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. |
042988,000002: ## Copyright: Public domain.
042989,000003: ## Filename: TVCDAPS.agc
042990,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
042991,000005: ## It is part of the source code for the Command Module's (CM)
042992,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
042993,000007: ## Assembler: yaYUL
042994,000008: ## Contact: Ron Burkey <info@sandroid.org>.
042995,000009: ## Website: www.ibiblio.org/apollo.
042996,000010: ## Pages: 961-978
042997,000011: ## Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
042998,000012: ## same name, using Comanche055 page images.
042999,000013: ## 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND,
043000,000014: ## added a missing instruction to PFORWARD.
043001,000015: ## 2000-05-21 RSB Wrong opcode was used with DELBRTMP and
043002,000016: ## DELBRTMP +1 operands in 4 places. Corrected
043003,000017: ## an MP operation in 2CASFLTR.
043004,000018: ## 2016-12-21 RSB Proofed comment text using octopus/ProoferComments
043005,000019: ## and corrected the errors found.
043006,000020: ## 2017-01-20 RSB Fixed comment-text errors noted while diff'ing
043007,000021: ## vs Colossus 249.
043008,000022: ## 2017-02-09 RSB Fixed comment-text errors noted while proofing Artemis 72.
043009,000023: ##
043010,000024: ## This source code has been transcribed or otherwise adapted from digitized
043011,000025: ## images of a hardcopy from the MIT Museum. The digitization was performed
043012,000026: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
043013,000027: ## thanks to both. The images (with suitable reduction in storage size and
043014,000028: ## consequent reduction in image quality as well) are available online at
043015,000029: ## www.ibiblio.org/apollo. If for some reason you find that the images are
043016,000030: ## illegible, contact me at info@sandroid.org about getting access to the
043017,000031: ## (much) higher-quality images which Paul actually created.
043018,000032: ##
043019,000033: ## Notations on the hardcopy document read, in part:
043020,000034: ##
043021,000035: ## Assemble revision 055 of AGC program Comanche by NASA
043022,000036: ## 2021113-051. 10:28 APR. 1, 1969
043023,000037: ##
043024,000038: ## This AGC program shall also be referred to as
043025,000039: ## Colossus 2A
043026,000040:
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Page 961 |
043028,000042: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
043029,000043: # LOG SECTION...TVCDAPS SUBROUTINE...DAPCSM
043030,000044: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
043031,000045:
043032,000046: # FUNCTIONAL DESCRIPTION....
043033,000047:
043034,000048: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
043035,000049: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
043036,000050: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
043037,000051: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
043038,000052: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
043039,000053:
043040,000054: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
043041,000055: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
043042,000056: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
043043,000057: # INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
043044,000058: # FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
043045,000059: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
043046,000060:
043047,000061: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
043048,000062: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
043049,000063: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
043050,000064: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
043051,000065: # MODING.
043052,000066:
043053,000067: # CALLING SEQUENCE.... (TYPICALLY)
043054,000068:
043055,000069: # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
043056,000070: # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
043057,000071: # T5 CALL OF PITCHDAP BY DAPINIT
043058,000072: # T5 CALL OF YAWDAP BY PITCHDAP
043059,000073: # T5 CALL OF PITCHDAP BY YAWDAP
043060,000074: # ETC.
043061,000075: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
043062,000076:
043063,000077: # NORMAL EXIT MODE....RESUME
043064,000078:
043065,000079: # ALARM OR ABORT EXIT MODES....NONE
043066,000080:
043067,000081: # SUBROUTINES CALLED....
043068,000082:
043069,000083: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
043070,000084: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
043071,000085: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
043072,000086: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
043073,000087: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
043074,000088: # YAW DAPS
043075,000089: # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
043076,000090: # OUTPUTS AND STORAGE VALUES
043077,000091: # RESUME
043078,000092:
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Page 962 |
043080,000094: # OTHER INTERFACES....
043081,000095:
043082,000096: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
043083,000097: # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
043084,000098: # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
043085,000099: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
043086,000100:
043087,000101: # ERASABLE INITIALIZATION REQUIRED....
043088,000102:
043089,000103: # PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
043090,000104: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
043091,000105: # ENGINE-ON BIT (11.13) FOR RESTARTS
043092,000106: # TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
043093,000107: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
043094,000108: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
043095,000109: # INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
043096,000110: # CDUX,Y,Z AND SINCDUX.... COSCDUZ AS PREPARED BY QUICTRIG (WITH
043097,000111: # UPDATES EVERY 1/2 SECOND)
043098,000112: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
043099,000113: # UNLESS BENCH-TESTING.
043100,000114:
043101,000115: # OUTPUT....
043102,000116:
043103,000117: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
043104,000118: # TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
043105,000119: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
043106,000120: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
043107,000121:
043108,000122: # DEBRIS....
043109,000123:
043110,000124: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
043111,000125:
043112,000126: 17,2552 BANK 17
043113,000127: 20,2000 SETLOC DAPS2
043114,000128: 20,2000 BANK
043115,000129:
043116,000130: 20,2530 E6,1702 EBANK= BZERO
043117,000131:
043118,000132: 20,2530 COUNT* $$/DAPS
043119,000133:
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Page 963 |
043121,000135: # PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
043122,000136:
043123,000137: 20,2530 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
043124,000138: 20,2531 00006 EXTEND
043125,000139: 20,2532 22012 QXCH QRUPT
043126,000140:
043127,000141: 20,2533 33475 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
043128,000142: 20,2534 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
043129,000143: 20,2535 31625 CAE T5TVCDT
043130,000144: 20,2536 54030 TS TIME5
043131,000145:
043132,000146: 20,2537 11574 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
043133,000147: 20,2540 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS
043134,000148: 20,2541 12543 TCF +2 # NO-TEST
043135,000149: 20,2542 03533 TC HACK # TEST-IN-PROGRESS
043136,000150:
043137,000151: 20,2543 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
043138,000152: 20,2544 57645 XCH PCDUYPST
043139,000153: 20,2545 00006 EXTEND
043140,000154: 20,2546 21645 MSU PCDUYPST
043141,000155: 20,2547 02560 TCR RLIMTEST # RATE TEST
043142,000156: 20,2550 55647 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
043143,000157:
043144,000158: 20,2551 30034 CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW)
043145,000159: 20,2552 57646 XCH PCDUZPST
043146,000160: 20,2553 00006 EXTEND
043147,000161: 20,2554 21646 MSU PCDUZPST
043148,000162: 20,2555 02560 TCR RLIMTEST # RATE TEST
043149,000163: 20,2556 55650 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
043150,000164: 20,2557 12571 TCF PINTEGRL
043151,000165:
043152,000166: 20,2560 55611 RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
043153,000167: 20,2561 00006 EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD)
043154,000168: 20,2562 73476 MP 1/RTLIM
043155,000169: 20,2563 00006 EXTEND
043156,000170: 20,2564 12567 BZF +3
043157,000171: 20,2565 35021 CAF ZERO
043158,000172: 20,2566 55611 TS TTMP1
043159,000173: 20,2567 31611 CAE TTMP1
043160,000174: 20,2570 00002 TC Q
043161,000175:
043162,000176: 20,2571 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
043163,000177: 20,2572 31576 DCA PERRB # ERROR, SC.AT B-1 REVS
043164,000178: 20,2573 53703 DXCH ERRBTMP
043165,000179:
043166,000180: 20,2574 00006 EXTEND
043167,000181: 20,2575 31530 DCA OMEGAYC
043168,000182: 20,2576 21703 DAS ERRBTMP
043169,000183:
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Page 964 |
043171,000185: 20,2577 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
043172,000186: 20,2600 00006 EXTEND
043173,000187: 20,2601 70750 MP COSCDUX
043174,000188: 20,2602 20001 DDOUBL
043175,000189: 20,2603 00006 EXTEND
043176,000190: 20,2604 71647 MP MCDUYDOT
043177,000191: 20,2605 20001 DDOUBL
043178,000192: 20,2606 53536 DXCH OMEGAYB
043179,000193:
043180,000194: 20,2607 41650 CS MCDUZDOT
043181,000195: 20,2610 00006 EXTEND
043182,000196: 20,2611 70742 MP SINCDUX
043183,000197: 20,2612 20001 DDOUBL
043184,000198: 20,2613 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
043185,000199:
043186,000200: 20,2614 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
043187,000201: 20,2615 41536 DCS OMEGAYB
043188,000202: 20,2616 21703 DAS ERRBTMP
043189,000203:
043190,000204: 20,2617 03124 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
043191,000205:
043192,000206: 20,2620 00006 PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
043193,000207: 20,2621 31542 DCA PTMP1 # FOR THE PITCH CHANNEL
043194,000208: 20,2622 53707 DXCH TMP1
043195,000209: 20,2623 00006 EXTEND
043196,000210: 20,2624 31546 DCA PTMP3
043197,000211: 20,2625 53713 DXCH TMP3
043198,000212: 20,2626 00006 EXTEND
043199,000213: 20,2627 31552 DCA PTMP5
043200,000214: 20,2630 53717 DXCH TMP5
043201,000215:
043202,000216: 20,2631 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
043203,000217: # (INCLUDES VARIABLE GAIN PACKAGE)
043204,000218:
043205,000219: 20,2632 00006 POFFSET EXTEND
043206,000220: 20,2633 31606 DCA PDELOFF
043207,000221: 20,2634 21705 DAS CMDTMP # NOW SCALED AT B+0 ASCREV
043208,000222:
043209,000223: 20,2635 03137 PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
043210,000224:
043211,000225: 20,2636 41623 POUT CS PCMD # INCREMENTAL PITCH COMMAND
043212,000226: 20,2637 61704 AD CMDTMP
043213,000227: 20,2640 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
043214,000228: # PROTECT, SINCE ERROR CNTR ZEROED)
043215,000229:
043216,000230: 20,2641 35005 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
043217,000231: 20,2642 00006 EXTEND
043218,000232: 20,2643 05014 WOR CHAN14
043219,000233:
043220,000234: 20,2644 00006 PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
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Page 965 |
043222,000236: 20,2645 31544 DCA PTMP2
043223,000237: 20,2646 53711 DXCH TMP2
043224,000238: 20,2647 00006 EXTEND
043225,000239: 20,2650 31550 DCA PTMP4
043226,000240: 20,2651 53715 DXCH TMP4
043227,000241: 20,2652 00006 EXTEND
043228,000242: 20,2653 31554 DCA PTMP6
043229,000243: 20,2654 53721 DXCH TMP6
043230,000244:
043231,000245: 20,2655 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
043232,000246:
043233,000247: 20,2656 31602 DELBARP CAE DELPBAR +1 # UPDATE PITCH OFFSET-TRACKER-FILTER
043234,000248: 20,2657 00006 EXTEND
043235,000249: 20,2660 73500 MP E(-AT)
043236,000250: 20,2661 55701 TS DELBRTMP +1
043237,000251: 20,2662 31601 CAE DELPBAR
043238,000252: 20,2663 00006 EXTEND
043239,000253: 20,2664 73500 MP E(-AT)
043240,000254: 20,2665 21701 DAS DELBRTMP
043241,000255: 20,2666 31704 CAE CMDTMP
043242,000256: 20,2667 00006 EXTEND
043243,000257: 20,2670 73477 MP 1-E(-AT)
043244,000258: 20,2671 21701 DAS DELBRTMP
043245,000259:
043246,000260: 20,2672 02674 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
043247,000261:
043248,000262: 20,2673 15333 PDAPEND TCF RESUME # PITCH DAP COMPLETED
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Page 966 |
043250,000264: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
043251,000265:
043252,000266: 20,2674 25644 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
043253,000267: # NOTE POSSIBLE RE-ENTRY FROM RESTART
043254,000268: # PACKAGE, SHOULD A RESTART OCCUR
043255,000269: # DURING PITCH COPYCYCLE.
043256,000270:
043257,000271: 20,2675 00006 EXTEND
043258,000272: 20,2676 31707 DCA TMP1
043259,000273: 20,2677 53542 DXCH PTMP1
043260,000274: 20,2700 00006 EXTEND
043261,000275: 20,2701 31711 DCA TMP2
043262,000276: 20,2702 53544 DXCH PTMP2
043263,000277: 20,2703 00006 EXTEND
043264,000278: 20,2704 31713 DCA TMP3
043265,000279: 20,2705 53546 DXCH PTMP3
043266,000280: 20,2706 00006 EXTEND
043267,000281: 20,2707 31715 DCA TMP4
043268,000282: 20,2710 53550 DXCH PTMP4
043269,000283: 20,2711 00006 EXTEND
043270,000284: 20,2712 31717 DCA TMP5
043271,000285: 20,2713 53552 DXCH PTMP5
043272,000286: 20,2714 00006 EXTEND
043273,000287: 20,2715 31721 DCA TMP6
043274,000288: 20,2716 53554 DXCH PTMP6
043275,000289:
043276,000290: 20,2717 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
043277,000291: 20,2720 31703 DCA ERRBTMP
043278,000292: 20,2721 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
043279,000293: 20,2722 53576 DXCH PERRB
043280,000294:
043281,000295: 20,2723 31704 CAE CMDTMP # PITCH ACTUATOR COMMAND
043282,000296: 20,2724 55623 TS PCMD
043283,000297:
043284,000298: 20,2725 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
043285,000299: 20,2726 31701 DCA DELBRTMP
043286,000300: 20,2727 53602 DXCH DELPBAR
043287,000301:
043288,000302: 20,2730 25644 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2)
043289,000303:
043290,000304: 20,2731 00002 TC Q
043291,000305:
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Page 967 |
043293,000307: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
043294,000308:
043295,000309: 20,2732 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
043296,000310: 20,2733 00006 EXTEND
043297,000311: 20,2734 22012 QXCH QRUPT
043298,000312:
043299,000313: 20,2735 33473 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
043300,000314: 20,2736 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
043301,000315: 20,2737 31625 CAE T5TVCDT
043302,000316: 20,2740 54030 TS TIME5
043303,000317:
043304,000318: 20,2741 11574 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
043305,000319: 20,2742 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS
043306,000320: 20,2743 12745 TCF +2 # NO-TEST
043307,000321: 20,2744 03533 TC HACK # TEST-IN-PROGRESS
043308,000322:
043309,000323: # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
043310,000324:
043311,000325: 20,2745 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
043312,000326: 20,2746 31600 DCA YERRB # ERROR, SC.AT B-1 REVS
043313,000327: 20,2747 53703 DXCH ERRBTMP
043314,000328:
043315,000329: 20,2750 00006 EXTEND
043316,000330: 20,2751 31532 DCA OMEGAZC
043317,000331: 20,2752 21703 DAS ERRBTMP
043318,000332:
043319,000333: 20,2753 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
043320,000334: 20,2754 00006 EXTEND
043321,000335: 20,2755 70742 MP SINCDUX
043322,000336: 20,2756 20001 DDOUBL
043323,000337: 20,2757 00006 EXTEND
043324,000338: 20,2760 71647 MP MCDUYDOT
043325,000339: 20,2761 20001 DDOUBL
043326,000340: 20,2762 53540 DXCH OMEGAZB
043327,000341:
043328,000342: 20,2763 41650 CS MCDUZDOT
043329,000343: 20,2764 00006 EXTEND
043330,000344: 20,2765 70750 MP COSCDUX
043331,000345: 20,2766 20001 DDOUBL
043332,000346: 20,2767 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
043333,000347:
043334,000348: 20,2770 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
043335,000349: 20,2771 41540 DCS OMEGAZB
043336,000350: 20,2772 21703 DAS ERRBTMP
043337,000351:
043338,000352: 20,2773 03124 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
043339,000353:
043340,000354: 20,2774 00006 YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
043341,000355: 20,2775 31556 DCA YTMP1 # FOR THE YAW CHANNEL
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Page 968 |
043343,000357: 20,2776 53707 DXCH TMP1
043344,000358: 20,2777 00006 EXTEND
043345,000359: 20,3000 31562 DCA YTMP3
043346,000360: 20,3001 53713 DXCH TMP3
043347,000361: 20,3002 00006 EXTEND
043348,000362: 20,3003 31566 DCA YTMP5
043349,000363: 20,3004 53717 DXCH TMP5
043350,000364:
043351,000365: 20,3005 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
043352,000366: # (INCLUDES VARIABLE GAIN PACKAGE)
043353,000367:
043354,000368: 20,3006 00006 YOFFSET EXTEND
043355,000369: 20,3007 31610 DCA YDELOFF
043356,000370: 20,3010 21705 DAS CMDTMP # NOW SCALED AT B+0 ASCREV
043357,000371:
043358,000372: 20,3011 03137 YACLIM TCR ACTLIM # ROUND OFF & LIMIT YAW ACTUATOR COMMAND
043359,000373:
043360,000374: 20,3012 41624 YOUT CS YCMD # INCREMENTAL YAW COMMAND
043361,000375: 20,3013 61704 AD CMDTMP
043362,000376: 20,3014 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
043363,000377: # PROTECT, SINCE ERROR CNTR ZEROED)
043364,000378:
043365,000379: 20,3015 35004 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
043366,000380: 20,3016 00006 EXTEND
043367,000381: 20,3017 05014 WOR CHAN14
043368,000382:
043369,000383: 20,3020 00006 YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW
043370,000384: 20,3021 31560 DCA YTMP2
043371,000385: 20,3022 53711 DXCH TMP2
043372,000386: 20,3023 00006 EXTEND
043373,000387: 20,3024 31564 DCA YTMP4
043374,000388: 20,3025 53715 DXCH TMP4
043375,000389: 20,3026 00006 EXTEND
043376,000390: 20,3027 31570 DCA YTMP6
043377,000391: 20,3030 53721 DXCH TMP6
043378,000392:
043379,000393: 20,3031 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
043380,000394:
043381,000395: 20,3032 31604 DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER
043382,000396: 20,3033 00006 EXTEND
043383,000397: 20,3034 73500 MP E(-AT)
043384,000398: 20,3035 55701 TS DELBRTMP +1
043385,000399: 20,3036 31603 CAE DELYBAR
043386,000400: 20,3037 00006 EXTEND
043387,000401: 20,3040 73500 MP E(-AT)
043388,000402: 20,3041 21701 DAS DELBRTMP
043389,000403: 20,3042 31704 CAE CMDTMP
043390,000404: 20,3043 00006 EXTEND
043391,000405: 20,3044 73477 MP 1-E(-AT)
043392,000406: 20,3045 21701 DAS DELBRTMP
043393,000407:
|
|
Page 969 |
043395,000409: 20,3046 03050 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
043396,000410:
043397,000411: 20,3047 15333 YDAPEND TCF RESUME # YAW DAP COMPLETED
043398,000412:
|
|
Page 970 |
043400,000414: # YAW TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
043401,000415:
043402,000416: 20,3050 25644 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3)
043403,000417: # NOTE POSSIBLE RE-ENTRY FROM RESTART
043404,000418: # PACKAGE, SHOULD A RESTART OCCUR
043405,000419: # DURING YAW COPYCYCLE.
043406,000420:
043407,000421: 20,3051 00006 EXTEND
043408,000422: 20,3052 31707 DCA TMP1
043409,000423: 20,3053 53556 DXCH YTMP1
043410,000424: 20,3054 00006 EXTEND
043411,000425: 20,3055 31711 DCA TMP2
043412,000426: 20,3056 53560 DXCH YTMP2
043413,000427: 20,3057 00006 EXTEND
043414,000428: 20,3060 31713 DCA TMP3
043415,000429: 20,3061 53562 DXCH YTMP3
043416,000430: 20,3062 00006 EXTEND
043417,000431: 20,3063 31715 DCA TMP4
043418,000432: 20,3064 53564 DXCH YTMP4
043419,000433: 20,3065 00006 EXTEND
043420,000434: 20,3066 31717 DCA TMP5
043421,000435: 20,3067 53566 DXCH YTMP5
043422,000436: 20,3070 00006 EXTEND
043423,000437: 20,3071 31721 DCA TMP6
043424,000438: 20,3072 53570 DXCH YTMP6
043425,000439:
043426,000440: 20,3073 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
043427,000441: 20,3074 31703 DCA ERRBTMP
043428,000442: 20,3075 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
043429,000443: 20,3076 53600 DXCH YERRB
043430,000444:
043431,000445: 20,3077 31704 CAE CMDTMP
043432,000446: 20,3100 55624 TS YCMD
043433,000447:
043434,000448: 20,3101 00006 EXTEND
043435,000449: 20,3102 31701 DCA DELBRTMP
043436,000450: 20,3103 53604 DXCH DELYBAR
043437,000451:
043438,000452: 20,3104 35021 CAF ZERO # YAW COPYCYCLE COMPLETED
043439,000453: 20,3105 55644 TS TVCPHASE # RESET TVCPHASE
043440,000454:
043441,000455: 20,3106 00002 TC Q
043442,000456:
|
|
Page 971 |
043444,000458: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
043445,000459:
043446,000460: # INITIALIZATION PACKAGE FOR CDURATES....
043447,000461:
043448,000462: 20,3107 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
043449,000463:
043450,000464: 20,3110 37716 CAF NEGONE # SET UP
043451,000465: 20,3111 61625 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
043452,000466: 20,3112 65001 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
043453,000467: 20,3113 61625 AD T5TVCDT
043454,000468: 20,3114 54030 TS TIME5
043455,000469: 20,3115 33473 CAF PITCHT5 # (BBCON ALREADY THERE)
043456,000470: 20,3116 55312 TS T5LOC
043457,000471:
043458,000472: 20,3117 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
043459,000473: 20,3120 55645 TS PCDUYPST # PAST-VALUES
043460,000474: 20,3121 30034 CAE CDUZ
043461,000475: 20,3122 55646 TS PCDUZPST
043462,000476:
043463,000477: 20,3123 15335 TCF NOQRSM
043464,000478:
043465,000479: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
043466,000480:
043467,000481: 20,3124 31702 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
043468,000482: 20,3125 00006 EXTEND # CHECKS UPPER WORD ONLY
043469,000483: 20,3126 75015 MP 1/ERRLIM
043470,000484: 20,3127 00006 EXTEND
043471,000485: 20,3130 13136 BZF +6
043472,000486: 20,3131 11702 CCS ERRBTMP
043473,000487: 20,3132 35003 CAF ERRLIM
043474,000488: 20,3133 13135 TCF +2
043475,000489: 20,3134 45003 CS ERRLIM
043476,000490: 20,3135 55702 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
043477,000491:
043478,000492: 20,3136 00002 TC Q
043479,000493:
043480,000494: # ACTUATOR-COMMAND LIMITER PACKAGE....
043481,000495:
043482,000496: 20,3137 31705 ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
043483,000497: 20,3140 60000 DOUBLE
043484,000498: 20,3141 54001 TS L
043485,000499: 20,3142 35021 CAF ZERO
043486,000500: 20,3143 61704 AD CMDTMP
043487,000501:
043488,000502: 20,3144 00006 EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
043489,000503: 20,3145 73472 MP 1/ACTSAT
043490,000504: 20,3146 00006 EXTEND
|
|
Page 972 |
043492,000506: 20,3147 13155 BZF +6
043493,000507: 20,3150 11704 CCS CMDTMP # APPLY LIMITS
043494,000508: 20,3151 33471 CAF ACTSAT
043495,000509: 20,3152 13154 TCF +2
043496,000510: 20,3153 43471 CS ACTSAT
043497,000511: 20,3154 55704 TS CMDTMP # LIMITS WRITE OVER CMDTMP
043498,000512:
043499,000513: 20,3155 00002 TC Q
043500,000514:
043501,000515: # FILTER COMPUTATIONS FOR PRESENT OUTPUT................
043502,000516:
043503,000517: 20,3156 35021 FWDFLTR CAF ZERO
043504,000518: 20,3157 55615 TS DAP1
043505,000519: 20,3160 55617 TS DAP2
043506,000520: 20,3161 55621 TS DAP3
043507,000521: 20,3162 55704 TS CMDTMP
043508,000522:
043509,000523: 20,3163 55700 TS DELBRTMP
043510,000524:
043511,000525: 20,3164 31703 1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE
043512,000526: 20,3165 00006 EXTEND
043513,000527: 20,3166 71723 MP N10 # N10
043514,000528: 20,3167 55616 TS DAP1 +1
043515,000529: 20,3170 31702 CA ERRBTMP
043516,000530: 20,3171 00006 EXTEND
043517,000531: 20,3172 71723 MP N10 # N10
043518,000532: 20,3173 21616 DAS DAP1
043519,000533: 20,3174 53707 DXCH TMP1
043520,000534: 20,3175 21616 DAS DAP1
043521,000535:
043522,000536: 20,3176 31616 2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE
043523,000537: 20,3177 00006 EXTEND
043524,000538: 20,3200 71730 MP N10 +5 # N20
043525,000539: 20,3201 55620 TS DAP2 +1
043526,000540: 20,3202 31615 CA DAP1
043527,000541: 20,3203 00006 EXTEND
043528,000542: 20,3204 71730 MP N10 +5 # N20
043529,000543: 20,3205 21620 DAS DAP2
043530,000544: 20,3206 53713 DXCH TMP3
043531,000545: 20,3207 21620 DAS DAP2
043532,000546:
043533,000547: 20,3210 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
043534,000548: 20,3211 75002 MASK BIT14
043535,000549: 20,3212 10000 CCS A
043536,000550: 20,3213 13220 TCF 3DAPCAS # LEM ON
043537,000551: 20,3214 00006 EXTEND # LEM OFF
043538,000552: 20,3215 31620 DCA DAP2
043539,000553: 20,3216 53622 DXCH DAP3
043540,000554: 20,3217 13232 TCF OPTVARK
043541,000555:
|
|
Page 973 |
043543,000557: 20,3220 31620 3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE
043544,000558: 20,3221 00006 EXTEND
043545,000559: 20,3222 71735 MP N10 +10D # N30
043546,000560: 20,3223 55622 TS DAP3 +1
043547,000561: 20,3224 31617 CA DAP2
043548,000562: 20,3225 00006 EXTEND
043549,000563: 20,3226 71735 MP N10 +10D # N30
043550,000564: 20,3227 21622 DAS DAP3
043551,000565: 20,3230 53717 DXCH TMP5
043552,000566: 20,3231 21622 DAS DAP3
043553,000567:
043554,000568: 20,3232 41622 OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
043555,000569: 20,3233 00006 EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP)
043556,000570: 20,3234 71641 MP VARK # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE
043557,000571: 20,3235 55705 TS CMDTMP +1
043558,000572: 20,3236 41621 CS DAP3
043559,000573: 20,3237 00006 EXTEND
043560,000574: 20,3240 71641 MP VARK
043561,000575: 20,3241 21705 DAS CMDTMP
043562,000576:
043563,000577: 20,3242 53705 DXCH CMDTMP # FIX UP SCALING - SCALED B+3 ASCREVS
043564,000578: 20,3243 20001 DDOUBL
043565,000579: 20,3244 20001 DDOUBL
043566,000580: 20,3245 53705 DXCH CMDTMP # - SCALED B+1 ASCREVS
043567,000581: # NOTE - THERE IS AN INHERANT GAIN OF
043568,000582: # (B+1 ASCREVS) ON THE OUTPUT DACS.
043569,000583:
043570,000584: 20,3246 00002 TC Q
043571,000585:
043572,000586: # FILTER PRECOMPUTATIONS FOR NEXT PASS...................
043573,000587:
043574,000588: 20,3247 35021 PRECOMP CAF ZERO # ***** FIRST CASCADE FILTER **********
043575,000589: 20,3250 55611 TS TTMP1
043576,000590: 20,3251 55613 TS TTMP2
043577,000591:
043578,000592: 20,3252 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY
043579,000593: 20,3253 00006 EXTEND
043580,000594: 20,3254 71724 MP N10 +1 # N11/2
043581,000595: 20,3255 55612 TS TTMP1 +1
043582,000596: 20,3256 31702 CA ERRBTMP
043583,000597: 20,3257 00006 EXTEND
043584,000598: 20,3260 71724 MP N10 +1 # N11/2
043585,000599: 20,3261 21612 DAS TTMP1
043586,000600:
043587,000601: 20,3262 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
043588,000602: 20,3263 00006 EXTEND
043589,000603: 20,3264 71726 MP N10 +3 # D11/2
043590,000604: 20,3265 55614 TS TTMP2 +1
043591,000605: 20,3266 41615 CS DAP1
043592,000606:
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|
Page 974 |
043594,000608: 20,3267 00006 EXTEND
043595,000609: 20,3270 71726 MP N10 +3 # D11/2
043596,000610: 20,3271 21614 DAS TTMP2
043597,000611:
043598,000612: 20,3272 53614 DXCH TTMP2
043599,000613: 20,3273 21612 DAS TTMP1
043600,000614: 20,3274 53612 DXCH TTMP1
043601,000615: 20,3275 20001 DDOUBL
043602,000616: 20,3276 21711 DAS TMP2
043603,000617:
043604,000618: 20,3277 53711 DXCH TMP2
043605,000619: 20,3300 53707 DXCH TMP1
043606,000620:
043607,000621: 20,3301 35021 CAF ZERO
043608,000622: 20,3302 55611 TS TTMP1
043609,000623: 20,3303 55710 TS TMP2
043610,000624:
043611,000625: 20,3304 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY
043612,000626: 20,3305 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF.
043613,000627: 20,3306 71725 MP N10 +2 # N12
043614,000628: 20,3307 55612 TS TTMP1 +1
043615,000629: 20,3310 31702 CA ERRBTMP
043616,000630: 20,3311 00006 EXTEND
043617,000631: 20,3312 71725 MP N10 +2 # N12
043618,000632: 20,3313 21612 DAS TTMP1
043619,000633:
043620,000634: 20,3314 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
043621,000635: 20,3315 00006 EXTEND
043622,000636: 20,3316 71727 MP N10 +4 # D12
043623,000637: 20,3317 55711 TS TMP2 +1
043624,000638: 20,3320 41615 CS DAP1
043625,000639: 20,3321 00006 EXTEND
043626,000640: 20,3322 71727 MP N10 +4 # D12
043627,000641: 20,3323 21711 DAS TMP2
043628,000642:
043629,000643: 20,3324 53612 DXCH TTMP1
043630,000644: 20,3325 21711 DAS TMP2
043631,000645:
043632,000646: 20,3326 35021 2CASFLTR CAF ZERO # ***** SECOND CASCADE FILTER *****
043633,000647: 20,3327 55611 TS TTMP1
043634,000648: 20,3330 55613 TS TTMP2
043635,000649:
043636,000650: 20,3331 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043637,000651: 20,3332 00006 EXTEND
043638,000652: 20,3333 71731 MP N10 +6 # N21/2
043639,000653: 20,3334 55612 TS TTMP1 +1
043640,000654: 20,3335 31615 CA DAP1
043641,000655: 20,3336 00006 EXTEND
043642,000656: 20,3337 71731 MP N10 +6 # N21/2
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|
Page 975 |
043644,000658: 20,3340 21612 DAS TTMP1
043645,000659:
043646,000660: 20,3341 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043647,000661: 20,3342 00006 EXTEND
043648,000662: 20,3343 71733 MP N10 +8D # D21/2
043649,000663: 20,3344 55614 TS TTMP2 +1
043650,000664: 20,3345 41617 CS DAP2
043651,000665: 20,3346 00006 EXTEND
043652,000666: 20,3347 71733 MP N10 +8D # D21/2
043653,000667: 20,3350 21614 DAS TTMP2
043654,000668:
043655,000669: 20,3351 53614 DXCH TTMP2
043656,000670: 20,3352 21612 DAS TTMP1
043657,000671: 20,3353 53612 DXCH TTMP1
043658,000672: 20,3354 20001 DDOUBL
043659,000673: 20,3355 21715 DAS TMP4
043660,000674:
043661,000675: 20,3356 53715 DXCH TMP4
043662,000676: 20,3357 53713 DXCH TMP3
043663,000677:
043664,000678: 20,3360 35021 CAF ZERO
043665,000679: 20,3361 55611 TS TTMP1
043666,000680: 20,3362 55714 TS TMP4
043667,000681:
043668,000682: 20,3363 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043669,000683: 20,3364 00006 EXTEND
043670,000684: 20,3365 71732 MP N10 +7 # N22
043671,000685: 20,3366 55612 TS TTMP1 +1
043672,000686: 20,3367 31615 CA DAP1
043673,000687: 20,3370 00006 EXTEND
043674,000688: 20,3371 71732 MP N10 +7 # N22
043675,000689: 20,3372 21612 DAS TTMP1
043676,000690:
043677,000691: 20,3373 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043678,000692: 20,3374 00006 EXTEND
043679,000693: 20,3375 71734 MP N10 +9D # D22
043680,000694: 20,3376 55715 TS TMP4 +1
043681,000695: 20,3377 41617 CS DAP2
043682,000696: 20,3400 00006 EXTEND
043683,000697: 20,3401 71734 MP N10 +9D # D22
043684,000698: 20,3402 21715 DAS TMP4
043685,000699:
043686,000700: 20,3403 53612 DXCH TTMP1
043687,000701: 20,3404 21715 DAS TMP4
043688,000702:
043689,000703: 20,3405 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
043690,000704: 20,3406 75003 MASK BIT13
043691,000705: 20,3407 10000 CCS A
043692,000706: 20,3410 00002 TC Q # EXIT IF LEM OFF
043693,000707:
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|
Page 976 |
043695,000709: 20,3411 35021 3CASFLTR CAF ZERO # ***** THIRD CASCADE FILTER *****
043696,000710: 20,3412 55611 TS TTMP1
043697,000711: 20,3413 55613 TS TTMP2
043698,000712:
043699,000713: 20,3414 31620 CA DAP2 +1 # MULTIPLY INPUT BY (1/2)
043700,000714: 20,3415 00006 EXTEND
043701,000715: 20,3416 71736 MP N10 +11D # N31/2
043702,000716: 20,3417 55612 TS TTMP1 +1
043703,000717: 20,3420 31617 CA DAP2
043704,000718: 20,3421 00006 EXTEND
043705,000719: 20,3422 71736 MP N10 +11D # N31/2
043706,000720: 20,3423 21612 DAS TTMP1
043707,000721:
043708,000722: 20,3424 41622 CS DAP3 +1
043709,000723: 20,3425 00006 EXTEND
043710,000724: 20,3426 71740 MP N10 +13D # D31/2
043711,000725: 20,3427 55614 TS TTMP2 +1
043712,000726: 20,3430 41621 CS DAP3
043713,000727: 20,3431 00006 EXTEND
043714,000728: 20,3432 71740 MP N10 +13D # D31/2
043715,000729: 20,3433 21614 DAS TTMP2
043716,000730:
043717,000731: 20,3434 53614 DXCH TTMP2
043718,000732: 20,3435 21612 DAS TTMP1
043719,000733: 20,3436 53612 DXCH TTMP1
043720,000734: 20,3437 20001 DDOUBL
043721,000735: 20,3440 21721 DAS TMP6
043722,000736:
043723,000737: 20,3441 53721 DXCH TMP6
043724,000738: 20,3442 53717 DXCH TMP5
043725,000739:
043726,000740: 20,3443 35021 CAF ZERO
043727,000741: 20,3444 55611 TS TTMP1
043728,000742: 20,3445 55720 TS TMP6
043729,000743:
043730,000744: 20,3446 31620 CA DAP2 +1 # MULTIPLY INPUT BY
043731,000745: 20,3447 00006 EXTEND
043732,000746: 20,3450 71737 MP N10 +12D # N32
043733,000747: 20,3451 55612 TS TTMP1 +1
043734,000748: 20,3452 31617 CA DAP2
043735,000749: 20,3453 00006 EXTEND
043736,000750: 20,3454 71737 MP N10 +12D # N32
043737,000751: 20,3455 21612 DAS TTMP1
043738,000752:
043739,000753: 20,3456 41622 CS DAP3 +1
043740,000754: 20,3457 00006 EXTEND
043741,000755: 20,3460 71741 MP N10 +14D # D32
043742,000756: 20,3461 55721 TS TMP6 +1
043743,000757: 20,3462 41621 CS DAP3
043744,000758: 20,3463 00006 EXTEND
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|
Page 977 |
043746,000760: 20,3464 71741 MP N10 +14D # D32
043747,000761: 20,3465 21721 DAS TMP6
043748,000762:
043749,000763: 20,3466 53612 DXCH TTMP1
043750,000764: 20,3467 21721 DAS TMP6
043751,000765:
043752,000766: 20,3470 00002 TC Q
043753,000767:
|
|
Page 978 |
043755,000769: # CONSTANTS FOR AUTOPILOTS
043756,000770:
043757,000771: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41X16384/3600/360)
043758,000772: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043759,000773:
043760,000774: 20,3471 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
043761,000775: 20,3472 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
043762,000776:
043763,000777: 20,3473 5003 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
043764,000778: 20,3473 5015 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
043765,000779:
043766,000780: 20,3473 02530 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
043767,000781: 20,3474 03107 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
043768,000782: 20,3475 02732 YAWT5 GENADR YAWDAP # REQUIRED.
043769,000783:
043770,000784: 20,3476 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUDIF < 2.33 DEG
043771,000785: 20,3477 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043772,000786: 20,3500 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
043773,000787:
End of include-file TVCDAPS.agc. Parent file is MAIN.agc