GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
047279,000002: ## Copyright: Public domain.
047280,000003: ## Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
047281,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
047282,000005: ## It is part of the source code for the Command Module's (CM)
047283,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
047284,000007: ## Assembler: yaYUL
047285,000008: ## Contact: Ron Burkey <info@sandroid.org>.
047286,000009: ## Website: www.ibiblio.org/apollo.
047287,000010: ## Pages: 1063-1092
047288,000011: ## Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
047289,000012: ## same name, using Comanche055 page images.
047290,000013: ## 2009-05-20 RSB Corrections: Removed an extraneous label
047291,000014: ## EXDAPIN, added a missing instruction in
047292,000015: ## COMPAT.
047293,000016: ## 2010-08-28 JL Fixed indentation.
047294,000017: ## 2016-12-21 RSB Proofed comment text using octopus/ProoferComments
047295,000018: ## and corrected the errors found.
047296,000019: ## 2017-01-07 RSB Fixed comment errors detected in cross-diff vs
047297,000020: ## Colossus 249.
047298,000021: ## 2017-01-21 RSB Fixed comment errors detected in diff vs
047299,000022: ## Artemis 72.
047300,000023: ##
047301,000024: ## This source code has been transcribed or otherwise adapted from digitized
047302,000025: ## images of a hardcopy from the MIT Museum. The digitization was performed
047303,000026: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
047304,000027: ## thanks to both. The images (with suitable reduction in storage size and
047305,000028: ## consequent reduction in image quality as well) are available online at
047306,000029: ## www.ibiblio.org/apollo. If for some reason you find that the images are
047307,000030: ## illegible, contact me at info@sandroid.org about getting access to the
047308,000031: ## (much) higher-quality images which Paul actually created.
047309,000032: ##
047310,000033: ## Notations on the hardcopy document read, in part:
047311,000034: ##
047312,000035: ## Assemble revision 055 of AGC program Comanche by NASA
047313,000036: ## 2021113-051. 10:28 APR. 1, 1969
047314,000037: ##
047315,000038: ## This AGC program shall also be referred to as
047316,000039: ## Colossus 2A
047317,000040:
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Page 1063 |
047319,000042: # SUBROUTINE TO READ GYMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
047320,000043: # DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC.
047321,000044:
047322,000045: # CM/DSTBY = 1 FOR DAP OPERATION
047323,000046: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
047324,000047:
047325,000048: 15,2434 BANK 15
047326,000049:
047327,000050: 15,2000 SETLOC ETRYDAP
047328,000051: 15,2000 BANK
047329,000052:
047330,000053: 15,2434 COUNT 15/DAPEN
047331,000054:
047332,000055: 15,2434 E6,1661 EBANK= AOG
047333,000056:
047334,000057: 15,2434 34377 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
047335,000058: 15,2435 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
047336,000059:
047337,000060: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
047338,000061: # PHASCHNG PROTECTION IS IN CM/DAPIC.
047339,000062:
047340,000063: 15,2436 35012 CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
047341,000064: 15,2437 71321 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
047342,000065: 15,2440 00006 EXTEND # GIMBAL DIFFERENCES)
047343,000066: 15,2441 12447 BZF READGYM1 # OK
047344,000067:
047345,000068: 15,2442 45017 CS BIT1 # NOT IN FINE ALIGN, SO IDLE.
047346,000069: 15,2443 70102 MASK CM/FLAGS # SET GYMDIFSW = 0
047347,000070: 15,2444 54102 TS CM/FLAGS
047348,000071: 15,2445 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
047349,000072: 15,2446 02514 TC CM/GYMIC +2
047350,000073:
047351,000074: 15,2447 30032 READGYM1 CA CDUX
047352,000075: 15,2450 57661 XCH AOG
047353,000076: 15,2451 00006 EXTEND
047354,000077: 15,2452 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
047355,000078: 15,2453 55675 TS -DELAOG
047356,000079:
047357,000080: 15,2454 30033 CA CDUY
047358,000081: 15,2455 57662 XCH AIG
047359,000082: 15,2456 00006 EXTEND
047360,000083: 15,2457 21662 MSU AIG
047361,000084: 15,2460 55676 TS -DELAIG
047362,000085:
047363,000086: 15,2461 30034 CA CDUZ
047364,000087: 15,2462 57663 XCH AMG
047365,000088: 15,2463 00006 EXTEND
047366,000089: 15,2464 21663 MSU AMG
047367,000090: 15,2465 55677 TS -DELAMG
047368,000091:
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Page 1064 |
047370,000093: 15,2466 40102 DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
047371,000094: 15,2467 76214 MASK THREE
047372,000095: 15,2470 50000 INDEX A
047373,000096: 15,2471 02472 TC +1
047374,000097: 15,2472 02501 TC DOBRATE # OK, GO ON
047375,000098: 15,2473 02512 TC CM/GYMIC # DONT CALC BODYRATE ON FIRST PASS.
047376,000099: 15,2474 12475 NOOP
047377,000100: 15,2475 06000 TC FLUSHJET # TURN OFF ALL JETS
047378,000101:
047379,000102: 15,2476 05412 TC PHASCHNG
047380,000103: 15,2477 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
047381,000104:
047382,000105: 15,2500 05324 TC TASKOVER
047383,000106:
047384,000107: 15,2501 35017 DOBRATE CA ONE # DO BODYRATE
047385,000108: 15,2502 55720 DOBRATE1 TS JETEM # SKIP BODYRATE.
047386,000109:
047387,000110: 15,2503 34377 CA TEN # KEEP CDU READ GOING.
047388,000111: 15,2504 05245 TC WAITLIST
047389,000112: 15,2505 E6,1661 EBANK= AOG
047390,000113: 15,2505 02434 32066 2CADR READGYMB
047391,000114:
047392,000115: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047393,000116:
047394,000117: 15,2507 11720 CCS JETEM
047395,000118: 15,2510 02536 TC BODYRATE
047396,000119: 15,2511 05324 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
047397,000120:
047398,000121: 15,2512 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
047399,000122: 15,2513 35021 CAF ZERO
047400,000123: 15,2514 55711 TS JETAG
047401,000124: 15,2515 55706 TS OLDELP
047402,000125: 15,2516 55707 TS OLDELQ
047403,000126: 15,2517 55710 TS OLDELR
047404,000127: 15,2520 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
047405,000128: 15,2521 02502 TC DOBRATE1
047406,000129:
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Page 1065 |
047408,000131: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
047409,000132:
047410,000133: 15,2522 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
047411,000134: 15,2523 00002 TC Q # NO OVFL
047412,000135: 15,2524 50000 INDEX A
047413,000136: 15,2525 35000 CAF LIMITS
047414,000137: 15,2526 26001 ADS L
047415,000138: 15,2527 00002 TC Q
047416,000139:
047417,000140: 6000 BLOCK 3
047418,000141:
047419,000142: 6000 COUNT 03/DAPEN
047420,000143:
047421,000144: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
047422,000145: 6001 00006 EXTEND
047423,000146: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
047424,000147: 6003 00006 EXTEND
047425,000148: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
047426,000149: 6005 00002 TC Q
047427,000150:
047428,000151: 15,2530 BANK 15
047429,000152:
047430,000153: 15,2530 COUNT 15/DAPEN
047431,000154:
047432,000155: 15,2000 SETLOC ETRYDAP
047433,000156: 15,2000 BANK
047434,000157:
047435,000158: 15,2530 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
047436,000159: 15,2531 61720 AD JETEM # OF CONSTANT ACCELERATION.
047437,000160: 15,2532 00006 EXTEND
047438,000161: 15,2533 75002 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
047439,000162: 15,2534 61720 AD JETEM
047440,000163: 15,2535 00002 TC Q
047441,000164:
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Page 1066 |
047443,000166: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
047444,000167:
047445,000168: 20,3612 BANK 20
047446,000169: 20,2000 SETLOC DAPS1
047447,000170: 20,2000 BANK
047448,000171:
047449,000172: 20,3612 COUNT 20/DAPEN
047450,000173: 20,3612 E6,1661 EBANK= AOG
047451,000174:
047452,000175: 20,3612 35057 CM/DAPON CA EBAOG
047453,000176: 20,3613 54003 TS EBANK
047454,000177:
047455,000178: 20,3614 05560 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
047456,000179: 20,3615 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
047457,000180: 20,3616 05560 TC DOWNFLAG # RESET DAPBIT2
047458,000181: 20,3617 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
047459,000182: 20,3620 00006 EXTEND
047460,000183: 20,3621 33737 DCA T5IDLER1 # DISABLE RCS CALCULATION
047461,000184: 20,3622 53313 DXCH T5LOC
047462,000185: 20,3623 00006 EXTEND
047463,000186: 20,3624 33737 DCA T5IDLER1 # DISABLE RCS JET CALLS
047464,000187: 20,3625 53311 DXCH T6LOC
047465,000188:
047466,000189: 20,3626 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
047467,000190:
047468,000191: 20,3627 47707 CS 13,14,15
047469,000192: 20,3630 71466 MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
047470,000193: 20,3631 55466 TS DAPDATR1
047471,000194: 20,3632 03636 TC +4
047472,000195:
047473,000196: 20,3633 35036 NOTYET CA .5SEC
047474,000197: 20,3634 04662 TC BANKCALL
047475,000198: 20,3635 01732 CADR DELAYJOB # (DELAYJOB DOES INHINT)
047476,000199: 20,3636 35005 +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0
047477,000200: 20,3637 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
047478,000201: 20,3640 00006 EXTEND
047479,000202: 20,3641 13633 BZF NOTYET
047480,000203:
047481,000204: 20,3642 45017 CS ONE # ACTIVATE CM/DAP
047482,000205: 20,3643 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
047483,000206: # NEXT PASS.
047484,000207: 20,3644 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
047485,000208: # HEADSUP IS SET IN P62.
047486,000209:
047487,000210: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
047488,000211:
047489,000212: 20,3645 30007 CA 7
047490,000213: 20,3646 55711 TS JETAG
047491,000214: 20,3647 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
047492,000215: # IN CASE CMDAPMOD IS NOT +1.
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Page 1067 |
047494,000217: 20,3650 00004 INHINT
047495,000218: 20,3651 00006 EXTEND
047496,000219: 20,3652 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
047497,000220: 20,3653 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
047498,000221: 20,3654 31664 CA ROLL/180
047499,000222: 20,3655 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
047500,000223: 20,3656 00006 EXTEND
047501,000224: 20,3657 75002 MP HALF
047502,000225: 20,3660 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
047503,000226:
047504,000227: 20,3661 40102 CS CM/FLAGS
047505,000228: 20,3662 75004 MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
047506,000229: 20,3663 26102 ADS CM/FLAGS # SET BIT TO 1.
047507,000230:
047508,000231: 20,3664 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
047509,000232: 20,3665 75017 MASK BIT1 # V 37 ENTRIES.
047510,000233: 20,3666 26076 ADS FLAGWRD2
047511,000234:
047512,000235: 20,3667 00003 RELINT
047513,000236:
047514,000237: 20,3670 04701 TC POSTJUMP
047515,000238: 20,3671 54342 CADR P62.1
047516,000239:
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Page 1068 |
047518,000241: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
047519,000242: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
047520,000243: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
047521,000244: # SET AVEGEXIT TO CONTINUE AT CM/POSE
047522,000245:
047523,000246: 20,3672 35057 CM/DAPIC CA EBAOG
047524,000247: 20,3673 54003 TS EBANK
047525,000248:
047526,000249: 20,3674 00004 INHINT
047527,000250: 20,3675 41205 CM/DAP2C CS PIPTIME +1
047528,000251: # PRIO OF P62 L PRIO AVG,:PIPTM=PIPTM1
047529,000252: 20,3676 55720 TS JETEM
047530,000253:
047531,000254: 20,3677 35002 CA POS1/2
047532,000255: 20,3700 65002 AD POS1/2
047533,000256: 20,3701 60025 AD TIME1 # OVFL GUARANTEED
047534,000257: 20,3702 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
047535,000258:
047536,000259: 20,3703 45022 CS FIVE
047537,000260: 20,3704 61720 AD JETEM
047538,000261: 20,3705 10000 CCS A
047539,000262: 20,3706 63735 AD -CDUT+1
047540,000263: 20,3707 13705 TCF -2
047541,000264: 20,3710 13711 NOOP
047542,000265: 20,3711 65017 AD ONE # SEND NO ZERO TO WTLST
047543,000266: 20,3712 55725 TS CM/GYMDT # FOR RESTART
047544,000267: 20,3713 05245 TC WAITLIST
047545,000268: 20,3714 E6,1661 EBANK= AOG
047546,000269: 20,3714 02434 32066 2CADR READGYMB
047547,000270:
047548,000271: 20,3716 43734 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
047549,000272: 20,3717 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
047550,000273: 20,3720 64377 AD CM/SWIC2 # SET CM/DSTBY, LATSW
047551,000274: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
047552,000275: # CALC. (P62.3) GOES TO ENDEXIT.
047553,000276: 20,3721 54102 TS CM/FLAGS
047554,000277:
047555,000278: 20,3722 30007 CA 7
047556,000279: 20,3723 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTION
047557,000280: 20,3724 35017 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
047558,000281: 20,3725 54305 TS SW/NDX # UPBUFF.
047559,000282:
047560,000283: 20,3726 05372 TC 2PHSCHNG # DOES INHINT/RELINT
047561,000284: 20,3727 40116 OCT 40116 # SAVE TBASE6
047562,000285: 20,3730 05024 OCT 05024
047563,000286: 20,3731 13000 OCT 13000
047564,000287:
047565,000288: 20,3732 04701 TC POSTJUMP
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Page 1069 |
047567,000290: 20,3733 54326 CADR P62.2
047568,000291:
047569,000292: 20,3734 16017 CM/SWIC1 OCT 16017
047570,000293: 20,3735 4377 CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
047571,000294: 20,3735 77766 -CDUT+1 OCT 77766
047572,000295: 20,3736 1312 EBANK= T5LOC
047573,000296: 20,3736 03153 12062 T5IDLER1 2CADR T5IDLOC
047574,000297:
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Page 1070 |
047576,000299: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
047577,000300: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1
047578,000301:
047579,000302: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
047580,000303: # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
047581,000304: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
047582,000305: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
047583,000306: # THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
047584,000307:
047585,000308: 20,3740 E6,1661 EBANK= AOG
047586,000309: 15,2536 BANK 15
047587,000310: 15,2000 SETLOC ETRYDAP
047588,000311: 15,2000 BANK
047589,000312:
047590,000313: 15,2536 COUNT 15/DAPEN
047591,000314:
047592,000315: 15,2536 31663 BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
047593,000316: 15,2537 05074 TC SPCOS
047594,000317: 15,2540 55511 TS COSM
047595,000318:
047596,000319: 15,2541 31661 CA AOG # C(AOG) = AOG/180
047597,000320: 15,2542 05075 TC SPSIN # SINO
047598,000321: 15,2543 55512 TS SINO # SINO = SIN(AOG)
047599,000322:
047600,000323: 15,2544 00006 EXTEND
047601,000324: 15,2545 71511 MP COSM
047602,000325: 15,2546 55514 TS SINOCOSM # SO CM
047603,000326:
047604,000327: 15,2547 31661 CA AOG
047605,000328: 15,2550 05074 TC SPCOS # COSO
047606,000329: 15,2551 55513 TS COSO
047607,000330:
047608,000331: 15,2552 00006 EXTEND
047609,000332: 15,2553 71511 MP COSM
047610,000333: 15,2554 55515 TS COSOCOSM # CO CM
047611,000334:
047612,000335: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
047613,000336:
047614,000337: 15,2555 41677 CS -DELAMG
047615,000338: 15,2556 00006 EXTEND
047616,000339: 15,2557 71512 MP SINO
047617,000340: 15,2560 53721 DXCH JETEM # 2 LOCS _
047618,000341: 15,2561 41676 CS -DELAIG
047619,000342: 15,2562 00006 EXTEND
047620,000343: 15,2563 71515 MP COSOCOSM
047621,000344: 15,2564 21721 DAS JETEM
047622,000345: 15,2565 31720 CA JETEM
047623,000346: 15,2566 57707 XCH OLDELQ
047624,000347: 15,2567 02530 TC RATEAVG
047625,000348: 15,2570 55702 TS QREL # PITCHDOT = Q TCDU/180
047626,000349:
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Page 1071 |
047628,000351: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
047629,000352:
047630,000353: 15,2571 41677 CS -DELAMG
047631,000354: 15,2572 00006 EXTEND
047632,000355: 15,2573 71513 MP COSO
047633,000356: 15,2574 53721 DXCH JETEM
047634,000357: 15,2575 31676 CA -DELAIG
047635,000358: 15,2576 00006 EXTEND
047636,000359: 15,2577 71514 MP SINOCOSM
047637,000360: 15,2600 21721 DAS JETEM
047638,000361: 15,2601 31720 CA JETEM
047639,000362: 15,2602 57710 XCH OLDELR
047640,000363: 15,2603 02530 TC RATEAVG
047641,000364: 15,2604 55703 TS RREL # YAWDOT = R TCDU/180
047642,000365:
047643,000366: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
047644,000367:
047645,000368: 15,2605 31663 CA AMG
047646,000369: 15,2606 05075 TC SPSIN
047647,000370: 15,2607 55510 TS SINM
047648,000371:
047649,000372: 15,2610 00006 EXTEND
047650,000373: 15,2611 71676 MP -DELAIG
047651,000374: 15,2612 55720 TS JETEM
047652,000375: 15,2613 35021 CA ZERO
047653,000376: 15,2614 20001 DDOUBL # ROUND L INTO A
047654,000377: 15,2615 61675 AD -DELAOG
047655,000378: 15,2616 61720 AD JETEM
047656,000379: 15,2617 40000 CS A
047657,000380: 15,2620 55720 TS JETEM
047658,000381: 15,2621 57706 XCH OLDELP
047659,000382: 15,2622 02530 TC RATEAVG
047660,000383: 15,2623 55701 TS PREL # ROLLDOT = P TCDU/180
047661,000384:
047662,000385: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
047663,000386:
047664,000387: 15,2624 11723 CCS GAMDOT
047665,000388: 15,2625 02627 TC +2
047666,000389: 15,2626 02651 TC NOGAMDUT
047667,000390: 15,2627 41664 CS ROLL/180
047668,000391: 15,2630 05075 TC SPSIN
047669,000392: 15,2631 00006 EXTEND
047670,000393: 15,2632 71723 MP GAMDOT
047671,000394: 15,2633 55721 TS JETEM +1 # -SR GAMDOT
047672,000395: 15,2634 00006 EXTEND
047673,000396: 15,2635 73177 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
047674,000397: 15,2636 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
047675,000398:
047676,000399: 15,2637 31664 CA ROLL/180
047677,000400: 15,2640 05074 TC SPCOS
|
|
Page 1072 |
047679,000402: 15,2641 40000 COM
047680,000403: 15,2642 00006 EXTEND
047681,000404: 15,2643 71723 MP GAMDOT
047682,000405: 15,2644 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
047683,000406:
047684,000407: 15,2645 41721 CS JETEM +1 # B( ) = -SR GAMDOT
047685,000408: 15,2646 00006 EXTEND
047686,000409: 15,2647 73200 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
047687,000410: 15,2650 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
047688,000411:
047689,000412: 15,2651 35004 NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
047690,000413: 15,2652 70102 MASK CM/FLAGS
047691,000414: 15,2653 00006 EXTEND
047692,000415: 15,2654 15324 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
047693,000416:
047694,000417: 15,2655 34777 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
047695,000418: 15,2656 54030 TS TIME5
047696,000419:
047697,000420: 15,2657 00006 EXTEND
047698,000421: 15,2660 32664 DCA ATDOTCAD
047699,000422: 15,2661 53313 DXCH T5LOC
047700,000423: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047701,000424:
047702,000425: 15,2662 05324 TC TASKOVER
047703,000426:
047704,000427: 15,2663 E6,1661 EBANK= AOG
047705,000428: 15,2663 02665 32066 ATDOTCAD 2CADR ATTRATES
047706,000429:
|
|
Page 1073 |
047708,000431: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
047709,000432:
047710,000433: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
047711,000434: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
047712,000435: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
047713,000436:
047714,000437: 15,2665 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
047715,000438: 15,2666 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
047716,000439: 15,2667 22012 QXCH QRUPT
047717,000440: 15,2670 30021 CA SR
047718,000441: 15,2671 60000 DOUBLE
047719,000442: 15,2672 55623 TS CM/SAVE
047720,000443: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047721,000444:
047722,000445: 15,2673 31702 CA QREL
047723,000446: 15,2674 61665 AD ALFA/180
047724,000447: 15,2675 02522 TC ANGOVCOR
047725,000448: 15,2676 55665 TS ALFA/180
047726,000449: 15,2677 05074 TC SPCOS
047727,000450: 15,2700 55506 TS CALFA # CALFA
047728,000451: 15,2701 55705 TS PHIDOT
047729,000452:
047730,000453: 15,2702 00006 EXTEND
047731,000454: 15,2703 71701 MP PREL
047732,000455: 15,2704 57705 XCH PHIDOT # CA PREL
047733,000456: 15,2705 00006 EXTEND
047734,000457: 15,2706 71703 MP RREL # CA RREL
047735,000458: 15,2707 55704 TS BETADOT
047736,000459:
047737,000460: 15,2710 31665 CA ALFA/180
047738,000461: 15,2711 05075 TC SPSIN
047739,000462: 15,2712 55507 TS SALFA # SIN(ALFA)
047740,000463:
047741,000464: 15,2713 00006 EXTEND
047742,000465: 15,2714 71703 MP RREL # SA RREL
047743,000466: 15,2715 27705 ADS PHIDOT # CB PHIDOT, SAVED.
047744,000467:
047745,000468: 15,2716 41507 CS SALFA
047746,000469: 15,2717 00006 EXTEND
047747,000470: 15,2720 71701 MP PREL
047748,000471: 15,2721 27704 ADS BETADOT # SAVE BETADOT TCDU/180
047749,000472: 15,2722 27666 ADS BETA/180 # BETA DONE.
047750,000473:
047751,000474: 15,2723 05075 TC SPSIN
047752,000475: 15,2724 00006 EXTEND
047753,000476: 15,2725 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
047754,000477: 15,2726 61665 AD ALFA/180
047755,000478: 15,2727 02522 TC ANGOVCOR
047756,000479: 15,2730 55665 TS ALFA/180 # ALFA DONE.
|
|
Page 1074 |
047758,000481: 15,2731 40000 COM
047759,000482: 15,2732 61603 AD ALFACOM
047760,000483: 15,2733 02522 TC ANGOVCOR # JUST IN CASE ...
047761,000484: 15,2734 55477 TS AK1
047762,000485: 15,2735 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
047763,000486:
047764,000487: 15,2736 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
047765,000488: 15,2737 61664 AD ROLL/180
047766,000489: 15,2740 02522 TC ANGOVCOR
047767,000490: 15,2741 55714 TS ROLLTM # ROLL/180 FOR TM.
047768,000491: 15,2742 55664 TS ROLL/180 # ROLL DONE.
047769,000492:
047770,000493: # START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
047771,000494:
047772,000495: 15,2743 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
047773,000496: 15,2744 61604 AD BETACOM
047774,000497: 15,2745 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
047775,000498: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
047776,000499: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
047777,000500: # BE R-AXIS ERROR.
047778,000501:
047779,000502: 15,2746 35015 CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
047780,000503: 15,2747 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
047781,000504: 15,2750 00006 EXTEND
047782,000505: 15,2751 13037 BZF EXDAP # IF G LESS THAN .05
047783,000506: 15,2752 45017 CS ONE # IF G GEQ THAN .05
047784,000507: 15,2753 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
047785,000508:
047786,000509: 15,2754 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
047787,000510: 15,2755 55500 TS AK2 # IN ATM. (MODE =-1)
047788,000511:
047789,000512: 15,2756 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
047790,000513: 15,2757 00006 EXTEND
047791,000514: 15,2760 73177 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
047792,000515: 15,2761 61703 AD RREL
047793,000516: 15,2762 03027 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
047794,000517: 15,2763 50000 INDEX A # +/- 1 IF NOT
047795,000518: 15,2764 33202 CAF YJETCODE
047796,000519:
047797,000520: 15,2765 55720 TS JETEM
047798,000521:
047799,000522: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
047800,000523:
047801,000524: 15,2766 31702 CA QREL
047802,000525: 15,2767 03027 TC 2D/SDZ
047803,000526: 15,2770 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
047804,000527: 15,2771 33205 CAF P/RJCODE
047805,000528: 15,2772 27720 ADS JETEM # COMBINE ALL NEW BITS.
047806,000529:
047807,000530: 15,2773 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
|
|
Page 1075 |
047809,000532: 15,2774 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
047810,000533:
047811,000534: 15,2775 11711 CCS JETAG
047812,000535: 15,2776 03216 TC CM/RCS
047813,000536: 15,2777 03677 TC CM/FDAI
047814,000537: 15,3000 03704 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
047815,000538:
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|
Page 1076 |
047817,000540: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
047818,000541:
047819,000542: 15,3001 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
047820,000543: 15,3002 63175 AD YAWLIM
047821,000544: 15,3003 13033 TCF DZCOM
047822,000545: 15,3004 63175 AD YAWLIM
047823,000546: 15,3005 13034 TCF DZNOCOM
047824,000547:
047825,000548: # BIASED DZ FOR EXT ATM DAP.
047826,000549: 15,3006 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
047827,000550: 15,3007 10000 CCS A # START ERROR DZ.
047828,000551: 15,3010 43174 CS CM/BIAS # = .6/180
047829,000552: 15,3011 13013 TCF +2
047830,000553: 15,3012 33174 CA CM/BIAS
047831,000554: 15,3013 60001 AD L # BIAS THE ERROR.
047832,000555: 15,3014 22002 LXCH Q # SAVE CALLERS RETURN ADDRESS.
047833,000556: 15,3015 03001 TC 3DDZ # GO GENERATE THE ERROR BIT.
047834,000557: 15,3016 52002 DXCH L # BIT TO L, RESTORE CALLERS Q.
047835,000558: 15,3017 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
047836,000559: 15,3020 63172 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
047837,000560: 15,3021 13023 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
047838,000561: 15,3022 63172 AD 4D/SLIM
047839,000562: 15,3023 54000 TS A
047840,000563: 15,3024 13026 TCF +2 # RATE OK. CONTINUE
047841,000564: 15,3025 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
047842,000565: 15,3026 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
047843,000566:
047844,000567: 15,3027 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
047845,000568: 15,3030 63173 AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
047846,000569: 15,3031 13034 TCF +3
047847,000570: 15,3032 63173 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
047848,000571: 15,3033 40000 DZCOM COM
047849,000572: 15,3034 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
047850,000573: 15,3035 35021 CA ZERO # SET C(A) = +0 INSIDE
047851,000574: 15,3036 00002 TC Q
047852,000575:
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|
Page 1077 |
047854,000577: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
047855,000578:
047856,000579: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
047857,000580: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
047858,000581: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
047859,000582: # R-AXIS = CONTROL
047860,000583:
047861,000584: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
047862,000585: # RATE = PREL
047863,000586: # P-AXIS = CONTROL
047864,000587:
047865,000588: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
047866,000589: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
047867,000590: # RATE = BETADOT
047868,000591: # P-AXIS = CONTROL
047869,000592:
047870,000593: # ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY.
047871,000594: # RATE = RREL
047872,000595: # R-AXIS = CONTROL
047873,000596:
047874,000597: # 3. FOR ALL CASES, USE
047875,000598: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
047876,000599: # RATE = QREL
047877,000600: # Q-AXIS = CONTROL
047878,000601:
047879,000602: 15,3037 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
047880,000603: 15,3040 11506 CCS CALFA
047881,000604: 15,3041 63176 AD C45LIM # =1.0-COS(45)
047882,000605: 15,3042 13044 TCF +2
047883,000606: 15,3043 63176 AD C45LIM
047884,000607: 15,3044 54000 TS A
047885,000608: 15,3045 13126 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
047886,000609:
047887,000610: 15,3046 11506 CCS CALFA # |CALFA| > 0.707
047888,000611: 15,3047 13050 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
047889,000612:
047890,000613: 15,3050 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
047891,000614: 15,3051 03064 TC EXDAP4
047892,000615: 15,3052 03054 TC +2
047893,000616: 15,3053 03064 TC EXDAP4
047894,000617: 15,3054 05412 TC PHASCHNG # SINGLE PASS THROUGH HERE.
047895,000618: 15,3055 40334 OCT 40334
047896,000619: 15,3056 45017 CS ONE
047897,000620: 15,3057 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
047898,000621: 15,3060 33171 CA NSEC
047899,000622: 15,3061 05245 TC WAITLIST
047900,000623: 15,3062 E6,1661 EBANK= AOG
047901,000624: 15,3062 02374 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
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|
Page 1078 |
047903,000626: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047904,000627: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047905,000628:
047906,000629: 15,3064 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
047907,000630: 15,3065 13073 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
047908,000631: 15,3066 13073 TCF EXDAP3
047909,000632: 15,3067 35021 CA ZERO
047910,000633: 15,3070 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
047911,000634: 15,3071 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
047912,000635: 15,3072 55711 TS JETAG # RESTORE PROPER VALUE +0
047913,000636:
047914,000637: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047915,000638: 15,3073 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
047916,000639: 15,3074 31573 CA RAXERR # C()= BETACOM - BETA/180
047917,000640: 15,3075 13101 TCF EXDAP1
047918,000641: 15,3076 45021 CS ZERO
047919,000642: 15,3077 55700 TS CMDAPMOD # FOR CM/RCS
047920,000643: 15,3100 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
047921,000644: 15,3101 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
047922,000645: 15,3102 55500 TS AK2 # WANT RAXERR FOR TM.
047923,000646: 15,3103 54001 TS L
047924,000647: 15,3104 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
047925,000648: 15,3105 03110 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
047926,000649: 15,3106 35017 CA ONE # USE BETADOT TO COORD IN MODE +0
047927,000650: 15,3107 50000 INDEX A # OTHERWISE USE RREL.
047928,000651: 15,3110 31703 CA RREL
047929,000652: 15,3111 03006 TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
047930,000653: # IF GEQ 4D/S, SET ERROR BIT IN L=0)
047931,000654: 15,3112 00006 EXTEND
047932,000655: 15,3113 04001 ROR LCHAN # L HAS BETA BIT
047933,000656: 15,3114 50000 INDEX A
047934,000657: 15,3115 33202 CAF YJETCODE
047935,000658: 15,3116 55720 TS JETEM
047936,000659:
047937,000660: 15,3117 31572 CA QAXERR # ALFA ERROR.
047938,000661: 15,3120 54001 TS L
047939,000662: 15,3121 31702 CA QREL # FOR ALFADOT USE QREL
047940,000663: 15,3122 03006 TC BIASEDZ
047941,000664: 15,3123 00006 EXTEND
047942,000665: 15,3124 04001 ROR LCHAN
047943,000666: 15,3125 12770 TCF EXDAPIN # CONTINUE ON IN DAP
047944,000667:
047945,000668: 15,3126 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
047946,000669:
047947,000670: 15,3127 45017 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
047948,000671: 15,3130 55711 TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
047949,000672: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
047950,000673:
047951,000674: 15,3131 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
047952,000675: 15,3132 55727 TS P63FLAG
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|
Page 1079 |
047954,000677: 15,3133 13134 NOOP
047955,000678:
047956,000679: 15,3134 11507 CCS SALFA # BETA CONTROL WITH P JETS
047957,000680: 15,3135 41573 CS RAXERR # B()= BETACOM - BETA/180
047958,000681: 15,3136 13140 TCF +2
047959,000682: 15,3137 31573 CA RAXERR
047960,000683: 15,3140 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
047961,000684: 15,3141 00006 EXTEND
047962,000685: 15,3142 75002 MP HALF # CM/FDAI EXPECTS ERROR/360.
047963,000686: 15,3143 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
047964,000687: 15,3144 54001 TS L
047965,000688: 15,3145 11507 CCS SALFA
047966,000689: 15,3146 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
047967,000690: 15,3147 03151 TC +2
047968,000691: 15,3150 31704 CA BETADOT
047969,000692: 15,3151 03006 TC BIASEDZ
047970,000693: 15,3152 00006 EXTEND
047971,000694: 15,3153 04001 ROR LCHAN
047972,000695: 15,3154 50000 INDEX A
047973,000696: 15,3155 33205 CAF P/RJCODE # GET ROLL CODE
047974,000697: 15,3156 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
047975,000698: 15,3157 01006 WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST
047976,000699:
047977,000700: 15,3160 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
047978,000701: 15,3161 00006 EXTEND
047979,000702: 15,3162 21664 MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.?
047980,000703: 15,3163 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
047981,000704: 15,3164 11507 CCS SALFA
047982,000705: 15,3165 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
047983,000706: 15,3166 03101 TC EXDAP1
047984,000707: 15,3167 40001 CS L
047985,000708: 15,3170 03101 TC EXDAP1
047986,000709:
047987,000710: 15,3171 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
047988,000711: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047989,000712: 15,3172 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
047990,000713: 15,3173 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
047991,000714: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047992,000715:
047993,000716: 15,3174 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
047994,000717: 15,3175 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
047995,000718: 15,3176 11277 C45LIM DEC .29289 # =1.0-COS(45)
047996,000719:
047997,000720: 15,3177 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
047998,000721: 15,3200 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
047999,000722:
048000,000723: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
048001,000724: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
048002,000725: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
048003,000726:
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|
Page 1080 |
048005,000728: # JET CODE TABLES FOLLOW _
048006,000729:
048007,000730: 15,3201 00120 OCTAL 00120 # POS Y
048008,000731: 15,3202 00000 YJETCODE OCTAL 00000 # RCS JET BITS
048009,000732: 15,3203 00240 OCTAL 00240 # NEG Y
048010,000733: 15,3204 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
048011,000734: 15,3205 00000 P/RJCODE OCTAL 00000
048012,000735: 15,3206 00012 OCTAL 00012 # NEG R ALSO NEG P
048013,000736:
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|
Page 1081 |
048015,000738: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
048016,000739: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
048017,000740: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
048018,000741: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
048019,000742: # NEXT UPDATE.
048020,000743:
048021,000744: 15,3207 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
048022,000745: 15,3210 55712 TS TUSED
048023,000746: # THE 5 CS APPEARS IN TIMETST.
048024,000747: 15,3211 35017 CA ONE # RATHER THAN INCR, FOR SAFETY
048025,000748: 15,3212 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
048026,000749: 15,3213 05412 TC PHASCHNG
048027,000750: 15,3214 00001 OCT 00001
048028,000751:
048029,000752: 15,3215 05324 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
048030,000753:
048031,000754: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
048032,000755: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
048033,000756: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
048034,000757: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
048035,000758:
048036,000759: 15,3216 5001 HALFPR EQUALS NEG1/2 +1
048037,000760:
048038,000761: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
048039,000762: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
048040,000763: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
048041,000764: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
048042,000765:
048043,000766: 15,3216 45017 CM/RCS CS ONE
048044,000767: 15,3217 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
048045,000768:
048046,000769: 15,3220 45033 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
048047,000770: 15,3221 00006 EXTEND
048048,000771: 15,3222 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
048049,000772: 15,3223 60001 AD L # -2 RDOT T/180 IN L
048050,000773: 15,3224 55613 TS -VT/180 # SAVE -2VT/180 HERE
048051,000774:
048052,000775: 15,3225 41664 CS ROLL/180
048053,000776: 15,3226 54021 TS SR # SAVE (-R/180) /2
048054,000777:
048055,000778: 15,3227 40102 CS CM/FLAGS
048056,000779: 15,3230 75014 MASK BIT4 # LATSW = 101D BIT4
048057,000780: 15,3231 00006 EXTEND # ROLL OVER TOP $
048058,000781: 15,3232 13240 BZF GETLCX # NO, TAKE SHORTEST PATH
048059,000782: 15,3233 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
048060,000783: 15,3234 31715 CA ROLLC # (ROLLC/180) /2
048061,000784: 15,3235 60021 AD SR # -(R/180) /2
048062,000785: 15,3236 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
048063,000786: 15,3237 13300 TCF COMPAT # POSSIBLE OVFL ABOVE.
048064,000787:
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|
Page 1082 |
048066,000789: 15,3240 35002 GETLCX CA POS1/2 # FORM RCOM/360
048067,000790: 15,3241 60000 DOUBLE
048068,000791: 15,3242 61715 AD ROLLC
048069,000792: 15,3243 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
048070,000793:
048071,000794: 15,3244 30021 CA SR # FORM -R/360
048072,000795: 15,3245 65000 AD NEG1/2
048073,000796: 15,3246 65000 AD NEG1/2 # IGNORE OVFL
048074,000797: 15,3247 57614 XCH LCX/360 # -R/360
048075,000798: 15,3250 27614 ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
048076,000799:
048077,000800: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
048078,000801:
048079,000802: 15,3251 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
048080,000803: 15,3252 65017 AD ONE # (BASED ON SINGLE JET ACCELERATION)
048081,000804: 15,3253 13255 TCF +2
048082,000805: 15,3254 65017 AD ONE
048083,000806: 15,3255 00006 EXTEND
048084,000807: 15,3256 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
048085,000808: 15,3257 00006 EXTEND
048086,000809: 15,3260 73750 MP 1/16A1 # = 180/(16 A1 TT)
048087,000810: 15,3261 00006 EXTEND
048088,000811: 15,3262 11506 DV CALFA
048089,000812: 15,3263 54001 TS L
048090,000813: 15,3264 11614 CCS LCX/360
048091,000814: 15,3265 35002 CAF POS1/2
048092,000815: 15,3266 13270 TCF +2
048093,000816: 15,3267 45002 CS POS1/2
048094,000817: 15,3270 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEG $
048095,000818: 15,3271 60001 AD L
048096,000819: 15,3272 54001 TS L
048097,000820: 15,3273 13300 TCF COMPAT # YES, GO ON.
048098,000821: 15,3274 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
048099,000822: 15,3275 45001 CS HALFPR # +A YIELDS -1/2
048100,000823: 15,3276 60000 DOUBLE
048101,000824: 15,3277 27614 ADS LCX/360
048102,000825:
048103,000826: 15,3300 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
048104,000827: 15,3301 00006 EXTEND
048105,000828: 15,3302 71506 MP CALFA # COS ALFA
048106,000829: 15,3303 55614 TS LCX/360 # SCALED LCX OK HERE.
048107,000830:
048108,000831: 15,3304 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
048109,000832: 15,3305 03675 TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0)
048110,000833: # ALL 3 AXES ALREADY DONE.
048111,000834: 15,3306 03307 TC +1 # G LESS THAN .05. CA POS. CONTINUE
048112,000835: 15,3307 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
048113,000836: 15,3310 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
048114,000837: 15,3311 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
048115,000838: 15,3312 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360)
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|
Page 1083 |
048117,000840: 15,3313 31613 CA -VT/180 # GET - 2 VT/180
048118,000841: 15,3314 54021 TS SR
048119,000842: 15,3315 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
048120,000843: 15,3316 55570 TS -VT/180E # DIAGNOSTIC ****
048121,000844: 15,3317 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
048122,000845: 15,3320 00006 EXTEND
048123,000846: 15,3321 71613 MP -VT/180 # B(A) = -2VT/180
048124,000847: 15,3322 00006 EXTEND
048125,000848: 15,3323 73750 MP 180/8ATT
048126,000849: 15,3324 55616 TS VSQ/4API
048127,000850:
048128,000851: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
048129,000852:
048130,000853: 15,3325 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
048131,000854: 15,3326 40000 COM
048132,000855: 15,3327 63754 AD BUFLIM # =BUFLIM/(2 360)
048133,000856: 15,3330 54001 TS L
048134,000857: 15,3331 11613 CCS -VT/180
048135,000858: 15,3332 40001 CS L
048136,000859: 15,3333 13335 TCF +2
048137,000860: 15,3334 30001 CA L
048138,000861: 15,3335 61614 AD LCX/360
048139,000862: 15,3336 63754 AD BUFLIM
048140,000863: 15,3337 00006 EXTEND
048141,000864: 15,3340 63355 BZMF REFLECT # POINT (X,V) IN LHP.
048142,000865:
048143,000866: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
048144,000867:
048145,000868: 15,3341 40000 COM
048146,000869: 15,3342 63754 AD BUFLIM
048147,000870: 15,3343 63754 AD BUFLIM
048148,000871: 15,3344 00006 EXTEND
048149,000872: 15,3345 63364 BZMF DZ1 # POINT (X,V) IN RHP.
048150,000873:
048151,000874: # IS POINT WITHIN VELOCITY DZ?
048152,000875:
048153,000876: 15,3346 43747 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
048154,000877: 15,3347 61616 AD VSQ/4API
048155,000878: 15,3350 00006 EXTEND
048156,000879: 15,3351 63657 BZMF DZCALL # YES.
048157,000880:
048158,000881: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
048159,000882:
048160,000883: 15,3352 41617 CS JNDX
048161,000884: 15,3353 55620 TS JNDX1
048162,000885: 15,3354 03437 TC OVRLINE1
048163,000886:
048164,000887: 15,3355 41613 REFLECT CS -VT/180 # REFLECT LHP INTO RHP REL TO TERM CONTR
048165,000888: 15,3356 55613 TS -VT/180
048166,000889: 15,3357 54021 TS SR # -VT/360 SAVED FOR DZ.
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|
Page 1084 |
048168,000891: 15,3360 41614 CS LCX/360
048169,000892: 15,3361 55614 TS LCX/360
048170,000893: 15,3362 41617 CS JNDX
048171,000894: 15,3363 55617 TS JNDX
048172,000895:
048173,000896: # IS VSQ/4API - (VSQ/4API) MIN NEG $
048174,000897:
048175,000898: 15,3364 43747 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
048176,000899: 15,3365 61616 AD VSQ/4API
048177,000900: 15,3366 00006 EXTEND
048178,000901: 15,3367 63371 BZMF DZ2 # YES, GO TEST FURTHER.
048179,000902: 15,3370 13376 TCF MAXVTEST # NO
048180,000903:
048181,000904: # IS X/360 - XMIN/360 -VT/360 NEG $
048182,000905:
048183,000906: 15,3371 43752 DZ2 CS XMIN/360 # XMIN/360 = 4/360
048184,000907: 15,3372 61614 AD LCX/360
048185,000908: 15,3373 60021 AD SR # C(SR) = -VT/360
048186,000909: 15,3374 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
048187,000910: 15,3375 63657 BZMF DZCALL # YES,IN DZ. EXIT SETTING JETAG=0.
048188,000911:
048189,000912: # IS XD/360 - VM/360K - XS/360 POS ?
048190,000913:
048191,000914: 15,3376 41617 MAXVTEST CS JNDX
048192,000915: 15,3377 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
048193,000916: 15,3400 43754 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
048194,000917: 15,3401 61616 AD VSQ/4API
048195,000918: 15,3402 61614 AD LCX/360
048196,000919: 15,3403 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
048197,000920: # BUT C(XD/360) = (XD - XS) /360
048198,000921: 15,3404 63753 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
048199,000922: 15,3405 40000 COM
048200,000923: 15,3406 00006 EXTEND
048201,000924: 15,3407 63415 BZMF MAXVTIM1 # YES, THRUST TO VM
048202,000925: 15,3410 31615 CA XD/360
048203,000926: 15,3411 00006 EXTEND
048204,000927: 15,3412 75002 MP KTRCS
048205,000928: 15,3413 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
048206,000929:
048207,000930: 15,3414 03420 TC GETON1 # INSURE THAT Q IS POS AS TAG.
048208,000931: 15,3415 00006 MAXVTIM1 EXTEND
048209,000932: 15,3416 22007 ZQ # SET +0 AS TAG
048210,000933: 15,3417 43753 CS -VMT/180
048211,000934: 15,3420 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180.
048212,000935: 15,3421 61613 AD -VT/180
048213,000936: 15,3422 60000 DOUBLE
048214,000937: 15,3423 00006 EXTEND
048215,000938: 15,3424 73750 MP 180/8ATT
048216,000939: 15,3425 55621 TS TON1 # TON1 / 4T
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|
Page 1085 |
048218,000941: 15,3426 00006 EXTEND
048219,000942: 15,3427 63431 BZMF OVRLINE
048220,000943: 15,3430 03443 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
048221,000944:
048222,000945: 15,3431 10002 OVRLINE CCS Q
048223,000946: 15,3432 13437 TCF OVRLINE1
048224,000947: 15,3433 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
048225,000948: 15,3434 55617 TS JNDX
048226,000949: 15,3435 41621 CS TON1
048227,000950: 15,3436 13442 TCF OVRLINE2 +1
048228,000951:
048229,000952: 15,3437 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
048230,000953: 15,3440 55567 TS VDT/180
048231,000954: 15,3441 35021 OVRLINE2 CA ZERO
048232,000955: 15,3442 55621 TS TON1
048233,000956: 15,3443 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
048234,000957: 15,3444 60000 DOUBLE
048235,000958: 15,3445 00006 EXTEND
048236,000959: 15,3446 73750 MP 180/8ATT
048237,000960: 15,3447 60000 DOUBLE # FOR SECOND BURN, A1
048238,000961: 15,3450 55607 TS TON2 # = TON2 / 4T
048239,000962:
048240,000963: 15,3451 40000 COM
048241,000964: 15,3452 00006 EXTEND
048242,000965: 15,3453 63457 BZMF GETOFF
048243,000966: 15,3454 55607 TS TON2
048244,000967: 15,3455 31617 CA JNDX
048245,000968: 15,3456 55620 TS JNDX1
048246,000969:
048247,000970: 15,3457 41607 GETOFF CS TON2 # TON2 / 4T
048248,000971: 15,3460 00006 EXTEND
048249,000972: 15,3461 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
048250,000973: 15,3462 55615 TS XD/360 # USE AS TEMP
048251,000974: 15,3463 41567 CS VDT/180
048252,000975: 15,3464 00006 EXTEND
048253,000976: 15,3465 13501 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
048254,000977: 15,3466 61613 AD -VT/180
048255,000978: 15,3467 00006 EXTEND
048256,000979: 15,3470 71621 MP TON1 # TON1 /4T
048257,000980: 15,3471 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
048258,000981: 15,3472 61614 AD LCX/360
048259,000982: 15,3473 22007 ZL
048260,000983: 15,3474 56001 XCH L # TEST THE DIVIDE
048261,000984: 15,3475 00006 EXTEND
048262,000985: 15,3476 11567 DV VDT/180
048263,000986: 15,3477 00006 EXTEND
048264,000987: 15,3500 13503 BZF GETOFF2 # DIVIDE OK
048265,000988:
048266,000989: 15,3501 35045 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
048267,000990: 15,3502 13510 TCF TIMSCAL
048268,000991:
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Page 1086 |
048270,000993: 15,3503 56001 GETOFF2 XCH L # GET NUMERATOR.
048271,000994: 15,3504 00006 EXTEND
048272,000995: 15,3505 11567 DV VDT/180 # C(A) = TOFF / 2T
048273,000996: 15,3506 00006 EXTEND
048274,000997: 15,3507 75045 MP 2JETT
048275,000998: 15,3510 55605 TIMSCAL TS TOFF # IN CS
048276,000999:
048277,001000: 15,3511 33751 CAF 4JETT
048278,001001: 15,3512 00006 EXTEND
048279,001002: 15,3513 71621 MP TON1 # C(TON1) = TON1 / 4T
048280,001003: 15,3514 55621 TS TON1 # IN CS
048281,001004:
048282,001005: 15,3515 33751 CAF 4JETT
048283,001006: 15,3516 00006 EXTEND
048284,001007: 15,3517 71607 MP TON2 # C(TON2) = TON2 / 4T
048285,001008: 15,3520 55607 TS TON2 # IN CS
048286,001009:
048287,001010: 15,3521 35021 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
048288,001011: 15,3522 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
048289,001012:
048290,001013: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
048291,001014: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON NEXT
048292,001015: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
048293,001016:
048294,001017: 15,3523 35017 CA ONE
048295,001018: 15,3524 54305 TS SW/NDX
048296,001019:
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|
Page 1087 |
048298,001021: # TIMETEST SECTION FOR RCS
048299,001022:
048300,001023: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASEABLE LOCS TON1, TOFF, TON2, JNDX
048301,001024: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
048302,001025: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
048303,001026: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
048304,001027: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
048305,001028: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
048306,001029: # SECTION JETCALL BELOW PROCESSES THIS LIST.
048307,001030:
048308,001031: 15,3525 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
048309,001032: 15,3526 65002 AD POS1/2
048310,001033: 15,3527 65002 AD POS1/2 # OVFL GUARANTEED.
048311,001034: 15,3530 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
048312,001035:
048313,001036: 15,3531 33746 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
048314,001037: # THE +2 REQUIRED FOR PROPER BRANCH.
048315,001038: 15,3532 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
048316,001039:
048317,001040: 15,3533 45016 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
048318,001041: 15,3534 61621 AD TON1
048319,001042: 15,3535 00006 EXTEND
048320,001043: 15,3536 63550 BZMF TIMETST1
048321,001044: 15,3537 51617 INDEX JNDX
048322,001045: 15,3540 33205 CAF P/RJCODE
048323,001046: 15,3541 55622 TS T1BITS
048324,001047:
048325,001048: 15,3542 31621 CA TON1
048326,001049: 15,3543 27712 ADS TUSED
048327,001050: 15,3544 00006 EXTEND
048328,001051: 15,3545 63552 BZMF TOFFTEST
048329,001052: 15,3546 35021 CA ZERO
048330,001053: 15,3547 13603 TCF TIMETST3
048331,001054: 15,3550 45017 TIMETST1 CS ONE
048332,001055: 15,3551 55621 TS TON1
048333,001056: 15,3552 45016 TOFFTEST CS TWO
048334,001057: 15,3553 61605 AD TOFF
048335,001058: 15,3554 00006 EXTEND
048336,001059: 15,3555 63564 BZMF TIMETST2
048337,001060: 15,3556 31605 CA TOFF
048338,001061: 15,3557 27712 ADS TUSED
048339,001062: 15,3560 00006 EXTEND
048340,001063: 15,3561 63566 BZMF TON2TEST
048341,001064: 15,3562 35021 CA ZERO
048342,001065: 15,3563 13605 TCF TIMETST4
048343,001066: 15,3564 45017 TIMETST2 CS ONE
048344,001067: 15,3565 55605 TS TOFF
048345,001068: 15,3566 45016 TON2TEST CS TWO
048346,001069: 15,3567 61607 AD TON2
048347,001070: 15,3570 00006 EXTEND
048348,001071: 15,3571 63606 BZMF TIMETST5
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|
Page 1088 |
048350,001073: 15,3572 51620 INDEX JNDX1
048351,001074: 15,3573 33205 CAF P/RJCODE
048352,001075: 15,3574 55610 TS T2BITS
048353,001076: 15,3575 31607 CA TON2
048354,001077: 15,3576 27712 ADS TUSED
048355,001078: 15,3577 00006 EXTEND
048356,001079: 15,3600 63610 BZMF JETCALL1
048357,001080: 15,3601 35021 CA ZERO
048358,001081: 15,3602 13607 TCF TIMETST5 +1
048359,001082: 15,3603 55621 TIMETST3 TS TON1
048360,001083: 15,3604 45017 CS ONE
048361,001084: 15,3605 55605 TIMETST4 TS TOFF
048362,001085: 15,3606 45017 TIMETST5 CS ONE
048363,001086: 15,3607 55607 TS TON2
048364,001087:
048365,001088: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
048366,001089: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
048367,001090: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
048368,001091: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
048369,001092: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
048370,001093: # THAN ONE REGISTER.
048371,001094:
048372,001095: 15,3610 35021 JETCALL1 CA ZERO
048373,001096: 15,3611 55611 TS OUTTAG
048374,001097: 15,3612 55612 TS NUJET
048375,001098: 15,3613 55606 TS TBITS
048376,001099: 15,3614 53622 DXCH TON1
048377,001100: 15,3615 10000 CCS A
048378,001101: 15,3616 13633 TCF JETCALL2 # CALL WTLST
048379,001102: 15,3617 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
048380,001103: 15,3620 45017 CS ONE
048381,001104: 15,3621 53606 DXCH TOFF
048382,001105: 15,3622 10000 CCS A
048383,001106: 15,3623 13633 TCF JETCALL2 # CALL WTLST
048384,001107: 15,3624 23612 LXCH NUJET
048385,001108: 15,3625 45017 CS ONE
048386,001109: 15,3626 53610 DXCH TON2
048387,001110: 15,3627 10000 CCS A
048388,001111: 15,3630 13633 TCF JETCALL2 # CALL WTLST
048389,001112: 15,3631 23612 LXCH NUJET
048390,001113: 15,3632 03642 TC JETACTN # C(A) = +0
048391,001114: 15,3633 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
048392,001115: 15,3634 27612 ADS NUJET
048393,001116: 15,3635 56001 XCH L
048394,001117: 15,3636 65017 AD ONE # RESTORE FOR CCS
048395,001118: 15,3637 05245 TC WAITLIST
048396,001119: 15,3640 E6,1661 EBANK= AOG
048397,001120: 15,3640 03650 32066 2CADR JETCALL
048398,001121:
048399,001122: 15,3642 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
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Page 1089 |
048401,001124: 15,3643 00006 EXTEND # NO NEED TO SAVE OLD CODES
048402,001125: 15,3644 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
048403,001126:
048404,001127: 15,3645 11611 CCS OUTTAG
048405,001128: 15,3646 05324 TC TASKOVER
048406,001129: 15,3647 03705 ROLLDUMP TC CM/FDAIR
048407,001130:
048408,001131: # EDIT DUMP AT ABOVE LOCATION.
048409,001132:
048410,001133: # WAITLIST ENTRIES COME HERE.
048411,001134:
048412,001135: 15,3650 35016 JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
048413,001136: 15,3651 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
048414,001137: 15,3652 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
048415,001138: 15,3653 00006 EXTEND
048416,001139: 15,3654 13643 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
048417,001140: 15,3655 22007 ZL # NO, CONTINUE.
048418,001141: 15,3656 13617 TCF JETCALL3 # C(A) POS, C(L) = +0
048419,001142:
048420,001143: # DEAD ZONE ENTRIES COME HERE.
048421,001144:
048422,001145: 15,3657 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
048423,001146: 15,3660 75017 MASK BIT1
048424,001147: 15,3661 54001 TS L # C(L)=0 FOR -0; C(L)=1 FOR -1 OR +0.
048425,001148: 15,3662 50000 INDEX A # ERASBLE ORDER: ROLLTM,ROLLC,ROLLC +1.
048426,001149: 15,3663 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
048427,001150: 15,3664 50001 INDEX L
048428,001151: 15,3665 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
048429,001152: 15,3666 60001 AD L # (BOTH MUST BE SCALED DEG/180)
048430,001153: 15,3667 02522 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC .
048431,001154: 15,3670 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE,
048432,001155: # OTHERWISE, SAVE ROLL COMMAND.
048433,001156:
048434,001157: 15,3671 35021 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
048435,001158: 15,3672 00006 EXTEND # INHINT NOT NEEDED HERE.
048436,001159: 15,3673 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
048437,001160: 15,3674 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
048438,001161: 15,3675 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
048439,001162: 15,3676 03647 TC ROLLDUMP
048440,001163:
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Page 1090 |
048442,001165: # CM ENTRY FDAI DISPLAY
048443,001166:
048444,001167: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS:
048445,001168: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
048446,001169: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
048447,001170: # ROLL ROLLC-ROLL
048448,001171: # PITCH ALFAC-ALFA
048449,001172: # YAW BETAC-BETA
048450,001173:
048451,001174: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
048452,001175: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
048453,001176:
048454,001177: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
048455,001178: 15,3677 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
048456,001179: 15,3700 00006 EXTEND
048457,001180: 15,3701 71506 MP CALFA # FOR ASSUMED COORDINATION.
048458,001181: 15,3702 00006 EXTEND
048459,001182: 15,3703 75002 MP HALF
048460,001183: 15,3704 27713 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
048461,001184:
048462,001185: # EDIT DUMP AT ABOVE LOCATION.
048463,001186: 15,3705 35002 CM/FDAIR CA HALF
048464,001187: 15,3706 00006 EXTEND
048465,001188: 15,3707 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
048466,001189: 15,3710 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
048467,001190:
048468,001191: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
048469,001192: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
048470,001193: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
048471,001194: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
048472,001195: # THE SUBSEQUENT PASS.
048473,001196:
048474,001197: 15,3711 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
048475,001198: 15,3712 54305 TS SW/NDX
048476,001199: 15,3713 00006 EXTEND # INDEX.
048477,001200: 15,3714 63720 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
048478,001201: # ENDBUF.
048479,001202: # INDEX IS POS FOR NEEDLES
048480,001203:
048481,001204: 15,3715 04740 TC IBNKCALL
048482,001205: 15,3716 42420 CADR NEEDLER
048483,001206:
048484,001207: 15,3717 03736 TC CM/END
048485,001208:
048486,001209: # INDEX IS NEG FOR TM FILE
048487,001210:
048488,001211: 15,3720 66214 CMTMFILE AD THREE
048489,001212: 15,3721 00006 EXTEND
048490,001213: 15,3722 63726 BZMF SAVENDX
048491,001214:
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Page 1091 |
048493,001216: 15,3723 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
048494,001217: 15,3724 54304 TS CMTMTIME
048495,001218: 15,3725 45025 CS THIRTEEN # INITIALIZE COUNTER
048496,001219: 15,3726 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
048497,001220: 15,3727 00006 EXTEND
048498,001221: 15,3730 31702 DCA PREL
048499,001222: 15,3731 50305 INDEX SW/NDX
048500,001223: 15,3732 52324 DXCH ENDBUF -1
048501,001224: 15,3733 31703 CA RREL
048502,001225: 15,3734 50305 INDEX SW/NDX
048503,001226: 15,3735 54325 TS ENDBUF +1
048504,001227:
048505,001228: 15,3736 31623 CM/END CA CM/SAVE
048506,001229: 15,3737 54021 TS SR
048507,001230: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
048508,001231:
048509,001232: 15,3740 00006 EXTEND
048510,001233: 15,3741 33745 DCA T5IDLER2
048511,001234: 15,3742 53313 DXCH T5LOC
048512,001235: 15,3743 05333 TC RESUME
048513,001236:
048514,001237: 15,3744 1312 EBANK= T5LOC
048515,001238: 15,3744 03153 12062 T5IDLER2 2CADR T5IDLOC
048516,001239:
048517,001240: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
048518,001241: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
048519,001242: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
048520,001243: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
048521,001244: # EACH 2 SECONDS.
048522,001245:
048523,001246: # THE SEQUENCE IS: SP TIME INITIAL TIME
048524,001247: # SWITCH ALSO INDEX.
048525,001248: # P ROLL RATE
048526,001249: # Q PITCH RATE
048527,001250: # R YAW RATE
048528,001251: # ETC.
048529,001252:
048530,001253: # CMTMTIME = UPBUFF
048531,001254: # SW/NDX = UPBUFF +1
048532,001255: # ENDBUF = UPBUFF +16D
048533,001256:
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Page 1092 |
048535,001258: # SPACER
048536,001259:
048537,001260: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
048538,001261: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
048539,001262: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
048540,001263: # XBUF = 4DEG
048541,001264:
048542,001265: 15,3746 77464 -T-3 DEC -203 B-14 # CS
048543,001266: 15,3747 00012 VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
048544,001267: 15,3750 5033 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
048545,001268: 15,3750 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
048546,001269: 15,3751 15,3753 -VMT/180 = -VM/360K # = 20 (2) / 180
048547,001270: 15,3751 5045 2JETT = 4SECS # CS 2 (2) 100 INTEGER
048548,001271: 15,3751 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
048549,001272: 15,3752 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
048550,001273: 15,3753 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
048551,001274: 15,3754 15,3750 1/16A1 = 180/8ATT
048552,001275: # 1/16A1 = 180/(16 A1 TT)
048553,001276: # = 180/(16 4.55 4)
048554,001277: 15,3754 00133 XS/360 DEC 91 B-14 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
048555,001278: 15,3755 15,3754 BUFLIM = XS/360 # 4/(2 360)
048556,001279:
048557,001280: 15,3755 5002 KTRCS = HALF # KT = (.25) 2 = .5
048558,001281:
048559,001282:
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc