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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045232,000002: ## Copyright: Public domain.
045233,000003: ## Filename: JET_SELECTION_LOGIC.agc
045234,000004: ## Purpose: A section of Comanche revision 051.
045235,000005: ## It is part of the reconstructed source code for the
045236,000006: ## original release of the flight software for the Command
045237,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
045238,000008: ## The code has been recreated from a copy of Comanche 055. It
045239,000009: ## has been adapted such that the resulting bugger words
045240,000010: ## exactly match those specified for Comanche 51 in NASA drawing
045241,000011: ## 2021153D, which gives relatively high confidence that the
045242,000012: ## reconstruction is correct.
045243,000013: ## Reference: pp. 1039-1062
045244,000014: ## Assembler: yaYUL
045245,000015: ## Contact: Ron Burkey <info@sandroid.org>.
045246,000016: ## Website: www.ibiblio.org/apollo/index.html
045247,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
045248,000018:
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Page 1039
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045250,000020: 21,3765 BANK 21
045251,000021: 17,2000 SETLOC DAPS4
045252,000022: 17,2000 BANK
045253,000023:
045254,000024: 17,2552 COUNT 17/DAPJS
045255,000025:
045256,000026: 17,2552 E6,1510 EBANK= KMPAC
045257,000027:
045258,000028: # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
045259,000029:
045260,000030: 17,2552 22016 JETSLECT LXCH BANKRUPT
045261,000031: 17,2553 32634 CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1
045262,000032: 17,2554 61634 AD T5TIME
045263,000033: 17,2555 54030 TS TIME5
045264,000034: 17,2556 12561 TCF +3
045265,000035: 17,2557 32635 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT
045266,000036: 17,2560 54030 TS TIME5
045267,000037: 17,2561 33313 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS
045268,000038: 17,2562 54031 TS TIME6 # IN 14 MS
045269,000039: 17,2563 35001 CAF NEGMAX
045270,000040: 17,2564 00006 EXTEND
045271,000041: 17,2565 05013 WOR CHAN13
045272,000042: 17,2566 00006 EXTEND
045273,000043: 17,2567 22012 QXCH QRUPT
045274,000044: 17,2570 32633 CAF XLNMASK # = 7700 OCT
045275,000045: 17,2571 00006 EXTEND # EXAMINE THE TRANSLATION
045276,000046: 17,2572 06031 RXOR CHAN31 # HAND CONTROLLER
045277,000047: 17,2573 72633 MASK XLNMASK
045278,000048: 17,2574 00006 EXTEND
045279,000049: 17,2575 12636 BZF NOXLNCMD
045280,000050: 17,2576 55502 TS T5TEMP
045281,000051: 17,2577 00006 EXTEND
045282,000052: 17,2600 75007 MP BIT9
045283,000053: 17,2601 76214 MASK THREE
045284,000054: 17,2602 55513 TS XNDX1 # AC QUAD X-TRANSLATION INDEX
045285,000055: 17,2603 55514 TS XNDX2 # BD QUAD X-TRANSLATION INDEX
045286,000056: 17,2604 31502 CA T5TEMP
045287,000057: 17,2605 00006 EXTEND # 1 = + XLN
045288,000058: 17,2606 75011 MP BIT7 # 2 = - XLN
045289,000059: 17,2607 76214 MASK THREE # 3 = NO XLN
045290,000060: 17,2610 55515 TS YNDX # Y-TRANSLATION INDEX
045291,000061:
045292,000062: 17,2611 31502 CA T5TEMP
045293,000063: 17,2612 00006 EXTEND
045294,000064: 17,2613 75013 MP BIT5
045295,000065: 17,2614 76214 MASK THREE
045296,000066: 17,2615 55516 TS ZNDX # Z-TRANSLATION INDEX
045297,000067:
045298,000068: 17,2616 31466 CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
045299,000069: 17,2617 75002 MASK BIT14 # TRANSLATIONS.
045300,000070: 17,2620 00006 EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
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Page 1040
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045302,000072: 17,2621 12624 BZF NOLEM
045303,000073: 17,2622 46214 CS THREE # IF LEM IS ON, SET ATTKALMN = -3
045304,000074: 17,2623 12625 TCF +2
045305,000075: 17,2624 45016 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2.
045306,000076: 17,2625 55617 TS ATTKALMN
045307,000077: 17,2626 11631 CCS XTRANS # (+, -1, 0)
045308,000078: 17,2627 55513 TS XNDX1 # USING BD-X ZERO XNDX1
045309,000079: 17,2630 12642 TCF PWORD
045310,000080: 17,2631 55514 TS XNDX2 # USING AC-X ZERO XNDX2
045311,000081: 17,2632 12642 TCF PWORD
045312,000082: 17,2633 07700 XLNMASK OCT 7700
045313,000083:
045314,000084: 17,2634 37772 DELTATT3 DEC 16378 B-14 # = 60 MS
045315,000085: 17,2635 37776 DELATT20 DEC 16382 B-14 # = 20 MS
045316,000086:
045317,000087: 17,2636 55513 NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
045318,000088: 17,2637 55514 TS XNDX2
045319,000089: 17,2640 55515 TS YNDX
045320,000090: 17,2641 55516 TS ZNDX
045321,000091:
045322,000092: # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
045323,000093:
045324,000094: 17,2642 11562 PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
045325,000095: 17,2643 35017 CAF ONE
045326,000096: 17,2644 12646 TCF +2 # 0 = NO PITCH
045327,000097: 17,2645 35016 CAF TWO # +1 = + PITCH
045328,000098: 17,2646 55520 TS PINDEX # +2 = - PITCH
045329,000099:
045330,000100: 17,2647 11626 CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
045331,000101: 17,2650 12654 TCF AFAILP
045332,000102: 17,2651 12664 TCF TABPCOM # 0 = NO REAL AC FAILURES
045333,000103: 17,2652 12656 TCF CFAILP # + = A QUAD FAILED
045334,000104: 17,2653 12664 TCF TABPCOM # - = C QUAD FAILED
045335,000105: # IF FAILURES ARE PRESENT IGNORE
045336,000106: # X-TRANSLATIONS ON THIS AXIS
045337,000107:
045338,000108: 17,2654 34334 AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
045339,000109: 17,2655 12666 TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
045340,000110: 17,2656 35771 CFAILP CAF TWELVE
045341,000111: 17,2657 12666 TCF TABPCOM +2
045342,000112:
045343,000113: 17,2660 00000 XLNNDX DEC 0 B-14 # INDECES FOR TRANSLATION COMMANDS
045344,000114: 17,2661 00003 DEC 3 B-14 # FOR USE IN TABLE LOOK UP
045345,000115: 17,2662 00006 DEC 6 B-14
045346,000116: 17,2663 00000 DEC 0 B-14
045347,000117:
045348,000118: 17,2664 5771 TWELVE = OCT14
045349,000119:
045350,000120: # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
045351,000121: # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
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Page 1041
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045353,000123:
045354,000124: 17,2664 51513 TABPCOM INDEX XNDX1
045355,000125: 17,2665 32660 CA XLNNDX
045356,000126: 17,2666 61520 AD PINDEX
045357,000127: 17,2667 50000 INDEX A
045358,000128: 17,2670 32714 CA PYTABLE
045359,000129: 17,2671 72733 MASK PJETS # =1417 OCT
045360,000130: 17,2672 55453 TS PWORD1
045361,000131: 17,2673 00006 EXTEND
045362,000132: 17,2674 75011 MP BIT7
045363,000133: 17,2675 55523 TS NPJETS # = NO. OF PITCH JETS
045364,000134:
045365,000135: # YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT
045366,000136:
045367,000137: 17,2676 11563 YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
045368,000138: 17,2677 35017 CAF ONE
045369,000139: 17,2700 12702 TCF +2
045370,000140: 17,2701 35016 CAF TWO
045371,000141: 17,2702 55521 TS YINDEX # YAW ROTATION INDEX
045372,000142:
045373,000143: 17,2703 11627 CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
045374,000144: 17,2704 12710 TCF BFAILY # 0 = NO BD FAILURE
045375,000145: 17,2705 12735 TCF TABYCOM # + = B QUAD FAILED
045376,000146: 17,2706 12712 TCF DFAILY # - = D QUAD FAILED
045377,000147: 17,2707 12735 TCF TABYCOM
045378,000148:
045379,000149: 17,2710 34334 BFAILY CAF NINE
045380,000150: 17,2711 12737 TCF TABYCOM +2
045381,000151: 17,2712 35771 DFAILY CAF TWELVE
045382,000152: 17,2713 12737 TCF TABYCOM +2
045383,000153:
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Page 1042
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045385,000155: # TABLE FOR PITCH(YAW) COMMANDS
045386,000156: # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
045387,000157: # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
045388,000158: # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
045389,000159: # BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
045390,000160:
045391,000161: # ROT TRANS QUAD BIAS
045392,000162: 17,2714 00000 PYTABLE OCT 0 # 0 0 0
045393,000163: 17,2715 05125 OCT 5125 # + 0 0
045394,000164: 17,2716 05252 OCT 5252 # - 0 0
045395,000165: 17,2717 00231 OCT 0231 # 0 + 3
045396,000166: 17,2720 02421 OCT 2421 # + + 3
045397,000167: 17,2721 02610 OCT 2610 # - + 3
045398,000168: 17,2722 00146 OCT 0146 # 0 - 6
045399,000169: 17,2723 02504 OCT 2504 # + - 6
045400,000170: 17,2724 02442 OCT 2442 # - - 6
045401,000171: 17,2725 00000 OCT 0 # 0 A(B) 9
045402,000172: 17,2726 02421 OCT 2421 # + A(B) 9
045403,000173: 17,2727 02442 OCT 2442 # - A(B) 9
045404,000174: 17,2730 00000 OCT 0 # 0 C(D) 12
045405,000175: 17,2731 02504 OCT 2504 # + C(D) 12
045406,000176: 17,2732 02610 OCT 2610 # - C(D) 12
045407,000177:
045408,000178: # MASKS FOR PITCH AND YAW COMMANDS
045409,000179:
045410,000180: 17,2733 01417 PJETS OCT 1417
045411,000181: 17,2734 06360 YJETS OCT 6360
045412,000182:
045413,000183: # TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
045414,000184: # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
045415,000185:
045416,000186: 17,2735 51514 TABYCOM INDEX XNDX2
045417,000187: 17,2736 32660 CA XLNNDX
045418,000188: 17,2737 61521 AD YINDEX
045419,000189: 17,2740 50000 INDEX A
045420,000190: 17,2741 32714 CA PYTABLE
045421,000191: 17,2742 72734 MASK YJETS # = 6360 OCT
045422,000192: 17,2743 55455 TS YWORD1
045423,000193: 17,2744 00006 EXTEND
045424,000194: 17,2745 75013 MP BIT5
045425,000195: 17,2746 55524 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
045426,000196:
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Page 1043
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045428,000198: # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
045429,000199:
045430,000200: 17,2747 11561 RWORD CCS TAU # CHECK FOR ROLL COMMANDS
045431,000201: 17,2750 35017 CAF ONE
045432,000202: 17,2751 12753 TCF +2
045433,000203: 17,2752 35016 CAF TWO
045434,000204: 17,2753 55517 TS RINDEX
045435,000205:
045436,000206: 17,2754 11630 CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
045437,000207: 17,2755 13046 TCF BDROLL # ROLL COMMANDS
045438,000208: 17,2756 13046 TCF BDROLL # +, +0 = BD ROLL
045439,000209: 17,2757 12760 TCF +1 # -, -0 = AC ROLL
045440,000210:
045441,000211: 17,2760 11626 ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
045442,000212: 17,2761 12765 TCF RAFAIL # ON AC QUADS
045443,000213: 17,2762 12775 TCF RXLNS
045444,000214: 17,2763 12767 TCF RCFAIL
045445,000215: 17,2764 12775 TCF RXLNS
045446,000216:
045447,000217: 17,2765 34334 RAFAIL CAF NINE # QUAD FAILURE WILL GET
045448,000218: 17,2766 12777 TCF TABRCOM # 1-JET OPERATION
045449,000219: 17,2767 35771 RCFAIL CAF TWELVE
045450,000220: 17,2770 12777 TCF TABRCOM
045451,000221:
045452,000222: 17,2771 00000 XLN1NDX DEC 0 B-14
045453,000223: 17,2772 00001 DEC 1 B-14 # INDECES FOR TRANSLATION
045454,000224: 17,2773 00002 DEC 2 B-14
045455,000225: 17,2774 00000 DEC 0 B-14
045456,000226:
045457,000227: # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
045458,000228: # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
045459,000229:
045460,000230: 17,2775 51515 RXLNS INDEX YNDX # NO AC QUAD FAILURES
045461,000231: 17,2776 32660 CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
045462,000232: 17,2777 61517 TABRCOM AD RINDEX
045463,000233: 17,3000 50000 INDEX A
045464,000234: 17,3001 33130 CA RTABLE
045465,000235: 17,3002 73147 MASK ACRJETS # = 3760 OCT
045466,000236: 17,3003 55451 TS RWORD1
045467,000237:
045468,000238: # CHECK FOR Z-TRANSLATIONS ON BD
045469,000239:
045470,000240: 17,3004 31516 BDZCHECK CA ZNDX
045471,000241: 17,3005 00006 EXTEND
045472,000242: 17,3006 63040 BZMF NOBDZ # NO Z-TRANSLATION
045473,000243:
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Page 1044
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045475,000245: # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
045476,000246: # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL
045477,000247: # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
045478,000248: # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
045479,000249:
045480,000250: 17,3007 11627 CCS RBDFAIL
045481,000251: 17,3010 36214 CAF THREE
045482,000252: 17,3011 13013 TCF +2
045483,000253: 17,3012 36211 CAF SIX
045484,000254: 17,3013 51516 INDEX ZNDX
045485,000255: 17,3014 62771 AD XLN1NDX
045486,000256: 17,3015 50000 INDEX A
045487,000257: 17,3016 33151 CA YZTABLE
045488,000258: 17,3017 73162 MASK BDZJETS # = 3417 OCT
045489,000259: 17,3020 61451 AD RWORD1 # ADD TO ROLL COMMANDS
045490,000260: 17,3021 55502 TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
045491,000261:
045492,000262: 17,3022 00006 EXTEND
045493,000263: 17,3023 75011 MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
045494,000264: 17,3024 66061 AD =-4 # Z-TRANSLATION ADDED ON
045495,000265: 17,3025 55522 TS NRJETS # NET NO. OF +,- ROLL JETS ON
045496,000266: 17,3026 00006 EXTEND
045497,000267: 17,3027 13033 BZF TAUCHECK
045498,000268:
045499,000269: 17,3030 31502 ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
045500,000270: 17,3031 55451 TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL
045501,000271: 17,3032 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
045502,000272:
045503,000273: 17,3033 11561 TAUCHECK CCS TAU
045504,000274: 17,3034 13040 TCF NOBDZ
045505,000275: 17,3035 13030 TCF ACRBDZ
045506,000276: 17,3036 13040 TCF NOBDZ
045507,000277: 17,3037 13030 TCF ACRBDZ
045508,000278:
045509,000279: 17,3040 31451 NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
045510,000280: 17,3041 00006 EXTEND
045511,000281: 17,3042 75011 MP BIT7
045512,000282: 17,3043 67715 AD =-2
045513,000283: 17,3044 55522 TS NRJETS
045514,000284: 17,3045 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
045515,000285:
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Page 1045
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045517,000287: # BD QUAD SELECTION FOR ROLL COMMANDS
045518,000288:
045519,000289: 17,3046 11627 BDROLL CCS RBDFAIL
045520,000290: 17,3047 13053 TCF RBFAIL
045521,000291: 17,3050 13057 TCF RZXLNS
045522,000292: 17,3051 13055 TCF RDFAIL
045523,000293: 17,3052 13057 TCF RZXLNS
045524,000294: 17,3053 34334 RBFAIL CAF NINE
045525,000295: 17,3054 13061 TCF TABRZCMD
045526,000296: 17,3055 35771 RDFAIL CAF TWELVE
045527,000297: 17,3056 13061 TCF TABRZCMD
045528,000298:
045529,000299: 17,3057 51516 RZXLNS INDEX ZNDX # NO BD FAILURES
045530,000300: 17,3060 32660 CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
045531,000301: 17,3061 61517 TABRZCMD AD RINDEX
045532,000302: 17,3062 50000 INDEX A
045533,000303: 17,3063 33130 CA RTABLE
045534,000304: 17,3064 73150 MASK BDRJETS # = 34017 OCT
045535,000305: 17,3065 55451 TS RWORD1
045536,000306:
045537,000307: 17,3066 31515 ACYCHECK CA YNDX # ANY Y-TRANSLATION
045538,000308: 17,3067 00006 EXTEND
045539,000309: 17,3070 13122 BZF NOACY # NO Y-TRANSLATION
045540,000310: 17,3071 11626 CCS RACFAIL
045541,000311: 17,3072 36214 CAF THREE
045542,000312: 17,3073 13075 TCF +2
045543,000313: 17,3074 36211 CAF SIX
045544,000314: 17,3075 51515 INDEX YNDX
045545,000315: 17,3076 62771 AD XLN1NDX
045546,000316: 17,3077 50000 INDEX A
045547,000317: 17,3100 33151 CA YZTABLE
045548,000318: 17,3101 73163 MASK ACYJETS # = 34360 OCT
045549,000319: 17,3102 61451 AD RWORD1
045550,000320: 17,3103 55502 TS T5TEMP
045551,000321: 17,3104 00006 EXTEND # FOR EXPLANATION SEE CODING ON RTABLE
045552,000322: 17,3105 75014 MP BIT4
045553,000323: 17,3106 66061 AD =-4
045554,000324: 17,3107 55522 TS NRJETS # NO. OF NET ROLL JETS
045555,000325: 17,3110 00006 EXTEND
045556,000326: 17,3111 13115 BZF TAUCHCK # IF NRJETS = 0
045557,000327:
045558,000328: 17,3112 31502 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
045559,000329: 17,3113 55451 TS RWORD1
045560,000330: 17,3114 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
045561,000331:
045562,000332: 17,3115 11561 TAUCHCK CCS TAU
045563,000333: 17,3116 13122 TCF NOACY
045564,000334: 17,3117 13112 TCF BDRACZ
045565,000335: 17,3120 13122 TCF NOACY
045566,000336: 17,3121 13112 TCF BDRACZ
045567,000337:
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Page 1046
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045569,000339: 17,3122 31451 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
045570,000340: 17,3123 00006 EXTEND
045571,000341: 17,3124 75014 MP BIT4
045572,000342: 17,3125 67715 AD =-2
045573,000343: 17,3126 55522 TS NRJETS
045574,000344: 17,3127 13274 TCF ROLLTIME
045575,000345:
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Page 1047
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045577,000347: # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
045578,000348:
045579,000349: # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
045580,000350: # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
045581,000351: # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
045582,000352:
045583,000353: # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
045584,000354: # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
045585,000355: # SWITCH TO AC ROLL.
045586,000356:
045587,000357: # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
045588,000358: # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
045589,000359:
045590,000360: # WORD MAKE UP....RTABLE
045591,000361:
045592,000362: # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND-
045593,000363: # ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
045594,000364:
045595,000365: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
045596,000366:
045597,000367: # BIT NO. 11 10 9 NO. OF ROLL JETS
045598,000368:
045599,000369: # 0 0 0 -2
045600,000370: # 0 0 1 -1
045601,000371: # 0 1 0 0
045602,000372: # 0 1 1 +1
045603,000373: # 1 0 0 +2
045604,000374:
045605,000375: # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
045606,000376: # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
045607,000377:
045608,000378: # THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
045609,000379: # (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
045610,000380:
045611,000381: # ROLL TRANS QUADFAIL BIAS
045612,000382:
045613,000383: 17,3130 11000 RTABLE OCT 11000 # 0 0
045614,000384: 17,3131 22125 OCT 22125 # + 0
045615,000385: 17,3132 00252 OCT 00252 # - 0
045616,000386: 17,3133 11231 OCT 11231 # 0 +Y(+Z) 3
045617,000387: 17,3134 15421 OCT 15421 # + +Y(+Z) 3
045618,000388: 17,3135 04610 OCT 04610 # - +Y(+Z) 3
045619,000389: 17,3136 11146 OCT 11146 # 0 -Y(-Z) 6
045620,000390: 17,3137 15504 OCT 15504 # + -Y(-Z) 6
045621,000391: 17,3140 04442 OCT 04442 # - -Y(-Z) 6
045622,000392: 17,3141 11000 OCT 11000 # 0 A(B) 9
045623,000393: 17,3142 15504 OCT 15504 # + A(B) 9
045624,000394: 17,3143 04610 OCT 04610 # - A(B) 9
045625,000395: 17,3144 11000 OCT 11000 # 0 C(D) 12
045626,000396: 17,3145 15421 OCT 15421 # + C(D) 12
045627,000397: 17,3146 04442 OCT 04442 # - C(D) 12
045628,000398:
|
|
Page 1048
|
045630,000400: # RTABLE MASKS-
045631,000401:
045632,000402: 17,3147 03760 ACRJETS OCT 03760
045633,000403: 17,3150 34017 BDRJETS OCT 34017
045634,000404:
|
|
Page 1049
|
045636,000406: # Y, Z TRANSLATION TABLE
045637,000407:
045638,000408: # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
045639,000409: # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
045640,000410: # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
045641,000411: # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
045642,000412: # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
045643,000413: # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
045644,000414: # ABOVE.
045645,000415: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
045646,000416: # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS
045647,000417: # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
045648,000418:
045649,000419: # TRANSLATION QUADFAIL BIAS
045650,000420:
045651,000421: 17,3151 11000 YZTABLE OCT 11000 # 0 0
045652,000422: 17,3152 11231 OCT 11231 # +Z(+Y) 0
045653,000423: 17,3153 11146 OCT 11146 # -Z(-Y) 0
045654,000424: 17,3154 11000 OCT 11000 # 0 B(A) 3
045655,000425: 17,3155 04610 OCT 04610 # +Z(+Y) B(A) 3
045656,000426: 17,3156 15504 OCT 15504 # -Z(-Y) B(A) 3
045657,000427: 17,3157 11000 OCT 11000 # 0 D(C) 6
045658,000428: 17,3160 15421 OCT 15421 # +Z(+Y) D(C) 6
045659,000429: 17,3161 04442 OCT 04442 # -Z(-Y) D(C) 6
045660,000430:
045661,000431: # YZ-TABLE MASKS-
045662,000432:
045663,000433: 17,3162 03417 BDZJETS OCT 03417
045664,000434: 17,3163 34360 ACYJETS OCT 34360
045665,000435:
045666,000436: # ADDITIONAL CONSTANTS
045667,000437:
045668,000438: 17,3164 7715 =-2 = NEG2
045669,000439: 17,3164 6061 =-4 = NEG4
045670,000440:
|
|
Page 1050
|
045672,000442: # CALCULATION OF JET ON-TIMES
045673,000443:
045674,000444: # THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
045675,000445: # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
045676,000446: # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
045677,000447: # ERVAL.
045678,000448: # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
045679,000449: # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
045680,000450: # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
045681,000451: # UPDATE DFT.
045682,000452: # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
045683,000453: # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
045684,000454: # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
045685,000455: # AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
045686,000456: # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
045687,000457: # ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
045688,000458:
045689,000459: # PITCH JET ON-TIME CALCULATION
045690,000460:
045691,000461: 17,3164 11562 PITCHTIM CCS TAU1
045692,000462: 17,3165 13174 TCF PTAUPOS
045693,000463: 17,3166 13170 TCF +2
045694,000464: 17,3167 13172 TCF PTAUNEG
045695,000465: 17,3170 55550 TS DFT1 # NO PITCH ROTATION
045696,000466: 17,3171 13372 TCF PBYPASS # COMMANDS
045697,000467:
045698,000468: 17,3172 41523 PTAUNEG CS NPJETS
045699,000469: 17,3173 55523 TS NPJETS
045700,000470: 17,3174 31562 PTAUPOS CA TAU1
045701,000471: 17,3175 00006 EXTEND
045702,000472: 17,3176 51523 INDEX NPJETS
045703,000473: 17,3177 73353 MP NJET
045704,000474: 17,3200 55461 TS BLAST1
045705,000475: 17,3201 63306 AD =-.1SEC
045706,000476: 17,3202 00006 EXTEND
045707,000477: 17,3203 63214 BZMF AD14MSP
045708,000478: 17,3204 51523 INDEX NPJETS
045709,000479: 17,3205 33307 CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC
045710,000480: 17,3206 55550 TS DFT1
045711,000481: 17,3207 40000 COM
045712,000482: 17,3210 27562 ADS TAU1 # UPDATE TAU1
045713,000483: 17,3211 33310 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION
045714,000484: 17,3212 55461 TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY
045715,000485: 17,3213 13357 TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH
045716,000486: # OVER TO TVC
045717,000487: 17,3214 41461 AD14MSP CS BLAST1 # SEE IF JET ON TIME LESS THAN
045718,000488: 17,3215 63313 AD =14MS # MINIMUM IMPULSE TIME
045719,000489: 17,3216 00006 EXTEND
045720,000490: 17,3217 63222 BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS
045721,000491: 17,3220 33313 CAF =14MS
|
|
Page 1051
|
045723,000493: 17,3221 55461 TS BLAST1
045724,000494: 17,3222 31461 PBLASTOK CA BLAST1
045725,000495: 17,3223 00006 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED
045726,000496: 17,3224 71523 MP NPJETS # WITHIN THE TS-CYCLE TIME
045727,000497: 17,3225 23550 LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
045728,000498: 17,3226 55562 TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
045729,000499: 17,3227 13357 TCF ASMBLWP
045730,000500:
|
|
Page 1052
|
045732,000502: # YAW JET ON-TIME CALCULATION
045733,000503:
045734,000504: 17,3230 11563 YAWTIME CCS TAU2
045735,000505: 17,3231 13240 TCF YTAUPOS
045736,000506: 17,3232 13234 TCF +2
045737,000507: 17,3233 13236 TCF YTAUNEG
045738,000508: 17,3234 55551 TS DFT2 # NO YAW ROTATION COMMANDS
045739,000509: 17,3235 13536 TCF YBYPASS
045740,000510:
045741,000511: 17,3236 41524 YTAUNEG CS NYJETS
045742,000512: 17,3237 55524 TS NYJETS
045743,000513: 17,3240 31563 YTAUPOS CA TAU2
045744,000514: 17,3241 00006 EXTEND
045745,000515: 17,3242 51524 INDEX NYJETS
045746,000516: 17,3243 73353 MP NJET
045747,000517: 17,3244 55463 TS BLAST2
045748,000518: 17,3245 63306 AD =-.1SEC
045749,000519: 17,3246 00006 EXTEND
045750,000520: 17,3247 63260 BZMF AD14MSY
045751,000521: 17,3250 51524 INDEX NYJETS
045752,000522: 17,3251 33307 CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC
045753,000523: 17,3252 55551 TS DFT2
045754,000524: 17,3253 40000 COM
045755,000525: 17,3254 27563 ADS TAU2 # DECREMENT TAU2
045756,000526: 17,3255 33310 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
045757,000527: 17,3256 55463 TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
045758,000528: 17,3257 13523 TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
045759,000529:
045760,000530: 17,3260 41463 AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
045761,000531: 17,3261 63313 AD =14MS # MINIMUM IMPULSE TIME
045762,000532: 17,3262 00006 EXTEND
045763,000533: 17,3263 63266 BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045764,000534: 17,3264 33313 CAF =14MS
045765,000535: 17,3265 55463 TS BLAST2
045766,000536: 17,3266 31463 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
045767,000537: 17,3267 00006 EXTEND # THE T5CYCLE TIME
045768,000538: 17,3270 71524 MP NYJETS
045769,000539: 17,3271 23551 LXCH DFT2
045770,000540: 17,3272 55563 TS TAU2 # ZERO TAU2
045771,000541: 17,3273 13523 TCF ASMBLWY
045772,000542:
|
|
Page 1053
|
045774,000544: # ROLL ON-TIME CALCULATION-
045775,000545:
045776,000546: 17,3274 11561 ROLLTIME CCS TAU
045777,000547: 17,3275 13314 TCF RBLAST
045778,000548: 17,3276 13300 TCF +2
045779,000549: 17,3277 13314 TCF RBLAST
045780,000550: 17,3300 51522 INDEX NRJETS
045781,000551: 17,3301 33307 CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
045782,000552: 17,3302 55547 TS DFT # PRESENT
045783,000553: 17,3303 13516 TCF RBYPASS
045784,000554:
045785,000555: 17,3304 77037 DEC -480 B-14 # =-.3SEC
045786,000556: 17,3305 77277 DEC -320 B-14 # =-.2SEC
045787,000557: 17,3306 77537 =-.1SEC DEC -160 B-14 # =-.1SEC
045788,000558: 17,3307 00000 DFTMAX DEC 0 B-14 # 0
045789,000559: 17,3310 00240 =+.1SEC DEC 160 B-14 # =+.1SEC
045790,000560: 17,3311 00500 DEC 320 B-14 # =+.2SEC
045791,000561: 17,3312 00740 DEC 480 B-14 # =+.3SEC
045792,000562: 17,3313 00027 =14MS DEC 23 B-14 # =14MS
045793,000563:
045794,000564: 17,3314 31561 RBLAST CA TAU
045795,000565: 17,3315 00006 EXTEND
045796,000566: 17,3316 51522 INDEX NRJETS
045797,000567: 17,3317 73353 MP NJET
045798,000568: 17,3320 55457 TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE
045799,000569: # USED IN DETERMINING THE JET ON-TIMES
045800,000570: 17,3321 63306 AD =-.1SEC
045801,000571: 17,3322 00006 EXTEND
045802,000572: 17,3323 63334 BZMF AD14MSR
045803,000573: 17,3324 51522 INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER
045804,000574: 17,3325 33307 CA DFTMAX # THAN THE T5 CYCLE TIME
045805,000575: 17,3326 55547 TS DFT
045806,000576: 17,3327 40000 COM
045807,000577: 17,3330 27561 ADS TAU
045808,000578: 17,3331 33310 CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
045809,000579: 17,3332 55457 TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
045810,000580: 17,3333 13377 TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
045811,000581:
045812,000582: 17,3334 41457 AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
045813,000583: 17,3335 63313 AD =14MS # MINIMUM IMPULSE TIME
045814,000584: 17,3336 00006 EXTEND
045815,000585: 17,3337 63342 BZMF RBLASTOK
045816,000586: 17,3340 33313 CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045817,000587: 17,3341 55457 TS BLAST
045818,000588: 17,3342 31457 RBLASTOK CA BLAST
045819,000589: 17,3343 00006 EXTEND
045820,000590: 17,3344 71522 MP NRJETS
045821,000591: 17,3345 23547 LXCH DFT
045822,000592: 17,3346 55561 TS TAU # ZERO TAU
045823,000593: 17,3347 13377 TCF ASMBLWR
045824,000594:
|
|
Page 1054
|
045826,000596: 17,3350 65252 DEC -.333333 # = -1/3
045827,000597: 17,3351 57777 DEC -.500000 # = -1/2
045828,000598: 17,3352 40000 DEC -.999999 # = -1 (NEGMAX)
045829,000599: 17,3353 00000 NJET DEC 0 B-14
045830,000600: 17,3354 37777 DEC .999999 # = +1 (POSMAX)
045831,000601: 17,3355 20000 DEC .500000 # = +1/2
045832,000602: 17,3356 12525 DEC .333333 # = +1/3
045833,000603:
|
|
Page 1055
|
045835,000605: # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
045836,000606: # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
045837,000607:
045838,000608: # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
045839,000609: # CORRESPONDING ROTATIONS ARE COMPLETED.
045840,000610:
045841,000611: # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
045842,000612:
045843,000613: 17,3357 11626 ASMBLWP CCS RACFAIL
045844,000614: 17,3360 13366 TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION
045845,000615: 17,3361 13363 TCF +2
045846,000616: 17,3362 13366 TCF FPX2
045847,000617: 17,3363 51513 INDEX XNDX1
045848,000618: 17,3364 32660 CA XLNNDX
045849,000619: 17,3365 50000 INDEX A
045850,000620: 17,3366 32714 FPX2 CA PYTABLE
045851,000621: 17,3367 72733 MASK PJETS
045852,000622: 17,3370 55454 TS PWORD2
045853,000623: 17,3371 13230 TCF YAWTIME
045854,000624:
045855,000625: 17,3372 31453 PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
045856,000626: 17,3373 55454 TS PWORD2 # UPON ENTRY
045857,000627: 17,3374 35021 CAF ZERO
045858,000628: 17,3375 55461 TS BLAST1 # THERE IS NO PWORD2
045859,000629: 17,3376 13230 TCF YAWTIME
045860,000630:
|
|
Page 1056
|
045862,000632: # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
045863,000633:
045864,000634: 17,3377 11515 ASMBLWR CCS YNDX # CHECK FOR Y-TRANS
045865,000635: 17,3400 13410 TCF ACBD2Y
045866,000636: 17,3401 35021 NO2Y CAF ZERO
045867,000637: 17,3402 55452 TS RWORD2
045868,000638: 17,3403 11516 CCS ZNDX # CHECK FOR Z-TRANS
045869,000639: 17,3404 13453 TCF ACBD2Z
045870,000640: 17,3405 35021 NO2Z CAF ZERO
045871,000641: 17,3406 27452 ADS RWORD2
045872,000642: 17,3407 13164 TCF PITCHTIM # RWORD2 ASSEMBLED
045873,000643:
045874,000644: 17,3410 11630 ACBD2Y CCS ACORBD
045875,000645: 17,3411 13426 TCF AC2Y # CAN DO Y-TRANS
045876,000646: 17,3412 13426 TCF AC2Y
045877,000647: 17,3413 13414 TCF +1 # USING AC FOR ROLL
045878,000648: 17,3414 11626 CCS RACFAIL
045879,000649: 17,3415 13401 TCF NO2Y # USING AC AND AC HAS FAILED
045880,000650: 17,3416 13420 TCF +2
045881,000651: 17,3417 13401 TCF NO2Y # DITTO
045882,000652:
045883,000653: 17,3420 51515 INDEX YNDX # NO FAILURES, CAN DO Y
045884,000654: 17,3421 32660 CA XLNNDX
045885,000655: 17,3422 50000 INDEX A
045886,000656: 17,3423 33130 CA RTABLE
045887,000657: 17,3424 73147 MASK ACRJETS
045888,000658: 17,3425 13402 TCF NO2Y +1
045889,000659:
045890,000660: 17,3426 11626 AC2Y CCS RACFAIL
045891,000661: 17,3427 36214 CAF THREE
045892,000662: 17,3430 13432 TCF +2
045893,000663: 17,3431 36211 CAF SIX
045894,000664: 17,3432 51515 INDEX YNDX
045895,000665: 17,3433 62771 AD XLN1NDX
045896,000666: 17,3434 50000 INDEX A
045897,000667: 17,3435 33151 CA YZTABLE
045898,000668: 17,3436 73163 MASK ACYJETS
045899,000669: 17,3437 55452 TS RWORD2
045900,000670: 17,3440 00006 EXTEND
045901,000671: 17,3441 75014 MP BIT4
045902,000672: 17,3442 67715 AD =-2
045903,000673: 17,3443 55522 TS NRJETS
045904,000674: 17,3444 41457 CS BLAST
045905,000675: 17,3445 63310 AD =+.1SEC
045906,000676: 17,3446 00006 EXTEND
045907,000677: 17,3447 71522 MP NRJETS
045908,000678: 17,3450 30001 CA L
045909,000679: 17,3451 27547 ADS DFT
045910,000680: 17,3452 13403 TCF NO2Y +2
|
|
Page 1057
|
045912,000682: 17,3453 11630 ACBD2Z CCS ACORBD
045913,000683: 17,3454 13504 TCF BDF2Z # USING BD-ROLL
045914,000684: 17,3455 13504 TCF BDF2Z # MUST CHECK FOR BD FAILURES
045915,000685: 17,3456 13457 TCF +1
045916,000686: 17,3457 11627 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS
045917,000687: 17,3460 36214 CAF THREE
045918,000688: 17,3461 13463 TCF +2
045919,000689: 17,3462 36211 CAF SIX
045920,000690: 17,3463 51516 INDEX ZNDX
045921,000691: 17,3464 62771 AD XLN1NDX
045922,000692: 17,3465 50000 INDEX A
045923,000693: 17,3466 33151 CA YZTABLE
045924,000694: 17,3467 73162 MASK BDZJETS
045925,000695: 17,3470 27452 ADS RWORD2
045926,000696: 17,3471 00006 EXTEND
045927,000697: 17,3472 75011 MP BIT7
045928,000698: 17,3473 67715 AD =-2
045929,000699: 17,3474 55522 TS NRJETS
045930,000700: 17,3475 41457 CS BLAST
045931,000701: 17,3476 63310 AD =+.1SEC
045932,000702: 17,3477 00006 EXTEND
045933,000703: 17,3500 71522 MP NRJETS
045934,000704: 17,3501 30001 CA L
045935,000705: 17,3502 27547 ADS DFT
045936,000706: 17,3503 13164 TCF PITCHTIM
045937,000707:
045938,000708: 17,3504 11627 BDF2Z CCS RBDFAIL
045939,000709: 17,3505 13405 TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
045940,000710: 17,3506 13510 TCF +2
045941,000711: 17,3507 13405 TCF NO2Z # DITTO
045942,000712: 17,3510 51516 INDEX ZNDX
045943,000713: 17,3511 32660 CA XLNNDX
045944,000714: 17,3512 50000 INDEX A
045945,000715: 17,3513 33130 CA RTABLE
045946,000716: 17,3514 73150 MASK BDRJETS
045947,000717: 17,3515 13406 TCF NO2Z +1
045948,000718:
045949,000719: 17,3516 31451 RBYPASS CA RWORD1
045950,000720: 17,3517 55452 TS RWORD2
045951,000721: 17,3520 35021 CAF ZERO
045952,000722: 17,3521 55457 TS BLAST
045953,000723: 17,3522 13164 TCF PITCHTIM
045954,000724:
|
|
Page 1058
|
045956,000726: # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
045957,000727:
045958,000728: 17,3523 11627 ASMBLWY CCS RBDFAIL
045959,000729: 17,3524 13532 TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION
045960,000730: 17,3525 13527 TCF +2
045961,000731: 17,3526 13532 TCF FYX2
045962,000732: 17,3527 51514 INDEX XNDX2
045963,000733: 17,3530 32660 CA XLNNDX
045964,000734: 17,3531 50000 INDEX A
045965,000735: 17,3532 32714 FYX2 CA PYTABLE
045966,000736: 17,3533 72734 MASK YJETS
045967,000737: 17,3534 55456 TS YWORD2
045968,000738: 17,3535 13542 TCF T6SETUP
045969,000739:
045970,000740: 17,3536 31455 YBYPASS CA YWORD1
045971,000741: 17,3537 55456 TS YWORD2
045972,000742: 17,3540 35021 CAF ZERO
045973,000743: 17,3541 55463 TS BLAST2
045974,000744:
|
|
Page 1059
|
045976,000746: # SORT THE JET ON-TIMES
045977,000747:
045978,000748: # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
045979,000749:
045980,000750: # RWORD1
045981,000751: # RWORD2 BLAST
045982,000752:
045983,000753: # PWORD1
045984,000754: # PWORD2 BLAST1
045985,000755:
045986,000756: # YWORD1
045987,000757: # YWORD2 BLAST2
045988,000758:
045989,000759: # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
045990,000760: # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
045991,000761: # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
045992,000762: # ORDER WORD.
045993,000763:
045994,000764: 17,3542 35021 T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
045995,000765: 17,3543 55460 TS BLAST +1
045996,000766: 17,3544 35015 CAF FOUR # BRANCH INDEX FOR PITCH
045997,000767: 17,3545 55462 TS BLAST1 +1
045998,000768: 17,3546 35024 CAF ELEVEN # BRANCH INDEX FOR YAW
045999,000769: 17,3547 55464 TS BLAST2 +1
046000,000770:
046001,000771: 17,3550 41457 CS BLAST
046002,000772: 17,3551 61461 AD BLAST1
046003,000773: 17,3552 00006 EXTEND
046004,000774: 17,3553 63577 BZMF DXCHT12 # T1 GR T2
046005,000775: 17,3554 41461 CHECKT23 CS BLAST1
046006,000776: 17,3555 61463 AD BLAST2
046007,000777: 17,3556 00006 EXTEND
046008,000778: 17,3557 63603 BZMF DXCHT23
046009,000779: 17,3560 41461 CALCDT6 CS BLAST1
046010,000780: 17,3561 27463 ADS BLAST2
046011,000781: 17,3562 41457 CS BLAST
046012,000782: 17,3563 27461 ADS BLAST1 # END OF SORTING PROCEDURE
046013,000783: 17,3564 00006 EXTEND # RESET T5LOC TO BEGIN PHASE1
046014,000784: 17,3565 33576 DCA RCS2CADR
046015,000785: 17,3566 53313 DXCH T5LOC
046016,000786: 17,3567 45017 ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
046017,000787: 17,3570 71501 MASK RCSFLAGS # T6 PROGRAM
046018,000788: 17,3571 55501 TS RCSFLAGS
046019,000789: 17,3572 45021 CS ZERO # RESET T5PHASE FOR PHASE1
046020,000790: 17,3573 55465 TS T5PHASE
046021,000791: 17,3574 15333 TCF RESUME # RESUME INTERRUPTED PROGRAM
046022,000792:
046023,000793: 17,3575 E6,1510 EBANK= KMPAC
046024,000794: 17,3575 02122 42066 RCS2CADR 2CADR RCSATT
046025,000795:
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Page 1060
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046027,000797: 17,3577 53460 DXCHT12 DXCH BLAST
046028,000798: 17,3600 53462 DXCH BLAST1
046029,000799: 17,3601 53460 DXCH BLAST
046030,000800: 17,3602 13554 TCF CHECKT23
046031,000801:
046032,000802: 17,3603 53462 DXCHT23 DXCH BLAST1
046033,000803: 17,3604 53464 DXCH BLAST2
046034,000804: 17,3605 53462 DXCH BLAST1
046035,000805: 17,3606 41457 CS BLAST
046036,000806: 17,3607 61461 AD BLAST1
046037,000807: 17,3610 00006 EXTEND
046038,000808: 17,3611 63613 BZMF +2
046039,000809: 17,3612 13560 TCF CALCDT6
046040,000810: 17,3613 53460 DXCH BLAST
046041,000811: 17,3614 53462 DXCH BLAST1
046042,000812: 17,3615 53460 DXCH BLAST
046043,000813: 17,3616 13560 TCF CALCDT6
046044,000814:
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Page 1061
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046046,000816: # T6 PROGRAM AND CHANNEL SETUP
046047,000817:
046048,000818: 21,3765 BANK 21
046049,000819: 17,2000 SETLOC DAPS5
046050,000820: 17,2000 BANK
046051,000821:
046052,000822: 17,3617 22016 T6START LXCH BANKRUPT
046053,000823: 17,3620 00006 EXTEND
046054,000824: 17,3621 22012 QXCH QRUPT
046055,000825: 17,3622 10031 CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET
046056,000826: 17,3623 15333 TCF RESUME # AFTER T6RUPT OCCURED (IN T5RUPT)
046057,000827: 17,3624 13626 TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
046058,000828: 17,3625 15333 TCF RESUME # TAKING ACTION
046059,000829:
046060,000830: 17,3626 41501 CS RCSFLAGS
046061,000831: 17,3627 75017 MASK BIT1 # IF BIT1 IS 0 RESET TO 1
046062,000832: 17,3630 00006 EXTEND # AND INITIALIZE CHANNEL
046063,000833: 17,3631 13642 BZF T6RUPTOR
046064,000834: 17,3632 27501 ADS RCSFLAGS
046065,000835: 17,3633 31451 CA RWORD1
046066,000836: 17,3634 00006 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1
046067,000837: 17,3635 01006 WRITE CHAN6
046068,000838: 17,3636 31453 CA PWORD1
046069,000839: 17,3637 61455 AD YWORD1
046070,000840: 17,3640 00006 EXTEND
046071,000841: 17,3641 01005 WRITE CHAN5
046072,000842:
046073,000843: 17,3642 11457 T6RUPTOR CCS BLAST
046074,000844: 17,3643 13722 TCF ZBLAST # ZERO BLAST1
046075,000845: 17,3644 13661 TCF REPLACE # REPLACE WORD1
046076,000846: 17,3645 13647 TCF +2
046077,000847: 17,3646 13661 TCF REPLACE
046078,000848: 17,3647 11461 T6L1 CCS BLAST1
046079,000849: 17,3650 13725 TCF ZBLAST1
046080,000850: 17,3651 13666 TCF REPLACE1
046081,000851: 17,3652 13654 TCF +2
046082,000852: 17,3653 13666 TCF REPLACE1
046083,000853: 17,3654 11463 T6L2 CCS BLAST2
046084,000854: 17,3655 13730 TCF ZBLAST2
046085,000855: 17,3656 13673 TCF REPLACE2
046086,000856: 17,3657 15333 TCF RESUME
046087,000857: 17,3660 13673 TCF REPLACE2
046088,000858:
046089,000859: 17,3661 51460 REPLACE INDEX BLAST +1
046090,000860: 17,3662 03700 TC REPLACER
046091,000861: 17,3663 45017 CS ONE
046092,000862: 17,3664 55457 TS BLAST
046093,000863: 17,3665 13647 TCF T6L1
046094,000864:
046095,000865: 17,3666 51462 REPLACE1 INDEX BLAST1 +1
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Page 1062
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046097,000867: 17,3667 03700 TC REPLACER
046098,000868: 17,3670 45017 CS ONE
046099,000869: 17,3671 55461 TS BLAST1
046100,000870: 17,3672 13654 TCF T6L2
046101,000871:
046102,000872: 17,3673 51464 REPLACE2 INDEX BLAST2 +1
046103,000873: 17,3674 03700 TC REPLACER
046104,000874: 17,3675 45017 CS ONE
046105,000875: 17,3676 55463 TS BLAST2
046106,000876: 17,3677 15333 TCF RESUME
046107,000877:
046108,000878: 17,3700 31452 REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2
046109,000879: 17,3701 00006 EXTEND
046110,000880: 17,3702 01006 WRITE CHAN6
046111,000881: 17,3703 00002 TC Q
046112,000882:
046113,000883: 17,3704 32734 REPLACEP CA YJETS
046114,000884: 17,3705 00006 EXTEND
046115,000885: 17,3706 02005 RAND CHAN5
046116,000886: 17,3707 61454 AD PWORD2
046117,000887: 17,3710 00006 EXTEND
046118,000888: 17,3711 01005 WRITE CHAN5
046119,000889: 17,3712 00002 TC Q
046120,000890:
046121,000891: 17,3713 32733 REPLACEY CA PJETS
046122,000892: 17,3714 00006 EXTEND
046123,000893: 17,3715 02005 RAND CHAN5
046124,000894: 17,3716 61456 AD YWORD2
046125,000895: 17,3717 00006 EXTEND
046126,000896: 17,3720 01005 WRITE CHAN5
046127,000897: 17,3721 00002 TC Q
046128,000898:
046129,000899: 17,3722 35021 ZBLAST CAF ZERO
046130,000900: 17,3723 57457 XCH BLAST
046131,000901: 17,3724 13732 TCF ENABT6
046132,000902: 17,3725 35021 ZBLAST1 CAF ZERO
046133,000903: 17,3726 57461 XCH BLAST1
046134,000904: 17,3727 13732 TCF ENABT6
046135,000905: 17,3730 35021 ZBLAST2 CAF ZERO
046136,000906: 17,3731 57463 XCH BLAST2
046137,000907: 17,3732 54031 ENABT6 TS TIME6
046138,000908: 17,3733 35001 CAF NEGMAX
046139,000909: 17,3734 00006 EXTEND
046140,000910: 17,3735 05013 WOR CHAN13 # ENABLE T6RUPT
046141,000911: 17,3736 15333 TCF RESUME
046142,000912:
046143,000913: # END OF T6 INTERRUPT
046144,000914:
046145,000915: 17,3737 ENDSLECT EQUALS
046146,000916:
End of include-file JET_SELECTION_LOGIC.agc. Parent file is MAIN.agc