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. |
063378,000002: ## Copyright: Public domain.
063379,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
063380,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
063381,000005: ## otherwise known as Luminary Rev 99, the third release
063382,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
063383,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
063384,000008: ## placement of a single label. The corrections shown here have
063385,000009: ## been verified to have the same bank checksums as AGC developer
063386,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
063387,000011: ## to be accurate. This file is intended to be a faithful
063388,000012: ## recreation, except that the code format has been changed to
063389,000013: ## conform to the requirements of the yaYUL assembler rather than
063390,000014: ## the original YUL assembler.
063391,000015: ##
063392,000016: ## Assembler: yaYUL
063393,000017: ## Contact: Ron Burkey <info@sandroid.org>.
063394,000018: ## Website: www.ibiblio.org/apollo.
063395,000019: ## Pages: 1442-1459
063396,000020: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
063397,000021: ## Luminary131 file, using page
063398,000022: ## images from Luminary 1A.
063399,000023: ## 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
063400,000024: ## the former is not compatible with yaYUL.
063401,000025: ## 2011-01-06 JL Fixed pseudo-label indentation.
063402,000026: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
063403,000027: ## and corrected the errors found.
063404,000028: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
063405,000029: ## side-by-side diff of Luminary 69/99/116/131/210.
063406,000030: ## 2017-08-01 MAS Created from LMY99 Rev 1.
063407,000031: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
063408,000032: ## comment text error found while transcribing Zerlina 56.
063409,000033:
063410,000034: ## This source code has been transcribed or otherwise adapted from
063411,000035: ## digitized images of a hardcopy from the MIT Museum. The digitization
063412,000036: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
063413,000037: ## the Museum. Many thanks to both. The images (with suitable reduction
063414,000038: ## in storage size and consequent reduction in image quality as well) are
063415,000039: ## available online at www.ibiblio.org/apollo. If for some reason you
063416,000040: ## find that the images are illegible, contact me at info@sandroid.org
063417,000041: ## about getting access to the (much) higher-quality images which Paul
063418,000042: ## actually created.
063419,000043: ##
063420,000044: ## The code has been modified to match LMY99 Revision 0, otherwise
063421,000045: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
063422,000046: ## the listing from which it was transcribed. It has been verified to
063423,000047: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
063424,000048: ## of Luminary Revision 99 (for which we do not have scans).
063425,000049: ##
063426,000050: ## Notations on Allan Klumpp's listing read, in part:
063427,000051: ##
063428,000052: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
063429,000053:
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Page 1442 |
063431,000055: 17,2072 BANK 17
063432,000056: 17,2000 SETLOC DAPS2
063433,000057: 17,2000 BANK
063434,000058:
063435,000059: 17,2072 E6,1635 EBANK= CDUXD
063436,000060:
063437,000061: 17,2072 COUNT* $$/DAPQR
063438,000062:
063439,000063: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
063440,000064: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
063441,000065: 17,2074 02031 RAND CHAN31
063442,000066: 17,2075 10000 CCS A
063443,000067: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
063444,000068: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
063445,000069: 17,2100 74740 MASK OURRCBIT
063446,000070: 17,2101 00006 EXTEND
063447,000071: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
063448,000072: 17,2103 02626 TC QERRCALC
063449,000073:
063450,000074: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
063451,000075: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
063452,000076: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
063453,000077: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
063454,000078: 17,2110 55631 TS COTROLER
063455,000079:
063456,000080: 17,2111 53437 DXCH EDOTQ
063457,000081: 17,2112 03146 TC ROT-TOUV
063458,000082: 17,2113 53427 DXCH OMEGAU
063459,000083:
063460,000084: # X - TRANSLATION:
063461,000085:
063462,000086: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
063463,000087: # ULLAGER
063464,000088: # APSFLAG, DRIFTBIT
063465,000089: # ACC40R2X, ACRBTRAN
063466,000090:
063467,000091: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
063468,000092: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
063469,000093:
063470,000094: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
063471,000095: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
063472,000096:
063473,000097: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
063474,000098: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
063475,000099: 17,2116 02031 RAND CHAN31
063476,000100: 17,2117 00006 EXTEND
063477,000101: 17,2120 12146 BZF +XORULGE
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Page 1443 |
063479,000103: 17,2121 34744 CA BIT8
063480,000104: 17,2122 00006 EXTEND
063481,000105: 17,2123 02031 RAND CHAN31
063482,000106: 17,2124 00006 EXTEND
063483,000107: 17,2125 12147 BZF -XTRANS
063484,000108:
063485,000109: 17,2126 34746 CA ULLAGER
063486,000110: 17,2127 70111 MASK DAPBOOLS
063487,000111: 17,2130 10000 CCS A
063488,000112: 17,2131 12146 TCF +XORULGE
063489,000113:
063490,000114: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
063491,000115: 17,2133 55474 TS NEXTV
063492,000116: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
063493,000117: 17,2135 74744 MASK DRIFTBIT
063494,000118: 17,2136 00006 EXTEND
063495,000119: 17,2137 12144 BZF TSENSE
063496,000120: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
063497,000121: 17,2141 74737 MASK APSFLBIT
063498,000122: 17,2142 10000 CCS A
063499,000123: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
063500,000124: 17,2144 55500 TSENSE TS SENSETYP
063501,000125: 17,2145 12200 TCF QRCONTRL
063502,000126:
063503,000127: 17,2146 34753 +XORULGE CAF ONE
063504,000128: 17,2147 64751 -XTRANS AD FOUR
063505,000129: 17,2150 55744 TS ROTINDEX
063506,000130: 17,2151 67745 AD NEG3
063507,000131: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
063508,000132: 17,2153 30111 CA DAPBOOLS
063509,000133: 17,2154 74741 MASK ACC4OR2X
063510,000134: 17,2155 10000 CCS A
063511,000135: 17,2156 12321 TCF TRANS4
063512,000136:
063513,000137: 17,2157 30111 CA DAPBOOLS
063514,000138: 17,2160 74742 MASK AORBTRAN
063515,000139: 17,2161 10000 CCS A
063516,000140: 17,2162 34753 CA ONE # THREE FOR B
063517,000141: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
063518,000142: 17,2164 55743 TSNUMBRT TS NUMBERT
063519,000143:
063520,000144: 17,2165 03173 TC SELCTSUB
063521,000145:
063522,000146: 17,2166 11741 CCS POLYTEMP
063523,000147: 17,2167 12172 TCF +3
063524,000148: 17,2170 05567 TC ALARM
063525,000149: 17,2171 02002 OCT 02002
063526,000150: 17,2172 35774 CA 00314OCT
063527,000151: 17,2173 71741 MASK POLYTEMP
063528,000152: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444 |
063530,000154: 17,2175 45774 CS 00314OCT
063531,000155: 17,2176 71741 MASK POLYTEMP
063532,000156: 17,2177 55474 TS NEXTV
063533,000157:
063534,000158: # Q,R-AXES RCS CONTROL MODE SELECTION
063535,000159: # SWITCHES INDICATION WHEN SET
063536,000160: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
063537,000161: # PULSES MINIMUM IMPULSE MODE
063538,000162: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
063539,000163:
063540,000164: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
063541,000165: 17,2201 00006 EXTEND
063542,000166: 17,2202 02031 RAND CHAN31 # BITS INVERTED
063543,000167: 17,2203 10000 CCS A
063544,000168: 17,2204 12661 TCF ATTSTEER
063545,000169: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
063546,000170: 17,2206 70111 MASK DAPBOOLS
063547,000171: 17,2207 00006 EXTEND
063548,000172: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
063549,000173:
063550,000174: # MINIMUM IMPULSE MODE
063551,000175:
063552,000176: 17,2211 00004 INHINT
063553,000177: 17,2212 04674 TC IBNKCALL
063554,000178: 17,2213 40153 CADR ZATTEROR
063555,000179: 17,2214 34755 CA ZERO
063556,000180: 17,2215 55450 TS QERROR
063557,000181: 17,2216 55452 TS RERROR # FOR DISPLAYS
063558,000182: 17,2217 00003 RELINT
063559,000183:
063560,000184: 17,2220 00006 EXTEND
063561,000185: 17,2221 00031 READ CHAN31
063562,000186: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
063563,000187: 17,2223 11461 CCS OLDQRMIN
063564,000188: 17,2224 12246 TCF CHECKIN
063565,000189:
063566,000190: 17,2225 31737 FIREQR CA TEMP31
063567,000191: 17,2226 74753 MASK BIT1
063568,000192: 17,2227 00006 EXTEND
063569,000193: 17,2230 12252 BZF +QMIN
063570,000194:
063571,000195: 17,2231 31737 CA TEMP31
063572,000196: 17,2232 74752 MASK BIT2
063573,000197: 17,2233 00006 EXTEND
063574,000198: 17,2234 12256 BZF -QMIN
063575,000199:
063576,000200: 17,2235 31737 CA TEMP31
063577,000201: 17,2236 74747 MASK BIT5
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Page 1445 |
063579,000203: 17,2237 00006 EXTEND
063580,000204: 17,2240 12262 BZF +RMIN
063581,000205:
063582,000206: 17,2241 31737 CA TEMP31
063583,000207: 17,2242 74746 MASK BIT6
063584,000208: 17,2243 00006 EXTEND
063585,000209: 17,2244 12264 BZF -RMIN
063586,000210:
063587,000211: 17,2245 13063 TCF XTRANS
063588,000212:
063589,000213: 17,2246 41737 CHECKIN CS TEMP31
063590,000214: 17,2247 72320 MASK OCT63
063591,000215: 17,2250 55461 TS OLDQRMIN
063592,000216: 17,2251 13063 TCF XTRANS
063593,000217:
063594,000218: 17,2252 33107 +QMIN CA 14MS
063595,000219: 17,2253 55525 TS TJU
063596,000220: 17,2254 43107 CS 14MS
063597,000221: 17,2255 12266 TCF MINQR
063598,000222: 17,2256 43107 -QMIN CS 14MS
063599,000223: 17,2257 55525 TS TJU
063600,000224: 17,2260 33107 CA 14MS
063601,000225: 17,2261 12266 TCF MINQR
063602,000226: 17,2262 33107 +RMIN CA 14MS
063603,000227: 17,2263 12265 TCF +2
063604,000228: 17,2264 43107 -RMIN CS 14MS
063605,000229: 17,2265 55525 TS TJU
063606,000230: 17,2266 55526 MINQR TS TJV
063607,000231: 17,2267 32317 CA MINADR
063608,000232: 17,2270 55477 TS RETJADR
063609,000233: 17,2271 34753 CA ONE
063610,000234: 17,2272 55461 TS OLDQRMIN
063611,000235: 17,2273 55505 MINRTN TS AXISCTR
063612,000236: 17,2274 30111 CA DAPBOOLS
063613,000237: 17,2275 74737 MASK CSMDOCKD
063614,000238: 17,2276 00006 EXTEND
063615,000239: 17,2277 12307 BZF MIMRET
063616,000240: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
063617,000241: 17,2301 11525 CCS TJU
063618,000242: 17,2302 32316 CA 60MS
063619,000243: 17,2303 12305 TCF +2
063620,000244: 17,2304 42316 CS 60MS
063621,000245: 17,2305 51505 INDEX AXISCTR
063622,000246: 17,2306 55525 TS TJU
063623,000247: 17,2307 30111 MIMRET CA DAPBOOLS
063624,000248: 17,2310 74742 MASK AORBTRAN
063625,000249: 17,2311 10000 CCS A
063626,000250: 17,2312 34753 CA ONE
063627,000251: 17,2313 64752 AD TWO
063628,000252: 17,2314 55743 TS NUMBERT
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Page 1446 |
063630,000254: 17,2315 12727 TCF AFTERTJ
063631,000255:
063632,000256: 17,2316 00140 60MS DEC 96.0
063633,000257: 17,2317 02273 MINADR GENADR MINRTN
063634,000258: 17,2320 00063 OCT63 OCT 63
063635,000259: 17,2321 17,3107 14MS = +TJMINT6
063636,000260:
063637,000261: 17,2321 34751 TRANS4 CA FOUR
063638,000262: 17,2322 12164 TCF TSNUMBRT
063639,000263:
063640,000264: # RATE COMMAND MODE:
063641,000265:
063642,000266: # DESCRIPTION (SAME AS P-AXIS)
063643,000267:
063644,000268: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
063645,000269: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
063646,000270: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
063647,000271: 17,2326 34735 CA BIT15
063648,000272: 17,2327 71443 MASK CH31TEMP
063649,000273: 17,2330 00006 EXTEND
063650,000274: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
063651,000275: 17,2332 34740 CA OURRCBIT # ***********
063652,000276: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
063653,000277: 17,2334 00006 EXTEND # *********** LAST TIME.
063654,000278: 17,2335 12661 BZF STILLRCS
063655,000279: 17,2336 44743 CS BIT9
063656,000280: 17,2337 71273 MASK RCSFLAGS
063657,000281: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
063658,000282: 17,2341 12345 TCF DAMPING
063659,000283: 17,2342 00050 40CYCL OCT 50
063660,000284: 17,2343 00001 1/10S OCT 1
063661,000285: 17,2344 00056 LINRAT DEC 46 B-14
063662,000286:
063663,000287: # ================================
063664,000288:
063665,000289: 17,2345 34755 DAMPING CA ZERO
063666,000290: 17,2346 55462 TS SAVEHAND
063667,000291: 17,2347 55463 TS SAVEHAND +1
063668,000292: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
063669,000293: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
063670,000294: 17,2352 12354 TCF +2 # *******************
063671,000295: 17,2353 12354 TCF +1
063672,000296: 17,2354 60000 DOUBLE # WHERE
063673,000297: 17,2355 60000 DOUBLE
063674,000298: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
063675,000299: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
063676,000300: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
063677,000301: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
063678,000302: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
063679,000303: 17,2363 71444 MP STIKSENS
063680,000304: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
063681,000305: 17,2365 40000 COM
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Page 1447 |
063683,000307: 17,2366 61455 AD QLAST
063684,000308: 17,2367 55741 TS DAPTEMP3
063685,000309: 17,2370 11463 CCS SAVEHAND +1
063686,000310: 17,2371 12374 TCF +3
063687,000311: 17,2372 12374 TCF +2
063688,000312: 17,2373 12374 TCF +1
063689,000313: 17,2374 60000 DOUBLE
063690,000314: 17,2375 60000 DOUBLE
063691,000315: 17,2376 62344 AD LINRAT
063692,000316: 17,2377 00006 EXTEND
063693,000317: 17,2400 71463 MP SAVEHAND +1
063694,000318: 17,2401 30001 CA L
063695,000319: 17,2402 00006 EXTEND
063696,000320: 17,2403 71444 MP STIKSENS
063697,000321: 17,2404 57456 XCH RLAST
063698,000322: 17,2405 40000 COM
063699,000323: 17,2406 61456 AD RLAST
063700,000324: 17,2407 55742 TS DAPTEMP4
063701,000325: 17,2410 41455 CS QLAST # INTERVAL.
063702,000326: 17,2411 61422 AD OMEGAQ
063703,000327: 17,2412 55436 TS QRATEDIF
063704,000328: 17,2413 41456 CS RLAST
063705,000329: 17,2414 61423 AD OMEGAR
063706,000330: 17,2415 55437 TS RRATEDIF
063707,000331: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
063708,000332: 17,2417 03146 TC ROT-TOUV
063709,000333: 17,2420 53427 DXCH URATEDIF
063710,000334: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
063711,000335: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
063712,000336: 17,2423 02425 TC +2
063713,000337: 17,2424 02425 TC +1
063714,000338: 17,2425 61476 AD -RATEDB
063715,000339: 17,2426 00006 EXTEND
063716,000340: 17,2427 62431 BZMF +2
063717,000341: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
063718,000342: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
063719,000343: 17,2432 02435 TC +3
063720,000344: 17,2433 02435 TC +2
063721,000345: 17,2434 02435 TC +1
063722,000346: 17,2435 61476 AD -RATEDB
063723,000347: 17,2436 00006 EXTEND
063724,000348: 17,2437 62441 BZMF +2
063725,000349: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
063726,000350: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
063727,000351: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
063728,000352: 17,2443 00006 EXTEND
063729,000353: 17,2444 12446 BZF +2
063730,000354: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
063731,000355: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
063732,000356: 17,2447 32342 CA 40CYCL
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Page 1448 |
063734,000358: 17,2450 55457 TS TCQR
063735,000359: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
063736,000360: 17,2452 04674 TC IBNKCALL
063737,000361: 17,2453 40153 FCADR ZATTEROR
063738,000362: 17,2454 00003 RELINT
063739,000363: 17,2455 34755 CA ZERO
063740,000364: 17,2456 55450 TS DYERROR
063741,000365: 17,2457 55451 TS DYERROR +1
063742,000366: 17,2460 55452 TS DZERROR
063743,000367: 17,2461 55453 TS DZERROR +1
063744,000368: 17,2462 11426 CCS URATEDIF
063745,000369: 17,2463 12466 TCF +3
063746,000370: 17,2464 12466 TCF +2
063747,000371: 17,2465 12466 TCF +1
063748,000372: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
063749,000373: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
063750,000374: 17,2470 62504 BZMF VDB
063751,000375: 17,2471 11427 CCS VRATEDIF
063752,000376: 17,2472 12475 TCF +3
063753,000377: 17,2473 12475 TCF +2
063754,000378: 17,2474 12475 TCF +1
063755,000379: 17,2475 61476 AD TARGETDB
063756,000380: 17,2476 00006 EXTEND
063757,000381: 17,2477 62501 BZMF +2
063758,000382: 17,2500 12515 TCF QRTIME
063759,000383: 17,2501 34755 CA ZERO
063760,000384: 17,2502 55427 TS VRATEDIF
063761,000385: 17,2503 12515 TCF QRTIME
063762,000386: 17,2504 11427 VDB CCS VRATEDIF
063763,000387: 17,2505 02510 TC +3
063764,000388: 17,2506 02510 TC +2
063765,000389: 17,2507 02510 TC +1
063766,000390: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
063767,000391: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
063768,000392: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
063769,000393: 17,2513 34755 CA ZERO # PASS.
063770,000394: 17,2514 55426 TS URATEDIF
063771,000395: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
063772,000396: 17,2516 00006 EXTEND
063773,000397: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
063774,000398: 17,2520 41273 CS RCSFLAGS
063775,000399: 17,2521 74741 MASK QRBIT
063776,000400: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
063777,000401: 17,2523 02527 TC +4
063778,000402: 17,2524 44741 TOPSEUDO CS QRBIT
063779,000403: 17,2525 71273 MASK RCSFLAGS
063780,000404: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
063781,000405: 17,2527 32573 CA HANDADR
063782,000406: 17,2530 55477 TS RETJADR
063783,000407: 17,2531 34753 CA ONE
063784,000408:
|
|
Page 1449 |
063786,000410: 17,2532 55505 BACKHAND TS AXISCTR
063787,000411:
063788,000412: 17,2533 34751 CA FOUR
063789,000413: 17,2534 55743 TS NUMBERT
063790,000414:
063791,000415: 17,2535 51505 INDEX AXISCTR
063792,000416: 17,2536 51535 INDEX SKIPU
063793,000417: 17,2537 12540 TCF +1
063794,000418: 17,2540 34751 CA FOUR
063795,000419: 17,2541 51505 INDEX AXISCTR
063796,000420: 17,2542 55535 TS SKIPU
063797,000421: 17,2543 13005 TCF LOOPER
063798,000422:
063799,000423: 17,2544 51505 INDEX AXISCTR
063800,000424: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
063801,000425: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
063802,000426: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
063803,000427: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
063804,000428: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
063805,000429: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
063806,000430:
063807,000431: 17,2553 50000 INDEX A
063808,000432: 17,2554 41571 CS 1/ANET2 +1
063809,000433: 17,2555 00006 EXTEND
063810,000434: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
063811,000435: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
063812,000436: 17,2560 54002 TS Q
063813,000437: 17,2561 20001 DAS A
063814,000438: 17,2562 60002 AD Q
063815,000439: 17,2563 54000 TS A # OVERFLOW SKIP
063816,000440: 17,2564 12566 TCF +2
063817,000441: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
063818,000442: 17,2566 51505 SETTIME INDEX AXISCTR
063819,000443: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
063820,000444: 17,2570 12727 TCF AFTERTJ
063821,000445:
063822,000446: 17,2571 34755 ZEROTJ CA ZERO
063823,000447: 17,2572 12566 TCF SETTIME
063824,000448:
063825,000449: 17,2573 02532 HANDADR GENADR BACKHAND
063826,000450:
063827,000451: # GTS WILL BE TRIED IF
063828,000452: # 1. USEQRJTS = 0,
063829,000453: # 2. ALLOWGTS POS,
063830,000454: # 3. JETS ARE OFF (Q,R-AXES)
063831,000455:
063832,000456: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
063833,000457: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
063834,000458: 17,2576 10000 CCS A
063835,000459: 17,2577 12107 TCF RCS
063836,000460: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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|
Page 1450 |
063838,000462: 17,2601 12603 TCF +2
063839,000463: 17,2602 12107 TCF RCS
063840,000464: 17,2603 00006 EXTEND
063841,000465: 17,2604 00005 READ CHAN5
063842,000466: 17,2605 10000 CCS A
063843,000467: 17,2606 12612 TCF CHKINGTS
063844,000468: 17,2607 00006 GOTOGTS EXTEND
063845,000469: 17,2610 32625 DCA GTSCADR
063846,000470: 17,2611 52006 DTCB
063847,000471:
063848,000472: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
063849,000473: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
063850,000474: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
063851,000475: 17,2615 00004 INHINT
063852,000476: 17,2616 04674 TC IBNKCALL
063853,000477: 17,2617 43330 CADR TIMEGMBL
063854,000478: 17,2620 00003 RELINT
063855,000479: 17,2621 34755 CAF ZERO
063856,000480: 17,2622 55633 TS INGTS
063857,000481: 17,2623 12107 TCF RCS
063858,000482:
063859,000483: 17,2624 E6,1635 EBANK= CDUXD
063860,000484: 17,2624 03077 42106 GTSCADR 2CADR GTS
063861,000485:
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|
Page 1451 |
063863,000487: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
063864,000488:
063865,000489: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
063866,000490: 17,2627 00006 EXTEND
063867,000491: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
063868,000492: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
063869,000493: 17,2632 00006 EXTEND
063870,000494: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
063871,000495: 17,2634 55752 TS E
063872,000496: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
063873,000497: 17,2636 00006 EXTEND
063874,000498: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063875,000499: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
063876,000500: 17,2641 00006 EXTEND
063877,000501: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
063878,000502: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
063879,000503: 17,2644 61752 AD E
063880,000504: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
063881,000505:
063882,000506: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
063883,000507: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
063884,000508: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
063885,000509: 17,2651 55752 TS E
063886,000510: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
063887,000511: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063888,000512: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
063889,000513: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
063890,000514: 17,2656 61752 AD E
063891,000515: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
063892,000516: 17,2660 00002 TC Q
063893,000517:
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|
Page 1452 |
063895,000519: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
063896,000520:
063897,000521: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
063898,000522:
063899,000523: 17,2661 31452 STILLRCS CA RERROR
063900,000524: 17,2662 22000 LXCH A
063901,000525: 17,2663 31450 CA QERROR
063902,000526: 17,2664 03146 TC ROT-TOUV
063903,000527: 17,2665 53752 DXCH UERROR
063904,000528:
063905,000529: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
063906,000530: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
063907,000531:
063908,000532: 17,2666 33113 TJLAW CA TJLAWADR
063909,000533: 17,2667 55477 TS RETJADR
063910,000534: 17,2670 34753 CA ONE
063911,000535: 17,2671 55505 TS AXISCTR
063912,000536: 17,2672 51505 INDEX AXISCTR
063913,000537: 17,2673 51535 INDEX SKIPU
063914,000538: 17,2674 12675 TCF +1
063915,000539: 17,2675 34751 CA FOUR
063916,000540: 17,2676 51505 INDEX AXISCTR
063917,000541: 17,2677 55535 TS SKIPU
063918,000542: 17,2700 13005 TCF LOOPER
063919,000543: 17,2701 51505 INDEX AXISCTR
063920,000544: 17,2702 31751 CA UERROR
063921,000545: 17,2703 55752 TS E
063922,000546: 17,2704 51505 INDEX AXISCTR
063923,000547: 17,2705 31426 CA OMEGAU
063924,000548: 17,2706 55427 TS EDOT
063925,000549: 17,2707 30111 CA DAPBOOLS
063926,000550: 17,2710 74737 MASK CSMDOCKD
063927,000551: 17,2711 10000 CCS A
063928,000552: 17,2712 12715 TCF +3
063929,000553: 17,2713 03252 TC TJETLAW
063930,000554: 17,2714 12727 TCF AFTERTJ
063931,000555: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
063932,000556: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
063933,000557: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
063934,000558: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
063935,000559: 17,2721 00004 INHINT
063936,000560: 17,2722 04674 TC IBNKCALL
063937,000561: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
063938,000562: 17,2724 00003 RELINT
063939,000563: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
063940,000564: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
063941,000565:
063942,000566: # Q,R-JET-SELECTION-LOGIC
063943,000567:
063944,000568: # INPUT: AXISCTR 0,1 FOR U,V
063945,000569: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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|
Page 1453 |
063947,000571: # TJU,TJV JET TIME SCALED 10.24 SEC.
063948,000572: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
063949,000573: # RETJADR WHERE TO RETURN TO
063950,000574:
063951,000575: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
063952,000576: # CHANNEL 5
063953,000577: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
063954,000578:
063955,000579: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
063956,000580: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
063957,000581: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
063958,000582: # IF NONE CAN BE FOUND.
063959,000583:
063960,000584: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
063961,000585: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
063962,000586:
063963,000587: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
063964,000588: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
063965,000589: 17,2731 00006 EXTEND
063966,000590: 17,2732 12743 BZF DOROTAT
063967,000591: 17,2733 40106 CS FLGWRD10
063968,000592: 17,2734 74737 MASK APSFLBIT
063969,000593: 17,2735 00006 EXTEND
063970,000594: 17,2736 12743 BZF DOROTAT
063971,000595: 17,2737 30111 CA DAPBOOLS
063972,000596: 17,2740 74744 MASK DRIFTBIT
063973,000597: 17,2741 00006 EXTEND
063974,000598: 17,2742 13063 BZF XTRANS
063975,000599:
063976,000600: 17,2743 34752 DOROTAT CAF TWO
063977,000601: 17,2744 54001 TS L
063978,000602: 17,2745 51505 INDEX AXISCTR
063979,000603: 17,2746 11525 CCS TJU
063980,000604: 17,2747 12754 TCF +5
063981,000605: 17,2750 12777 TCF NOROTAT
063982,000606: 17,2751 12753 TCF +2
063983,000607: 17,2752 12777 TCF NOROTAT
063984,000608: 17,2753 22007 ZL
063985,000609: 17,2754 64753 AD ONE
063986,000610: 17,2755 55737 TS ABSTJ
063987,000611:
063988,000612: 17,2756 31505 CA AXISCTR
063989,000613: 17,2757 60001 AD L
063990,000614: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
063991,000615:
063992,000616: 17,2761 31737 CA ABSTJ
063993,000617: 17,2762 63110 AD -150MS
063994,000618: 17,2763 00006 EXTEND
063995,000619: 17,2764 63010 BZMF DOSKIP
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|
Page 1454 |
063997,000621: 17,2765 03173 TC SELCTSUB
063998,000622:
063999,000623: 17,2766 51505 INDEX AXISCTR
064000,000624: 17,2767 33105 CA INDEXES
064001,000625: 17,2770 54001 TS L
064002,000626:
064003,000627: 17,2771 31741 CA POLYTEMP
064004,000628: 17,2772 00004 INHINT
064005,000629: 17,2773 50001 INDEX L
064006,000630: 17,2774 05754 TC WRITEP
064007,000631:
064008,000632: 17,2775 00003 RELINT
064009,000633: 17,2776 13051 TCF FEEDBACK
064010,000634:
064011,000635: 17,2777 51505 NOROTAT INDEX AXISCTR
064012,000636: 17,3000 33105 CA INDEXES
064013,000637: 17,3001 00004 INHINT
064014,000638: 17,3002 50000 INDEX A
064015,000639: 17,3003 05753 TC WRITEP -1
064016,000640:
064017,000641: 17,3004 00003 RELINT
064018,000642: 17,3005 11505 LOOPER CCS AXISCTR
064019,000643: 17,3006 01477 TC RETJADR
064020,000644: 17,3007 13236 TCF CLOSEOUT
064021,000645: 17,3010 41737 DOSKIP CS ABSTJ
064022,000646: 17,3011 63107 AD +TJMINT6 # 14MS
064023,000647: 17,3012 00006 EXTEND
064024,000648: 17,3013 63032 BZMF NOTMIN
064025,000649:
064026,000650: 17,3014 27737 ADS ABSTJ
064027,000651: 17,3015 51505 INDEX AXISCTR
064028,000652: 17,3016 11525 CCS TJU
064029,000653: 17,3017 33107 CA +TJMINT6
064030,000654: 17,3020 13022 TCF +2
064031,000655: 17,3021 43107 CS +TJMINT6
064032,000656: 17,3022 51505 INDEX AXISCTR
064033,000657: 17,3023 55525 TS TJU
064034,000658:
064035,000659: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
064036,000660: 17,3025 13031 TCF NOTMIN -1
064037,000661: 17,3026 00006 EXTEND
064038,000662: 17,3027 00004 READ LOSCALAR
064039,000663: 17,3030 74753 MASK ONE
064040,000664: 17,3031 55743 TS NUMBERT
064041,000665:
064042,000666: 17,3032 03173 NOTMIN TC SELCTSUB
064043,000667:
064044,000668: 17,3033 51505 INDEX AXISCTR
064045,000669: 17,3034 33105 CA INDEXES
064046,000670: 17,3035 00004 INHINT
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|
Page 1455 |
064048,000672: 17,3036 55471 TS T6FURTHA +1
064049,000673: 17,3037 31741 CA POLYTEMP
064050,000674: 17,3040 51471 INDEX T6FURTHA +1
064051,000675: 17,3041 05754 TC WRITEP
064052,000676:
064053,000677: 17,3042 31737 CA ABSTJ
064054,000678: 17,3043 55470 TS T6FURTHA
064055,000679: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
064056,000680:
064057,000681: 17,3045 00003 RELINT
064058,000682:
064059,000683: 17,3046 34755 CA ZERO
064060,000684: 17,3047 51505 INDEX AXISCTR
064061,000685: 17,3050 55535 TS SKIPU
064062,000686:
064063,000687: 17,3051 46245 FEEDBACK CS THREE
064064,000688: 17,3052 61743 AD NUMBERT
064065,000689: 17,3053 00006 EXTEND
064066,000690: 17,3054 63057 BZMF +3
064067,000691:
064068,000692: 17,3055 34752 CA TWO
064069,000693: 17,3056 13060 TCF +2
064070,000694: 17,3057 34753 CA ONE
064071,000695: 17,3060 51505 INDEX AXISCTR
064072,000696: 17,3061 55522 TS NO.UJETS
064073,000697: 17,3062 13005 TCF LOOPER
064074,000698:
064075,000699: 17,3063 34755 XTRANS CA ZERO
064076,000700: 17,3064 55525 TS TJU
064077,000701: 17,3065 55526 TS TJV
064078,000702: 17,3066 34751 CA FOUR
064079,000703: 17,3067 00004 INHINT
064080,000704: 17,3070 57535 XCH SKIPU
064081,000705: 17,3071 00006 EXTEND
064082,000706: 17,3072 13074 BZF +2
064083,000707: 17,3073 05757 TC WRITEU -1
064084,000708: 17,3074 34751 CA FOUR
064085,000709: 17,3075 57536 XCH SKIPV
064086,000710: 17,3076 00003 RELINT
064087,000711:
064088,000712: 17,3077 00006 EXTEND
064089,000713: 17,3100 13236 BZF CLOSEOUT
064090,000714: 17,3101 00004 INHINT
064091,000715: 17,3102 05770 TC WRITEV -1
064092,000716: 17,3103 00003 RELINT
064093,000717:
064094,000718: 17,3104 13236 TCF CLOSEOUT
064095,000719: 17,3105 00004 INDEXES DEC 4 B-14
064096,000720: 17,3106 00015 DEC 13 B-14
064097,000721: 17,3107 00026 +TJMINT6 DEC 22 B-14
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|
Page 1456 |
064099,000723: 17,3110 77417 -150MS DEC -240 B-14
064100,000724: 17,3111 00600 BIT8,9 OCT 00600
064101,000725: 17,3112 00266 SCLNORM OCT 266
064102,000726: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
064103,000727:
064104,000728: # THE JET LIST:
064105,000729: # THIS IS A WAITLIST FOR T6RUPTS.
064106,000730:
064107,000731: # CALLED BY:
064108,000732: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
064109,000733: # TS T6FURTHA
064110,000734: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
064111,000735: # TS T6FURTHA +1
064112,000736: # TC JTLST
064113,000737:
064114,000738: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
064115,000739: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
064116,000740: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
064117,000741: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
064118,000742: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
064119,000743:
064120,000744: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
064121,000745: # THE INPUT IS THE LAST MEMBER OF THE LIST
064122,000746:
064123,000747: # RETURNS BY:
064124,000748: # + TC Q
064125,000749:
064126,000750: # DEFINITIONS: (OUTPUT)
064127,000751: # TIME6 TIME OF NEXT RUPT
064128,000752: # T6NEXT DELTA TIME TO NEXT RUPT
064129,000753: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
064130,000754: # NXT6ADR AXIS INDEX Q - P-AXIS
064131,000755: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
064132,000756: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
064133,000757:
064134,000758: 17,3114 41470 JTLST CS T6FURTHA
064135,000759: 17,3115 60031 AD TIME6
064136,000760: 17,3116 00006 EXTEND
064137,000761: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
064138,000762:
064139,000763: 17,3120 23465 LXCH NXT6ADR
064140,000764: 17,3121 53467 DXCH T6NEXT
064141,000765: 17,3122 53471 DXCH T6FURTHA
064142,000766: 17,3123 54031 TS TIME6
064143,000767: 17,3124 23465 LXCH NXT6ADR
064144,000768:
064145,000769: 17,3125 34735 TURNON CA BIT15
064146,000770: 17,3126 00006 EXTEND
064147,000771: 17,3127 05013 WOR CHAN13
064148,000772: 17,3130 00002 TC Q
064149,000773:
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Page 1457 |
064151,000775: 17,3131 61466 MIDORLST AD T6NEXT
064152,000776: 17,3132 00006 EXTEND
064153,000777: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
064154,000778:
064155,000779: 17,3134 23467 LXCH T6NEXT +1
064156,000780: 17,3135 53471 DXCH T6FURTHA
064157,000781: 17,3136 00006 EXTEND
064158,000782: 17,3137 60031 SU TIME6
064159,000783: 17,3140 53467 DXCH T6NEXT
064160,000784:
064161,000785: 17,3141 00002 TC Q
064162,000786:
064163,000787: 17,3142 40000 LASTCHG CS A
064164,000788: 17,3143 64754 AD NEG0
064165,000789: 17,3144 55470 TS T6FURTHA
064166,000790:
064167,000791: 17,3145 00002 TC Q
064168,000792:
064169,000793: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
064170,000794: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
064171,000795: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
064172,000796: # A AND THE V-COMPONENT IS IN L.
064173,000797:
064174,000798: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
064175,000799: 17,3147 00006 EXTEND
064176,000800: 17,3150 71627 MP COEFFQ
064177,000801: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
064178,000802: 17,3152 00006 EXTEND
064179,000803: 17,3153 71630 MP COEFFR
064180,000804: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
064181,000805: 17,3155 61740 AD ROTEMP2
064182,000806: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
064183,000807: 17,3157 13163 TCF +4
064184,000808: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
064185,000809: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
064186,000810: 17,3162 55737 TS ROTEMP1
064187,000811: 17,3163 41740 CS ROTEMP2
064188,000812: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
064189,000813: 17,3165 54007 TS 7
064190,000814: 17,3166 13171 TCF +3
064191,000815: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
064192,000816: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
064193,000817: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
064194,000818: 17,3172 00002 TC Q
064195,000819: 17,3173 51744 SELCTSUB INDEX ROTINDEX
064196,000820: 17,3174 33225 CA ALLJETS
064197,000821: 17,3175 51743 INDEX NUMBERT
064198,000822: 17,3176 73231 MASK TYPEPOLY
064199,000823: 17,3177 55741 TS POLYTEMP
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Page 1458 |
064201,000825: 17,3200 71262 MASK CH5MASK
064202,000826: 17,3201 10000 CCS A
064203,000827: 17,3202 13204 TCF +2
064204,000828:
064205,000829: 17,3203 00002 TC Q
064206,000830:
064207,000831: 17,3204 36245 CA THREE
064208,000832: 17,3205 55743 FAILOOP TS NUMBERT
064209,000833: 17,3206 51744 INDEX ROTINDEX
064210,000834: 17,3207 33225 CA ALLJETS
064211,000835: 17,3210 51743 INDEX NUMBERT
064212,000836: 17,3211 73231 MASK TYPEPOLY
064213,000837: 17,3212 55741 TS POLYTEMP
064214,000838: 17,3213 71262 MASK CH5MASK
064215,000839: 17,3214 00006 EXTEND
064216,000840: 17,3215 13203 BZF FAILOOP -2
064217,000841: 17,3216 11743 CCS NUMBERT
064218,000842: 17,3217 13205 TCF FAILOOP
064219,000843: 17,3220 51505 INDEX AXISCTR
064220,000844: 17,3221 55525 TS TJU
064221,000845: 17,3222 05567 TC ALARM
064222,000846: 17,3223 02004 OCT 02004
064223,000847: 17,3224 12777 TCF NOROTAT
064224,000848: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
064225,000849: 17,3226 00022 OCT 00022 # -V 2 9
064226,000850: 17,3227 00204 OCT 00204 # +U 5 14
064227,000851: 17,3230 00041 OCT 00041 # +V 1 10
064228,000852: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
064229,000853: 17,3232 00252 OCT 00252 # +X 2 6 10 14
064230,000854: 17,3233 00146 OCT 00146 # A 2 5 10 13
064231,000855: 17,3234 00231 OCT 00231 # B 1 6 9 14
064232,000856: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
064233,000857:
064234,000858: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
064235,000859:
064236,000860: 17,3236 33240 CLOSEOUT CA ADRRUPT
064237,000861: 17,3237 07754 TC MAKERUPT
064238,000862:
064239,000863: 17,3240 03241 ADRRUPT ADRES ENDJASK
064240,000864:
064241,000865: 17,3241 53754 ENDJASK DXCH DAPARUPT
064242,000866: 17,3242 52011 DXCH ARUPT
064243,000867: 17,3243 53756 DXCH DAPBQRPT
064244,000868: 17,3244 56017 XCH BRUPT
064245,000869: 17,3245 22002 LXCH Q
064246,000870: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
064247,000871: 17,3247 53760 DXCH DAPZRUPT
064248,000872: 17,3250 52016 DXCH ZRUPT
064249,000873: 17,3251 15272 TCF NOQRSM
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Page 1459 |
064251,000875: 7754 BLOCK 3
064252,000876: 6000 SETLOC FFTAG6
064253,000877: 6000 BANK
064254,000878:
064255,000879: 7754 COUNT* $$/DAP
064256,000880:
064257,000881: 7754 00006 MAKERUPT EXTEND
064258,000882: 7755 07754 EDRUPT MAKERUPT
064259,000883:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc