Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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014038,000002: ## Copyright: Public domain.
014039,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014040,000004: ## Purpose: A section of LM131 revision 1.
014041,000005: ## It is part of the reconstructed source code for the final
014042,000006: ## release of the flight software for the Lunar Module's (LM)
014043,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
014044,000008: ## been reconstructed from a listing of Luminary 131 and a dump
014045,000009: ## of a core rope memory module B5, part number 2010802-171,
014046,000010: ## which is the only module different between LM131 revision 1
014047,000011: ## and Luminary 131. The executable generated from this source
014048,000012: ## has been verified against the module dump, so while the names,
014049,000013: ## comments, and ordering may not be exactly correct, the
014050,000014: ## resulting binary is.
014051,000015: ## Reference: pp. 344-365
014052,000016: ## Assembler: yaYUL
014053,000017: ## Contact: Ron Burkey <info@sandroid.org>.
014054,000018: ## Website: www.ibiblio.org/apollo/index.html
014055,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
014056,000020:
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014058,000022: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
014059,000023:
014060,000024: # MOD 2 DATE 5/1/67 BY DON KEENE
014061,000025:
014062,000026: # PROGRAM DESCRIPTION
014063,000027:
014064,000028: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014065,000029: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014066,000030: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014067,000031: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014068,000032: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014069,000033:
014070,000034: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014071,000035: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014072,000036: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014073,000037:
014074,000038: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014075,000039: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014076,000040:
014077,000041: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014078,000042: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014079,000043: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014080,000044: # -
014081,000045: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014082,000046: # -
014083,000047: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014084,000048: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014085,000049: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014086,000050:
014087,000051: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014088,000052: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014089,000053: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014090,000054: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014091,000055: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014092,000056: # -
014093,000057: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014094,000058:
014095,000059: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014096,000060: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014097,000061: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014098,000062: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014099,000063: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014100,000064: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014101,000065: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014102,000066: # DESIRED FINAL GIMBAL ANGLES.
014103,000067:
014104,000068: # PROGRAM LOGIC FLOW
014105,000069:
014106,000070: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014107,000071: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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014109,000073: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014110,000074: # * * *
014111,000075: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014112,000076: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014113,000077:
014114,000078: # A) AM LESS THAN .25 DEGREES (MINANG)
014115,000079: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014116,000080:
014117,000081: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014118,000082: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014119,000083:
014120,000084: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014121,000085: # - *
014122,000086: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014123,000087: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014124,000088: # -
014125,000089: # TO DETERMINE COF.
014126,000090:
014127,000091: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014128,000092: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014129,000093: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014130,000094: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014131,000095: # YAW.
014132,000096:
014133,000097: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014134,000098: # -
014135,000099: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014136,000100: # DESIRED REFERENCE MATRIX IS THEN,
014137,000101: # * * *
014138,000102: # MIS = MIS DEL
014139,000103: # N+1 N
014140,000104: # *
014141,000105: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014142,000106: # *
014143,000107: # FROM MIS.
014144,000108:
014145,000109: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014146,000110: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014147,000111: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014148,000112: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014149,000113: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014150,000114: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014151,000115:
014152,000116: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014153,000117: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014154,000118:
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014156,000120: # CALLING SEQUENCE
014157,000121:
014158,000122: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014159,000123: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014160,000124: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014161,000125: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014162,000126: # *
014163,000127: # CAF PRIO XX
014164,000128: # --
014165,000129: # INHINT
014166,000130: # TC FINDVAC
014167,000131: # 2CADR KALCMAN3
014168,000132: # RELINT
014169,000133:
014170,000134: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014171,000135: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014172,000136:
014173,000137: # L TC BANKCALL
014174,000138: # L+1 CADR ATTSTALL
014175,000139: # L+2 (BAD RETURN)
014176,000140: # L+3 (GOOD RETURN)
014177,000141:
014178,000142: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014179,000143: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014180,000144: # WAS IN GIMBAL LOCK.
014181,000145:
014182,000146: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014183,000147: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014184,000148:
014185,000149: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014186,000150: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014187,000151: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014188,000152: # SUBROUTINES
014189,000153:
014190,000154: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014191,000155: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014192,000156:
014193,000157: # MXM3
014194,000158: # ----
014195,000159:
014196,000160: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014197,000161: # DOWN LIST, I.E.,
014198,000162: # ( M M M )
014199,000163: # ( 0 1 2 )
014200,000164: # * ( ) * *
014201,000165: # M = ( M M M ) = M1 X M2
014202,000166: # ( 3 4 5 )
014203,000167: # ( )
014204,000168: # ( M M M )
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014206,000170: # ( 6 7 8 )
014207,000171: # *
014208,000172: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014209,000173: # *
014210,000174: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014211,000175: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014212,000176: # 8
014213,000177: # TRANSPOS
014214,000178: # --------
014215,000179:
014216,000180: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014217,000181: #
014218,000182: # * * T
014219,000183: # M = M1
014220,000184:
014221,000185: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014222,000186: # *
014223,000187: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014224,000188:
014225,000189: # CDU TO DCM
014226,000190: # ----------
014227,000191:
014228,000192: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014229,000193: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014230,000194:
014231,000195: # M = COSY COSZ
014232,000196: # 0
014233,000197:
014234,000198: # M = -COSY SINZ COSX + SINY SINX
014235,000199: # 1
014236,000200:
014237,000201: # M = COSY SINZ SINX + SINY COSX
014238,000202: # 2
014239,000203:
014240,000204: # M = SINZ
014241,000205: # 3
014242,000206:
014243,000207: # M = COSZ COSX
014244,000208: # 4
014245,000209:
014246,000210: # M = -COSZ SINX
014247,000211: # 5
014248,000212:
014249,000213: # M = -SINY COSZ
014250,000214: # 6
014251,000215: #
014252,000216: # M = SINY SINZ COSX + COSY SINX
014253,000217: # 7
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014255,000219: # M = -SINY SINZ SINX + COSY COSX
014256,000220: # 8
014257,000221:
014258,000222: # WHERE X = OUTER GIMBAL ANGLE
014259,000223: # Y = INNER GIMBAL ANGLE
014260,000224: # Z = MIDDLE GIMBAL ANGLE
014261,000225:
014262,000226: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014263,000227:
014264,000228: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014265,000229: # X Y Z
014266,000230: # STABLE MEMBER AXES (B , B , B ) ARE
014267,000231: # X Y Z
014268,000232:
014269,000233: # ( B ) ( A )
014270,000234: # ( X ) ( X )
014271,000235: # ( ) ( )
014272,000236: # ( ) * ( )
014273,000237: # ( B ) = M ( A )
014274,000238: # ( Y ) ( Y )
014275,000239: # ( ) ( )
014276,000240: # ( B ) ( A )
014277,000241: # ( Z ) ( Z )
014278,000242:
014279,000243: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014280,000244: # *
014281,000245: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014282,000246:
014283,000247: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014284,000248: # REGISTER X2.
014285,000249:
014286,000250: # DCM TO CDU
014287,000251: # ----------
014288,000252: # *
014289,000253: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROMA DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014290,000254: # *
014291,000255: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014292,000256: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014293,000257: # FOR THIS CONVERSION ARE
014294,000258:
014295,000259: # Z = ARCSIN (M )
014296,000260: # 3
014297,000261:
014298,000262: # Y = ARCSIN (-M /COSZ)
014299,000263: # 6
014300,000264:
014301,000265: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014302,000266: # 0
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014304,000268: # X = ARCSIN (-M /COSZ)
014305,000269: # 5
014306,000270:
014307,000271: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014308,000272: # 4
014309,000273:
014310,000274: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014311,000275: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014312,000276: # THE PUSH DOWN LIST.
014313,000277:
014314,000278: # DELCOMP
014315,000279: # -------
014316,000280: # *
014317,000281: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014318,000282: # -
014319,000283: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014320,000284:
014321,000285: # * * - -T *
014322,000286: # DEL = I COSA + U U (1 - COSA) + V SINA
014323,000287: # X
014324,000288:
014325,000289: # WHERE * ( 1 0 0 )
014326,000290: # I = ( 0 1 0 )
014327,000291: # ( 0 0 1 )
014328,000292:
014329,000293: # 2
014330,000294: # ( U U U U U )
014331,000295: # ( X X Y X Z )
014332,000296: # ( )
014333,000297: # - -T ( 2 )
014334,000298: # U U = ( U U U U U )
014335,000299: # ( Y X Y Y Z )
014336,000300: # ( )
014337,000301: # ( 2 )
014338,000302: # ( U U U U U )
014339,000303: # ( Z X Z Y Z )
014340,000304:
014341,000305:
014342,000306: # ( 0 -U U )
014343,000307: # ( Z Y )
014344,000308: # * ( )
014345,000309: # V = ( U 0 -U )
014346,000310: # X ( Z X )
014347,000311: # ( )
014348,000312: # ( -U U 0 )
014349,000313: # ( Y X )
014350,000314:
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014352,000316: # -
014353,000317: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014354,000318: # A = ROTATION ANGLE
014355,000319:
014356,000320: # *
014357,000321: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014358,000322:
014359,000323: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014360,000324: # X Y Z
014361,000325: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014362,000326: # X Y Z
014363,000327:
014364,000328: # ( B ) ( A )
014365,000329: # ( X ) ( X )
014366,000330: # ( ) * ( )
014367,000331: # ( B ) = DEL ( A )
014368,000332: # ( Y ) ( Y )
014369,000333: # ( ) ( )
014370,000334: # ( B ) ( A )
014371,000335: # ( Z ) ( Z )
014372,000336:
014373,000337: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014374,000338: # -
014375,000339: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014376,000340: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014377,000341: # MUST THEN BE LOADED INTO D(MPAC).
014378,000342: #
014379,000343: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014380,000344:
014381,000345: # READCDUK
014382,000346: # --------
014383,000347:
014384,000348: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014385,000349:
014386,000350: # SIGNMPAC
014387,000351: # --------
014388,000352:
014389,000353: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014390,000354:
014391,000355: # PROGRAM STORAGE ALLOCATION
014392,000356:
014393,000357: # 1) FIXED MEMORY 1059 WORDS
014394,000358: # 2) ERASABLE MEMORY 98
014395,000359: # 3) STATE SWITCHES 3
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014397,000361: # 4) FLAGS 1
014398,000362:
014399,000363: # JOB PRIORITIES
014400,000364:
014401,000365: # 1) KALCMANU TBD
014402,000366: # 2) ONE SECOND UPDATE TBD
014403,000367:
014404,000368: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014405,000369:
014406,000370: # STATE FLAGWRD 2 SETTING MEANING
014407,000371: # SWITCH NO. BIT NO.
014408,000372:
014409,000373: # *
014410,000374: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014411,000375: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014412,000376: # *
014413,000377: # 32 13 0 CONTINUE UPDATE PROCESS
014414,000378: # 1 START UPDATE PROCESS
014415,000379:
014416,000380: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014417,000381: # 1 IGNORE ANY FINAL P-AXIS YAW
014418,000382:
014419,000383: # 34 11 0 SIGNAL END OF KALCMANU
014420,000384: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014421,000385:
014422,000386: # * INTERNAL TO KALCMANU
014423,000387:
014424,000388: # SUGGESTIONS FOR PROGRAM INTEGRATION
014425,000389:
014426,000390: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014427,000391:
014428,000392: # CPHI
014429,000393: # CTHETA
014430,000394: # CPSI
014431,000395: # POINTVSM +5
014432,000396: # SCAXIS +5
014433,000397: # DELDCDU
014434,000398: # DELDCDU1
014435,000399: # DELDCDU2
014436,000400: # RATEINDX
014437,000401:
014438,000402: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014439,000403:
014440,000404: # MXM3
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014442,000406: # TRANSPOS
014443,000407: # SIGNMPAC
014444,000408: # READCDUK
014445,000409: # CDUTODCM
014446,000410:
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Page 353
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014448,000412: 15,2050 BANK 15
014449,000413: 22,2000 SETLOC KALCMON1
014450,000414: 22,2000 BANK
014451,000415:
014452,000416: 22,2004 E6,1675 EBANK= BCDU
014453,000417:
014454,000418: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014455,000419: # LOCATIONS, CPHI, CTHETA, CPSI.
014456,000420:
014457,000421: 22,2004 COUNT* $$/KALC
014458,000422: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014459,000423: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014460,000424: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014461,000425: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
014462,000426: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014463,000427: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014464,000428: 22,2012 51025 DSU BPL
014465,000429: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014466,000430: 22,2014 44724 TOOBADF
014467,000431: 22,2015 72364 AXC,2 TLOAD
014468,000432: 22,2016 03245 MIS
014469,000433: 22,2017 03276 BCDU
014470,000434: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014471,000435: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014472,000436: 22,2022 72364 AXC,2 TLOAD
014473,000437: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014474,000438: 22,2024 00322 CPHI
014475,000439: 22,2025 77624 CALL
014476,000440: 22,2026 44410 CDUTODCM
014477,000441: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014478,000442: 22,2030 03245 MIS
014479,000443: 22,2031 44326 TRANSPOS
014480,000444: 22,2032 45575 VLOAD STADR
014481,000445: 22,2033 50460 STOVL TMIS +12D
014482,000446: 22,2034 77626 STADR
014483,000447: 22,2035 50466 STOVL TMIS +6
014484,000448: 22,2036 77626 STADR
014485,000449: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014486,000450: 22,2040 75160 AXC,1 AXC,2
014487,000451: 22,2041 03302 TMIS
014488,000452: 22,2042 02230 MFS
014489,000453: 22,2043 77624 CALL
014490,000454: 22,2044 44312 MXM3
014491,000455: 22,2045 45575 VLOAD STADR
014492,000456: 22,2046 51532 STOVL MFI +12D
014493,000457: 22,2047 77626 STADR
014494,000458: 22,2050 51540 STOVL MFI +6
014495,000459: 22,2051 77626 STADR
014496,000460: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014497,000461: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 354
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014499,000463: 22,2054 00023 18D
014500,000464: 22,2055 44335 TRNSPSPD
014501,000465: 22,2056 45575 VLOAD STADR
014502,000466: 22,2057 50460 STOVL TMFI +12D
014503,000467: 22,2060 77626 STADR
014504,000468: 22,2061 50466 STOVL TMFI +6
014505,000469: 22,2062 77626 STADR
014506,000470: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014507,000471:
014508,000472: # CALCULATE COFSKEW AND MFISYM
014509,000473:
014510,000474: 22,2064 45345 DLOAD DSU
014511,000475: 22,2065 03305 TMFI +2
014512,000476: 22,2066 02233 MFI +2
014513,000477: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014514,000478: 22,2070 02235 MFI +4
014515,000479: 22,2071 03307 TMFI +4
014516,000480: 22,2072 45325 PDDL DSU
014517,000481: 22,2073 03315 TMFI +10D
014518,000482: 22,2074 02243 MFI +10D
014519,000483: 22,2075 77666 VDEF
014520,000484: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
014521,000485:
014522,000486: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014523,000487:
014524,000488: 22,2077 43345 DLOAD DAD
014525,000489: 22,2100 02231 MFI
014526,000490: 22,2101 02251 MFI +16D
014527,000491: 22,2102 43225 DSU DAD
014528,000492: 22,2103 06514 DP1/4TH
014529,000493: 22,2104 02241 MFI +8D
014530,000494: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014531,000495: 22,2106 77726 ARCCOS
014532,000496: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014533,000497: 22,2110 51025 DSU BPL
014534,000498: 22,2111 04363 MINANG
014535,000499: 22,2112 44117 CHECKMAX
014536,000500: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014537,000501: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014538,000502: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
014539,000503: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014540,000504:
014541,000505: 22,2117 45345 CHECKMAX DLOAD DSU
014542,000506: 22,2120 03335 AM
014543,000507: 22,2121 04365 MAXANG
014544,000508: 22,2122 77244 BPL VLOAD
014545,000509: 22,2123 44131 ALTCALC # UNIT
014546,000510: 22,2124 03325 COFSKEW # COFSKEW
014547,000511: 22,2125 77656 UNIT
014548,000512: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
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Page 355
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014550,000514: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014551,000515: 22,2130 44744 LOCSKIRT
014552,000516: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014553,000517: 22,2132 02231 MFI
014554,000518: 22,2133 03303 TMFI
014555,000519: 22,2134 77762 VSR1
014556,000520: 22,2135 27303 STOVL MFISYM
014557,000521: 22,2136 02237 MFI +6
014558,000522: 22,2137 74455 VAD VSR1
014559,000523: 22,2140 03311 TMFI +6
014560,000524: 22,2141 27311 STOVL MFISYM +6
014561,000525: 22,2142 02245 MFI +12D
014562,000526: 22,2143 74455 VAD VSR1
014563,000527: 22,2144 03317 TMFI +12D
014564,000528: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014565,000529:
014566,000530: # CALCULATE COF
014567,000531:
014568,000532: 22,2146 70545 DLOAD SR1
014569,000533: 22,2147 03333 CAM
014570,000534: 22,2150 45325 PDDL DSU # PDO CAM $4
014571,000535: 22,2151 06522 DPHALF
014572,000536: 22,2152 03333 CAM
014573,000537: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014574,000538: 22,2154 21713 SIGNMPAC
014575,000539: 22,2155 03323 MFISYM +16D
014576,000540: 22,2156 56225 DSU DDV
014577,000541: 22,2157 00001 0
014578,000542: 22,2160 00003 2
014579,000543: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014580,000544: 22,2162 03313 MFISYM +8D # $ ROOT 2
014581,000545: 22,2163 56225 DSU DDV
014582,000546: 22,2164 00001 0
014583,000547: 22,2165 00003 2
014584,000548: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014585,000549: 22,2167 03303 MFISYM
014586,000550: 22,2170 56225 DSU DDV
014587,000551: 22,2171 00001 0
014588,000552: 22,2172 00003 2
014589,000553: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014590,000554: 22,2174 77656 UNIT
014591,000555: 22,2175 03270 STORE COF
014592,000556:
014593,000557: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014594,000558:
014595,000559: 22,2176 45345 COFMAXGO DLOAD DSU
014596,000560: 22,2177 03270 COF
014597,000561: 22,2200 03272 COF +2
014598,000562: 22,2201 71240 BMN DLOAD # COFY G COFX
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Page 356
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014600,000564: 22,2202 44211 COMP12
014601,000565: 22,2203 03270 COF
014602,000566: 22,2204 50025 DSU BMN
014603,000567: 22,2205 03274 COF +4
014604,000568: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014605,000569: 22,2207 77650 GOTO
014606,000570: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014607,000571: 22,2211 45345 COMP12 DLOAD DSU
014608,000572: 22,2212 03272 COF +2
014609,000573: 22,2213 03274 COF +4
014610,000574: 22,2214 77640 BMN
014611,000575: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014612,000576:
014613,000577: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014614,000578: 22,2217 03327 COFSKEW +2 # UY
014615,000579: 22,2220 44224 U2POS
014616,000580: 22,2221 57575 VLOAD VCOMP
014617,000581: 22,2222 03270 COF
014618,000582: 22,2223 03270 STORE COF
014619,000583: 22,2224 51145 U2POS DLOAD BPL
014620,000584: 22,2225 03305 MFISYM +2 # UX UY
014621,000585: 22,2226 44232 OKU21
014622,000586: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014623,000587: 22,2230 03270 COF
014624,000588: 22,2231 03270 STORE COF
014625,000589: 22,2232 51145 OKU21 DLOAD BPL
014626,000590: 22,2233 03315 MFISYM +10D # UY UZ
014627,000591: 22,2234 44744 LOCSKIRT
014628,000592: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014629,000593: 22,2236 03274 COF +4
014630,000594: 22,2237 03274 STORE COF +4
014631,000595: 22,2240 77650 GOTO
014632,000596: 22,2241 44744 LOCSKIRT
014633,000597: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014634,000598: 22,2243 03325 COFSKEW # UX
014635,000599: 22,2244 44250 U1POS
014636,000600: 22,2245 57575 VLOAD VCOMP
014637,000601: 22,2246 03270 COF
014638,000602: 22,2247 03270 STORE COF
014639,000603: 22,2250 51145 U1POS DLOAD BPL
014640,000604: 22,2251 03305 MFISYM +2 # UX UY
014641,000605: 22,2252 44256 OKU12
014642,000606: 22,2253 57545 DLOAD DCOMP
014643,000607: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
014644,000608: 22,2255 03272 STORE COF +2
014645,000609: 22,2256 51145 OKU12 DLOAD BPL
014646,000610: 22,2257 03307 MFISYM +4 # UX UZ
014647,000611: 22,2260 44744 LOCSKIRT
014648,000612: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014649,000613: 22,2262 03274 COF +4
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Page 357
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014651,000615: 22,2263 03274 STORE COF +4
014652,000616: 22,2264 77650 GOTO
014653,000617: 22,2265 44744 LOCSKIRT
014654,000618: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014655,000619: 22,2267 03331 COFSKEW +4 # UZ
014656,000620: 22,2270 44274 U3POS
014657,000621: 22,2271 57575 VLOAD VCOMP
014658,000622: 22,2272 03270 COF
014659,000623: 22,2273 03270 STORE COF
014660,000624: 22,2274 51145 U3POS DLOAD BPL
014661,000625: 22,2275 03307 MFISYM +4 # UX UZ
014662,000626: 22,2276 44302 OKU31
014663,000627: 22,2277 57545 DLOAD DCOMP
014664,000628: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
014665,000629: 22,2301 03270 STORE COF
014666,000630: 22,2302 51145 OKU31 DLOAD BPL
014667,000631: 22,2303 03315 MFISYM +10D # UY UZ
014668,000632: 22,2304 44744 LOCSKIRT
014669,000633: 22,2305 57545 DLOAD DCOMP
014670,000634: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
014671,000635: 22,2307 03272 STORE COF +2
014672,000636: 22,2310 77650 GOTO
014673,000637: 22,2311 44744 LOCSKIRT
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Page 358
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014675,000639: # MATRIX OPERATIONS
014676,000640:
014677,000641: 13,2207 BANK 13
014678,000642: 22,2000 SETLOC KALCMON2
014679,000643: 22,2000 BANK
014680,000644:
014681,000645: 22,2312 E6,1675 EBANK= BCDU
014682,000646:
014683,000647: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014684,000648: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014685,000649: 22,2314 00001 0,1 # AND MPAC
014686,000650: 22,2315 62703 VXM* PDVL*
014687,000651: 22,2316 77776 0,2
014688,000652: 22,2317 00007 6,1
014689,000653: 22,2320 62703 VXM* PDVL*
014690,000654: 22,2321 77776 0,2
014691,000655: 22,2322 00015 12D,1
014692,000656: 22,2323 41503 VXM* PUSH
014693,000657: 22,2324 77776 0,2
014694,000658: 22,2325 77616 RVQ
014695,000659:
014696,000660: # RETURN WITH M1XM2 IN PD LIST
014697,000661:
014698,000662: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014699,000663: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014700,000664: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014701,000665: 22,2331 62713 PDVL* PDVL*
014702,000666: 22,2332 00007 6,1
014703,000667: 22,2333 00015 12D,1
014704,000668: 22,2334 77606 PUSH # MATRIX IN PD
014705,000669: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014706,000670: 22,2336 50120 INDEX FIXLOC
014707,000671: 22,2337 52013 DXCH 12
014708,000672: 22,2340 50120 INDEX FIXLOC
014709,000673: 22,2341 52017 DXCH 16
014710,000674: 22,2342 50120 INDEX FIXLOC
014711,000675: 22,2343 52013 DXCH 12
014712,000676: 22,2344 50120 INDEX FIXLOC
014713,000677: 22,2345 52015 DXCH 14
014714,000678: 22,2346 50120 INDEX FIXLOC
014715,000679: 22,2347 52005 DXCH 4
014716,000680: 22,2350 50120 INDEX FIXLOC
014717,000681: 22,2351 52015 DXCH 14
014718,000682: 22,2352 50120 INDEX FIXLOC
014719,000683: 22,2353 52003 DXCH 2
014720,000684: 22,2354 50120 INDEX FIXLOC
014721,000685: 22,2355 52007 DXCH 6
014722,000686: 22,2356 50120 INDEX FIXLOC
014723,000687: 22,2357 52003 DXCH 2
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Page 359
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014725,000689: 22,2360 06042 TC INTPRET
014726,000690: 22,2361 77616 RVQ
014727,000691:
014728,000692: 15,2050 BANK 15
014729,000693: 22,2000 SETLOC KALCMON1
014730,000694: 22,2000 BANK
014731,000695:
014732,000696: 22,2362 E6,1675 EBANK= BCDU
014733,000697:
014734,000698: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014735,000699: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014736,000700:
014737,000701: # GIMBAL LOCK CONSTANTS
014738,000702:
014739,000703: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014740,000704: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014741,000705:
014742,000706: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014743,000707: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014744,000708: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014745,000709: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014746,000710: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014747,000711: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014748,000712: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014749,000713:
014750,000714: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014751,000715:
014752,000716: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014753,000717: 22,2404 54156 TS MPAC +2
014754,000718: 22,2405 00006 EXTEND
014755,000719: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014756,000720: 22,2407 16501 TCF TLOAD +6
014757,000721:
014758,000722: 22,2410 66370 CDUTODCM AXT,1 SSP
014759,000723: 22,2411 00003 OCT 3
014760,000724: 22,2412 00051 S1
014761,000725: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014762,000726: 22,2414 00010 STORE 7
014763,000727: 22,2415 77601 SETPD
014764,000728: 22,2416 00001 0
014765,000729: 22,2417 47133 LOOPSIN SLOAD* RTB
014766,000730: 22,2420 00013 10D,1
014767,000731: 22,2421 21577 CDULOGIC
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Page 360
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014769,000733: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014770,000734: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014771,000735: 22,2424 00013 10D # 4 SIN(THETA)
014772,000736: 22,2425 41546 COS PUSH # 6 COS(THETA)
014773,000737: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014774,000738: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014775,000739: 22,2430 00007 6
014776,000740: 22,2431 72405 DMP SL1
014777,000741: 22,2432 00013 10D
014778,000742: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014779,000743: 22,2434 41345 DLOAD DMP
014780,000744: 22,2435 00005 4
014781,000745: 22,2436 00001 0
014782,000746: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014783,000747: 22,2440 00007 6
014784,000748: 22,2441 00011 8D
014785,000749: 22,2442 72405 DMP SL1
014786,000750: 22,2443 00003 2
014787,000751: 22,2444 72421 BDSU SL1
014788,000752: 22,2445 00015 12D
014789,000753: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014790,000754: 22,2447 41345 DLOAD DMP
014791,000755: 22,2450 00003 2
014792,000756: 22,2451 00005 4
014793,000757: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
014794,000758: 22,2453 00007 6
014795,000759: 22,2454 00011 8D
014796,000760: 22,2455 72405 DMP SL1
014797,000761: 22,2456 00001 0
014798,000762: 22,2457 72415 DAD SL1
014799,000763: 22,2460 00017 14D
014800,000764: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
014801,000765: 22,2462 77745 DLOAD
014802,000766: 22,2463 00011 8D
014803,000767: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
014804,000768: 22,2465 77745 DLOAD
014805,000769: 22,2466 00013 10D
014806,000770: 22,2467 72405 DMP SL1
014807,000771: 22,2470 00003 2
014808,000772: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
014809,000773: 22,2472 41345 DLOAD DMP
014810,000774: 22,2473 00013 10D
014811,000775: 22,2474 00001 0
014812,000776: 22,2475 72476 DCOMP SL1
014813,000777: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
014814,000778: 22,2477 41345 DLOAD DMP
014815,000779: 22,2500 00005 4
014816,000780: 22,2501 00013 10D
014817,000781: 22,2502 72476 DCOMP SL1
014818,000782: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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014820,000784: 22,2504 77745 DLOAD
014821,000785: 22,2505 72405 DMP SL1 # (PUSH UP 7)
014822,000786: 22,2506 00011 8D
014823,000787: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
014824,000788: 22,2510 00007 6
014825,000789: 22,2511 00001 0
014826,000790: 22,2512 72415 DAD SL1 # (PUSH UP 7)
014827,000791: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
014828,000792: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
014829,000793: 22,2515 77745 DLOAD
014830,000794: 22,2516 72405 DMP SL1 # (PUSH UP 6)
014831,000795: 22,2517 00011 8D
014832,000796: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
014833,000797: 22,2521 00007 6
014834,000798: 22,2522 00003 2
014835,000799: 22,2523 72425 DSU SL1 # (PUSH UP 6)
014836,000800: 22,2524 77626 STADR
014837,000801: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
014838,000802: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
014839,000803:
014840,000804: # CALCULATION OF THE MATRIX DEL......
014841,000805:
014842,000806: # * * --T *
014843,000807: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
014844,000808: # -
014845,000809: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
014846,000810: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
014847,000811: # -
014848,000812: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
014849,000813:
014850,000814: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
014851,000815: 22,2530 00001 0
014852,000816: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
014853,000817: 22,2532 41546 COS PUSH # PD2 = COS(A)
014854,000818: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
014855,000819: 22,2534 41021 BDSU BOVB
014856,000820: 22,2535 06522 DPHALF
014857,000821: 22,2536 21713 SIGNMPAC
014858,000822: 22,2537 77725 PDDL # PD4 = 1-COS(A)
014859,000823:
014860,000824: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
014861,000825:
014862,000826: 22,2540 03270 COF
014863,000827: 22,2541 41316 DSQ DMP
014864,000828: 22,2542 00005 4
014865,000829: 22,2543 52415 DAD SL3
014866,000830: 22,2544 00003 2
014867,000831: 22,2545 77604 BOVB
014868,000832: 22,2546 21713 SIGNMPAC
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014870,000834: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
014871,000835: 22,2550 03272 COF +2
014872,000836: 22,2551 41316 DSQ DMP
014873,000837: 22,2552 00005 4
014874,000838: 22,2553 52415 DAD SL3
014875,000839: 22,2554 00003 2
014876,000840: 22,2555 77604 BOVB
014877,000841: 22,2556 21713 SIGNMPAC
014878,000842: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
014879,000843: 22,2560 03274 COF +4
014880,000844: 22,2561 41316 DSQ DMP
014881,000845: 22,2562 00005 4
014882,000846: 22,2563 52415 DAD SL3
014883,000847: 22,2564 00003 2
014884,000848: 22,2565 77604 BOVB
014885,000849: 22,2566 21713 SIGNMPAC
014886,000850: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
014887,000851:
014888,000852: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
014889,000853:
014890,000854: 22,2570 41345 DLOAD DMP
014891,000855: 22,2571 03270 COF
014892,000856: 22,2572 03272 COF +2
014893,000857: 22,2573 72405 DMP SL1
014894,000858: 22,2574 00005 4
014895,000859: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
014896,000860: 22,2576 03274 COF +4
014897,000861: 22,2577 00001 0
014898,000862: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
014899,000863: 22,2601 00007 6
014900,000864: 22,2602 41112 SL2 BOVB
014901,000865: 22,2603 21713 SIGNMPAC
014902,000866: 22,2604 16237 STODL KEL +6
014903,000867: 22,2605 62421 BDSU SL2
014904,000868: 22,2606 77604 BOVB
014905,000869: 22,2607 21713 SIGNMPAC
014906,000870: 22,2610 16233 STODL KEL +2
014907,000871: 22,2611 03270 COF
014908,000872: 22,2612 41205 DMP DMP
014909,000873: 22,2613 03274 COF +4
014910,000874: 22,2614 00005 4
014911,000875: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
014912,000876: 22,2616 03272 COF +2
014913,000877: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
014914,000878: 22,2620 00001 0
014915,000879: 22,2621 62415 DAD SL2
014916,000880: 22,2622 00007 6
014917,000881: 22,2623 77604 BOVB
014918,000882: 22,2624 21713 SIGNMPAC
014919,000883: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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014921,000885: 22,2626 62421 BDSU SL2
014922,000886: 22,2627 77604 BOVB
014923,000887: 22,2630 21713 SIGNMPAC
014924,000888: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
014925,000889: 22,2632 03272 COF +2
014926,000890: 22,2633 41205 DMP DMP
014927,000891: 22,2634 03274 COF +4
014928,000892: 22,2635 00005 4
014929,000893: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $4
014930,000894: 22,2637 03270 COF
014931,000895: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
014932,000896: 22,2641 00001 0
014933,000897: 22,2642 62415 DAD SL2
014934,000898: 22,2643 00007 6
014935,000899: 22,2644 77604 BOVB
014936,000900: 22,2645 21713 SIGNMPAC
014937,000901: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
014938,000902: 22,2647 62421 BDSU SL2
014939,000903: 22,2650 77604 BOVB
014940,000904: 22,2651 21713 SIGNMPAC
014941,000905: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
014942,000906: 22,2653 77616 RVQ
014943,000907:
014944,000908: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
014945,000909:
014946,000910: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
014947,000911: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
014948,000912: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
014949,000913: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
014950,000914:
014951,000915: # C =COS(THETA)COS(PSI)
014952,000916: # 0
014953,000917:
014954,000918: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
014955,000919: # 1
014956,000920:
014957,000921: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
014958,000922: # 2
014959,000923:
014960,000924: # C =SIN(PSI)
014961,000925: # 3
014962,000926:
014963,000927: # C =COS(PSI)COS(PHI)
014964,000928: # 4
014965,000929:
014966,000930: # C =-COS(PSI)SIN(PHI)
014967,000931: # 5
014968,000932:
014969,000933: # C =-SIN(THETA)COS(PSI)
014970,000934: # 6
014971,000935:
014972,000936: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
014973,000937: # 7
014974,000938:
014975,000939: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
014976,000940: # 8
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014978,000942:
014979,000943: # WHERE PHI = OGA
014980,000944: # THETA = IGA
014981,000945: # PSI = MGA
014982,000946:
014983,000947: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
014984,000948: 22,2655 00007 6,1
014985,000949: 22,2656 71406 PUSH COS # PD +0 PSI
014986,000950: 22,2657 41152 SL1 BOVB
014987,000951: 22,2660 21713 SIGNMPAC
014988,000952: 22,2661 00051 STORE S1
014989,000953: 22,2662 57543 DLOAD* DCOMP
014990,000954: 22,2663 00015 12D,1
014991,000955: 22,2664 67471 DDV ARCSIN
014992,000956: 22,2665 00051 S1
014993,000957: 22,2666 51123 PDDL* BPL # PD +2 THETA
014994,000958: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
014995,000959: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
014996,000960: 22,2671 57545 DLOAD DCOMP
014997,000961: 22,2672 43244 BPL DAD
014998,000962: 22,2673 44677 SUHALFA
014999,000963: 22,2674 06522 DPHALF
015000,000964: 22,2675 77650 GOTO
015001,000965: 22,2676 44701 CALCPHI
015002,000966: 22,2677 77625 SUHALFA DSU
015003,000967: 22,2700 06522 DPHALF
015004,000968: 22,2701 77606 CALCPHI PUSH
015005,000969: 22,2702 57543 OKTHETA DLOAD* DCOMP
015006,000970: 22,2703 00013 10D,1
015007,000971: 22,2704 67471 DDV ARCSIN
015008,000972: 22,2705 00051 S1
015009,000973: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015010,000974: 22,2707 00011 8D,1
015011,000975: 22,2710 44722 OKPHI
015012,000976: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015013,000977: 22,2712 43244 BPL DAD
015014,000978: 22,2713 44717 SUHALFAP
015015,000979: 22,2714 06522 DPHALF
015016,000980: 22,2715 77650 GOTO
015017,000981: 22,2716 44723 VECOFANG
015018,000982: 22,2717 52025 SUHALFAP DSU GOTO
015019,000983: 22,2720 06522 DPHALF
015020,000984: 22,2721 44723 VECOFANG
015021,000985: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015022,000986: 22,2723 43466 VECOFANG VDEF RVQ
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015024,000988: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015025,000989:
015026,000990: 22,2724 77776 TOOBADF EXIT
015027,000991: 22,2725 05567 TC ALARM
015028,000992: 22,2726 00401 OCT 00401
015029,000993:
015030,000994: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015031,000995:
015032,000996: 22,2730 04616 TC BANKCALL
015033,000997: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015034,000998:
015035,000999: 22,2732 04616 NOGO TC BANKCALL
015036,001000: 22,2733 40166 CADR STOPRATE # STOP RATES
015037,001001:
015038,001002: 22,2734 34752 CAF TWO
015039,001003: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015040,001004: 22,2736 05203 TC WAITLIST
015041,001005: 22,2737 E6,1675 EBANK= BCDU
015042,001006: 22,2737 03234 44066 2CADR GOODMANU
015043,001007:
015044,001008: 22,2741 15155 TCF ENDOFJOB
015045,001009:
015046,001010: 22,2742 77776 TOOBADI EXIT
015047,001011: 22,2743 12732 TCF NOGO
015048,001012:
015049,001013:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc