMTMP
040852,000835:
040853,000836: 20,3373 53714 DSUMSC DXCH DSUMTMP # FIX UP SCALING (NOW AT B+1 SPASCREV)
040854,000837: 20,3374 20001 DDOUBL
040855,000838: 20,3375 53714 DXCH DSUMTMP # SC.AT B+0 SPASCREV
040856,000839:
040857,000840: 20,3376 00002 TC Q
040858,000841:
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Page 938
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040860,000843: # CONSTANTS FOR AUTOPILOTS
040861,000844:
040862,000845:
040863,000846: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
040864,000847:
040865,000848: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
040866,000849:
040867,000850: 20,3377 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
040868,000851: 20,3400 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
040869,000852:
040870,000853: 20,3401 4676 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
040871,000854: 20,3401 4710 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
040872,000855:
040873,000856: 20,3401 4727 KPDN = DEC45 # DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
040874,000857: 20,3401 4727 KYDN = KPDN # SPASCREV (FOR DEC45 BITS EXACTLY)
040875,000858: # KPDN = .005747 DEG/DEG
040876,000859: # SCALED KPDN = DEC45
040877,000860: # 1SPASCREV = KPDN(B+14)/(2X45)
040878,000861: # = 1.04620942 REVS
040879,000862:
040880,000863:
040881,000864: 20,3401 02326 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
040882,000865: 20,3402 03075 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
040883,000866: 20,3403 02616 YAWT5 GENADR YAWDAP # REQUIRED.
040884,000867:
040885,000868:
040886,000869: 20,3404 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
040887,000870: 20,3405 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
040888,000871:
040889,000872: 20,3406 50166 N1 DEC -2.9708385 B-2 # NUMERATOR COEFS (CSM/LEM), SC.AT B+2
040890,000873: 20,3407 31436 N2 DEC 3.1947342 B-2
040891,000874: 20,3410 74561 N3 DEC -0.40962906 B-2
040892,000875: 20,3411 53277 N4 DEC -2.5780275 B-2
040893,000876: 20,3412 27550 N5 DEC 2.9629319 B-2
040894,000877: 20,3413 63725 N6 DEC -1.5101470 B-2
040895,000878: 20,3414 02400 N7 DEC 0.31243224 B-2
040896,000879:
040897,000880: 20,3415 66341 54237 D1 2DEC -4.7798977 B-4 # DENOMINATOR COEFS (CSM/LEM), SC.AT B+4
040898,000881:
040899,000882: 20,3417 22707 36641 D2 2DEC 9.4452763 B-4
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Page 939
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040901,000884: 20,3421 54220 40714 D3 2DEC -9.8593475 B-4
040902,000885: 20,3423 13344 21146 D4 2DEC 5.7231811 B-4
040903,000886: 20,3425 74401 61760 D5 2DEC -1.7484750 B-4
040904,000887: 20,3427 00340 23073 D6 2DEC 0.21933335 B-4
End of include-file TVCDAPS.agc. Parent file is MAIN.agc