Source Code
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These source-code files are part of a reconstructed copy of Comanche 51, the
initial release (though not the final mission release) of the Apollo 11
Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final
release was Comanche 55. The reconstruction is believed to be exactly accurate,
but in the absence of an actual Apollo-era listing of Comanche 51, some
explanation of the reconstruction process is needed to insure confidence in
that accuracy.
The starting point was the source code of Comanche 55, whose original source code
is available. Comanche 55 source code was then modified by undoing changes known
to have been made between revisions 51 and 55. The most-significant steps involved
reverting changes related to the R-2 lunar potential model, the details of which
were known from the previous, separate, independent reconstruction of the Apollo 10
Lunar Module software Luminary 69/2. The now-reconstructed
Comanche 51 source code was verified by assembling it and checking that the assembled
code had the expected known-correct memory-bank checksums. Note that page numbers in
the reconstructed code match those on the Comanche 55 or Luminary 69 printouts, although
the source code would likely have different page numbers in a contemporary Comanche 51 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 55. Here's a guide
to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is
a short writeup about the reconstruction process in our software repository
that may be helpful in understanding it from a different perspective. There's also
a handy table
that lists what the number of memory-words should be for each routine in Comanche 51,
which could make a nice double-check; however, we've not performed that double-check ourselves.
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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044668,000002: ## Copyright: Public domain.
044669,000003: ## Filename: AUTOMATIC_MANEUVERS.agc
044670,000004: ## Purpose: A section of Comanche revision 051.
044671,000005: ## It is part of the reconstructed source code for the
044672,000006: ## original release of the flight software for the Command
044673,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
044674,000008: ## The code has been recreated from a copy of Comanche 055. It
044675,000009: ## has been adapted such that the resulting bugger words
044676,000010: ## exactly match those specified for Comanche 51 in NASA drawing
044677,000011: ## 2021153D, which gives relatively high confidence that the
044678,000012: ## reconstruction is correct.
044679,000013: ## Reference: pp. 1025-1036
044680,000014: ## Assembler: yaYUL
044681,000015: ## Contact: Ron Burkey <info@sandroid.org>.
044682,000016: ## Website: www.ibiblio.org/apollo/index.html
044683,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
044684,000018:
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Page 1025
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044686,000020: 21,3250 BANK 21
044687,000021: 21,2000 SETLOC DAPS3
044688,000022: 21,2000 BANK
044689,000023:
044690,000024: 21,3250 COUNT 21/DAPAM
044691,000025:
044692,000026: 21,3250 E6,1510 EBANK= KMPAC
044693,000027: 21,3250 00006 AHFNOROT EXTEND
044694,000028: 21,3251 00031 READ CHAN31
044695,000029: 21,3252 75002 MASK BIT14
044696,000030: 21,3253 00006 EXTEND
044697,000031: 21,3254 63272 BZMF FREECONT
044698,000032: 21,3255 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
044699,000033: 21,3256 75002 MASK BIT14
044700,000034: 21,3257 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
044701,000035: 21,3260 12534 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
044702,000036: # AUTOMATIC CONTROL YET
044703,000037: 21,3261 00006 EXTEND
044704,000038: 21,3262 00031 READ CHAN31
044705,000039: 21,3263 75003 MASK BIT13
044706,000040: 21,3264 00006 EXTEND
044707,000041: 21,3265 63372 BZMF HOLDFUNC
044708,000042:
044709,000043: 21,3266 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
044710,000044: 21,3267 00006 EXTEND # OTHERWISE, GO TO ATTHOLD.
044711,000045: 21,3270 63322 BZMF ATTHOLD
044712,000046: 21,3271 13376 TCF GRABANG
044713,000047:
044714,000048: # MINIMUM IMPULSE CONTROL
044715,000049:
044716,000050: 21,3272 35017 FREECONT CAF ONE
044717,000051: 21,3273 55332 TS HOLDFLAG # RESET HOLDFLAG
044718,000052: # INHIBIT AUTOMATIC STEERING
044719,000053: 21,3274 00006 EXTEND
044720,000054: 21,3275 00032 READ CHAN32
044721,000055: 21,3276 54001 TS L
044722,000056: 21,3277 40000 COM
044723,000057: 21,3300 73036 MASK MANROT
044724,000058: 21,3301 71633 MASK CHANTEMP
044725,000059: 21,3302 23633 LXCH CHANTEMP
044726,000060: 21,3303 03130 TC STICKCHK
044727,000061: 21,3304 51656 INDEX RMANNDX
044728,000062: 21,3305 33316 CA MINTAU # MINTAU +0
044729,000063: 21,3306 55561 TS TAU # +1 +14MS MINIMUM IMPULSE
044730,000064: 21,3307 51657 INDEX PMANNDX # +2 -14MS TIME
044731,000065: 21,3310 33316 CA MINTAU # +3 +0
044732,000066: 21,3311 55562 TS TAU1
044733,000067: 21,3312 51660 INDEX YMANNDX
044734,000068: 21,3313 33316 CA MINTAU
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Page 1026
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044736,000070: 21,3314 55563 TS TAU2
044737,000071: 21,3315 13067 TCF T6PROGM
044738,000072:
044739,000073: 21,3316 00000 MINTAU DEC 0 B-14
044740,000074: 21,3317 00027 DEC 23 B-14 # = 14MS
044741,000075: 21,3320 77750 DEC -23 B-14 # = -14MS
044742,000076: 21,3321 00000 DEC 0 B-14
044743,000077:
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Page 1027
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044745,000079: # CALCULATION OF ATTITUDE ERRORS-
044746,000080: # - * - - -
044747,000081: # AK = AMGB (CDUX - THETADX) + BIAS
044748,000082:
044749,000083: # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
044750,000084: # * * * ** * * *
044751,000085: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
044752,000086: # * * * ** * * *
044753,000087: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
044754,000088:
044755,000089: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
044756,000090: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
044757,000091: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
044758,000092: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
044759,000093:
044760,000094: 21,3322 30032 ATTHOLD CA CDUX
044761,000095: 21,3323 00006 EXTEND
044762,000096: 21,3324 21572 MSU THETADX
044763,000097: 21,3325 55567 TS ERRORX
044764,000098: 21,3326 30033 CA CDUY
044765,000099: 21,3327 00006 EXTEND
044766,000100: 21,3330 21573 MSU THETADY
044767,000101: 21,3331 55502 TS T5TEMP
044768,000102: 21,3332 00006 EXTEND
044769,000103: 21,3333 71640 MP AMGB1
044770,000104: 21,3334 27567 ADS ERRORX
044771,000105: 21,3335 31502 CA T5TEMP
044772,000106: 21,3336 00006 EXTEND
044773,000107: 21,3337 71641 MP AMGB4
044774,000108: 21,3340 55570 TS ERRORY
044775,000109: 21,3341 31502 CA T5TEMP
044776,000110: 21,3342 00006 EXTEND
044777,000111: 21,3343 71643 MP AMGB7
044778,000112: 21,3344 55571 TS ERRORZ
044779,000113: 21,3345 30034 CA CDUZ
044780,000114: 21,3346 00006 EXTEND
044781,000115: 21,3347 21574 MSU THETADZ
044782,000116: 21,3350 55502 TS T5TEMP
044783,000117: 21,3351 00006 EXTEND
044784,000118: 21,3352 71642 MP AMGB5
044785,000119: 21,3353 27570 ADS ERRORY
044786,000120: 21,3354 31502 CA T5TEMP
044787,000121: 21,3355 00006 EXTEND
044788,000122: 21,3356 71644 MP AMGB8
044789,000123: 21,3357 27571 ADS ERRORZ
044790,000124: 21,3360 41332 CS HOLDFLAG
044791,000125: 21,3361 00006 EXTEND
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Page 1028
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044793,000127: 21,3362 63441 BZMF JETS
044794,000128: 21,3363 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
044795,000129: 21,3364 27567 ADS ERRORX
044796,000130: 21,3365 31565 CA BIAS1
044797,000131: 21,3366 27570 ADS ERRORY
044798,000132: 21,3367 31566 CA BIAS2
044799,000133: 21,3370 27571 ADS ERRORZ
044800,000134: 21,3371 13441 TCF JETS
044801,000135:
044802,000136: 21,3372 11332 HOLDFUNC CCS HOLDFLAG
044803,000137: 21,3373 13376 TCF +3
044804,000138: 21,3374 13322 TCF ATTHOLD
044805,000139: 21,3375 13376 TCF +1
044806,000140: 21,3376 35021 GRABANG CAF ZERO # ZERO WBODYS AND BIASES
044807,000141: 21,3377 55525 TS WBODY
044808,000142: 21,3400 55526 TS WBODY +1
044809,000143: 21,3401 55527 TS WBODY1
044810,000144: 21,3402 55530 TS WBODY1 +1
044811,000145: 21,3403 55531 TS WBODY2
044812,000146: 21,3404 55532 TS WBODY2 +1
044813,000147: 21,3405 55564 TS BIAS
044814,000148: 21,3406 55565 TS BIAS1
044815,000149: 21,3407 55566 TS BIAS2
044816,000150:
044817,000151: 21,3410 31501 CA RCSFLAGS
044818,000152: 21,3411 73037 MASK OCT16000
044819,000153: 21,3412 00006 EXTEND # IS RATE DAMPING COMPLETED
044820,000154: 21,3413 13421 BZF ENDDAMP # IF SO, GO TO ENDDAMP
044821,000155: 21,3414 35021 CAF ZERO # OTHERWISE, ZERO ERRORS
044822,000156: 21,3415 55567 TS ERRORX
044823,000157: 21,3416 55570 TS ERRORY
044824,000158: 21,3417 55571 TS ERRORZ
044825,000159: 21,3420 13441 TCF JETS
044826,000160:
044827,000161: 21,3421 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
044828,000162: 21,3422 00006 EXTEND
044829,000163: 21,3423 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
044830,000164: 21,3424 53573 DXCH THETADX # REFERENCES
044831,000165: 21,3425 30034 CA CDUZ
044832,000166: 21,3426 55574 TS THETADZ
044833,000167: 21,3427 13322 TCF ATTHOLD
044834,000168:
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Page 1029
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044836,000170: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
044837,000171:
044838,000172: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
044839,000173: # PLANE.
044840,000174:
044841,000175: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
044842,000176: # APPROPRIATE DEADZONE.
044843,000177:
044844,000178: # .
044845,000179: # R22 RATE . ERROR
044846,000180: # WL+H .
044847,000181: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
044848,000182: # R23 WL * .
044849,000183: # --------------------------------- * . ----- DESIRED RATE LINES
044850,000184: # R23 WL-H - *.
044851,000185: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
044852,000186: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
044853,000187: # * . *
044854,000188: # *- . *
044855,000189: # R22 R24*- R23 . *
044856,000190: # *- . *
044857,000191: # * . *
044858,000192: # + -ADB . * AF ATTITUDE
044859,000193: # .........................+--+---------------+--+........................
044860,000194: # AF * . +ADB + ERROR
044861,000195: # * . *
044862,000196: # * . -*
044863,000197: # * . -*
044864,000198: # * . -*
044865,000199: # * . *
044866,000200: # *. - *
044867,000201: # . - *****************
044868,000202: # .* -
044869,000203: # . * --------------------------------
044870,000204: # . *
044871,000205: # . ********************************
044872,000206: # .
044873,000207: # FIG. 1 PHASE PLANE SWITCHING LOGIC
044874,000208:
044875,000209: # CONSTANTS FOR JET SWITCHING LOGIC
044876,000210:
044877,000211: 21,3430 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
044878,000212: 21,3431 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
044879,000213: 21,3432 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
044880,000214:
044881,000215: 21,3434 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
044882,000216:
044883,000217: 21,3436 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
044884,000218:
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Page 1030
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044886,000220: 21,3440 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
044887,000221: 21,3441 31655 JETS CA ADB
044888,000222: 21,3442 65015 AD FOUR # AF = FLAT REGION = .044 DEG
044889,000223: 21,3443 55502 TS T5TEMP # ADB+AF
044890,000224: 21,3444 35016 CAF TWO
044891,000225: 21,3445 55506 JLOOP TS SPNDX
044892,000226: 21,3446 60000 DOUBLE
044893,000227: 21,3447 55507 TS DPNDX
044894,000228: 21,3450 00006 EXTEND
044895,000229: 21,3451 50000 INDEX A
044896,000230: 21,3452 31534 DCA ADOT
044897,000231: 21,3453 53516 DXCH EDOT
044898,000232: 21,3454 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
044899,000233: 21,3455 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
044900,000234: 21,3456 13463 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
044901,000235: # OF WBODY AND GO TO INHOLD
044902,000236: 21,3457 00006 EXTEND
044903,000237: 21,3460 51507 INDEX DPNDX
044904,000238: 21,3461 41526 DCS WBODY
044905,000239: 21,3462 21516 DAS EDOT # = ADOT-WBODY
044906,000240: 21,3463 51506 INHOLD INDEX SPNDX
044907,000241: 21,3464 31567 CA ERRORX
044908,000242: 21,3465 55517 TS AERR # AERR = BIAS + AK
044909,000243:
044910,000244: 21,3466 11515 CCS EDOT
044911,000245: 21,3467 13477 TCF POSVEL
044912,000246: 21,3470 13472 TCF SIGNCK1
044913,000247: 21,3471 13507 TCF NEGVEL
044914,000248: 21,3472 11516 SIGNCK1 CCS EDOT +1
044915,000249: 21,3473 13477 TCF POSVEL
044916,000250: 21,3474 13477 TCF POSVEL
044917,000251: 21,3475 13507 TCF NEGVEL
044918,000252: 21,3476 13507 TCF NEGVEL
044919,000253: 21,3477 00006 POSVEL EXTEND
044920,000254: 21,3500 31516 DCA EDOT
044921,000255: 21,3501 53521 DXCH EDOTVEL
044922,000256: 21,3502 31502 CA T5TEMP
044923,000257: 21,3503 55523 TS ADBVEL # +(ADB+AF)
044924,000258: 21,3504 31517 CA AERR
044925,000259: 21,3505 55522 TS AERRVEL
044926,000260: 21,3506 03516 TC J6.
044927,000261: 21,3507 00006 NEGVEL EXTEND
044928,000262: 21,3510 41516 DCS EDOT
044929,000263: 21,3511 53521 DXCH EDOTVEL
044930,000264: 21,3512 41502 CS T5TEMP
044931,000265: 21,3513 55523 TS ADBVEL # -(ADB+AF)
044932,000266: 21,3514 41517 CS AERR
044933,000267: 21,3515 55522 TS AERRVEL
044934,000268:
044935,000269: 21,3516 00006 J6. EXTEND
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Page 1031
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044937,000271: 21,3517 61655 SU ADB
044938,000272: 21,3520 63430 AD WLH/SLOP
044939,000273: 21,3521 00006 EXTEND
044940,000274: 21,3522 63551 BZMF J8
044941,000275:
044942,000276: 21,3523 41502 CS T5TEMP # (ADB+AF)
044943,000277: 21,3524 61522 AD AERRVEL
044944,000278: 21,3525 00006 EXTEND
044945,000279: 21,3526 63530 BZMF +2
044946,000280: 21,3527 13542 TCF J7
044947,000281: 21,3530 00006 EXTEND
044948,000282: 21,3531 41521 DCS EDOTVEL
044949,000283: 21,3532 00006 EXTEND
044950,000284: 21,3533 11654 DV SLOPE
044951,000285: 21,3534 00006 EXTEND
044952,000286: 21,3535 61522 SU AERRVEL
044953,000287: 21,3536 61655 AD ADB
044954,000288: 21,3537 00006 EXTEND
044955,000289: 21,3540 63630 BZMF J18
044956,000290: 21,3541 13704 TCF J23
044957,000291:
044958,000292: 21,3542 43431 J7 CS WL-H/SLP
044959,000293: 21,3543 00006 EXTEND
044960,000294: 21,3544 61502 SU T5TEMP # (ADB+AF)
044961,000295: 21,3545 61522 AD AERRVEL
044962,000296: 21,3546 00006 EXTEND
044963,000297: 21,3547 63634 BZMF J20
044964,000298: 21,3550 13645 TCF J21
044965,000299:
044966,000300: 21,3551 00006 J8 EXTEND
044967,000301: 21,3552 43433 DCS WLH
044968,000302: 21,3553 53514 DXCH WTEMP
044969,000303: 21,3554 00006 EXTEND
044970,000304: 21,3555 31521 DCA EDOTVEL
044971,000305: 21,3556 21514 DAS WTEMP
044972,000306: 21,3557 11513 CCS WTEMP
044973,000307: 21,3560 13673 TCF J22
044974,000308: 21,3561 13563 TCF SIGNCK2
044975,000309: 21,3562 13567 TCF NJ22
044976,000310: 21,3563 11514 SIGNCK2 CCS WTEMP +1
044977,000311: 21,3564 13673 TCF J22
044978,000312: 21,3565 13673 TCF J22
044979,000313: 21,3566 13567 TCF NJ22
044980,000314:
044981,000315: 21,3567 00006 NJ22 EXTEND
044982,000316: 21,3570 31521 DCA EDOTVEL
044983,000317: 21,3571 00006 EXTEND
044984,000318: 21,3572 11654 DV SLOPE
044985,000319: 21,3573 61502 AD T5TEMP # (ADB+AF)
044986,000320: 21,3574 61522 AD AERRVEL
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Page 1032
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044988,000322: 21,3575 10000 CCS A
044989,000323: 21,3576 13704 TCF J23
044990,000324: 21,3577 13704 TCF J23
044991,000325: 21,3600 13602 TCF +2
044992,000326: 21,3601 13704 TCF J23
044993,000327:
044994,000328: 21,3602 00006 EXTEND
044995,000329: 21,3603 43435 DCS WLMH # WL - H
044996,000330: 21,3604 53514 DXCH WTEMP
044997,000331: 21,3605 00006 EXTEND
044998,000332: 21,3606 31521 DCA EDOTVEL
044999,000333: 21,3607 21514 DAS WTEMP
045000,000334: 21,3610 11513 CCS WTEMP
045001,000335: 21,3611 13704 TCF J23
045002,000336: 21,3612 13614 TCF SIGNCK3
045003,000337: 21,3613 13620 TCF NJ23
045004,000338: 21,3614 11514 SIGNCK3 CCS WTEMP +1
045005,000339: 21,3615 13704 TCF J23
045006,000340: 21,3616 13704 TCF J23
045007,000341: 21,3617 13620 TCF NJ23
045008,000342:
045009,000343: 21,3620 31522 NJ23 CA AERRVEL
045010,000344: 21,3621 61502 AD T5TEMP # (ADB+AF)
045011,000345: 21,3622 63431 AD WL-H/SLP
045012,000346: 21,3623 10000 CCS A
045013,000347: 21,3624 13716 TCF J24
045014,000348: 21,3625 13716 TCF J24
045015,000349: 21,3626 13673 TCF J22
045016,000350: 21,3627 13673 TCF J22
045017,000351:
045018,000352: 21,3630 00006 J18 EXTEND
045019,000353: 21,3631 41516 DCS EDOT
045020,000354: 21,3632 53511 DXCH KMPAC
045021,000355: 21,3633 13727 TCF JTIME
045022,000356:
045023,000357: 21,3634 41517 J20 CS AERR
045024,000358: 21,3635 61523 AD ADBVEL
045025,000359: 21,3636 00006 EXTEND
045026,000360: 21,3637 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
045027,000361: 21,3640 53511 DXCH KMPAC
045028,000362: 21,3641 00006 EXTEND
045029,000363: 21,3642 41516 DCS EDOT
045030,000364: 21,3643 21511 DAS KMPAC
045031,000365: 21,3644 13727 TCF JTIME
045032,000366:
045033,000367: 21,3645 11515 J21 CCS EDOT
045034,000368: 21,3646 13664 TCF JP
045035,000369: 21,3647 13651 TCF SIGNCK4
045036,000370: 21,3650 13655 TCF JN
045037,000371: 21,3651 11516 SIGNCK4 CCS EDOT +1
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Page 1033
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045039,000373: 21,3652 13664 TCF JP
045040,000374: 21,3653 13664 TCF JP
045041,000375: 21,3654 13655 TCF JN
045042,000376: 21,3655 00006 JN EXTEND
045043,000377: 21,3656 41516 DCS EDOT
045044,000378: 21,3657 53511 DXCH KMPAC
045045,000379: 21,3660 00006 EXTEND
045046,000380: 21,3661 33437 DCA WL
045047,000381: 21,3662 21511 DAS KMPAC
045048,000382: 21,3663 13727 TCF JTIME
045049,000383:
045050,000384: 21,3664 00006 JP EXTEND
045051,000385: 21,3665 41516 DCS EDOT
045052,000386: 21,3666 53511 DXCH KMPAC
045053,000387: 21,3667 00006 EXTEND
045054,000388: 21,3670 43437 DCS WL
045055,000389: 21,3671 21511 DAS KMPAC
045056,000390: 21,3672 13727 TCF JTIME
045057,000391:
045058,000392: 21,3673 11515 J22 CCS EDOT
045059,000393: 21,3674 13655 TCF JN
045060,000394: 21,3675 13677 TCF SIGNCK5
045061,000395: 21,3676 13664 TCF JP
045062,000396: 21,3677 11516 SIGNCK5 CCS EDOT +1
045063,000397: 21,3700 13655 TCF JN
045064,000398: 21,3701 13655 TCF JN
045065,000399: 21,3702 13664 TCF JP
045066,000400: 21,3703 13664 TCF JP
045067,000401:
045068,000402: 21,3704 51506 J23 INDEX SPNDX
045069,000403: 21,3705 45003 CS BIT13 # RESET RATE DAMPING FLAG
045070,000404: 21,3706 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
045071,000405: 21,3707 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
045072,000406: # BIT11 FOR YAW (SPNDX = 2)
045073,000407:
045074,000408: 21,3710 51506 INDEX SPNDX
045075,000409: 21,3711 33033 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
045076,000410: 21,3712 71501 MASK RCSFLAGS # AXIS
045077,000411: 21,3713 00006 EXTEND
045078,000412: 21,3714 13750 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
045079,000413:
045080,000414: 21,3715 13630 TCF J18 # YES, GO TO J18 AND FORCE A FIRING
045081,000415:
045082,000416: 21,3716 41517 J24 CS AERR
045083,000417: 21,3717 00006 EXTEND
045084,000418: 21,3720 61523 SU ADBVEL
045085,000419: 21,3721 00006 EXTEND
045086,000420: 21,3722 73440 MP SLOPE2 # (HYSTERESIS SLOPE)
045087,000421: 21,3723 53511 DXCH KMPAC
045088,000422: 21,3724 00006 EXTEND
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Page 1034
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045090,000424: 21,3725 41516 DCS EDOT
045091,000425: 21,3726 21511 DAS KMPAC
045092,000426:
|
|
Page 1035
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045094,000428: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
045095,000429:
045096,000430: # T = J/M(DELTA W)
045097,000431: # J
045098,000432:
045099,000433: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
045100,000434: # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
045101,000435:
045102,000436: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
045103,000437: # (57.3/450)(B24/1600)(1/.8)
045104,000438: # FOR 1 JET OPERATION (M = 700 FT-LB).
045105,000439: # IE J/M = J(SLUG-FTFT) X 0.00000085601606
045106,000440:
045107,000441: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
045108,000442: # KEYBOARD ENTRY ARE
045109,000443: # J/M (ROLL)
045110,000444: # J/M1 (PITCH)
045111,000445: # J/M2 (YAW)
045112,000446:
045113,000447: # T = JET ON-TIME SCALED 16384/1600 SEC
045114,000448: # J
045115,000449:
045116,000450: # THE COMPUTER VARIABLES ARE
045117,000451: # TAU (ROLL)
045118,000452: # TAU1 (PITCH)
045119,000453: # TAU2 (YAW)
045120,000454:
045121,000455: 21,3727 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
045122,000456: 21,3730 31623 CA J/M # SCALED (57.3/450)(B24/1600)
045123,000457: 21,3731 02042 TC SMALLMP # FOR 1-JET OPERATION
045124,000458: 21,3732 35005 CA BIT11
045125,000459: 21,3733 02042 TC SMALLMP
045126,000460: 21,3734 11510 CCS KMPAC
045127,000461: 21,3735 13741 TCF +4
045128,000462: 21,3736 13745 TCF TAUNORM
045129,000463: 21,3737 13743 TCF +4
045130,000464: 21,3740 13745 TCF TAUNORM
045131,000465: 21,3741 34777 CA POSMAX
045132,000466: 21,3742 13746 TCF DOJET
045133,000467: 21,3743 35001 CA NEGMAX
045134,000468: 21,3744 13746 TCF DOJET
045135,000469:
045136,000470: 21,3745 31511 TAUNORM CA KMPAC +1
045137,000471: 21,3746 51506 DOJET INDEX SPNDX
045138,000472: 21,3747 55561 TS TAU
045139,000473: 21,3750 11506 CCS SPNDX
045140,000474: 21,3751 13445 TCF JLOOP
045141,000475: 21,3752 13757 TCF T6PROG
045142,000476:
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Page 1036
|
045144,000478: 21,3753 35021 ZEROCMDS CAF ZERO
045145,000479: 21,3754 55561 TS TAU
045146,000480: 21,3755 55562 TS TAU1
045147,000481: 21,3756 55563 TS TAU2
045148,000482: 21,3757 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
045149,000483: 21,3760 33764 DCA JETADDR # HAVE BEEN DETERMINED
045150,000484: 21,3761 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3
045151,000485: 21,3762 15333 TCF RESUME
045152,000486:
045153,000487: 21,3763 E6,1510 EBANK= KMPAC
045154,000488: 21,3763 02552 36066 JETADDR 2CADR JETSLECT
045155,000489:
End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc