Source Code
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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. |
062298,000002: ## Copyright: Public domain.
062299,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
062300,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
062301,000005: ## otherwise known as Luminary Rev 99, the third release
062302,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
062303,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
062304,000008: ## placement of a single label. The corrections shown here have
062305,000009: ## been verified to have the same bank checksums as AGC developer
062306,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
062307,000011: ## to be accurate. This file is intended to be a faithful
062308,000012: ## recreation, except that the code format has been changed to
062309,000013: ## conform to the requirements of the yaYUL assembler rather than
062310,000014: ## the original YUL assembler.
062311,000015: ##
062312,000016: ## Assembler: yaYUL
062313,000017: ## Contact: Ron Burkey <info@sandroid.org>.
062314,000018: ## Website: www.ibiblio.org/apollo.
062315,000019: ## Pages: 1421-1441
062316,000020: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
062317,000021: ## Luminary131 file, using page
062318,000022: ## images from Luminary 1A.
062319,000023: ## 2009-06-05 RSB Corrected a relative jump from
062320,000024: ## +8 to +8D.
062321,000025: ## 2009-06-07 RSB Corrected a typo.
062322,000026: ## 2011-01-06 JL Fixed pseudo-label indentation.
062323,000027: ## 2011-01-06 JL Added missing comment characters.
062324,000028: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
062325,000029: ## and corrected the errors found.
062326,000030: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
062327,000031: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
062328,000032: ## side-by-side diff of Luminary 69/99/116/131/210.
062329,000033: ## 2017-08-01 MAS Created from LMY99 Rev 1.
062330,000034:
062331,000035: ## This source code has been transcribed or otherwise adapted from
062332,000036: ## digitized images of a hardcopy from the MIT Museum. The digitization
062333,000037: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
062334,000038: ## the Museum. Many thanks to both. The images (with suitable reduction
062335,000039: ## in storage size and consequent reduction in image quality as well) are
062336,000040: ## available online at www.ibiblio.org/apollo. If for some reason you
062337,000041: ## find that the images are illegible, contact me at info@sandroid.org
062338,000042: ## about getting access to the (much) higher-quality images which Paul
062339,000043: ## actually created.
062340,000044: ##
062341,000045: ## The code has been modified to match LMY99 Revision 0, otherwise
062342,000046: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
062343,000047: ## the listing from which it was transcribed. It has been verified to
062344,000048: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
062345,000049: ## of Luminary Revision 99 (for which we do not have scans).
062346,000050: ##
062347,000051: ## Notations on Allan Klumpp's listing read, in part:
062348,000052: ##
062349,000053: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
062350,000054:
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Page 1421 |
062352,000056: 16,2213 BANK 16
062353,000057: 16,2000 SETLOC DAPS1
062354,000058: 16,2000 BANK
062355,000059:
062356,000060: 16,2213 E6,1464 EBANK= PERROR
062357,000061: 16,2213 COUNT* $$/DAPP
062358,000062:
062359,000063: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
062360,000064: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
062361,000065:
062362,000066: 16,2213 37727 PAXIS CA MS100
062363,000067: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
062364,000068: # CHRONIZATION WITH OTHER INTERRUPTS ***
062365,000069:
062366,000070: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
062367,000071: 16,2216 00006 EXTEND
062368,000072: 16,2217 22012 QXCH QRUPT
062369,000073:
062370,000074: # CHECK IF DAP PASS IS PERMISSIBLE
062371,000075:
062372,000076: 16,2220 11757 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
062373,000077: 16,2221 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
062374,000078: 16,2222 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
062375,000079:
062376,000080: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
062377,000081:
062378,000082: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
062379,000083: 16,2225 55750 TS DAPTREG4
062380,000084: 16,2226 30033 CA CDUY
062381,000085: 16,2227 55751 TS DAPTREG5
062382,000086: 16,2230 30034 CA CDUZ
062383,000087: 16,2231 55752 TS DAPTREG6
062384,000088:
062385,000089: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
062386,000090:
062387,000091: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
062388,000092: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
062389,000093:
062390,000094: 16,2232 31635 CA CDUXD
062391,000095: 16,2233 00006 EXTEND
062392,000096: 16,2234 21640 MSU DELCDUX
062393,000097: 16,2235 02256 TC 1STOTWOS
062394,000098: 16,2236 55635 TS CDUXD
062395,000099: 16,2237 31636 CA CDUYD
062396,000100: 16,2240 00006 EXTEND
062397,000101: 16,2241 21641 MSU DELCDUY
062398,000102: 16,2242 02256 TC 1STOTWOS
062399,000103: 16,2243 55636 TS CDUYD
062400,000104: 16,2244 31637 CA CDUZD
062401,000105: 16,2245 00006 EXTEND
062402,000106: 16,2246 21642 MSU DELCDUZ
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Page 1422 |
062404,000108: 16,2247 02256 TC 1STOTWOS
062405,000109: 16,2250 55637 TS CDUZD
062406,000110: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
062407,000111: 16,2252 27445 DIM TCP # TIME COUNTERS.
062408,000112: 16,2253 00006 EXTEND
062409,000113: 16,2254 27457 DIM TCQR
062410,000114:
062411,000115: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
062412,000116: # RETURNS TO BACKP.
062413,000117:
062414,000118: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
062415,000119: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
062416,000120: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
062417,000121:
062418,000122: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
062419,000123: 16,2256 10000 1STOTWOS CCS A
062420,000124: 16,2257 64753 AD ONE
062421,000125: 16,2260 00002 TC Q
062422,000126: 16,2261 40000 CS A
062423,000127: 16,2262 00002 TC Q
062424,000128: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
062425,000129: 16,2264 71741 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
062426,000130: 16,2265 21427 DAS OMEGAU # OVERFLOW
062427,000131:
062428,000132: 16,2266 00006 +3 EXTEND
062429,000133: 16,2267 31427 DCA OMEGAU
062430,000134: 16,2270 53744 DXCH DAPTEMP5
062431,000135: 16,2271 11426 CCS OMEGAU
062432,000136: 16,2272 12274 TCF +2
062433,000137: 16,2273 12304 TCF DIVIDER
062434,000138: 16,2274 62315 AD -OCT630
062435,000139: 16,2275 00006 EXTEND
062436,000140: 16,2276 62304 BZMF DIVIDER
062437,000141:
062438,000142: 16,2277 11426 CCS OMEGAU
062439,000143: 16,2300 34733 CA POSMAX # 45 DEG/SEC
062440,000144: 16,2301 00002 TC Q
062441,000145: 16,2302 44733 CS POSMAX
062442,000146: 16,2303 00002 TC Q
062443,000147:
062444,000148: 16,2304 53427 DIVIDER DXCH OMEGAU
062445,000149: 16,2305 00006 EXTEND
062446,000150: 16,2306 11750 DV DAPTREG4
062447,000151: 16,2307 00002 TC Q
062448,000152:
062449,000153: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
062450,000154: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
062451,000155: 16,2312 50000 INDEX A
062452,000156: 16,2313 44734 CS BIT15 -1
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Page 1423 |
062454,000158: 16,2314 00002 TC Q
062455,000159:
062456,000160: 16,2315 77147 -OCT630 OCT 77147
062457,000161:
062458,000162: 16,2316 31737 BACKP CA DAPTEMP1
062459,000163: 16,2317 00006 EXTEND
062460,000164: 16,2320 71530 MP 1JACC
062461,000165: 16,2321 55745 TS JETRATE
062462,000166:
062463,000167: # BEGINNING OF THE RATE DERIVATION
062464,000168: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
062465,000169: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
062466,000170: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
062467,000171: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
062468,000172: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
062469,000173: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
062470,000174: # OMEGAU DP-TEMPORARY STORAGE
062471,000175: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
062472,000176:
062473,000177: 16,2322 31750 CAE DAPTREG4 # CDUX IS STORED HERE
062474,000178: 16,2323 54001 TS L
062475,000179: 16,2324 00006 EXTEND
062476,000180: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
062477,000181: 16,2326 23440 LXCH OLDXFORP
062478,000182: 16,2327 55737 TS DAPTEMP1
062479,000183: 16,2330 33620 CA 1/40
062480,000184: 16,2331 55750 TS DAPTREG4
062481,000185: 16,2332 41745 CS JETRATE
062482,000186: 16,2333 00006 EXTEND
062483,000187: 16,2334 74736 MP BIT14
062484,000188: 16,2335 27430 ADS TRAPEDP
062485,000189: 16,2336 31746 CA JETRATEQ
062486,000190: 16,2337 61545 AD AOSQTERM
062487,000191: 16,2340 00006 EXTEND
062488,000192: 16,2341 77736 MP -BIT14
062489,000193: 16,2342 27431 ADS TRAPEDQ
062490,000194: 16,2343 31747 CA JETRATER
062491,000195: 16,2344 61546 AD AOSRTERM
062492,000196: 16,2345 00006 EXTEND
062493,000197: 16,2346 77736 MP -BIT14
062494,000198: 16,2347 27432 ADS TRAPEDR
062495,000199:
062496,000200: 16,2350 31751 CA DAPTREG5 # CDUY IS STORED HERE
062497,000201: 16,2351 54001 TS L
062498,000202: 16,2352 00006 EXTEND
062499,000203: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
062500,000204: 16,2354 23441 LXCH OLDYFORP
062501,000205: 16,2355 55740 TS DAPTEMP2
062502,000206: 16,2356 00006 EXTEND
062503,000207: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1424 |
062505,000209: 16,2360 61737 AD DAPTEMP1
062506,000210: 16,2361 53427 DXCH OMEGAU
062507,000211:
062508,000212: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
062509,000213:
062510,000214: 16,2363 00006 EXTEND
062511,000215: 16,2364 61421 SU OMEGAP
062512,000216: 16,2365 27430 ADS TRAPEDP
062513,000217: 16,2366 02310 TC OVERSUB
062514,000218: 16,2367 55430 TS TRAPEDP
062515,000219: 16,2370 00006 EXTEND
062516,000220: 16,2371 31744 DCA DAPTEMP5
062517,000221: 16,2372 21447 DAS DXERROR
062518,000222: 16,2373 41454 CS PLAST
062519,000223: 16,2374 00006 EXTEND
062520,000224: 16,2375 73620 MP 1/40
062521,000225: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
062522,000226: 16,2377 31752 CA DAPTREG6 # CDUZ IS STORED HERE
062523,000227: 16,2400 54001 TS L
062524,000228: 16,2401 00006 EXTEND
062525,000229: 16,2402 21442 MSU OLDZFORQ
062526,000230: 16,2403 55741 TS DAPTEMP3
062527,000231: 16,2404 23442 LXCH OLDZFORQ
062528,000232: 16,2405 31415 CA M21
062529,000233: 16,2406 00006 EXTEND
062530,000234: 16,2407 71740 MP DAPTEMP2
062531,000235: 16,2410 53427 DXCH OMEGAU
062532,000236: 16,2411 31417 CA M22
062533,000237: 16,2412 02263 TC SUBDIVDE
062534,000238:
062535,000239: 16,2413 00006 EXTEND
062536,000240: 16,2414 61422 SU OMEGAQ
062537,000241: 16,2415 27431 ADS TRAPEDQ
062538,000242: 16,2416 02310 TC OVERSUB
062539,000243: 16,2417 55431 TS TRAPEDQ
062540,000244: 16,2420 00006 EXTEND
062541,000245: 16,2421 31744 DCA DAPTEMP5
062542,000246: 16,2422 21451 DAS DYERROR
062543,000247: 16,2423 41455 CS QLAST
062544,000248: 16,2424 00006 EXTEND
062545,000249: 16,2425 73620 MP 1/40
062546,000250: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
062547,000251: 16,2427 31416 CA M31
062548,000252: 16,2430 00006 EXTEND
062549,000253: 16,2431 71740 MP DAPTEMP2
062550,000254: 16,2432 53427 DXCH OMEGAU
062551,000255: 16,2433 31420 CA M32
062552,000256:
062553,000257: 16,2434 02263 TC SUBDIVDE
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Page 1425 |
062555,000259: 16,2435 00006 EXTEND
062556,000260: 16,2436 61423 SU OMEGAR
062557,000261: 16,2437 27432 ADS TRAPEDR
062558,000262: 16,2440 02310 TC OVERSUB
062559,000263: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
062560,000264:
062561,000265: 16,2442 00006 EXTEND
062562,000266: 16,2443 31744 DCA DAPTEMP5
062563,000267: 16,2444 21453 DAS DZERROR
062564,000268: 16,2445 41456 CS RLAST
062565,000269: 16,2446 00006 EXTEND
062566,000270: 16,2447 73620 MP 1/40
062567,000271: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
062568,000272: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
062569,000273: 16,2452 74737 MASK CSMDOCKD
062570,000274: 16,2453 00006 EXTEND
062571,000275: 16,2454 12462 BZF LMONLY
062572,000276: 16,2455 00006 EXTEND # DOCKED
062573,000277: 16,2456 31405 DCA DKOMEGAN
062574,000278: 16,2457 53751 DXCH DAPTREG4
062575,000279: 16,2460 31403 CA DKTRAP
062576,000280: 16,2461 12466 TCF +5
062577,000281: 16,2462 00006 LMONLY EXTEND # UNDOCKED
062578,000282: 16,2463 31410 DCA LMOMEGAN
062579,000283: 16,2464 53751 DXCH DAPTREG4
062580,000284: 16,2465 31406 CA LMTRAP
062581,000285: 16,2466 55752 +5 TS DAPTREG6
062582,000286: 16,2467 11430 CCS TRAPEDP
062583,000287: 16,2470 12472 TCF +2
062584,000288: 16,2471 12507 TCF SMALPDIF
062585,000289: 16,2472 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
062586,000290: 16,2473 00006 EXTEND
062587,000291: 16,2474 62507 BZMF SMALPDIF
062588,000292: 16,2475 22007 ZL
062589,000293: 16,2476 23430 LXCH TRAPEDP
062590,000294: 16,2477 34755 CA ZERO
062591,000295: 16,2500 00006 EXTEND
062592,000296: 16,2501 11433 DV NPTRAPS
062593,000297: 16,2502 27421 ADS OMEGAP
062594,000298: 16,2503 02310 TC OVERSUB
062595,000299: 16,2504 55421 TS OMEGAP
062596,000300: 16,2505 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
062597,000301: 16,2506 55433 TS NPTRAPS
062598,000302: 16,2507 25433 SMALPDIF INCR NPTRAPS
062599,000303: 16,2510 31745 P-RATE CA JETRATE
062600,000304: 16,2511 27421 ADS OMEGAP
062601,000305: 16,2512 02310 TC OVERSUB
062602,000306: 16,2513 55421 TS OMEGAP
062603,000307:
062604,000308: 16,2514 11431 CCS TRAPEDQ
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Page 1426 |
062606,000310: 16,2515 12517 TCF +2
062607,000311: 16,2516 12544 TCF Q-RATE
062608,000312: 16,2517 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
062609,000313: 16,2520 00006 EXTEND
062610,000314: 16,2521 62544 BZMF Q-RATE
062611,000315: 16,2522 22007 ZL
062612,000316: 16,2523 23431 LXCH TRAPEDQ
062613,000317: 16,2524 34755 CA ZERO
062614,000318: 16,2525 00006 EXTEND
062615,000319: 16,2526 11434 DV NQTRAPS
062616,000320: 16,2527 55737 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
062617,000321: 16,2530 27422 ADS OMEGAQ
062618,000322: 16,2531 02310 TC OVERSUB
062619,000323: 16,2532 55422 TS OMEGAQ
062620,000324: 16,2533 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
062621,000325: 16,2534 57434 XCH NQTRAPS
062622,000326: 16,2535 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
062623,000327: 16,2536 57737 XCH DAPTEMP1
062624,000328: 16,2537 00006 EXTEND
062625,000329: 16,2540 74756 MP FIVE
062626,000330: 16,2541 00006 EXTEND
062627,000331: 16,2542 11737 DV DAPTEMP1
062628,000332: 16,2543 27537 ADS AOSQ
062629,000333: 16,2544 25434 Q-RATE INCR NQTRAPS
062630,000334: 16,2545 31746 CA JETRATEQ
062631,000335: 16,2546 61545 AD AOSQTERM
062632,000336: 16,2547 27422 ADS OMEGAQ
062633,000337: 16,2550 02310 TC OVERSUB
062634,000338: 16,2551 55422 TS OMEGAQ
062635,000339:
062636,000340: 16,2552 11432 CCS TRAPEDR
062637,000341: 16,2553 12555 TCF +2
062638,000342: 16,2554 12602 TCF R-RATE
062639,000343: 16,2555 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
062640,000344: 16,2556 00006 EXTEND
062641,000345: 16,2557 62602 BZMF R-RATE
062642,000346: 16,2560 22007 ZL
062643,000347: 16,2561 23432 LXCH TRAPEDR
062644,000348: 16,2562 34755 CA ZERO
062645,000349: 16,2563 00006 EXTEND
062646,000350: 16,2564 11435 DV NRTRAPS
062647,000351: 16,2565 55740 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
062648,000352: 16,2566 27423 ADS OMEGAR
062649,000353: 16,2567 02310 TC OVERSUB
062650,000354: 16,2570 55423 TS OMEGAR
062651,000355: 16,2571 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
062652,000356: 16,2572 57435 XCH NRTRAPS
062653,000357: 16,2573 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
062654,000358: 16,2574 57740 XCH DAPTEMP2
062655,000359: 16,2575 00006 EXTEND
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Page 1427 |
062657,000361: 16,2576 74756 MP FIVE
062658,000362: 16,2577 00006 EXTEND
062659,000363: 16,2600 11740 DV DAPTEMP2
062660,000364: 16,2601 27541 ADS AOSR
062661,000365: 16,2602 25435 R-RATE INCR NRTRAPS
062662,000366: 16,2603 31747 CA JETRATER
062663,000367: 16,2604 61546 AD AOSRTERM
062664,000368: 16,2605 27423 ADS OMEGAR
062665,000369: 16,2606 02310 TC OVERSUB
062666,000370: 16,2607 55423 TS OMEGAR
062667,000371:
062668,000372: # END OF RATE DERIVATION
062669,000373: # BEGIN OFFSET ESTIMATER
062670,000374: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
062671,000375: # AOS = AOS + K*SUMRATE
062672,000376:
062673,000377: 16,2610 40111 CS DAPBOOLS
062674,000378: 16,2611 74744 MASK DRIFTBIT
062675,000379: 16,2612 10000 CCS A
062676,000380: 16,2613 12624 TCF WORKTIME
062677,000381: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
062678,000382: 16,2615 55425 TS ALPHAR
062679,000383: 16,2616 55545 TS AOSQTERM
062680,000384: 16,2617 55546 TS AOSRTERM
062681,000385: 16,2620 55537 TS AOSQ
062682,000386: 16,2621 55541 TS AOSR
062683,000387: 16,2622 12667 TCF PRETIMCK
062684,000388: 16,2623 00074 KAOS DEC 60 B-14
062685,000389: 16,2624 31510 WORKTIME CA QACCDOT
062686,000390: 16,2625 00006 EXTEND
062687,000391: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
062688,000392: 16,2627 21540 DAS AOSQ
062689,000393: 16,2630 31537 CA AOSQ
062690,000394: 16,2631 55424 TS ALPHAQ
062691,000395: 16,2632 00006 EXTEND
062692,000396: 16,2633 73616 MP 200MS # .2 AT 1
062693,000397: 16,2634 55545 TS AOSQTERM
062694,000398: 16,2635 31512 CA RACCDOT
062695,000399: 16,2636 00006 EXTEND
062696,000400: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
062697,000401: 16,2640 21542 DAS AOSR
062698,000402: 16,2641 31541 CA AOSR
062699,000403: 16,2642 55425 TS ALPHAR
062700,000404: 16,2643 00006 EXTEND
062701,000405: 16,2644 73616 MP 200MS # .2 AT 1
062702,000406: 16,2645 55546 TS AOSRTERM
062703,000407: 16,2646 12667 TCF PRETIMCK
062704,000408:
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|
Page 1428 |
062706,000410: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
062707,000411: 16,2650 71273 MASK RCSFLAGS
062708,000412: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
062709,000413: 16,2652 03736 TC ACDT+C12 # VALID.
062710,000414:
062711,000415: 16,2653 52011 DXCH ARUPT
062712,000416: 16,2654 53754 DXCH DAPARUPT
062713,000417: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
062714,000418: 16,2656 56017 XCH BRUPT
062715,000419: 16,2657 22012 LXCH QRUPT
062716,000420: 16,2660 53756 DXCH DAPBQRPT
062717,000421: 16,2661 32665 CA SUPERADR
062718,000422: 16,2662 52016 DXCH ZRUPT
062719,000423: 16,2663 53760 DXCH DAPZRUPT
062720,000424: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
062721,000425: # FORM OF A JASK, AT SUPERJOB.
062722,000426:
062723,000427: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
062724,000428:
062725,000429: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
062726,000430:
062727,000431: 16,2666 13641 SUPERJOB TCF RATELOOP
062728,000432: 16,2667 11632 PRETIMCK CCS QGIMTIMR
062729,000433: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
062730,000434: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
062731,000435: 16,2672 11634 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
062732,000436: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
062733,000437: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
062734,000438:
062735,000439: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
062736,000440: 16,2676 27767 DIM PJETCTR
062737,000441: 16,2677 00006 EXTEND
062738,000442: 16,2700 27770 DIM UJETCTR
062739,000443: 16,2701 00006 EXTEND
062740,000444: 16,2702 27771 DIM VJETCTR
062741,000445: 16,2703 34740 CA BIT12
062742,000446: 16,2704 71273 MASK RCSFLAGS
062743,000447: 16,2705 00006 EXTEND
062744,000448: 16,2706 12734 BZF SKIPPAXS
062745,000449: 16,2707 02740 TC CHKVISFZ
062746,000450: 16,2710 55632 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
062747,000451: 16,2711 12672 TCF CHKRTIMR
062748,000452: 16,2712 55634 DECRTIMR TS RGIMTIMR
062749,000453: 16,2713 12675 TCF CHKRTIMR +3
062750,000454:
062751,000455: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
062752,000456: 16,2715 55510 TS QACCDOT
062753,000457: 16,2716 45007 CS QGIMBITS
062754,000458: 16,2717 00006 EXTEND
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|
Page 1429 |
062756,000460: 16,2720 03012 WAND CHAN12
062757,000461: 16,2721 34735 CAF NEGMAX
062758,000462: 16,2722 55632 TS QGIMTIMR
062759,000463: 16,2723 12672 TCF CHKRTIMR
062760,000464: 16,2724 55503 TURNOFFR TS NEGUR
062761,000465: 16,2725 55512 TS RACCDOT
062762,000466: 16,2726 45020 CS RGIMBITS
062763,000467: 16,2727 00006 EXTEND
062764,000468: 16,2730 03012 WAND CHAN12
062765,000469: 16,2731 34735 CAF NEGMAX
062766,000470: 16,2732 55634 TS RGIMTIMR
062767,000471: 16,2733 12675 TCF CHKRTIMR +3
062768,000472: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
062769,000473: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
062770,000474:
062771,000475: 16,2734 41273 SKIPPAXS CS RCSFLAGS
062772,000476: 16,2735 74740 MASK BIT12
062773,000477: 16,2736 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
062774,000478: 16,2737 13624 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
062775,000479:
062776,000480: # Y-Z TRANSLATION
062777,000481:
062778,000482: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
062779,000483:
062780,000484: # OUTPUT: NEXTP
062781,000485:
062782,000486: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
062783,000487: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
062784,000488: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
062785,000489: # ALARM (IF NO PAIR)
062786,000490: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
062787,000491: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
062788,000492:
062789,000493: 16,2740 00006 CHKVISFZ EXTEND
062790,000494: 16,2741 00031 READ CHAN31
062791,000495: 16,2742 40000 CS A
062792,000496: 16,2743 73613 MASK 07400OCT
062793,000497: 16,2744 00006 EXTEND
062794,000498: 16,2745 13014 BZF TSNEXTP
062795,000499: 16,2746 00006 EXTEND
062796,000500: 16,2747 74745 MP BIT7
062797,000501: 16,2750 50000 INDEX A
062798,000502: 16,2751 33572 CA INDXYZ
062799,000503: 16,2752 55744 TS ROTINDEX
062800,000504: 16,2753 36242 TRYUORV CA SIX
062801,000505: 16,2754 03551 TC SELECTYZ
062802,000506: 16,2755 46242 CS SIX
062803,000507: 16,2756 61743 AD NUMBERT
062804,000508: 16,2757 00006 EXTEND
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|
Page 1430 |
062806,000510: 16,2760 13013 BZF TSNEXTP -1
062807,000511: 16,2761 44756 CS FIVE
062808,000512: 16,2762 61744 AD ROTINDEX
062809,000513: 16,2763 00006 EXTEND
062810,000514: 16,2764 63002 BZMF ALTERYZ
062811,000515: 16,2765 41743 CS NUMBERT
062812,000516: 16,2766 64751 AD FOUR
062813,000517: 16,2767 00006 EXTEND
062814,000518: 16,2770 63013 BZMF TSNEXTP -1
062815,000519: 16,2771 05567 ABORTYZ TC ALARM
062816,000520: 16,2772 02001 OCT 02001
062817,000521: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
062818,000522: 16,2774 23273 LXCH RCSFLAGS
062819,000523: 16,2775 00006 EXTEND
062820,000524: 16,2776 06001 RXOR 1
062821,000525: 16,2777 55273 TS RCSFLAGS
062822,000526: 16,3000 34755 CA ZERO
062823,000527: 16,3001 13014 TCF TSNEXTP
062824,000528: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
062825,000529: 16,3003 23273 LXCH RCSFLAGS
062826,000530: 16,3004 00006 EXTEND
062827,000531: 16,3005 06001 RXOR 1
062828,000532: 16,3006 55273 TS RCSFLAGS
062829,000533: 16,3007 74753 MASK BIT1
062830,000534: 16,3010 64751 AD FOUR
062831,000535: 16,3011 27744 ADS ROTINDEX
062832,000536: 16,3012 12753 TCF TRYUORV
062833,000537: 16,3013 31741 CA POLYTEMP
062834,000538: 16,3014 55472 TSNEXTP TS NEXTP
062835,000539:
062836,000540: # STATE LOGIC
062837,000541: # CHECK IN ORDER: IF ON
062838,000542: # LPDPHASE GO TO PURGENCY
062839,000543: # PULSES MINIMUM PULSE LOGIC
062840,000544: # DETENT(BIT15 CH31) RATE COMMAND
062841,000545: # GO TO PURGENCY
062842,000546:
062843,000547: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
062844,000548: 16,3016 00006 EXTEND
062845,000549: 16,3017 02031 RAND CHAN31
062846,000550: 16,3020 00006 EXTEND
062847,000551: 16,3021 13027 BZF MANMODE
062848,000552:
062849,000553: 16,3022 30111 CA DAPBOOLS
062850,000554: 16,3023 74743 MASK XOVINHIB
062851,000555: 16,3024 10000 CCS A
062852,000556: 16,3025 13463 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
062853,000557:
062854,000558: 16,3026 13071 TCF DETENTCK
062855,000559: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
062856,000560: 16,3030 70111 MASK DAPBOOLS
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|
Page 1431 |
062858,000562: 16,3031 00006 EXTEND
062859,000563: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
062860,000564:
062861,000565: 16,3033 34755 CA ZERO
062862,000566: 16,3034 55464 TS PERROR
062863,000567:
062864,000568: # MINIMUM IMPULSE MODE
062865,000569:
062866,000570: 16,3035 30032 CA CDUX
062867,000571: 16,3036 55635 TS CDUXD
062868,000572:
062869,000573: 16,3037 11460 CCS OLDPMIN
062870,000574: 16,3040 13054 TCF CHECKP
062871,000575:
062872,000576: 16,3041 34751 FIREP CA BIT3
062873,000577: 16,3042 00006 EXTEND
062874,000578: 16,3043 02031 RAND CHAN31
062875,000579: 16,3044 00006 EXTEND
062876,000580: 16,3045 13064 BZF +XMIN
062877,000581:
062878,000582: 16,3046 34750 CA BIT4
062879,000583: 16,3047 00006 EXTEND
062880,000584: 16,3050 02031 RAND CHAN31
062881,000585: 16,3051 00006 EXTEND
062882,000586: 16,3052 13062 BZF -XMIN
062883,000587:
062884,000588: 16,3053 13442 TCF JETSOFF
062885,000589:
062886,000590: 16,3054 00006 CHECKP EXTEND
062887,000591: 16,3055 00031 READ CHAN31
062888,000592: 16,3056 40000 CS A
062889,000593: 16,3057 75751 MASK OCT14
062890,000594: 16,3060 55460 TS OLDPMIN
062891,000595: 16,3061 13442 TCF JETSOFF
062892,000596:
062893,000597: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
062894,000598: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
062895,000599: 16,3064 34363 +XMIN CA TEN
062896,000600: 16,3065 55524 TS TJP
062897,000601: 16,3066 34753 CA ONE
062898,000602: 16,3067 55460 TS OLDPMIN
062899,000603: 16,3070 13350 TCF PJETSLEC -6
062900,000604:
062901,000605: # MANUAL RATE COMMAND MODE
062902,000606: # ========================
062903,000607: # BY ROBERT F. STENGEL
062904,000608:
062905,000609: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
062906,000610: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
062907,000611: # RATE CONTROL AND ATTITUDE HOLD.
062908,000612:
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Page 1432 |
062910,000614: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
062911,000615: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
062912,000616: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
062913,000617:
062914,000618: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
062915,000619: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
062916,000620: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
062917,000621:
062918,000622: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
062919,000623: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
062920,000624: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
062921,000625:
062922,000626: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
062923,000627: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
062924,000628: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
062925,000629: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
062926,000630:
062927,000631: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
062928,000632: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
062929,000633:
062930,000634: 16,3071 00006 DETENTCK EXTEND
062931,000635: 16,3072 00031 READ CHAN31
062932,000636: 16,3073 55443 TS CH31TEMP
062933,000637: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
062934,000638: 16,3075 00006 EXTEND
062935,000639: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
062936,000640: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
062937,000641: 16,3100 70111 MASK DAPBOOLS
062938,000642: 16,3101 00006 EXTEND
062939,000643: 16,3102 13463 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
062940,000644:
062941,000645: # ........................................................................
062942,000646:
062943,000647: 16,3103 34743 CA BIT9 # JUST IN DETENT??
062944,000648: 16,3104 71273 MASK RCSFLAGS
062945,000649: 16,3105 00006 EXTEND
062946,000650: 16,3106 13120 BZF RUTH
062947,000651: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
062948,000652: 16,3110 00006 EXTEND
062949,000653: 16,3111 02031 RAND CHAN31
062950,000654: 16,3112 00006 EXTEND
062951,000655: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
062952,000656:
062953,000657: 16,3114 45014 CS BITS9,11 # IN AUTO.
062954,000658: 16,3115 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
062955,000659: 16,3116 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
062956,000660: 16,3117 13220 TCF RATEDAMP
062957,000661:
062958,000662: 16,3120 31273 RUTH CA RCSFLAGS
062959,000663: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
062960,000664: 16,3122 00006 EXTEND
062961,000665: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
062962,000666: 16,3124 13220 TCF RATEDAMP
062963,000667:
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Page 1433 |
062965,000669: 16,3125 31273 CA RCSFLAGS
062966,000670: 16,3126 74741 MASK QRBIT
062967,000671: 16,3127 00006 EXTEND
062968,000672: 16,3130 13136 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
062969,000673: 16,3131 13220 TCF RATEDAMP
062970,000674:
062971,000675: # ============================================
062972,000676:
062973,000677: 16,3132 00001 1/10SEC OCT 1
062974,000678: 16,3133 00050 40CYC OCT 50
062975,000679: 16,3134 74777 PQRBIT OCT 74777
062976,000680: 16,3135 5014 BITS9,11 EQUALS EBANK5
062977,000681: 16,3135 00056 LINRATP DEC 46 B-14
062978,000682:
062979,000683: # ============================================
062980,000684:
062981,000685: 16,3136 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
062982,000686: 16,3137 00004 INHINT # ALL AXES.
062983,000687: 16,3140 70111 MASK DAPBOOLS
062984,000688: 16,3141 54111 TS DAPBOOLS
062985,000689:
062986,000690: # READ CDUS INTO CDU DESIRED REGISTERS
062987,000691:
062988,000692: 16,3142 34737 CAF BIT13
062989,000693: 16,3143 00006 EXTEND
062990,000694: 16,3144 02031 RAND CHAN31
062991,000695: 16,3145 00006 EXTEND
062992,000696: 16,3146 13152 BZF +4
062993,000697: 16,3147 30032 CA CDUX # (X-AXIS OVERRIDE)
062994,000698: 16,3150 55635 TS CDUXD
062995,000699: 16,3151 03154 TC +3
062996,000700: 16,3152 04674 TC IBNKCALL
062997,000701: 16,3153 40153 FCADR ZATTEROR
062998,000702: 16,3154 00003 RELINT
062999,000703: 16,3155 13463 TCF PURGENCY
063000,000704:
063001,000705: 16,3156 55464 TS PERROR
063002,000706: 16,3157 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
063003,000707: 16,3160 26111 ADS DAPBOOLS
063004,000708: 16,3161 34755 CA ZERO
063005,000709: 16,3162 55446 TS DXERROR
063006,000710: 16,3163 55447 TS DXERROR +1
063007,000711: 16,3164 55450 TS DYERROR
063008,000712: 16,3165 55451 TS DYERROR +1
063009,000713: 16,3166 55452 TS DZERROR
063010,000714: 16,3167 55453 TS DZERROR +1
063011,000715: 16,3170 55454 TS PLAST
063012,000716: 16,3171 55455 TS QLAST
063013,000717: 16,3172 55456 TS RLAST
063014,000718: 16,3173 54042 TS Q-RHCCTR
063015,000719: 16,3174 54044 TS R-RHCCTR
063016,000720: 16,3175 33134 CA PQRBIT
063017,000721: 16,3176 71273 MASK RCSFLAGS
063018,000722: 16,3177 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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Page 1434 |
063020,000724: 16,3200 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
063021,000725: 16,3201 74743 MASK BIT9
063022,000726: 16,3202 27273 ADS RCSFLAGS
063023,000727: 16,3203 03205 TC ZEROENBL
063024,000728: 16,3204 13442 TCF JETSOFF
063025,000729: 16,3205 22044 ZEROENBL LXCH R-RHCCTR
063026,000730: 16,3206 30042 CA Q-RHCCTR
063027,000731: 16,3207 53463 DXCH SAVEHAND
063028,000732: 16,3210 34755 CA ZERO
063029,000733: 16,3211 54043 TS P-RHCCTR
063030,000734: 16,3212 54042 TS Q-RHCCTR
063031,000735: 16,3213 54044 TS R-RHCCTR
063032,000736: 16,3214 33617 CA BITS8,9
063033,000737: 16,3215 00006 EXTEND
063034,000738: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
063035,000739: 16,3217 00002 TC Q
063036,000740: 16,3220 34755 RATEDAMP CA ZERO
063037,000741: 16,3221 54043 TS P-RHCCTR
063038,000742: 16,3222 13227 TCF RATERROR
063039,000743:
063040,000744: 16,3223 34740 RHCMOVED CA OURRCBIT # P CONTROL
063041,000745: 16,3224 70111 MASK DAPBOOLS
063042,000746: 16,3225 00006 EXTEND
063043,000747: 16,3226 13156 BZF JUSTOUT -1
063044,000748: 16,3227 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
063045,000749: 16,3230 55635 TS CDUXD # X-AXIS OVERRIDE
063046,000750: 16,3231 10043 CCS P-RHCCTR
063047,000751: 16,3232 13235 TCF +3
063048,000752: 16,3233 13235 TCF +2
063049,000753: 16,3234 13235 TCF +1
063050,000754: 16,3235 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
063051,000755: 16,3236 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
063052,000756: 16,3237 63135 AD LINRATP # AUTOPILOT)
063053,000757: 16,3240 00006 EXTEND
063054,000758: 16,3241 70043 MP P-RHCCTR
063055,000759: 16,3242 30001 CA L
063056,000760: 16,3243 00006 EXTEND
063057,000761: 16,3244 71444 MP STIKSENS
063058,000762: 16,3245 57454 XCH PLAST
063059,000763: 16,3246 40000 COM
063060,000764: 16,3247 61454 AD PLAST
063061,000765: 16,3250 55737 TS DAPTEMP1
063062,000766: 16,3251 03205 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
063063,000767: 16,3252 41454 CS PLAST
063064,000768: 16,3253 61421 AD OMEGAP
063065,000769: 16,3254 55427 TS EDOTP
063066,000770: 16,3255 11737 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
063067,000771: 16,3256 13261 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
063068,000772: 16,3257 13267 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
063069,000773: 16,3260 13261 TCF +1
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|
Page 1435 |
063071,000775: 16,3261 61476 AD -RATEDB
063072,000776: 16,3262 00006 EXTEND
063073,000777: 16,3263 63267 BZMF +4
063074,000778: 16,3264 33133 CA 40CYC
063075,000779: 16,3265 55445 TS TCP
063076,000780: 16,3266 03300 TC PEGI
063077,000781: 16,3267 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
063078,000782: 16,3270 74742 MASK PBIT
063079,000783: 16,3271 00006 EXTEND
063080,000784: 16,3272 13274 BZF +2
063081,000785: 16,3273 03300 TC PEGI # TO PURE RATE COMMAND
063082,000786: 16,3274 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
063083,000787: 16,3275 55752 TS E # X-ATTITUDE ERROR (SP)
063084,000788: 16,3276 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
063085,000789: 16,3277 03467 TC PURGENCY +4
063086,000790: 16,3300 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
063087,000791: 16,3301 55635 TS CDUXD
063088,000792: 16,3302 34755 CA ZERO
063089,000793: 16,3303 55446 TS DXERROR
063090,000794: 16,3304 55447 TS DXERROR +1
063091,000795: 16,3305 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
063092,000796: 16,3306 11427 CCS EDOTP
063093,000797: 16,3307 03312 TC +3
063094,000798: 16,3310 03312 TC +2
063095,000799: 16,3311 03312 TC +1
063096,000800: 16,3312 55737 TS ABSEDOTP
063097,000801: 16,3313 61476 AD TARGETDB
063098,000802: 16,3314 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
063099,000803: 16,3315 63325 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
063100,000804: 16,3316 31445 CA TCP
063101,000805: 16,3317 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
063102,000806: 16,3320 63325 BZMF LAST
063103,000807: 16,3321 41273 CS RCSFLAGS
063104,000808: 16,3322 74742 MASK PBIT
063105,000809: 16,3323 27273 ADS RCSFLAGS # BIT 10 IS 1.
063106,000810: 16,3324 13330 TCF +4
063107,000811: 16,3325 44742 LAST CS PBIT
063108,000812: 16,3326 71273 MASK RCSFLAGS
063109,000813: 16,3327 55273 TS RCSFLAGS # BIT 10 IS 0.
063110,000814: 16,3330 41427 CS EDOTP
063111,000815: 16,3331 00006 EXTEND
063112,000816: 16,3332 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
063113,000817: 16,3333 20001 DAS A
063114,000818: 16,3334 02310 TC OVERSUB
063115,000819: 16,3335 00006 EXTEND
063116,000820: 16,3336 77716 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
063117,000821: 16,3337 55524 TS TJP # 4.JET TIME
063118,000822: 16,3340 31737 CA ABSEDOTP
063119,000823: 16,3341 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
063120,000824: 16,3342 00006 EXTEND
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|
Page 1436 |
063122,000826: 16,3343 63346 BZMF +3
063123,000827:
063124,000828: 16,3344 36242 CA SIX
063125,000829: 16,3345 13355 TCF +8D
063126,000830: 16,3346 31524 CA TJP
063127,000831: 16,3347 27524 ADS TJP
063128,000832:
063129,000833: # GOES TO PJETSLEC FOR TWO JETS
063130,000834: # P-JET-SELECTION-ROUTINE (ROTATION)
063131,000835:
063132,000836: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
063133,000837: # TJP + FOR +P ROTATION
063134,000838:
063135,000839: # OUTPUT: CHANNEL 6
063136,000840: # PJUMPADR FOR P-AXIS SKIP
063137,000841: # (JTLST CALL) (SMALL TJP)
063138,000842:
063139,000843: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
063140,000844: # +P -P
063141,000845: # 7,15 8,16
063142,000846: # 4,12 3,11
063143,000847: # 4,7 8,11
063144,000848: # 7,12 11,16
063145,000849: # 12,15 3,16
063146,000850: # 4,15 3,8
063147,000851: # ALARM ALARM
063148,000852:
063149,000853: 16,3350 34747 CA AORBSYST
063150,000854: 16,3351 70111 MASK DAPBOOLS
063151,000855: 16,3352 10000 CCS A
063152,000856: 16,3353 34753 CA ONE
063153,000857: 16,3354 64751 AD FOUR
063154,000858: 16,3355 55743 TS NUMBERT
063155,000859: 16,3356 34753 PJETSLEC CA ONE
063156,000860: 16,3357 54001 TS L
063157,000861: 16,3360 11524 CCS TJP
063158,000862: 16,3361 13366 TCF +5
063159,000863: 16,3362 13442 TCF JETSOFF
063160,000864: 16,3363 13365 TCF +2
063161,000865: 16,3364 13442 TCF JETSOFF
063162,000866: 16,3365 22007 ZL
063163,000867: 16,3366 64753 AD ONE
063164,000868: 16,3367 55737 TS ABSTJ
063165,000869: 16,3370 23744 LXCH ROTINDEX
063166,000870: 16,3371 03531 TC SELECTP
063167,000871: 16,3372 46242 CS SIX
063168,000872: 16,3373 61743 AD NUMBERT
063169,000873: 16,3374 00006 EXTEND
063170,000874: 16,3375 13377 BZF +2
063171,000875:
063172,000876: 16,3376 44752 CS TWO
063173,000877:
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|
Page 1437 |
063175,000879: 16,3377 64751 AD FOUR
063176,000880: 16,3400 55521 TS NO.PJETS
063177,000881: 16,3401 31741 CA POLYTEMP
063178,000882: 16,3402 05754 TC WRITEP
063179,000883: 16,3403 41737 CS ABSTJ
063180,000884: 16,3404 63612 AD +150MST6
063181,000885: 16,3405 00006 EXTEND
063182,000886: 16,3406 63624 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
063183,000887:
063184,000888: 16,3407 63572 AD -136MST6
063185,000889: 16,3410 00006 EXTEND
063186,000890: 16,3411 63416 BZMF +5
063187,000891:
063188,000892: 16,3412 27737 ADS ABSTJ
063189,000893: 16,3413 51744 INDEX ROTINDEX
063190,000894: 16,3414 33621 CA MINTIMES
063191,000895: 16,3415 55524 TS TJP
063192,000896:
063193,000897: 16,3416 31737 CA ABSTJ
063194,000898: 16,3417 22007 ZL
063195,000899: 16,3420 00004 INHINT
063196,000900: 16,3421 53471 DXCH T6FURTHA
063197,000901: 16,3422 04674 TC IBNKCALL
063198,000902: 16,3423 37114 CADR JTLST
063199,000903: 16,3424 44740 CS BIT12
063200,000904: 16,3425 71273 MASK RCSFLAGS
063201,000905: 16,3426 55273 TS RCSFLAGS # BIT 12 SET TO 0.
063202,000906: 16,3427 03431 TC ALTSYST
063203,000907: 16,3430 13624 TCF QRAXIS
063204,000908:
063205,000909: 16,3431 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
063206,000910: 16,3432 54001 TS L
063207,000911: 16,3433 34747 CA AORBSYST
063208,000912: 16,3434 00006 EXTEND
063209,000913: 16,3435 06001 RXOR LCHAN
063210,000914: 16,3436 54111 TS DAPBOOLS
063211,000915: 16,3437 00003 RELINT
063212,000916: 16,3440 00002 TC Q
063213,000917:
063214,000918: 16,3441 03431 DKALT TC ALTSYST
063215,000919:
063216,000920: 16,3442 05753 JETSOFF TC WRITEP -1
063217,000921: 16,3443 34755 CA ZERO
063218,000922: 16,3444 55524 TS TJP
063219,000923: 16,3445 13624 TCF QRAXIS
063220,000924:
063221,000925: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
063222,000926:
063223,000927: 16,3446 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
063224,000928: 16,3447 00006 EXTEND
063225,000929: 16,3450 21636 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
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|
Page 1438 |
063227,000931: 16,3451 00006 EXTEND
063228,000932: 16,3452 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
063229,000933: 16,3453 57752 XCH E # SAVE FIRST TERM (OF TWO)
063230,000934: 16,3454 30032 CA CDUX # THIRD COMPONENT
063231,000935: 16,3455 00006 EXTEND
063232,000936: 16,3456 21635 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
063233,000937: # EXTEND
063234,000938: # MP M13
063235,000939: 16,3457 61277 AD DELPEROR # KALCMANU INERFACE ERROR
063236,000940: 16,3460 27752 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
063237,000941: 16,3461 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
063238,000942: 16,3462 00002 TC Q # RETURN TO CALLER
063239,000943:
063240,000944: # P-AXIS URGENCY FUNCTION CALCULATION.
063241,000945:
063242,000946: 16,3463 03446 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
063243,000947: 16,3464 41643 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
063244,000948: 16,3465 61421 AD OMEGAP # SPS-BACKUP MODE.
063245,000949: 16,3466 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
063246,000950:
063247,000951: 16,3467 44753 CS ONE
063248,000952: 16,3470 55505 TS AXISCTR
063249,000953: 16,3471 30111 CA DAPBOOLS
063250,000954: 16,3472 74737 MASK CSMDOCKD
063251,000955: 16,3473 00006 EXTEND
063252,000956: 16,3474 13505 BZF HEADTJET
063253,000957: 16,3475 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
063254,000958: 16,3476 04674 TC IBNKCALL
063255,000959: 16,3477 43727 CADR SPSRCS
063256,000960:
063257,000961: 16,3500 31524 CA TJP
063258,000962: 16,3501 00006 EXTEND
063259,000963: 16,3502 13441 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
063260,000964: 16,3503 00003 RELINT
063261,000965: 16,3504 13350 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
063262,000966: 16,3505 34755 HEADTJET CA ZERO
063263,000967: 16,3506 55500 TS SENSETYP
063264,000968: 16,3507 00004 INHINT
063265,000969: 16,3510 04674 TC IBNKCALL
063266,000970: 16,3511 37252 CADR TJETLAW
063267,000971: 16,3512 00003 RELINT
063268,000972:
063269,000973: 16,3513 41741 CS FIREFCT
063270,000974: 16,3514 63530 AD -FOURDEG
063271,000975: 16,3515 00006 EXTEND
063272,000976: 16,3516 63350 BZMF PJETSLEC -6
063273,000977: 16,3517 11524 CCS TJP
063274,000978: 16,3520 13522 TCF +2
063275,000979: 16,3521 13442 TCF JETSOFF
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Page 1439 |
063277,000981: 16,3522 63527 AD -160MST6
063278,000982: 16,3523 00006 EXTEND
063279,000983: 16,3524 63350 BZMF PJETSLEC -6
063280,000984: 16,3525 36242 CA SIX
063281,000985: 16,3526 13355 TCF PJETSLEC -1
063282,000986: 16,3527 77377 -160MST6 DEC -256 B-14
063283,000987: 16,3530 75117 -FOURDEG DEC -.08888
063284,000988:
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|
Page 1440 |
063286,000990: # JET POLICY CONSTRUCTION SUBROUTINE
063287,000991:
063288,000992: # INPUT: ROTINDEX, NUMBERT
063289,000993:
063290,000994: # OUTPUT: POLYTEMP (JET POLICY)
063291,000995:
063292,000996: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
063293,000997:
063294,000998: 16,3531 36242 SELECTP CA SIX
063295,000999: 16,3532 55742 TS TEMPNUM
063296,001000: 16,3533 51743 INDEX NUMBERT
063297,001001: 16,3534 33563 CA TYPEP
063298,001002: 16,3535 51744 INDEX ROTINDEX
063299,001003: 16,3536 73554 MASK JETSALL
063300,001004: 16,3537 55741 TS POLYTEMP
063301,001005: 16,3540 71263 MASK CH6MASK
063302,001006: 16,3541 10000 CCS A
063303,001007: 16,3542 13544 TCF +2
063304,001008: 16,3543 00002 TC Q
063305,001009: 16,3544 11742 CCS TEMPNUM
063306,001010: 16,3545 13551 TCF +4
063307,001011: 16,3546 05567 TC ALARM
063308,001012: 16,3547 02003 OCT 02003
063309,001013: 16,3550 13442 TCF JETSOFF # *****TCF ALARMJET *********************
063310,001014: 16,3551 55743 SELECTYZ TS NUMBERT
063311,001015: 16,3552 13532 TCF SELECTP +1
063312,001016: 16,3553 12773 -1 TCF ABORTYZ +2
063313,001017: 16,3554 00252 JETSALL OCT 00252
063314,001018: 16,3555 00125 OCT 00125 # +P
063315,001019: 16,3556 00140 OCT 00140 # -Y
063316,001020: 16,3557 00006 OCT 00006 # -Z
063317,001021: 16,3560 00220 OCT 00220 # +Y
063318,001022: 16,3561 00011 OCT 00011 # +Z
063319,001023: 16,3562 00151 OCT 00151 # +V
063320,001024: 16,3563 00146 TYPEP OCT 00146 # -U
063321,001025: 16,3564 00226 OCT 00226 # -V
063322,001026: 16,3565 00231 OCT 00231 # +U
063323,001027: 16,3566 00151 OCT 00151 # +V
063324,001028: 16,3567 00132 OCT 00132 # 1-3
063325,001029: 16,3570 00245 OCT 00245 # 2-4
063326,001030: 16,3571 00377 OCT 00377 # ALL
063327,001031: 16,3572 16,3572 INDXYZ = -136MST6
063328,001032: 16,3572 77445 -136MST6 DEC -218 B-14
063329,001033: 16,3573 00004 DEC 4 B-14
063330,001034: 16,3574 00002 DEC 2 B-14
063331,001035: 16,3575 07776 OCT 07776
063332,001036: 16,3576 00005 DEC 5 B-14
063333,001037: 16,3577 00011 DEC 9 B-14
063334,001038: 16,3600 00012 DEC 10 B-14
063335,001039: 16,3601 07776 OCT 07776
063336,001040: 16,3602 00003 DEC 3 B-14
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|
Page 1441 |
063338,001042: 16,3603 00010 DEC 8 B-14
063339,001043: 16,3604 00007 DEC 7 B-14
063340,001044: 16,3605 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
063341,001045: 16,3606 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
063342,001046: 16,3607 07776 OCT 07776 # TO BE TC JETSALL -1
063343,001047: 16,3610 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
063344,001048: 16,3611 07776 OCT 07776
063345,001049: 16,3612 00360 +150MST6 DEC 240 B-14
063346,001050: 16,3613 07400 07400OCT OCT 07400
063347,001051:
063348,001052: # T-JET LAW FIXED CONSTANTS
063349,001053:
063350,001054: 16,3614 00266 NORMSCL OCT 266
063351,001055: 16,3615 74631 -100MS DEC -.1
063352,001056: 16,3616 06315 200MS DEC .2
063353,001057: 16,3617 7716 25/32 = PRIO31 # (DEC .78125)
063354,001058: 16,3617 00600 BITS8,9 OCTAL 00600
063355,001059: 16,3620 00632 1/40 DEC .02500
063356,001060: 16,3621 77751 MINTIMES DEC -22 B-14
063357,001061: 16,3622 00026 DEC 22 B-14
063358,001062: 16,3623 02734 PSKIPADR GENADR SKIPPAXS
063359,001063:
063360,001064: # GOES TO Q,R-AXES RCS AUTOPILOT
063361,001065:
063362,001066: 16,3624 41645 QRAXIS CS OMEGARD
063363,001067: 16,3625 61423 AD OMEGAR
063364,001068: 16,3626 02310 TC OVERSUB
063365,001069: 16,3627 55437 TS EDOTR
063366,001070: 16,3630 41644 CS OMEGAQD
063367,001071: 16,3631 61422 AD OMEGAQ
063368,001072: 16,3632 02310 TC OVERSUB
063369,001073: 16,3633 55436 TS EDOTQ
063370,001074: 16,3634 00006 EXTEND
063371,001075: 16,3635 33640 DCA QERRCALL
063372,001076: 16,3636 52006 DTCB
063373,001077:
063374,001078: 16,3637 E6,1537 EBANK= AOSQ
063375,001079: 16,3637 02072 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc