Source Code
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These source-code files are part of a reconstructed copy of Comanche 45, the
second release, though not the final mission release, of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Comanche 45 was
preceded by Comanche 44 and followed by Comanche 45/2 (the flown release). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 45, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 44 (itself previously accurately
reconstructed). Comanche 44 source code was then modified
by incorporating changes known from contemporary documentation to have been
made between revisions 44 and 45. The now-reconstructed Comanche 45 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 tend to match those in the Comanche 55, the
most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy;
the source code would likely have different page numbers in a contemporary
Comanche 45 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 44. Here's a guide to the Apollo documentation referenced
in those annotations:
There is also
a detailed 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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044705,000002: ## Copyright: Public domain.
044706,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
044707,000004: ## Purpose: A section of Comanche revision 045.
044708,000005: ## It is part of the reconstructed source code for the
044709,000006: ## second release of the flight software for the Command
044710,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
044711,000008: ## The code has been recreated from a copy of Comanche 055. It
044712,000009: ## has been adapted such that the resulting bugger words
044713,000010: ## exactly match those specified for Comanche 45 in NASA drawing
044714,000011: ## 2021153D, which gives relatively high confidence that the
044715,000012: ## reconstruction is correct.
044716,000013: ## Assembler: yaYUL
044717,000014: ## Contact: Ron Burkey <info@sandroid.org>.
044718,000015: ## Website: www.ibiblio.org/apollo/index.html
044719,000016: ## Mod history: 2020-12-06 MAS Created from Comanche 44.
044720,000017:
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Page 1025
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044722,000019: 21,3250 BANK 21
044723,000020: 21,2000 SETLOC DAPS3
044724,000021: 21,2000 BANK
044725,000022:
044726,000023: 21,3250 COUNT 21/DAPAM
044727,000024:
044728,000025: 21,3250 E6,1510 EBANK= KMPAC
044729,000026: 21,3250 00006 AHFNOROT EXTEND
044730,000027: 21,3251 00031 READ CHAN31
044731,000028: 21,3252 75002 MASK BIT14
044732,000029: 21,3253 00006 EXTEND
044733,000030: 21,3254 63272 BZMF FREECONT
044734,000031: 21,3255 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
044735,000032: 21,3256 75002 MASK BIT14
044736,000033: 21,3257 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
044737,000034: 21,3260 12534 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
044738,000035: # AUTOMATIC CONTROL YET
044739,000036: 21,3261 00006 EXTEND
044740,000037: 21,3262 00031 READ CHAN31
044741,000038: 21,3263 75003 MASK BIT13
044742,000039: 21,3264 00006 EXTEND
044743,000040: 21,3265 63372 BZMF HOLDFUNC
044744,000041:
044745,000042: 21,3266 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
044746,000043: 21,3267 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
044747,000044: 21,3270 63322 BZMF ATTHOLD
044748,000045: 21,3271 13376 TCF GRABANG
044749,000046:
044750,000047: # MINIMUM IMPULSE CONTROL
044751,000048:
044752,000049: 21,3272 35017 FREECONT CAF ONE
044753,000050: 21,3273 55332 TS HOLDFLAG # RESET HOLDFLAG
044754,000051: # INHIBIT AUTOMATIC STEERING
044755,000052: 21,3274 00006 EXTEND
044756,000053: 21,3275 00032 READ CHAN32
044757,000054: 21,3276 54001 TS L
044758,000055: 21,3277 40000 COM
044759,000056: 21,3300 73036 MASK MANROT
044760,000057: 21,3301 71633 MASK CHANTEMP
044761,000058: 21,3302 23633 LXCH CHANTEMP
044762,000059: 21,3303 03130 TC STICKCHK
044763,000060: 21,3304 51656 INDEX RMANNDX
044764,000061: 21,3305 33316 CA MINTAU # MINTAU +0
044765,000062: 21,3306 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
044766,000063: 21,3307 51657 INDEX PMANNDX # +2 -14MS TIME
044767,000064: 21,3310 33316 CA MINTAU # +3 +0
044768,000065: 21,3311 55562 TS TAU1
044769,000066: 21,3312 51660 INDEX YMANNDX
044770,000067: 21,3313 33316 CA MINTAU
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Page 1026
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044772,000069: 21,3314 55563 TS TAU2
044773,000070: 21,3315 13067 TCF T6PROGM
044774,000071:
044775,000072: 21,3316 00000 MINTAU DEC 0 B-14
044776,000073: 21,3317 00027 DEC 23 B-14 # = 14MS
044777,000074: 21,3320 77750 DEC -23 B-14 # = -14MS
044778,000075: 21,3321 00000 DEC 0 B-14
044779,000076:
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Page 1027
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044781,000078: # CALCULATION OF ATTITUDE ERRORS-
044782,000079: # - * - - -
044783,000080: # AK = AMGB (CDUX - THETADX) + BIAS
044784,000081:
044785,000082: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
044786,000083: # * * * ** * * *
044787,000084: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
044788,000085: # * * * ** * * *
044789,000086: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
044790,000087:
044791,000088: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044792,000089: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044793,000090: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044794,000091: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044795,000092:
044796,000093: 21,3322 30032 ATTHOLD CA CDUX
044797,000094: 21,3323 00006 EXTEND
044798,000095: 21,3324 21572 MSU THETADX
044799,000096: 21,3325 55567 TS ERRORX
044800,000097: 21,3326 30033 CA CDUY
044801,000098: 21,3327 00006 EXTEND
044802,000099: 21,3330 21573 MSU THETADY
044803,000100: 21,3331 55502 TS T5TEMP
044804,000101: 21,3332 00006 EXTEND
044805,000102: 21,3333 71640 MP AMGB1
044806,000103: 21,3334 27567 ADS ERRORX
044807,000104: 21,3335 31502 CA T5TEMP
044808,000105: 21,3336 00006 EXTEND
044809,000106: 21,3337 71641 MP AMGB4
044810,000107: 21,3340 55570 TS ERRORY
044811,000108: 21,3341 31502 CA T5TEMP
044812,000109: 21,3342 00006 EXTEND
044813,000110: 21,3343 71643 MP AMGB7
044814,000111: 21,3344 55571 TS ERRORZ
044815,000112: 21,3345 30034 CA CDUZ
044816,000113: 21,3346 00006 EXTEND
044817,000114: 21,3347 21574 MSU THETADZ
044818,000115: 21,3350 55502 TS T5TEMP
044819,000116: 21,3351 00006 EXTEND
044820,000117: 21,3352 71642 MP AMGB5
044821,000118: 21,3353 27570 ADS ERRORY
044822,000119: 21,3354 31502 CA T5TEMP
044823,000120: 21,3355 00006 EXTEND
044824,000121: 21,3356 71644 MP AMGB8
044825,000122: 21,3357 27571 ADS ERRORZ
044826,000123: 21,3360 41332 CS HOLDFLAG
044827,000124: 21,3361 00006 EXTEND
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Page 1028
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044829,000126: 21,3362 63441 BZMF JETS
044830,000127: 21,3363 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044831,000128: 21,3364 27567 ADS ERRORX
044832,000129: 21,3365 31565 CA BIAS1
044833,000130: 21,3366 27570 ADS ERRORY
044834,000131: 21,3367 31566 CA BIAS2
044835,000132: 21,3370 27571 ADS ERRORZ
044836,000133: 21,3371 13441 TCF JETS
044837,000134:
044838,000135: 21,3372 11332 HOLDFUNC CCS HOLDFLAG
044839,000136: 21,3373 13376 TCF +3
044840,000137: 21,3374 13322 TCF ATTHOLD
044841,000138: 21,3375 13376 TCF +1
044842,000139: 21,3376 35021 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044843,000140: 21,3377 55525 TS WBODY
044844,000141: 21,3400 55526 TS WBODY +1
044845,000142: 21,3401 55527 TS WBODY1
044846,000143: 21,3402 55530 TS WBODY1 +1
044847,000144: 21,3403 55531 TS WBODY2
044848,000145: 21,3404 55532 TS WBODY2 +1
044849,000146: 21,3405 55564 TS BIAS
044850,000147: 21,3406 55565 TS BIAS1
044851,000148: 21,3407 55566 TS BIAS2
044852,000149:
044853,000150: 21,3410 31501 CA RCSFLAGS
044854,000151: 21,3411 73037 MASK OCT16000
044855,000152: 21,3412 00006 EXTEND # IS RATE DAMPING COMPLETED
044856,000153: 21,3413 13421 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044857,000154: 21,3414 35021 CAF ZERO # OTHERWISE, ZERO ERRORS
044858,000155: 21,3415 55567 TS ERRORX
044859,000156: 21,3416 55570 TS ERRORY
044860,000157: 21,3417 55571 TS ERRORZ
044861,000158: 21,3420 13441 TCF JETS
044862,000159:
044863,000160: 21,3421 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044864,000161: 21,3422 00006 EXTEND
044865,000162: 21,3423 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044866,000163: 21,3424 53573 DXCH THETADX # REFERENCES
044867,000164: 21,3425 30034 CA CDUZ
044868,000165: 21,3426 55574 TS THETADZ
044869,000166: 21,3427 13322 TCF ATTHOLD
044870,000167:
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Page 1029
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044872,000169: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044873,000170:
044874,000171: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044875,000172: # PLANE.
044876,000173:
044877,000174: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044878,000175: # APPROPRIATE DEADZONE.
044879,000176:
044880,000177: # .
044881,000178: # R22 RATE . ERROR
044882,000179: # WL+H .
044883,000180: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044884,000181: # R23 WL * .
044885,000182: # --------------------------------- * . ----- DESIRED RATE LINES
044886,000183: # R23 WL-H - *.
044887,000184: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044888,000185: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044889,000186: # * . *
044890,000187: # *- . *
044891,000188: # R22 R24*- R23 . *
044892,000189: # *- . *
044893,000190: # * . *
044894,000191: # + -ADB . * AF ATTITUDE
044895,000192: # .........................+--+---------------+--+........................
044896,000193: # AF * . +ADB + ERROR
044897,000194: # * . *
044898,000195: # * . -*
044899,000196: # * . -*
044900,000197: # * . -*
044901,000198: # * . *
044902,000199: # *. - *
044903,000200: # . - *****************
044904,000201: # .* -
044905,000202: # . * --------------------------------
044906,000203: # . *
044907,000204: # . ********************************
044908,000205: # .
044909,000206: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044910,000207:
044911,000208: # CONSTANTS FOR JET SWITCHING LOGIC
044912,000209:
044913,000210: 21,3430 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044914,000211: 21,3431 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044915,000212: 21,3432 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044916,000213:
044917,000214: 21,3434 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044918,000215:
044919,000216: 21,3436 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044920,000217:
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Page 1030
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044922,000219: 21,3440 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044923,000220: 21,3441 31655 JETS CA ADB
044924,000221: 21,3442 65015 AD FOUR # AF = FLAT REGION = .044 DEG
044925,000222: 21,3443 55502 TS T5TEMP # ADB+AF
044926,000223: 21,3444 35016 CAF TWO
044927,000224: 21,3445 55506 JLOOP TS SPNDX
044928,000225: 21,3446 60000 DOUBLE
044929,000226: 21,3447 55507 TS DPNDX
044930,000227: 21,3450 00006 EXTEND
044931,000228: 21,3451 50000 INDEX A
044932,000229: 21,3452 31534 DCA ADOT
044933,000230: 21,3453 53516 DXCH EDOT
044934,000231: 21,3454 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044935,000232: 21,3455 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044936,000233: 21,3456 13463 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044937,000234: # OF WBODY AND GO TO INHOLD
044938,000235: 21,3457 00006 EXTEND
044939,000236: 21,3460 51507 INDEX DPNDX
044940,000237: 21,3461 41526 DCS WBODY
044941,000238: 21,3462 21516 DAS EDOT # = ADOT-WBODY
044942,000239: 21,3463 51506 INHOLD INDEX SPNDX
044943,000240: 21,3464 31567 CA ERRORX
044944,000241: 21,3465 55517 TS AERR # AERR = BIAS + AK
044945,000242:
044946,000243: 21,3466 11515 CCS EDOT
044947,000244: 21,3467 13477 TCF POSVEL
044948,000245: 21,3470 13472 TCF SIGNCK1
044949,000246: 21,3471 13507 TCF NEGVEL
044950,000247: 21,3472 11516 SIGNCK1 CCS EDOT +1
044951,000248: 21,3473 13477 TCF POSVEL
044952,000249: 21,3474 13477 TCF POSVEL
044953,000250: 21,3475 13507 TCF NEGVEL
044954,000251: 21,3476 13507 TCF NEGVEL
044955,000252: 21,3477 00006 POSVEL EXTEND
044956,000253: 21,3500 31516 DCA EDOT
044957,000254: 21,3501 53521 DXCH EDOTVEL
044958,000255: 21,3502 31502 CA T5TEMP
044959,000256: 21,3503 55523 TS ADBVEL # +(ADB+AF)
044960,000257: 21,3504 31517 CA AERR
044961,000258: 21,3505 55522 TS AERRVEL
044962,000259: 21,3506 03516 TC J6.
044963,000260: 21,3507 00006 NEGVEL EXTEND
044964,000261: 21,3510 41516 DCS EDOT
044965,000262: 21,3511 53521 DXCH EDOTVEL
044966,000263: 21,3512 41502 CS T5TEMP
044967,000264: 21,3513 55523 TS ADBVEL # -(ADB+AF)
044968,000265: 21,3514 41517 CS AERR
044969,000266: 21,3515 55522 TS AERRVEL
044970,000267:
044971,000268: 21,3516 00006 J6. EXTEND
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Page 1031
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044973,000270: 21,3517 61655 SU ADB
044974,000271: 21,3520 63430 AD WLH/SLOP
044975,000272: 21,3521 00006 EXTEND
044976,000273: 21,3522 63551 BZMF J8
044977,000274:
044978,000275: 21,3523 41502 CS T5TEMP # (ADB+AF)
044979,000276: 21,3524 61522 AD AERRVEL
044980,000277: 21,3525 00006 EXTEND
044981,000278: 21,3526 63530 BZMF +2
044982,000279: 21,3527 13542 TCF J7
044983,000280: 21,3530 00006 EXTEND
044984,000281: 21,3531 41521 DCS EDOTVEL
044985,000282: 21,3532 00006 EXTEND
044986,000283: 21,3533 11654 DV SLOPE
044987,000284: 21,3534 00006 EXTEND
044988,000285: 21,3535 61522 SU AERRVEL
044989,000286: 21,3536 61655 AD ADB
044990,000287: 21,3537 00006 EXTEND
044991,000288: 21,3540 63630 BZMF J18
044992,000289: 21,3541 13704 TCF J23
044993,000290:
044994,000291: 21,3542 43431 J7 CS WL-H/SLP
044995,000292: 21,3543 00006 EXTEND
044996,000293: 21,3544 61502 SU T5TEMP # (ADB+AF)
044997,000294: 21,3545 61522 AD AERRVEL
044998,000295: 21,3546 00006 EXTEND
044999,000296: 21,3547 63634 BZMF J20
045000,000297: 21,3550 13645 TCF J21
045001,000298:
045002,000299: 21,3551 00006 J8 EXTEND
045003,000300: 21,3552 43433 DCS WLH
045004,000301: 21,3553 53514 DXCH WTEMP
045005,000302: 21,3554 00006 EXTEND
045006,000303: 21,3555 31521 DCA EDOTVEL
045007,000304: 21,3556 21514 DAS WTEMP
045008,000305: 21,3557 11513 CCS WTEMP
045009,000306: 21,3560 13673 TCF J22
045010,000307: 21,3561 13563 TCF SIGNCK2
045011,000308: 21,3562 13567 TCF NJ22
045012,000309: 21,3563 11514 SIGNCK2 CCS WTEMP +1
045013,000310: 21,3564 13673 TCF J22
045014,000311: 21,3565 13673 TCF J22
045015,000312: 21,3566 13567 TCF NJ22
045016,000313:
045017,000314: 21,3567 00006 NJ22 EXTEND
045018,000315: 21,3570 31521 DCA EDOTVEL
045019,000316: 21,3571 00006 EXTEND
045020,000317: 21,3572 11654 DV SLOPE
045021,000318: 21,3573 61502 AD T5TEMP # (ADB+AF)
045022,000319: 21,3574 61522 AD AERRVEL
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Page 1032
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045024,000321: 21,3575 10000 CCS A
045025,000322: 21,3576 13704 TCF J23
045026,000323: 21,3577 13704 TCF J23
045027,000324: 21,3600 13602 TCF +2
045028,000325: 21,3601 13704 TCF J23
045029,000326:
045030,000327: 21,3602 00006 EXTEND
045031,000328: 21,3603 43435 DCS WLMH # WL - H
045032,000329: 21,3604 53514 DXCH WTEMP
045033,000330: 21,3605 00006 EXTEND
045034,000331: 21,3606 31521 DCA EDOTVEL
045035,000332: 21,3607 21514 DAS WTEMP
045036,000333: 21,3610 11513 CCS WTEMP
045037,000334: 21,3611 13704 TCF J23
045038,000335: 21,3612 13614 TCF SIGNCK3
045039,000336: 21,3613 13620 TCF NJ23
045040,000337: 21,3614 11514 SIGNCK3 CCS WTEMP +1
045041,000338: 21,3615 13704 TCF J23
045042,000339: 21,3616 13704 TCF J23
045043,000340: 21,3617 13620 TCF NJ23
045044,000341:
045045,000342: 21,3620 31522 NJ23 CA AERRVEL
045046,000343: 21,3621 61502 AD T5TEMP # (ADB+AF)
045047,000344: 21,3622 63431 AD WL-H/SLP
045048,000345: 21,3623 10000 CCS A
045049,000346: 21,3624 13716 TCF J24
045050,000347: 21,3625 13716 TCF J24
045051,000348: 21,3626 13673 TCF J22
045052,000349: 21,3627 13673 TCF J22
045053,000350:
045054,000351: 21,3630 00006 J18 EXTEND
045055,000352: 21,3631 41516 DCS EDOT
045056,000353: 21,3632 53511 DXCH KMPAC
045057,000354: 21,3633 13727 TCF JTIME
045058,000355:
045059,000356: 21,3634 41517 J20 CS AERR
045060,000357: 21,3635 61523 AD ADBVEL
045061,000358: 21,3636 00006 EXTEND
045062,000359: 21,3637 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
045063,000360: 21,3640 53511 DXCH KMPAC
045064,000361: 21,3641 00006 EXTEND
045065,000362: 21,3642 41516 DCS EDOT
045066,000363: 21,3643 21511 DAS KMPAC
045067,000364: 21,3644 13727 TCF JTIME
045068,000365:
045069,000366: 21,3645 11515 J21 CCS EDOT
045070,000367: 21,3646 13664 TCF JP
045071,000368: 21,3647 13651 TCF SIGNCK4
045072,000369: 21,3650 13655 TCF JN
045073,000370: 21,3651 11516 SIGNCK4 CCS EDOT +1
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Page 1033
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045075,000372: 21,3652 13664 TCF JP
045076,000373: 21,3653 13664 TCF JP
045077,000374: 21,3654 13655 TCF JN
045078,000375: 21,3655 00006 JN EXTEND
045079,000376: 21,3656 41516 DCS EDOT
045080,000377: 21,3657 53511 DXCH KMPAC
045081,000378: 21,3660 00006 EXTEND
045082,000379: 21,3661 33437 DCA WL
045083,000380: 21,3662 21511 DAS KMPAC
045084,000381: 21,3663 13727 TCF JTIME
045085,000382:
045086,000383: 21,3664 00006 JP EXTEND
045087,000384: 21,3665 41516 DCS EDOT
045088,000385: 21,3666 53511 DXCH KMPAC
045089,000386: 21,3667 00006 EXTEND
045090,000387: 21,3670 43437 DCS WL
045091,000388: 21,3671 21511 DAS KMPAC
045092,000389: 21,3672 13727 TCF JTIME
045093,000390:
045094,000391: 21,3673 11515 J22 CCS EDOT
045095,000392: 21,3674 13655 TCF JN
045096,000393: 21,3675 13677 TCF SIGNCK5
045097,000394: 21,3676 13664 TCF JP
045098,000395: 21,3677 11516 SIGNCK5 CCS EDOT +1
045099,000396: 21,3700 13655 TCF JN
045100,000397: 21,3701 13655 TCF JN
045101,000398: 21,3702 13664 TCF JP
045102,000399: 21,3703 13664 TCF JP
045103,000400:
045104,000401: 21,3704 51506 J23 INDEX SPNDX
045105,000402: 21,3705 45003 CS BIT13 # RESET RATE DAMPING FLAG
045106,000403: 21,3706 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
045107,000404: 21,3707 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
045108,000405: # BIT11 FOR YAW (SPNDX = 2)
045109,000406:
045110,000407: 21,3710 51506 INDEX SPNDX
045111,000408: 21,3711 33033 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
045112,000409: 21,3712 71501 MASK RCSFLAGS # AXIS
045113,000410: 21,3713 00006 EXTEND
045114,000411: 21,3714 13750 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
045115,000412:
045116,000413: 21,3715 13630 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
045117,000414:
045118,000415: 21,3716 41517 J24 CS AERR
045119,000416: 21,3717 00006 EXTEND
045120,000417: 21,3720 61523 SU ADBVEL
045121,000418: 21,3721 00006 EXTEND
045122,000419: 21,3722 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
045123,000420: 21,3723 53511 DXCH KMPAC
045124,000421: 21,3724 00006 EXTEND
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Page 1034
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045126,000423: 21,3725 41516 DCS EDOT
045127,000424: 21,3726 21511 DAS KMPAC
045128,000425:
|
|
Page 1035
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045130,000427: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045131,000428:
045132,000429: # T = J/M(DELTA W)
045133,000430: # J
045134,000431:
045135,000432: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045136,000433: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
045137,000434:
045138,000435: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045139,000436: # (57.3/450)(B24/1600)(1/.8)
045140,000437: # FOR 1 JET OPERATION (M = 700 FT-LB).
045141,000438: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
045142,000439:
045143,000440: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045144,000441: # KEYBOARD ENTRY ARE
045145,000442: # J/M (ROLL)
045146,000443: # J/M1 (PITCH)
045147,000444: # J/M2 (YAW)
045148,000445:
045149,000446: # T = JET ON-TIME SCALED 16384/1600 SEC
045150,000447: # J
045151,000448:
045152,000449: # THE COMPUTER VARIABLES ARE
045153,000450: # TAU (ROLL)
045154,000451: # TAU1 (PITCH)
045155,000452: # TAU2 (YAW)
045156,000453:
045157,000454: 21,3727 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
045158,000455: 21,3730 31623 CA J/M # SCALED (57.3/450)(B24/1600)
045159,000456: 21,3731 02042 TC SMALLMP # FOR 1-JET OPERATION
045160,000457: 21,3732 35005 CA BIT11
045161,000458: 21,3733 02042 TC SMALLMP
045162,000459: 21,3734 11510 CCS KMPAC
045163,000460: 21,3735 13741 TCF +4
045164,000461: 21,3736 13745 TCF TAUNORM
045165,000462: 21,3737 13743 TCF +4
045166,000463: 21,3740 13745 TCF TAUNORM
045167,000464: 21,3741 34777 CA POSMAX
045168,000465: 21,3742 13746 TCF DOJET
045169,000466: 21,3743 35001 CA NEGMAX
045170,000467: 21,3744 13746 TCF DOJET
045171,000468:
045172,000469: 21,3745 31511 TAUNORM CA KMPAC +1
045173,000470: 21,3746 51506 DOJET INDEX SPNDX
045174,000471: 21,3747 55561 TS TAU
045175,000472: 21,3750 11506 CCS SPNDX
045176,000473: 21,3751 13445 TCF JLOOP
045177,000474: 21,3752 13757 TCF T6PROG
045178,000475:
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Page 1036
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045180,000477: 21,3753 35021 ZEROCMDS CAF ZERO
045181,000478: 21,3754 55561 TS TAU
045182,000479: 21,3755 55562 TS TAU1
045183,000480: 21,3756 55563 TS TAU2
045184,000481: 21,3757 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
045185,000482: 21,3760 33764 DCA JETADDR # HAVE BEEN DETERMINED
045186,000483: 21,3761 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
045187,000484: 21,3762 15333 TCF RESUME
045188,000485:
045189,000486: 21,3763 E6,1510 EBANK= KMPAC
045190,000487: 21,3763 02552 36066 JETADDR 2CADR JETSLECT
045191,000488:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc