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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043700,000002: ## Copyright: Public domain.
043701,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
043702,000004: ## Purpose: A section of Comanche revision 051.
043703,000005: ## It is part of the reconstructed source code for the
043704,000006: ## original release of the flight software for the Command
043705,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
043706,000008: ## The code has been recreated from a copy of Comanche 055. It
043707,000009: ## has been adapted such that the resulting bugger words
043708,000010: ## exactly match those specified for Comanche 51 in NASA drawing
043709,000011: ## 2021153D, which gives relatively high confidence that the
043710,000012: ## reconstruction is correct.
043711,000013: ## Reference: pp. 1002-1024
043712,000014: ## Assembler: yaYUL
043713,000015: ## Contact: Ron Burkey <info@sandroid.org>.
043714,000016: ## Website: www.ibiblio.org/apollo/index.html
043715,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
043716,000018:
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Page 1002
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043718,000020: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
043719,000021:
043720,000022: # START OF T5 INTERRUPT PROGRAM
043721,000023:
043722,000024: 20,3612 BANK 20
043723,000025: 21,2000 SETLOC DAPS3
043724,000026: 21,2000 BANK
043725,000027:
043726,000028: 21,2105 COUNT 21/DAPRC
043727,000029:
043728,000030: 21,2105 E6,1510 EBANK= KMPAC
043729,000031: 21,2105 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
043730,000032: 21,2106 31465 CA T5PHASE # ON A T5 RUPT.
043731,000033: 21,2107 00006 EXTEND
043732,000034: 21,2110 62112 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
043733,000035: 21,2111 12114 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
043734,000036: 21,2112 45017 CS ONE
043735,000037: 21,2113 55465 TS T5PHASE
043736,000038: 21,2114 00006 EXTEND
043737,000039: 21,2115 32121 DCA RCSLOC
043738,000040: 21,2116 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
043739,000041: 21,2117 12123 TCF RCSATT +1
043740,000042: 21,2120 E6,1510 EBANK= KMPAC
043741,000043: 21,2120 02122 42066 RCSLOC 2CADR RCSATT
043742,000044:
043743,000045: 21,2122 22016 RCSATT LXCH BANKRUPT # SAVE BB
043744,000046: 21,2123 00006 EXTEND # SAVE Q
043745,000047: 21,2124 22012 QXCH QRUPT
043746,000048: 21,2125 35001 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
043747,000049: 21,2126 00006 EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
043748,000050: 21,2127 02031 RAND CHAN31 # PILOT IS FULLY ENABLED)
043749,000051: 21,2130 00006 EXTEND
043750,000052: 21,2131 12160 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
043751,000053: # GO TO SETT5
043752,000054:
043753,000055: 21,2132 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
043754,000056: 21,2133 75002 MASK BIT14
043755,000057: 21,2134 27501 ADS RCSFLAGS # SET NORATE FLAG,
043756,000058: 21,2135 34777 CAF POSMAX
043757,000059: 21,2136 55332 TS HOLDFLAG # SET HOLDFLAG +,
043758,000060: 21,2137 35021 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
043759,000061: 21,2140 55567 TS ERRORX
043760,000062: 21,2141 55570 TS ERRORY
043761,000063: 21,2142 55571 TS ERRORZ
043762,000064: 21,2143 35002 CAF BIT14
043763,000065: 21,2144 00006 EXTEND
043764,000066: 21,2145 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
043765,000067: 21,2146 00006 EXTEND
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Page 1003
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043767,000069: 21,2147 12160 BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
043768,000070:
043769,000071: 21,2150 55465 TS T5PHASE # IF NOT IN FREE MODE,
043770,000072: 21,2151 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
043771,000073: 21,2152 54030 TS TIME5 # IN 100 MS VIA T5RUPT
043772,000074:
043773,000075: 21,2153 02632 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
043774,000076:
043775,000077: 21,2154 12350 TCF KMATRIX
043776,000078: 21,2155 37770 DELTATT OCT 37770 # 80MS (TIME5)
043777,000079: 21,2156 37776 DELTATT2 OCT 37776 # 20MS (TIME5)
043778,000080: 21,2157 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5)
043779,000081: 21,2160 CHAN5 EQUALS 5
043780,000082: 21,2160 CHAN6 EQUALS 6
043781,000083: 21,2160 7671 PRIO34A = PRIO34
043782,000084:
043783,000085: # CHECK PHASE OF T5 PROGRAM
043784,000086:
043785,000087: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
043786,000088: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
043787,000089: # TO ALLOW FOR THE EXECUTION OF OTHER
043788,000090: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
043789,000091: # VARIABLES AT TURN ON.
043790,000092:
043791,000093: # THE CODING OF T5PHASE IS...
043792,000094:
043793,000095: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
043794,000096: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
043795,000097: # - = RESTART DAP
043796,000098: # -0 = PHASE1 OF THE T5 PROGRAM
043797,000099:
043798,000100: 21,2160 11465 SETT5 CCS T5PHASE
043799,000101: 21,2161 12544 TCF FRESHDAP # TURN ON AUTOPILOT
043800,000102: 21,2162 12661 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
043801,000103: 21,2163 12546 TCF REDAP # RESTART AUTOPILOT
043802,000104:
043803,000105: 21,2164 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
043804,000106: 21,2165 30030 CA TIME5
043805,000107: 21,2166 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
043806,000108: 21,2167 32156 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
043807,000109: 21,2170 54030 TS TIME5 # OF PROGRAM
043808,000110:
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Page 1004
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043810,000112: # IMU STATUS CHECK
043811,000113:
043812,000114: 21,2171 41321 CS IMODES33 # CHECK IMU STATUS
043813,000115: 21,2172 75012 MASK BIT6 # BIT6 = 0 IMU OK
043814,000116: 21,2173 10000 CCS A # BIT6 = 1 NO IMU
043815,000117: 21,2174 12210 TCF RATEFILT
043816,000118: 21,2175 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
043817,000119: 21,2176 75002 MASK BIT14 # INITIALIZED
043818,000120: 21,2177 27501 ADS RCSFLAGS
043819,000121: 21,2200 35002 CAF BIT14 # NO ATTITUDE REFERENCE
043820,000122: 21,2201 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
043821,000123: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
043822,000124: # ATTITUDE HOLD
043823,000125: 21,2202 00006 EXTEND
043824,000126: 21,2203 02031 RAND CHAN31 # CHECK FOR FREE MODE
043825,000127: 21,2204 00006 EXTEND
043826,000128: 21,2205 12417 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
043827,000129: 21,2206 12534 TCF REINIT # .....TILT...............................
043828,000130: 21,2207 00030 BITS4,5 OCT 30
043829,000131:
043830,000132: 21,2210 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
043831,000133: 21,2211 75002 MASK BIT14
043832,000134: 21,2212 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
043833,000135: 21,2213 12215 BZF +2
043834,000136: 21,2214 12350 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
043835,000137:
043836,000138: # RATE FILTER TIMING = 7.72 MS
043837,000139:
043838,000140: # RATE FILTER EQUATIONS
043839,000141:
043840,000142:
043841,000143: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
043842,000144: # -1
043843,000145:
043844,000146: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
043845,000147: # -1
043846,000148: # - * - -
043847,000149: # WHERE DELRHO = AMGB (CDU - CDU )
043848,000150: # -1
043849,000151:
043850,000152: 21,2215 35016 CAF TWO
043851,000153: 21,2216 55506 DRHOLOOP TS SPNDX
043852,000154: 21,2217 60000 DOUBLE
043853,000155: 21,2220 55507 TS DPNDX
043854,000156: 21,2221 51507 INDEX DPNDX
043855,000157: 21,2222 41552 CS DRHO # DRHO SCALED 180 DEGS
043856,000158: 21,2223 00006 EXTEND
043857,000159: 21,2224 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
043858,000160: 21,2225 73077 MP GAIN1
043859,000161: 21,2226 51507 INDEX DPNDX
043860,000162: 21,2227 21553 DAS DRHO # (1 -.064) DRHO
043861,000163: 21,2230 00006 EXTEND
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Page 1005
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043863,000165: 21,2231 51507 INDEX DPNDX
043864,000166: 21,2232 41534 DCS ADOT
043865,000167: 21,2233 53511 DXCH KMPAC # -(.1)ADOT
043866,000168: 21,2234 35003 CA QUARTER
043867,000169: 21,2235 02042 TC SMALLMP
043868,000170: 21,2236 53511 DXCH KMPAC
043869,000171: 21,2237 51507 INDEX DPNDX
043870,000172: 21,2240 21553 DAS DRHO
043871,000173: 21,2241 11506 CCS SPNDX
043872,000174: 21,2242 12216 TCF DRHOLOOP
043873,000175:
043874,000176: 21,2243 30032 CA CDUX # MEASURED BODY RATES--
043875,000177: 21,2244 57635 XCH RHO
043876,000178: 21,2245 00006 EXTEND
043877,000179: 21,2246 21635 MSU RHO # - * - -
043878,000180: 21,2247 40000 COM # DELRHO = AMGB (CDU - CDU )
043879,000181: # -1
043880,000182: 21,2250 22007 ZL
043881,000183: 21,2251 53516 DXCH DELTEMPX
043882,000184: 21,2252 30033 CA CDUY
043883,000185: 21,2253 57636 XCH RHO1
043884,000186: 21,2254 00006 EXTEND
043885,000187: 21,2255 21636 MSU RHO1
043886,000188: 21,2256 40000 COM
043887,000189: 21,2257 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
043888,000190: 21,2260 00006 EXTEND
043889,000191: 21,2261 71640 MP AMGB1
043890,000192: 21,2262 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
043891,000193: # MUST BE DOUBLE PRECISION OR WILL LOSE
043892,000194: # PULSES
043893,000195: 21,2263 31641 CA AMGB4
043894,000196: 21,2264 00006 EXTEND
043895,000197: 21,2265 71502 MP T5TEMP
043896,000198: 21,2266 53520 DXCH DELTEMPY
043897,000199: 21,2267 31643 CA AMGB7
043898,000200: 21,2270 00006 EXTEND
043899,000201: 21,2271 71502 MP T5TEMP
043900,000202: 21,2272 53522 DXCH DELTEMPZ
043901,000203: 21,2273 30034 CA CDUZ
043902,000204: 21,2274 57637 XCH RHO2
043903,000205: 21,2275 00006 EXTEND
043904,000206: 21,2276 21637 MSU RHO2
043905,000207: 21,2277 40000 COM
043906,000208: 21,2300 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
043907,000209: 21,2301 00006 EXTEND
043908,000210: 21,2302 71642 MP AMGB5
043909,000211: 21,2303 21520 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
043910,000212: # + AMGB5(CDUZ-RHO2)
043911,000213: 21,2304 31644 CA AMGB8
043912,000214: 21,2305 00006 EXTEND
043913,000215:
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Page 1006
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043915,000217: 21,2306 71502 MP T5TEMP
043916,000218: 21,2307 21522 DAS DELTEMPZ # DELTEMPZ = AMGB7(CDUY-RHO1)
043917,000219: # + AMGB8(CDUZ-RHO2)
043918,000220: 21,2310 35016 CAF TWO
043919,000221: 21,2311 55506 ADOTLOOP TS SPNDX
043920,000222: 21,2312 60000 DOUBLE
043921,000223: 21,2313 55507 TS DPNDX
043922,000224: 21,2314 00006 EXTEND
043923,000225: 21,2315 51507 INDEX DPNDX
043924,000226: 21,2316 31516 DCA DELTEMPX
043925,000227: 21,2317 51507 INDEX DPNDX
043926,000228: 21,2320 21553 DAS DRHO
043927,000229: 21,2321 00006 EXTEND
043928,000230: 21,2322 51507 INDEX DPNDX
043929,000231: 21,2323 31516 DCA DELTEMPX
043930,000232: 21,2324 51507 INDEX DPNDX
043931,000233: 21,2325 21542 DAS MERRORX
043932,000234: 21,2326 51507 INDEX DPNDX
043933,000235: 21,2327 31552 CA DRHO
043934,000236: 21,2330 60000 DOUBLE # N.B.
043935,000237: 21,2331 60000 DOUBLE # N.B.
043936,000238: 21,2332 00006 EXTEND
043937,000239: 21,2333 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
043938,000240: 21,2334 73115 MP GAIN2
043939,000241: 21,2335 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
043940,000242: 21,2336 21534 DAS ADOT # -1
043941,000243: 21,2337 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
043942,000244: 21,2340 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
043943,000245: 21,2341 00006 EXTEND
043944,000246: 21,2342 51506 INDEX SPNDX
043945,000247: 21,2343 71547 MP DFT
043946,000248: 21,2344 51507 INDEX DPNDX
043947,000249: 21,2345 21534 DAS ADOT # KMJ(DFT)
043948,000250: 21,2346 11506 CCS SPNDX
043949,000251: 21,2347 12311 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
043950,000252: 21,2350 31560 KMATRIX CA ATTSEC
043951,000253: 21,2351 75026 MASK LOW4
043952,000254: 21,2352 10000 CCS A
043953,000255: 21,2353 12361 TCF TENTHSEK
043954,000256: 21,2354 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
043955,000257: 21,2355 05134 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
043956,000258: 21,2356 E6,1510 EBANK= KMPAC
043957,000259: 21,2356 03447 44066 2CADR AMBGUPDT
043958,000260:
043959,000261: 21,2360 34334 CAF NINE
043960,000262:
043961,000263: 21,2361 55560 TENTHSEK TS ATTSEC
043962,000264:
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Page 1007
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043964,000266: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
043965,000267: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
043966,000268:
043967,000269: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
043968,000270: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
043969,000271: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
043970,000272:
043971,000273: # THE STEERING PROGRAMS-
043972,000274: # 1) ATTITUDE MANEUVER ROUTINE
043973,000275: # 2) LEM TRACKING
043974,000276:
043975,000277: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
043976,000278: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
043977,000279:
043978,000280: # HOLDFLAG CODING-
043979,000281:
043980,000282: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
043981,000283: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
043982,000284: # ALSO IGNORE AUTOMATIC STEERING
043983,000285: # SET = + BY
043984,000286: # 1) INITIALIZATION PHASE OF AUTOPILOT
043985,000287: # 2) OCCURANCE OF RHC COMMANDS
043986,000288: # 3) FREE MODE
043987,000289: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
043988,000290: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
043989,000291: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
043990,000292: # FUNCTIONS AS IF IT WERE.)
043991,000293: # 5) S/C CONTROL SWITCH IN SCS
043992,000294: # 6) IMU POWER OFF
043993,000295: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
043994,000296: # - = PERFORMING AUTOMATIC MANEUVER
043995,000297: # -0 = NOT USED AT PRESENT
043996,000298:
043997,000299: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
043998,000300: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
043999,000301: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
044000,000302:
044001,000303: 21,2362 41332 CS HOLDFLAG
044002,000304: 21,2363 00006 EXTEND
044003,000305: 21,2364 62411 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
044004,000306: # COMMANDS
044005,000307: 21,2365 35016 DCDUINCR CAF TWO
044006,000308: 21,2366 55506 DELOOP TS SPNDX
044007,000309: 21,2367 60000 DOUBLE
044008,000310: 21,2370 55507 TS DPNDX
044009,000311: 21,2371 00006 EXTEND
044010,000312: 21,2372 50000 INDEX A
044011,000313: 21,2373 31647 DCA CDUXD
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Page 1008
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044013,000315: 21,2374 53511 DXCH KMPAC
044014,000316: 21,2375 00006 EXTEND
044015,000317: 21,2376 51507 INDEX DPNDX
044016,000318: 21,2377 31576 DCA DELCDUX
044017,000319: 21,2400 02054 TC DPADD
044018,000320: 21,2401 00006 EXTEND
044019,000321: 21,2402 31511 DCA KMPAC
044020,000322: 21,2403 51506 INDEX SPNDX
044021,000323: 21,2404 55572 TS THETADX
044022,000324: 21,2405 51507 INDEX DPNDX
044023,000325: 21,2406 53647 DXCH CDUXD
044024,000326: 21,2407 11506 CCS SPNDX
044025,000327: 21,2410 12366 TCF DELOOP
044026,000328:
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Page 1009
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044028,000330: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
044029,000331:
044030,000332: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
044031,000333:
044032,000334: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
044033,000335: # GENERATED INTERNALLY BY THE AUTOPILOT
044034,000336:
044035,000337: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
044036,000338: # WITH RESPECT TO THE CONTENTS OF N22
044037,000339:
044038,000340: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
044039,000341: # WITH RESPECT TO THE CONTENTS OF N17
044040,000342:
044041,000343: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
044042,000344: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
044043,000345:
044044,000346: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044045,000347: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044046,000348: # AS A FLY-TO INDICATOR.
044047,000349:
044048,000350: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
044049,000351: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
044050,000352: # AS A FLY-TO INDICATOR.
044051,000353:
044052,000354: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
044053,000355: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
044054,000356:
044055,000357: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
044056,000358: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
044057,000359: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
044058,000360:
044059,000361: 21,2411 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
044060,000362: 21,2412 75014 MASK BIT4
044061,000363: 21,2413 00006 EXTEND
044062,000364: 21,2414 13160 BZF FDAIDSP2
044063,000365:
044064,000366: 21,2415 27501 FDAIDSP1 ADS RCSFLAGS
044065,000367: 21,2416 02420 TC NEEDLER
044066,000368: 21,2417 15333 KRESUME1 TCF RESUME # END PHASE 1
044067,000369:
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|
Page 1010
|
044069,000371: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044070,000372:
044071,000373: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
044072,000374:
044073,000375: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044074,000376: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044075,000377: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044076,000378: # THE DACS.
044077,000379:
044078,000380: # CALLING SEQUENCE:
044079,000381:
044080,000382: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044081,000383: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044082,000384:
044083,000385: # CS RCSFLAGS IN EBANK6
044084,000386: # MASK BIT3
044085,000387: # ADS RCSFLAGS
044086,000388:
044087,000389: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044088,000390:
044089,000391: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
044090,000392: # AK1 SCALED 180 DEGREES TO CHANGE
044091,000393: # AK2 SCALED 180 DEGREES
044092,000394:
044093,000395: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044094,000396: # (= 384 BITS IN IMU ERROR COUNTER)
044095,000397:
044096,000398: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044097,000399:
044098,000400: # INHINT
044099,000401: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
044100,000402: # CADR NEEDLER
044101,000403: # RELINT
044102,000404:
044103,000405: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
044104,000406: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044105,000407: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044106,000408:
044107,000409: # ERASABLE USED:
044108,000410: # AK CDUXCMD
044109,000411: # AK1 CDUYCMD
044110,000412: # AK2 CDUZCMD
044111,000413: # EDRIVEX A,L,Q
044112,000414: # EDRIVEY T5TEMP
044113,000415: # EDRIVEZ SPNDX
044114,000416:
044115,000417: # SWITCHES: RCSFLAGS BITS 3,2
044116,000418:
044117,000419: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
|
|
Page 1011
|
044119,000421: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
044120,000422: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
044121,000423:
044122,000424: # SIGN CONVENTION< AK = THETAC - THETA
044123,000425: # WHERE THETAC = COMMAND ANGLE
044124,000426: # THETA = PRESENT ANGLE
044125,000427:
044126,000428: 21,2420 35014 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
044127,000429: 21,2421 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
044128,000430: 21,2422 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
044129,000431: 21,2423 00006 EXTEND
044130,000432: 21,2424 12431 BZF NEEDLER1
044131,000433: 21,2425 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
044132,000434: 21,2426 75015 MASK BIT3
044133,000435: 21,2427 27501 ADS RCSFLAGS
044134,000436: 21,2430 00002 TC Q
044135,000437:
044136,000438: 21,2431 31501 NEEDLER1 CA RCSFLAGS
044137,000439: 21,2432 76211 MASK SIX
044138,000440: 21,2433 00006 EXTEND
044139,000441: 21,2434 12471 BZF NEEDLES3
044140,000442: 21,2435 75015 MASK BIT3
044141,000443: 21,2436 00006 EXTEND
044142,000444: 21,2437 12462 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
044143,000445:
044144,000446: 21,2440 45012 CS BIT6 # FIRST PASS BIT3 = 1
044145,000447: 21,2441 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
044146,000448: 21,2442 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
044147,000449: 21,2443 45021 NEEDLE11 CS ZERO # ENABLING COUNTERS.
044148,000450: 21,2444 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
044149,000451: 21,2445 55477 TS AK1
044150,000452: 21,2446 55500 TS AK2
044151,000453: 21,2447 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
044152,000454: 21,2450 55504 TS EDRIVEY
044153,000455: 21,2451 55505 TS EDRIVEZ
044154,000456: 21,2452 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
044155,000457: 21,2453 54051 TS CDUYCMD
044156,000458: 21,2454 54052 TS CDUZCMD
044157,000459: 21,2455 46211 CS SIX # RESET RCSFLAGS FOR PASS2
044158,000460: 21,2456 71501 MASK RCSFLAGS
044159,000461: 21,2457 65016 AD BIT2
044160,000462: 21,2460 55501 TS RCSFLAGS
044161,000463: 21,2461 00002 TC Q # END PASS1
044162,000464:
044163,000465: 21,2462 35012 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
044164,000466: 21,2463 00006 EXTEND
044165,000467: 21,2464 05012 WOR CHAN12
044166,000468: 21,2465 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
|
|
Page 1012
|
044168,000470: 21,2466 71501 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
044169,000471: 21,2467 55501 TS RCSFLAGS # RELAY CLOSURE
044170,000472: 21,2470 00002 TC Q
044171,000473:
044172,000474: 21,2471 35012 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
044173,000475: 21,2472 00006 EXTEND # IS ENABLED
044174,000476: 21,2473 02012 RAND CHAN12
044175,000477: 21,2474 00006 EXTEND # IF NOT RECYCLE NEEDLES
044176,000478: 21,2475 12425 BZF NEEDLER +5
044177,000479:
044178,000480: 21,2476 35016 NEEDLES CAF TWO
044179,000481: 21,2477 55506 DACLOOP TS SPNDX
044180,000482: 21,2500 45003 CS QUARTER
044181,000483: 21,2501 00006 EXTEND
044182,000484: 21,2502 51506 INDEX SPNDX
044183,000485: 21,2503 71476 MP AK
044184,000486: 21,2504 54001 TS L
044185,000487: 21,2505 10000 CCS A
044186,000488: 21,2506 32542 CA DACLIMIT
044187,000489: 21,2507 12511 TCF +2
044188,000490: 21,2510 42542 CS DACLIMIT
044189,000491: 21,2511 60001 AD L
044190,000492: 21,2512 55502 TS T5TEMP # OVFLO CHK
044191,000493: 21,2513 12517 TCF +4
044192,000494: 21,2514 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
044193,000495: 21,2515 32542 CAF DACLIMIT
044194,000496: 21,2516 54001 TS L
044195,000497: 21,2517 51506 INDEX SPNDX
044196,000498: 21,2520 41503 CS EDRIVEX # CURRENT VALUE OF DAC
044197,000499: 21,2521 60001 AD L
044198,000500: 21,2522 51506 INDEX SPNDX
044199,000501: 21,2523 26050 ADS CDUXCMD
044200,000502: 21,2524 51506 INDEX SPNDX
044201,000503: 21,2525 23503 LXCH EDRIVEX
044202,000504: 21,2526 11506 CCS SPNDX
044203,000505: 21,2527 12477 TCF DACLOOP
044204,000506: 21,2530 37707 CAF 13,14,15
044205,000507: 21,2531 00006 EXTEND
044206,000508: 21,2532 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
044207,000509: 21,2533 00002 TC Q
044208,000510:
044209,000511: 21,2534 32540 REINIT CAF DELAY200 # ........TILT LOGIC
044210,000512: 21,2535 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
044211,000513: 21,2536 55465 TS T5PHASE
044212,000514: 21,2537 15333 TCF RESUME
044213,000515: 21,2540 37754 DELAY200 DEC 16364 B-14 # 200MS
044214,000516:
044215,000517: 21,2541 77177 DEC -384 B-14
044216,000518:
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|
Page 1013
|
044218,000520: 21,2542 37200 DACLIMIT DEC 16000 B-14
044219,000521: 21,2543 00600 DEC 384 B-14
044220,000522:
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|
Page 1014
|
044222,000524: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044223,000525:
044224,000526: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044225,000527:
044226,000528: # WBODY (+1) DFT TAU2
044227,000529: # WBODY1 (+1) DFT1 BIAS
044228,000530: # WBODY2 (+1) DFT2 BIAS1
044229,000531: # ADOT (+1) DRHO (+1) BIAS2
044230,000532: # ADOT1 (+1) DRHO1 (+1) ERRORX
044231,000533: # ADOT2 (+1) DRHO2 (+1) ERRORY
044232,000534: # MERRORX (+1) ATTSEC ERRORZ
044233,000535: # MERRORY (+1) TAU
044234,000536: # MERRORZ (+1) TAU1
044235,000537:
044236,000538: 21,2544 35017 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
044237,000539: 21,2545 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
044238,000540: # ATTITUDE HOLD REFERENCE
044239,000541:
044240,000542: 21,2546 04740 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044241,000543: 21,2547 40347 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
044242,000544:
044243,000545: 21,2550 04740 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
044244,000546: 21,2551 40500 CADR S40.14 # TO AUTOPILOT GAINS
044245,000547:
044246,000548: 21,2552 32623 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
044247,000549: 21,2553 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
044248,000550: 21,2554 35021 CAF ZERO
044249,000551: 21,2555 51506 INDEX SPNDX
044250,000552: 21,2556 55525 TS WBODY
044251,000553: 21,2557 11506 CCS SPNDX
044252,000554: 21,2560 12553 TCF ZEROT5
044253,000555: 21,2561 02632 TCR ZEROJET
044254,000556:
044255,000557: 21,2562 45021 CS ZERO
044256,000558: 21,2563 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
044257,000559:
044258,000560: 21,2564 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
044259,000561: # MANUAL RATE MODES
044260,000562:
044261,000563: 21,2565 32624 CAF =.24
044262,000564: 21,2566 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
044263,000565:
044264,000566: 21,2567 35015 CAF FOUR
044265,000567: 21,2570 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044266,000568: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
044267,000569: # IN (80MS - T5TIME(40MS)). THEREFORE
044268,000570: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044269,000571: # MS FROM NOW AND EVERY 100MS THEREAFTER
044270,000572:
044271,000573: 21,2571 35024 CAF ELEVEN
044272,000574: 21,2572 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
044273,000575: # TO INITIALIZE THE S/C ANGULAR RATES
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|
Page 1015
|
044275,000577: 21,2573 30032 CA CDUX
044276,000578: 21,2574 55635 TS RHO
044277,000579: 21,2575 30033 CA CDUY
044278,000580: 21,2576 55636 TS RHO1
044279,000581: 21,2577 30034 CA CDUZ
044280,000582: 21,2600 55637 TS RHO2
044281,000583: 21,2601 35021 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
044282,000584: 21,2602 55465 TS T5PHASE # PHASE2 OF PROGRAM
044283,000585:
044284,000586: 21,2603 41321 CS IMODES33 # CHECK IMU STATUS
044285,000587: 21,2604 75012 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
044286,000588: 21,2605 10000 CCS A # IF BIT6 = 1 IMU NOT READY
044287,000589: 21,2606 12612 TCF IMUAOK
044288,000590: 21,2607 55617 TS ATTKALMN # CANNOT USE IMU
044289,000591: 21,2610 32626 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
044290,000592: 21,2611 12617 TCF RCSSWIT # DONT START UP RATE FILTER
044291,000593: # SIGNAL NO RATE FILTER
044292,000594:
044293,000595: 21,2612 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
044294,000596: 21,2613 05134 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
044295,000597: 21,2614 E6,1510 EBANK= KMPAC
044296,000598: 21,2614 03447 44066 2CADR AMBGUPDT
044297,000599:
044298,000600: 21,2616 32625 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044299,000601: 21,2617 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
044300,000602: # SET BIT3 -INITIALIZE NEEDLES
044301,000603: # CLEAR BIT4 -RESET FOR FDAIDSP1
044302,000604: 21,2620 32627 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044303,000605: # ERROR COUNTER TO ZERO.
044304,000606: # (MINIMUM DELAY = 15 MS)
044305,000607: 21,2621 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044306,000608: 21,2622 05333 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
044307,000609: # FILTER WILL BEGIN OPERATING ZOOMS FROM
044308,000610: # NOW
044309,000611:
044310,000612: # CONSTANTS USED IN INITIALIZATION PROGRAM
044311,000613:
044312,000614: 21,2623 00044 NO.T5VAR DEC 36 B-14
044313,000615: 21,2624 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
044314,000616: 21,2625 00004 RCSINIT OCT 00004
044315,000617: 21,2626 20004 RCSINITB OCT 20004
044316,000618: 21,2627 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
044317,000619: 21,2630 E6,1510 EBANK= KMPAC
044318,000620: 21,2630 03617 36066 T6ADDR 2CADR T6START
044319,000621:
044320,000622: 21,2632 35024 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
044321,000623: 21,2633 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
044322,000624: 21,2634 35021 CAF ZERO # AND RWORD1.
044323,000625:
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|
Page 1016
|
044325,000627: 21,2635 51506 INDEX SPNDX
044326,000628: 21,2636 55451 TS RWORD1
044327,000629: 21,2637 11506 CCS SPNDX
044328,000630: 21,2640 12633 TCF ZEROJET +1
044329,000631:
044330,000632: 21,2641 35015 CAF FOUR
044331,000633: 21,2642 55462 TS BLAST1 +1
044332,000634: 21,2643 35024 CAF ELEVEN
044333,000635: 21,2644 55464 TS BLAST2 +1
044334,000636:
044335,000637: 21,2645 45017 CS BIT1
044336,000638: 21,2646 71501 MASK RCSFLAGS
044337,000639: 21,2647 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
044338,000640:
044339,000641: 21,2650 00006 EXTEND
044340,000642: 21,2651 32631 DCA T6ADDR
044341,000643: 21,2652 53311 DXCH T6LOC
044342,000644: 21,2653 33050 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044343,000645: 21,2654 54031 TS TIME6
044344,000646: 21,2655 35001 CAF BIT15
044345,000647: 21,2656 00006 EXTEND
044346,000648: 21,2657 05013 WOR CHAN13
044347,000649:
044348,000650: 21,2660 00002 TC Q
044349,000651:
044350,000652: 21,2661 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
044351,000653: 21,2662 13146 TCF KALUPDT
044352,000654:
044353,000655: 21,2663 12665 TCF +2 # ONLY IF ATTKALMN POSITIVE
044354,000656: 21,2664 12665 TCF +1
044355,000657: 21,2665 32156 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
044356,000658: 21,2666 56030 XCH TIME5 # (JET SELECTION LOGIC)
044357,000659: 21,2667 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
044358,000660:
044359,000661: 21,2670 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
044360,000662: 21,2671 75001 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044361,000663: 21,2672 00006 EXTEND # ATTKALMN TO -1
044362,000664: 21,2673 12675 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
044363,000665: 21,2674 45017 CS ONE
044364,000666: 21,2675 55617 NOHIAUTO TS ATTKALMN
044365,000667:
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|
Page 1017
|
044367,000669: # MANUAL ROTATION COMMANDS
044368,000670:
044369,000671: 21,2676 43032 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
044370,000672: 21,2677 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
044371,000673: 21,2700 55501 TS RCSFLAGS
044372,000674:
044373,000675: 21,2701 00006 EXTEND
044374,000676: 21,2702 00031 READ CHAN31
044375,000677: 21,2703 54001 TS L
044376,000678: 21,2704 31632 CA CH31TEMP
044377,000679: 21,2705 00006 EXTEND
044378,000680: 21,2706 06001 RXOR LCHAN
044379,000681: 21,2707 73036 MASK MANROT # = OCT00077
044380,000682: 21,2710 00006 EXTEND
044381,000683: 21,2711 62724 BZMF NOCHANGE
044382,000684:
044383,000685: 21,2712 22000 LXCH A
044384,000686: 21,2713 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044385,000687:
044386,000688: 21,2714 30001 CA L
044387,000689: 21,2715 00006 EXTEND
044388,000690: 21,2716 75013 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
044389,000691: 21,2717 30001 CA L
044390,000692: 21,2720 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
044391,000693: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
044392,000694: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044393,000695: # PITCH
044394,000696:
044395,000697: 21,2721 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND
044396,000698: 21,2722 73037 MASK OCT16000 # 11 OF RCSFLAGS)
044397,000699: 21,2723 27501 ADS RCSFLAGS
044398,000700:
044399,000701: 21,2724 41632 NOCHANGE CS CH31TEMP
044400,000702: 21,2725 73036 MASK MANROT
044401,000703: 21,2726 00006 EXTEND
044402,000704: 21,2727 63250 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
044403,000705:
044404,000706: 21,2730 55332 TS HOLDFLAG # SET HOLDFLAG +
044405,000707:
044406,000708: 21,2731 03130 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044407,000709: # YMANNDX, AND RMANNDX ARE ALL SET, BY
044408,000710: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044409,000711: # +, OR - ROTATION RESPECTIVELY AS
044410,000712: # COMMANDED BY THE RHC.
044411,000713:
044412,000714: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
044413,000715: # THE RHC IS RETURNED TO DETENT, THE
044414,000716: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044415,000717: # STICKCHK SO PMANNDX, YMANNDX, AND
044416,000718: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044417,000719: # LEFT SET TO THEIR LAST OUT OF DETENT
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|
Page 1018
|
044419,000721: # VALUES.
044420,000722:
044421,000723: 21,2732 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
044422,000724: 21,2733 75002 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
044423,000725: 21,2734 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044424,000726:
044425,000727: 21,2735 35002 CAF BIT14
044426,000728: 21,2736 00006 EXTEND
044427,000729: 21,2737 02031 RAND CHAN31
044428,000730: 21,2740 00006 EXTEND
044429,000731: 21,2741 63051 BZMF FREEFUNC
044430,000732:
044431,000733: 21,2742 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044432,000734: 21,2743 75002 MASK BIT14 # HAS BEEN INITIALIZED
044433,000735: 21,2744 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
044434,000736: 21,2745 12534 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
044435,000737:
044436,000738: 21,2746 45022 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
044437,000739: 21,2747 61130 AD RATEINDX # ATTKALMN TO -1.
044438,000740: 21,2750 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
044439,000741: 21,2751 62754 BZMF +3
044440,000742: 21,2752 45017 CS ONE
044441,000743: 21,2753 55617 TS ATTKALMN
044442,000744:
044443,000745: 21,2754 35016 CAF TWO # AUTO-HOLD MANUAL ROTATION
044444,000746: 21,2755 55506 SETWBODY TS SPNDX
044445,000747: 21,2756 60000 DOUBLE
044446,000748: 21,2757 55507 TS DPNDX
044447,000749: 21,2760 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
044448,000750: 21,2761 31656 CA RMANNDX # = 1 + ROTATION
044449,000751: 21,2762 00006 EXTEND # = 2 - ROTATION
044450,000752: 21,2763 13005 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
044451,000753: # GO TO NORATE.
044452,000754:
044453,000755: 21,2764 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
044454,000756: 21,2765 54002 TS Q # = 2 0.2 DEG/SEC
044455,000757: 21,2766 50002 INDEX Q # = 4 0.5 DEG/SEC
044456,000758: 21,2767 33037 CA MANTABLE -1 # = 6 2.0 DEG/SEC
044457,000759: 21,2770 00006 EXTEND
044458,000760: 21,2771 75007 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
044459,000761: 21,2772 51507 INDEX DPNDX # TO GET COMMANDED RATE.
044460,000762: 21,2773 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
044461,000763:
044462,000764: 21,2774 31501 CA RCSFLAGS
044463,000765: 21,2775 73037 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
044464,000766: 21,2776 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
044465,000767: 21,2777 13015 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044466,000768: # ERROR.
044467,000769:
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Page 1019
|
044469,000771: 21,3000 35021 ZEROER CA ZERO # ZEROER ZEROS MERRORS
044470,000772: 21,3001 22007 ZL
044471,000773: 21,3002 51507 INDEX DPNDX
044472,000774: 21,3003 53542 DXCH MERRORX
044473,000775: 21,3004 13023 TCF SPNDXCHK
044474,000776:
044475,000777: 21,3005 22007 NORATE ZL
044476,000778: 21,3006 51507 INDEX DPNDX
044477,000779: 21,3007 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
044478,000780: 21,3010 31501 CA RCSFLAGS
044479,000781: 21,3011 73037 MASK OCT16000
044480,000782: 21,3012 00006 EXTEND # IS RATE DAMPING COMPLETED
044481,000783: 21,3013 13023 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044482,000784: 21,3014 13000 TCF ZEROER # NO, GO TO ZEROER
044483,000785:
044484,000786: 21,3015 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044485,000787: 21,3016 43037 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
044486,000788: 21,3017 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
044487,000789: 21,3020 75011 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
044488,000790: 21,3021 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
044489,000791: 21,3022 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044490,000792:
044491,000793: 21,3023 51507 SPNDXCHK INDEX DPNDX
044492,000794: 21,3024 31541 CA MERRORX
044493,000795: 21,3025 51506 INDEX SPNDX
044494,000796: 21,3026 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
044495,000797: 21,3027 11506 CCS SPNDX
044496,000798: 21,3030 12755 TCF SETWBODY
044497,000799: 21,3031 13441 TCF JETS
044498,000800:
044499,000801: 21,3032 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
044500,000802:
044501,000803: 21,3033 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
044502,000804: 21,3034 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
044503,000805: 21,3035 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
044504,000806: # PRESERVED
044505,000807: # FOR INDEXING
044506,000808: 21,3036 00077 MANROT OCT 77
044507,000809: 21,3037 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
044508,000810: 21,3040 00165 MANTABLE DEC .0071111
044509,000811: 21,3041 77612 DEC -.0071111
044510,000812: 21,3042 00722 DEC .028444
044511,000813: 21,3043 77055 DEC -0.028444
044512,000814: 21,3044 02215 DEC .071111
044513,000815: 21,3045 75562 DEC -.071111
044514,000816: 21,3046 11064 DEC .284444
044515,000817: 21,3047 66713 DEC -.284444
044516,000818: 21,3050 00027 =+14MS DEC 23 B-14
044517,000819: 21,3051 51656 FREEFUNC INDEX RMANNDX # ACCELERATION
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|
Page 1020
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044519,000821: 21,3052 33063 CA FREETAU # COMMANDS
044520,000822: 21,3053 55561 TS TAU
044521,000823: 21,3054 51657 INDEX PMANNDX
044522,000824: 21,3055 33063 CA FREETAU # FREETAU 0 SEC
044523,000825: 21,3056 55562 TS TAU1 # +1 +0.10 SEC
044524,000826: 21,3057 51660 INDEX YMANNDX # +2 -0.10 SEC
044525,000827: 21,3060 33063 CA FREETAU # (+3) 0 SEC
044526,000828: 21,3061 55563 TS TAU2
044527,000829: 21,3062 13067 TCF T6PROGM
044528,000830:
044529,000831: 21,3063 00000 FREETAU DEC 0 B-14
044530,000832: 21,3064 00740 DEC 480 B-14
044531,000833: 21,3065 77037 DEC -480 B-14
044532,000834: 21,3066 00000 DEC 0 B-14
044533,000835:
044534,000836: 21,3067 35021 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
044535,000837: 21,3070 55567 TS ERRORX
044536,000838: 21,3071 55570 TS ERRORY
044537,000839: 21,3072 55571 TS ERRORZ
044538,000840: 21,3073 13757 TCF T6PROG
044539,000841:
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|
Page 1021
|
044541,000843: 21,3074 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
044542,000844: 21,3075 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044543,000845: 21,3076 06604 DEC .2112 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044544,000846: 21,3077 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
044545,000847: 21,3100 12132 DEC .3180 # OF ATTITUDE RATES
044546,000848: 21,3101 13030 DEC .3452
044547,000849: 21,3102 14047 DEC .3774
044548,000850: 21,3103 15241 DEC .4161
044549,000851: 21,3104 16650 DEC .4634
044550,000852: 21,3105 20555 DEC .5223
044551,000853: 21,3106 23065 DEC .5970
044552,000854: 21,3107 26137 DEC .6933
044553,000855: 21,3110 32053 DEC .8151
044554,000856: 21,3111 35712 DEC .9342
044555,000857:
044556,000858: 21,3112 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
044557,000859: 21,3113 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044558,000860: 21,3114 00435 DEC .0174 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
044559,000861: 21,3115 00032 GAIN2 DEC .0016 # SCALED 10
044560,000862: 21,3116 01350 DEC .0454
044561,000863: 21,3117 01575 DEC .0545
044562,000864: 21,3120 02103 DEC .0666
044563,000865: 21,3121 02523 DEC .0832
044564,000866: 21,3122 03327 DEC .1069
044565,000867: 21,3123 04432 DEC .1422
044566,000868: 21,3124 06264 DEC .1985
044567,000869: 21,3125 11351 DEC .2955
044568,000870: 21,3126 17324 DEC .4817
044569,000871: 21,3127 33622 DEC .8683
044570,000872: 21,3130 55502 STICKCHK TS T5TEMP
044571,000873: 21,3131 76214 MASK THREE # INDECES FOR MANUAL ROTATION
044572,000874: 21,3132 55657 TS PMANNDX
044573,000875: 21,3133 31502 CA T5TEMP
044574,000876: 21,3134 00006 EXTEND # MAN RATE 0 0 RATE (DP)
044575,000877: 21,3135 75003 MP QUARTER # +1 + RATE (DP)
044576,000878: 21,3136 55502 TS T5TEMP # +2 - RATE (DP)
044577,000879: 21,3137 76214 MASK THREE # (+3) 0 RATE (DP)
044578,000880: 21,3140 55660 TS YMANNDX
044579,000881: 21,3141 31502 CA T5TEMP
044580,000882: 21,3142 00006 EXTEND
044581,000883: 21,3143 75003 MP QUARTER
044582,000884: 21,3144 55656 TS RMANNDX
044583,000885: 21,3145 00002 TC Q
044584,000886: 21,3146 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
044585,000887: # KALMAN FILTER TAKES 1.1 SEC
044586,000888:
044587,000889: 21,3147 32155 CA DELTATT # =1SEC - 80MS
044588,000890: 21,3150 61634 AD T5TIME # + DELAYS
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|
Page 1022
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044590,000892: 21,3151 54030 TS TIME5
044591,000893: 21,3152 13155 TCF +3
044592,000894: 21,3153 32156 CAF DELTATT2 # SAFETY PLAY TO ASSURE
044593,000895: 21,3154 54030 TS TIME5 # A T5RUPT
044594,000896:
044595,000897: 21,3155 45021 KRESUME2 CS ZERO # RESET FOR PHASE1
044596,000898: 21,3156 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM
044597,000899: 21,3157 15333 TCF RESUME
044598,000900:
044599,000901: 21,3160 45014 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
044600,000902: 21,3161 71501 MASK RCSFLAGS
044601,000903: 21,3162 55501 TS RCSFLAGS
044602,000904:
044603,000905: 21,3163 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044604,000906: 21,3164 75007 MASK BIT9 # ERRORS
044605,000907: 21,3165 00006 EXTEND
044606,000908: 21,3166 13175 BZF FDAITOTL
044607,000909: 21,3167 00006 EXTEND
044608,000910: 21,3170 41570 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
044609,000911: 21,3171 53477 DXCH AK
044610,000912: 21,3172 41571 CS ERRORZ
044611,000913: 21,3173 55500 TS AK2
044612,000914: 21,3174 15333 TCF RESUME # END PHASE 1
044613,000915:
044614,000916: 21,3175 30105 FDAITOTL CA FLAGWRD9
044615,000917: 21,3176 75012 MASK BIT6
044616,000918: 21,3177 00006 EXTEND
044617,000919: 21,3200 13243 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
044618,000920: # IF SO, GO TO WRTN17
044619,000921: 21,3201 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
044620,000922: 21,3202 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
044621,000923: 21,3203 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
044622,000924: 21,3204 31155 CA CPHI # COMPONENTS OF N22
044623,000925:
044624,000926: 21,3205 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
044625,000927: 21,3206 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
044626,000928: 21,3207 55476 TS AK
044627,000929: 21,3210 31513 CA WTEMP
044628,000930: 21,3211 00006 EXTEND
044629,000931: 21,3212 20033 MSU CDUY
044630,000932: 21,3213 55502 TS T5TEMP
044631,000933: 21,3214 00006 EXTEND
044632,000934: 21,3215 71640 MP AMGB1
044633,000935: 21,3216 27476 ADS AK
044634,000936: 21,3217 31502 CA T5TEMP
044635,000937: 21,3220 00006 EXTEND
044636,000938: 21,3221 71641 MP AMGB4
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Page 1023
|
044638,000940: 21,3222 55477 TS AK1
044639,000941: 21,3223 31502 CA T5TEMP
044640,000942: 21,3224 00006 EXTEND
044641,000943: 21,3225 71643 MP AMGB7
044642,000944: 21,3226 55500 TS AK2
044643,000945: 21,3227 31514 CA WTEMP +1
044644,000946: 21,3230 00006 EXTEND
044645,000947: 21,3231 20034 MSU CDUZ
044646,000948: 21,3232 55502 TS T5TEMP
044647,000949: 21,3233 00006 EXTEND
044648,000950: 21,3234 71642 MP AMGB5
044649,000951: 21,3235 27477 ADS AK1
044650,000952: 21,3236 31502 CA T5TEMP
044651,000953: 21,3237 00006 EXTEND
044652,000954: 21,3240 71644 MP AMGB8
044653,000955: 21,3241 27500 ADS AK2
044654,000956: 21,3242 15333 TCF RESUME # END PHASE1 OF RCS DAP
044655,000957:
044656,000958: 21,3243 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
044657,000959: 21,3244 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
044658,000960: 21,3245 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
044659,000961: 21,3246 31333 CA CPHIX
044660,000962: 21,3247 13205 TCF GETAKS
044661,000963:
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Page 1024
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044664,000966:
044665,000967:
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc