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. |
044765,000002: ## Copyright: Public domain.
044766,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
044767,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
044768,000005: ## It is part of the source code for the Command Module's (CM)
044769,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
044770,000007: ## Assembler: yaYUL
044771,000008: ## Contact: Ron Burkey <info@sandroid.org>.
044772,000009: ## Website: www.ibiblio.org/apollo.
044773,000010: ## Pages: 1002-1024
044774,000011: ## Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
044775,000012: ## same name, using Comanche055 page images.
044776,000013: ## 2016-12-21 RSB Proofed comment text using octopus/ProoferComments
044777,000014: ## and corrected the errors found.
044778,000015: ## 2017-01-18 RSB Fixed comment-text errors noted while diff'ing
044779,000016: ## vs Colossus 249.
044780,000017: ##
044781,000018: ## This source code has been transcribed or otherwise adapted from digitized
044782,000019: ## images of a hardcopy from the MIT Museum. The digitization was performed
044783,000020: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
044784,000021: ## thanks to both. The images (with suitable reduction in storage size and
044785,000022: ## consequent reduction in image quality as well) are available online at
044786,000023: ## www.ibiblio.org/apollo. If for some reason you find that the images are
044787,000024: ## illegible, contact me at info@sandroid.org about getting access to the
044788,000025: ## (much) higher-quality images which Paul actually created.
044789,000026: ##
044790,000027: ## Notations on the hardcopy document read, in part:
044791,000028: ##
044792,000029: ## Assemble revision 055 of AGC program Comanche by NASA
044793,000030: ## 2021113-051. 10:28 APR. 1, 1969
044794,000031: ##
044795,000032: ## This AGC program shall also be referred to as
044796,000033: ## Colossus 2A
044797,000034:
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Page 1002 |
044799,000036: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
044800,000037:
044801,000038: # START OF T5 INTERRUPT PROGRAM
044802,000039:
044803,000040: 20,3612 BANK 20
044804,000041: 21,2000 SETLOC DAPS3
044805,000042: 21,2000 BANK
044806,000043:
044807,000044: 21,2105 COUNT 21/DAPRC
044808,000045:
044809,000046: 21,2105 E6,1510 EBANK= KMPAC
044810,000047: 21,2105 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
044811,000048: 21,2106 31465 CA T5PHASE # ON A T5 RUPT.
044812,000049: 21,2107 00006 EXTEND
044813,000050: 21,2110 62112 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
044814,000051: 21,2111 12114 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
044815,000052: 21,2112 45017 CS ONE
044816,000053: 21,2113 55465 TS T5PHASE
044817,000054: 21,2114 00006 EXTEND
044818,000055: 21,2115 32121 DCA RCSLOC
044819,000056: 21,2116 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
044820,000057: 21,2117 12123 TCF RCSATT +1
044821,000058: 21,2120 E6,1510 EBANK= KMPAC
044822,000059: 21,2120 02122 42066 RCSLOC 2CADR RCSATT
044823,000060:
044824,000061: 21,2122 22016 RCSATT LXCH BANKRUPT # SAVE BB
044825,000062: 21,2123 00006 EXTEND # SAVE Q
044826,000063: 21,2124 22012 QXCH QRUPT
044827,000064: 21,2125 35001 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
044828,000065: 21,2126 00006 EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
044829,000066: 21,2127 02031 RAND CHAN31 # PILOT IS FULLY ENABLED)
044830,000067: 21,2130 00006 EXTEND
044831,000068: 21,2131 12160 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
044832,000069: # GO TO SETT5
044833,000070:
044834,000071: 21,2132 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
044835,000072: 21,2133 75002 MASK BIT14
044836,000073: 21,2134 27501 ADS RCSFLAGS # SET NORATE FLAG,
044837,000074: 21,2135 34777 CAF POSMAX
044838,000075: 21,2136 55332 TS HOLDFLAG # SET HOLDFLAG +,
044839,000076: 21,2137 35021 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
044840,000077: 21,2140 55567 TS ERRORX
044841,000078: 21,2141 55570 TS ERRORY
044842,000079: 21,2142 55571 TS ERRORZ
044843,000080: 21,2143 35002 CAF BIT14
044844,000081: 21,2144 00006 EXTEND
044845,000082: 21,2145 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
044846,000083: 21,2146 00006 EXTEND
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Page 1003 |
044848,000085: 21,2147 12160 BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
044849,000086:
044850,000087: 21,2150 55465 TS T5PHASE # IF NOT IN FREE MODE,
044851,000088: 21,2151 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
044852,000089: 21,2152 54030 TS TIME5 # IN 100 MS VIA T5RUPT
044853,000090:
044854,000091: 21,2153 02632 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
044855,000092:
044856,000093: 21,2154 12350 TCF KMATRIX
044857,000094: 21,2155 37770 DELTATT OCT 37770 # 80MS (TIME5)
044858,000095: 21,2156 37776 DELTATT2 OCT 37776 # 20MS (TIME5)
044859,000096: 21,2157 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5)
044860,000097: 21,2160 CHAN5 EQUALS 5
044861,000098: 21,2160 CHAN6 EQUALS 6
044862,000099: 21,2160 7671 PRIO34A = PRIO34
044863,000100:
044864,000101: # CHECK PHASE OF T5 PROGRAM
044865,000102:
044866,000103: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
044867,000104: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
044868,000105: # TO ALLOW FOR THE EXECUTION OF OTHER
044869,000106: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
044870,000107: # VARIABLES AT TURN ON.
044871,000108:
044872,000109: # THE CODING OF T5PHASE IS...
044873,000110:
044874,000111: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
044875,000112: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
044876,000113: # - = RESTART DAP
044877,000114: # -0 = PHASE1 OF THE T5 PROGRAM
044878,000115:
044879,000116: 21,2160 11465 SETT5 CCS T5PHASE
044880,000117: 21,2161 12544 TCF FRESHDAP # TURN ON AUTOPILOT
044881,000118: 21,2162 12661 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
044882,000119: 21,2163 12546 TCF REDAP # RESTART AUTOPILOT
044883,000120:
044884,000121: 21,2164 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
044885,000122: 21,2165 30030 CA TIME5
044886,000123: 21,2166 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
044887,000124: 21,2167 32156 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
044888,000125: 21,2170 54030 TS TIME5 # OF PROGRAM
044889,000126:
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Page 1004 |
044891,000128: # IMU STATUS CHECK
044892,000129:
044893,000130: 21,2171 41321 CS IMODES33 # CHECK IMU STATUS
044894,000131: 21,2172 75012 MASK BIT6 # BIT6 = 0 IMU OK
044895,000132: 21,2173 10000 CCS A # BIT6 = 1 NO IMU
044896,000133: 21,2174 12210 TCF RATEFILT
044897,000134: 21,2175 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
044898,000135: 21,2176 75002 MASK BIT14 # INITIALIZED
044899,000136: 21,2177 27501 ADS RCSFLAGS
044900,000137: 21,2200 35002 CAF BIT14 # NO ATTITUDE REFERENCE
044901,000138: 21,2201 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
044902,000139: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
044903,000140: # ATTITUDE HOLD
044904,000141: 21,2202 00006 EXTEND
044905,000142: 21,2203 02031 RAND CHAN31 # CHECK FOR FREE MODE
044906,000143: 21,2204 00006 EXTEND
044907,000144: 21,2205 12417 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
044908,000145: 21,2206 12534 TCF REINIT # .....TILT...............................
044909,000146: 21,2207 00030 BITS4,5 OCT 30
044910,000147:
044911,000148: 21,2210 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
044912,000149: 21,2211 75002 MASK BIT14
044913,000150: 21,2212 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
044914,000151: 21,2213 12215 BZF +2
044915,000152: 21,2214 12350 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
044916,000153:
044917,000154: # RATE FILTER TIMING = 7.72 MS
044918,000155:
044919,000156: # RATE FILTER EQUATIONS
044920,000157:
044921,000158:
044922,000159: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
044923,000160: # -1
044924,000161:
044925,000162: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
044926,000163: # -1
044927,000164: # - * - -
044928,000165: # WHERE DELRHO = AMGB (CDU - CDU )
044929,000166: # -1
044930,000167:
044931,000168: 21,2215 35016 CAF TWO
044932,000169: 21,2216 55506 DRHOLOOP TS SPNDX
044933,000170: 21,2217 60000 DOUBLE
044934,000171: 21,2220 55507 TS DPNDX
044935,000172: 21,2221 51507 INDEX DPNDX
044936,000173: 21,2222 41552 CS DRHO # DRHO SCALED 180 DEGS
044937,000174: 21,2223 00006 EXTEND
044938,000175: 21,2224 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
044939,000176: 21,2225 73077 MP GAIN1
044940,000177: 21,2226 51507 INDEX DPNDX
044941,000178: 21,2227 21553 DAS DRHO # (1 -.064) DRHO
044942,000179: 21,2230 00006 EXTEND
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Page 1005 |
044944,000181: 21,2231 51507 INDEX DPNDX
044945,000182: 21,2232 41534 DCS ADOT
044946,000183: 21,2233 53511 DXCH KMPAC # -(.1)ADOT
044947,000184: 21,2234 35003 CA QUARTER
044948,000185: 21,2235 02042 TC SMALLMP
044949,000186: 21,2236 53511 DXCH KMPAC
044950,000187: 21,2237 51507 INDEX DPNDX
044951,000188: 21,2240 21553 DAS DRHO
044952,000189: 21,2241 11506 CCS SPNDX
044953,000190: 21,2242 12216 TCF DRHOLOOP
044954,000191:
044955,000192: 21,2243 30032 CA CDUX # MEASURED BODY RATES--
044956,000193: 21,2244 57635 XCH RHO
044957,000194: 21,2245 00006 EXTEND
044958,000195: 21,2246 21635 MSU RHO # - * - -
044959,000196: 21,2247 40000 COM # DELRHO = AMGB (CDU - CDU )
044960,000197: # -1
044961,000198: 21,2250 22007 ZL
044962,000199: 21,2251 53516 DXCH DELTEMPX
044963,000200: 21,2252 30033 CA CDUY
044964,000201: 21,2253 57636 XCH RHO1
044965,000202: 21,2254 00006 EXTEND
044966,000203: 21,2255 21636 MSU RHO1
044967,000204: 21,2256 40000 COM
044968,000205: 21,2257 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
044969,000206: 21,2260 00006 EXTEND
044970,000207: 21,2261 71640 MP AMGB1
044971,000208: 21,2262 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
044972,000209: # MUST BE DOUBLE PRECISION OR WILL LOSE
044973,000210: # PULSES
044974,000211: 21,2263 31641 CA AMGB4
044975,000212: 21,2264 00006 EXTEND
044976,000213: 21,2265 71502 MP T5TEMP
044977,000214: 21,2266 53520 DXCH DELTEMPY
044978,000215: 21,2267 31643 CA AMGB7
044979,000216: 21,2270 00006 EXTEND
044980,000217: 21,2271 71502 MP T5TEMP
044981,000218: 21,2272 53522 DXCH DELTEMPZ
044982,000219: 21,2273 30034 CA CDUZ
044983,000220: 21,2274 57637 XCH RHO2
044984,000221: 21,2275 00006 EXTEND
044985,000222: 21,2276 21637 MSU RHO2
044986,000223: 21,2277 40000 COM
044987,000224: 21,2300 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
044988,000225: 21,2301 00006 EXTEND
044989,000226: 21,2302 71642 MP AMGB5
044990,000227: 21,2303 21520 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
044991,000228: # + AMGB5(CDUZ-RHO2)
044992,000229: 21,2304 31644 CA AMGB8
044993,000230: 21,2305 00006 EXTEND
044994,000231:
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Page 1006 |
044996,000233: 21,2306 71502 MP T5TEMP
044997,000234: 21,2307 21522 DAS DELTEMPZ # DELTEMPZ = AMGB7(CDUY-RHO1)
044998,000235: # + AMGB8(CDUZ-RHO2)
044999,000236: 21,2310 35016 CAF TWO
045000,000237: 21,2311 55506 ADOTLOOP TS SPNDX
045001,000238: 21,2312 60000 DOUBLE
045002,000239: 21,2313 55507 TS DPNDX
045003,000240: 21,2314 00006 EXTEND
045004,000241: 21,2315 51507 INDEX DPNDX
045005,000242: 21,2316 31516 DCA DELTEMPX
045006,000243: 21,2317 51507 INDEX DPNDX
045007,000244: 21,2320 21553 DAS DRHO
045008,000245: 21,2321 00006 EXTEND
045009,000246: 21,2322 51507 INDEX DPNDX
045010,000247: 21,2323 31516 DCA DELTEMPX
045011,000248: 21,2324 51507 INDEX DPNDX
045012,000249: 21,2325 21542 DAS MERRORX
045013,000250: 21,2326 51507 INDEX DPNDX
045014,000251: 21,2327 31552 CA DRHO
045015,000252: 21,2330 60000 DOUBLE # N.B.
045016,000253: 21,2331 60000 DOUBLE # N.B.
045017,000254: 21,2332 00006 EXTEND
045018,000255: 21,2333 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
045019,000256: 21,2334 73115 MP GAIN2
045020,000257: 21,2335 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
045021,000258: 21,2336 21534 DAS ADOT # -1
045022,000259: 21,2337 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
045023,000260: 21,2340 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
045024,000261: 21,2341 00006 EXTEND
045025,000262: 21,2342 51506 INDEX SPNDX
045026,000263: 21,2343 71547 MP DFT
045027,000264: 21,2344 51507 INDEX DPNDX
045028,000265: 21,2345 21534 DAS ADOT # KMJ(DFT)
045029,000266: 21,2346 11506 CCS SPNDX
045030,000267: 21,2347 12311 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
045031,000268: 21,2350 31560 KMATRIX CA ATTSEC
045032,000269: 21,2351 75026 MASK LOW4
045033,000270: 21,2352 10000 CCS A
045034,000271: 21,2353 12361 TCF TENTHSEK
045035,000272: 21,2354 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
045036,000273: 21,2355 05134 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
045037,000274: 21,2356 E6,1510 EBANK= KMPAC
045038,000275: 21,2356 03447 44066 2CADR AMBGUPDT
045039,000276:
045040,000277: 21,2360 34334 CAF NINE
045041,000278:
045042,000279: 21,2361 55560 TENTHSEK TS ATTSEC
045043,000280:
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Page 1007 |
045045,000282: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
045046,000283: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
045047,000284:
045048,000285: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
045049,000286: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
045050,000287: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
045051,000288:
045052,000289: # THE STEERING PROGRAMS-
045053,000290: # 1) ATTITUDE MANEUVER ROUTINE
045054,000291: # 2) LEM TRACKING
045055,000292:
045056,000293: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
045057,000294: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
045058,000295:
045059,000296: # HOLDFLAG CODING-
045060,000297:
045061,000298: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
045062,000299: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
045063,000300: # ALSO IGNORE AUTOMATIC STEERING
045064,000301: # SET = + BY
045065,000302: # 1) INITIALIZATION PHASE OF AUTOPILOT
045066,000303: # 2) OCCURANCE OF RHC COMMANDS
045067,000304: # 3) FREE MODE
045068,000305: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
045069,000306: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
045070,000307: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
045071,000308: # FUNCTIONS AS IF IT WERE.)
045072,000309: # 5) S/C CONTROL SWITCH IN SCS
045073,000310: # 6) IMU POWER OFF
045074,000311: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
045075,000312: # - = PERFORMING AUTOMATIC MANEUVER
045076,000313: # -0 = NOT USED AT PRESENT
045077,000314:
045078,000315: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
045079,000316: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
045080,000317: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
045081,000318:
045082,000319: 21,2362 41332 CS HOLDFLAG
045083,000320: 21,2363 00006 EXTEND
045084,000321: 21,2364 62411 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
045085,000322: # COMMANDS
045086,000323: 21,2365 35016 DCDUINCR CAF TWO
045087,000324: 21,2366 55506 DELOOP TS SPNDX
045088,000325: 21,2367 60000 DOUBLE
045089,000326: 21,2370 55507 TS DPNDX
045090,000327: 21,2371 00006 EXTEND
045091,000328: 21,2372 50000 INDEX A
045092,000329: 21,2373 31647 DCA CDUXD
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Page 1008 |
045094,000331: 21,2374 53511 DXCH KMPAC
045095,000332: 21,2375 00006 EXTEND
045096,000333: 21,2376 51507 INDEX DPNDX
045097,000334: 21,2377 31576 DCA DELCDUX
045098,000335: 21,2400 02054 TC DPADD
045099,000336: 21,2401 00006 EXTEND
045100,000337: 21,2402 31511 DCA KMPAC
045101,000338: 21,2403 51506 INDEX SPNDX
045102,000339: 21,2404 55572 TS THETADX
045103,000340: 21,2405 51507 INDEX DPNDX
045104,000341: 21,2406 53647 DXCH CDUXD
045105,000342: 21,2407 11506 CCS SPNDX
045106,000343: 21,2410 12366 TCF DELOOP
045107,000344:
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Page 1009 |
045109,000346: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
045110,000347:
045111,000348: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
045112,000349:
045113,000350: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
045114,000351: # GENERATED INTERNALLY BY THE AUTOPILOT
045115,000352:
045116,000353: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
045117,000354: # WITH RESPECT TO THE CONTENTS OF N22
045118,000355:
045119,000356: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
045120,000357: # WITH RESPECT TO THE CONTENTS OF N17
045121,000358:
045122,000359: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
045123,000360: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
045124,000361:
045125,000362: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
045126,000363: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
045127,000364: # AS A FLY-TO INDICATOR.
045128,000365:
045129,000366: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
045130,000367: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
045131,000368: # AS A FLY-TO INDICATOR.
045132,000369:
045133,000370: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
045134,000371: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
045135,000372:
045136,000373: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
045137,000374: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
045138,000375: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
045139,000376:
045140,000377: 21,2411 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
045141,000378: 21,2412 75014 MASK BIT4
045142,000379: 21,2413 00006 EXTEND
045143,000380: 21,2414 13160 BZF FDAIDSP2
045144,000381:
045145,000382: 21,2415 27501 FDAIDSP1 ADS RCSFLAGS
045146,000383: 21,2416 02420 TC NEEDLER
045147,000384: 21,2417 15333 KRESUME1 TCF RESUME # END PHASE 1
045148,000385:
|
|
Page 1010 |
045150,000387: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
045151,000388:
045152,000389: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
045153,000390:
045154,000391: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
045155,000392: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
045156,000393: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
045157,000394: # THE DACS.
045158,000395:
045159,000396: # CALLING SEQUENCE:
045160,000397:
045161,000398: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
045162,000399: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
045163,000400:
045164,000401: # CS RCSFLAGS IN EBANK6
045165,000402: # MASK BIT3
045166,000403: # ADS RCSFLAGS
045167,000404:
045168,000405: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
045169,000406:
045170,000407: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
045171,000408: # AK1 SCALED 180 DEGREES TO CHANGE
045172,000409: # AK2 SCALED 180 DEGREES
045173,000410:
045174,000411: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
045175,000412: # (= 384 BITS IN IMU ERROR COUNTER)
045176,000413:
045177,000414: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
045178,000415:
045179,000416: # INHINT
045180,000417: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
045181,000418: # CADR NEEDLER
045182,000419: # RELINT
045183,000420:
045184,000421: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
045185,000422: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
045186,000423: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
045187,000424:
045188,000425: # ERASABLE USED:
045189,000426: # AK CDUXCMD
045190,000427: # AK1 CDUYCMD
045191,000428: # AK2 CDUZCMD
045192,000429: # EDRIVEX A,L,Q
045193,000430: # EDRIVEY T5TEMP
045194,000431: # EDRIVEZ SPNDX
045195,000432:
045196,000433: # SWITCHES: RCSFLAGS BITS 3,2
045197,000434:
045198,000435: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
|
|
Page 1011 |
045200,000437: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
045201,000438: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
045202,000439:
045203,000440: # SIGN CONVENTION< AK = THETAC - THETA
045204,000441: # WHERE THETAC = COMMAND ANGLE
045205,000442: # THETA = PRESENT ANGLE
045206,000443:
045207,000444: 21,2420 35014 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
045208,000445: 21,2421 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
045209,000446: 21,2422 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
045210,000447: 21,2423 00006 EXTEND
045211,000448: 21,2424 12431 BZF NEEDLER1
045212,000449: 21,2425 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
045213,000450: 21,2426 75015 MASK BIT3
045214,000451: 21,2427 27501 ADS RCSFLAGS
045215,000452: 21,2430 00002 TC Q
045216,000453:
045217,000454: 21,2431 31501 NEEDLER1 CA RCSFLAGS
045218,000455: 21,2432 76211 MASK SIX
045219,000456: 21,2433 00006 EXTEND
045220,000457: 21,2434 12471 BZF NEEDLES3
045221,000458: 21,2435 75015 MASK BIT3
045222,000459: 21,2436 00006 EXTEND
045223,000460: 21,2437 12462 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
045224,000461:
045225,000462: 21,2440 45012 CS BIT6 # FIRST PASS BIT3 = 1
045226,000463: 21,2441 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
045227,000464: 21,2442 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
045228,000465: 21,2443 45021 NEEDLE11 CS ZERO # ENABLING COUNTERS.
045229,000466: 21,2444 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
045230,000467: 21,2445 55477 TS AK1
045231,000468: 21,2446 55500 TS AK2
045232,000469: 21,2447 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
045233,000470: 21,2450 55504 TS EDRIVEY
045234,000471: 21,2451 55505 TS EDRIVEZ
045235,000472: 21,2452 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
045236,000473: 21,2453 54051 TS CDUYCMD
045237,000474: 21,2454 54052 TS CDUZCMD
045238,000475: 21,2455 46211 CS SIX # RESET RCSFLAGS FOR PASS2
045239,000476: 21,2456 71501 MASK RCSFLAGS
045240,000477: 21,2457 65016 AD BIT2
045241,000478: 21,2460 55501 TS RCSFLAGS
045242,000479: 21,2461 00002 TC Q # END PASS1
045243,000480:
045244,000481: 21,2462 35012 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
045245,000482: 21,2463 00006 EXTEND
045246,000483: 21,2464 05012 WOR CHAN12
045247,000484: 21,2465 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
|
|
Page 1012 |
045249,000486: 21,2466 71501 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
045250,000487: 21,2467 55501 TS RCSFLAGS # RELAY CLOSURE
045251,000488: 21,2470 00002 TC Q
045252,000489:
045253,000490: 21,2471 35012 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
045254,000491: 21,2472 00006 EXTEND # IS ENABLED
045255,000492: 21,2473 02012 RAND CHAN12
045256,000493: 21,2474 00006 EXTEND # IF NOT RECYCLE NEEDLES
045257,000494: 21,2475 12425 BZF NEEDLER +5
045258,000495:
045259,000496: 21,2476 35016 NEEDLES CAF TWO
045260,000497: 21,2477 55506 DACLOOP TS SPNDX
045261,000498: 21,2500 45003 CS QUARTER
045262,000499: 21,2501 00006 EXTEND
045263,000500: 21,2502 51506 INDEX SPNDX
045264,000501: 21,2503 71476 MP AK
045265,000502: 21,2504 54001 TS L
045266,000503: 21,2505 10000 CCS A
045267,000504: 21,2506 32542 CA DACLIMIT
045268,000505: 21,2507 12511 TCF +2
045269,000506: 21,2510 42542 CS DACLIMIT
045270,000507: 21,2511 60001 AD L
045271,000508: 21,2512 55502 TS T5TEMP # OVFLO CHK
045272,000509: 21,2513 12517 TCF +4
045273,000510: 21,2514 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
045274,000511: 21,2515 32542 CAF DACLIMIT
045275,000512: 21,2516 54001 TS L
045276,000513: 21,2517 51506 INDEX SPNDX
045277,000514: 21,2520 41503 CS EDRIVEX # CURRENT VALUE OF DAC
045278,000515: 21,2521 60001 AD L
045279,000516: 21,2522 51506 INDEX SPNDX
045280,000517: 21,2523 26050 ADS CDUXCMD
045281,000518: 21,2524 51506 INDEX SPNDX
045282,000519: 21,2525 23503 LXCH EDRIVEX
045283,000520: 21,2526 11506 CCS SPNDX
045284,000521: 21,2527 12477 TCF DACLOOP
045285,000522: 21,2530 37707 CAF 13,14,15
045286,000523: 21,2531 00006 EXTEND
045287,000524: 21,2532 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
045288,000525: 21,2533 00002 TC Q
045289,000526:
045290,000527: 21,2534 32540 REINIT CAF DELAY200 # ........TILT LOGIC
045291,000528: 21,2535 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
045292,000529: 21,2536 55465 TS T5PHASE
045293,000530: 21,2537 15333 TCF RESUME
045294,000531: 21,2540 37754 DELAY200 DEC 16364 B-14 # 200MS
045295,000532:
045296,000533: 21,2541 77177 DEC -384 B-14
045297,000534:
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|
Page 1013 |
045299,000536: 21,2542 37200 DACLIMIT DEC 16000 B-14
045300,000537: 21,2543 00600 DEC 384 B-14
045301,000538:
|
|
Page 1014 |
045303,000540: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
045304,000541:
045305,000542: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
045306,000543:
045307,000544: # WBODY (+1) DFT TAU2
045308,000545: # WBODY1 (+1) DFT1 BIAS
045309,000546: # WBODY2 (+1) DFT2 BIAS1
045310,000547: # ADOT (+1) DRHO (+1) BIAS2
045311,000548: # ADOT1 (+1) DRHO1 (+1) ERRORX
045312,000549: # ADOT2 (+1) DRHO2 (+1) ERRORY
045313,000550: # MERRORX (+1) ATTSEC ERRORZ
045314,000551: # MERRORY (+1) TAU
045315,000552: # MERRORZ (+1) TAU1
045316,000553:
045317,000554: 21,2544 35017 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
045318,000555: 21,2545 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
045319,000556: # ATTITUDE HOLD REFERENCE
045320,000557:
045321,000558: 21,2546 04740 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
045322,000559: 21,2547 40347 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
045323,000560:
045324,000561: 21,2550 04740 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
045325,000562: 21,2551 40500 CADR S40.14 # TO AUTOPILOT GAINS
045326,000563:
045327,000564: 21,2552 32623 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
045328,000565: 21,2553 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
045329,000566: 21,2554 35021 CAF ZERO
045330,000567: 21,2555 51506 INDEX SPNDX
045331,000568: 21,2556 55525 TS WBODY
045332,000569: 21,2557 11506 CCS SPNDX
045333,000570: 21,2560 12553 TCF ZEROT5
045334,000571: 21,2561 02632 TCR ZEROJET
045335,000572:
045336,000573: 21,2562 45021 CS ZERO
045337,000574: 21,2563 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
045338,000575:
045339,000576: 21,2564 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
045340,000577: # MANUAL RATE MODES
045341,000578:
045342,000579: 21,2565 32624 CAF =.24
045343,000580: 21,2566 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
045344,000581:
045345,000582: 21,2567 35015 CAF FOUR
045346,000583: 21,2570 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
045347,000584: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
045348,000585: # IN (80MS - T5TIME(40MS)). THEREFORE
045349,000586: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
045350,000587: # MS FROM NOW AND EVERY 100MS THEREAFTER
045351,000588:
045352,000589: 21,2571 35024 CAF ELEVEN
045353,000590: 21,2572 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
045354,000591: # TO INITIALIZE THE S/C ANGULAR RATES
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|
Page 1015 |
045356,000593: 21,2573 30032 CA CDUX
045357,000594: 21,2574 55635 TS RHO
045358,000595: 21,2575 30033 CA CDUY
045359,000596: 21,2576 55636 TS RHO1
045360,000597: 21,2577 30034 CA CDUZ
045361,000598: 21,2600 55637 TS RHO2
045362,000599: 21,2601 35021 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
045363,000600: 21,2602 55465 TS T5PHASE # PHASE2 OF PROGRAM
045364,000601:
045365,000602: 21,2603 41321 CS IMODES33 # CHECK IMU STATUS
045366,000603: 21,2604 75012 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
045367,000604: 21,2605 10000 CCS A # IF BIT6 = 1 IMU NOT READY
045368,000605: 21,2606 12612 TCF IMUAOK
045369,000606: 21,2607 55617 TS ATTKALMN # CANNOT USE IMU
045370,000607: 21,2610 32626 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
045371,000608: 21,2611 12617 TCF RCSSWIT # DONT START UP RATE FILTER
045372,000609: # SIGNAL NO RATE FILTER
045373,000610:
045374,000611: 21,2612 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
045375,000612: 21,2613 05134 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
045376,000613: 21,2614 E6,1510 EBANK= KMPAC
045377,000614: 21,2614 03447 44066 2CADR AMBGUPDT
045378,000615:
045379,000616: 21,2616 32625 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
045380,000617: 21,2617 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
045381,000618: # SET BIT3 -INITIALIZE NEEDLES
045382,000619: # CLEAR BIT4 -RESET FOR FDAIDSP1
045383,000620: 21,2620 32627 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
045384,000621: # ERROR COUNTER TO ZERO.
045385,000622: # (MINIMUM DELAY = 15 MS)
045386,000623: 21,2621 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
045387,000624: 21,2622 05333 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
045388,000625: # FILTER WILL BEGIN OPERATING ZOOMS FROM
045389,000626: # NOW
045390,000627:
045391,000628: # CONSTANTS USED IN INITIALIZATION PROGRAM
045392,000629:
045393,000630: 21,2623 00044 NO.T5VAR DEC 36 B-14
045394,000631: 21,2624 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
045395,000632: 21,2625 00004 RCSINIT OCT 00004
045396,000633: 21,2626 20004 RCSINITB OCT 20004
045397,000634: 21,2627 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
045398,000635: 21,2630 E6,1510 EBANK= KMPAC
045399,000636: 21,2630 03617 36066 T6ADDR 2CADR T6START
045400,000637:
045401,000638: 21,2632 35024 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
045402,000639: 21,2633 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
045403,000640: 21,2634 35021 CAF ZERO # AND RWORD1.
045404,000641:
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|
Page 1016 |
045406,000643: 21,2635 51506 INDEX SPNDX
045407,000644: 21,2636 55451 TS RWORD1
045408,000645: 21,2637 11506 CCS SPNDX
045409,000646: 21,2640 12633 TCF ZEROJET +1
045410,000647:
045411,000648: 21,2641 35015 CAF FOUR
045412,000649: 21,2642 55462 TS BLAST1 +1
045413,000650: 21,2643 35024 CAF ELEVEN
045414,000651: 21,2644 55464 TS BLAST2 +1
045415,000652:
045416,000653: 21,2645 45017 CS BIT1
045417,000654: 21,2646 71501 MASK RCSFLAGS
045418,000655: 21,2647 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
045419,000656:
045420,000657: 21,2650 00006 EXTEND
045421,000658: 21,2651 32631 DCA T6ADDR
045422,000659: 21,2652 53311 DXCH T6LOC
045423,000660: 21,2653 33050 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
045424,000661: 21,2654 54031 TS TIME6
045425,000662: 21,2655 35001 CAF BIT15
045426,000663: 21,2656 00006 EXTEND
045427,000664: 21,2657 05013 WOR CHAN13
045428,000665:
045429,000666: 21,2660 00002 TC Q
045430,000667:
045431,000668: 21,2661 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
045432,000669: 21,2662 13146 TCF KALUPDT
045433,000670:
045434,000671: 21,2663 12665 TCF +2 # ONLY IF ATTKALMN POSITIVE
045435,000672: 21,2664 12665 TCF +1
045436,000673: 21,2665 32156 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
045437,000674: 21,2666 56030 XCH TIME5 # (JET SELECTION LOGIC)
045438,000675: 21,2667 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
045439,000676:
045440,000677: 21,2670 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
045441,000678: 21,2671 75001 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
045442,000679: 21,2672 00006 EXTEND # ATTKALMN TO -1
045443,000680: 21,2673 12675 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
045444,000681: 21,2674 45017 CS ONE
045445,000682: 21,2675 55617 NOHIAUTO TS ATTKALMN
045446,000683:
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|
Page 1017 |
045448,000685: # MANUAL ROTATION COMMANDS
045449,000686:
045450,000687: 21,2676 43032 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
045451,000688: 21,2677 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
045452,000689: 21,2700 55501 TS RCSFLAGS
045453,000690:
045454,000691: 21,2701 00006 EXTEND
045455,000692: 21,2702 00031 READ CHAN31
045456,000693: 21,2703 54001 TS L
045457,000694: 21,2704 31632 CA CH31TEMP
045458,000695: 21,2705 00006 EXTEND
045459,000696: 21,2706 06001 RXOR LCHAN
045460,000697: 21,2707 73036 MASK MANROT # = OCT00077
045461,000698: 21,2710 00006 EXTEND
045462,000699: 21,2711 62724 BZMF NOCHANGE
045463,000700:
045464,000701: 21,2712 22000 LXCH A
045465,000702: 21,2713 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
045466,000703:
045467,000704: 21,2714 30001 CA L
045468,000705: 21,2715 00006 EXTEND
045469,000706: 21,2716 75013 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
045470,000707: 21,2717 30001 CA L
045471,000708: 21,2720 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
045472,000709: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
045473,000710: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
045474,000711: # PITCH
045475,000712:
045476,000713: 21,2721 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND
045477,000714: 21,2722 73037 MASK OCT16000 # 11 OF RCSFLAGS)
045478,000715: 21,2723 27501 ADS RCSFLAGS
045479,000716:
045480,000717: 21,2724 41632 NOCHANGE CS CH31TEMP
045481,000718: 21,2725 73036 MASK MANROT
045482,000719: 21,2726 00006 EXTEND
045483,000720: 21,2727 63250 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
045484,000721:
045485,000722: 21,2730 55332 TS HOLDFLAG # SET HOLDFLAG +
045486,000723:
045487,000724: 21,2731 03130 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
045488,000725: # YMANNDX, AND RMANNDX ARE ALL SET, BY
045489,000726: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
045490,000727: # +, OR - ROTATION RESPECTIVELY AS
045491,000728: # COMMANDED BY THE RHC.
045492,000729:
045493,000730: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
045494,000731: # THE RHC IS RETURNED TO DETENT, THE
045495,000732: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
045496,000733: # STICKCHK SO PMANNDX, YMANNDX, AND
045497,000734: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
045498,000735: # LEFT SET TO THEIR LAST OUT OF DETENT
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|
Page 1018 |
045500,000737: # VALUES.
045501,000738:
045502,000739: 21,2732 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
045503,000740: 21,2733 75002 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
045504,000741: 21,2734 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
045505,000742:
045506,000743: 21,2735 35002 CAF BIT14
045507,000744: 21,2736 00006 EXTEND
045508,000745: 21,2737 02031 RAND CHAN31
045509,000746: 21,2740 00006 EXTEND
045510,000747: 21,2741 63051 BZMF FREEFUNC
045511,000748:
045512,000749: 21,2742 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
045513,000750: 21,2743 75002 MASK BIT14 # HAS BEEN INITIALIZED
045514,000751: 21,2744 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
045515,000752: 21,2745 12534 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
045516,000753:
045517,000754: 21,2746 45022 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
045518,000755: 21,2747 61130 AD RATEINDX # ATTKALMN TO -1.
045519,000756: 21,2750 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
045520,000757: 21,2751 62754 BZMF +3
045521,000758: 21,2752 45017 CS ONE
045522,000759: 21,2753 55617 TS ATTKALMN
045523,000760:
045524,000761: 21,2754 35016 CAF TWO # AUTO-HOLD MANUAL ROTATION
045525,000762: 21,2755 55506 SETWBODY TS SPNDX
045526,000763: 21,2756 60000 DOUBLE
045527,000764: 21,2757 55507 TS DPNDX
045528,000765: 21,2760 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
045529,000766: 21,2761 31656 CA RMANNDX # = 1 + ROTATION
045530,000767: 21,2762 00006 EXTEND # = 2 - ROTATION
045531,000768: 21,2763 13005 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
045532,000769: # GO TO NORATE.
045533,000770:
045534,000771: 21,2764 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
045535,000772: 21,2765 54002 TS Q # = 2 0.2 DEG/SEC
045536,000773: 21,2766 50002 INDEX Q # = 4 0.5 DEG/SEC
045537,000774: 21,2767 33037 CA MANTABLE -1 # = 6 2.0 DEG/SEC
045538,000775: 21,2770 00006 EXTEND
045539,000776: 21,2771 75007 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
045540,000777: 21,2772 51507 INDEX DPNDX # TO GET COMMANDED RATE.
045541,000778: 21,2773 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
045542,000779:
045543,000780: 21,2774 31501 CA RCSFLAGS
045544,000781: 21,2775 73037 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
045545,000782: 21,2776 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
045546,000783: 21,2777 13015 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
045547,000784: # ERROR.
045548,000785:
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Page 1019 |
045550,000787: 21,3000 35021 ZEROER CA ZERO # ZEROER ZEROS MERRORS
045551,000788: 21,3001 22007 ZL
045552,000789: 21,3002 51507 INDEX DPNDX
045553,000790: 21,3003 53542 DXCH MERRORX
045554,000791: 21,3004 13023 TCF SPNDXCHK
045555,000792:
045556,000793: 21,3005 22007 NORATE ZL
045557,000794: 21,3006 51507 INDEX DPNDX
045558,000795: 21,3007 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
045559,000796: 21,3010 31501 CA RCSFLAGS
045560,000797: 21,3011 73037 MASK OCT16000
045561,000798: 21,3012 00006 EXTEND # IS RATE DAMPING COMPLETED
045562,000799: 21,3013 13023 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
045563,000800: 21,3014 13000 TCF ZEROER # NO, GO TO ZEROER
045564,000801:
045565,000802: 21,3015 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
045566,000803: 21,3016 43037 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
045567,000804: 21,3017 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
045568,000805: 21,3020 75011 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
045569,000806: 21,3021 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
045570,000807: 21,3022 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
045571,000808:
045572,000809: 21,3023 51507 SPNDXCHK INDEX DPNDX
045573,000810: 21,3024 31541 CA MERRORX
045574,000811: 21,3025 51506 INDEX SPNDX
045575,000812: 21,3026 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
045576,000813: 21,3027 11506 CCS SPNDX
045577,000814: 21,3030 12755 TCF SETWBODY
045578,000815: 21,3031 13441 TCF JETS
045579,000816:
045580,000817: 21,3032 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
045581,000818:
045582,000819: 21,3033 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
045583,000820: 21,3034 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
045584,000821: 21,3035 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
045585,000822: # PRESERVED
045586,000823: # FOR INDEXING
045587,000824: 21,3036 00077 MANROT OCT 77
045588,000825: 21,3037 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
045589,000826: 21,3040 00165 MANTABLE DEC .0071111
045590,000827: 21,3041 77612 DEC -.0071111
045591,000828: 21,3042 00722 DEC .028444
045592,000829: 21,3043 77055 DEC -0.028444
045593,000830: 21,3044 02215 DEC .071111
045594,000831: 21,3045 75562 DEC -.071111
045595,000832: 21,3046 11064 DEC .284444
045596,000833: 21,3047 66713 DEC -.284444
045597,000834: 21,3050 00027 =+14MS DEC 23 B-14
045598,000835: 21,3051 51656 FREEFUNC INDEX RMANNDX # ACCELERATION
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|
Page 1020 |
045600,000837: 21,3052 33063 CA FREETAU # COMMANDS
045601,000838: 21,3053 55561 TS TAU
045602,000839: 21,3054 51657 INDEX PMANNDX
045603,000840: 21,3055 33063 CA FREETAU # FREETAU 0 SEC
045604,000841: 21,3056 55562 TS TAU1 # +1 +0.10 SEC
045605,000842: 21,3057 51660 INDEX YMANNDX # +2 -0.10 SEC
045606,000843: 21,3060 33063 CA FREETAU # (+3) 0 SEC
045607,000844: 21,3061 55563 TS TAU2
045608,000845: 21,3062 13067 TCF T6PROGM
045609,000846:
045610,000847: 21,3063 00000 FREETAU DEC 0 B-14
045611,000848: 21,3064 00740 DEC 480 B-14
045612,000849: 21,3065 77037 DEC -480 B-14
045613,000850: 21,3066 00000 DEC 0 B-14
045614,000851:
045615,000852: 21,3067 35021 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
045616,000853: 21,3070 55567 TS ERRORX
045617,000854: 21,3071 55570 TS ERRORY
045618,000855: 21,3072 55571 TS ERRORZ
045619,000856: 21,3073 13757 TCF T6PROG
045620,000857:
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|
Page 1021 |
045622,000859: 21,3074 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
045623,000860: 21,3075 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
045624,000861: 21,3076 06604 DEC .2112 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
045625,000862: 21,3077 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
045626,000863: 21,3100 12132 DEC .3180 # OF ATTITUDE RATES
045627,000864: 21,3101 13030 DEC .3452
045628,000865: 21,3102 14047 DEC .3774
045629,000866: 21,3103 15241 DEC .4161
045630,000867: 21,3104 16650 DEC .4634
045631,000868: 21,3105 20555 DEC .5223
045632,000869: 21,3106 23065 DEC .5970
045633,000870: 21,3107 26137 DEC .6933
045634,000871: 21,3110 32053 DEC .8151
045635,000872: 21,3111 35712 DEC .9342
045636,000873:
045637,000874: 21,3112 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
045638,000875: 21,3113 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
045639,000876: 21,3114 00435 DEC .0174 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
045640,000877: 21,3115 00032 GAIN2 DEC .0016 # SCALED 10
045641,000878: 21,3116 01350 DEC .0454
045642,000879: 21,3117 01575 DEC .0545
045643,000880: 21,3120 02103 DEC .0666
045644,000881: 21,3121 02523 DEC .0832
045645,000882: 21,3122 03327 DEC .1069
045646,000883: 21,3123 04432 DEC .1422
045647,000884: 21,3124 06264 DEC .1985
045648,000885: 21,3125 11351 DEC .2955
045649,000886: 21,3126 17324 DEC .4817
045650,000887: 21,3127 33622 DEC .8683
045651,000888: 21,3130 55502 STICKCHK TS T5TEMP
045652,000889: 21,3131 76214 MASK THREE # INDECES FOR MANUAL ROTATION
045653,000890: 21,3132 55657 TS PMANNDX
045654,000891: 21,3133 31502 CA T5TEMP
045655,000892: 21,3134 00006 EXTEND # MAN RATE 0 0 RATE (DP)
045656,000893: 21,3135 75003 MP QUARTER # +1 + RATE (DP)
045657,000894: 21,3136 55502 TS T5TEMP # +2 - RATE (DP)
045658,000895: 21,3137 76214 MASK THREE # (+3) 0 RATE (DP)
045659,000896: 21,3140 55660 TS YMANNDX
045660,000897: 21,3141 31502 CA T5TEMP
045661,000898: 21,3142 00006 EXTEND
045662,000899: 21,3143 75003 MP QUARTER
045663,000900: 21,3144 55656 TS RMANNDX
045664,000901: 21,3145 00002 TC Q
045665,000902: 21,3146 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
045666,000903: # KALMAN FILTER TAKES 1.1 SEC
045667,000904:
045668,000905: 21,3147 32155 CA DELTATT # =1SEC - 80MS
045669,000906: 21,3150 61634 AD T5TIME # + DELAYS
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|
Page 1022 |
045671,000908: 21,3151 54030 TS TIME5
045672,000909: 21,3152 13155 TCF +3
045673,000910: 21,3153 32156 CAF DELTATT2 # SAFETY PLAY TO ASSURE
045674,000911: 21,3154 54030 TS TIME5 # A T5RUPT
045675,000912:
045676,000913: 21,3155 45021 KRESUME2 CS ZERO # RESET FOR PHASE1
045677,000914: 21,3156 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM
045678,000915: 21,3157 15333 TCF RESUME
045679,000916:
045680,000917: 21,3160 45014 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
045681,000918: 21,3161 71501 MASK RCSFLAGS
045682,000919: 21,3162 55501 TS RCSFLAGS
045683,000920:
045684,000921: 21,3163 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
045685,000922: 21,3164 75007 MASK BIT9 # ERRORS
045686,000923: 21,3165 00006 EXTEND
045687,000924: 21,3166 13175 BZF FDAITOTL
045688,000925: 21,3167 00006 EXTEND
045689,000926: 21,3170 41570 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
045690,000927: 21,3171 53477 DXCH AK
045691,000928: 21,3172 41571 CS ERRORZ
045692,000929: 21,3173 55500 TS AK2
045693,000930: 21,3174 15333 TCF RESUME # END PHASE 1
045694,000931:
045695,000932: 21,3175 30105 FDAITOTL CA FLAGWRD9
045696,000933: 21,3176 75012 MASK BIT6
045697,000934: 21,3177 00006 EXTEND
045698,000935: 21,3200 13243 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
045699,000936: # IF SO, GO TO WRTN17
045700,000937: 21,3201 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
045701,000938: 21,3202 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
045702,000939: 21,3203 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
045703,000940: 21,3204 31155 CA CPHI # COMPONENTS OF N22
045704,000941:
045705,000942: 21,3205 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
045706,000943: 21,3206 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
045707,000944: 21,3207 55476 TS AK
045708,000945: 21,3210 31513 CA WTEMP
045709,000946: 21,3211 00006 EXTEND
045710,000947: 21,3212 20033 MSU CDUY
045711,000948: 21,3213 55502 TS T5TEMP
045712,000949: 21,3214 00006 EXTEND
045713,000950: 21,3215 71640 MP AMGB1
045714,000951: 21,3216 27476 ADS AK
045715,000952: 21,3217 31502 CA T5TEMP
045716,000953: 21,3220 00006 EXTEND
045717,000954: 21,3221 71641 MP AMGB4
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|
Page 1023 |
045719,000956: 21,3222 55477 TS AK1
045720,000957: 21,3223 31502 CA T5TEMP
045721,000958: 21,3224 00006 EXTEND
045722,000959: 21,3225 71643 MP AMGB7
045723,000960: 21,3226 55500 TS AK2
045724,000961: 21,3227 31514 CA WTEMP +1
045725,000962: 21,3230 00006 EXTEND
045726,000963: 21,3231 20034 MSU CDUZ
045727,000964: 21,3232 55502 TS T5TEMP
045728,000965: 21,3233 00006 EXTEND
045729,000966: 21,3234 71642 MP AMGB5
045730,000967: 21,3235 27477 ADS AK1
045731,000968: 21,3236 31502 CA T5TEMP
045732,000969: 21,3237 00006 EXTEND
045733,000970: 21,3240 71644 MP AMGB8
045734,000971: 21,3241 27500 ADS AK2
045735,000972: 21,3242 15333 TCF RESUME # END PHASE1 OF RCS DAP
045736,000973:
045737,000974: 21,3243 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
045738,000975: 21,3244 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
045739,000976: 21,3245 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
045740,000977: 21,3246 31333 CA CPHIX
045741,000978: 21,3247 13205 TCF GETAKS
045742,000979:
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Page 1024 This page is empty. |
045745,000982:
045746,000983:
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc