Source Code
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These source-code files are part of a reconstructed copy of Comanche 44, the
initial release (though not the final mission release) of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases
were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 44, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 51
(separately previously reconstructed from an Apollo-era listing of Comanche 55,
flown on Apollo 11). Comanche 51 source code was then modified
by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed
Comanche 44 source code was verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code match those on the Comanche 55 printout,
although the source code would likely have different page numbers in a contemporary
Comanche 44 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced
in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the
explanatory annotations, there is also
a step-by-step commentary about the reconstruction process.
Comments expected to have been present in the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
Project's GitHub repository.
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045206,000002: ## Copyright: Public domain.
045207,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
045208,000004: ## Purpose: A section of Comanche revision 044.
045209,000005: ## It is part of the reconstructed source code for the
045210,000006: ## original release of the flight software for the Command
045211,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
045212,000008: ## The code has been recreated from a copy of Comanche 055. It
045213,000009: ## has been adapted such that the resulting bugger words
045214,000010: ## exactly match those specified for Comanche 44 in NASA drawing
045215,000011: ## 2021153D, which gives relatively high confidence that the
045216,000012: ## reconstruction is correct.
045217,000013: ## Assembler: yaYUL
045218,000014: ## Contact: Ron Burkey <info@sandroid.org>.
045219,000015: ## Website: www.ibiblio.org/apollo/index.html
045220,000016: ## Mod history: 2020-12-03 MAS Created from Comanche 51.
045221,000017:
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Page 1025
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045223,000019: 21,3250 BANK 21
045224,000020: 21,2000 SETLOC DAPS3
045225,000021: 21,2000 BANK
045226,000022:
045227,000023: 21,3250 COUNT 21/DAPAM
045228,000024:
045229,000025: 21,3250 E6,1510 EBANK= KMPAC
045230,000026: 21,3250 00006 AHFNOROT EXTEND
045231,000027: 21,3251 00031 READ CHAN31
045232,000028: 21,3252 75002 MASK BIT14
045233,000029: 21,3253 00006 EXTEND
045234,000030: 21,3254 63272 BZMF FREECONT
045235,000031: 21,3255 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
045236,000032: 21,3256 75002 MASK BIT14
045237,000033: 21,3257 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
045238,000034: 21,3260 12534 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
045239,000035: # AUTOMATIC CONTROL YET
045240,000036: 21,3261 00006 EXTEND
045241,000037: 21,3262 00031 READ CHAN31
045242,000038: 21,3263 75003 MASK BIT13
045243,000039: 21,3264 00006 EXTEND
045244,000040: 21,3265 63372 BZMF HOLDFUNC
045245,000041:
045246,000042: 21,3266 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
045247,000043: 21,3267 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
045248,000044: 21,3270 63322 BZMF ATTHOLD
045249,000045: 21,3271 13376 TCF GRABANG
045250,000046:
045251,000047: # MINIMUM IMPULSE CONTROL
045252,000048:
045253,000049: 21,3272 35017 FREECONT CAF ONE
045254,000050: 21,3273 55332 TS HOLDFLAG # RESET HOLDFLAG
045255,000051: # INHIBIT AUTOMATIC STEERING
045256,000052: 21,3274 00006 EXTEND
045257,000053: 21,3275 00032 READ CHAN32
045258,000054: 21,3276 54001 TS L
045259,000055: 21,3277 40000 COM
045260,000056: 21,3300 73036 MASK MANROT
045261,000057: 21,3301 71633 MASK CHANTEMP
045262,000058: 21,3302 23633 LXCH CHANTEMP
045263,000059: 21,3303 03130 TC STICKCHK
045264,000060: 21,3304 51656 INDEX RMANNDX
045265,000061: 21,3305 33316 CA MINTAU # MINTAU +0
045266,000062: 21,3306 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
045267,000063: 21,3307 51657 INDEX PMANNDX # +2 -14MS TIME
045268,000064: 21,3310 33316 CA MINTAU # +3 +0
045269,000065: 21,3311 55562 TS TAU1
045270,000066: 21,3312 51660 INDEX YMANNDX
045271,000067: 21,3313 33316 CA MINTAU
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Page 1026
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045273,000069: 21,3314 55563 TS TAU2
045274,000070: 21,3315 13067 TCF T6PROGM
045275,000071:
045276,000072: 21,3316 00000 MINTAU DEC 0 B-14
045277,000073: 21,3317 00027 DEC 23 B-14 # = 14MS
045278,000074: 21,3320 77750 DEC -23 B-14 # = -14MS
045279,000075: 21,3321 00000 DEC 0 B-14
045280,000076:
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Page 1027
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045282,000078: # CALCULATION OF ATTITUDE ERRORS-
045283,000079: # - * - - -
045284,000080: # AK = AMGB (CDUX - THETADX) + BIAS
045285,000081:
045286,000082: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
045287,000083: # * * * ** * * *
045288,000084: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
045289,000085: # * * * ** * * *
045290,000086: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
045291,000087:
045292,000088: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
045293,000089: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
045294,000090: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
045295,000091: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
045296,000092:
045297,000093: 21,3322 30032 ATTHOLD CA CDUX
045298,000094: 21,3323 00006 EXTEND
045299,000095: 21,3324 21572 MSU THETADX
045300,000096: 21,3325 55567 TS ERRORX
045301,000097: 21,3326 30033 CA CDUY
045302,000098: 21,3327 00006 EXTEND
045303,000099: 21,3330 21573 MSU THETADY
045304,000100: 21,3331 55502 TS T5TEMP
045305,000101: 21,3332 00006 EXTEND
045306,000102: 21,3333 71640 MP AMGB1
045307,000103: 21,3334 27567 ADS ERRORX
045308,000104: 21,3335 31502 CA T5TEMP
045309,000105: 21,3336 00006 EXTEND
045310,000106: 21,3337 71641 MP AMGB4
045311,000107: 21,3340 55570 TS ERRORY
045312,000108: 21,3341 31502 CA T5TEMP
045313,000109: 21,3342 00006 EXTEND
045314,000110: 21,3343 71643 MP AMGB7
045315,000111: 21,3344 55571 TS ERRORZ
045316,000112: 21,3345 30034 CA CDUZ
045317,000113: 21,3346 00006 EXTEND
045318,000114: 21,3347 21574 MSU THETADZ
045319,000115: 21,3350 55502 TS T5TEMP
045320,000116: 21,3351 00006 EXTEND
045321,000117: 21,3352 71642 MP AMGB5
045322,000118: 21,3353 27570 ADS ERRORY
045323,000119: 21,3354 31502 CA T5TEMP
045324,000120: 21,3355 00006 EXTEND
045325,000121: 21,3356 71644 MP AMGB8
045326,000122: 21,3357 27571 ADS ERRORZ
045327,000123: 21,3360 41332 CS HOLDFLAG
045328,000124: 21,3361 00006 EXTEND
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Page 1028
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045330,000126: 21,3362 63441 BZMF JETS
045331,000127: 21,3363 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
045332,000128: 21,3364 27567 ADS ERRORX
045333,000129: 21,3365 31565 CA BIAS1
045334,000130: 21,3366 27570 ADS ERRORY
045335,000131: 21,3367 31566 CA BIAS2
045336,000132: 21,3370 27571 ADS ERRORZ
045337,000133: 21,3371 13441 TCF JETS
045338,000134:
045339,000135: 21,3372 11332 HOLDFUNC CCS HOLDFLAG
045340,000136: 21,3373 13376 TCF +3
045341,000137: 21,3374 13322 TCF ATTHOLD
045342,000138: 21,3375 13376 TCF +1
045343,000139: 21,3376 35021 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
045344,000140: 21,3377 55525 TS WBODY
045345,000141: 21,3400 55526 TS WBODY +1
045346,000142: 21,3401 55527 TS WBODY1
045347,000143: 21,3402 55530 TS WBODY1 +1
045348,000144: 21,3403 55531 TS WBODY2
045349,000145: 21,3404 55532 TS WBODY2 +1
045350,000146: 21,3405 55564 TS BIAS
045351,000147: 21,3406 55565 TS BIAS1
045352,000148: 21,3407 55566 TS BIAS2
045353,000149:
045354,000150: 21,3410 31501 CA RCSFLAGS
045355,000151: 21,3411 73037 MASK OCT16000
045356,000152: 21,3412 00006 EXTEND # IS RATE DAMPING COMPLETED
045357,000153: 21,3413 13421 BZF ENDDAMP # IF SO, GO TO ENDDAMP
045358,000154: 21,3414 35021 CAF ZERO # OTHERWISE, ZERO ERRORS
045359,000155: 21,3415 55567 TS ERRORX
045360,000156: 21,3416 55570 TS ERRORY
045361,000157: 21,3417 55571 TS ERRORZ
045362,000158: 21,3420 13441 TCF JETS
045363,000159:
045364,000160: 21,3421 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
045365,000161: 21,3422 00006 EXTEND
045366,000162: 21,3423 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
045367,000163: 21,3424 53573 DXCH THETADX # REFERENCES
045368,000164: 21,3425 30034 CA CDUZ
045369,000165: 21,3426 55574 TS THETADZ
045370,000166: 21,3427 13322 TCF ATTHOLD
045371,000167:
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Page 1029
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045373,000169: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
045374,000170:
045375,000171: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
045376,000172: # PLANE.
045377,000173:
045378,000174: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
045379,000175: # APPROPRIATE DEADZONE.
045380,000176:
045381,000177: # .
045382,000178: # R22 RATE . ERROR
045383,000179: # WL+H .
045384,000180: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
045385,000181: # R23 WL * .
045386,000182: # --------------------------------- * . ----- DESIRED RATE LINES
045387,000183: # R23 WL-H - *.
045388,000184: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
045389,000185: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
045390,000186: # * . *
045391,000187: # *- . *
045392,000188: # R22 R24*- R23 . *
045393,000189: # *- . *
045394,000190: # * . *
045395,000191: # + -ADB . * AF ATTITUDE
045396,000192: # .........................+--+---------------+--+........................
045397,000193: # AF * . +ADB + ERROR
045398,000194: # * . *
045399,000195: # * . -*
045400,000196: # * . -*
045401,000197: # * . -*
045402,000198: # * . *
045403,000199: # *. - *
045404,000200: # . - *****************
045405,000201: # .* -
045406,000202: # . * --------------------------------
045407,000203: # . *
045408,000204: # . ********************************
045409,000205: # .
045410,000206: # FIG. 1 PHASE PLANE SWITCHING LOGIC
045411,000207:
045412,000208: # CONSTANTS FOR JET SWITCHING LOGIC
045413,000209:
045414,000210: 21,3430 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
045415,000211: 21,3431 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
045416,000212: 21,3432 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
045417,000213:
045418,000214: 21,3434 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
045419,000215:
045420,000216: 21,3436 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
045421,000217:
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Page 1030
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045423,000219: 21,3440 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
045424,000220: 21,3441 31655 JETS CA ADB
045425,000221: 21,3442 65015 AD FOUR # AF = FLAT REGION = .044 DEG
045426,000222: 21,3443 55502 TS T5TEMP # ADB+AF
045427,000223: 21,3444 35016 CAF TWO
045428,000224: 21,3445 55506 JLOOP TS SPNDX
045429,000225: 21,3446 60000 DOUBLE
045430,000226: 21,3447 55507 TS DPNDX
045431,000227: 21,3450 00006 EXTEND
045432,000228: 21,3451 50000 INDEX A
045433,000229: 21,3452 31534 DCA ADOT
045434,000230: 21,3453 53516 DXCH EDOT
045435,000231: 21,3454 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
045436,000232: 21,3455 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
045437,000233: 21,3456 13463 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
045438,000234: # OF WBODY AND GO TO INHOLD
045439,000235: 21,3457 00006 EXTEND
045440,000236: 21,3460 51507 INDEX DPNDX
045441,000237: 21,3461 41526 DCS WBODY
045442,000238: 21,3462 21516 DAS EDOT # = ADOT-WBODY
045443,000239: 21,3463 51506 INHOLD INDEX SPNDX
045444,000240: 21,3464 31567 CA ERRORX
045445,000241: 21,3465 55517 TS AERR # AERR = BIAS + AK
045446,000242:
045447,000243: 21,3466 11515 CCS EDOT
045448,000244: 21,3467 13477 TCF POSVEL
045449,000245: 21,3470 13472 TCF SIGNCK1
045450,000246: 21,3471 13507 TCF NEGVEL
045451,000247: 21,3472 11516 SIGNCK1 CCS EDOT +1
045452,000248: 21,3473 13477 TCF POSVEL
045453,000249: 21,3474 13477 TCF POSVEL
045454,000250: 21,3475 13507 TCF NEGVEL
045455,000251: 21,3476 13507 TCF NEGVEL
045456,000252: 21,3477 00006 POSVEL EXTEND
045457,000253: 21,3500 31516 DCA EDOT
045458,000254: 21,3501 53521 DXCH EDOTVEL
045459,000255: 21,3502 31502 CA T5TEMP
045460,000256: 21,3503 55523 TS ADBVEL # +(ADB+AF)
045461,000257: 21,3504 31517 CA AERR
045462,000258: 21,3505 55522 TS AERRVEL
045463,000259: 21,3506 03516 TC J6.
045464,000260: 21,3507 00006 NEGVEL EXTEND
045465,000261: 21,3510 41516 DCS EDOT
045466,000262: 21,3511 53521 DXCH EDOTVEL
045467,000263: 21,3512 41502 CS T5TEMP
045468,000264: 21,3513 55523 TS ADBVEL # -(ADB+AF)
045469,000265: 21,3514 41517 CS AERR
045470,000266: 21,3515 55522 TS AERRVEL
045471,000267:
045472,000268: 21,3516 00006 J6. EXTEND
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Page 1031
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045474,000270: 21,3517 61655 SU ADB
045475,000271: 21,3520 63430 AD WLH/SLOP
045476,000272: 21,3521 00006 EXTEND
045477,000273: 21,3522 63551 BZMF J8
045478,000274:
045479,000275: 21,3523 41502 CS T5TEMP # (ADB+AF)
045480,000276: 21,3524 61522 AD AERRVEL
045481,000277: 21,3525 00006 EXTEND
045482,000278: 21,3526 63530 BZMF +2
045483,000279: 21,3527 13542 TCF J7
045484,000280: 21,3530 00006 EXTEND
045485,000281: 21,3531 41521 DCS EDOTVEL
045486,000282: 21,3532 00006 EXTEND
045487,000283: 21,3533 11654 DV SLOPE
045488,000284: 21,3534 00006 EXTEND
045489,000285: 21,3535 61522 SU AERRVEL
045490,000286: 21,3536 61655 AD ADB
045491,000287: 21,3537 00006 EXTEND
045492,000288: 21,3540 63630 BZMF J18
045493,000289: 21,3541 13704 TCF J23
045494,000290:
045495,000291: 21,3542 43431 J7 CS WL-H/SLP
045496,000292: 21,3543 00006 EXTEND
045497,000293: 21,3544 61502 SU T5TEMP # (ADB+AF)
045498,000294: 21,3545 61522 AD AERRVEL
045499,000295: 21,3546 00006 EXTEND
045500,000296: 21,3547 63634 BZMF J20
045501,000297: 21,3550 13645 TCF J21
045502,000298:
045503,000299: 21,3551 00006 J8 EXTEND
045504,000300: 21,3552 43433 DCS WLH
045505,000301: 21,3553 53514 DXCH WTEMP
045506,000302: 21,3554 00006 EXTEND
045507,000303: 21,3555 31521 DCA EDOTVEL
045508,000304: 21,3556 21514 DAS WTEMP
045509,000305: 21,3557 11513 CCS WTEMP
045510,000306: 21,3560 13673 TCF J22
045511,000307: 21,3561 13563 TCF SIGNCK2
045512,000308: 21,3562 13567 TCF NJ22
045513,000309: 21,3563 11514 SIGNCK2 CCS WTEMP +1
045514,000310: 21,3564 13673 TCF J22
045515,000311: 21,3565 13673 TCF J22
045516,000312: 21,3566 13567 TCF NJ22
045517,000313:
045518,000314: 21,3567 00006 NJ22 EXTEND
045519,000315: 21,3570 31521 DCA EDOTVEL
045520,000316: 21,3571 00006 EXTEND
045521,000317: 21,3572 11654 DV SLOPE
045522,000318: 21,3573 61502 AD T5TEMP # (ADB+AF)
045523,000319: 21,3574 61522 AD AERRVEL
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Page 1032
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045525,000321: 21,3575 10000 CCS A
045526,000322: 21,3576 13704 TCF J23
045527,000323: 21,3577 13704 TCF J23
045528,000324: 21,3600 13602 TCF +2
045529,000325: 21,3601 13704 TCF J23
045530,000326:
045531,000327: 21,3602 00006 EXTEND
045532,000328: 21,3603 43435 DCS WLMH # WL - H
045533,000329: 21,3604 53514 DXCH WTEMP
045534,000330: 21,3605 00006 EXTEND
045535,000331: 21,3606 31521 DCA EDOTVEL
045536,000332: 21,3607 21514 DAS WTEMP
045537,000333: 21,3610 11513 CCS WTEMP
045538,000334: 21,3611 13704 TCF J23
045539,000335: 21,3612 13614 TCF SIGNCK3
045540,000336: 21,3613 13620 TCF NJ23
045541,000337: 21,3614 11514 SIGNCK3 CCS WTEMP +1
045542,000338: 21,3615 13704 TCF J23
045543,000339: 21,3616 13704 TCF J23
045544,000340: 21,3617 13620 TCF NJ23
045545,000341:
045546,000342: 21,3620 31522 NJ23 CA AERRVEL
045547,000343: 21,3621 61502 AD T5TEMP # (ADB+AF)
045548,000344: 21,3622 63431 AD WL-H/SLP
045549,000345: 21,3623 10000 CCS A
045550,000346: 21,3624 13716 TCF J24
045551,000347: 21,3625 13716 TCF J24
045552,000348: 21,3626 13673 TCF J22
045553,000349: 21,3627 13673 TCF J22
045554,000350:
045555,000351: 21,3630 00006 J18 EXTEND
045556,000352: 21,3631 41516 DCS EDOT
045557,000353: 21,3632 53511 DXCH KMPAC
045558,000354: 21,3633 13727 TCF JTIME
045559,000355:
045560,000356: 21,3634 41517 J20 CS AERR
045561,000357: 21,3635 61523 AD ADBVEL
045562,000358: 21,3636 00006 EXTEND
045563,000359: 21,3637 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
045564,000360: 21,3640 53511 DXCH KMPAC
045565,000361: 21,3641 00006 EXTEND
045566,000362: 21,3642 41516 DCS EDOT
045567,000363: 21,3643 21511 DAS KMPAC
045568,000364: 21,3644 13727 TCF JTIME
045569,000365:
045570,000366: 21,3645 11515 J21 CCS EDOT
045571,000367: 21,3646 13664 TCF JP
045572,000368: 21,3647 13651 TCF SIGNCK4
045573,000369: 21,3650 13655 TCF JN
045574,000370: 21,3651 11516 SIGNCK4 CCS EDOT +1
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Page 1033
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045576,000372: 21,3652 13664 TCF JP
045577,000373: 21,3653 13664 TCF JP
045578,000374: 21,3654 13655 TCF JN
045579,000375: 21,3655 00006 JN EXTEND
045580,000376: 21,3656 41516 DCS EDOT
045581,000377: 21,3657 53511 DXCH KMPAC
045582,000378: 21,3660 00006 EXTEND
045583,000379: 21,3661 33437 DCA WL
045584,000380: 21,3662 21511 DAS KMPAC
045585,000381: 21,3663 13727 TCF JTIME
045586,000382:
045587,000383: 21,3664 00006 JP EXTEND
045588,000384: 21,3665 41516 DCS EDOT
045589,000385: 21,3666 53511 DXCH KMPAC
045590,000386: 21,3667 00006 EXTEND
045591,000387: 21,3670 43437 DCS WL
045592,000388: 21,3671 21511 DAS KMPAC
045593,000389: 21,3672 13727 TCF JTIME
045594,000390:
045595,000391: 21,3673 11515 J22 CCS EDOT
045596,000392: 21,3674 13655 TCF JN
045597,000393: 21,3675 13677 TCF SIGNCK5
045598,000394: 21,3676 13664 TCF JP
045599,000395: 21,3677 11516 SIGNCK5 CCS EDOT +1
045600,000396: 21,3700 13655 TCF JN
045601,000397: 21,3701 13655 TCF JN
045602,000398: 21,3702 13664 TCF JP
045603,000399: 21,3703 13664 TCF JP
045604,000400:
045605,000401: 21,3704 51506 J23 INDEX SPNDX
045606,000402: 21,3705 45003 CS BIT13 # RESET RATE DAMPING FLAG
045607,000403: 21,3706 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
045608,000404: 21,3707 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
045609,000405: # BIT11 FOR YAW (SPNDX = 2)
045610,000406:
045611,000407: 21,3710 51506 INDEX SPNDX
045612,000408: 21,3711 33033 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
045613,000409: 21,3712 71501 MASK RCSFLAGS # AXIS
045614,000410: 21,3713 00006 EXTEND
045615,000411: 21,3714 13750 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
045616,000412:
045617,000413: 21,3715 13630 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
045618,000414:
045619,000415: 21,3716 41517 J24 CS AERR
045620,000416: 21,3717 00006 EXTEND
045621,000417: 21,3720 61523 SU ADBVEL
045622,000418: 21,3721 00006 EXTEND
045623,000419: 21,3722 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
045624,000420: 21,3723 53511 DXCH KMPAC
045625,000421: 21,3724 00006 EXTEND
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|
Page 1034
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045627,000423: 21,3725 41516 DCS EDOT
045628,000424: 21,3726 21511 DAS KMPAC
045629,000425:
|
|
Page 1035
|
045631,000427: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045632,000428:
045633,000429: # T = J/M(DELTA W)
045634,000430: # J
045635,000431:
045636,000432: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045637,000433: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
045638,000434:
045639,000435: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045640,000436: # (57.3/450)(B24/1600)(1/.8)
045641,000437: # FOR 1 JET OPERATION (M = 700 FT-LB).
045642,000438: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
045643,000439:
045644,000440: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045645,000441: # KEYBOARD ENTRY ARE
045646,000442: # J/M (ROLL)
045647,000443: # J/M1 (PITCH)
045648,000444: # J/M2 (YAW)
045649,000445:
045650,000446: # T = JET ON-TIME SCALED 16384/1600 SEC
045651,000447: # J
045652,000448:
045653,000449: # THE COMPUTER VARIABLES ARE
045654,000450: # TAU (ROLL)
045655,000451: # TAU1 (PITCH)
045656,000452: # TAU2 (YAW)
045657,000453:
045658,000454: 21,3727 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
045659,000455: 21,3730 31623 CA J/M # SCALED (57.3/450)(B24/1600)
045660,000456: 21,3731 02042 TC SMALLMP # FOR 1-JET OPERATION
045661,000457: 21,3732 35005 CA BIT11
045662,000458: 21,3733 02042 TC SMALLMP
045663,000459: 21,3734 11510 CCS KMPAC
045664,000460: 21,3735 13741 TCF +4
045665,000461: 21,3736 13745 TCF TAUNORM
045666,000462: 21,3737 13743 TCF +4
045667,000463: 21,3740 13745 TCF TAUNORM
045668,000464: 21,3741 34777 CA POSMAX
045669,000465: 21,3742 13746 TCF DOJET
045670,000466: 21,3743 35001 CA NEGMAX
045671,000467: 21,3744 13746 TCF DOJET
045672,000468:
045673,000469: 21,3745 31511 TAUNORM CA KMPAC +1
045674,000470: 21,3746 51506 DOJET INDEX SPNDX
045675,000471: 21,3747 55561 TS TAU
045676,000472: 21,3750 11506 CCS SPNDX
045677,000473: 21,3751 13445 TCF JLOOP
045678,000474: 21,3752 13757 TCF T6PROG
045679,000475:
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Page 1036
|
045681,000477: 21,3753 35021 ZEROCMDS CAF ZERO
045682,000478: 21,3754 55561 TS TAU
045683,000479: 21,3755 55562 TS TAU1
045684,000480: 21,3756 55563 TS TAU2
045685,000481: 21,3757 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
045686,000482: 21,3760 33764 DCA JETADDR # HAVE BEEN DETERMINED
045687,000483: 21,3761 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
045688,000484: 21,3762 15333 TCF RESUME
045689,000485:
045690,000486: 21,3763 E6,1510 EBANK= KMPAC
045691,000487: 21,3763 02552 36066 JETADDR 2CADR JETSLECT
045692,000488:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc