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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046149,000002: ## Copyright: Public domain.
046150,000003: ## Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
046151,000004: ## Purpose: A section of Comanche revision 051.
046152,000005: ## It is part of the reconstructed source code for the
046153,000006: ## original release of the flight software for the Command
046154,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
046155,000008: ## The code has been recreated from a copy of Comanche 055. It
046156,000009: ## has been adapted such that the resulting bugger words
046157,000010: ## exactly match those specified for Comanche 51 in NASA drawing
046158,000011: ## 2021153D, which gives relatively high confidence that the
046159,000012: ## reconstruction is correct.
046160,000013: ## Reference: pp. 1063-1092
046161,000014: ## Assembler: yaYUL
046162,000015: ## Contact: Ron Burkey <info@sandroid.org>.
046163,000016: ## Website: www.ibiblio.org/apollo/index.html
046164,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
046165,000018:
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Page 1063
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046167,000020: # SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
046168,000021: # DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC.
046169,000022:
046170,000023: # CM/DSTBY = 1 FOR DAP OPERATION
046171,000024: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
046172,000025:
046173,000026: 15,2434 BANK 15
046174,000027:
046175,000028: 15,2000 SETLOC ETRYDAP
046176,000029: 15,2000 BANK
046177,000030:
046178,000031: 15,2434 COUNT 15/DAPEN
046179,000032:
046180,000033: 15,2434 E6,1661 EBANK= AOG
046181,000034:
046182,000035: 15,2434 34377 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
046183,000036: 15,2435 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
046184,000037:
046185,000038: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
046186,000039: # PHASCHNG PROTECTION IS IN CM/DAPIC.
046187,000040:
046188,000041: 15,2436 35012 CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
046189,000042: 15,2437 71321 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
046190,000043: 15,2440 00006 EXTEND # GIMBAL DIFFERENCES)
046191,000044: 15,2441 12447 BZF READGYM1 # OK
046192,000045:
046193,000046: 15,2442 45017 CS BIT1 # NOT IN FINE ALIGN, SO IDLE.
046194,000047: 15,2443 70102 MASK CM/FLAGS # SET GYMDIFSW = 0
046195,000048: 15,2444 54102 TS CM/FLAGS
046196,000049: 15,2445 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
046197,000050: 15,2446 02514 TC CM/GYMIC +2
046198,000051:
046199,000052: 15,2447 30032 READGYM1 CA CDUX
046200,000053: 15,2450 57661 XCH AOG
046201,000054: 15,2451 00006 EXTEND
046202,000055: 15,2452 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
046203,000056: 15,2453 55675 TS -DELAOG
046204,000057:
046205,000058: 15,2454 30033 CA CDUY
046206,000059: 15,2455 57662 XCH AIG
046207,000060: 15,2456 00006 EXTEND
046208,000061: 15,2457 21662 MSU AIG
046209,000062: 15,2460 55676 TS -DELAIG
046210,000063:
046211,000064: 15,2461 30034 CA CDUZ
046212,000065: 15,2462 57663 XCH AMG
046213,000066: 15,2463 00006 EXTEND
046214,000067: 15,2464 21663 MSU AMG
046215,000068: 15,2465 55677 TS -DELAMG
046216,000069:
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Page 1064
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046218,000071: 15,2466 40102 DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
046219,000072: 15,2467 76214 MASK THREE
046220,000073: 15,2470 50000 INDEX A
046221,000074: 15,2471 02472 TC +1
046222,000075: 15,2472 02501 TC DOBRATE # OK, GO ON
046223,000076: 15,2473 02512 TC CM/GYMIC # DONT CALC BODYRATE ON FIRST PASS.
046224,000077: 15,2474 12475 NOOP
046225,000078: 15,2475 06000 TC FLUSHJET # TURN OFF ALL JETS
046226,000079:
046227,000080: 15,2476 05412 TC PHASCHNG
046228,000081: 15,2477 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
046229,000082:
046230,000083: 15,2500 05324 TC TASKOVER
046231,000084:
046232,000085: 15,2501 35017 DOBRATE CA ONE # DO BODYRATE
046233,000086: 15,2502 55720 DOBRATE1 TS JETEM # SKIP BODYRATE.
046234,000087:
046235,000088: 15,2503 34377 CA TEN # KEEP CDU READ GOING.
046236,000089: 15,2504 05245 TC WAITLIST
046237,000090: 15,2505 E6,1661 EBANK= AOG
046238,000091: 15,2505 02434 32066 2CADR READGYMB
046239,000092:
046240,000093: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046241,000094:
046242,000095: 15,2507 11720 CCS JETEM
046243,000096: 15,2510 02536 TC BODYRATE
046244,000097: 15,2511 05324 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
046245,000098:
046246,000099: 15,2512 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
046247,000100: 15,2513 35021 CAF ZERO
046248,000101: 15,2514 55711 TS JETAG
046249,000102: 15,2515 55706 TS OLDELP
046250,000103: 15,2516 55707 TS OLDELQ
046251,000104: 15,2517 55710 TS OLDELR
046252,000105: 15,2520 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
046253,000106: 15,2521 02502 TC DOBRATE1
046254,000107:
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Page 1065
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046256,000109: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
046257,000110:
046258,000111: 15,2522 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
046259,000112: 15,2523 00002 TC Q # NO OVFL
046260,000113: 15,2524 50000 INDEX A
046261,000114: 15,2525 35000 CAF LIMITS
046262,000115: 15,2526 26001 ADS L
046263,000116: 15,2527 00002 TC Q
046264,000117:
046265,000118: 6000 BLOCK 3
046266,000119:
046267,000120: 6000 COUNT 03/DAPEN
046268,000121:
046269,000122: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
046270,000123: 6001 00006 EXTEND
046271,000124: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
046272,000125: 6003 00006 EXTEND
046273,000126: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
046274,000127: 6005 00002 TC Q
046275,000128:
046276,000129: 15,2530 BANK 15
046277,000130:
046278,000131: 15,2530 COUNT 15/DAPEN
046279,000132:
046280,000133: 15,2000 SETLOC ETRYDAP
046281,000134: 15,2000 BANK
046282,000135:
046283,000136: 15,2530 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
046284,000137: 15,2531 61720 AD JETEM # OF CONSTANT ACCELERATION.
046285,000138: 15,2532 00006 EXTEND
046286,000139: 15,2533 75002 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
046287,000140: 15,2534 61720 AD JETEM
046288,000141: 15,2535 00002 TC Q
046289,000142:
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Page 1066
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046291,000144: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
046292,000145:
046293,000146: 20,3612 BANK 20
046294,000147: 20,2000 SETLOC DAPS1
046295,000148: 20,2000 BANK
046296,000149:
046297,000150: 20,3612 COUNT 20/DAPEN
046298,000151: 20,3612 E6,1661 EBANK= AOG
046299,000152:
046300,000153: 20,3612 35057 CM/DAPON CA EBAOG
046301,000154: 20,3613 54003 TS EBANK
046302,000155:
046303,000156: 20,3614 05560 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
046304,000157: 20,3615 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
046305,000158: 20,3616 05560 TC DOWNFLAG # RESET DAPBIT2
046306,000159: 20,3617 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
046307,000160: 20,3620 00006 EXTEND
046308,000161: 20,3621 33737 DCA T5IDLER1 # DISABLE RCS CALCULATION
046309,000162: 20,3622 53313 DXCH T5LOC
046310,000163: 20,3623 00006 EXTEND
046311,000164: 20,3624 33737 DCA T5IDLER1 # DISABLE RCS JET CALLS
046312,000165: 20,3625 53311 DXCH T6LOC
046313,000166:
046314,000167: 20,3626 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
046315,000168:
046316,000169: 20,3627 47707 CS 13,14,15
046317,000170: 20,3630 71466 MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
046318,000171: 20,3631 55466 TS DAPDATR1
046319,000172: 20,3632 03636 TC +4
046320,000173:
046321,000174: 20,3633 35036 NOTYET CA .5SEC
046322,000175: 20,3634 04662 TC BANKCALL
046323,000176: 20,3635 01732 CADR DELAYJOB # (DELAYJOB DOES INHINT)
046324,000177: 20,3636 35005 +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0
046325,000178: 20,3637 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
046326,000179: 20,3640 00006 EXTEND
046327,000180: 20,3641 13633 BZF NOTYET
046328,000181:
046329,000182: 20,3642 45017 CS ONE # ACTIVATE CM/DAP
046330,000183: 20,3643 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
046331,000184: # NEXT PASS.
046332,000185: 20,3644 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
046333,000186: # HEADSUP IS SET IN P62.
046334,000187:
046335,000188: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
046336,000189:
046337,000190: 20,3645 30007 CA 7
046338,000191: 20,3646 55711 TS JETAG
046339,000192: 20,3647 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
046340,000193: # IN CASE CMDAPMOD IS NOT +1.
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Page 1067
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046342,000195: 20,3650 00004 INHINT
046343,000196: 20,3651 00006 EXTEND
046344,000197: 20,3652 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
046345,000198: 20,3653 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
046346,000199: 20,3654 31664 CA ROLL/180
046347,000200: 20,3655 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
046348,000201: 20,3656 00006 EXTEND
046349,000202: 20,3657 75002 MP HALF
046350,000203: 20,3660 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
046351,000204:
046352,000205: 20,3661 40102 CS CM/FLAGS
046353,000206: 20,3662 75004 MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
046354,000207: 20,3663 26102 ADS CM/FLAGS # SET BIT TO 1.
046355,000208:
046356,000209: 20,3664 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
046357,000210: 20,3665 75017 MASK BIT1 # V 37 ENTRIES.
046358,000211: 20,3666 26076 ADS FLAGWRD2
046359,000212:
046360,000213: 20,3667 00003 RELINT
046361,000214:
046362,000215: 20,3670 04701 TC POSTJUMP
046363,000216: 20,3671 54342 CADR P62.1
046364,000217:
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Page 1068
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046366,000219: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
046367,000220: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
046368,000221: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
046369,000222: # SET AVEGEXIT TO CONTINUE AT CM/POSE
046370,000223:
046371,000224: 20,3672 35057 CM/DAPIC CA EBAOG
046372,000225: 20,3673 54003 TS EBANK
046373,000226:
046374,000227: 20,3674 00004 INHINT
046375,000228: 20,3675 41205 CM/DAP2C CS PIPTIME +1
046376,000229: # PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
046377,000230: 20,3676 55720 TS JETEM
046378,000231:
046379,000232: 20,3677 35002 CA POS1/2
046380,000233: 20,3700 65002 AD POS1/2
046381,000234: 20,3701 60025 AD TIME1 # OVFL GUARANTEED
046382,000235: 20,3702 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
046383,000236:
046384,000237: 20,3703 45022 CS FIVE
046385,000238: 20,3704 61720 AD JETEM
046386,000239: 20,3705 10000 CCS A
046387,000240: 20,3706 63735 AD -CDUT+1
046388,000241: 20,3707 13705 TCF -2
046389,000242: 20,3710 13711 NOOP
046390,000243: 20,3711 65017 AD ONE # SEND NO ZERO TO WTLST
046391,000244: 20,3712 55725 TS CM/GYMDT # FOR RESTART
046392,000245: 20,3713 05245 TC WAITLIST
046393,000246: 20,3714 E6,1661 EBANK= AOG
046394,000247: 20,3714 02434 32066 2CADR READGYMB
046395,000248:
046396,000249: 20,3716 43734 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
046397,000250: 20,3717 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
046398,000251: 20,3720 64377 AD CM/SWIC2 # SET CM/DSTBY, LATSW
046399,000252: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
046400,000253: # CALC. (P62.3) GOES TO ENDEXIT.
046401,000254: 20,3721 54102 TS CM/FLAGS
046402,000255:
046403,000256: 20,3722 30007 CA 7
046404,000257: 20,3723 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTION
046405,000258: 20,3724 35017 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
046406,000259: 20,3725 54305 TS SW/NDX # UPBUFF.
046407,000260:
046408,000261: 20,3726 05372 TC 2PHSCHNG # DOES INHINT/RELINT
046409,000262: 20,3727 40116 OCT 40116 # SAVE TBASE6
046410,000263: 20,3730 05024 OCT 05024
046411,000264: 20,3731 13000 OCT 13000
046412,000265:
046413,000266: 20,3732 04701 TC POSTJUMP
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Page 1069
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046415,000268: 20,3733 54326 CADR P62.2
046416,000269:
046417,000270: 20,3734 16017 CM/SWIC1 OCT 16017
046418,000271: 20,3735 4377 CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
046419,000272: 20,3735 77766 -CDUT+1 OCT 77766
046420,000273: 20,3736 1312 EBANK= T5LOC
046421,000274: 20,3736 03153 12062 T5IDLER1 2CADR T5IDLOC
046422,000275:
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Page 1070
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046424,000277: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
046425,000278: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1
046426,000279:
046427,000280: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
046428,000281: # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
046429,000282: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
046430,000283: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
046431,000284: # THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
046432,000285:
046433,000286: 20,3740 E6,1661 EBANK= AOG
046434,000287: 15,2536 BANK 15
046435,000288: 15,2000 SETLOC ETRYDAP
046436,000289: 15,2000 BANK
046437,000290:
046438,000291: 15,2536 COUNT 15/DAPEN
046439,000292:
046440,000293: 15,2536 31663 BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
046441,000294: 15,2537 05074 TC SPCOS
046442,000295: 15,2540 55511 TS COSM
046443,000296:
046444,000297: 15,2541 31661 CA AOG # C(AOG) = AOG/180
046445,000298: 15,2542 05075 TC SPSIN # SINO
046446,000299: 15,2543 55512 TS SINO # SINO = SIN(AOG)
046447,000300:
046448,000301: 15,2544 00006 EXTEND
046449,000302: 15,2545 71511 MP COSM
046450,000303: 15,2546 55514 TS SINOCOSM # SO CM
046451,000304:
046452,000305: 15,2547 31661 CA AOG
046453,000306: 15,2550 05074 TC SPCOS # COSO
046454,000307: 15,2551 55513 TS COSO
046455,000308:
046456,000309: 15,2552 00006 EXTEND
046457,000310: 15,2553 71511 MP COSM
046458,000311: 15,2554 55515 TS COSOCOSM # CO CM
046459,000312:
046460,000313: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
046461,000314:
046462,000315: 15,2555 41677 CS -DELAMG
046463,000316: 15,2556 00006 EXTEND
046464,000317: 15,2557 71512 MP SINO
046465,000318: 15,2560 53721 DXCH JETEM # 2 LOCS _
046466,000319: 15,2561 41676 CS -DELAIG
046467,000320: 15,2562 00006 EXTEND
046468,000321: 15,2563 71515 MP COSOCOSM
046469,000322: 15,2564 21721 DAS JETEM
046470,000323: 15,2565 31720 CA JETEM
046471,000324: 15,2566 57707 XCH OLDELQ
046472,000325: 15,2567 02530 TC RATEAVG
046473,000326: 15,2570 55702 TS QREL # PITCHDOT = Q TCDU/180
046474,000327:
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Page 1071
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046476,000329: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
046477,000330:
046478,000331: 15,2571 41677 CS -DELAMG
046479,000332: 15,2572 00006 EXTEND
046480,000333: 15,2573 71513 MP COSO
046481,000334: 15,2574 53721 DXCH JETEM
046482,000335: 15,2575 31676 CA -DELAIG
046483,000336: 15,2576 00006 EXTEND
046484,000337: 15,2577 71514 MP SINOCOSM
046485,000338: 15,2600 21721 DAS JETEM
046486,000339: 15,2601 31720 CA JETEM
046487,000340: 15,2602 57710 XCH OLDELR
046488,000341: 15,2603 02530 TC RATEAVG
046489,000342: 15,2604 55703 TS RREL # YAWDOT = R TCDU/180
046490,000343:
046491,000344: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
046492,000345:
046493,000346: 15,2605 31663 CA AMG
046494,000347: 15,2606 05075 TC SPSIN
046495,000348: 15,2607 55510 TS SINM
046496,000349:
046497,000350: 15,2610 00006 EXTEND
046498,000351: 15,2611 71676 MP -DELAIG
046499,000352: 15,2612 55720 TS JETEM
046500,000353: 15,2613 35021 CA ZERO
046501,000354: 15,2614 20001 DDOUBL # ROUND L INTO A
046502,000355: 15,2615 61675 AD -DELAOG
046503,000356: 15,2616 61720 AD JETEM
046504,000357: 15,2617 40000 CS A
046505,000358: 15,2620 55720 TS JETEM
046506,000359: 15,2621 57706 XCH OLDELP
046507,000360: 15,2622 02530 TC RATEAVG
046508,000361: 15,2623 55701 TS PREL # ROLLDOT = P TCDU/180
046509,000362:
046510,000363: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
046511,000364:
046512,000365: 15,2624 11723 CCS GAMDOT
046513,000366: 15,2625 02627 TC +2
046514,000367: 15,2626 02651 TC NOGAMDUT
046515,000368: 15,2627 41664 CS ROLL/180
046516,000369: 15,2630 05075 TC SPSIN
046517,000370: 15,2631 00006 EXTEND
046518,000371: 15,2632 71723 MP GAMDOT
046519,000372: 15,2633 55721 TS JETEM +1 # -SR GAMDOT
046520,000373: 15,2634 00006 EXTEND
046521,000374: 15,2635 73177 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
046522,000375: 15,2636 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
046523,000376:
046524,000377: 15,2637 31664 CA ROLL/180
046525,000378: 15,2640 05074 TC SPCOS
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Page 1072
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046527,000380: 15,2641 40000 COM
046528,000381: 15,2642 00006 EXTEND
046529,000382: 15,2643 71723 MP GAMDOT
046530,000383: 15,2644 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
046531,000384:
046532,000385: 15,2645 41721 CS JETEM +1 # B( ) = -SR GAMDOT
046533,000386: 15,2646 00006 EXTEND
046534,000387: 15,2647 73200 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
046535,000388: 15,2650 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
046536,000389:
046537,000390: 15,2651 35004 NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
046538,000391: 15,2652 70102 MASK CM/FLAGS
046539,000392: 15,2653 00006 EXTEND
046540,000393: 15,2654 15324 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
046541,000394:
046542,000395: 15,2655 34777 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
046543,000396: 15,2656 54030 TS TIME5
046544,000397:
046545,000398: 15,2657 00006 EXTEND
046546,000399: 15,2660 32664 DCA ATDOTCAD
046547,000400: 15,2661 53313 DXCH T5LOC
046548,000401: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046549,000402:
046550,000403: 15,2662 05324 TC TASKOVER
046551,000404:
046552,000405: 15,2663 E6,1661 EBANK= AOG
046553,000406: 15,2663 02665 32066 ATDOTCAD 2CADR ATTRATES
046554,000407:
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|
Page 1073
|
046556,000409: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
046557,000410:
046558,000411: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
046559,000412: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
046560,000413: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
046561,000414:
046562,000415: 15,2665 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
046563,000416: 15,2666 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
046564,000417: 15,2667 22012 QXCH QRUPT
046565,000418: 15,2670 30021 CA SR
046566,000419: 15,2671 60000 DOUBLE
046567,000420: 15,2672 55623 TS CM/SAVE
046568,000421: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
046569,000422:
046570,000423: 15,2673 31702 CA QREL
046571,000424: 15,2674 61665 AD ALFA/180
046572,000425: 15,2675 02522 TC ANGOVCOR
046573,000426: 15,2676 55665 TS ALFA/180
046574,000427: 15,2677 05074 TC SPCOS
046575,000428: 15,2700 55506 TS CALFA # CALFA
046576,000429: 15,2701 55705 TS PHIDOT
046577,000430:
046578,000431: 15,2702 00006 EXTEND
046579,000432: 15,2703 71701 MP PREL
046580,000433: 15,2704 57705 XCH PHIDOT # CA PREL
046581,000434: 15,2705 00006 EXTEND
046582,000435: 15,2706 71703 MP RREL # CA RREL
046583,000436: 15,2707 55704 TS BETADOT
046584,000437:
046585,000438: 15,2710 31665 CA ALFA/180
046586,000439: 15,2711 05075 TC SPSIN
046587,000440: 15,2712 55507 TS SALFA # SIN(ALFA)
046588,000441:
046589,000442: 15,2713 00006 EXTEND
046590,000443: 15,2714 71703 MP RREL # SA RREL
046591,000444: 15,2715 27705 ADS PHIDOT # CB PHIDOT, SAVED.
046592,000445:
046593,000446: 15,2716 41507 CS SALFA
046594,000447: 15,2717 00006 EXTEND
046595,000448: 15,2720 71701 MP PREL
046596,000449: 15,2721 27704 ADS BETADOT # SAVE BETADOT TCDU/180
046597,000450: 15,2722 27666 ADS BETA/180 # BETA DONE.
046598,000451:
046599,000452: 15,2723 05075 TC SPSIN
046600,000453: 15,2724 00006 EXTEND
046601,000454: 15,2725 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
046602,000455: 15,2726 61665 AD ALFA/180
046603,000456: 15,2727 02522 TC ANGOVCOR
046604,000457: 15,2730 55665 TS ALFA/180 # ALFA DONE.
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|
Page 1074
|
046606,000459: 15,2731 40000 COM
046607,000460: 15,2732 61603 AD ALFACOM
046608,000461: 15,2733 02522 TC ANGOVCOR # JUST IN CASE ...
046609,000462: 15,2734 55477 TS AK1
046610,000463: 15,2735 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
046611,000464:
046612,000465: 15,2736 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
046613,000466: 15,2737 61664 AD ROLL/180
046614,000467: 15,2740 02522 TC ANGOVCOR
046615,000468: 15,2741 55714 TS ROLLTM # ROLL/180 FOR TM.
046616,000469: 15,2742 55664 TS ROLL/180 # ROLL DONE.
046617,000470:
046618,000471: # START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
046619,000472:
046620,000473: 15,2743 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
046621,000474: 15,2744 61604 AD BETACOM
046622,000475: 15,2745 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
046623,000476: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
046624,000477: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
046625,000478: # BE R-AXIS ERROR.
046626,000479:
046627,000480: 15,2746 35015 CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
046628,000481: 15,2747 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
046629,000482: 15,2750 00006 EXTEND
046630,000483: 15,2751 13037 BZF EXDAP # IF G LESS THAN .05
046631,000484: 15,2752 45017 CS ONE # IF G GEQ THAN .05
046632,000485: 15,2753 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
046633,000486:
046634,000487: 15,2754 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
046635,000488: 15,2755 55500 TS AK2 # IN ATM. (MODE =-1)
046636,000489:
046637,000490: 15,2756 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
046638,000491: 15,2757 00006 EXTEND
046639,000492: 15,2760 73177 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
046640,000493: 15,2761 61703 AD RREL
046641,000494: 15,2762 03027 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
046642,000495: 15,2763 50000 INDEX A # +/- 1 IF NOT
046643,000496: 15,2764 33202 CAF YJETCODE
046644,000497:
046645,000498: 15,2765 55720 TS JETEM
046646,000499:
046647,000500: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
046648,000501:
046649,000502: 15,2766 31702 CA QREL
046650,000503: 15,2767 03027 TC 2D/SDZ
046651,000504: 15,2770 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
046652,000505: 15,2771 33205 CAF P/RJCODE
046653,000506: 15,2772 27720 ADS JETEM # COMBINE ALL NEW BITS.
046654,000507:
046655,000508: 15,2773 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
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|
Page 1075
|
046657,000510: 15,2774 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
046658,000511:
046659,000512: 15,2775 11711 CCS JETAG
046660,000513: 15,2776 03216 TC CM/RCS
046661,000514: 15,2777 03677 TC CM/FDAI
046662,000515: 15,3000 03704 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
046663,000516:
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|
Page 1076
|
046665,000518: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
046666,000519:
046667,000520: 15,3001 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
046668,000521: 15,3002 63175 AD YAWLIM
046669,000522: 15,3003 13033 TCF DZCOM
046670,000523: 15,3004 63175 AD YAWLIM
046671,000524: 15,3005 13034 TCF DZNOCOM
046672,000525:
046673,000526: # BIASED DZ FOR EXT ATM DAP.
046674,000527: 15,3006 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
046675,000528: 15,3007 10000 CCS A # START ERROR DZ.
046676,000529: 15,3010 43174 CS CM/BIAS # = .6/180
046677,000530: 15,3011 13013 TCF +2
046678,000531: 15,3012 33174 CA CM/BIAS
046679,000532: 15,3013 60001 AD L # BIAS THE ERROR.
046680,000533: 15,3014 22002 LXCH Q # SAVE CALLERS RETURN ADDRESS.
046681,000534: 15,3015 03001 TC 3DDZ # GO GENERATE THE ERROR BIT.
046682,000535: 15,3016 52002 DXCH L # BIT TO L, RESTORE CALLERS Q.
046683,000536: 15,3017 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
046684,000537: 15,3020 63172 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
046685,000538: 15,3021 13023 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
046686,000539: 15,3022 63172 AD 4D/SLIM
046687,000540: 15,3023 54000 TS A
046688,000541: 15,3024 13026 TCF +2 # RATE OK. CONTINUE
046689,000542: 15,3025 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
046690,000543: 15,3026 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
046691,000544:
046692,000545: 15,3027 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
046693,000546: 15,3030 63173 AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
046694,000547: 15,3031 13034 TCF +3
046695,000548: 15,3032 63173 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
046696,000549: 15,3033 40000 DZCOM COM
046697,000550: 15,3034 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
046698,000551: 15,3035 35021 CA ZERO # SET C(A) = +0 INSIDE
046699,000552: 15,3036 00002 TC Q
046700,000553:
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|
Page 1077
|
046702,000555: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
046703,000556:
046704,000557: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
046705,000558: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
046706,000559: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
046707,000560: # R-AXIS = CONTROL
046708,000561:
046709,000562: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
046710,000563: # RATE = PREL
046711,000564: # P-AXIS = CONTROL
046712,000565:
046713,000566: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
046714,000567: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
046715,000568: # RATE = BETADOT
046716,000569: # P-AXIS = CONTROL
046717,000570:
046718,000571: # ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY.
046719,000572: # RATE = RREL
046720,000573: # R-AXIS = CONTROL
046721,000574:
046722,000575: # 3. FOR ALL CASES, USE
046723,000576: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
046724,000577: # RATE = QREL
046725,000578: # Q-AXIS = CONTROL
046726,000579:
046727,000580: 15,3037 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
046728,000581: 15,3040 11506 CCS CALFA
046729,000582: 15,3041 63176 AD C45LIM # =1.0-COS(45)
046730,000583: 15,3042 13044 TCF +2
046731,000584: 15,3043 63176 AD C45LIM
046732,000585: 15,3044 54000 TS A
046733,000586: 15,3045 13126 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
046734,000587:
046735,000588: 15,3046 11506 CCS CALFA # |CALFA| > 0.707
046736,000589: 15,3047 13050 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
046737,000590:
046738,000591: 15,3050 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
046739,000592: 15,3051 03064 TC EXDAP4
046740,000593: 15,3052 03054 TC +2
046741,000594: 15,3053 03064 TC EXDAP4
046742,000595: 15,3054 05412 TC PHASCHNG # SINGLE PASS THROUGH HERE.
046743,000596: 15,3055 40334 OCT 40334
046744,000597: 15,3056 45017 CS ONE
046745,000598: 15,3057 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
046746,000599: 15,3060 33171 CA NSEC
046747,000600: 15,3061 05245 TC WAITLIST
046748,000601: 15,3062 E6,1661 EBANK= AOG
046749,000602: 15,3062 02374 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
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Page 1078
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046751,000604: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
046752,000605: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
046753,000606:
046754,000607: 15,3064 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
046755,000608: 15,3065 13073 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
046756,000609: 15,3066 13073 TCF EXDAP3
046757,000610: 15,3067 35021 CA ZERO
046758,000611: 15,3070 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
046759,000612: 15,3071 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
046760,000613: 15,3072 55711 TS JETAG # RESTORE PROPER VALUE +0
046761,000614:
046762,000615: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
046763,000616: 15,3073 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
046764,000617: 15,3074 31573 CA RAXERR # C()= BETACOM - BETA/180
046765,000618: 15,3075 13101 TCF EXDAP1
046766,000619: 15,3076 45021 CS ZERO
046767,000620: 15,3077 55700 TS CMDAPMOD # FOR CM/RCS
046768,000621: 15,3100 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
046769,000622: 15,3101 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
046770,000623: 15,3102 55500 TS AK2 # WANT RAXERR FOR TM.
046771,000624: 15,3103 54001 TS L
046772,000625: 15,3104 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
046773,000626: 15,3105 03110 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
046774,000627: 15,3106 35017 CA ONE # USE BETADOT TO COORD IN MODE +0
046775,000628: 15,3107 50000 INDEX A # OTHERWISE USE RREL.
046776,000629: 15,3110 31703 CA RREL
046777,000630: 15,3111 03006 TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
046778,000631: # IF GEQ 4D/S, SET ERROR BIT IN L=0)
046779,000632: 15,3112 00006 EXTEND
046780,000633: 15,3113 04001 ROR LCHAN # L HAS BETA BIT
046781,000634: 15,3114 50000 INDEX A
046782,000635: 15,3115 33202 CAF YJETCODE
046783,000636: 15,3116 55720 TS JETEM
046784,000637:
046785,000638: 15,3117 31572 CA QAXERR # ALFA ERROR.
046786,000639: 15,3120 54001 TS L
046787,000640: 15,3121 31702 CA QREL # FOR ALFADOT USE QREL
046788,000641: 15,3122 03006 TC BIASEDZ
046789,000642: 15,3123 00006 EXTEND
046790,000643: 15,3124 04001 ROR LCHAN
046791,000644: 15,3125 12770 TCF EXDAPIN # CONTINUE ON IN DAP
046792,000645:
046793,000646: 15,3126 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
046794,000647:
046795,000648: 15,3127 45017 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
046796,000649: 15,3130 55711 TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
046797,000650: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
046798,000651:
046799,000652: 15,3131 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
046800,000653: 15,3132 55727 TS P63FLAG
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Page 1079
|
046802,000655: 15,3133 13134 NOOP
046803,000656:
046804,000657: 15,3134 11507 CCS SALFA # BETA CONTROL WITH P JETS
046805,000658: 15,3135 41573 CS RAXERR # B()= BETACOM - BETA/180
046806,000659: 15,3136 13140 TCF +2
046807,000660: 15,3137 31573 CA RAXERR
046808,000661: 15,3140 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
046809,000662: 15,3141 00006 EXTEND
046810,000663: 15,3142 75002 MP HALF # CM/FDAI EXPECTS ERROR/360.
046811,000664: 15,3143 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
046812,000665: 15,3144 54001 TS L
046813,000666: 15,3145 11507 CCS SALFA
046814,000667: 15,3146 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
046815,000668: 15,3147 03151 TC +2
046816,000669: 15,3150 31704 CA BETADOT
046817,000670: 15,3151 03006 TC BIASEDZ
046818,000671: 15,3152 00006 EXTEND
046819,000672: 15,3153 04001 ROR LCHAN
046820,000673: 15,3154 50000 INDEX A
046821,000674: 15,3155 33205 CAF P/RJCODE # GET ROLL CODE
046822,000675: 15,3156 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
046823,000676: 15,3157 01006 WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST
046824,000677:
046825,000678: 15,3160 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
046826,000679: 15,3161 00006 EXTEND
046827,000680: 15,3162 21664 MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.?
046828,000681: 15,3163 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
046829,000682: 15,3164 11507 CCS SALFA
046830,000683: 15,3165 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
046831,000684: 15,3166 03101 TC EXDAP1
046832,000685: 15,3167 40001 CS L
046833,000686: 15,3170 03101 TC EXDAP1
046834,000687:
046835,000688: 15,3171 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
046836,000689: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
046837,000690: 15,3172 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
046838,000691: 15,3173 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
046839,000692: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
046840,000693:
046841,000694: 15,3174 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
046842,000695: 15,3175 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
046843,000696: 15,3176 11277 C45LIM DEC .29289 # =1.0-COS(45)
046844,000697:
046845,000698: 15,3177 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
046846,000699: 15,3200 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
046847,000700:
046848,000701: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
046849,000702: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
046850,000703: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
046851,000704:
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Page 1080
|
046853,000706: # JET CODE TABLES FOLLOW _
046854,000707:
046855,000708: 15,3201 00120 OCTAL 00120 # POS Y
046856,000709: 15,3202 00000 YJETCODE OCTAL 00000 # RCS JET BITS
046857,000710: 15,3203 00240 OCTAL 00240 # NEG Y
046858,000711: 15,3204 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
046859,000712: 15,3205 00000 P/RJCODE OCTAL 00000
046860,000713: 15,3206 00012 OCTAL 00012 # NEG R ALSO NEG P
046861,000714:
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Page 1081
|
046863,000716: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
046864,000717: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
046865,000718: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
046866,000719: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
046867,000720: # NEXT UPDATE.
046868,000721:
046869,000722: 15,3207 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
046870,000723: 15,3210 55712 TS TUSED
046871,000724: # THE 5 CS APPEARS IN TIMETST.
046872,000725: 15,3211 35017 CA ONE # RATHER THAN INCR, FOR SAFETY
046873,000726: 15,3212 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
046874,000727: 15,3213 05412 TC PHASCHNG
046875,000728: 15,3214 00001 OCT 00001
046876,000729:
046877,000730: 15,3215 05324 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
046878,000731:
046879,000732: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
046880,000733: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
046881,000734: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
046882,000735: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
046883,000736:
046884,000737: 15,3216 5001 HALFPR EQUALS NEG1/2 +1
046885,000738:
046886,000739: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
046887,000740: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
046888,000741: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
046889,000742: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
046890,000743:
046891,000744: 15,3216 45017 CM/RCS CS ONE
046892,000745: 15,3217 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
046893,000746:
046894,000747: 15,3220 45033 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
046895,000748: 15,3221 00006 EXTEND
046896,000749: 15,3222 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
046897,000750: 15,3223 60001 AD L # -2 RDOT T/180 IN L
046898,000751: 15,3224 55613 TS -VT/180 # SAVE -2VT/180 HERE
046899,000752:
046900,000753: 15,3225 41664 CS ROLL/180
046901,000754: 15,3226 54021 TS SR # SAVE (-R/180) /2
046902,000755:
046903,000756: 15,3227 40102 CS CM/FLAGS
046904,000757: 15,3230 75014 MASK BIT4 # LATSW = 101D BIT4
046905,000758: 15,3231 00006 EXTEND # ROLL OVER TOP $
046906,000759: 15,3232 13240 BZF GETLCX # NO, TAKE SHORTEST PATH
046907,000760: 15,3233 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
046908,000761: 15,3234 31715 CA ROLLC # (ROLLC/180) /2
046909,000762: 15,3235 60021 AD SR # -(R/180) /2
046910,000763: 15,3236 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
046911,000764: 15,3237 13300 TCF COMPAT # POSSIBLE OVFL ABOVE.
046912,000765:
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Page 1082
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046914,000767: 15,3240 35002 GETLCX CA POS1/2 # FORM RCOM/360
046915,000768: 15,3241 60000 DOUBLE
046916,000769: 15,3242 61715 AD ROLLC
046917,000770: 15,3243 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
046918,000771:
046919,000772: 15,3244 30021 CA SR # FORM -R/360
046920,000773: 15,3245 65000 AD NEG1/2
046921,000774: 15,3246 65000 AD NEG1/2 # IGNORE OVFL
046922,000775: 15,3247 57614 XCH LCX/360 # -R/360
046923,000776: 15,3250 27614 ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
046924,000777:
046925,000778: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
046926,000779:
046927,000780: 15,3251 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
046928,000781: 15,3252 65017 AD ONE # (BASED ON SINGLE JET ACCELERATION)
046929,000782: 15,3253 13255 TCF +2
046930,000783: 15,3254 65017 AD ONE
046931,000784: 15,3255 00006 EXTEND
046932,000785: 15,3256 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
046933,000786: 15,3257 00006 EXTEND
046934,000787: 15,3260 73750 MP 1/16A1 # = 180/(16 A1 TT)
046935,000788: 15,3261 00006 EXTEND
046936,000789: 15,3262 11506 DV CALFA
046937,000790: 15,3263 54001 TS L
046938,000791: 15,3264 11614 CCS LCX/360
046939,000792: 15,3265 35002 CAF POS1/2
046940,000793: 15,3266 13270 TCF +2
046941,000794: 15,3267 45002 CS POS1/2
046942,000795: 15,3270 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEG $
046943,000796: 15,3271 60001 AD L
046944,000797: 15,3272 54001 TS L
046945,000798: 15,3273 13300 TCF COMPAT # YES, GO ON.
046946,000799: 15,3274 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
046947,000800: 15,3275 45001 CS HALFPR # +A YIELDS -1/2
046948,000801: 15,3276 60000 DOUBLE
046949,000802: 15,3277 27614 ADS LCX/360
046950,000803:
046951,000804: 15,3300 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
046952,000805: 15,3301 00006 EXTEND
046953,000806: 15,3302 71506 MP CALFA # COS ALFA
046954,000807: 15,3303 55614 TS LCX/360 # SCALED LCX OK HERE.
046955,000808:
046956,000809: 15,3304 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
046957,000810: 15,3305 03675 TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0)
046958,000811: # ALL 3 AXES ALREADY DONE.
046959,000812: 15,3306 03307 TC +1 # G LESS THAN .05. CA POS. CONTINUE
046960,000813: 15,3307 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
046961,000814: 15,3310 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
046962,000815: 15,3311 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
046963,000816: 15,3312 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360)
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|
Page 1083
|
046965,000818: 15,3313 31613 CA -VT/180 # GET - 2 VT/180
046966,000819: 15,3314 54021 TS SR
046967,000820: 15,3315 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
046968,000821: 15,3316 55570 TS -VT/180E # DIAGNOSTIC ****
046969,000822: 15,3317 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
046970,000823: 15,3320 00006 EXTEND
046971,000824: 15,3321 71613 MP -VT/180 # B(A) = -2VT/180
046972,000825: 15,3322 00006 EXTEND
046973,000826: 15,3323 73750 MP 180/8ATT
046974,000827: 15,3324 55616 TS VSQ/4API
046975,000828:
046976,000829: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
046977,000830:
046978,000831: 15,3325 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
046979,000832: 15,3326 40000 COM
046980,000833: 15,3327 63754 AD BUFLIM # =BUFLIM/(2 360)
046981,000834: 15,3330 54001 TS L
046982,000835: 15,3331 11613 CCS -VT/180
046983,000836: 15,3332 40001 CS L
046984,000837: 15,3333 13335 TCF +2
046985,000838: 15,3334 30001 CA L
046986,000839: 15,3335 61614 AD LCX/360
046987,000840: 15,3336 63754 AD BUFLIM
046988,000841: 15,3337 00006 EXTEND
046989,000842: 15,3340 63355 BZMF REFLECT # POINT (X,V) IN LHP.
046990,000843:
046991,000844: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
046992,000845:
046993,000846: 15,3341 40000 COM
046994,000847: 15,3342 63754 AD BUFLIM
046995,000848: 15,3343 63754 AD BUFLIM
046996,000849: 15,3344 00006 EXTEND
046997,000850: 15,3345 63364 BZMF DZ1 # POINT (X,V) IN RHP.
046998,000851:
046999,000852: # IS POINT WITHIN VELOCITY DZ?
047000,000853:
047001,000854: 15,3346 43747 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
047002,000855: 15,3347 61616 AD VSQ/4API
047003,000856: 15,3350 00006 EXTEND
047004,000857: 15,3351 63657 BZMF DZCALL # YES.
047005,000858:
047006,000859: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047007,000860:
047008,000861: 15,3352 41617 CS JNDX
047009,000862: 15,3353 55620 TS JNDX1
047010,000863: 15,3354 03437 TC OVRLINE1
047011,000864:
047012,000865: 15,3355 41613 REFLECT CS -VT/180 # REFLECT LHP INTO RHP REL TO TERM CONTR
047013,000866: 15,3356 55613 TS -VT/180
047014,000867: 15,3357 54021 TS SR # -VT/360 SAVED FOR DZ.
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Page 1084
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047016,000869: 15,3360 41614 CS LCX/360
047017,000870: 15,3361 55614 TS LCX/360
047018,000871: 15,3362 41617 CS JNDX
047019,000872: 15,3363 55617 TS JNDX
047020,000873:
047021,000874: # IS VSQ/4API - (VSQ/4API) MIN NEG $
047022,000875:
047023,000876: 15,3364 43747 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
047024,000877: 15,3365 61616 AD VSQ/4API
047025,000878: 15,3366 00006 EXTEND
047026,000879: 15,3367 63371 BZMF DZ2 # YES, GO TEST FURTHER.
047027,000880: 15,3370 13376 TCF MAXVTEST # NO
047028,000881:
047029,000882: # IS X/360 - XMIN/360 -VT/360 NEG $
047030,000883:
047031,000884: 15,3371 43752 DZ2 CS XMIN/360 # XMIN/360 = 4/360
047032,000885: 15,3372 61614 AD LCX/360
047033,000886: 15,3373 60021 AD SR # C(SR) = -VT/360
047034,000887: 15,3374 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
047035,000888: 15,3375 63657 BZMF DZCALL # YES,IN DZ. EXIT SETTING JETAG=0.
047036,000889:
047037,000890: # IS XD/360 - VM/360K - XS/360 POS ?
047038,000891:
047039,000892: 15,3376 41617 MAXVTEST CS JNDX
047040,000893: 15,3377 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
047041,000894: 15,3400 43754 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
047042,000895: 15,3401 61616 AD VSQ/4API
047043,000896: 15,3402 61614 AD LCX/360
047044,000897: 15,3403 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
047045,000898: # BUT C(XD/360) = (XD - XS) /360
047046,000899: 15,3404 63753 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
047047,000900: 15,3405 40000 COM
047048,000901: 15,3406 00006 EXTEND
047049,000902: 15,3407 63415 BZMF MAXVTIM1 # YES, THRUST TO VM
047050,000903: 15,3410 31615 CA XD/360
047051,000904: 15,3411 00006 EXTEND
047052,000905: 15,3412 75002 MP KTRCS
047053,000906: 15,3413 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
047054,000907:
047055,000908: 15,3414 03420 TC GETON1 # INSURE THAT Q IS POS AS TAG.
047056,000909: 15,3415 00006 MAXVTIM1 EXTEND
047057,000910: 15,3416 22007 ZQ # SET +0 AS TAG
047058,000911: 15,3417 43753 CS -VMT/180
047059,000912: 15,3420 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180.
047060,000913: 15,3421 61613 AD -VT/180
047061,000914: 15,3422 60000 DOUBLE
047062,000915: 15,3423 00006 EXTEND
047063,000916: 15,3424 73750 MP 180/8ATT
047064,000917: 15,3425 55621 TS TON1 # TON1 / 4T
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Page 1085
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047066,000919: 15,3426 00006 EXTEND
047067,000920: 15,3427 63431 BZMF OVRLINE
047068,000921: 15,3430 03443 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
047069,000922:
047070,000923: 15,3431 10002 OVRLINE CCS Q
047071,000924: 15,3432 13437 TCF OVRLINE1
047072,000925: 15,3433 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
047073,000926: 15,3434 55617 TS JNDX
047074,000927: 15,3435 41621 CS TON1
047075,000928: 15,3436 13442 TCF OVRLINE2 +1
047076,000929:
047077,000930: 15,3437 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
047078,000931: 15,3440 55567 TS VDT/180
047079,000932: 15,3441 35021 OVRLINE2 CA ZERO
047080,000933: 15,3442 55621 TS TON1
047081,000934: 15,3443 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
047082,000935: 15,3444 60000 DOUBLE
047083,000936: 15,3445 00006 EXTEND
047084,000937: 15,3446 73750 MP 180/8ATT
047085,000938: 15,3447 60000 DOUBLE # FOR SECOND BURN, A1
047086,000939: 15,3450 55607 TS TON2 # = TON2 / 4T
047087,000940:
047088,000941: 15,3451 40000 COM
047089,000942: 15,3452 00006 EXTEND
047090,000943: 15,3453 63457 BZMF GETOFF
047091,000944: 15,3454 55607 TS TON2
047092,000945: 15,3455 31617 CA JNDX
047093,000946: 15,3456 55620 TS JNDX1
047094,000947:
047095,000948: 15,3457 41607 GETOFF CS TON2 # TON2 / 4T
047096,000949: 15,3460 00006 EXTEND
047097,000950: 15,3461 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
047098,000951: 15,3462 55615 TS XD/360 # USE AS TEMP
047099,000952: 15,3463 41567 CS VDT/180
047100,000953: 15,3464 00006 EXTEND
047101,000954: 15,3465 13501 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
047102,000955: 15,3466 61613 AD -VT/180
047103,000956: 15,3467 00006 EXTEND
047104,000957: 15,3470 71621 MP TON1 # TON1 /4T
047105,000958: 15,3471 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
047106,000959: 15,3472 61614 AD LCX/360
047107,000960: 15,3473 22007 ZL
047108,000961: 15,3474 56001 XCH L # TEST THE DIVIDE
047109,000962: 15,3475 00006 EXTEND
047110,000963: 15,3476 11567 DV VDT/180
047111,000964: 15,3477 00006 EXTEND
047112,000965: 15,3500 13503 BZF GETOFF2 # DIVIDE OK
047113,000966:
047114,000967: 15,3501 35045 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
047115,000968: 15,3502 13510 TCF TIMSCAL
047116,000969:
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Page 1086
|
047118,000971: 15,3503 56001 GETOFF2 XCH L # GET NUMERATOR.
047119,000972: 15,3504 00006 EXTEND
047120,000973: 15,3505 11567 DV VDT/180 # C(A) = TOFF / 2T
047121,000974: 15,3506 00006 EXTEND
047122,000975: 15,3507 75045 MP 2JETT
047123,000976: 15,3510 55605 TIMSCAL TS TOFF # IN CS
047124,000977:
047125,000978: 15,3511 33751 CAF 4JETT
047126,000979: 15,3512 00006 EXTEND
047127,000980: 15,3513 71621 MP TON1 # C(TON1) = TON1 / 4T
047128,000981: 15,3514 55621 TS TON1 # IN CS
047129,000982:
047130,000983: 15,3515 33751 CAF 4JETT
047131,000984: 15,3516 00006 EXTEND
047132,000985: 15,3517 71607 MP TON2 # C(TON2) = TON2 / 4T
047133,000986: 15,3520 55607 TS TON2 # IN CS
047134,000987:
047135,000988: 15,3521 35021 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
047136,000989: 15,3522 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
047137,000990:
047138,000991: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047139,000992: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
047140,000993: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047141,000994:
047142,000995: 15,3523 35017 CA ONE
047143,000996: 15,3524 54305 TS SW/NDX
047144,000997:
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Page 1087
|
047146,000999: # TIMETEST SECTION FOR RCS
047147,001000:
047148,001001: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
047149,001002: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
047150,001003: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
047151,001004: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
047152,001005: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
047153,001006: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
047154,001007: # SECTION JETCALL BELOW PROCESSES THIS LIST.
047155,001008:
047156,001009: 15,3525 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
047157,001010: 15,3526 65002 AD POS1/2
047158,001011: 15,3527 65002 AD POS1/2 # OVFL GUARANTEED.
047159,001012: 15,3530 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
047160,001013:
047161,001014: 15,3531 33746 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
047162,001015: # THE +2 REQUIRED FOR PROPER BRANCH.
047163,001016: 15,3532 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
047164,001017:
047165,001018: 15,3533 45016 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
047166,001019: 15,3534 61621 AD TON1
047167,001020: 15,3535 00006 EXTEND
047168,001021: 15,3536 63550 BZMF TIMETST1
047169,001022: 15,3537 51617 INDEX JNDX
047170,001023: 15,3540 33205 CAF P/RJCODE
047171,001024: 15,3541 55622 TS T1BITS
047172,001025:
047173,001026: 15,3542 31621 CA TON1
047174,001027: 15,3543 27712 ADS TUSED
047175,001028: 15,3544 00006 EXTEND
047176,001029: 15,3545 63552 BZMF TOFFTEST
047177,001030: 15,3546 35021 CA ZERO
047178,001031: 15,3547 13603 TCF TIMETST3
047179,001032: 15,3550 45017 TIMETST1 CS ONE
047180,001033: 15,3551 55621 TS TON1
047181,001034: 15,3552 45016 TOFFTEST CS TWO
047182,001035: 15,3553 61605 AD TOFF
047183,001036: 15,3554 00006 EXTEND
047184,001037: 15,3555 63564 BZMF TIMETST2
047185,001038: 15,3556 31605 CA TOFF
047186,001039: 15,3557 27712 ADS TUSED
047187,001040: 15,3560 00006 EXTEND
047188,001041: 15,3561 63566 BZMF TON2TEST
047189,001042: 15,3562 35021 CA ZERO
047190,001043: 15,3563 13605 TCF TIMETST4
047191,001044: 15,3564 45017 TIMETST2 CS ONE
047192,001045: 15,3565 55605 TS TOFF
047193,001046: 15,3566 45016 TON2TEST CS TWO
047194,001047: 15,3567 61607 AD TON2
047195,001048: 15,3570 00006 EXTEND
047196,001049: 15,3571 63606 BZMF TIMETST5
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Page 1088
|
047198,001051: 15,3572 51620 INDEX JNDX1
047199,001052: 15,3573 33205 CAF P/RJCODE
047200,001053: 15,3574 55610 TS T2BITS
047201,001054: 15,3575 31607 CA TON2
047202,001055: 15,3576 27712 ADS TUSED
047203,001056: 15,3577 00006 EXTEND
047204,001057: 15,3600 63610 BZMF JETCALL1
047205,001058: 15,3601 35021 CA ZERO
047206,001059: 15,3602 13607 TCF TIMETST5 +1
047207,001060: 15,3603 55621 TIMETST3 TS TON1
047208,001061: 15,3604 45017 CS ONE
047209,001062: 15,3605 55605 TIMETST4 TS TOFF
047210,001063: 15,3606 45017 TIMETST5 CS ONE
047211,001064: 15,3607 55607 TS TON2
047212,001065:
047213,001066: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
047214,001067: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
047215,001068: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
047216,001069: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
047217,001070: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
047218,001071: # THAN ONE REGISTER.
047219,001072:
047220,001073: 15,3610 35021 JETCALL1 CA ZERO
047221,001074: 15,3611 55611 TS OUTTAG
047222,001075: 15,3612 55612 TS NUJET
047223,001076: 15,3613 55606 TS TBITS
047224,001077: 15,3614 53622 DXCH TON1
047225,001078: 15,3615 10000 CCS A
047226,001079: 15,3616 13633 TCF JETCALL2 # CALL WTLST
047227,001080: 15,3617 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
047228,001081: 15,3620 45017 CS ONE
047229,001082: 15,3621 53606 DXCH TOFF
047230,001083: 15,3622 10000 CCS A
047231,001084: 15,3623 13633 TCF JETCALL2 # CALL WTLST
047232,001085: 15,3624 23612 LXCH NUJET
047233,001086: 15,3625 45017 CS ONE
047234,001087: 15,3626 53610 DXCH TON2
047235,001088: 15,3627 10000 CCS A
047236,001089: 15,3630 13633 TCF JETCALL2 # CALL WTLST
047237,001090: 15,3631 23612 LXCH NUJET
047238,001091: 15,3632 03642 TC JETACTN # C(A) = +0
047239,001092: 15,3633 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
047240,001093: 15,3634 27612 ADS NUJET
047241,001094: 15,3635 56001 XCH L
047242,001095: 15,3636 65017 AD ONE # RESTORE FOR CCS
047243,001096: 15,3637 05245 TC WAITLIST
047244,001097: 15,3640 E6,1661 EBANK= AOG
047245,001098: 15,3640 03650 32066 2CADR JETCALL
047246,001099:
047247,001100: 15,3642 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
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Page 1089
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047249,001102: 15,3643 00006 EXTEND # NO NEED TO SAVE OLD CODES
047250,001103: 15,3644 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
047251,001104:
047252,001105: 15,3645 11611 CCS OUTTAG
047253,001106: 15,3646 05324 TC TASKOVER
047254,001107: 15,3647 03705 ROLLDUMP TC CM/FDAIR
047255,001108:
047256,001109: # EDIT DUMP AT ABOVE LOCATION.
047257,001110:
047258,001111: # WAITLIST ENTRIES COME HERE.
047259,001112:
047260,001113: 15,3650 35016 JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
047261,001114: 15,3651 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
047262,001115: 15,3652 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
047263,001116: 15,3653 00006 EXTEND
047264,001117: 15,3654 13643 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
047265,001118: 15,3655 22007 ZL # NO, CONTINUE.
047266,001119: 15,3656 13617 TCF JETCALL3 # C(A) POS, C(L) = +0
047267,001120:
047268,001121: # DEAD ZONE ENTRIES COME HERE.
047269,001122:
047270,001123: 15,3657 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
047271,001124: 15,3660 75017 MASK BIT1
047272,001125: 15,3661 54001 TS L # C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
047273,001126: 15,3662 50000 INDEX A # ERASBLE ORDER: ROLLTM,ROLLC,ROLLC +1.
047274,001127: 15,3663 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
047275,001128: 15,3664 50001 INDEX L
047276,001129: 15,3665 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
047277,001130: 15,3666 60001 AD L # (BOTH MUST BE SCALED DEG/180)
047278,001131: 15,3667 02522 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC .
047279,001132: 15,3670 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE,
047280,001133: # OTHERWISE, SAVE ROLL COMMAND.
047281,001134:
047282,001135: 15,3671 35021 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
047283,001136: 15,3672 00006 EXTEND # INHINT NOT NEEDED HERE.
047284,001137: 15,3673 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
047285,001138: 15,3674 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
047286,001139: 15,3675 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
047287,001140: 15,3676 03647 TC ROLLDUMP
047288,001141:
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Page 1090
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047290,001143: # CM ENTRY FDAI DISPLAY
047291,001144:
047292,001145: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS:
047293,001146: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
047294,001147: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
047295,001148: # ROLL ROLLC-ROLL
047296,001149: # PITCH ALFAC-ALFA
047297,001150: # YAW BETAC-BETA
047298,001151:
047299,001152: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
047300,001153: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
047301,001154:
047302,001155: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
047303,001156: 15,3677 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
047304,001157: 15,3700 00006 EXTEND
047305,001158: 15,3701 71506 MP CALFA # FOR ASSUMED COORDINATION.
047306,001159: 15,3702 00006 EXTEND
047307,001160: 15,3703 75002 MP HALF
047308,001161: 15,3704 27713 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
047309,001162:
047310,001163: # EDIT DUMP AT ABOVE LOCATION.
047311,001164: 15,3705 35002 CM/FDAIR CA HALF
047312,001165: 15,3706 00006 EXTEND
047313,001166: 15,3707 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
047314,001167: 15,3710 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
047315,001168:
047316,001169: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
047317,001170: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
047318,001171: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
047319,001172: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
047320,001173: # THE SUBSEQUENT PASS.
047321,001174:
047322,001175: 15,3711 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
047323,001176: 15,3712 54305 TS SW/NDX
047324,001177: 15,3713 00006 EXTEND # INDEX.
047325,001178: 15,3714 63720 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
047326,001179: # ENDBUF.
047327,001180: # INDEX IS POS FOR NEEDLES
047328,001181:
047329,001182: 15,3715 04740 TC IBNKCALL
047330,001183: 15,3716 42420 CADR NEEDLER
047331,001184:
047332,001185: 15,3717 03736 TC CM/END
047333,001186:
047334,001187: # INDEX IS NEG FOR TM FILE
047335,001188:
047336,001189: 15,3720 66214 CMTMFILE AD THREE
047337,001190: 15,3721 00006 EXTEND
047338,001191: 15,3722 63726 BZMF SAVENDX
047339,001192:
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Page 1091
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047341,001194: 15,3723 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
047342,001195: 15,3724 54304 TS CMTMTIME
047343,001196: 15,3725 45025 CS THIRTEEN # INITIALIZE COUNTER
047344,001197: 15,3726 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
047345,001198: 15,3727 00006 EXTEND
047346,001199: 15,3730 31702 DCA PREL
047347,001200: 15,3731 50305 INDEX SW/NDX
047348,001201: 15,3732 52324 DXCH ENDBUF -1
047349,001202: 15,3733 31703 CA RREL
047350,001203: 15,3734 50305 INDEX SW/NDX
047351,001204: 15,3735 54325 TS ENDBUF +1
047352,001205:
047353,001206: 15,3736 31623 CM/END CA CM/SAVE
047354,001207: 15,3737 54021 TS SR
047355,001208: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047356,001209:
047357,001210: 15,3740 00006 EXTEND
047358,001211: 15,3741 33745 DCA T5IDLER2
047359,001212: 15,3742 53313 DXCH T5LOC
047360,001213: 15,3743 05333 TC RESUME
047361,001214:
047362,001215: 15,3744 1312 EBANK= T5LOC
047363,001216: 15,3744 03153 12062 T5IDLER2 2CADR T5IDLOC
047364,001217:
047365,001218: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
047366,001219: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
047367,001220: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
047368,001221: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
047369,001222: # EACH 2 SECONDS.
047370,001223:
047371,001224: # THE SEQUENCE IS: SP TIME INITIAL TIME
047372,001225: # SWITCH ALSO INDEX.
047373,001226: # P ROLL RATE
047374,001227: # Q PITCH RATE
047375,001228: # R YAW RATE
047376,001229: # ETC.
047377,001230:
047378,001231: # CMTMTIME = UPBUFF
047379,001232: # SW/NDX = UPBUFF +1
047380,001233: # ENDBUF = UPBUFF +16D
047381,001234:
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Page 1092
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047383,001236: # SPACER
047384,001237:
047385,001238: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
047386,001239: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
047387,001240: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
047388,001241: # XBUF = 4DEG
047389,001242:
047390,001243: 15,3746 77464 -T-3 DEC -203 B-14 # CS
047391,001244: 15,3747 00012 VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
047392,001245: 15,3750 5033 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
047393,001246: 15,3750 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
047394,001247: 15,3751 15,3753 -VMT/180 = -VM/360K # = 20 (2) / 180
047395,001248: 15,3751 5045 2JETT = 4SECS # CS 2 (2) 100 INTEGER
047396,001249: 15,3751 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
047397,001250: 15,3752 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
047398,001251: 15,3753 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
047399,001252: 15,3754 15,3750 1/16A1 = 180/8ATT
047400,001253: # 1/16A1 = 180/(16 A1 TT)
047401,001254: # = 180/(16 4.55 4)
047402,001255: 15,3754 00133 XS/360 DEC 91 B-14 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
047403,001256: 15,3755 15,3754 BUFLIM = XS/360 # 4/(2 360)
047404,001257:
047405,001258: 15,3755 5002 KTRCS = HALF # KT = (.25) 2 = .5
047406,001259:
047407,001260:
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc