Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
014509,000002: ## Copyright: Public domain.
014510,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014511,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
014512,000005: ## otherwise known as Luminary Rev 99, the third release
014513,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
014514,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
014515,000008: ## placement of a single label. The corrections shown here have
014516,000009: ## been verified to have the same bank checksums as AGC developer
014517,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
014518,000011: ## to be accurate. This file is intended to be a faithful
014519,000012: ## recreation, except that the code format has been changed to
014520,000013: ## conform to the requirements of the yaYUL assembler rather than
014521,000014: ## the original YUL assembler.
014522,000015: ##
014523,000016: ## Assembler: yaYUL
014524,000017: ## Contact: Ron Burkey <info@sandroid.org>.
014525,000018: ## Website: www.ibiblio.org/apollo.
014526,000019: ## Pages: 342-363
014527,000020: ## Mod history: 2009-05-16 RSB Adapted from the corresponding
014528,000021: ## Luminary131 file, using page
014529,000022: ## images from Luminary 1A.
014530,000023: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
014531,000024: ## and corrected the errors found.
014532,000025: ## 2017-01-19 MAS Corrected some USER'S to USER:S
014533,000026: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014534,000027: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
014535,000028: ## side-by-side diff of Luminary 69/99/116/131/210.
014536,000029: ## 2017-08-01 MAS Created from LMY99 Rev 1.
014537,000030:
014538,000031: ## This source code has been transcribed or otherwise adapted from
014539,000032: ## digitized images of a hardcopy from the MIT Museum. The digitization
014540,000033: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
014541,000034: ## the Museum. Many thanks to both. The images (with suitable reduction
014542,000035: ## in storage size and consequent reduction in image quality as well) are
014543,000036: ## available online at www.ibiblio.org/apollo. If for some reason you
014544,000037: ## find that the images are illegible, contact me at info@sandroid.org
014545,000038: ## about getting access to the (much) higher-quality images which Paul
014546,000039: ## actually created.
014547,000040: ##
014548,000041: ## The code has been modified to match LMY99 Revision 0, otherwise
014549,000042: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
014550,000043: ## the listing from which it was transcribed. It has been verified to
014551,000044: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
014552,000045: ## of Luminary Revision 99 (for which we do not have scans).
014553,000046: ##
014554,000047: ## Notations on Allan Klumpp's listing read, in part:
014555,000048: ##
014556,000049: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
014557,000050:
|
|
Page 342 |
014559,000052: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
014560,000053:
014561,000054: # MOD 2 DATE 5/1/67 BY DON KEENE
014562,000055:
014563,000056: # PROGRAM DESCRIPTION
014564,000057:
014565,000058: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014566,000059: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014567,000060: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014568,000061: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014569,000062: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014570,000063:
014571,000064: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014572,000065: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014573,000066: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014574,000067:
014575,000068: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014576,000069: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014577,000070: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014578,000071: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014579,000072: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014580,000073: # -
014581,000074: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014582,000075: # -
014583,000076: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014584,000077: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014585,000078: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014586,000079:
014587,000080: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014588,000081: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014589,000082: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014590,000083: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014591,000084: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014592,000085: # -
014593,000086: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014594,000087:
014595,000088: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014596,000089: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014597,000090: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014598,000091: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014599,000092: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014600,000093: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014601,000094: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014602,000095: # DESIRED FINAL GIMBAL ANGLES.
014603,000096:
014604,000097: # PROGRAM LOGIC FLOW
014605,000098:
014606,000099: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014607,000100: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
|
|
Page 343 |
014609,000102: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014610,000103: # * * *
014611,000104: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014612,000105: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014613,000106:
014614,000107: # A) AM LESS THAN .25 DEGREES (MINANG)
014615,000108: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014616,000109:
014617,000110: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014618,000111: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014619,000112:
014620,000113: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014621,000114: # - *
014622,000115: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014623,000116: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014624,000117: # -
014625,000118: # TO DETERMINE COF.
014626,000119:
014627,000120: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014628,000121: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014629,000122: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014630,000123: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014631,000124: # YAW.
014632,000125:
014633,000126: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014634,000127: # -
014635,000128: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014636,000129: # DESIRED REFERENCE MATRIX IS THEN,
014637,000130: # * * *
014638,000131: # MIS = MIS DEL
014639,000132: # N+1 N
014640,000133: # *
014641,000134: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014642,000135: # *
014643,000136: # FROM MIS.
014644,000137:
014645,000138: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014646,000139: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014647,000140: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014648,000141: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014649,000142: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014650,000143: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014651,000144:
014652,000145: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014653,000146: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014654,000147:
|
|
Page 344 |
014656,000149: # CALLING SEQUENCE
014657,000150:
014658,000151: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014659,000152: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014660,000153: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014661,000154: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014662,000155: # *
014663,000156: # CAF PRIO XX
014664,000157: # --
014665,000158: # INHINT
014666,000159: # TC FINDVAC
014667,000160: # 2CADR KALCMAN3
014668,000161: # RELINT
014669,000162:
014670,000163: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014671,000164: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014672,000165:
014673,000166: # L TC BANKCALL
014674,000167: # L+1 CADR ATTSTALL
014675,000168: # L+2 (BAD RETURN)
014676,000169: # L+3 (GOOD RETURN)
014677,000170:
014678,000171: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014679,000172: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014680,000173: # WAS IN GIMBAL LOCK.
014681,000174:
014682,000175: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014683,000176: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014684,000177: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014685,000178: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014686,000179: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014687,000180: # SUBROUTINES
014688,000181:
014689,000182: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014690,000183: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014691,000184:
014692,000185: # MXM3
014693,000186: # ----
014694,000187:
014695,000188: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014696,000189: # DOWN LIST, I.E.,
014697,000190: # ( M M M )
014698,000191: # ( 0 1 2 )
014699,000192: # * ( ) * *
014700,000193: # M = ( M M M ) = M1 X M2
014701,000194: # ( 3 4 5 )
014702,000195: # ( )
014703,000196: # ( M M M )
|
|
Page 345 |
014705,000198: # ( 6 7 8 )
014706,000199: # *
014707,000200: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014708,000201: # *
014709,000202: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014710,000203: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014711,000204: # 8
014712,000205: # TRANSPOS
014713,000206: # --------
014714,000207:
014715,000208: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014716,000209: #
014717,000210: # * * T
014718,000211: # M = M1
014719,000212:
014720,000213: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014721,000214: # *
014722,000215: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014723,000216:
014724,000217: # CDU TO DCM
014725,000218: # ----------
014726,000219:
014727,000220: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014728,000221: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014729,000222:
014730,000223: # M = COSY COSZ
014731,000224: # 0
014732,000225:
014733,000226: # M = -COSY SINZ COSX + SINY SINX
014734,000227: # 1
014735,000228:
014736,000229: # M = COSY SINZ SINX + SINY COSX
014737,000230: # 2
014738,000231:
014739,000232: # M = SINZ
014740,000233: # 3
014741,000234:
014742,000235: # M = COSZ COSX
014743,000236: # 4
014744,000237:
014745,000238: # M = -COSZ SINX
014746,000239: # 5
014747,000240:
014748,000241: # M = -SINY COSZ
014749,000242: # 6
014750,000243: #
014751,000244: # M = SINY SINZ COSX + COSY SINX
014752,000245: # 7
|
|
Page 346 |
014754,000247: # M = -SINY SINZ SINX + COSY COSX
014755,000248: # 8
014756,000249:
014757,000250: # WHERE X = OUTER GIMBAL ANGLE
014758,000251: # Y = INNER GIMBAL ANGLE
014759,000252: # Z = MIDDLE GIMBAL ANGLE
014760,000253:
014761,000254: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014762,000255:
014763,000256: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014764,000257: # X Y Z
014765,000258: # STABLE MEMBER AXES (B , B , B ) ARE
014766,000259: # X Y Z
014767,000260:
014768,000261: # ( B ) ( A )
014769,000262: # ( X ) ( X )
014770,000263: # ( ) ( )
014771,000264: # ( ) * ( )
014772,000265: # ( B ) = M ( A )
014773,000266: # ( Y ) ( Y )
014774,000267: # ( ) ( )
014775,000268: # ( B ) ( A )
014776,000269: # ( Z ) ( Z )
014777,000270:
014778,000271: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014779,000272: # *
014780,000273: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014781,000274:
014782,000275: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014783,000276: # REGISTER X2.
014784,000277:
014785,000278: # DCM TO CDU
014786,000279: # ----------
014787,000280: # *
014788,000281: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014789,000282: # *
014790,000283: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014791,000284: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014792,000285: # FOR THIS CONVERSION ARE
014793,000286:
014794,000287: # Z = ARCSIN (M )
014795,000288: # 3
014796,000289:
014797,000290: # Y = ARCSIN (-M /COSZ)
014798,000291: # 6
014799,000292:
014800,000293: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014801,000294: # 0
|
|
Page 347 |
014803,000296: # X = ARCSIN (-M /COSZ)
014804,000297: # 5
014805,000298:
014806,000299: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014807,000300: # 4
014808,000301:
014809,000302: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014810,000303: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014811,000304: # THE PUSH DOWN LIST.
014812,000305:
014813,000306: # DELCOMP
014814,000307: # -------
014815,000308: # *
014816,000309: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014817,000310: # -
014818,000311: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014819,000312:
014820,000313: # * * - -T *
014821,000314: # DEL = I COSA + U U (1 - COSA) + V SINA
014822,000315: # X
014823,000316:
014824,000317: # WHERE * ( 1 0 0 )
014825,000318: # I = ( 0 1 0 )
014826,000319: # ( 0 0 1 )
014827,000320:
014828,000321: # 2
014829,000322: # ( U U U U U )
014830,000323: # ( X X Y X Z )
014831,000324: # ( )
014832,000325: # - -T ( 2 )
014833,000326: # U U = ( U U U U U )
014834,000327: # ( Y X Y Y Z )
014835,000328: # ( )
014836,000329: # ( 2 )
014837,000330: # ( U U U U U )
014838,000331: # ( Z X Z Y Z )
014839,000332:
014840,000333:
014841,000334: # ( 0 -U U )
014842,000335: # ( Z Y )
014843,000336: # * ( )
014844,000337: # V = ( U 0 -U )
014845,000338: # X ( Z X )
014846,000339: # ( )
014847,000340: # ( -U U 0 )
014848,000341: # ( Y X )
014849,000342:
|
|
Page 348 |
014851,000344: # -
014852,000345: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014853,000346: # A = ROTATION ANGLE
014854,000347:
014855,000348: # *
014856,000349: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014857,000350:
014858,000351: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014859,000352: # X Y Z
014860,000353: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014861,000354: # X Y Z
014862,000355:
014863,000356: # ( B ) ( A )
014864,000357: # ( X ) ( X )
014865,000358: # ( ) * ( )
014866,000359: # ( B ) = DEL ( A )
014867,000360: # ( Y ) ( Y )
014868,000361: # ( ) ( )
014869,000362: # ( B ) ( A )
014870,000363: # ( Z ) ( Z )
014871,000364:
014872,000365: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014873,000366: # -
014874,000367: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014875,000368: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014876,000369: # MUST THEN BE LOADED INTO D(MPAC).
014877,000370: #
014878,000371: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014879,000372:
014880,000373: # READCDUK
014881,000374: # --------
014882,000375:
014883,000376: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014884,000377:
014885,000378: # SIGNMPAC
014886,000379: # --------
014887,000380:
014888,000381: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014889,000382:
014890,000383: # PROGRAM STORAGE ALLOCATION
014891,000384:
014892,000385: # 1) FIXED MEMORY 1059 WORDS
014893,000386: # 2) ERASABLE MEMORY 98
014894,000387: # 3) STATE SWITCHES 3
|
|
Page 349 |
014896,000389: # 4) FLAGS 1
014897,000390:
014898,000391: # JOB PRIORITIES
014899,000392:
014900,000393: # 1) KALCMANU TBD
014901,000394: # 2) ONE SECOND UPDATE TBD
014902,000395:
014903,000396: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014904,000397:
014905,000398: # STATE FLAGWRD 2 SETTING MEANING
014906,000399: # SWITCH NO. BIT NO.
014907,000400:
014908,000401: # *
014909,000402: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014910,000403: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014911,000404: # *
014912,000405: # 32 13 0 CONTINUE UPDATE PROCESS
014913,000406: # 1 START UPDATE PROCESS
014914,000407:
014915,000408: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014916,000409: # 1 IGNORE ANY FINAL P-AXIS YAW
014917,000410:
014918,000411: # 34 11 0 SIGNAL END OF KALCMANU
014919,000412: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014920,000413:
014921,000414: # * INTERNAL TO KALCMANU
014922,000415:
014923,000416: # SUGGESTIONS FOR PROGRAM INTEGRATION
014924,000417:
014925,000418: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014926,000419:
014927,000420: # CPHI
014928,000421: # CTHETA
014929,000422: # CPSI
014930,000423: # POINTVSM +5
014931,000424: # SCAXIS +5
014932,000425: # DELDCDU
014933,000426: # DELDCDU1
014934,000427: # DELDCDU2
014935,000428: # RATEINDX
014936,000429:
014937,000430: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014938,000431:
014939,000432: # MXM3
|
|
Page 350 |
014941,000434: # TRANSPOS
014942,000435: # SIGNMPAC
014943,000436: # READCDUK
014944,000437: # CDUTODCM
014945,000438:
|
|
Page 351 |
014947,000440: 15,2050 BANK 15
014948,000441: 22,2000 SETLOC KALCMON1
014949,000442: 22,2000 BANK
014950,000443:
014951,000444: 22,2004 E6,1676 EBANK= BCDU
014952,000445:
014953,000446: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014954,000447: # LOCATIONS, CPHI, CTHETA, CPSI.
014955,000448:
014956,000449: 22,2004 COUNT* $$/KALC
014957,000450: 22,2004 06037 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014958,000451: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014959,000452: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014960,000453: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES
014961,000454: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014962,000455: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014963,000456: 22,2012 51025 DSU BPL
014964,000457: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014965,000458: 22,2014 44724 TOOBADF
014966,000459: 22,2015 72364 AXC,2 TLOAD
014967,000460: 22,2016 03246 MIS
014968,000461: 22,2017 03277 BCDU
014969,000462: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014970,000463: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014971,000464: 22,2022 72364 AXC,2 TLOAD
014972,000465: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014973,000466: 22,2024 00322 CPHI
014974,000467: 22,2025 77624 CALL
014975,000468: 22,2026 44410 CDUTODCM
014976,000469: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014977,000470: 22,2030 03246 MIS
014978,000471: 22,2031 44326 TRANSPOS
014979,000472: 22,2032 45575 VLOAD STADR
014980,000473: 22,2033 50457 STOVL TMIS +12D
014981,000474: 22,2034 77626 STADR
014982,000475: 22,2035 50465 STOVL TMIS +6
014983,000476: 22,2036 77626 STADR
014984,000477: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014985,000478: 22,2040 75160 AXC,1 AXC,2
014986,000479: 22,2041 03303 TMIS
014987,000480: 22,2042 02230 MFS
014988,000481: 22,2043 77624 CALL
014989,000482: 22,2044 44312 MXM3
014990,000483: 22,2045 45575 VLOAD STADR
014991,000484: 22,2046 51532 STOVL MFI +12D
014992,000485: 22,2047 77626 STADR
014993,000486: 22,2050 51540 STOVL MFI +6
014994,000487: 22,2051 77626 STADR
014995,000488: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014996,000489: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
|
|
Page 352 |
014998,000491: 22,2054 00023 18D
014999,000492: 22,2055 44335 TRNSPSPD
015000,000493: 22,2056 45575 VLOAD STADR
015001,000494: 22,2057 50457 STOVL TMFI +12D
015002,000495: 22,2060 77626 STADR
015003,000496: 22,2061 50465 STOVL TMFI +6
015004,000497: 22,2062 77626 STADR
015005,000498: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
015006,000499:
015007,000500: # CALCULATE COFSKEW AND MFISYM
015008,000501:
015009,000502: 22,2064 45345 DLOAD DSU
015010,000503: 22,2065 03306 TMFI +2
015011,000504: 22,2066 02233 MFI +2
015012,000505: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
015013,000506: 22,2070 02235 MFI +4
015014,000507: 22,2071 03310 TMFI +4
015015,000508: 22,2072 45325 PDDL DSU
015016,000509: 22,2073 03316 TMFI +10D
015017,000510: 22,2074 02243 MFI +10D
015018,000511: 22,2075 77666 VDEF
015019,000512: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW
015020,000513:
015021,000514: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015022,000515:
015023,000516: 22,2077 43345 DLOAD DAD
015024,000517: 22,2100 02231 MFI
015025,000518: 22,2101 02251 MFI +16D
015026,000519: 22,2102 43225 DSU DAD
015027,000520: 22,2103 06512 DP1/4TH
015028,000521: 22,2104 02241 MFI +8D
015029,000522: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015030,000523: 22,2106 77726 ARCCOS
015031,000524: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
015032,000525: 22,2110 51025 DSU BPL
015033,000526: 22,2111 04363 MINANG
015034,000527: 22,2112 44117 CHECKMAX
015035,000528: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
015036,000529: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
015037,000530: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES
015038,000531: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
015039,000532:
015040,000533: 22,2117 45345 CHECKMAX DLOAD DSU
015041,000534: 22,2120 03336 AM
015042,000535: 22,2121 04365 MAXANG
015043,000536: 22,2122 77244 BPL VLOAD
015044,000537: 22,2123 44131 ALTCALC # UNIT
015045,000538: 22,2124 03326 COFSKEW # COFSKEW
015046,000539: 22,2125 77656 UNIT
015047,000540: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS
|
|
Page 353 |
015049,000542: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
015050,000543: 22,2130 44744 LOCSKIRT
015051,000544: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
015052,000545: 22,2132 02231 MFI
015053,000546: 22,2133 03304 TMFI
015054,000547: 22,2134 77762 VSR1
015055,000548: 22,2135 27304 STOVL MFISYM
015056,000549: 22,2136 02237 MFI +6
015057,000550: 22,2137 74455 VAD VSR1
015058,000551: 22,2140 03312 TMFI +6
015059,000552: 22,2141 27312 STOVL MFISYM +6
015060,000553: 22,2142 02245 MFI +12D
015061,000554: 22,2143 74455 VAD VSR1
015062,000555: 22,2144 03320 TMFI +12D
015063,000556: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
015064,000557:
015065,000558: # CALCULATE COF
015066,000559:
015067,000560: 22,2146 70545 DLOAD SR1
015068,000561: 22,2147 03334 CAM
015069,000562: 22,2150 45325 PDDL DSU # PDO CAM $4
015070,000563: 22,2151 06520 DPHALF
015071,000564: 22,2152 03334 CAM
015072,000565: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
015073,000566: 22,2154 21712 SIGNMPAC
015074,000567: 22,2155 03324 MFISYM +16D
015075,000568: 22,2156 56225 DSU DDV
015076,000569: 22,2157 00001 0
015077,000570: 22,2160 00003 2
015078,000571: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015079,000572: 22,2162 03314 MFISYM +8D # $ ROOT 2
015080,000573: 22,2163 56225 DSU DDV
015081,000574: 22,2164 00001 0
015082,000575: 22,2165 00003 2
015083,000576: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
015084,000577: 22,2167 03304 MFISYM
015085,000578: 22,2170 56225 DSU DDV
015086,000579: 22,2171 00001 0
015087,000580: 22,2172 00003 2
015088,000581: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
015089,000582: 22,2174 77656 UNIT
015090,000583: 22,2175 03271 STORE COF
015091,000584:
015092,000585: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015093,000586:
015094,000587: 22,2176 45345 COFMAXGO DLOAD DSU
015095,000588: 22,2177 03271 COF
015096,000589: 22,2200 03273 COF +2
015097,000590: 22,2201 71240 BMN DLOAD # COFY G COFX
|
|
Page 354 |
015099,000592: 22,2202 44211 COMP12
015100,000593: 22,2203 03271 COF
015101,000594: 22,2204 50025 DSU BMN
015102,000595: 22,2205 03275 COF +4
015103,000596: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
015104,000597: 22,2207 77650 GOTO
015105,000598: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
015106,000599: 22,2211 45345 COMP12 DLOAD DSU
015107,000600: 22,2212 03273 COF +2
015108,000601: 22,2213 03275 COF +4
015109,000602: 22,2214 77640 BMN
015110,000603: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
015111,000604:
015112,000605: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
015113,000606: 22,2217 03330 COFSKEW +2 # UY
015114,000607: 22,2220 44224 U2POS
015115,000608: 22,2221 57575 VLOAD VCOMP
015116,000609: 22,2222 03271 COF
015117,000610: 22,2223 03271 STORE COF
015118,000611: 22,2224 51145 U2POS DLOAD BPL
015119,000612: 22,2225 03306 MFISYM +2 # UX UY
015120,000613: 22,2226 44232 OKU21
015121,000614: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
015122,000615: 22,2230 03271 COF
015123,000616: 22,2231 03271 STORE COF
015124,000617: 22,2232 51145 OKU21 DLOAD BPL
015125,000618: 22,2233 03316 MFISYM +10D # UY UZ
015126,000619: 22,2234 44744 LOCSKIRT
015127,000620: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015128,000621: 22,2236 03275 COF +4
015129,000622: 22,2237 03275 STORE COF +4
015130,000623: 22,2240 77650 GOTO
015131,000624: 22,2241 44744 LOCSKIRT
015132,000625: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
015133,000626: 22,2243 03326 COFSKEW # UX
015134,000627: 22,2244 44250 U1POS
015135,000628: 22,2245 57575 VLOAD VCOMP
015136,000629: 22,2246 03271 COF
015137,000630: 22,2247 03271 STORE COF
015138,000631: 22,2250 51145 U1POS DLOAD BPL
015139,000632: 22,2251 03306 MFISYM +2 # UX UY
015140,000633: 22,2252 44256 OKU12
015141,000634: 22,2253 57545 DLOAD DCOMP
015142,000635: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX
015143,000636: 22,2255 03273 STORE COF +2
015144,000637: 22,2256 51145 OKU12 DLOAD BPL
015145,000638: 22,2257 03310 MFISYM +4 # UX UZ
015146,000639: 22,2260 44744 LOCSKIRT
015147,000640: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015148,000641: 22,2262 03275 COF +4
|
|
Page 355 |
015150,000643: 22,2263 03275 STORE COF +4
015151,000644: 22,2264 77650 GOTO
015152,000645: 22,2265 44744 LOCSKIRT
015153,000646: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
015154,000647: 22,2267 03332 COFSKEW +4 # UZ
015155,000648: 22,2270 44274 U3POS
015156,000649: 22,2271 57575 VLOAD VCOMP
015157,000650: 22,2272 03271 COF
015158,000651: 22,2273 03271 STORE COF
015159,000652: 22,2274 51145 U3POS DLOAD BPL
015160,000653: 22,2275 03310 MFISYM +4 # UX UZ
015161,000654: 22,2276 44302 OKU31
015162,000655: 22,2277 57545 DLOAD DCOMP
015163,000656: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ
015164,000657: 22,2301 03271 STORE COF
015165,000658: 22,2302 51145 OKU31 DLOAD BPL
015166,000659: 22,2303 03316 MFISYM +10D # UY UZ
015167,000660: 22,2304 44744 LOCSKIRT
015168,000661: 22,2305 57545 DLOAD DCOMP
015169,000662: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ
015170,000663: 22,2307 03273 STORE COF +2
015171,000664: 22,2310 77650 GOTO
015172,000665: 22,2311 44744 LOCSKIRT
|
|
Page 356 |
015174,000667: # MATRIX OPERATIONS
015175,000668:
015176,000669: 13,2207 BANK 13
015177,000670: 22,2000 SETLOC KALCMON2
015178,000671: 22,2000 BANK
015179,000672:
015180,000673: 22,2312 E6,1676 EBANK= BCDU
015181,000674:
015182,000675: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
015183,000676: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
015184,000677: 22,2314 00001 0,1 # AND MPAC
015185,000678: 22,2315 62703 VXM* PDVL*
015186,000679: 22,2316 77776 0,2
015187,000680: 22,2317 00007 6,1
015188,000681: 22,2320 62703 VXM* PDVL*
015189,000682: 22,2321 77776 0,2
015190,000683: 22,2322 00015 12D,1
015191,000684: 22,2323 41503 VXM* PUSH
015192,000685: 22,2324 77776 0,2
015193,000686: 22,2325 77616 RVQ
015194,000687:
015195,000688: # RETURN WITH M1XM2 IN PD LIST
015196,000689:
015197,000690: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
015198,000691: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
015199,000692: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
015200,000693: 22,2331 62713 PDVL* PDVL*
015201,000694: 22,2332 00007 6,1
015202,000695: 22,2333 00015 12D,1
015203,000696: 22,2334 77606 PUSH # MATRIX IN PD
015204,000697: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
015205,000698: 22,2336 50120 INDEX FIXLOC
015206,000699: 22,2337 52013 DXCH 12
015207,000700: 22,2340 50120 INDEX FIXLOC
015208,000701: 22,2341 52017 DXCH 16
015209,000702: 22,2342 50120 INDEX FIXLOC
015210,000703: 22,2343 52013 DXCH 12
015211,000704: 22,2344 50120 INDEX FIXLOC
015212,000705: 22,2345 52015 DXCH 14
015213,000706: 22,2346 50120 INDEX FIXLOC
015214,000707: 22,2347 52005 DXCH 4
015215,000708: 22,2350 50120 INDEX FIXLOC
015216,000709: 22,2351 52015 DXCH 14
015217,000710: 22,2352 50120 INDEX FIXLOC
015218,000711: 22,2353 52003 DXCH 2
015219,000712: 22,2354 50120 INDEX FIXLOC
015220,000713: 22,2355 52007 DXCH 6
015221,000714: 22,2356 50120 INDEX FIXLOC
015222,000715: 22,2357 52003 DXCH 2
|
|
Page 357 |
015224,000717: 22,2360 06037 TC INTPRET
015225,000718: 22,2361 77616 RVQ
015226,000719:
015227,000720: 15,2050 BANK 15
015228,000721: 22,2000 SETLOC KALCMON1
015229,000722: 22,2000 BANK
015230,000723:
015231,000724: 22,2362 E6,1676 EBANK= BCDU
015232,000725:
015233,000726: 22,2362 00013 13563 MINANG 2DEC 0.00069375
015234,000727:
015235,000728: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
015236,000729:
015237,000730: # GIMBAL LOCK CONSTANTS
015238,000731:
015239,000732: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
015240,000733: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
015241,000734:
015242,000735: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
015243,000736:
015244,000737: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
015245,000738:
015246,000739: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
015247,000740:
015248,000741: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
015249,000742:
015250,000743: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
015251,000744:
015252,000745: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
015253,000746:
015254,000747: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
015255,000748:
015256,000749: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
015257,000750:
015258,000751: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
015259,000752: 22,2404 54156 TS MPAC +2
015260,000753: 22,2405 00006 EXTEND
015261,000754: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
015262,000755: 22,2407 16476 TCF TLOAD +6
015263,000756:
015264,000757: 22,2410 66370 CDUTODCM AXT,1 SSP
015265,000758: 22,2411 00003 OCT 3
015266,000759: 22,2412 00051 S1
015267,000760: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
015268,000761: 22,2414 00010 STORE 7
015269,000762: 22,2415 77601 SETPD
015270,000763: 22,2416 00001 0
015271,000764: 22,2417 47133 LOOPSIN SLOAD* RTB
015272,000765: 22,2420 00013 10D,1
015273,000766: 22,2421 21576 CDULOGIC
|
|
Page 358 |
015275,000768: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
015276,000769: 22,2423 65356 SIN PDDL # 2 COS(PHI)
015277,000770: 22,2424 00013 10D # 4 SIN(THETA)
015278,000771: 22,2425 41546 COS PUSH # 6 COS(THETA)
015279,000772: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
015280,000773: 22,2427 44417 LOOPSIN # 10 COS(PSI)
015281,000774: 22,2430 00007 6
015282,000775: 22,2431 72405 DMP SL1
015283,000776: 22,2432 00013 10D
015284,000777: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
015285,000778: 22,2434 41345 DLOAD DMP
015286,000779: 22,2435 00005 4
015287,000780: 22,2436 00001 0
015288,000781: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
015289,000782: 22,2440 00007 6
015290,000783: 22,2441 00011 8D
015291,000784: 22,2442 72405 DMP SL1
015292,000785: 22,2443 00003 2
015293,000786: 22,2444 72421 BDSU SL1
015294,000787: 22,2445 00015 12D
015295,000788: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
015296,000789: 22,2447 41345 DLOAD DMP
015297,000790: 22,2450 00003 2
015298,000791: 22,2451 00005 4
015299,000792: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015300,000793: 22,2453 00007 6
015301,000794: 22,2454 00011 8D
015302,000795: 22,2455 72405 DMP SL1
015303,000796: 22,2456 00001 0
015304,000797: 22,2457 72415 DAD SL1
015305,000798: 22,2460 00017 14D
015306,000799: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015307,000800: 22,2462 77745 DLOAD
015308,000801: 22,2463 00011 8D
015309,000802: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015310,000803: 22,2465 77745 DLOAD
015311,000804: 22,2466 00013 10D
015312,000805: 22,2467 72405 DMP SL1
015313,000806: 22,2470 00003 2
015314,000807: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015315,000808: 22,2472 41345 DLOAD DMP
015316,000809: 22,2473 00013 10D
015317,000810: 22,2474 00001 0
015318,000811: 22,2475 72476 DCOMP SL1
015319,000812: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015320,000813: 22,2477 41345 DLOAD DMP
015321,000814: 22,2500 00005 4
015322,000815: 22,2501 00013 10D
015323,000816: 22,2502 72476 DCOMP SL1
015324,000817: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
|
|
Page 359 |
015326,000819: 22,2504 77745 DLOAD
015327,000820: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015328,000821: 22,2506 00011 8D
015329,000822: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
015330,000823: 22,2510 00007 6
015331,000824: 22,2511 00001 0
015332,000825: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015333,000826: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015334,000827: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015335,000828: 22,2515 77745 DLOAD
015336,000829: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015337,000830: 22,2517 00011 8D
015338,000831: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
015339,000832: 22,2521 00007 6
015340,000833: 22,2522 00003 2
015341,000834: 22,2523 72425 DSU SL1 # (PUSH UP 6)
015342,000835: 22,2524 77626 STADR
015343,000836: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015344,000837: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
015345,000838:
015346,000839: # CALCULATION OF THE MATRIX DEL......
015347,000840:
015348,000841: # * * --T *
015349,000842: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
015350,000843: # -
015351,000844: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015352,000845: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
015353,000846: # -
015354,000847: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015355,000848:
015356,000849: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
015357,000850: 22,2530 00001 0
015358,000851: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
015359,000852: 22,2532 41546 COS PUSH # PD2 = COS(A)
015360,000853: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
015361,000854: 22,2534 41021 BDSU BOVB
015362,000855: 22,2535 06520 DPHALF
015363,000856: 22,2536 21712 SIGNMPAC
015364,000857: 22,2537 77725 PDDL # PD4 = 1-COS(A)
015365,000858:
015366,000859: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
015367,000860:
015368,000861: 22,2540 03271 COF
015369,000862: 22,2541 41316 DSQ DMP
015370,000863: 22,2542 00005 4
015371,000864: 22,2543 52415 DAD SL3
015372,000865: 22,2544 00003 2
015373,000866: 22,2545 77604 BOVB
015374,000867: 22,2546 21712 SIGNMPAC
|
|
Page 360 |
015376,000869: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015377,000870: 22,2550 03273 COF +2
015378,000871: 22,2551 41316 DSQ DMP
015379,000872: 22,2552 00005 4
015380,000873: 22,2553 52415 DAD SL3
015381,000874: 22,2554 00003 2
015382,000875: 22,2555 77604 BOVB
015383,000876: 22,2556 21712 SIGNMPAC
015384,000877: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015385,000878: 22,2560 03275 COF +4
015386,000879: 22,2561 41316 DSQ DMP
015387,000880: 22,2562 00005 4
015388,000881: 22,2563 52415 DAD SL3
015389,000882: 22,2564 00003 2
015390,000883: 22,2565 77604 BOVB
015391,000884: 22,2566 21712 SIGNMPAC
015392,000885: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015393,000886:
015394,000887: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015395,000888:
015396,000889: 22,2570 41345 DLOAD DMP
015397,000890: 22,2571 03271 COF
015398,000891: 22,2572 03273 COF +2
015399,000892: 22,2573 72405 DMP SL1
015400,000893: 22,2574 00005 4
015401,000894: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
015402,000895: 22,2576 03275 COF +4
015403,000896: 22,2577 00001 0
015404,000897: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
015405,000898: 22,2601 00007 6
015406,000899: 22,2602 41112 SL2 BOVB
015407,000900: 22,2603 21712 SIGNMPAC
015408,000901: 22,2604 16237 STODL KEL +6
015409,000902: 22,2605 62421 BDSU SL2
015410,000903: 22,2606 77604 BOVB
015411,000904: 22,2607 21712 SIGNMPAC
015412,000905: 22,2610 16233 STODL KEL +2
015413,000906: 22,2611 03271 COF
015414,000907: 22,2612 41205 DMP DMP
015415,000908: 22,2613 03275 COF +4
015416,000909: 22,2614 00005 4
015417,000910: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
015418,000911: 22,2616 03273 COF +2
015419,000912: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015420,000913: 22,2620 00001 0
015421,000914: 22,2621 62415 DAD SL2
015422,000915: 22,2622 00007 6
015423,000916: 22,2623 77604 BOVB
015424,000917: 22,2624 21712 SIGNMPAC
015425,000918: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
|
|
Page 361 |
015427,000920: 22,2626 62421 BDSU SL2
015428,000921: 22,2627 77604 BOVB
015429,000922: 22,2630 21712 SIGNMPAC
015430,000923: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015431,000924: 22,2632 03273 COF +2
015432,000925: 22,2633 41205 DMP DMP
015433,000926: 22,2634 03275 COF +4
015434,000927: 22,2635 00005 4
015435,000928: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
015436,000929: 22,2637 03271 COF
015437,000930: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015438,000931: 22,2641 00001 0
015439,000932: 22,2642 62415 DAD SL2
015440,000933: 22,2643 00007 6
015441,000934: 22,2644 77604 BOVB
015442,000935: 22,2645 21712 SIGNMPAC
015443,000936: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015444,000937: 22,2647 62421 BDSU SL2
015445,000938: 22,2650 77604 BOVB
015446,000939: 22,2651 21712 SIGNMPAC
015447,000940: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015448,000941: 22,2653 77616 RVQ
015449,000942:
015450,000943: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015451,000944: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015452,000945: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015453,000946: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015454,000947:
015455,000948: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015456,000949:
015457,000950: # C = COS(THETA) COS(PSI)
015458,000951: # 0
015459,000952:
015460,000953: # C = -COS(THETA) SIN(PSI) COS(PHI) + SI (THETA) SIN(PHI)
015461,000954: # 1
015462,000955:
015463,000956: # C = COS(THETA) SIN(PSI) SIN(PHI) + S N(THETA) COS(PHI)
015464,000957: # 2
015465,000958:
015466,000959: # C = SIN(PSI)
015467,000960: # 3
015468,000961:
015469,000962: # C = COS(PSI) COS(PHI)
015470,000963: # 4
015471,000964:
015472,000965: # C = -COS(PSI) SIN(PHI)
015473,000966: # 5
015474,000967:
015475,000968: # C = -SIN(THETA) COS(PSI)
015476,000969: # 6
015477,000970:
015478,000971: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS THETA) SIN(PHI)
015479,000972: # 7
015480,000973:
015481,000974: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + CO (THETA)COS(PHI)
015482,000975: # 8
|
|
Page 362 |
015484,000977:
015485,000978: # WHERE PHI = OGA
015486,000979: # THETA = IGA
015487,000980: # PSI = MGA
015488,000981:
015489,000982: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015490,000983: 22,2655 00007 6,1
015491,000984: 22,2656 71406 PUSH COS # PD +0 PSI
015492,000985: 22,2657 41152 SL1 BOVB
015493,000986: 22,2660 21712 SIGNMPAC
015494,000987: 22,2661 00051 STORE S1
015495,000988: 22,2662 57543 DLOAD* DCOMP
015496,000989: 22,2663 00015 12D,1
015497,000990: 22,2664 67471 DDV ARCSIN
015498,000991: 22,2665 00051 S1
015499,000992: 22,2666 51123 PDDL* BPL # PD +2 THETA
015500,000993: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015501,000994: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015502,000995: 22,2671 57545 DLOAD DCOMP
015503,000996: 22,2672 43244 BPL DAD
015504,000997: 22,2673 44677 SUHALFA
015505,000998: 22,2674 06520 DPHALF
015506,000999: 22,2675 77650 GOTO
015507,001000: 22,2676 44701 CALCPHI
015508,001001: 22,2677 77625 SUHALFA DSU
015509,001002: 22,2700 06520 DPHALF
015510,001003: 22,2701 77606 CALCPHI PUSH
015511,001004: 22,2702 57543 OKTHETA DLOAD* DCOMP
015512,001005: 22,2703 00013 10D,1
015513,001006: 22,2704 67471 DDV ARCSIN
015514,001007: 22,2705 00051 S1
015515,001008: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015516,001009: 22,2707 00011 8D,1
015517,001010: 22,2710 44722 OKPHI
015518,001011: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015519,001012: 22,2712 43244 BPL DAD
015520,001013: 22,2713 44717 SUHALFAP
015521,001014: 22,2714 06520 DPHALF
015522,001015: 22,2715 77650 GOTO
015523,001016: 22,2716 44723 VECOFANG
015524,001017: 22,2717 52025 SUHALFAP DSU GOTO
015525,001018: 22,2720 06520 DPHALF
015526,001019: 22,2721 44723 VECOFANG
015527,001020: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015528,001021: 22,2723 43466 VECOFANG VDEF RVQ
|
|
Page 363 |
015530,001023: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015531,001024:
015532,001025: 22,2724 77776 TOOBADF EXIT
015533,001026: 22,2725 05567 TC ALARM
015534,001027: 22,2726 00401 OCT 00401
015535,001028:
015536,001029: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015537,001030:
015538,001031: 22,2730 04616 TC BANKCALL
015539,001032: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015540,001033:
015541,001034: 22,2732 04616 NOGO TC BANKCALL
015542,001035: 22,2733 40165 CADR STOPRATE # STOP RATES
015543,001036:
015544,001037: 22,2734 34752 CAF TWO
015545,001038: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015546,001039: 22,2736 05203 TC WAITLIST
015547,001040: 22,2737 E6,1676 EBANK= BCDU
015548,001041: 22,2737 03234 44066 2CADR GOODMANU
015549,001042:
015550,001043: 22,2741 15155 TCF ENDOFJOB
015551,001044:
015552,001045: 22,2742 77776 TOOBADI EXIT
015553,001046: 22,2743 12732 TCF NOGO
015554,001047:
015555,001048:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc