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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043738,000002: ## Copyright: Public domain.
043739,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
043740,000004: ## Purpose: A section of Comanche revision 045.
043741,000005: ## It is part of the reconstructed source code for the
043742,000006: ## second release of the flight software for the Command
043743,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
043744,000008: ## The code has been recreated from a copy of Comanche 055. It
043745,000009: ## has been adapted such that the resulting bugger words
043746,000010: ## exactly match those specified for Comanche 45 in NASA drawing
043747,000011: ## 2021153D, which gives relatively high confidence that the
043748,000012: ## reconstruction is correct.
043749,000013: ## Assembler: yaYUL
043750,000014: ## Contact: Ron Burkey <info@sandroid.org>.
043751,000015: ## Website: www.ibiblio.org/apollo/index.html
043752,000016: ## Mod history: 2020-12-06 MAS Created from Comanche 44.
043753,000017:
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Page 1002
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043755,000019: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
043756,000020:
043757,000021: # START OF T5 INTERRUPT PROGRAM
043758,000022:
043759,000023: 20,3612 BANK 20
043760,000024: 21,2000 SETLOC DAPS3
043761,000025: 21,2000 BANK
043762,000026:
043763,000027: 21,2105 COUNT 21/DAPRC
043764,000028:
043765,000029: 21,2105 E6,1510 EBANK= KMPAC
043766,000030: 21,2105 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
043767,000031: 21,2106 31465 CA T5PHASE # ON A T5 RUPT.
043768,000032: 21,2107 00006 EXTEND
043769,000033: 21,2110 62112 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
043770,000034: 21,2111 12114 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
043771,000035: 21,2112 45017 CS ONE
043772,000036: 21,2113 55465 TS T5PHASE
043773,000037: 21,2114 00006 EXTEND
043774,000038: 21,2115 32121 DCA RCSLOC
043775,000039: 21,2116 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
043776,000040: 21,2117 12123 TCF RCSATT +1
043777,000041: 21,2120 E6,1510 EBANK= KMPAC
043778,000042: 21,2120 02122 42066 RCSLOC 2CADR RCSATT
043779,000043:
043780,000044: 21,2122 22016 RCSATT LXCH BANKRUPT # SAVE BB
043781,000045: 21,2123 00006 EXTEND # SAVE Q
043782,000046: 21,2124 22012 QXCH QRUPT
043783,000047: 21,2125 35001 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
043784,000048: 21,2126 00006 EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
043785,000049: 21,2127 02031 RAND CHAN31 # PILOT IS FULLY ENABLED)
043786,000050: 21,2130 00006 EXTEND
043787,000051: 21,2131 12160 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
043788,000052: # GO TO SETT5
043789,000053:
043790,000054: 21,2132 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
043791,000055: 21,2133 75002 MASK BIT14
043792,000056: 21,2134 27501 ADS RCSFLAGS # SET NORATE FLAG,
043793,000057: 21,2135 34777 CAF POSMAX
043794,000058: 21,2136 55332 TS HOLDFLAG # SET HOLDFLAG +,
043795,000059: 21,2137 35021 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
043796,000060: 21,2140 55567 TS ERRORX
043797,000061: 21,2141 55570 TS ERRORY
043798,000062: 21,2142 55571 TS ERRORZ
043799,000063: 21,2143 35002 CAF BIT14
043800,000064: 21,2144 00006 EXTEND
043801,000065: 21,2145 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
043802,000066: 21,2146 00006 EXTEND
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Page 1003
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043804,000068: 21,2147 12160 BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
043805,000069:
043806,000070: 21,2150 55465 TS T5PHASE # IF NOT IN FREE MODE,
043807,000071: 21,2151 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
043808,000072: 21,2152 54030 TS TIME5 # IN 100 MS VIA T5RUPT
043809,000073:
043810,000074: 21,2153 02632 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
043811,000075:
043812,000076: 21,2154 12350 TCF KMATRIX
043813,000077: 21,2155 37770 DELTATT OCT 37770 # 80MS (TIME5)
043814,000078: 21,2156 37776 DELTATT2 OCT 37776 # 20MS (TIME5)
043815,000079: 21,2157 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5)
043816,000080: 21,2160 CHAN5 EQUALS 5
043817,000081: 21,2160 CHAN6 EQUALS 6
043818,000082: 21,2160 7671 PRIO34A = PRIO34
043819,000083:
043820,000084: # CHECK PHASE OF T5 PROGRAM
043821,000085:
043822,000086: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
043823,000087: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
043824,000088: # TO ALLOW FOR THE EXECUTION OF OTHER
043825,000089: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
043826,000090: # VARIABLES AT TURN ON.
043827,000091:
043828,000092: # THE CODING OF T5PHASE IS...
043829,000093:
043830,000094: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
043831,000095: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
043832,000096: # - = RESTART DAP
043833,000097: # -0 = PHASE1 OF THE T5 PROGRAM
043834,000098:
043835,000099: 21,2160 11465 SETT5 CCS T5PHASE
043836,000100: 21,2161 12544 TCF FRESHDAP # TURN ON AUTOPILOT
043837,000101: 21,2162 12661 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
043838,000102: 21,2163 12546 TCF REDAP # RESTART AUTOPILOT
043839,000103:
043840,000104: 21,2164 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
043841,000105: 21,2165 30030 CA TIME5
043842,000106: 21,2166 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
043843,000107: 21,2167 32156 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
043844,000108: 21,2170 54030 TS TIME5 # OF PROGRAM
043845,000109:
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Page 1004
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043847,000111: # IMU STATUS CHECK
043848,000112:
043849,000113: 21,2171 41321 CS IMODES33 # CHECK IMU STATUS
043850,000114: 21,2172 75012 MASK BIT6 # BIT6 = 0 IMU OK
043851,000115: 21,2173 10000 CCS A # BIT6 = 1 NO IMU
043852,000116: 21,2174 12210 TCF RATEFILT
043853,000117: 21,2175 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
043854,000118: 21,2176 75002 MASK BIT14 # INITIALIZED
043855,000119: 21,2177 27501 ADS RCSFLAGS
043856,000120: 21,2200 35002 CAF BIT14 # NO ATTITUDE REFERENCE
043857,000121: 21,2201 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
043858,000122: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
043859,000123: # ATTITUDE HOLD
043860,000124: 21,2202 00006 EXTEND
043861,000125: 21,2203 02031 RAND CHAN31 # CHECK FOR FREE MODE
043862,000126: 21,2204 00006 EXTEND
043863,000127: 21,2205 12417 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
043864,000128: 21,2206 12534 TCF REINIT # .....TILT...............................
043865,000129: 21,2207 00030 BITS4,5 OCT 30
043866,000130:
043867,000131: 21,2210 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
043868,000132: 21,2211 75002 MASK BIT14
043869,000133: 21,2212 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
043870,000134: 21,2213 12215 BZF +2
043871,000135: 21,2214 12350 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
043872,000136:
043873,000137: # RATE FILTER TIMING = 7.72 MS
043874,000138:
043875,000139: # RATE FILTER EQUATIONS
043876,000140:
043877,000141:
043878,000142: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
043879,000143: # -1
043880,000144:
043881,000145: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
043882,000146: # -1
043883,000147: # - * - -
043884,000148: # WHERE DELRHO = AMGB (CDU - CDU )
043885,000149: # -1
043886,000150:
043887,000151: 21,2215 35016 CAF TWO
043888,000152: 21,2216 55506 DRHOLOOP TS SPNDX
043889,000153: 21,2217 60000 DOUBLE
043890,000154: 21,2220 55507 TS DPNDX
043891,000155: 21,2221 51507 INDEX DPNDX
043892,000156: 21,2222 41552 CS DRHO # DRHO SCALED 180 DEGS
043893,000157: 21,2223 00006 EXTEND
043894,000158: 21,2224 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
043895,000159: 21,2225 73077 MP GAIN1
043896,000160: 21,2226 51507 INDEX DPNDX
043897,000161: 21,2227 21553 DAS DRHO # (1 -.064) DRHO
043898,000162: 21,2230 00006 EXTEND
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Page 1005
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043900,000164: 21,2231 51507 INDEX DPNDX
043901,000165: 21,2232 41534 DCS ADOT
043902,000166: 21,2233 53511 DXCH KMPAC # -(.1)ADOT
043903,000167: 21,2234 35003 CA QUARTER
043904,000168: 21,2235 02042 TC SMALLMP
043905,000169: 21,2236 53511 DXCH KMPAC
043906,000170: 21,2237 51507 INDEX DPNDX
043907,000171: 21,2240 21553 DAS DRHO
043908,000172: 21,2241 11506 CCS SPNDX
043909,000173: 21,2242 12216 TCF DRHOLOOP
043910,000174:
043911,000175: 21,2243 30032 CA CDUX # MEASURED BODY RATES--
043912,000176: 21,2244 57635 XCH RHO
043913,000177: 21,2245 00006 EXTEND
043914,000178: 21,2246 21635 MSU RHO # - * - -
043915,000179: 21,2247 40000 COM # DELRHO = AMGB (CDU - CDU )
043916,000180: # -1
043917,000181: 21,2250 22007 ZL
043918,000182: 21,2251 53516 DXCH DELTEMPX
043919,000183: 21,2252 30033 CA CDUY
043920,000184: 21,2253 57636 XCH RHO1
043921,000185: 21,2254 00006 EXTEND
043922,000186: 21,2255 21636 MSU RHO1
043923,000187: 21,2256 40000 COM
043924,000188: 21,2257 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
043925,000189: 21,2260 00006 EXTEND
043926,000190: 21,2261 71640 MP AMGB1
043927,000191: 21,2262 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
043928,000192: # MUST BE DOUBLE PRECISION OR WILL LOSE
043929,000193: # PULSES
043930,000194: 21,2263 31641 CA AMGB4
043931,000195: 21,2264 00006 EXTEND
043932,000196: 21,2265 71502 MP T5TEMP
043933,000197: 21,2266 53520 DXCH DELTEMPY
043934,000198: 21,2267 31643 CA AMGB7
043935,000199: 21,2270 00006 EXTEND
043936,000200: 21,2271 71502 MP T5TEMP
043937,000201: 21,2272 53522 DXCH DELTEMPZ
043938,000202: 21,2273 30034 CA CDUZ
043939,000203: 21,2274 57637 XCH RHO2
043940,000204: 21,2275 00006 EXTEND
043941,000205: 21,2276 21637 MSU RHO2
043942,000206: 21,2277 40000 COM
043943,000207: 21,2300 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
043944,000208: 21,2301 00006 EXTEND
043945,000209: 21,2302 71642 MP AMGB5
043946,000210: 21,2303 21520 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
043947,000211: # + AMGB5(CDUZ-RHO2)
043948,000212: 21,2304 31644 CA AMGB8
043949,000213: 21,2305 00006 EXTEND
043950,000214:
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Page 1006
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043952,000216: 21,2306 71502 MP T5TEMP
043953,000217: 21,2307 21522 DAS DELTEMPZ # DELTEMPZ = AMGB7(CDUY-RHO1)
043954,000218: # + AMGB8(CDUZ-RHO2)
043955,000219: 21,2310 35016 CAF TWO
043956,000220: 21,2311 55506 ADOTLOOP TS SPNDX
043957,000221: 21,2312 60000 DOUBLE
043958,000222: 21,2313 55507 TS DPNDX
043959,000223: 21,2314 00006 EXTEND
043960,000224: 21,2315 51507 INDEX DPNDX
043961,000225: 21,2316 31516 DCA DELTEMPX
043962,000226: 21,2317 51507 INDEX DPNDX
043963,000227: 21,2320 21553 DAS DRHO
043964,000228: 21,2321 00006 EXTEND
043965,000229: 21,2322 51507 INDEX DPNDX
043966,000230: 21,2323 31516 DCA DELTEMPX
043967,000231: 21,2324 51507 INDEX DPNDX
043968,000232: 21,2325 21542 DAS MERRORX
043969,000233: 21,2326 51507 INDEX DPNDX
043970,000234: 21,2327 31552 CA DRHO
043971,000235: 21,2330 60000 DOUBLE # N.B.
043972,000236: 21,2331 60000 DOUBLE # N.B.
043973,000237: 21,2332 00006 EXTEND
043974,000238: 21,2333 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
043975,000239: 21,2334 73115 MP GAIN2
043976,000240: 21,2335 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
043977,000241: 21,2336 21534 DAS ADOT # -1
043978,000242: 21,2337 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
043979,000243: 21,2340 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
043980,000244: 21,2341 00006 EXTEND
043981,000245: 21,2342 51506 INDEX SPNDX
043982,000246: 21,2343 71547 MP DFT
043983,000247: 21,2344 51507 INDEX DPNDX
043984,000248: 21,2345 21534 DAS ADOT # KMJ(DFT)
043985,000249: 21,2346 11506 CCS SPNDX
043986,000250: 21,2347 12311 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
043987,000251: 21,2350 31560 KMATRIX CA ATTSEC
043988,000252: 21,2351 75026 MASK LOW4
043989,000253: 21,2352 10000 CCS A
043990,000254: 21,2353 12361 TCF TENTHSEK
043991,000255: 21,2354 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
043992,000256: 21,2355 05134 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
043993,000257: 21,2356 E6,1510 EBANK= KMPAC
043994,000258: 21,2356 03447 44066 2CADR AMBGUPDT
043995,000259:
043996,000260: 21,2360 34334 CAF NINE
043997,000261:
043998,000262: 21,2361 55560 TENTHSEK TS ATTSEC
043999,000263:
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Page 1007
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044001,000265: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
044002,000266: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
044003,000267:
044004,000268: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
044005,000269: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
044006,000270: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
044007,000271:
044008,000272: # THE STEERING PROGRAMS-
044009,000273: # 1) ATTITUDE MANEUVER ROUTINE
044010,000274: # 2) LEM TRACKING
044011,000275:
044012,000276: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
044013,000277: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
044014,000278:
044015,000279: # HOLDFLAG CODING-
044016,000280:
044017,000281: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
044018,000282: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
044019,000283: # ALSO IGNORE AUTOMATIC STEERING
044020,000284: # SET = + BY
044021,000285: # 1) INITIALIZATION PHASE OF AUTOPILOT
044022,000286: # 2) OCCURANCE OF RHC COMMANDS
044023,000287: # 3) FREE MODE
044024,000288: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
044025,000289: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
044026,000290: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
044027,000291: # FUNCTIONS AS IF IT WERE.)
044028,000292: # 5) S/C CONTROL SWITCH IN SCS
044029,000293: # 6) IMU POWER OFF
044030,000294: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
044031,000295: # - = PERFORMING AUTOMATIC MANEUVER
044032,000296: # -0 = NOT USED AT PRESENT
044033,000297:
044034,000298: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
044035,000299: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
044036,000300: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
044037,000301:
044038,000302: 21,2362 41332 CS HOLDFLAG
044039,000303: 21,2363 00006 EXTEND
044040,000304: 21,2364 62411 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
044041,000305: # COMMANDS
044042,000306: 21,2365 35016 DCDUINCR CAF TWO
044043,000307: 21,2366 55506 DELOOP TS SPNDX
044044,000308: 21,2367 60000 DOUBLE
044045,000309: 21,2370 55507 TS DPNDX
044046,000310: 21,2371 00006 EXTEND
044047,000311: 21,2372 50000 INDEX A
044048,000312: 21,2373 31647 DCA CDUXD
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Page 1008
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044050,000314: 21,2374 53511 DXCH KMPAC
044051,000315: 21,2375 00006 EXTEND
044052,000316: 21,2376 51507 INDEX DPNDX
044053,000317: 21,2377 31576 DCA DELCDUX
044054,000318: 21,2400 02054 TC DPADD
044055,000319: 21,2401 00006 EXTEND
044056,000320: 21,2402 31511 DCA KMPAC
044057,000321: 21,2403 51506 INDEX SPNDX
044058,000322: 21,2404 55572 TS THETADX
044059,000323: 21,2405 51507 INDEX DPNDX
044060,000324: 21,2406 53647 DXCH CDUXD
044061,000325: 21,2407 11506 CCS SPNDX
044062,000326: 21,2410 12366 TCF DELOOP
044063,000327:
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Page 1009
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044065,000329: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
044066,000330:
044067,000331: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
044068,000332:
044069,000333: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
044070,000334: # GENERATED INTERNALLY BY THE AUTOPILOT
044071,000335:
044072,000336: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
044073,000337: # WITH RESPECT TO THE CONTENTS OF N22
044074,000338:
044075,000339: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
044076,000340: # WITH RESPECT TO THE CONTENTS OF N17
044077,000341:
044078,000342: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
044079,000343: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
044080,000344:
044081,000345: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044082,000346: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044083,000347: # AS A FLY-TO INDICATOR.
044084,000348:
044085,000349: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044086,000350: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044087,000351: # AS A FLY-TO INDICATOR.
044088,000352:
044089,000353: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
044090,000354: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
044091,000355:
044092,000356: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
044093,000357: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
044094,000358: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
044095,000359:
044096,000360: 21,2411 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
044097,000361: 21,2412 75014 MASK BIT4
044098,000362: 21,2413 00006 EXTEND
044099,000363: 21,2414 13160 BZF FDAIDSP2
044100,000364:
044101,000365: 21,2415 27501 FDAIDSP1 ADS RCSFLAGS
044102,000366: 21,2416 02420 TC NEEDLER
044103,000367: 21,2417 15333 KRESUME1 TCF RESUME # END PHASE 1
044104,000368:
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|
Page 1010
|
044106,000370: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044107,000371:
044108,000372: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
044109,000373:
044110,000374: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044111,000375: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044112,000376: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044113,000377: # THE DACS.
044114,000378:
044115,000379: # CALLING SEQUENCE:
044116,000380:
044117,000381: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044118,000382: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044119,000383:
044120,000384: # CS RCSFLAGS IN EBANK6
044121,000385: # MASK BIT3
044122,000386: # ADS RCSFLAGS
044123,000387:
044124,000388: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044125,000389:
044126,000390: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
044127,000391: # AK1 SCALED 180 DEGREES TO CHANGE
044128,000392: # AK2 SCALED 180 DEGREES
044129,000393:
044130,000394: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044131,000395: # (= 384 BITS IN IMU ERROR COUNTER)
044132,000396:
044133,000397: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044134,000398:
044135,000399: # INHINT
044136,000400: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
044137,000401: # CADR NEEDLER
044138,000402: # RELINT
044139,000403:
044140,000404: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
044141,000405: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044142,000406: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044143,000407:
044144,000408: # ERASABLE USED:
044145,000409: # AK CDUXCMD
044146,000410: # AK1 CDUYCMD
044147,000411: # AK2 CDUZCMD
044148,000412: # EDRIVEX A,L,Q
044149,000413: # EDRIVEY T5TEMP
044150,000414: # EDRIVEZ SPNDX
044151,000415:
044152,000416: # SWITCHES: RCSFLAGS BITS 3,2
044153,000417:
044154,000418: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
|
|
Page 1011
|
044156,000420: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
044157,000421: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
044158,000422:
044159,000423: # SIGN CONVENTION< AK = THETAC - THETA
044160,000424: # WHERE THETAC = COMMAND ANGLE
044161,000425: # THETA = PRESENT ANGLE
044162,000426:
044163,000427: 21,2420 35014 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
044164,000428: 21,2421 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
044165,000429: 21,2422 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
044166,000430: 21,2423 00006 EXTEND
044167,000431: 21,2424 12431 BZF NEEDLER1
044168,000432: 21,2425 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
044169,000433: 21,2426 75015 MASK BIT3
044170,000434: 21,2427 27501 ADS RCSFLAGS
044171,000435: 21,2430 00002 TC Q
044172,000436:
044173,000437: 21,2431 31501 NEEDLER1 CA RCSFLAGS
044174,000438: 21,2432 76211 MASK SIX
044175,000439: 21,2433 00006 EXTEND
044176,000440: 21,2434 12471 BZF NEEDLES3
044177,000441: 21,2435 75015 MASK BIT3
044178,000442: 21,2436 00006 EXTEND
044179,000443: 21,2437 12462 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
044180,000444:
044181,000445: 21,2440 45012 CS BIT6 # FIRST PASS BIT3 = 1
044182,000446: 21,2441 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
044183,000447: 21,2442 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
044184,000448: 21,2443 45021 NEEDLE11 CS ZERO # ENABLING COUNTERS.
044185,000449: 21,2444 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
044186,000450: 21,2445 55477 TS AK1
044187,000451: 21,2446 55500 TS AK2
044188,000452: 21,2447 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
044189,000453: 21,2450 55504 TS EDRIVEY
044190,000454: 21,2451 55505 TS EDRIVEZ
044191,000455: 21,2452 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
044192,000456: 21,2453 54051 TS CDUYCMD
044193,000457: 21,2454 54052 TS CDUZCMD
044194,000458: 21,2455 46211 CS SIX # RESET RCSFLAGS FOR PASS2
044195,000459: 21,2456 71501 MASK RCSFLAGS
044196,000460: 21,2457 65016 AD BIT2
044197,000461: 21,2460 55501 TS RCSFLAGS
044198,000462: 21,2461 00002 TC Q # END PASS1
044199,000463:
044200,000464: 21,2462 35012 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
044201,000465: 21,2463 00006 EXTEND
044202,000466: 21,2464 05012 WOR CHAN12
044203,000467: 21,2465 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
|
|
Page 1012
|
044205,000469: 21,2466 71501 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
044206,000470: 21,2467 55501 TS RCSFLAGS # RELAY CLOSURE
044207,000471: 21,2470 00002 TC Q
044208,000472:
044209,000473: 21,2471 35012 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
044210,000474: 21,2472 00006 EXTEND # IS ENABLED
044211,000475: 21,2473 02012 RAND CHAN12
044212,000476: 21,2474 00006 EXTEND # IF NOT RECYCLE NEEDLES
044213,000477: 21,2475 12425 BZF NEEDLER +5
044214,000478:
044215,000479: 21,2476 35016 NEEDLES CAF TWO
044216,000480: 21,2477 55506 DACLOOP TS SPNDX
044217,000481: 21,2500 45003 CS QUARTER
044218,000482: 21,2501 00006 EXTEND
044219,000483: 21,2502 51506 INDEX SPNDX
044220,000484: 21,2503 71476 MP AK
044221,000485: 21,2504 54001 TS L
044222,000486: 21,2505 10000 CCS A
044223,000487: 21,2506 32542 CA DACLIMIT
044224,000488: 21,2507 12511 TCF +2
044225,000489: 21,2510 42542 CS DACLIMIT
044226,000490: 21,2511 60001 AD L
044227,000491: 21,2512 55502 TS T5TEMP # OVFLO CHK
044228,000492: 21,2513 12517 TCF +4
044229,000493: 21,2514 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
044230,000494: 21,2515 32542 CAF DACLIMIT
044231,000495: 21,2516 54001 TS L
044232,000496: 21,2517 51506 INDEX SPNDX
044233,000497: 21,2520 41503 CS EDRIVEX # CURRENT VALUE OF DAC
044234,000498: 21,2521 60001 AD L
044235,000499: 21,2522 51506 INDEX SPNDX
044236,000500: 21,2523 26050 ADS CDUXCMD
044237,000501: 21,2524 51506 INDEX SPNDX
044238,000502: 21,2525 23503 LXCH EDRIVEX
044239,000503: 21,2526 11506 CCS SPNDX
044240,000504: 21,2527 12477 TCF DACLOOP
044241,000505: 21,2530 37707 CAF 13,14,15
044242,000506: 21,2531 00006 EXTEND
044243,000507: 21,2532 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
044244,000508: 21,2533 00002 TC Q
044245,000509:
044246,000510: 21,2534 32540 REINIT CAF DELAY200 # ........TILT LOGIC
044247,000511: 21,2535 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
044248,000512: 21,2536 55465 TS T5PHASE
044249,000513: 21,2537 15333 TCF RESUME
044250,000514: 21,2540 37754 DELAY200 DEC 16364 B-14 # 200MS
044251,000515:
044252,000516: 21,2541 77177 DEC -384 B-14
044253,000517:
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|
Page 1013
|
044255,000519: 21,2542 37200 DACLIMIT DEC 16000 B-14
044256,000520: 21,2543 00600 DEC 384 B-14
044257,000521:
|
|
Page 1014
|
044259,000523: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044260,000524:
044261,000525: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044262,000526:
044263,000527: # WBODY (+1) DFT TAU2
044264,000528: # WBODY1 (+1) DFT1 BIAS
044265,000529: # WBODY2 (+1) DFT2 BIAS1
044266,000530: # ADOT (+1) DRHO (+1) BIAS2
044267,000531: # ADOT1 (+1) DRHO1 (+1) ERRORX
044268,000532: # ADOT2 (+1) DRHO2 (+1) ERRORY
044269,000533: # MERRORX (+1) ATTSEC ERRORZ
044270,000534: # MERRORY (+1) TAU
044271,000535: # MERRORZ (+1) TAU1
044272,000536:
044273,000537: 21,2544 35017 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
044274,000538: 21,2545 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
044275,000539: # ATTITUDE HOLD REFERENCE
044276,000540:
044277,000541: 21,2546 04740 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044278,000542: 21,2547 40347 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
044279,000543:
044280,000544: 21,2550 04740 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
044281,000545: 21,2551 40500 CADR S40.14 # TO AUTOPILOT GAINS
044282,000546:
044283,000547: 21,2552 32623 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
044284,000548: 21,2553 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
044285,000549: 21,2554 35021 CAF ZERO
044286,000550: 21,2555 51506 INDEX SPNDX
044287,000551: 21,2556 55525 TS WBODY
044288,000552: 21,2557 11506 CCS SPNDX
044289,000553: 21,2560 12553 TCF ZEROT5
044290,000554: 21,2561 02632 TCR ZEROJET
044291,000555:
044292,000556: 21,2562 45021 CS ZERO
044293,000557: 21,2563 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
044294,000558:
044295,000559: 21,2564 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
044296,000560: # MANUAL RATE MODES
044297,000561:
044298,000562: 21,2565 32624 CAF =.24
044299,000563: 21,2566 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
044300,000564:
044301,000565: 21,2567 35015 CAF FOUR
044302,000566: 21,2570 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044303,000567: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
044304,000568: # IN (80MS - T5TIME(40MS)). THEREFORE
044305,000569: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044306,000570: # MS FROM NOW AND EVERY 100MS THEREAFTER
044307,000571:
044308,000572: 21,2571 35024 CAF ELEVEN
044309,000573: 21,2572 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
044310,000574: # TO INITIALIZE THE S/C ANGULAR RATES
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|
Page 1015
|
044312,000576: 21,2573 30032 CA CDUX
044313,000577: 21,2574 55635 TS RHO
044314,000578: 21,2575 30033 CA CDUY
044315,000579: 21,2576 55636 TS RHO1
044316,000580: 21,2577 30034 CA CDUZ
044317,000581: 21,2600 55637 TS RHO2
044318,000582: 21,2601 35021 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
044319,000583: 21,2602 55465 TS T5PHASE # PHASE2 OF PROGRAM
044320,000584:
044321,000585: 21,2603 41321 CS IMODES33 # CHECK IMU STATUS
044322,000586: 21,2604 75012 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
044323,000587: 21,2605 10000 CCS A # IF BIT6 = 1 IMU NOT READY
044324,000588: 21,2606 12612 TCF IMUAOK
044325,000589: 21,2607 55617 TS ATTKALMN # CANNOT USE IMU
044326,000590: 21,2610 32626 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
044327,000591: 21,2611 12617 TCF RCSSWIT # DONT START UP RATE FILTER
044328,000592: # SIGNAL NO RATE FILTER
044329,000593:
044330,000594: 21,2612 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
044331,000595: 21,2613 05134 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
044332,000596: 21,2614 E6,1510 EBANK= KMPAC
044333,000597: 21,2614 03447 44066 2CADR AMBGUPDT
044334,000598:
044335,000599: 21,2616 32625 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044336,000600: 21,2617 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
044337,000601: # SET BIT3 -INITIALIZE NEEDLES
044338,000602: # CLEAR BIT4 -RESET FOR FDAIDSP1
044339,000603: 21,2620 32627 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044340,000604: # ERROR COUNTER TO ZERO.
044341,000605: # (MINIMUM DELAY = 15 MS)
044342,000606: 21,2621 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044343,000607: 21,2622 05333 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
044344,000608: # FILTER WILL BEGIN OPERATING ZOOMS FROM
044345,000609: # NOW
044346,000610:
044347,000611: # CONSTANTS USED IN INITIALIZATION PROGRAM
044348,000612:
044349,000613: 21,2623 00044 NO.T5VAR DEC 36 B-14
044350,000614: 21,2624 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
044351,000615: 21,2625 00004 RCSINIT OCT 00004
044352,000616: 21,2626 20004 RCSINITB OCT 20004
044353,000617: 21,2627 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
044354,000618: 21,2630 E6,1510 EBANK= KMPAC
044355,000619: 21,2630 03617 36066 T6ADDR 2CADR T6START
044356,000620:
044357,000621: 21,2632 35024 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
044358,000622: 21,2633 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
044359,000623: 21,2634 35021 CAF ZERO # AND RWORD1.
044360,000624:
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|
Page 1016
|
044362,000626: 21,2635 51506 INDEX SPNDX
044363,000627: 21,2636 55451 TS RWORD1
044364,000628: 21,2637 11506 CCS SPNDX
044365,000629: 21,2640 12633 TCF ZEROJET +1
044366,000630:
044367,000631: 21,2641 35015 CAF FOUR
044368,000632: 21,2642 55462 TS BLAST1 +1
044369,000633: 21,2643 35024 CAF ELEVEN
044370,000634: 21,2644 55464 TS BLAST2 +1
044371,000635:
044372,000636: 21,2645 45017 CS BIT1
044373,000637: 21,2646 71501 MASK RCSFLAGS
044374,000638: 21,2647 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
044375,000639:
044376,000640: 21,2650 00006 EXTEND
044377,000641: 21,2651 32631 DCA T6ADDR
044378,000642: 21,2652 53311 DXCH T6LOC
044379,000643: 21,2653 33050 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044380,000644: 21,2654 54031 TS TIME6
044381,000645: 21,2655 35001 CAF BIT15
044382,000646: 21,2656 00006 EXTEND
044383,000647: 21,2657 05013 WOR CHAN13
044384,000648:
044385,000649: 21,2660 00002 TC Q
044386,000650:
044387,000651: 21,2661 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
044388,000652: 21,2662 13146 TCF KALUPDT
044389,000653:
044390,000654: 21,2663 12665 TCF +2 # ONLY IF ATTKALMN POSITIVE
044391,000655: 21,2664 12665 TCF +1
044392,000656: 21,2665 32156 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
044393,000657: 21,2666 56030 XCH TIME5 # (JET SELECTION LOGIC)
044394,000658: 21,2667 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
044395,000659:
044396,000660: 21,2670 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
044397,000661: 21,2671 75001 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044398,000662: 21,2672 00006 EXTEND # ATTKALMN TO -1
044399,000663: 21,2673 12675 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
044400,000664: 21,2674 45017 CS ONE
044401,000665: 21,2675 55617 NOHIAUTO TS ATTKALMN
044402,000666:
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|
Page 1017
|
044404,000668: # MANUAL ROTATION COMMANDS
044405,000669:
044406,000670: 21,2676 43032 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
044407,000671: 21,2677 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
044408,000672: 21,2700 55501 TS RCSFLAGS
044409,000673:
044410,000674: 21,2701 00006 EXTEND
044411,000675: 21,2702 00031 READ CHAN31
044412,000676: 21,2703 54001 TS L
044413,000677: 21,2704 31632 CA CH31TEMP
044414,000678: 21,2705 00006 EXTEND
044415,000679: 21,2706 06001 RXOR LCHAN
044416,000680: 21,2707 73036 MASK MANROT # = OCT00077
044417,000681: 21,2710 00006 EXTEND
044418,000682: 21,2711 62724 BZMF NOCHANGE
044419,000683:
044420,000684: 21,2712 22000 LXCH A
044421,000685: 21,2713 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044422,000686:
044423,000687: 21,2714 30001 CA L
044424,000688: 21,2715 00006 EXTEND
044425,000689: 21,2716 75013 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
044426,000690: 21,2717 30001 CA L
044427,000691: 21,2720 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
044428,000692: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
044429,000693: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044430,000694: # PITCH
044431,000695:
044432,000696: 21,2721 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND
044433,000697: 21,2722 73037 MASK OCT16000 # 11 OF RCSFLAGS)
044434,000698: 21,2723 27501 ADS RCSFLAGS
044435,000699:
044436,000700: 21,2724 41632 NOCHANGE CS CH31TEMP
044437,000701: 21,2725 73036 MASK MANROT
044438,000702: 21,2726 00006 EXTEND
044439,000703: 21,2727 63250 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
044440,000704:
044441,000705: 21,2730 55332 TS HOLDFLAG # SET HOLDFLAG +
044442,000706:
044443,000707: 21,2731 03130 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044444,000708: # YMANNDX, AND RMANNDX ARE ALL SET, BY
044445,000709: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044446,000710: # +, OR - ROTATION RESPECTIVELY AS
044447,000711: # COMMANDED BY THE RHC.
044448,000712:
044449,000713: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
044450,000714: # THE RHC IS RETURNED TO DETENT, THE
044451,000715: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044452,000716: # STICKCHK SO PMANNDX, YMANNDX, AND
044453,000717: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044454,000718: # LEFT SET TO THEIR LAST OUT OF DETENT
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|
Page 1018
|
044456,000720: # VALUES.
044457,000721:
044458,000722: 21,2732 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
044459,000723: 21,2733 75002 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
044460,000724: 21,2734 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044461,000725:
044462,000726: 21,2735 35002 CAF BIT14
044463,000727: 21,2736 00006 EXTEND
044464,000728: 21,2737 02031 RAND CHAN31
044465,000729: 21,2740 00006 EXTEND
044466,000730: 21,2741 63051 BZMF FREEFUNC
044467,000731:
044468,000732: 21,2742 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044469,000733: 21,2743 75002 MASK BIT14 # HAS BEEN INITIALIZED
044470,000734: 21,2744 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
044471,000735: 21,2745 12534 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
044472,000736:
044473,000737: 21,2746 45022 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
044474,000738: 21,2747 61130 AD RATEINDX # ATTKALMN TO -1.
044475,000739: 21,2750 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
044476,000740: 21,2751 62754 BZMF +3
044477,000741: 21,2752 45017 CS ONE
044478,000742: 21,2753 55617 TS ATTKALMN
044479,000743:
044480,000744: 21,2754 35016 CAF TWO # AUTO-HOLD MANUAL ROTATION
044481,000745: 21,2755 55506 SETWBODY TS SPNDX
044482,000746: 21,2756 60000 DOUBLE
044483,000747: 21,2757 55507 TS DPNDX
044484,000748: 21,2760 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
044485,000749: 21,2761 31656 CA RMANNDX # = 1 + ROTATION
044486,000750: 21,2762 00006 EXTEND # = 2 - ROTATION
044487,000751: 21,2763 13005 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
044488,000752: # GO TO NORATE.
044489,000753:
044490,000754: 21,2764 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
044491,000755: 21,2765 54002 TS Q # = 2 0.2 DEG/SEC
044492,000756: 21,2766 50002 INDEX Q # = 4 0.5 DEG/SEC
044493,000757: 21,2767 33037 CA MANTABLE -1 # = 6 4.0 DEG/SEC
044494,000758: 21,2770 00006 EXTEND
044495,000759: 21,2771 75007 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
044496,000760: 21,2772 51507 INDEX DPNDX # TO GET COMMANDED RATE.
044497,000761: 21,2773 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
044498,000762:
044499,000763: 21,2774 31501 CA RCSFLAGS
044500,000764: 21,2775 73037 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
044501,000765: 21,2776 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
044502,000766: 21,2777 13015 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044503,000767: # ERROR.
044504,000768:
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Page 1019
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044506,000770: 21,3000 35021 ZEROER CA ZERO # ZEROER ZEROS MERRORS
044507,000771: 21,3001 22007 ZL
044508,000772: 21,3002 51507 INDEX DPNDX
044509,000773: 21,3003 53542 DXCH MERRORX
044510,000774: 21,3004 13023 TCF SPNDXCHK
044511,000775:
044512,000776: 21,3005 22007 NORATE ZL
044513,000777: 21,3006 51507 INDEX DPNDX
044514,000778: 21,3007 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
044515,000779: 21,3010 31501 CA RCSFLAGS
044516,000780: 21,3011 73037 MASK OCT16000
044517,000781: 21,3012 00006 EXTEND # IS RATE DAMPING COMPLETED
044518,000782: 21,3013 13023 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044519,000783: 21,3014 13000 TCF ZEROER # NO, GO TO ZEROER
044520,000784:
044521,000785: 21,3015 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044522,000786: 21,3016 43037 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
044523,000787: 21,3017 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
044524,000788: 21,3020 75011 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
044525,000789: 21,3021 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
044526,000790: 21,3022 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044527,000791:
044528,000792: 21,3023 51507 SPNDXCHK INDEX DPNDX
044529,000793: 21,3024 31541 CA MERRORX
044530,000794: 21,3025 51506 INDEX SPNDX
044531,000795: 21,3026 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
044532,000796: 21,3027 11506 CCS SPNDX
044533,000797: 21,3030 12755 TCF SETWBODY
044534,000798: 21,3031 13441 TCF JETS
044535,000799:
044536,000800: 21,3032 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
044537,000801:
044538,000802: 21,3033 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
044539,000803: 21,3034 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
044540,000804: 21,3035 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
044541,000805: # PRESERVED
044542,000806: # FOR INDEXING
044543,000807: 21,3036 00077 MANROT OCT 77
044544,000808: 21,3037 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
044545,000809: 21,3040 00165 MANTABLE DEC .0071111
044546,000810: 21,3041 77612 DEC -.0071111
044547,000811: 21,3042 00722 DEC .028444
044548,000812: 21,3043 77055 DEC -0.028444
044549,000813: 21,3044 02215 DEC .071111
044550,000814: 21,3045 75562 DEC -.071111
044551,000815: 21,3046 22151 DEC .568889
044552,000816: 21,3047 55626 DEC -.568889
044553,000817: 21,3050 00027 =+14MS DEC 23 B-14
044554,000818: 21,3051 51656 FREEFUNC INDEX RMANNDX # ACCELERATION
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|
Page 1020
|
044556,000820: 21,3052 33063 CA FREETAU # COMMANDS
044557,000821: 21,3053 55561 TS TAU
044558,000822: 21,3054 51657 INDEX PMANNDX
044559,000823: 21,3055 33063 CA FREETAU # FREETAU 0 SEC
044560,000824: 21,3056 55562 TS TAU1 # +1 +0.10 SEC
044561,000825: 21,3057 51660 INDEX YMANNDX # +2 -0.10 SEC
044562,000826: 21,3060 33063 CA FREETAU # (+3) 0 SEC
044563,000827: 21,3061 55563 TS TAU2
044564,000828: 21,3062 13067 TCF T6PROGM
044565,000829:
044566,000830: 21,3063 00000 FREETAU DEC 0 B-14
044567,000831: 21,3064 00740 DEC 480 B-14
044568,000832: 21,3065 77037 DEC -480 B-14
044569,000833: 21,3066 00000 DEC 0 B-14
044570,000834:
044571,000835: 21,3067 35021 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
044572,000836: 21,3070 55567 TS ERRORX
044573,000837: 21,3071 55570 TS ERRORY
044574,000838: 21,3072 55571 TS ERRORZ
044575,000839: 21,3073 13757 TCF T6PROG
044576,000840:
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|
Page 1021
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044578,000842: 21,3074 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
044579,000843: 21,3075 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044580,000844: 21,3076 06604 DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
044581,000845: 21,3077 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
044582,000846: 21,3100 12132 DEC .3180 # OF ATTITUDE RATES
044583,000847: 21,3101 13030 DEC .3452
044584,000848: 21,3102 14047 DEC .3774
044585,000849: 21,3103 15241 DEC .4161
044586,000850: 21,3104 16650 DEC .4634
044587,000851: 21,3105 20555 DEC .5223
044588,000852: 21,3106 23065 DEC .5970
044589,000853: 21,3107 26137 DEC .6933
044590,000854: 21,3110 32053 DEC .8151
044591,000855: 21,3111 35712 DEC .9342
044592,000856:
044593,000857: 21,3112 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
044594,000858: 21,3113 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044595,000859: 21,3114 00435 DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
044596,000860: 21,3115 00032 GAIN2 DEC .0016 # SCALED 10
044597,000861: 21,3116 01350 DEC .0454
044598,000862: 21,3117 01575 DEC .0545
044599,000863: 21,3120 02103 DEC .0666
044600,000864: 21,3121 02523 DEC .0832
044601,000865: 21,3122 03327 DEC .1069
044602,000866: 21,3123 04432 DEC .1422
044603,000867: 21,3124 06264 DEC .1985
044604,000868: 21,3125 11351 DEC .2955
044605,000869: 21,3126 17324 DEC .4817
044606,000870: 21,3127 33622 DEC .8683
044607,000871: 21,3130 55502 STICKCHK TS T5TEMP
044608,000872: 21,3131 76214 MASK THREE # INDECES FOR MANUAL ROTATION
044609,000873: 21,3132 55657 TS PMANNDX
044610,000874: 21,3133 31502 CA T5TEMP
044611,000875: 21,3134 00006 EXTEND # MAN RATE 0 0 RATE (DP)
044612,000876: 21,3135 75003 MP QUARTER # +1 + RATE (DP)
044613,000877: 21,3136 55502 TS T5TEMP # +2 - RATE (DP)
044614,000878: 21,3137 76214 MASK THREE # (+3) 0 RATE (DP)
044615,000879: 21,3140 55660 TS YMANNDX
044616,000880: 21,3141 31502 CA T5TEMP
044617,000881: 21,3142 00006 EXTEND
044618,000882: 21,3143 75003 MP QUARTER
044619,000883: 21,3144 55656 TS RMANNDX
044620,000884: 21,3145 00002 TC Q
044621,000885: 21,3146 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
044622,000886: # KALMAN FILTER TAKES 1.1 SEC
044623,000887:
044624,000888: 21,3147 32155 CA DELTATT # =1SEC - 80MS
044625,000889: 21,3150 61634 AD T5TIME # + DELAYS
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|
Page 1022
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044627,000891: 21,3151 54030 TS TIME5
044628,000892: 21,3152 13155 TCF +3
044629,000893: 21,3153 32156 CAF DELTATT2 # SAFETY PLAY TO ASSURE
044630,000894: 21,3154 54030 TS TIME5 # A T5RUPT
044631,000895:
044632,000896: 21,3155 45021 KRESUME2 CS ZERO # RESET FOR PHASE1
044633,000897: 21,3156 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM
044634,000898: 21,3157 15333 TCF RESUME
044635,000899:
044636,000900: 21,3160 45014 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
044637,000901: 21,3161 71501 MASK RCSFLAGS
044638,000902: 21,3162 55501 TS RCSFLAGS
044639,000903:
044640,000904: 21,3163 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044641,000905: 21,3164 75007 MASK BIT9 # ERRORS
044642,000906: 21,3165 00006 EXTEND
044643,000907: 21,3166 13175 BZF FDAITOTL
044644,000908: 21,3167 00006 EXTEND
044645,000909: 21,3170 41570 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
044646,000910: 21,3171 53477 DXCH AK
044647,000911: 21,3172 41571 CS ERRORZ
044648,000912: 21,3173 55500 TS AK2
044649,000913: 21,3174 15333 TCF RESUME # END PHASE 1
044650,000914:
044651,000915: 21,3175 30105 FDAITOTL CA FLAGWRD9
044652,000916: 21,3176 75012 MASK BIT6
044653,000917: 21,3177 00006 EXTEND
044654,000918: 21,3200 13243 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
044655,000919: # IF SO, GO TO WRTN17
044656,000920: 21,3201 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
044657,000921: 21,3202 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
044658,000922: 21,3203 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
044659,000923: 21,3204 31155 CA CPHI # COMPONENTS OF N22
044660,000924:
044661,000925: 21,3205 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
044662,000926: 21,3206 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
044663,000927: 21,3207 55476 TS AK
044664,000928: 21,3210 31513 CA WTEMP
044665,000929: 21,3211 00006 EXTEND
044666,000930: 21,3212 20033 MSU CDUY
044667,000931: 21,3213 55502 TS T5TEMP
044668,000932: 21,3214 00006 EXTEND
044669,000933: 21,3215 71640 MP AMGB1
044670,000934: 21,3216 27476 ADS AK
044671,000935: 21,3217 31502 CA T5TEMP
044672,000936: 21,3220 00006 EXTEND
044673,000937: 21,3221 71641 MP AMGB4
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|
Page 1023
|
044675,000939: 21,3222 55477 TS AK1
044676,000940: 21,3223 31502 CA T5TEMP
044677,000941: 21,3224 00006 EXTEND
044678,000942: 21,3225 71643 MP AMGB7
044679,000943: 21,3226 55500 TS AK2
044680,000944: 21,3227 31514 CA WTEMP +1
044681,000945: 21,3230 00006 EXTEND
044682,000946: 21,3231 20034 MSU CDUZ
044683,000947: 21,3232 55502 TS T5TEMP
044684,000948: 21,3233 00006 EXTEND
044685,000949: 21,3234 71642 MP AMGB5
044686,000950: 21,3235 27477 ADS AK1
044687,000951: 21,3236 31502 CA T5TEMP
044688,000952: 21,3237 00006 EXTEND
044689,000953: 21,3240 71644 MP AMGB8
044690,000954: 21,3241 27500 ADS AK2
044691,000955: 21,3242 15333 TCF RESUME # END PHASE1 OF RCS DAP
044692,000956:
044693,000957: 21,3243 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
044694,000958: 21,3244 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
044695,000959: 21,3245 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
044696,000960: 21,3246 31333 CA CPHIX
044697,000961: 21,3247 13205 TCF GETAKS
044698,000962:
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Page 1024
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044701,000965:
044702,000966:
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc