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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046684,000002: ## Copyright: Public domain.
046685,000003: ## Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
046686,000004: ## Purpose: A section of Comanche revision 044.
046687,000005: ## It is part of the reconstructed source code for the
046688,000006: ## original release of the flight software for the Command
046689,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
046690,000008: ## The code has been recreated from a copy of Comanche 055. It
046691,000009: ## has been adapted such that the resulting bugger words
046692,000010: ## exactly match those specified for Comanche 44 in NASA drawing
046693,000011: ## 2021153D, which gives relatively high confidence that the
046694,000012: ## reconstruction is correct.
046695,000013: ## Assembler: yaYUL
046696,000014: ## Contact: Ron Burkey <info@sandroid.org>.
046697,000015: ## Website: www.ibiblio.org/apollo/index.html
046698,000016: ## Mod history: 2020-12-03 MAS Created from Comanche 51.
046699,000017:
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Page 1063
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046701,000019: # SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046702,000020: # DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC.
046703,000021:
046704,000022: # CM/DSTBY = 1 FOR DAP OPERATION
046705,000023: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046706,000024:
046707,000025: 15,2434 BANK 15
046708,000026:
046709,000027: 15,2000 SETLOC ETRYDAP
046710,000028: 15,2000 BANK
046711,000029:
046712,000030: 15,2434 COUNT 15/DAPEN
046713,000031:
046714,000032: 15,2434 E6,1661 EBANK= AOG
046715,000033:
046716,000034: 15,2434 34377 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
046717,000035: 15,2435 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
046718,000036:
046719,000037: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
046720,000038: # PHASCHNG PROTECTION IS IN CM/DAPIC.
046721,000039:
046722,000040: 15,2436 35012 CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
046723,000041: 15,2437 71321 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
046724,000042: 15,2440 00006 EXTEND # GIMBAL DIFFERENCES)
046725,000043: 15,2441 12447 BZF READGYM1 # OK
046726,000044:
046727,000045: 15,2442 45017 CS BIT1 # NOT IN FINE ALIGN, SO IDLE.
046728,000046: 15,2443 70102 MASK CM/FLAGS # SET GYMDIFSW = 0
046729,000047: 15,2444 54102 TS CM/FLAGS
046730,000048: 15,2445 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
046731,000049: 15,2446 02514 TC CM/GYMIC +2
046732,000050:
046733,000051: 15,2447 30032 READGYM1 CA CDUX
046734,000052: 15,2450 57661 XCH AOG
046735,000053: 15,2451 00006 EXTEND
046736,000054: 15,2452 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
046737,000055: 15,2453 55675 TS -DELAOG
046738,000056:
046739,000057: 15,2454 30033 CA CDUY
046740,000058: 15,2455 57662 XCH AIG
046741,000059: 15,2456 00006 EXTEND
046742,000060: 15,2457 21662 MSU AIG
046743,000061: 15,2460 55676 TS -DELAIG
046744,000062:
046745,000063: 15,2461 30034 CA CDUZ
046746,000064: 15,2462 57663 XCH AMG
046747,000065: 15,2463 00006 EXTEND
046748,000066: 15,2464 21663 MSU AMG
046749,000067: 15,2465 55677 TS -DELAMG
046750,000068:
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Page 1064
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046752,000070: 15,2466 40102 DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
046753,000071: 15,2467 76214 MASK THREE
046754,000072: 15,2470 50000 INDEX A
046755,000073: 15,2471 02472 TC +1
046756,000074: 15,2472 02501 TC DOBRATE # OK, GO ON
046757,000075: 15,2473 02512 TC CM/GYMIC # DONT CALC BODYRATE ON FIRST PASS.
046758,000076: 15,2474 12475 NOOP
046759,000077: 15,2475 06000 TC FLUSHJET # TURN OFF ALL JETS
046760,000078:
046761,000079: 15,2476 05412 TC PHASCHNG
046762,000080: 15,2477 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
046763,000081:
046764,000082: 15,2500 05324 TC TASKOVER
046765,000083:
046766,000084: 15,2501 35017 DOBRATE CA ONE # DO BODYRATE
046767,000085: 15,2502 55720 DOBRATE1 TS JETEM # SKIP BODYRATE.
046768,000086:
046769,000087: 15,2503 34377 CA TEN # KEEP CDU READ GOING.
046770,000088: 15,2504 05245 TC WAITLIST
046771,000089: 15,2505 E6,1661 EBANK= AOG
046772,000090: 15,2505 02434 32066 2CADR READGYMB
046773,000091:
046774,000092: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046775,000093:
046776,000094: 15,2507 11720 CCS JETEM
046777,000095: 15,2510 02536 TC BODYRATE
046778,000096: 15,2511 05324 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
046779,000097:
046780,000098: 15,2512 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
046781,000099: 15,2513 35021 CAF ZERO
046782,000100: 15,2514 55711 TS JETAG
046783,000101: 15,2515 55706 TS OLDELP
046784,000102: 15,2516 55707 TS OLDELQ
046785,000103: 15,2517 55710 TS OLDELR
046786,000104: 15,2520 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
046787,000105: 15,2521 02502 TC DOBRATE1
046788,000106:
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Page 1065
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046790,000108: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046791,000109:
046792,000110: 15,2522 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
046793,000111: 15,2523 00002 TC Q # NO OVFL
046794,000112: 15,2524 50000 INDEX A
046795,000113: 15,2525 35000 CAF LIMITS
046796,000114: 15,2526 26001 ADS L
046797,000115: 15,2527 00002 TC Q
046798,000116:
046799,000117: 6000 BLOCK 3
046800,000118:
046801,000119: 6000 COUNT 03/DAPEN
046802,000120:
046803,000121: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
046804,000122: 6001 00006 EXTEND
046805,000123: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
046806,000124: 6003 00006 EXTEND
046807,000125: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
046808,000126: 6005 00002 TC Q
046809,000127:
046810,000128: 15,2530 BANK 15
046811,000129:
046812,000130: 15,2530 COUNT 15/DAPEN
046813,000131:
046814,000132: 15,2000 SETLOC ETRYDAP
046815,000133: 15,2000 BANK
046816,000134:
046817,000135: 15,2530 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046818,000136: 15,2531 61720 AD JETEM # OF CONSTANT ACCELERATION.
046819,000137: 15,2532 00006 EXTEND
046820,000138: 15,2533 75002 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
046821,000139: 15,2534 61720 AD JETEM
046822,000140: 15,2535 00002 TC Q
046823,000141:
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Page 1066
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046825,000143: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046826,000144:
046827,000145: 20,3612 BANK 20
046828,000146: 20,2000 SETLOC DAPS1
046829,000147: 20,2000 BANK
046830,000148:
046831,000149: 20,3612 COUNT 20/DAPEN
046832,000150: 20,3612 E6,1661 EBANK= AOG
046833,000151:
046834,000152: 20,3612 35057 CM/DAPON CA EBAOG
046835,000153: 20,3613 54003 TS EBANK
046836,000154:
046837,000155: 20,3614 05560 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
046838,000156: 20,3615 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
046839,000157: 20,3616 05560 TC DOWNFLAG # RESET DAPBIT2
046840,000158: 20,3617 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
046841,000159: 20,3620 00006 EXTEND
046842,000160: 20,3621 33737 DCA T5IDLER1 # DISABLE RCS CALCULATION
046843,000161: 20,3622 53313 DXCH T5LOC
046844,000162: 20,3623 00006 EXTEND
046845,000163: 20,3624 33737 DCA T5IDLER1 # DISABLE RCS JET CALLS
046846,000164: 20,3625 53311 DXCH T6LOC
046847,000165:
046848,000166: 20,3626 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
046849,000167:
046850,000168: 20,3627 47707 CS 13,14,15
046851,000169: 20,3630 71466 MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
046852,000170: 20,3631 55466 TS DAPDATR1
046853,000171: 20,3632 03636 TC +4
046854,000172:
046855,000173: 20,3633 35036 NOTYET CA .5SEC
046856,000174: 20,3634 04662 TC BANKCALL
046857,000175: 20,3635 01732 CADR DELAYJOB # (DELAYJOB DOES INHINT)
046858,000176: 20,3636 35005 +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0
046859,000177: 20,3637 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046860,000178: 20,3640 00006 EXTEND
046861,000179: 20,3641 13633 BZF NOTYET
046862,000180:
046863,000181: 20,3642 45017 CS ONE # ACTIVATE CM/DAP
046864,000182: 20,3643 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
046865,000183: # NEXT PASS.
046866,000184: 20,3644 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
046867,000185: # HEADSUP IS SET IN P62.
046868,000186:
046869,000187: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046870,000188:
046871,000189: 20,3645 30007 CA 7
046872,000190: 20,3646 55711 TS JETAG
046873,000191: 20,3647 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
046874,000192: # IN CASE CMDAPMOD IS NOT +1.
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Page 1067
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046876,000194: 20,3650 00004 INHINT
046877,000195: 20,3651 00006 EXTEND
046878,000196: 20,3652 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
046879,000197: 20,3653 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
046880,000198: 20,3654 31664 CA ROLL/180
046881,000199: 20,3655 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
046882,000200: 20,3656 00006 EXTEND
046883,000201: 20,3657 75002 MP HALF
046884,000202: 20,3660 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
046885,000203:
046886,000204: 20,3661 40102 CS CM/FLAGS
046887,000205: 20,3662 75004 MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
046888,000206: 20,3663 26102 ADS CM/FLAGS # SET BIT TO 1.
046889,000207:
046890,000208: 20,3664 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
046891,000209: 20,3665 75017 MASK BIT1 # V 37 ENTRIES.
046892,000210: 20,3666 26076 ADS FLAGWRD2
046893,000211:
046894,000212: 20,3667 00003 RELINT
046895,000213:
046896,000214: 20,3670 04701 TC POSTJUMP
046897,000215: 20,3671 54342 CADR P62.1
046898,000216:
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Page 1068
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046900,000218: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
046901,000219: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
046902,000220: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046903,000221: # SET AVEGEXIT TO CONTINUE AT CM/POSE
046904,000222:
046905,000223: 20,3672 35057 CM/DAPIC CA EBAOG
046906,000224: 20,3673 54003 TS EBANK
046907,000225:
046908,000226: 20,3674 00004 INHINT
046909,000227: 20,3675 41205 CM/DAP2C CS PIPTIME +1
046910,000228: # PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046911,000229: 20,3676 55720 TS JETEM
046912,000230:
046913,000231: 20,3677 35002 CA POS1/2
046914,000232: 20,3700 65002 AD POS1/2
046915,000233: 20,3701 60025 AD TIME1 # OVFL GUARANTEED
046916,000234: 20,3702 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
046917,000235:
046918,000236: 20,3703 45022 CS FIVE
046919,000237: 20,3704 61720 AD JETEM
046920,000238: 20,3705 10000 CCS A
046921,000239: 20,3706 63735 AD -CDUT+1
046922,000240: 20,3707 13705 TCF -2
046923,000241: 20,3710 13711 NOOP
046924,000242: 20,3711 65017 AD ONE # SEND NO ZERO TO WTLST
046925,000243: 20,3712 55725 TS CM/GYMDT # FOR RESTART
046926,000244: 20,3713 05245 TC WAITLIST
046927,000245: 20,3714 E6,1661 EBANK= AOG
046928,000246: 20,3714 02434 32066 2CADR READGYMB
046929,000247:
046930,000248: 20,3716 43734 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
046931,000249: 20,3717 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
046932,000250: 20,3720 64377 AD CM/SWIC2 # SET CM/DSTBY, LATSW
046933,000251: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046934,000252: # CALC. (P62.3) GOES TO ENDEXIT.
046935,000253: 20,3721 54102 TS CM/FLAGS
046936,000254:
046937,000255: 20,3722 30007 CA 7
046938,000256: 20,3723 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTION
046939,000257: 20,3724 35017 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
046940,000258: 20,3725 54305 TS SW/NDX # UPBUFF.
046941,000259:
046942,000260: 20,3726 05372 TC 2PHSCHNG # DOES INHINT/RELINT
046943,000261: 20,3727 40116 OCT 40116 # SAVE TBASE6
046944,000262: 20,3730 05024 OCT 05024
046945,000263: 20,3731 13000 OCT 13000
046946,000264:
046947,000265: 20,3732 04701 TC POSTJUMP
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Page 1069
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046949,000267: 20,3733 54326 CADR P62.2
046950,000268:
046951,000269: 20,3734 16017 CM/SWIC1 OCT 16017
046952,000270: 20,3735 4377 CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
046953,000271: 20,3735 77766 -CDUT+1 OCT 77766
046954,000272: 20,3736 1312 EBANK= T5LOC
046955,000273: 20,3736 03153 12062 T5IDLER1 2CADR T5IDLOC
046956,000274:
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Page 1070
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046958,000276: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046959,000277: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1
046960,000278:
046961,000279: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
046962,000280: # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
046963,000281: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046964,000282: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046965,000283: # THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046966,000284:
046967,000285: 20,3740 E6,1661 EBANK= AOG
046968,000286: 15,2536 BANK 15
046969,000287: 15,2000 SETLOC ETRYDAP
046970,000288: 15,2000 BANK
046971,000289:
046972,000290: 15,2536 COUNT 15/DAPEN
046973,000291:
046974,000292: 15,2536 31663 BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046975,000293: 15,2537 05074 TC SPCOS
046976,000294: 15,2540 55511 TS COSM
046977,000295:
046978,000296: 15,2541 31661 CA AOG # C(AOG) = AOG/180
046979,000297: 15,2542 05075 TC SPSIN # SINO
046980,000298: 15,2543 55512 TS SINO # SINO = SIN(AOG)
046981,000299:
046982,000300: 15,2544 00006 EXTEND
046983,000301: 15,2545 71511 MP COSM
046984,000302: 15,2546 55514 TS SINOCOSM # SO CM
046985,000303:
046986,000304: 15,2547 31661 CA AOG
046987,000305: 15,2550 05074 TC SPCOS # COSO
046988,000306: 15,2551 55513 TS COSO
046989,000307:
046990,000308: 15,2552 00006 EXTEND
046991,000309: 15,2553 71511 MP COSM
046992,000310: 15,2554 55515 TS COSOCOSM # CO CM
046993,000311:
046994,000312: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046995,000313:
046996,000314: 15,2555 41677 CS -DELAMG
046997,000315: 15,2556 00006 EXTEND
046998,000316: 15,2557 71512 MP SINO
046999,000317: 15,2560 53721 DXCH JETEM # 2 LOCS _
047000,000318: 15,2561 41676 CS -DELAIG
047001,000319: 15,2562 00006 EXTEND
047002,000320: 15,2563 71515 MP COSOCOSM
047003,000321: 15,2564 21721 DAS JETEM
047004,000322: 15,2565 31720 CA JETEM
047005,000323: 15,2566 57707 XCH OLDELQ
047006,000324: 15,2567 02530 TC RATEAVG
047007,000325: 15,2570 55702 TS QREL # PITCHDOT = Q TCDU/180
047008,000326:
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Page 1071
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047010,000328: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
047011,000329:
047012,000330: 15,2571 41677 CS -DELAMG
047013,000331: 15,2572 00006 EXTEND
047014,000332: 15,2573 71513 MP COSO
047015,000333: 15,2574 53721 DXCH JETEM
047016,000334: 15,2575 31676 CA -DELAIG
047017,000335: 15,2576 00006 EXTEND
047018,000336: 15,2577 71514 MP SINOCOSM
047019,000337: 15,2600 21721 DAS JETEM
047020,000338: 15,2601 31720 CA JETEM
047021,000339: 15,2602 57710 XCH OLDELR
047022,000340: 15,2603 02530 TC RATEAVG
047023,000341: 15,2604 55703 TS RREL # YAWDOT = R TCDU/180
047024,000342:
047025,000343: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
047026,000344:
047027,000345: 15,2605 31663 CA AMG
047028,000346: 15,2606 05075 TC SPSIN
047029,000347: 15,2607 55510 TS SINM
047030,000348:
047031,000349: 15,2610 00006 EXTEND
047032,000350: 15,2611 71676 MP -DELAIG
047033,000351: 15,2612 55720 TS JETEM
047034,000352: 15,2613 35021 CA ZERO
047035,000353: 15,2614 20001 DDOUBL # ROUND L INTO A
047036,000354: 15,2615 61675 AD -DELAOG
047037,000355: 15,2616 61720 AD JETEM
047038,000356: 15,2617 40000 CS A
047039,000357: 15,2620 55720 TS JETEM
047040,000358: 15,2621 57706 XCH OLDELP
047041,000359: 15,2622 02530 TC RATEAVG
047042,000360: 15,2623 55701 TS PREL # ROLLDOT = P TCDU/180
047043,000361:
047044,000362: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
047045,000363:
047046,000364: 15,2624 11723 CCS GAMDOT
047047,000365: 15,2625 02627 TC +2
047048,000366: 15,2626 02651 TC NOGAMDUT
047049,000367: 15,2627 41664 CS ROLL/180
047050,000368: 15,2630 05075 TC SPSIN
047051,000369: 15,2631 00006 EXTEND
047052,000370: 15,2632 71723 MP GAMDOT
047053,000371: 15,2633 55721 TS JETEM +1 # -SR GAMDOT
047054,000372: 15,2634 00006 EXTEND
047055,000373: 15,2635 73177 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
047056,000374: 15,2636 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
047057,000375:
047058,000376: 15,2637 31664 CA ROLL/180
047059,000377: 15,2640 05074 TC SPCOS
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Page 1072
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047061,000379: 15,2641 40000 COM
047062,000380: 15,2642 00006 EXTEND
047063,000381: 15,2643 71723 MP GAMDOT
047064,000382: 15,2644 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
047065,000383:
047066,000384: 15,2645 41721 CS JETEM +1 # B( ) = -SR GAMDOT
047067,000385: 15,2646 00006 EXTEND
047068,000386: 15,2647 73200 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
047069,000387: 15,2650 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
047070,000388:
047071,000389: 15,2651 35004 NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
047072,000390: 15,2652 70102 MASK CM/FLAGS
047073,000391: 15,2653 00006 EXTEND
047074,000392: 15,2654 15324 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
047075,000393:
047076,000394: 15,2655 34777 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
047077,000395: 15,2656 54030 TS TIME5
047078,000396:
047079,000397: 15,2657 00006 EXTEND
047080,000398: 15,2660 32664 DCA ATDOTCAD
047081,000399: 15,2661 53313 DXCH T5LOC
047082,000400: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047083,000401:
047084,000402: 15,2662 05324 TC TASKOVER
047085,000403:
047086,000404: 15,2663 E6,1661 EBANK= AOG
047087,000405: 15,2663 02665 32066 ATDOTCAD 2CADR ATTRATES
047088,000406:
|
|
Page 1073
|
047090,000408: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
047091,000409:
047092,000410: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
047093,000411: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
047094,000412: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
047095,000413:
047096,000414: 15,2665 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
047097,000415: 15,2666 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
047098,000416: 15,2667 22012 QXCH QRUPT
047099,000417: 15,2670 30021 CA SR
047100,000418: 15,2671 60000 DOUBLE
047101,000419: 15,2672 55623 TS CM/SAVE
047102,000420: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047103,000421:
047104,000422: 15,2673 31702 CA QREL
047105,000423: 15,2674 61665 AD ALFA/180
047106,000424: 15,2675 02522 TC ANGOVCOR
047107,000425: 15,2676 55665 TS ALFA/180
047108,000426: 15,2677 05074 TC SPCOS
047109,000427: 15,2700 55506 TS CALFA # CALFA
047110,000428: 15,2701 55705 TS PHIDOT
047111,000429:
047112,000430: 15,2702 00006 EXTEND
047113,000431: 15,2703 71701 MP PREL
047114,000432: 15,2704 57705 XCH PHIDOT # CA PREL
047115,000433: 15,2705 00006 EXTEND
047116,000434: 15,2706 71703 MP RREL # CA RREL
047117,000435: 15,2707 55704 TS BETADOT
047118,000436:
047119,000437: 15,2710 31665 CA ALFA/180
047120,000438: 15,2711 05075 TC SPSIN
047121,000439: 15,2712 55507 TS SALFA # SIN(ALFA)
047122,000440:
047123,000441: 15,2713 00006 EXTEND
047124,000442: 15,2714 71703 MP RREL # SA RREL
047125,000443: 15,2715 27705 ADS PHIDOT # CB PHIDOT, SAVED.
047126,000444:
047127,000445: 15,2716 41507 CS SALFA
047128,000446: 15,2717 00006 EXTEND
047129,000447: 15,2720 71701 MP PREL
047130,000448: 15,2721 27704 ADS BETADOT # SAVE BETADOT TCDU/180
047131,000449: 15,2722 27666 ADS BETA/180 # BETA DONE.
047132,000450:
047133,000451: 15,2723 05075 TC SPSIN
047134,000452: 15,2724 00006 EXTEND
047135,000453: 15,2725 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
047136,000454: 15,2726 61665 AD ALFA/180
047137,000455: 15,2727 02522 TC ANGOVCOR
047138,000456: 15,2730 55665 TS ALFA/180 # ALFA DONE.
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|
Page 1074
|
047140,000458: 15,2731 40000 COM
047141,000459: 15,2732 61603 AD ALFACOM
047142,000460: 15,2733 02522 TC ANGOVCOR # JUST IN CASE ...
047143,000461: 15,2734 55477 TS AK1
047144,000462: 15,2735 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
047145,000463:
047146,000464: 15,2736 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
047147,000465: 15,2737 61664 AD ROLL/180
047148,000466: 15,2740 02522 TC ANGOVCOR
047149,000467: 15,2741 55714 TS ROLLTM # ROLL/180 FOR TM.
047150,000468: 15,2742 55664 TS ROLL/180 # ROLL DONE.
047151,000469:
047152,000470: # START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
047153,000471:
047154,000472: 15,2743 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
047155,000473: 15,2744 61604 AD BETACOM
047156,000474: 15,2745 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
047157,000475: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
047158,000476: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
047159,000477: # BE R-AXIS ERROR.
047160,000478:
047161,000479: 15,2746 35015 CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
047162,000480: 15,2747 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
047163,000481: 15,2750 00006 EXTEND
047164,000482: 15,2751 13037 BZF EXDAP # IF G LESS THAN .05
047165,000483: 15,2752 45017 CS ONE # IF G GEQ THAN .05
047166,000484: 15,2753 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
047167,000485:
047168,000486: 15,2754 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
047169,000487: 15,2755 55500 TS AK2 # IN ATM. (MODE =-1)
047170,000488:
047171,000489: 15,2756 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
047172,000490: 15,2757 00006 EXTEND
047173,000491: 15,2760 73177 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
047174,000492: 15,2761 61703 AD RREL
047175,000493: 15,2762 03027 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
047176,000494: 15,2763 50000 INDEX A # +/- 1 IF NOT
047177,000495: 15,2764 33202 CAF YJETCODE
047178,000496:
047179,000497: 15,2765 55720 TS JETEM
047180,000498:
047181,000499: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
047182,000500:
047183,000501: 15,2766 31702 CA QREL
047184,000502: 15,2767 03027 TC 2D/SDZ
047185,000503: 15,2770 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
047186,000504: 15,2771 33205 CAF P/RJCODE
047187,000505: 15,2772 27720 ADS JETEM # COMBINE ALL NEW BITS.
047188,000506:
047189,000507: 15,2773 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
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|
Page 1075
|
047191,000509: 15,2774 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
047192,000510:
047193,000511: 15,2775 11711 CCS JETAG
047194,000512: 15,2776 03216 TC CM/RCS
047195,000513: 15,2777 03677 TC CM/FDAI
047196,000514: 15,3000 03704 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
047197,000515:
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|
Page 1076
|
047199,000517: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
047200,000518:
047201,000519: 15,3001 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
047202,000520: 15,3002 63175 AD YAWLIM
047203,000521: 15,3003 13033 TCF DZCOM
047204,000522: 15,3004 63175 AD YAWLIM
047205,000523: 15,3005 13034 TCF DZNOCOM
047206,000524:
047207,000525: # BIASED DZ FOR EXT ATM DAP.
047208,000526: 15,3006 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
047209,000527: 15,3007 10000 CCS A # START ERROR DZ.
047210,000528: 15,3010 43174 CS CM/BIAS # = .6/180
047211,000529: 15,3011 13013 TCF +2
047212,000530: 15,3012 33174 CA CM/BIAS
047213,000531: 15,3013 60001 AD L # BIAS THE ERROR.
047214,000532: 15,3014 22002 LXCH Q # SAVE CALLERS RETURN ADDRESS.
047215,000533: 15,3015 03001 TC 3DDZ # GO GENERATE THE ERROR BIT.
047216,000534: 15,3016 52002 DXCH L # BIT TO L, RESTORE CALLERS Q.
047217,000535: 15,3017 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
047218,000536: 15,3020 63172 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
047219,000537: 15,3021 13023 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
047220,000538: 15,3022 63172 AD 4D/SLIM
047221,000539: 15,3023 54000 TS A
047222,000540: 15,3024 13026 TCF +2 # RATE OK. CONTINUE
047223,000541: 15,3025 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
047224,000542: 15,3026 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
047225,000543:
047226,000544: 15,3027 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
047227,000545: 15,3030 63173 AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
047228,000546: 15,3031 13034 TCF +3
047229,000547: 15,3032 63173 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
047230,000548: 15,3033 40000 DZCOM COM
047231,000549: 15,3034 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
047232,000550: 15,3035 35021 CA ZERO # SET C(A) = +0 INSIDE
047233,000551: 15,3036 00002 TC Q
047234,000552:
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|
Page 1077
|
047236,000554: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
047237,000555:
047238,000556: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
047239,000557: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
047240,000558: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
047241,000559: # R-AXIS = CONTROL
047242,000560:
047243,000561: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
047244,000562: # RATE = PREL
047245,000563: # P-AXIS = CONTROL
047246,000564:
047247,000565: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
047248,000566: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
047249,000567: # RATE = BETADOT
047250,000568: # P-AXIS = CONTROL
047251,000569:
047252,000570: # ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY.
047253,000571: # RATE = RREL
047254,000572: # R-AXIS = CONTROL
047255,000573:
047256,000574: # 3. FOR ALL CASES, USE
047257,000575: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
047258,000576: # RATE = QREL
047259,000577: # Q-AXIS = CONTROL
047260,000578:
047261,000579: 15,3037 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
047262,000580: 15,3040 11506 CCS CALFA
047263,000581: 15,3041 63176 AD C45LIM # =1.0-COS(45)
047264,000582: 15,3042 13044 TCF +2
047265,000583: 15,3043 63176 AD C45LIM
047266,000584: 15,3044 54000 TS A
047267,000585: 15,3045 13126 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
047268,000586:
047269,000587: 15,3046 11506 CCS CALFA # |CALFA| > 0.707
047270,000588: 15,3047 13050 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
047271,000589:
047272,000590: 15,3050 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
047273,000591: 15,3051 03064 TC EXDAP4
047274,000592: 15,3052 03054 TC +2
047275,000593: 15,3053 03064 TC EXDAP4
047276,000594: 15,3054 05412 TC PHASCHNG # SINGLE PASS THROUGH HERE.
047277,000595: 15,3055 40334 OCT 40334
047278,000596: 15,3056 45017 CS ONE
047279,000597: 15,3057 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
047280,000598: 15,3060 33171 CA NSEC
047281,000599: 15,3061 05245 TC WAITLIST
047282,000600: 15,3062 E6,1661 EBANK= AOG
047283,000601: 15,3062 02374 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
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|
Page 1078
|
047285,000603: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047286,000604: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047287,000605:
047288,000606: 15,3064 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
047289,000607: 15,3065 13073 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
047290,000608: 15,3066 13073 TCF EXDAP3
047291,000609: 15,3067 35021 CA ZERO
047292,000610: 15,3070 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
047293,000611: 15,3071 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
047294,000612: 15,3072 55711 TS JETAG # RESTORE PROPER VALUE +0
047295,000613:
047296,000614: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047297,000615: 15,3073 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
047298,000616: 15,3074 31573 CA RAXERR # C()= BETACOM - BETA/180
047299,000617: 15,3075 13101 TCF EXDAP1
047300,000618: 15,3076 45021 CS ZERO
047301,000619: 15,3077 55700 TS CMDAPMOD # FOR CM/RCS
047302,000620: 15,3100 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
047303,000621: 15,3101 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
047304,000622: 15,3102 55500 TS AK2 # WANT RAXERR FOR TM.
047305,000623: 15,3103 54001 TS L
047306,000624: 15,3104 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
047307,000625: 15,3105 03110 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
047308,000626: 15,3106 35017 CA ONE # USE BETADOT TO COORD IN MODE +0
047309,000627: 15,3107 50000 INDEX A # OTHERWISE USE RREL.
047310,000628: 15,3110 31703 CA RREL
047311,000629: 15,3111 03006 TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
047312,000630: # IF GEQ 4D/S, SET ERROR BIT IN L=0)
047313,000631: 15,3112 00006 EXTEND
047314,000632: 15,3113 04001 ROR LCHAN # L HAS BETA BIT
047315,000633: 15,3114 50000 INDEX A
047316,000634: 15,3115 33202 CAF YJETCODE
047317,000635: 15,3116 55720 TS JETEM
047318,000636:
047319,000637: 15,3117 31572 CA QAXERR # ALFA ERROR.
047320,000638: 15,3120 54001 TS L
047321,000639: 15,3121 31702 CA QREL # FOR ALFADOT USE QREL
047322,000640: 15,3122 03006 TC BIASEDZ
047323,000641: 15,3123 00006 EXTEND
047324,000642: 15,3124 04001 ROR LCHAN
047325,000643: 15,3125 12770 TCF EXDAPIN # CONTINUE ON IN DAP
047326,000644:
047327,000645: 15,3126 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
047328,000646:
047329,000647: 15,3127 45017 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
047330,000648: 15,3130 55711 TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
047331,000649: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
047332,000650:
047333,000651: 15,3131 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
047334,000652: 15,3132 55727 TS P63FLAG
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|
Page 1079
|
047336,000654: 15,3133 13134 NOOP
047337,000655:
047338,000656: 15,3134 11507 CCS SALFA # BETA CONTROL WITH P JETS
047339,000657: 15,3135 41573 CS RAXERR # B()= BETACOM - BETA/180
047340,000658: 15,3136 13140 TCF +2
047341,000659: 15,3137 31573 CA RAXERR
047342,000660: 15,3140 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
047343,000661: 15,3141 00006 EXTEND
047344,000662: 15,3142 75002 MP HALF # CM/FDAI EXPECTS ERROR/360.
047345,000663: 15,3143 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
047346,000664: 15,3144 54001 TS L
047347,000665: 15,3145 11507 CCS SALFA
047348,000666: 15,3146 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
047349,000667: 15,3147 03151 TC +2
047350,000668: 15,3150 31704 CA BETADOT
047351,000669: 15,3151 03006 TC BIASEDZ
047352,000670: 15,3152 00006 EXTEND
047353,000671: 15,3153 04001 ROR LCHAN
047354,000672: 15,3154 50000 INDEX A
047355,000673: 15,3155 33205 CAF P/RJCODE # GET ROLL CODE
047356,000674: 15,3156 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
047357,000675: 15,3157 01006 WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST
047358,000676:
047359,000677: 15,3160 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
047360,000678: 15,3161 00006 EXTEND
047361,000679: 15,3162 21664 MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.?
047362,000680: 15,3163 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
047363,000681: 15,3164 11507 CCS SALFA
047364,000682: 15,3165 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
047365,000683: 15,3166 03101 TC EXDAP1
047366,000684: 15,3167 40001 CS L
047367,000685: 15,3170 03101 TC EXDAP1
047368,000686:
047369,000687: 15,3171 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
047370,000688: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047371,000689: 15,3172 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
047372,000690: 15,3173 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
047373,000691: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047374,000692:
047375,000693: 15,3174 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
047376,000694: 15,3175 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
047377,000695: 15,3176 11277 C45LIM DEC .29289 # =1.0-COS(45)
047378,000696:
047379,000697: 15,3177 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
047380,000698: 15,3200 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
047381,000699:
047382,000700: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047383,000701: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
047384,000702: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
047385,000703:
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|
Page 1080
|
047387,000705: # JET CODE TABLES FOLLOW _
047388,000706:
047389,000707: 15,3201 00120 OCTAL 00120 # POS Y
047390,000708: 15,3202 00000 YJETCODE OCTAL 00000 # RCS JET BITS
047391,000709: 15,3203 00240 OCTAL 00240 # NEG Y
047392,000710: 15,3204 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
047393,000711: 15,3205 00000 P/RJCODE OCTAL 00000
047394,000712: 15,3206 00012 OCTAL 00012 # NEG R ALSO NEG P
047395,000713:
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|
Page 1081
|
047397,000715: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
047398,000716: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
047399,000717: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
047400,000718: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
047401,000719: # NEXT UPDATE.
047402,000720:
047403,000721: 15,3207 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
047404,000722: 15,3210 55712 TS TUSED
047405,000723: # THE 5 CS APPEARS IN TIMETST.
047406,000724: 15,3211 35017 CA ONE # RATHER THAN INCR, FOR SAFETY
047407,000725: 15,3212 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
047408,000726: 15,3213 05412 TC PHASCHNG
047409,000727: 15,3214 00001 OCT 00001
047410,000728:
047411,000729: 15,3215 05324 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
047412,000730:
047413,000731: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
047414,000732: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
047415,000733: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
047416,000734: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
047417,000735:
047418,000736: 15,3216 5001 HALFPR EQUALS NEG1/2 +1
047419,000737:
047420,000738: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
047421,000739: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
047422,000740: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
047423,000741: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
047424,000742:
047425,000743: 15,3216 45017 CM/RCS CS ONE
047426,000744: 15,3217 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
047427,000745:
047428,000746: 15,3220 45033 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
047429,000747: 15,3221 00006 EXTEND
047430,000748: 15,3222 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
047431,000749: 15,3223 60001 AD L # -2 RDOT T/180 IN L
047432,000750: 15,3224 55613 TS -VT/180 # SAVE -2VT/180 HERE
047433,000751:
047434,000752: 15,3225 41664 CS ROLL/180
047435,000753: 15,3226 54021 TS SR # SAVE (-R/180) /2
047436,000754:
047437,000755: 15,3227 40102 CS CM/FLAGS
047438,000756: 15,3230 75014 MASK BIT4 # LATSW = 101D BIT4
047439,000757: 15,3231 00006 EXTEND # ROLL OVER TOP $
047440,000758: 15,3232 13240 BZF GETLCX # NO, TAKE SHORTEST PATH
047441,000759: 15,3233 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
047442,000760: 15,3234 31715 CA ROLLC # (ROLLC/180) /2
047443,000761: 15,3235 60021 AD SR # -(R/180) /2
047444,000762: 15,3236 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
047445,000763: 15,3237 13300 TCF COMPAT # POSSIBLE OVFL ABOVE.
047446,000764:
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Page 1082
|
047448,000766: 15,3240 35002 GETLCX CA POS1/2 # FORM RCOM/360
047449,000767: 15,3241 60000 DOUBLE
047450,000768: 15,3242 61715 AD ROLLC
047451,000769: 15,3243 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
047452,000770:
047453,000771: 15,3244 30021 CA SR # FORM -R/360
047454,000772: 15,3245 65000 AD NEG1/2
047455,000773: 15,3246 65000 AD NEG1/2 # IGNORE OVFL
047456,000774: 15,3247 57614 XCH LCX/360 # -R/360
047457,000775: 15,3250 27614 ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
047458,000776:
047459,000777: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
047460,000778:
047461,000779: 15,3251 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
047462,000780: 15,3252 65017 AD ONE # (BASED ON SINGLE JET ACCELERATION)
047463,000781: 15,3253 13255 TCF +2
047464,000782: 15,3254 65017 AD ONE
047465,000783: 15,3255 00006 EXTEND
047466,000784: 15,3256 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
047467,000785: 15,3257 00006 EXTEND
047468,000786: 15,3260 73750 MP 1/16A1 # = 180/(16 A1 TT)
047469,000787: 15,3261 00006 EXTEND
047470,000788: 15,3262 11506 DV CALFA
047471,000789: 15,3263 54001 TS L
047472,000790: 15,3264 11614 CCS LCX/360
047473,000791: 15,3265 35002 CAF POS1/2
047474,000792: 15,3266 13270 TCF +2
047475,000793: 15,3267 45002 CS POS1/2
047476,000794: 15,3270 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEG $
047477,000795: 15,3271 60001 AD L
047478,000796: 15,3272 54001 TS L
047479,000797: 15,3273 13300 TCF COMPAT # YES, GO ON.
047480,000798: 15,3274 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
047481,000799: 15,3275 45001 CS HALFPR # +A YIELDS -1/2
047482,000800: 15,3276 60000 DOUBLE
047483,000801: 15,3277 27614 ADS LCX/360
047484,000802:
047485,000803: 15,3300 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
047486,000804: 15,3301 00006 EXTEND
047487,000805: 15,3302 71506 MP CALFA # COS ALFA
047488,000806: 15,3303 55614 TS LCX/360 # SCALED LCX OK HERE.
047489,000807:
047490,000808: 15,3304 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
047491,000809: 15,3305 03675 TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0)
047492,000810: # ALL 3 AXES ALREADY DONE.
047493,000811: 15,3306 03307 TC +1 # G LESS THAN .05. CA POS. CONTINUE
047494,000812: 15,3307 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
047495,000813: 15,3310 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
047496,000814: 15,3311 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
047497,000815: 15,3312 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360)
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|
Page 1083
|
047499,000817: 15,3313 31613 CA -VT/180 # GET - 2 VT/180
047500,000818: 15,3314 54021 TS SR
047501,000819: 15,3315 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
047502,000820: 15,3316 55570 TS -VT/180E # DIAGNOSTIC ****
047503,000821: 15,3317 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
047504,000822: 15,3320 00006 EXTEND
047505,000823: 15,3321 71613 MP -VT/180 # B(A) = -2VT/180
047506,000824: 15,3322 00006 EXTEND
047507,000825: 15,3323 73750 MP 180/8ATT
047508,000826: 15,3324 55616 TS VSQ/4API
047509,000827:
047510,000828: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
047511,000829:
047512,000830: 15,3325 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
047513,000831: 15,3326 40000 COM
047514,000832: 15,3327 63754 AD BUFLIM # =BUFLIM/(2 360)
047515,000833: 15,3330 54001 TS L
047516,000834: 15,3331 11613 CCS -VT/180
047517,000835: 15,3332 40001 CS L
047518,000836: 15,3333 13335 TCF +2
047519,000837: 15,3334 30001 CA L
047520,000838: 15,3335 61614 AD LCX/360
047521,000839: 15,3336 63754 AD BUFLIM
047522,000840: 15,3337 00006 EXTEND
047523,000841: 15,3340 63355 BZMF REFLECT # POINT (X,V) IN LHP.
047524,000842:
047525,000843: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
047526,000844:
047527,000845: 15,3341 40000 COM
047528,000846: 15,3342 63754 AD BUFLIM
047529,000847: 15,3343 63754 AD BUFLIM
047530,000848: 15,3344 00006 EXTEND
047531,000849: 15,3345 63364 BZMF DZ1 # POINT (X,V) IN RHP.
047532,000850:
047533,000851: # IS POINT WITHIN VELOCITY DZ?
047534,000852:
047535,000853: 15,3346 43747 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
047536,000854: 15,3347 61616 AD VSQ/4API
047537,000855: 15,3350 00006 EXTEND
047538,000856: 15,3351 63657 BZMF DZCALL # YES.
047539,000857:
047540,000858: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047541,000859:
047542,000860: 15,3352 41617 CS JNDX
047543,000861: 15,3353 55620 TS JNDX1
047544,000862: 15,3354 03437 TC OVRLINE1
047545,000863:
047546,000864: 15,3355 41613 REFLECT CS -VT/180 # REFLECT LHP INTO RHP REL TO TERM CONTR
047547,000865: 15,3356 55613 TS -VT/180
047548,000866: 15,3357 54021 TS SR # -VT/360 SAVED FOR DZ.
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Page 1084
|
047550,000868: 15,3360 41614 CS LCX/360
047551,000869: 15,3361 55614 TS LCX/360
047552,000870: 15,3362 41617 CS JNDX
047553,000871: 15,3363 55617 TS JNDX
047554,000872:
047555,000873: # IS VSQ/4API - (VSQ/4API) MIN NEG $
047556,000874:
047557,000875: 15,3364 43747 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
047558,000876: 15,3365 61616 AD VSQ/4API
047559,000877: 15,3366 00006 EXTEND
047560,000878: 15,3367 63371 BZMF DZ2 # YES, GO TEST FURTHER.
047561,000879: 15,3370 13376 TCF MAXVTEST # NO
047562,000880:
047563,000881: # IS X/360 - XMIN/360 -VT/360 NEG $
047564,000882:
047565,000883: 15,3371 43752 DZ2 CS XMIN/360 # XMIN/360 = 4/360
047566,000884: 15,3372 61614 AD LCX/360
047567,000885: 15,3373 60021 AD SR # C(SR) = -VT/360
047568,000886: 15,3374 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
047569,000887: 15,3375 63657 BZMF DZCALL # YES,IN DZ. EXIT SETTING JETAG=0.
047570,000888:
047571,000889: # IS XD/360 - VM/360K - XS/360 POS ?
047572,000890:
047573,000891: 15,3376 41617 MAXVTEST CS JNDX
047574,000892: 15,3377 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
047575,000893: 15,3400 43754 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
047576,000894: 15,3401 61616 AD VSQ/4API
047577,000895: 15,3402 61614 AD LCX/360
047578,000896: 15,3403 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
047579,000897: # BUT C(XD/360) = (XD - XS) /360
047580,000898: 15,3404 63753 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
047581,000899: 15,3405 40000 COM
047582,000900: 15,3406 00006 EXTEND
047583,000901: 15,3407 63415 BZMF MAXVTIM1 # YES, THRUST TO VM
047584,000902: 15,3410 31615 CA XD/360
047585,000903: 15,3411 00006 EXTEND
047586,000904: 15,3412 75002 MP KTRCS
047587,000905: 15,3413 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
047588,000906:
047589,000907: 15,3414 03420 TC GETON1 # INSURE THAT Q IS POS AS TAG.
047590,000908: 15,3415 00006 MAXVTIM1 EXTEND
047591,000909: 15,3416 22007 ZQ # SET +0 AS TAG
047592,000910: 15,3417 43753 CS -VMT/180
047593,000911: 15,3420 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180.
047594,000912: 15,3421 61613 AD -VT/180
047595,000913: 15,3422 60000 DOUBLE
047596,000914: 15,3423 00006 EXTEND
047597,000915: 15,3424 73750 MP 180/8ATT
047598,000916: 15,3425 55621 TS TON1 # TON1 / 4T
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Page 1085
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047600,000918: 15,3426 00006 EXTEND
047601,000919: 15,3427 63431 BZMF OVRLINE
047602,000920: 15,3430 03443 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
047603,000921:
047604,000922: 15,3431 10002 OVRLINE CCS Q
047605,000923: 15,3432 13437 TCF OVRLINE1
047606,000924: 15,3433 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
047607,000925: 15,3434 55617 TS JNDX
047608,000926: 15,3435 41621 CS TON1
047609,000927: 15,3436 13442 TCF OVRLINE2 +1
047610,000928:
047611,000929: 15,3437 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
047612,000930: 15,3440 55567 TS VDT/180
047613,000931: 15,3441 35021 OVRLINE2 CA ZERO
047614,000932: 15,3442 55621 TS TON1
047615,000933: 15,3443 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
047616,000934: 15,3444 60000 DOUBLE
047617,000935: 15,3445 00006 EXTEND
047618,000936: 15,3446 73750 MP 180/8ATT
047619,000937: 15,3447 60000 DOUBLE # FOR SECOND BURN, A1
047620,000938: 15,3450 55607 TS TON2 # = TON2 / 4T
047621,000939:
047622,000940: 15,3451 40000 COM
047623,000941: 15,3452 00006 EXTEND
047624,000942: 15,3453 63457 BZMF GETOFF
047625,000943: 15,3454 55607 TS TON2
047626,000944: 15,3455 31617 CA JNDX
047627,000945: 15,3456 55620 TS JNDX1
047628,000946:
047629,000947: 15,3457 41607 GETOFF CS TON2 # TON2 / 4T
047630,000948: 15,3460 00006 EXTEND
047631,000949: 15,3461 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
047632,000950: 15,3462 55615 TS XD/360 # USE AS TEMP
047633,000951: 15,3463 41567 CS VDT/180
047634,000952: 15,3464 00006 EXTEND
047635,000953: 15,3465 13501 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
047636,000954: 15,3466 61613 AD -VT/180
047637,000955: 15,3467 00006 EXTEND
047638,000956: 15,3470 71621 MP TON1 # TON1 /4T
047639,000957: 15,3471 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
047640,000958: 15,3472 61614 AD LCX/360
047641,000959: 15,3473 22007 ZL
047642,000960: 15,3474 56001 XCH L # TEST THE DIVIDE
047643,000961: 15,3475 00006 EXTEND
047644,000962: 15,3476 11567 DV VDT/180
047645,000963: 15,3477 00006 EXTEND
047646,000964: 15,3500 13503 BZF GETOFF2 # DIVIDE OK
047647,000965:
047648,000966: 15,3501 35045 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
047649,000967: 15,3502 13510 TCF TIMSCAL
047650,000968:
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Page 1086
|
047652,000970: 15,3503 56001 GETOFF2 XCH L # GET NUMERATOR.
047653,000971: 15,3504 00006 EXTEND
047654,000972: 15,3505 11567 DV VDT/180 # C(A) = TOFF / 2T
047655,000973: 15,3506 00006 EXTEND
047656,000974: 15,3507 75045 MP 2JETT
047657,000975: 15,3510 55605 TIMSCAL TS TOFF # IN CS
047658,000976:
047659,000977: 15,3511 33751 CAF 4JETT
047660,000978: 15,3512 00006 EXTEND
047661,000979: 15,3513 71621 MP TON1 # C(TON1) = TON1 / 4T
047662,000980: 15,3514 55621 TS TON1 # IN CS
047663,000981:
047664,000982: 15,3515 33751 CAF 4JETT
047665,000983: 15,3516 00006 EXTEND
047666,000984: 15,3517 71607 MP TON2 # C(TON2) = TON2 / 4T
047667,000985: 15,3520 55607 TS TON2 # IN CS
047668,000986:
047669,000987: 15,3521 35021 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
047670,000988: 15,3522 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
047671,000989:
047672,000990: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047673,000991: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047674,000992: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047675,000993:
047676,000994: 15,3523 35017 CA ONE
047677,000995: 15,3524 54305 TS SW/NDX
047678,000996:
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Page 1087
|
047680,000998: # TIMETEST SECTION FOR RCS
047681,000999:
047682,001000: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
047683,001001: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047684,001002: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
047685,001003: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
047686,001004: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
047687,001005: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047688,001006: # SECTION JETCALL BELOW PROCESSES THIS LIST.
047689,001007:
047690,001008: 15,3525 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
047691,001009: 15,3526 65002 AD POS1/2
047692,001010: 15,3527 65002 AD POS1/2 # OVFL GUARANTEED.
047693,001011: 15,3530 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
047694,001012:
047695,001013: 15,3531 33746 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
047696,001014: # THE +2 REQUIRED FOR PROPER BRANCH.
047697,001015: 15,3532 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
047698,001016:
047699,001017: 15,3533 45016 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
047700,001018: 15,3534 61621 AD TON1
047701,001019: 15,3535 00006 EXTEND
047702,001020: 15,3536 63550 BZMF TIMETST1
047703,001021: 15,3537 51617 INDEX JNDX
047704,001022: 15,3540 33205 CAF P/RJCODE
047705,001023: 15,3541 55622 TS T1BITS
047706,001024:
047707,001025: 15,3542 31621 CA TON1
047708,001026: 15,3543 27712 ADS TUSED
047709,001027: 15,3544 00006 EXTEND
047710,001028: 15,3545 63552 BZMF TOFFTEST
047711,001029: 15,3546 35021 CA ZERO
047712,001030: 15,3547 13603 TCF TIMETST3
047713,001031: 15,3550 45017 TIMETST1 CS ONE
047714,001032: 15,3551 55621 TS TON1
047715,001033: 15,3552 45016 TOFFTEST CS TWO
047716,001034: 15,3553 61605 AD TOFF
047717,001035: 15,3554 00006 EXTEND
047718,001036: 15,3555 63564 BZMF TIMETST2
047719,001037: 15,3556 31605 CA TOFF
047720,001038: 15,3557 27712 ADS TUSED
047721,001039: 15,3560 00006 EXTEND
047722,001040: 15,3561 63566 BZMF TON2TEST
047723,001041: 15,3562 35021 CA ZERO
047724,001042: 15,3563 13605 TCF TIMETST4
047725,001043: 15,3564 45017 TIMETST2 CS ONE
047726,001044: 15,3565 55605 TS TOFF
047727,001045: 15,3566 45016 TON2TEST CS TWO
047728,001046: 15,3567 61607 AD TON2
047729,001047: 15,3570 00006 EXTEND
047730,001048: 15,3571 63606 BZMF TIMETST5
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Page 1088
|
047732,001050: 15,3572 51620 INDEX JNDX1
047733,001051: 15,3573 33205 CAF P/RJCODE
047734,001052: 15,3574 55610 TS T2BITS
047735,001053: 15,3575 31607 CA TON2
047736,001054: 15,3576 27712 ADS TUSED
047737,001055: 15,3577 00006 EXTEND
047738,001056: 15,3600 63610 BZMF JETCALL1
047739,001057: 15,3601 35021 CA ZERO
047740,001058: 15,3602 13607 TCF TIMETST5 +1
047741,001059: 15,3603 55621 TIMETST3 TS TON1
047742,001060: 15,3604 45017 CS ONE
047743,001061: 15,3605 55605 TIMETST4 TS TOFF
047744,001062: 15,3606 45017 TIMETST5 CS ONE
047745,001063: 15,3607 55607 TS TON2
047746,001064:
047747,001065: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047748,001066: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047749,001067: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
047750,001068: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
047751,001069: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047752,001070: # THAN ONE REGISTER.
047753,001071:
047754,001072: 15,3610 35021 JETCALL1 CA ZERO
047755,001073: 15,3611 55611 TS OUTTAG
047756,001074: 15,3612 55612 TS NUJET
047757,001075: 15,3613 55606 TS TBITS
047758,001076: 15,3614 53622 DXCH TON1
047759,001077: 15,3615 10000 CCS A
047760,001078: 15,3616 13633 TCF JETCALL2 # CALL WTLST
047761,001079: 15,3617 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
047762,001080: 15,3620 45017 CS ONE
047763,001081: 15,3621 53606 DXCH TOFF
047764,001082: 15,3622 10000 CCS A
047765,001083: 15,3623 13633 TCF JETCALL2 # CALL WTLST
047766,001084: 15,3624 23612 LXCH NUJET
047767,001085: 15,3625 45017 CS ONE
047768,001086: 15,3626 53610 DXCH TON2
047769,001087: 15,3627 10000 CCS A
047770,001088: 15,3630 13633 TCF JETCALL2 # CALL WTLST
047771,001089: 15,3631 23612 LXCH NUJET
047772,001090: 15,3632 03642 TC JETACTN # C(A) = +0
047773,001091: 15,3633 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
047774,001092: 15,3634 27612 ADS NUJET
047775,001093: 15,3635 56001 XCH L
047776,001094: 15,3636 65017 AD ONE # RESTORE FOR CCS
047777,001095: 15,3637 05245 TC WAITLIST
047778,001096: 15,3640 E6,1661 EBANK= AOG
047779,001097: 15,3640 03650 32066 2CADR JETCALL
047780,001098:
047781,001099: 15,3642 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
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Page 1089
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047783,001101: 15,3643 00006 EXTEND # NO NEED TO SAVE OLD CODES
047784,001102: 15,3644 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
047785,001103:
047786,001104: 15,3645 11611 CCS OUTTAG
047787,001105: 15,3646 05324 TC TASKOVER
047788,001106: 15,3647 03705 ROLLDUMP TC CM/FDAIR
047789,001107:
047790,001108: # EDIT DUMP AT ABOVE LOCATION.
047791,001109:
047792,001110: # WAITLIST ENTRIES COME HERE.
047793,001111:
047794,001112: 15,3650 35016 JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
047795,001113: 15,3651 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
047796,001114: 15,3652 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
047797,001115: 15,3653 00006 EXTEND
047798,001116: 15,3654 13643 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
047799,001117: 15,3655 22007 ZL # NO, CONTINUE.
047800,001118: 15,3656 13617 TCF JETCALL3 # C(A) POS, C(L) = +0
047801,001119:
047802,001120: # DEAD ZONE ENTRIES COME HERE.
047803,001121:
047804,001122: 15,3657 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047805,001123: 15,3660 75017 MASK BIT1
047806,001124: 15,3661 54001 TS L # C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
047807,001125: 15,3662 50000 INDEX A # ERASBLE ORDER: ROLLTM,ROLLC,ROLLC +1.
047808,001126: 15,3663 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
047809,001127: 15,3664 50001 INDEX L
047810,001128: 15,3665 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
047811,001129: 15,3666 60001 AD L # (BOTH MUST BE SCALED DEG/180)
047812,001130: 15,3667 02522 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC .
047813,001131: 15,3670 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE,
047814,001132: # OTHERWISE, SAVE ROLL COMMAND.
047815,001133:
047816,001134: 15,3671 35021 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
047817,001135: 15,3672 00006 EXTEND # INHINT NOT NEEDED HERE.
047818,001136: 15,3673 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
047819,001137: 15,3674 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
047820,001138: 15,3675 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
047821,001139: 15,3676 03647 TC ROLLDUMP
047822,001140:
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Page 1090
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047824,001142: # CM ENTRY FDAI DISPLAY
047825,001143:
047826,001144: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047827,001145: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
047828,001146: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047829,001147: # ROLL ROLLC-ROLL
047830,001148: # PITCH ALFAC-ALFA
047831,001149: # YAW BETAC-BETA
047832,001150:
047833,001151: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
047834,001152: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
047835,001153:
047836,001154: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
047837,001155: 15,3677 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047838,001156: 15,3700 00006 EXTEND
047839,001157: 15,3701 71506 MP CALFA # FOR ASSUMED COORDINATION.
047840,001158: 15,3702 00006 EXTEND
047841,001159: 15,3703 75002 MP HALF
047842,001160: 15,3704 27713 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
047843,001161:
047844,001162: # EDIT DUMP AT ABOVE LOCATION.
047845,001163: 15,3705 35002 CM/FDAIR CA HALF
047846,001164: 15,3706 00006 EXTEND
047847,001165: 15,3707 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047848,001166: 15,3710 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047849,001167:
047850,001168: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
047851,001169: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047852,001170: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047853,001171: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047854,001172: # THE SUBSEQUENT PASS.
047855,001173:
047856,001174: 15,3711 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
047857,001175: 15,3712 54305 TS SW/NDX
047858,001176: 15,3713 00006 EXTEND # INDEX.
047859,001177: 15,3714 63720 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
047860,001178: # ENDBUF.
047861,001179: # INDEX IS POS FOR NEEDLES
047862,001180:
047863,001181: 15,3715 04740 TC IBNKCALL
047864,001182: 15,3716 42420 CADR NEEDLER
047865,001183:
047866,001184: 15,3717 03736 TC CM/END
047867,001185:
047868,001186: # INDEX IS NEG FOR TM FILE
047869,001187:
047870,001188: 15,3720 66214 CMTMFILE AD THREE
047871,001189: 15,3721 00006 EXTEND
047872,001190: 15,3722 63726 BZMF SAVENDX
047873,001191:
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Page 1091
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047875,001193: 15,3723 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
047876,001194: 15,3724 54304 TS CMTMTIME
047877,001195: 15,3725 45025 CS THIRTEEN # INITIALIZE COUNTER
047878,001196: 15,3726 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
047879,001197: 15,3727 00006 EXTEND
047880,001198: 15,3730 31702 DCA PREL
047881,001199: 15,3731 50305 INDEX SW/NDX
047882,001200: 15,3732 52324 DXCH ENDBUF -1
047883,001201: 15,3733 31703 CA RREL
047884,001202: 15,3734 50305 INDEX SW/NDX
047885,001203: 15,3735 54325 TS ENDBUF +1
047886,001204:
047887,001205: 15,3736 31623 CM/END CA CM/SAVE
047888,001206: 15,3737 54021 TS SR
047889,001207: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047890,001208:
047891,001209: 15,3740 00006 EXTEND
047892,001210: 15,3741 33745 DCA T5IDLER2
047893,001211: 15,3742 53313 DXCH T5LOC
047894,001212: 15,3743 05333 TC RESUME
047895,001213:
047896,001214: 15,3744 1312 EBANK= T5LOC
047897,001215: 15,3744 03153 12062 T5IDLER2 2CADR T5IDLOC
047898,001216:
047899,001217: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047900,001218: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047901,001219: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047902,001220: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
047903,001221: # EACH 2 SECONDS.
047904,001222:
047905,001223: # THE SEQUENCE IS: SP TIME INITIAL TIME
047906,001224: # SWITCH ALSO INDEX.
047907,001225: # P ROLL RATE
047908,001226: # Q PITCH RATE
047909,001227: # R YAW RATE
047910,001228: # ETC.
047911,001229:
047912,001230: # CMTMTIME = UPBUFF
047913,001231: # SW/NDX = UPBUFF +1
047914,001232: # ENDBUF = UPBUFF +16D
047915,001233:
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Page 1092
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047917,001235: # SPACER
047918,001236:
047919,001237: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
047920,001238: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
047921,001239: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047922,001240: # XBUF = 4DEG
047923,001241:
047924,001242: 15,3746 77464 -T-3 DEC -203 B-14 # CS
047925,001243: 15,3747 00012 VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
047926,001244: 15,3750 5033 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
047927,001245: 15,3750 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
047928,001246: 15,3751 15,3753 -VMT/180 = -VM/360K # = 20 (2) / 180
047929,001247: 15,3751 5045 2JETT = 4SECS # CS 2 (2) 100 INTEGER
047930,001248: 15,3751 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
047931,001249: 15,3752 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
047932,001250: 15,3753 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
047933,001251: 15,3754 15,3750 1/16A1 = 180/8ATT
047934,001252: # 1/16A1 = 180/(16 A1 TT)
047935,001253: # = 180/(16 4.55 4)
047936,001254: 15,3754 00133 XS/360 DEC 91 B-14 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047937,001255: 15,3755 15,3754 BUFLIM = XS/360 # 4/(2 360)
047938,001256:
047939,001257: 15,3755 5002 KTRCS = HALF # KT = (.25) 2 = .5
047940,001258:
047941,001259:
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc