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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020030,000002: ## Copyright: Public domain.
020031,000003: ## Filename: R60,R62.agc
020032,000004: ## Purpose: A section of LM131 revision 1.
020033,000005: ## It is part of the reconstructed source code for the final
020034,000006: ## release of the flight software for the Lunar Module's (LM)
020035,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
020036,000008: ## been reconstructed from a listing of Luminary 131 and a dump
020037,000009: ## of a core rope memory module B5, part number 2010802-171,
020038,000010: ## which is the only module different between LM131 revision 1
020039,000011: ## and Luminary 131. The executable generated from this source
020040,000012: ## has been verified against the module dump, so while the names,
020041,000013: ## comments, and ordering may not be exactly correct, the
020042,000014: ## resulting binary is.
020043,000015: ## Reference: pp. 476-489
020044,000016: ## Assembler: yaYUL
020045,000017: ## Contact: Ron Burkey <info@sandroid.org>.
020046,000018: ## Website: www.ibiblio.org/apollo/index.html
020047,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
020048,000020:
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Page 476
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020050,000022: # MOD NO: 0 DATE: 1 MAY 1968
020051,000023: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020052,000024:
020053,000025: # FUNCTIONAL DESCRIPTION:
020054,000026:
020055,000027: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020056,000028: # ATTITUDE.
020057,000029:
020058,000030: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020059,000031: # CALCULATED (VECPOINT).
020060,000032:
020061,000033: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020062,000034:
020063,000035: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020064,000036:
020065,000037: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020066,000038: # ASTRONAUT RESPONSE.
020067,000039:
020068,000040: # 5. DISPLAY RESPONSE RETURNS:
020069,000041:
020070,000042: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020071,000043:
020072,000044: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020073,000045: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020074,000046: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020075,000047:
020076,000048: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020077,000049:
020078,000050: # 6. IF THE 3-AXIS FLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020079,000051: # (VECPOINT).
020080,000052:
020081,000053: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020082,000054:
020083,000055: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020084,000056: #
020085,000057: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020086,000058:
020087,000059: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020088,000060:
020089,000061: # 11. DO A PHASECHANGE.
020090,000062:
020091,000063: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020092,000064: # GIMBAL ANGLES (GOMANUR).
020093,000065:
020094,000066: # 13. AT END OF MANEUVER GO TO STEP 3.
020095,000067:
020096,000068: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020097,000069: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020098,000070: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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020100,000072: # STEP 5C.
020101,000073:
020102,000074: # CALLING SEQUENCE: TC BANKCALL
020103,000075: # CADR R60LEM
020104,000076:
020105,000077: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
020106,000078: # 3AXISFLG.
020107,000079:
020108,000080: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020109,000081: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020110,000082:
020111,000083: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020112,000084: # TC BANKJUMP
020113,000085:
020114,000086: # ALARMS: NONE
020115,000087:
020116,000088: # OUTPUT: NONE
020117,000089:
020118,000090: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020119,000091:
020120,000092: 34,2000 BANK 34
020121,000093: 26,2000 SETLOC MANUVER
020122,000094: 26,2000 BANK
020123,000095:
020124,000096: 26,2123 1163 EBANK= TEMPR60
020125,000097:
020126,000098: 26,2123 COUNT* $$/R06
020127,000099: 26,2123 04645 R60LEM TC MAKECADR
020128,000100: 26,2124 55163 TS TEMPR60
020129,000101:
020130,000102: 26,2125 34746 REDOMANN CAF 3AXISBIT
020131,000103: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020132,000104: 26,2127 10000 CCS A
020133,000105: 26,2130 12136 TCF TOBALL # YES
020134,000106: 26,2131 06042 TC INTPRET
020135,000107: 26,2132 77624 CALL
020136,000108: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020137,000109: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020138,000110: 26,2135 77776 EXIT
020139,000111:
020140,000112: 26,2136 05504 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
020141,000113: 26,2137 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES
020142,000114: 26,2140 05516 TC DOWNFLAG
020143,000115: 26,2141 00000 ADRES NEED2FLG
020144,000116: 26,2142 04616 TC BANKCALL
020145,000117: 26,2143 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020146,000118: 26,2144 32260 TOBALLA CAF V06N18
020147,000119: 26,2145 04616 TC BANKCALL
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020149,000121: 26,2146 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020150,000122: 26,2147 02246 TC R61TEST
020151,000123: 26,2150 02154 TC REDOMANC # PROCEED
020152,000124: 26,2151 02201 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
020153,000125: 26,2152 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020154,000126: 26,2153 05155 TC ENDOFJOB
020155,000127:
020156,000128: 26,2154 34746 REDOMANC CAF 3AXISBIT
020157,000129: 26,2155 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020158,000130: 26,2156 10000 CCS A
020159,000131: 26,2157 12165 TCF TOBALLC # YES
020160,000132: 26,2160 06042 TC INTPRET
020161,000133: 26,2161 77624 CALL
020162,000134: 26,2162 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020163,000135: 26,2163 00322 STORE CPHI # STORE ANGLES
020164,000136: 26,2164 77776 EXIT
020165,000137:
020166,000138: 26,2165 04616 TOBALLC TC BANKCALL
020167,000139: 26,2166 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020168,000140: 26,2167 02261 TC G+N,AUTO # CHECK AUTO MODE
020169,000141: 26,2170 10000 CCS A
020170,000142: 26,2171 12144 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020171,000143:
020172,000144: 26,2172 32260 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020173,000145: 26,2173 04616 TC BANKCALL # -
020174,000146: 26,2174 20452 CADR GODSPR # -
020175,000147: 26,2175 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020176,000148:
020177,000149: 26,2176 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020178,000150: 26,2177 17741 CADR GOMANUR
020179,000151:
020180,000152: 26,2200 12144 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020181,000153: 26,2201 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020182,000154: 26,2202 00124 ADRES 3AXISFLG
020183,000155: 26,2203 31163 CAE TEMPR60 # -
020184,000156: 26,2204 04640 TC BANKJUMP # -
020185,000157:
020186,000158: 26,2205 40100 CHKLINUS CS FLAGWRD4
020187,000159: 26,2206 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020188,000160: 26,2207 10000 CCS A # -
020189,000161: 26,2210 00002 TC Q # NO - EXIT
020190,000162: 26,2211 30002 CA Q
020191,000163: 26,2212 54156 TS MPAC +2 # SAVE RETURN
020192,000164: 26,2213 46250 CS THREE # OBTAIN LOCATION FOR RESTART
020193,000165: 26,2214 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020194,000166: 26,2215 55054 TS TBASE2
020195,000167:
020196,000168: 26,2216 05353 TC PHASCHNG
020197,000169: 26,2217 00132 OCT 00132
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020199,000171: 26,2220 34745 CAF BIT7
020200,000172: 26,2221 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020201,000173: 26,2222 00156 TC MPAC +2
020202,000174:
020203,000175: 26,2223 37717 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020204,000176: 26,2224 05146 TC PRIOCHNG
020205,000177:
020206,000178: 26,2225 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020207,000179: 26,2226 70075 MASK FLAGWRD1
020208,000180: 26,2227 10000 CCS A
020209,000181: 26,2230 12243 TCF RER60
020210,000182:
020211,000183: 26,2231 34745 CAF RNDVZBIT # IS IT P20?
020212,000184: 26,2232 70074 MASK FLAGWRD0
020213,000185: 26,2233 10000 CCS A
020214,000186: 26,2234 02240 TC +4 # YES
020215,000187: 26,2235 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020216,000188: 26,2236 40112 OCT 40112
020217,000189:
020218,000190: 26,2237 05155 TC ENDOFJOB
020219,000191:
020220,000192: 26,2240 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020221,000193: 26,2241 40072 OCT 40072
020222,000194:
020223,000195: 26,2242 05155 TC ENDOFJOB
020224,000196:
020225,000197: 26,2243 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020226,000198: 26,2244 00077 ADRES PDSPFLAG
020227,000199:
020228,000200: 26,2245 01054 TC TBASE2
020229,000201:
020230,000202: 26,2246 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020231,000203: 26,2247 00006 EXTEND
020232,000204: 26,2250 12201 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020233,000205:
020234,000206: 26,2251 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020235,000207: 26,2252 74740 MASK PDSPFBIT
020236,000208: 26,2253 00006 EXTEND
020237,000209: 26,2254 16001 BZF GOTOPOOH # NO
020238,000210: 26,2255 06025 TC GOTOV56 # YES
020239,000211:
020240,000212: 26,2256 20100 BIT14+7 OCT 20100 # -
020241,000213: 26,2257 00203 OCT203 OCT 203
020242,000214: 26,2260 01422 V06N18 VN 0618
020243,000215:
020244,000216: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020245,000217:
020246,000218: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020247,000219: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020248,000220:
020249,000221: 26,2261 00006 G+N,AUTO EXTEND
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020251,000223: 26,2262 00030 READ CHAN30
020252,000224: 26,2263 74742 MASK BIT10
020253,000225: 26,2264 10000 CCS A
020254,000226: 26,2265 00002 TC Q # NOT IN G+N C(A) = +
020255,000227: 26,2266 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020256,000228: 26,2267 00031 READ CHAN31
020257,000229: 26,2270 74736 MASK BIT14
020258,000230: 26,2271 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020259,000231:
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020261,000233: # PROGRAM DESCRIPTION BALLANGS
020262,000234: # MOD NO. LOG SECTION R60,R62
020263,000235: # WRITTEN BY RAMA M. AIYAWAR
020264,000236:
020265,000237: # FUNCTIONAL DESCRIPTION
020266,000238:
020267,000239: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020268,000240:
020269,000241: # CALLING SEQUENCE
020270,000242:
020271,000243: # TC BALLANGS
020272,000244:
020273,000245: # NORMAL EXIT MODE
020274,000246:
020275,000247: # TC BALLEXIT (SAVED Q)
020276,000248:
020277,000249: # ALARM OR EXIT MODE NIL
020278,000250:
020279,000251: # SUBROUTINES CALLED
020280,000252:
020281,000253: # CD*TR*G
020282,000254: # ARCTAN
020283,000255:
020284,000256: # INPUT
020285,000257:
020286,000258: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020287,000259: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020288,000260:
020289,000261: # OUTPUT
020290,000262:
020291,000263: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020292,000264: # SP,2S COMPLIMENT.
020293,000265:
020294,000266: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020295,000267:
020296,000268: # ERASABLE INITIALIZATION REQUIRED
020297,000269:
020298,000270: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020299,000271:
020300,000272: # DEBRIS
020301,000273:
020302,000274: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020303,000275:
020304,000276: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020305,000277: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020306,000278:
020307,000279: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020308,000280:
020309,000281: 26,2000 SETLOC BAWLANGS
020310,000282: 26,2000 BANK
020311,000283:
020312,000284: 26,2272 COUNT* $$/BALL
020313,000285: 26,2272 04645 BALLANGS TC MAKECADR
020314,000286: 26,2273 55337 TS BALLEXIT
020315,000287: 26,2274 30321 CA CPHI
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020317,000289: 26,2275 54771 TS CDUSPOT +4
020318,000290: 26,2276 30322 CA CTHETA
020319,000291: 26,2277 54765 TS CDUSPOT
020320,000292: 26,2300 30323 CA CPSI
020321,000293: 26,2301 54767 TS CDUSPOT +2
020322,000294:
020323,000295: 26,2302 06042 TC INTPRET
020324,000296: 26,2303 45001 SETPD CALL
020325,000297: 26,2304 00001 0D
020326,000298: 26,2305 47545 CD*TR*G
020327,000299:
020328,000300: 26,2306 41345 DLOAD DMP
020329,000301: 26,2307 00742 SINCDUX # SIN (OGA)
020330,000302: 26,2310 00746 COSCDUZ # COS (MGA)
020331,000303:
020332,000304: 26,2311 57552 SL1 DCOMP # SCALE
020333,000305: 26,2312 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020334,000306: 26,2313 00740 SINCDUZ
020335,000307: 26,2314 14023 STODL SINTH # (SINTH = 18D IN PD)
020336,000308: 26,2315 00746 COSCDUZ
020337,000309: 26,2316 72405 DMP SL1 # RESCALE
020338,000310: 26,2317 00750 COSCDUX
020339,000311: 26,2320 34021 STCALL COSTH # (COSTH = 16D IN PD)
020340,000312: 26,2321 26506 ARCTAN
020341,000313: 26,2322 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020342,000314: 26,2323 00740 SINCDUZ
020343,000315: 26,2324 00742 SINCDUX
020344,000316: 26,2325 41512 SL2 PUSH # SXSZ INTO 4 PD
020345,000317: 26,2326 65205 DMP PDDL # SXSZCY INTO 4 PD
020346,000318: 26,2327 00744 COSCDUY
020347,000319: 26,2330 65205 DMP PDDL # SXSZSY INTO 6 PD
020348,000320: 26,2331 00736 SINCDUY
020349,000321: 26,2332 00750 COSCDUX
020350,000322: 26,2333 72405 DMP SL1 # CXCY
020351,000323: 26,2334 00744 COSCDUY
020352,000324: 26,2335 45425 DSU STADR # PULL UP FROM 6 PD
020353,000325: 26,2336 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020354,000326: 26,2337 00736 SINCDUY
020355,000327: 26,2340 72405 DMP SL1
020356,000328: 26,2341 00750 COSCDUX # CXSY
020357,000329: 26,2342 45415 DAD STADR # PULL UP FROM 4 PD
020358,000330: 26,2343 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020359,000331: 26,2344 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020360,000332: 26,2345 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
020361,000333: 26,2346 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020362,000334: 26,2347 21621 V1STO2S
020363,000335: 26,2350 02345 STORE FDAIX # MODE IS TP
020364,000336: 26,2351 77776 EXIT
020365,000337:
020366,000338: 26,2352 31337 ENDBALL CA BALLEXIT
020367,000339:
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020369,000341: 26,2353 04640 TC BANKJUMP
020370,000342:
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020372,000344: # PROGRAM DESCRIPTION - VECPOINT
020373,000345:
020374,000346: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020375,000347: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020376,000348: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020377,000349: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020378,000350: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020379,000351: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020380,000352: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020381,000353: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020382,000354:
020383,000355: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020384,000356: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020385,000357: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020386,000358: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020387,000359: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020388,000360: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020389,000361: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020390,000362:
020391,000363: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020392,000364: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020393,000365: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020394,000366: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020395,000367:
020396,000368: # CALLING SEQUENCE -
020397,000369:
020398,000370: # 1) LOAD SCAXIS, POINTVSM
020399,000371: # 2) CALL
020400,000372: # VECPOINT
020401,000373:
020402,000374: # RETURNS WITH
020403,000375:
020404,000376: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020405,000377: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020406,000378: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020407,000379:
020408,000380: # ERASABLES USED -
020409,000381:
020410,000382: # 1) SCAXIS 6
020411,000383: # 2) POINTVSM 6
020412,000384: # 3) MIS 18
020413,000385: # 4) DEL 18
020414,000386: # 5) COF 6
020415,000387: # 6) VECQTEMP 1
020416,000388: # 7) ALL OF VAC AREA 43
020417,000389:
020418,000390: # TOTAL 99
020419,000391:
020420,000392: 27,2000 SETLOC VECPT
020421,000393: 27,2000 BANK
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Page 485
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020423,000395: 27,2032 COUNT* $$/VECPT
020424,000396:
020425,000397: 27,2032 E6,1675 EBANK= BCDU
020426,000398:
020427,000399: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020428,000400: 27,2033 03324 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020429,000401: 27,2034 56035 VECPNT2
020430,000402: 27,2035 52164 VECPNT2 AXC,2 GOTO
020431,000403: 27,2036 03245 MIS
020432,000404: 27,2037 56046 STORANG
020433,000405: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020434,000406: 27,2041 03324 VECQTEMP
020435,000407: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020436,000408: 27,2043 47164 VECLEAR AXC,2 RTB
020437,000409: 27,2044 03245 MIS # READ THE PRESENT CDU ANGLES AND
020438,000410: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020439,000411: 27,2046 34032 STORANG STCALL 25D
020440,000412: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020441,000413: 27,2050 61375 VLOAD VXM
020442,000414: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020443,000415: 27,2052 03246 MIS # INITIAL S/C AXES (VF = POINTVSM)
020444,000416: 27,2053 77656 UNIT
020445,000417: 27,2054 00035 STORE 28D
020446,000418: # PD 28 29 30 31 32 33
020447,000419: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020448,000420: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020449,000421: 27,2057 57400 BOV VCOMP
020450,000422: 27,2060 56170 PICKAXIS
020451,000423: 27,2061 17270 STODL COF # CHECK MAGNITUDE
020452,000424: 27,2062 00045 36D # OF CROSS PRODUCT
020453,000425: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020454,000426: 27,2064 14415 DPB-14 # THAN B-14 ASSUME
020455,000427: 27,2065 56170 PICKAXIS # UNIT OPERATION
020456,000428: 27,2066 50375 VLOAD DOT # INVALID.
020457,000429: 27,2067 03765 SCAXIS
020458,000430: 27,2070 00035 28D
020459,000431: 27,2071 65552 SL1 ARCCOS
020460,000432: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020461,000433: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020462,000434: 27,2074 75160 AXC,1 AXC,2
020463,000435: 27,2075 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020464,000436: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020465,000437: 27,2077 77624 CALL # MFS = MIS MFI
020466,000438: 27,2100 44312 MXM3 # (IN PD LIST)
020467,000439:
020468,000440: 27,2101 51545 DLOAD ABS
020469,000441: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020470,000442: 27,2103 50025 DSU BMN
020471,000443: 27,2104 14402 SINGIMLC # = SIN(59 DEGS) $2
020472,000444: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 486
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020474,000446: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020475,000447:
020476,000448: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020477,000449: 27,2107 03765 SCAXIS # THE THRUST AXIS
020478,000450: 27,2110 51025 DSU BPL
020479,000451: 27,2111 14404 SINVEC1 # SIN 49.4 DEGS $2
020480,000452: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020481,000453: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020482,000454: 27,2114 77626 STADR
020483,000455: 27,2115 50515 STOVL MIS +12D
020484,000456: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020485,000457: 27,2117 50523 STOVL MIS +6
020486,000458: 27,2120 77626 STADR
020487,000459: 27,2121 50531 STOVL MIS
020488,000460: 27,2122 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020489,000461: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020490,000462: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020491,000463:
020492,000464: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020493,000465: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020494,000466: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020495,000467: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020496,000468: # OTHERWISE U = -SCAXIS
020497,000469:
020498,000470: 27,2130 57575 VLOAD VCOMP
020499,000471: 27,2131 03765 SCAXIS
020500,000472: 27,2132 37270 STCALL COF # ROTATE ABOUT -SCAXIS
020501,000473: 27,2133 56137 CHEKAXIS
020502,000474: 27,2134 77775 U=SCAXIS VLOAD
020503,000475: 27,2135 03765 SCAXIS
020504,000476: 27,2136 03270 STORE COF # ROTATE ABOUT + SCAXIS
020505,000477: 27,2137 51545 CHEKAXIS DLOAD ABS
020506,000478: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020507,000479: 27,2141 51025 DSU BPL
020508,000480: 27,2142 14406 SINVEC2 # SIN 29.5 DEGS $2
020509,000481: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020510,000482: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020511,000483: 27,2145 14412 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020512,000484: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020513,000485: # OF GIMBAL LOCK (VECANG2 $360)
020514,000486: 27,2147 77745 PICKANG1 DLOAD
020515,000487: 27,2150 14410 VECANG1 # = 50 DEGS $ 360
020516,000488: 27,2151 77624 COMPMFSN CALL
020517,000489: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020518,000490: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020519,000491: 27,2154 03245 MIS
020520,000492: 27,2155 02230 KEL
020521,000493: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020522,000494: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020523,000495: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 487
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020525,000497: # GIMBAL LOCK
020526,000498: 27,2160 45160 FINDGIMB AXC,1 CALL
020527,000499: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020528,000500: 27,2162 44654 DCMTOCDU # THIS MATRIX
020529,000501: 27,2163 40234 RTB SETPD
020530,000502: 27,2164 21621 V1STO2S # CONVERT TO 2:S COMPLEMENT
020531,000503: 27,2165 00001 0
020532,000504: 27,2166 77650 GOTO
020533,000505: 27,2167 03324 VECQTEMP # RETURN TO CALLER
020534,000506:
020535,000507: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020536,000508: 27,2171 00035 28D
020537,000509: 27,2172 03765 SCAXIS
020538,000510: 27,2173 72240 BMN TLOAD
020539,000511: 27,2174 54354 ROT180
020540,000512: 27,2175 00032 25D
020541,000513: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020542,000514: 27,2177 03324 VECQTEMP # PRESENT CDU ANGLES
020543,000515:
020544,000516: 35,2000 BANK 35
020545,000517: 26,2000 SETLOC MANUVER1
020546,000518: 26,2000 BANK
020547,000519: 26,2354 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020548,000520: 26,2355 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020549,000521: 26,2356 06522 HIDPHALF # INITIAL S/C AXES.
020550,000522: 26,2357 47256 UNIT VXV # FIND Y(SM) X X(I)
020551,000523: 26,2360 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020552,000524: 26,2361 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020553,000525: 26,2362 54376 PICKX # Y(SM) PERPENDICULAR TO VI
020554,000526: 26,2363 17270 STODL COF
020555,000527: 26,2364 00045 36D # CHECK MAGNITUDE
020556,000528: 26,2365 50025 DSU BMN # OF THIS VECTOR.
020557,000529: 26,2366 14415 DPB-14 # IF LESS THAN B-14,
020558,000530: 26,2367 54376 PICKX # PICK X-AXIS.
020559,000531: 26,2370 77775 VLOAD
020560,000532: 26,2371 03270 COF
020561,000533: 26,2372 17270 XROT STODL COF
020562,000534: 26,2373 06522 HIDPHALF
020563,000535: 26,2374 77650 GOTO
020564,000536: 26,2375 56072 COMPMATX
020565,000537: 26,2376 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020566,000538: 26,2377 06522 HIDPHALF
020567,000539: 26,2400 54372 XROT
020568,000540: 26,2401 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020569,000541: 26,2403 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020570,000542: 26,2405 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020571,000543: 26,2407 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 488
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020573,000545: 26,2411 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020574,000546:
020575,000547: 26,2413 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020576,000548: 26,2414 00001 DPB-14 OCT 00001
020577,000549: 26,2415 00000 OCT 00000
020578,000550:
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Page 489
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020580,000552: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020581,000553:
020582,000554: 34,2000 BANK 34
020583,000555: 23,2000 SETLOC R62
020584,000556: 23,2000 BANK
020585,000557: 23,2103 E6,1675 EBANK= BCDU
020586,000558:
020587,000559: 23,2103 COUNT* $$/R62
020588,000560:
020589,000561: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020590,000562:
020591,000563: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020592,000564: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020593,000565: 23,2105 20477 CADR GOFLASH
020594,000566: 23,2106 15472 TCF ENDEXT # TERMINATE
020595,000567: 23,2107 12111 TCF GOMOVE # PROCEED
020596,000568: 23,2110 12103 TCF R62FLASH # ENTER
020597,000569:
020598,000570: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020599,000571: # POINT
020600,000572: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020601,000573: 23,2112 00124 ADRES 3AXISFLG
020602,000574:
020603,000575: 23,2113 04616 TC BANKCALL
020604,000576: 23,2114 54123 CADR R60LEM
020605,000577: 23,2115 15472 TCF ENDEXT # END R62
020606,000578:
End of include-file R60,R62.agc. Parent file is MAIN.agc