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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045267,000002: ## Copyright: Public domain.
045268,000003: ## Filename: JET_SELECTION_LOGIC.agc
045269,000004: ## Purpose: A section of Comanche revision 045.
045270,000005: ## It is part of the reconstructed source code for the
045271,000006: ## second release of the flight software for the Command
045272,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
045273,000008: ## The code has been recreated from a copy of Comanche 055. It
045274,000009: ## has been adapted such that the resulting bugger words
045275,000010: ## exactly match those specified for Comanche 45 in NASA drawing
045276,000011: ## 2021153D, which gives relatively high confidence that the
045277,000012: ## reconstruction is correct.
045278,000013: ## Assembler: yaYUL
045279,000014: ## Contact: Ron Burkey <info@sandroid.org>.
045280,000015: ## Website: www.ibiblio.org/apollo/index.html
045281,000016: ## Mod history: 2020-12-06 MAS Created from Comanche 44.
045282,000017:
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Page 1039
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045284,000019: 21,3765 BANK 21
045285,000020: 17,2000 SETLOC DAPS4
045286,000021: 17,2000 BANK
045287,000022:
045288,000023: 17,2552 COUNT 17/DAPJS
045289,000024:
045290,000025: 17,2552 E6,1510 EBANK= KMPAC
045291,000026:
045292,000027: # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
045293,000028:
045294,000029: 17,2552 22016 JETSLECT LXCH BANKRUPT
045295,000030: 17,2553 32634 CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1
045296,000031: 17,2554 61634 AD T5TIME
045297,000032: 17,2555 54030 TS TIME5
045298,000033: 17,2556 12561 TCF +3
045299,000034: 17,2557 32635 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT
045300,000035: 17,2560 54030 TS TIME5
045301,000036: 17,2561 33313 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS
045302,000037: 17,2562 54031 TS TIME6 # IN 14 MS
045303,000038: 17,2563 35001 CAF NEGMAX
045304,000039: 17,2564 00006 EXTEND
045305,000040: 17,2565 05013 WOR CHAN13
045306,000041: 17,2566 00006 EXTEND
045307,000042: 17,2567 22012 QXCH QRUPT
045308,000043: 17,2570 32633 CAF XLNMASK # = 7700 OCT
045309,000044: 17,2571 00006 EXTEND # EXAMINE THE TRANSLATION
045310,000045: 17,2572 06031 RXOR CHAN31 # HAND CONTROLLER
045311,000046: 17,2573 72633 MASK XLNMASK
045312,000047: 17,2574 00006 EXTEND
045313,000048: 17,2575 12636 BZF NOXLNCMD
045314,000049: 17,2576 55502 TS T5TEMP
045315,000050: 17,2577 00006 EXTEND
045316,000051: 17,2600 75007 MP BIT9
045317,000052: 17,2601 76214 MASK THREE
045318,000053: 17,2602 55513 TS XNDX1 # AC QUAD X-TRANSLATION INDEX
045319,000054: 17,2603 55514 TS XNDX2 # BD QUAD X-TRANSLATION INDEX
045320,000055: 17,2604 31502 CA T5TEMP
045321,000056: 17,2605 00006 EXTEND # 1 = + XLN
045322,000057: 17,2606 75011 MP BIT7 # 2 = - XLN
045323,000058: 17,2607 76214 MASK THREE # 3 = NO XLN
045324,000059: 17,2610 55515 TS YNDX # Y-TRANSLATION INDEX
045325,000060:
045326,000061: 17,2611 31502 CA T5TEMP
045327,000062: 17,2612 00006 EXTEND
045328,000063: 17,2613 75013 MP BIT5
045329,000064: 17,2614 76214 MASK THREE
045330,000065: 17,2615 55516 TS ZNDX # Z-TRANSLATION INDEX
045331,000066:
045332,000067: 17,2616 31466 CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
045333,000068: 17,2617 75002 MASK BIT14 # TRANSLATIONS.
045334,000069: 17,2620 00006 EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
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Page 1040
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045336,000071: 17,2621 12624 BZF NOLEM
045337,000072: 17,2622 46214 CS THREE # IF LEM IS ON, SET ATTKALMN = -3
045338,000073: 17,2623 12625 TCF +2
045339,000074: 17,2624 45016 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2.
045340,000075: 17,2625 55617 TS ATTKALMN
045341,000076: 17,2626 11631 CCS XTRANS # (+, -1, 0)
045342,000077: 17,2627 55513 TS XNDX1 # USING BD-X ZERO XNDX1
045343,000078: 17,2630 12642 TCF PWORD
045344,000079: 17,2631 55514 TS XNDX2 # USING AC-X ZERO XNDX2
045345,000080: 17,2632 12642 TCF PWORD
045346,000081: 17,2633 07700 XLNMASK OCT 7700
045347,000082:
045348,000083: 17,2634 37772 DELTATT3 DEC 16378 B-14 # = 60 MS
045349,000084: 17,2635 37776 DELATT20 DEC 16382 B-14 # = 20 MS
045350,000085:
045351,000086: 17,2636 55513 NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
045352,000087: 17,2637 55514 TS XNDX2
045353,000088: 17,2640 55515 TS YNDX
045354,000089: 17,2641 55516 TS ZNDX
045355,000090:
045356,000091: # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
045357,000092:
045358,000093: 17,2642 11562 PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
045359,000094: 17,2643 35017 CAF ONE
045360,000095: 17,2644 12646 TCF +2 # 0 = NO PITCH
045361,000096: 17,2645 35016 CAF TWO # +1 = + PITCH
045362,000097: 17,2646 55520 TS PINDEX # +2 = - PITCH
045363,000098:
045364,000099: 17,2647 11626 CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
045365,000100: 17,2650 12654 TCF AFAILP
045366,000101: 17,2651 12664 TCF TABPCOM # 0 = NO REAL AC FAILURES
045367,000102: 17,2652 12656 TCF CFAILP # + = A QUAD FAILED
045368,000103: 17,2653 12664 TCF TABPCOM # - = C QUAD FAILED
045369,000104: # IF FAILURES ARE PRESENT IGNORE
045370,000105: # X-TRANSLATIONS ON THIS AXIS
045371,000106:
045372,000107: 17,2654 34334 AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
045373,000108: 17,2655 12666 TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
045374,000109: 17,2656 35763 CFAILP CAF TWELVE
045375,000110: 17,2657 12666 TCF TABPCOM +2
045376,000111:
045377,000112: 17,2660 00000 XLNNDX DEC 0 B-14 # INDECES FOR TRANSLATION COMMANDS
045378,000113: 17,2661 00003 DEC 3 B-14 # FOR USE IN TABLE LOOK UP
045379,000114: 17,2662 00006 DEC 6 B-14
045380,000115: 17,2663 00000 DEC 0 B-14
045381,000116:
045382,000117: 17,2664 5763 TWELVE = OCT14
045383,000118:
045384,000119: # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
045385,000120: # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
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Page 1041
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045387,000122:
045388,000123: 17,2664 51513 TABPCOM INDEX XNDX1
045389,000124: 17,2665 32660 CA XLNNDX
045390,000125: 17,2666 61520 AD PINDEX
045391,000126: 17,2667 50000 INDEX A
045392,000127: 17,2670 32714 CA PYTABLE
045393,000128: 17,2671 72733 MASK PJETS # =1417 OCT
045394,000129: 17,2672 55453 TS PWORD1
045395,000130: 17,2673 00006 EXTEND
045396,000131: 17,2674 75011 MP BIT7
045397,000132: 17,2675 55523 TS NPJETS # = NO. OF PITCH JETS
045398,000133:
045399,000134: # YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT
045400,000135:
045401,000136: 17,2676 11563 YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
045402,000137: 17,2677 35017 CAF ONE
045403,000138: 17,2700 12702 TCF +2
045404,000139: 17,2701 35016 CAF TWO
045405,000140: 17,2702 55521 TS YINDEX # YAW ROTATION INDEX
045406,000141:
045407,000142: 17,2703 11627 CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
045408,000143: 17,2704 12710 TCF BFAILY # 0 = NO BD FAILURE
045409,000144: 17,2705 12735 TCF TABYCOM # + = B QUAD FAILED
045410,000145: 17,2706 12712 TCF DFAILY # - = D QUAD FAILED
045411,000146: 17,2707 12735 TCF TABYCOM
045412,000147:
045413,000148: 17,2710 34334 BFAILY CAF NINE
045414,000149: 17,2711 12737 TCF TABYCOM +2
045415,000150: 17,2712 35763 DFAILY CAF TWELVE
045416,000151: 17,2713 12737 TCF TABYCOM +2
045417,000152:
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Page 1042
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045419,000154: # TABLE FOR PITCH(YAW) COMMANDS
045420,000155: # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
045421,000156: # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
045422,000157: # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
045423,000158: # BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
045424,000159:
045425,000160: # ROT TRANS QUAD BIAS
045426,000161: 17,2714 00000 PYTABLE OCT 0 # 0 0 0
045427,000162: 17,2715 05125 OCT 5125 # + 0 0
045428,000163: 17,2716 05252 OCT 5252 # - 0 0
045429,000164: 17,2717 00231 OCT 0231 # 0 + 3
045430,000165: 17,2720 02421 OCT 2421 # + + 3
045431,000166: 17,2721 02610 OCT 2610 # - + 3
045432,000167: 17,2722 00146 OCT 0146 # 0 - 6
045433,000168: 17,2723 02504 OCT 2504 # + - 6
045434,000169: 17,2724 02442 OCT 2442 # - - 6
045435,000170: 17,2725 00000 OCT 0 # 0 A(B) 9
045436,000171: 17,2726 02421 OCT 2421 # + A(B) 9
045437,000172: 17,2727 02442 OCT 2442 # - A(B) 9
045438,000173: 17,2730 00000 OCT 0 # 0 C(D) 12
045439,000174: 17,2731 02504 OCT 2504 # + C(D) 12
045440,000175: 17,2732 02610 OCT 2610 # - C(D) 12
045441,000176:
045442,000177: # MASKS FOR PITCH AND YAW COMMANDS
045443,000178:
045444,000179: 17,2733 01417 PJETS OCT 1417
045445,000180: 17,2734 06360 YJETS OCT 6360
045446,000181:
045447,000182: # TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
045448,000183: # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
045449,000184:
045450,000185: 17,2735 51514 TABYCOM INDEX XNDX2
045451,000186: 17,2736 32660 CA XLNNDX
045452,000187: 17,2737 61521 AD YINDEX
045453,000188: 17,2740 50000 INDEX A
045454,000189: 17,2741 32714 CA PYTABLE
045455,000190: 17,2742 72734 MASK YJETS # = 6360 OCT
045456,000191: 17,2743 55455 TS YWORD1
045457,000192: 17,2744 00006 EXTEND
045458,000193: 17,2745 75013 MP BIT5
045459,000194: 17,2746 55524 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
045460,000195:
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Page 1043
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045462,000197: # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
045463,000198:
045464,000199: 17,2747 11561 RWORD CCS TAU # CHECK FOR ROLL COMMANDS
045465,000200: 17,2750 35017 CAF ONE
045466,000201: 17,2751 12753 TCF +2
045467,000202: 17,2752 35016 CAF TWO
045468,000203: 17,2753 55517 TS RINDEX
045469,000204:
045470,000205: 17,2754 11630 CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
045471,000206: 17,2755 13046 TCF BDROLL # ROLL COMMANDS
045472,000207: 17,2756 13046 TCF BDROLL # +, +0 = BD ROLL
045473,000208: 17,2757 12760 TCF +1 # -, -0 = AC ROLL
045474,000209:
045475,000210: 17,2760 11626 ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
045476,000211: 17,2761 12765 TCF RAFAIL # ON AC QUADS
045477,000212: 17,2762 12775 TCF RXLNS
045478,000213: 17,2763 12767 TCF RCFAIL
045479,000214: 17,2764 12775 TCF RXLNS
045480,000215:
045481,000216: 17,2765 34334 RAFAIL CAF NINE # QUAD FAILURE WILL GET
045482,000217: 17,2766 12777 TCF TABRCOM # 1-JET OPERATION
045483,000218: 17,2767 35763 RCFAIL CAF TWELVE
045484,000219: 17,2770 12777 TCF TABRCOM
045485,000220:
045486,000221: 17,2771 00000 XLN1NDX DEC 0 B-14
045487,000222: 17,2772 00001 DEC 1 B-14 # INDECES FOR TRANSLATION
045488,000223: 17,2773 00002 DEC 2 B-14
045489,000224: 17,2774 00000 DEC 0 B-14
045490,000225:
045491,000226: # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
045492,000227: # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
045493,000228:
045494,000229: 17,2775 51515 RXLNS INDEX YNDX # NO AC QUAD FAILURES
045495,000230: 17,2776 32660 CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
045496,000231: 17,2777 61517 TABRCOM AD RINDEX
045497,000232: 17,3000 50000 INDEX A
045498,000233: 17,3001 33130 CA RTABLE
045499,000234: 17,3002 73147 MASK ACRJETS # = 3760 OCT
045500,000235: 17,3003 55451 TS RWORD1
045501,000236:
045502,000237: # CHECK FOR Z-TRANSLATIONS ON BD
045503,000238:
045504,000239: 17,3004 31516 BDZCHECK CA ZNDX
045505,000240: 17,3005 00006 EXTEND
045506,000241: 17,3006 63040 BZMF NOBDZ # NO Z-TRANSLATION
045507,000242:
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Page 1044
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045509,000244: # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
045510,000245: # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL
045511,000246: # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
045512,000247: # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
045513,000248:
045514,000249: 17,3007 11627 CCS RBDFAIL
045515,000250: 17,3010 36214 CAF THREE
045516,000251: 17,3011 13013 TCF +2
045517,000252: 17,3012 36211 CAF SIX
045518,000253: 17,3013 51516 INDEX ZNDX
045519,000254: 17,3014 62771 AD XLN1NDX
045520,000255: 17,3015 50000 INDEX A
045521,000256: 17,3016 33151 CA YZTABLE
045522,000257: 17,3017 73162 MASK BDZJETS # = 3417 OCT
045523,000258: 17,3020 61451 AD RWORD1 # ADD TO ROLL COMMANDS
045524,000259: 17,3021 55502 TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
045525,000260:
045526,000261: 17,3022 00006 EXTEND
045527,000262: 17,3023 75011 MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
045528,000263: 17,3024 66061 AD =-4 # Z-TRANSLATION ADDED ON
045529,000264: 17,3025 55522 TS NRJETS # NET NO. OF +,- ROLL JETS ON
045530,000265: 17,3026 00006 EXTEND
045531,000266: 17,3027 13033 BZF TAUCHECK
045532,000267:
045533,000268: 17,3030 31502 ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
045534,000269: 17,3031 55451 TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL
045535,000270: 17,3032 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
045536,000271:
045537,000272: 17,3033 11561 TAUCHECK CCS TAU
045538,000273: 17,3034 13040 TCF NOBDZ
045539,000274: 17,3035 13030 TCF ACRBDZ
045540,000275: 17,3036 13040 TCF NOBDZ
045541,000276: 17,3037 13030 TCF ACRBDZ
045542,000277:
045543,000278: 17,3040 31451 NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
045544,000279: 17,3041 00006 EXTEND
045545,000280: 17,3042 75011 MP BIT7
045546,000281: 17,3043 67715 AD =-2
045547,000282: 17,3044 55522 TS NRJETS
045548,000283: 17,3045 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
045549,000284:
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Page 1045
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045551,000286: # BD QUAD SELECTION FOR ROLL COMMANDS
045552,000287:
045553,000288: 17,3046 11627 BDROLL CCS RBDFAIL
045554,000289: 17,3047 13053 TCF RBFAIL
045555,000290: 17,3050 13057 TCF RZXLNS
045556,000291: 17,3051 13055 TCF RDFAIL
045557,000292: 17,3052 13057 TCF RZXLNS
045558,000293: 17,3053 34334 RBFAIL CAF NINE
045559,000294: 17,3054 13061 TCF TABRZCMD
045560,000295: 17,3055 35763 RDFAIL CAF TWELVE
045561,000296: 17,3056 13061 TCF TABRZCMD
045562,000297:
045563,000298: 17,3057 51516 RZXLNS INDEX ZNDX # NO BD FAILURES
045564,000299: 17,3060 32660 CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
045565,000300: 17,3061 61517 TABRZCMD AD RINDEX
045566,000301: 17,3062 50000 INDEX A
045567,000302: 17,3063 33130 CA RTABLE
045568,000303: 17,3064 73150 MASK BDRJETS # = 34017 OCT
045569,000304: 17,3065 55451 TS RWORD1
045570,000305:
045571,000306: 17,3066 31515 ACYCHECK CA YNDX # ANY Y-TRANSLATION
045572,000307: 17,3067 00006 EXTEND
045573,000308: 17,3070 13122 BZF NOACY # NO Y-TRANSLATION
045574,000309: 17,3071 11626 CCS RACFAIL
045575,000310: 17,3072 36214 CAF THREE
045576,000311: 17,3073 13075 TCF +2
045577,000312: 17,3074 36211 CAF SIX
045578,000313: 17,3075 51515 INDEX YNDX
045579,000314: 17,3076 62771 AD XLN1NDX
045580,000315: 17,3077 50000 INDEX A
045581,000316: 17,3100 33151 CA YZTABLE
045582,000317: 17,3101 73163 MASK ACYJETS # = 34360 OCT
045583,000318: 17,3102 61451 AD RWORD1
045584,000319: 17,3103 55502 TS T5TEMP
045585,000320: 17,3104 00006 EXTEND # FOR EXPLANATION SEE CODING ON RTABLE
045586,000321: 17,3105 75014 MP BIT4
045587,000322: 17,3106 66061 AD =-4
045588,000323: 17,3107 55522 TS NRJETS # NO. OF NET ROLL JETS
045589,000324: 17,3110 00006 EXTEND
045590,000325: 17,3111 13115 BZF TAUCHCK # IF NRJETS = 0
045591,000326:
045592,000327: 17,3112 31502 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
045593,000328: 17,3113 55451 TS RWORD1
045594,000329: 17,3114 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
045595,000330:
045596,000331: 17,3115 11561 TAUCHCK CCS TAU
045597,000332: 17,3116 13122 TCF NOACY
045598,000333: 17,3117 13112 TCF BDRACZ
045599,000334: 17,3120 13122 TCF NOACY
045600,000335: 17,3121 13112 TCF BDRACZ
045601,000336:
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Page 1046
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045603,000338: 17,3122 31451 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
045604,000339: 17,3123 00006 EXTEND
045605,000340: 17,3124 75014 MP BIT4
045606,000341: 17,3125 67715 AD =-2
045607,000342: 17,3126 55522 TS NRJETS
045608,000343: 17,3127 13274 TCF ROLLTIME
045609,000344:
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Page 1047
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045611,000346: # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
045612,000347:
045613,000348: # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
045614,000349: # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
045615,000350: # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
045616,000351:
045617,000352: # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
045618,000353: # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
045619,000354: # SWITCH TO AC ROLL.
045620,000355:
045621,000356: # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
045622,000357: # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
045623,000358:
045624,000359: # WORD MAKE UP....RTABLE
045625,000360:
045626,000361: # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND-
045627,000362: # ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
045628,000363:
045629,000364: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
045630,000365:
045631,000366: # BIT NO. 11 10 9 NO. OF ROLL JETS
045632,000367:
045633,000368: # 0 0 0 -2
045634,000369: # 0 0 1 -1
045635,000370: # 0 1 0 0
045636,000371: # 0 1 1 +1
045637,000372: # 1 0 0 +2
045638,000373:
045639,000374: # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
045640,000375: # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
045641,000376:
045642,000377: # THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
045643,000378: # (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
045644,000379:
045645,000380: # ROLL TRANS QUADFAIL BIAS
045646,000381:
045647,000382: 17,3130 11000 RTABLE OCT 11000 # 0 0
045648,000383: 17,3131 22125 OCT 22125 # + 0
045649,000384: 17,3132 00252 OCT 00252 # - 0
045650,000385: 17,3133 11231 OCT 11231 # 0 +Y(+Z) 3
045651,000386: 17,3134 15421 OCT 15421 # + +Y(+Z) 3
045652,000387: 17,3135 04610 OCT 04610 # - +Y(+Z) 3
045653,000388: 17,3136 11146 OCT 11146 # 0 -Y(-Z) 6
045654,000389: 17,3137 15504 OCT 15504 # + -Y(-Z) 6
045655,000390: 17,3140 04442 OCT 04442 # - -Y(-Z) 6
045656,000391: 17,3141 11000 OCT 11000 # 0 A(B) 9
045657,000392: 17,3142 15504 OCT 15504 # + A(B) 9
045658,000393: 17,3143 04610 OCT 04610 # - A(B) 9
045659,000394: 17,3144 11000 OCT 11000 # 0 C(D) 12
045660,000395: 17,3145 15421 OCT 15421 # + C(D) 12
045661,000396: 17,3146 04442 OCT 04442 # - C(D) 12
045662,000397:
|
|
Page 1048
|
045664,000399: # RTABLE MASKS-
045665,000400:
045666,000401: 17,3147 03760 ACRJETS OCT 03760
045667,000402: 17,3150 34017 BDRJETS OCT 34017
045668,000403:
|
|
Page 1049
|
045670,000405: # Y, Z TRANSLATION TABLE
045671,000406:
045672,000407: # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
045673,000408: # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
045674,000409: # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
045675,000410: # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
045676,000411: # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
045677,000412: # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
045678,000413: # ABOVE.
045679,000414: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
045680,000415: # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS
045681,000416: # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
045682,000417:
045683,000418: # TRANSLATION QUADFAIL BIAS
045684,000419:
045685,000420: 17,3151 11000 YZTABLE OCT 11000 # 0 0
045686,000421: 17,3152 11231 OCT 11231 # +Z(+Y) 0
045687,000422: 17,3153 11146 OCT 11146 # -Z(-Y) 0
045688,000423: 17,3154 11000 OCT 11000 # 0 B(A) 3
045689,000424: 17,3155 04610 OCT 04610 # +Z(+Y) B(A) 3
045690,000425: 17,3156 15504 OCT 15504 # -Z(-Y) B(A) 3
045691,000426: 17,3157 11000 OCT 11000 # 0 D(C) 6
045692,000427: 17,3160 15421 OCT 15421 # +Z(+Y) D(C) 6
045693,000428: 17,3161 04442 OCT 04442 # -Z(-Y) D(C) 6
045694,000429:
045695,000430: # YZ-TABLE MASKS-
045696,000431:
045697,000432: 17,3162 03417 BDZJETS OCT 03417
045698,000433: 17,3163 34360 ACYJETS OCT 34360
045699,000434:
045700,000435: # ADDITIONAL CONSTANTS
045701,000436:
045702,000437: 17,3164 7715 =-2 = NEG2
045703,000438: 17,3164 6061 =-4 = NEG4
045704,000439:
|
|
Page 1050
|
045706,000441: # CALCULATION OF JET ON-TIMES
045707,000442:
045708,000443: # THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
045709,000444: # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
045710,000445: # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
045711,000446: # ERVAL.
045712,000447: # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
045713,000448: # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
045714,000449: # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
045715,000450: # UPDATE DFT.
045716,000451: # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
045717,000452: # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
045718,000453: # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
045719,000454: # AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
045720,000455: # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
045721,000456: # ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
045722,000457:
045723,000458: # PITCH JET ON-TIME CALCULATION
045724,000459:
045725,000460: 17,3164 11562 PITCHTIM CCS TAU1
045726,000461: 17,3165 13174 TCF PTAUPOS
045727,000462: 17,3166 13170 TCF +2
045728,000463: 17,3167 13172 TCF PTAUNEG
045729,000464: 17,3170 55550 TS DFT1 # NO PITCH ROTATION
045730,000465: 17,3171 13372 TCF PBYPASS # COMMANDS
045731,000466:
045732,000467: 17,3172 41523 PTAUNEG CS NPJETS
045733,000468: 17,3173 55523 TS NPJETS
045734,000469: 17,3174 31562 PTAUPOS CA TAU1
045735,000470: 17,3175 00006 EXTEND
045736,000471: 17,3176 51523 INDEX NPJETS
045737,000472: 17,3177 73353 MP NJET
045738,000473: 17,3200 55461 TS BLAST1
045739,000474: 17,3201 63306 AD =-.1SEC
045740,000475: 17,3202 00006 EXTEND
045741,000476: 17,3203 63214 BZMF AD14MSP
045742,000477: 17,3204 51523 INDEX NPJETS
045743,000478: 17,3205 33307 CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC
045744,000479: 17,3206 55550 TS DFT1
045745,000480: 17,3207 40000 COM
045746,000481: 17,3210 27562 ADS TAU1 # UPDATE TAU1
045747,000482: 17,3211 33310 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION
045748,000483: 17,3212 55461 TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY
045749,000484: 17,3213 13357 TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH
045750,000485: # OVER TO TVC
045751,000486: 17,3214 41461 AD14MSP CS BLAST1 # SEE IF JET ON TIME LESS THAN
045752,000487: 17,3215 63313 AD =14MS # MINIMUM IMPULSE TIME
045753,000488: 17,3216 00006 EXTEND
045754,000489: 17,3217 63222 BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS
045755,000490: 17,3220 33313 CAF =14MS
|
|
Page 1051
|
045757,000492: 17,3221 55461 TS BLAST1
045758,000493: 17,3222 31461 PBLASTOK CA BLAST1
045759,000494: 17,3223 00006 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED
045760,000495: 17,3224 71523 MP NPJETS # WITHIN THE TS-CYCLE TIME
045761,000496: 17,3225 23550 LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
045762,000497: 17,3226 55562 TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
045763,000498: 17,3227 13357 TCF ASMBLWP
045764,000499:
|
|
Page 1052
|
045766,000501: # YAW JET ON-TIME CALCULATION
045767,000502:
045768,000503: 17,3230 11563 YAWTIME CCS TAU2
045769,000504: 17,3231 13240 TCF YTAUPOS
045770,000505: 17,3232 13234 TCF +2
045771,000506: 17,3233 13236 TCF YTAUNEG
045772,000507: 17,3234 55551 TS DFT2 # NO YAW ROTATION COMMANDS
045773,000508: 17,3235 13536 TCF YBYPASS
045774,000509:
045775,000510: 17,3236 41524 YTAUNEG CS NYJETS
045776,000511: 17,3237 55524 TS NYJETS
045777,000512: 17,3240 31563 YTAUPOS CA TAU2
045778,000513: 17,3241 00006 EXTEND
045779,000514: 17,3242 51524 INDEX NYJETS
045780,000515: 17,3243 73353 MP NJET
045781,000516: 17,3244 55463 TS BLAST2
045782,000517: 17,3245 63306 AD =-.1SEC
045783,000518: 17,3246 00006 EXTEND
045784,000519: 17,3247 63260 BZMF AD14MSY
045785,000520: 17,3250 51524 INDEX NYJETS
045786,000521: 17,3251 33307 CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC
045787,000522: 17,3252 55551 TS DFT2
045788,000523: 17,3253 40000 COM
045789,000524: 17,3254 27563 ADS TAU2 # DECREMENT TAU2
045790,000525: 17,3255 33310 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
045791,000526: 17,3256 55463 TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
045792,000527: 17,3257 13523 TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
045793,000528:
045794,000529: 17,3260 41463 AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
045795,000530: 17,3261 63313 AD =14MS # MINIMUM IMPULSE TIME
045796,000531: 17,3262 00006 EXTEND
045797,000532: 17,3263 63266 BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045798,000533: 17,3264 33313 CAF =14MS
045799,000534: 17,3265 55463 TS BLAST2
045800,000535: 17,3266 31463 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
045801,000536: 17,3267 00006 EXTEND # THE T5CYCLE TIME
045802,000537: 17,3270 71524 MP NYJETS
045803,000538: 17,3271 23551 LXCH DFT2
045804,000539: 17,3272 55563 TS TAU2 # ZERO TAU2
045805,000540: 17,3273 13523 TCF ASMBLWY
045806,000541:
|
|
Page 1053
|
045808,000543: # ROLL ON-TIME CALCULATION-
045809,000544:
045810,000545: 17,3274 11561 ROLLTIME CCS TAU
045811,000546: 17,3275 13314 TCF RBLAST
045812,000547: 17,3276 13300 TCF +2
045813,000548: 17,3277 13314 TCF RBLAST
045814,000549: 17,3300 51522 INDEX NRJETS
045815,000550: 17,3301 33307 CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
045816,000551: 17,3302 55547 TS DFT # PRESENT
045817,000552: 17,3303 13516 TCF RBYPASS
045818,000553:
045819,000554: 17,3304 77037 DEC -480 B-14 # =-.3SEC
045820,000555: 17,3305 77277 DEC -320 B-14 # =-.2SEC
045821,000556: 17,3306 77537 =-.1SEC DEC -160 B-14 # =-.1SEC
045822,000557: 17,3307 00000 DFTMAX DEC 0 B-14 # 0
045823,000558: 17,3310 00240 =+.1SEC DEC 160 B-14 # =+.1SEC
045824,000559: 17,3311 00500 DEC 320 B-14 # =+.2SEC
045825,000560: 17,3312 00740 DEC 480 B-14 # =+.3SEC
045826,000561: 17,3313 00027 =14MS DEC 23 B-14 # =14MS
045827,000562:
045828,000563: 17,3314 31561 RBLAST CA TAU
045829,000564: 17,3315 00006 EXTEND
045830,000565: 17,3316 51522 INDEX NRJETS
045831,000566: 17,3317 73353 MP NJET
045832,000567: 17,3320 55457 TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE
045833,000568: # USED IN DETERMINING THE JET ON-TIMES
045834,000569: 17,3321 63306 AD =-.1SEC
045835,000570: 17,3322 00006 EXTEND
045836,000571: 17,3323 63334 BZMF AD14MSR
045837,000572: 17,3324 51522 INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER
045838,000573: 17,3325 33307 CA DFTMAX # THAN THE T5 CYCLE TIME
045839,000574: 17,3326 55547 TS DFT
045840,000575: 17,3327 40000 COM
045841,000576: 17,3330 27561 ADS TAU
045842,000577: 17,3331 33310 CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
045843,000578: 17,3332 55457 TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
045844,000579: 17,3333 13377 TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
045845,000580:
045846,000581: 17,3334 41457 AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
045847,000582: 17,3335 63313 AD =14MS # MINIMUM IMPULSE TIME
045848,000583: 17,3336 00006 EXTEND
045849,000584: 17,3337 63342 BZMF RBLASTOK
045850,000585: 17,3340 33313 CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045851,000586: 17,3341 55457 TS BLAST
045852,000587: 17,3342 31457 RBLASTOK CA BLAST
045853,000588: 17,3343 00006 EXTEND
045854,000589: 17,3344 71522 MP NRJETS
045855,000590: 17,3345 23547 LXCH DFT
045856,000591: 17,3346 55561 TS TAU # ZERO TAU
045857,000592: 17,3347 13377 TCF ASMBLWR
045858,000593:
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|
Page 1054
|
045860,000595: 17,3350 65252 DEC -.333333 # = -1/3
045861,000596: 17,3351 57777 DEC -.500000 # = -1/2
045862,000597: 17,3352 40000 DEC -.999999 # = -1 (NEGMAX)
045863,000598: 17,3353 00000 NJET DEC 0 B-14
045864,000599: 17,3354 37777 DEC .999999 # = +1 (POSMAX)
045865,000600: 17,3355 20000 DEC .500000 # = +1/2
045866,000601: 17,3356 12525 DEC .333333 # = +1/3
045867,000602:
|
|
Page 1055
|
045869,000604: # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
045870,000605: # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
045871,000606:
045872,000607: # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
045873,000608: # CORRESPONDING ROTATIONS ARE COMPLETED.
045874,000609:
045875,000610: # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
045876,000611:
045877,000612: 17,3357 11626 ASMBLWP CCS RACFAIL
045878,000613: 17,3360 13366 TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION
045879,000614: 17,3361 13363 TCF +2
045880,000615: 17,3362 13366 TCF FPX2
045881,000616: 17,3363 51513 INDEX XNDX1
045882,000617: 17,3364 32660 CA XLNNDX
045883,000618: 17,3365 50000 INDEX A
045884,000619: 17,3366 32714 FPX2 CA PYTABLE
045885,000620: 17,3367 72733 MASK PJETS
045886,000621: 17,3370 55454 TS PWORD2
045887,000622: 17,3371 13230 TCF YAWTIME
045888,000623:
045889,000624: 17,3372 31453 PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
045890,000625: 17,3373 55454 TS PWORD2 # UPON ENTRY
045891,000626: 17,3374 35021 CAF ZERO
045892,000627: 17,3375 55461 TS BLAST1 # THERE IS NO PWORD2
045893,000628: 17,3376 13230 TCF YAWTIME
045894,000629:
|
|
Page 1056
|
045896,000631: # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
045897,000632:
045898,000633: 17,3377 11515 ASMBLWR CCS YNDX # CHECK FOR Y-TRANS
045899,000634: 17,3400 13410 TCF ACBD2Y
045900,000635: 17,3401 35021 NO2Y CAF ZERO
045901,000636: 17,3402 55452 TS RWORD2
045902,000637: 17,3403 11516 CCS ZNDX # CHECK FOR Z-TRANS
045903,000638: 17,3404 13453 TCF ACBD2Z
045904,000639: 17,3405 35021 NO2Z CAF ZERO
045905,000640: 17,3406 27452 ADS RWORD2
045906,000641: 17,3407 13164 TCF PITCHTIM # RWORD2 ASSEMBLED
045907,000642:
045908,000643: 17,3410 11630 ACBD2Y CCS ACORBD
045909,000644: 17,3411 13426 TCF AC2Y # CAN DO Y-TRANS
045910,000645: 17,3412 13426 TCF AC2Y
045911,000646: 17,3413 13414 TCF +1 # USING AC FOR ROLL
045912,000647: 17,3414 11626 CCS RACFAIL
045913,000648: 17,3415 13401 TCF NO2Y # USING AC AND AC HAS FAILED
045914,000649: 17,3416 13420 TCF +2
045915,000650: 17,3417 13401 TCF NO2Y # DITTO
045916,000651:
045917,000652: 17,3420 51515 INDEX YNDX # NO FAILURES, CAN DO Y
045918,000653: 17,3421 32660 CA XLNNDX
045919,000654: 17,3422 50000 INDEX A
045920,000655: 17,3423 33130 CA RTABLE
045921,000656: 17,3424 73147 MASK ACRJETS
045922,000657: 17,3425 13402 TCF NO2Y +1
045923,000658:
045924,000659: 17,3426 11626 AC2Y CCS RACFAIL
045925,000660: 17,3427 36214 CAF THREE
045926,000661: 17,3430 13432 TCF +2
045927,000662: 17,3431 36211 CAF SIX
045928,000663: 17,3432 51515 INDEX YNDX
045929,000664: 17,3433 62771 AD XLN1NDX
045930,000665: 17,3434 50000 INDEX A
045931,000666: 17,3435 33151 CA YZTABLE
045932,000667: 17,3436 73163 MASK ACYJETS
045933,000668: 17,3437 55452 TS RWORD2
045934,000669: 17,3440 00006 EXTEND
045935,000670: 17,3441 75014 MP BIT4
045936,000671: 17,3442 67715 AD =-2
045937,000672: 17,3443 55522 TS NRJETS
045938,000673: 17,3444 41457 CS BLAST
045939,000674: 17,3445 63310 AD =+.1SEC
045940,000675: 17,3446 00006 EXTEND
045941,000676: 17,3447 71522 MP NRJETS
045942,000677: 17,3450 30001 CA L
045943,000678: 17,3451 27547 ADS DFT
045944,000679: 17,3452 13403 TCF NO2Y +2
|
|
Page 1057
|
045946,000681: 17,3453 11630 ACBD2Z CCS ACORBD
045947,000682: 17,3454 13504 TCF BDF2Z # USING BD-ROLL
045948,000683: 17,3455 13504 TCF BDF2Z # MUST CHECK FOR BD FAILURES
045949,000684: 17,3456 13457 TCF +1
045950,000685: 17,3457 11627 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS
045951,000686: 17,3460 36214 CAF THREE
045952,000687: 17,3461 13463 TCF +2
045953,000688: 17,3462 36211 CAF SIX
045954,000689: 17,3463 51516 INDEX ZNDX
045955,000690: 17,3464 62771 AD XLN1NDX
045956,000691: 17,3465 50000 INDEX A
045957,000692: 17,3466 33151 CA YZTABLE
045958,000693: 17,3467 73162 MASK BDZJETS
045959,000694: 17,3470 27452 ADS RWORD2
045960,000695: 17,3471 00006 EXTEND
045961,000696: 17,3472 75011 MP BIT7
045962,000697: 17,3473 67715 AD =-2
045963,000698: 17,3474 55522 TS NRJETS
045964,000699: 17,3475 41457 CS BLAST
045965,000700: 17,3476 63310 AD =+.1SEC
045966,000701: 17,3477 00006 EXTEND
045967,000702: 17,3500 71522 MP NRJETS
045968,000703: 17,3501 30001 CA L
045969,000704: 17,3502 27547 ADS DFT
045970,000705: 17,3503 13164 TCF PITCHTIM
045971,000706:
045972,000707: 17,3504 11627 BDF2Z CCS RBDFAIL
045973,000708: 17,3505 13405 TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
045974,000709: 17,3506 13510 TCF +2
045975,000710: 17,3507 13405 TCF NO2Z # DITTO
045976,000711: 17,3510 51516 INDEX ZNDX
045977,000712: 17,3511 32660 CA XLNNDX
045978,000713: 17,3512 50000 INDEX A
045979,000714: 17,3513 33130 CA RTABLE
045980,000715: 17,3514 73150 MASK BDRJETS
045981,000716: 17,3515 13406 TCF NO2Z +1
045982,000717:
045983,000718: 17,3516 31451 RBYPASS CA RWORD1
045984,000719: 17,3517 55452 TS RWORD2
045985,000720: 17,3520 35021 CAF ZERO
045986,000721: 17,3521 55457 TS BLAST
045987,000722: 17,3522 13164 TCF PITCHTIM
045988,000723:
|
|
Page 1058
|
045990,000725: # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
045991,000726:
045992,000727: 17,3523 11627 ASMBLWY CCS RBDFAIL
045993,000728: 17,3524 13532 TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION
045994,000729: 17,3525 13527 TCF +2
045995,000730: 17,3526 13532 TCF FYX2
045996,000731: 17,3527 51514 INDEX XNDX2
045997,000732: 17,3530 32660 CA XLNNDX
045998,000733: 17,3531 50000 INDEX A
045999,000734: 17,3532 32714 FYX2 CA PYTABLE
046000,000735: 17,3533 72734 MASK YJETS
046001,000736: 17,3534 55456 TS YWORD2
046002,000737: 17,3535 13542 TCF T6SETUP
046003,000738:
046004,000739: 17,3536 31455 YBYPASS CA YWORD1
046005,000740: 17,3537 55456 TS YWORD2
046006,000741: 17,3540 35021 CAF ZERO
046007,000742: 17,3541 55463 TS BLAST2
046008,000743:
|
|
Page 1059
|
046010,000745: # SORT THE JET ON-TIMES
046011,000746:
046012,000747: # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
046013,000748:
046014,000749: # RWORD1
046015,000750: # RWORD2 BLAST
046016,000751:
046017,000752: # PWORD1
046018,000753: # PWORD2 BLAST1
046019,000754:
046020,000755: # YWORD1
046021,000756: # YWORD2 BLAST2
046022,000757:
046023,000758: # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
046024,000759: # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
046025,000760: # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
046026,000761: # ORDER WORD.
046027,000762:
046028,000763: 17,3542 35021 T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
046029,000764: 17,3543 55460 TS BLAST +1
046030,000765: 17,3544 35015 CAF FOUR # BRANCH INDEX FOR PITCH
046031,000766: 17,3545 55462 TS BLAST1 +1
046032,000767: 17,3546 35024 CAF ELEVEN # BRANCH INDEX FOR YAW
046033,000768: 17,3547 55464 TS BLAST2 +1
046034,000769:
046035,000770: 17,3550 41457 CS BLAST
046036,000771: 17,3551 61461 AD BLAST1
046037,000772: 17,3552 00006 EXTEND
046038,000773: 17,3553 63577 BZMF DXCHT12 # T1 GR T2
046039,000774: 17,3554 41461 CHECKT23 CS BLAST1
046040,000775: 17,3555 61463 AD BLAST2
046041,000776: 17,3556 00006 EXTEND
046042,000777: 17,3557 63603 BZMF DXCHT23
046043,000778: 17,3560 41461 CALCDT6 CS BLAST1
046044,000779: 17,3561 27463 ADS BLAST2
046045,000780: 17,3562 41457 CS BLAST
046046,000781: 17,3563 27461 ADS BLAST1 # END OF SORTING PROCEDURE
046047,000782: 17,3564 00006 EXTEND # RESET T5LOC TO BEGIN PHASE1
046048,000783: 17,3565 33576 DCA RCS2CADR
046049,000784: 17,3566 53313 DXCH T5LOC
046050,000785: 17,3567 45017 ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
046051,000786: 17,3570 71501 MASK RCSFLAGS # T6 PROGRAM
046052,000787: 17,3571 55501 TS RCSFLAGS
046053,000788: 17,3572 45021 CS ZERO # RESET T5PHASE FOR PHASE1
046054,000789: 17,3573 55465 TS T5PHASE
046055,000790: 17,3574 15333 TCF RESUME # RESUME INTERRUPTED PROGRAM
046056,000791:
046057,000792: 17,3575 E6,1510 EBANK= KMPAC
046058,000793: 17,3575 02122 42066 RCS2CADR 2CADR RCSATT
046059,000794:
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Page 1060
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046061,000796: 17,3577 53460 DXCHT12 DXCH BLAST
046062,000797: 17,3600 53462 DXCH BLAST1
046063,000798: 17,3601 53460 DXCH BLAST
046064,000799: 17,3602 13554 TCF CHECKT23
046065,000800:
046066,000801: 17,3603 53462 DXCHT23 DXCH BLAST1
046067,000802: 17,3604 53464 DXCH BLAST2
046068,000803: 17,3605 53462 DXCH BLAST1
046069,000804: 17,3606 41457 CS BLAST
046070,000805: 17,3607 61461 AD BLAST1
046071,000806: 17,3610 00006 EXTEND
046072,000807: 17,3611 63613 BZMF +2
046073,000808: 17,3612 13560 TCF CALCDT6
046074,000809: 17,3613 53460 DXCH BLAST
046075,000810: 17,3614 53462 DXCH BLAST1
046076,000811: 17,3615 53460 DXCH BLAST
046077,000812: 17,3616 13560 TCF CALCDT6
046078,000813:
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Page 1061
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046080,000815: # T6 PROGRAM AND CHANNEL SETUP
046081,000816:
046082,000817: 21,3765 BANK 21
046083,000818: 17,2000 SETLOC DAPS5
046084,000819: 17,2000 BANK
046085,000820:
046086,000821: 17,3617 22016 T6START LXCH BANKRUPT
046087,000822: 17,3620 00006 EXTEND
046088,000823: 17,3621 22012 QXCH QRUPT
046089,000824: 17,3622 10031 CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET
046090,000825: 17,3623 15333 TCF RESUME # AFTER T6RUPT OCCURED (IN T5RUPT)
046091,000826: 17,3624 13626 TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
046092,000827: 17,3625 15333 TCF RESUME # TAKING ACTION
046093,000828:
046094,000829: 17,3626 41501 CS RCSFLAGS
046095,000830: 17,3627 75017 MASK BIT1 # IF BIT1 IS 0 RESET TO 1
046096,000831: 17,3630 00006 EXTEND # AND INITIALIZE CHANNEL
046097,000832: 17,3631 13642 BZF T6RUPTOR
046098,000833: 17,3632 27501 ADS RCSFLAGS
046099,000834: 17,3633 31451 CA RWORD1
046100,000835: 17,3634 00006 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1
046101,000836: 17,3635 01006 WRITE CHAN6
046102,000837: 17,3636 31453 CA PWORD1
046103,000838: 17,3637 61455 AD YWORD1
046104,000839: 17,3640 00006 EXTEND
046105,000840: 17,3641 01005 WRITE CHAN5
046106,000841:
046107,000842: 17,3642 11457 T6RUPTOR CCS BLAST
046108,000843: 17,3643 13722 TCF ZBLAST # ZERO BLAST1
046109,000844: 17,3644 13661 TCF REPLACE # REPLACE WORD1
046110,000845: 17,3645 13647 TCF +2
046111,000846: 17,3646 13661 TCF REPLACE
046112,000847: 17,3647 11461 T6L1 CCS BLAST1
046113,000848: 17,3650 13725 TCF ZBLAST1
046114,000849: 17,3651 13666 TCF REPLACE1
046115,000850: 17,3652 13654 TCF +2
046116,000851: 17,3653 13666 TCF REPLACE1
046117,000852: 17,3654 11463 T6L2 CCS BLAST2
046118,000853: 17,3655 13730 TCF ZBLAST2
046119,000854: 17,3656 13673 TCF REPLACE2
046120,000855: 17,3657 15333 TCF RESUME
046121,000856: 17,3660 13673 TCF REPLACE2
046122,000857:
046123,000858: 17,3661 51460 REPLACE INDEX BLAST +1
046124,000859: 17,3662 03700 TC REPLACER
046125,000860: 17,3663 45017 CS ONE
046126,000861: 17,3664 55457 TS BLAST
046127,000862: 17,3665 13647 TCF T6L1
046128,000863:
046129,000864: 17,3666 51462 REPLACE1 INDEX BLAST1 +1
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Page 1062
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046131,000866: 17,3667 03700 TC REPLACER
046132,000867: 17,3670 45017 CS ONE
046133,000868: 17,3671 55461 TS BLAST1
046134,000869: 17,3672 13654 TCF T6L2
046135,000870:
046136,000871: 17,3673 51464 REPLACE2 INDEX BLAST2 +1
046137,000872: 17,3674 03700 TC REPLACER
046138,000873: 17,3675 45017 CS ONE
046139,000874: 17,3676 55463 TS BLAST2
046140,000875: 17,3677 15333 TCF RESUME
046141,000876:
046142,000877: 17,3700 31452 REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2
046143,000878: 17,3701 00006 EXTEND
046144,000879: 17,3702 01006 WRITE CHAN6
046145,000880: 17,3703 00002 TC Q
046146,000881:
046147,000882: 17,3704 32734 REPLACEP CA YJETS
046148,000883: 17,3705 00006 EXTEND
046149,000884: 17,3706 02005 RAND CHAN5
046150,000885: 17,3707 61454 AD PWORD2
046151,000886: 17,3710 00006 EXTEND
046152,000887: 17,3711 01005 WRITE CHAN5
046153,000888: 17,3712 00002 TC Q
046154,000889:
046155,000890: 17,3713 32733 REPLACEY CA PJETS
046156,000891: 17,3714 00006 EXTEND
046157,000892: 17,3715 02005 RAND CHAN5
046158,000893: 17,3716 61456 AD YWORD2
046159,000894: 17,3717 00006 EXTEND
046160,000895: 17,3720 01005 WRITE CHAN5
046161,000896: 17,3721 00002 TC Q
046162,000897:
046163,000898: 17,3722 35021 ZBLAST CAF ZERO
046164,000899: 17,3723 57457 XCH BLAST
046165,000900: 17,3724 13732 TCF ENABT6
046166,000901: 17,3725 35021 ZBLAST1 CAF ZERO
046167,000902: 17,3726 57461 XCH BLAST1
046168,000903: 17,3727 13732 TCF ENABT6
046169,000904: 17,3730 35021 ZBLAST2 CAF ZERO
046170,000905: 17,3731 57463 XCH BLAST2
046171,000906: 17,3732 54031 ENABT6 TS TIME6
046172,000907: 17,3733 35001 CAF NEGMAX
046173,000908: 17,3734 00006 EXTEND
046174,000909: 17,3735 05013 WOR CHAN13 # ENABLE T6RUPT
046175,000910: 17,3736 15333 TCF RESUME
046176,000911:
046177,000912: # END OF T6 INTERRUPT
046178,000913:
046179,000914: 17,3737 ENDSLECT EQUALS
046180,000915:
End of include-file JET_SELECTION_LOGIC.agc. Parent file is MAIN.agc