Source Code
|
These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
|
015234,000002: ## Copyright: Public domain.
015235,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
015236,000004: ## Purpose: A section of LUM69 revision 2.
015237,000005: ## It is part of the reconstructed source code for the flown
015238,000006: ## version of the flight software for the Lunar Module's (LM)
015239,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
015240,000008: ## been recreated from a copy of Luminary revsion 069, using
015241,000009: ## changes present in Luminary 099 which were described in
015242,000010: ## Luminary memos 75 and 78. The code has been adapted such
015243,000011: ## that the resulting bugger words exactly match those specified
015244,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
015245,000013: ## relatively high confidence that the reconstruction is correct.
015246,000014: ## Reference: pp. 355-376
015247,000015: ## Assembler: yaYUL
015248,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015249,000017: ## Website: www.ibiblio.org/apollo/index.html
015250,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
015251,000019:
|
|
Page 355
|
015253,000021: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE-KALCMANU
015254,000022:
015255,000023:
015256,000024: # MOD 2 DATE 5/1/67 BY DON KEENE
015257,000025: # PROGRAM DESCRIPTION
015258,000026:
015259,000027: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
015260,000028: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
015261,000029: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
015262,000030: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
015263,000031: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
015264,000032:
015265,000033: # CPHI = COMMANDED OUTER GIMBAL ANGLE
015266,000034: # CTHETA = COMMANDED INNER GIMBAL ANGLE
015267,000035: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
015268,000036:
015269,000037: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
015270,000038: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
015271,000039: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
015272,000040: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
015273,000041: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
015274,000042: # -
015275,000043: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
015276,000044: # -
015277,000045: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
015278,000046: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
015279,000047: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
015280,000048:
015281,000049: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
015282,000050: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
015283,000051: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
015284,000052: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
015285,000053: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
015286,000054: # -
015287,000055: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
015288,000056:
015289,000057: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
015290,000058: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
015291,000059: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
015292,000060: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
015293,000061: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
015294,000062: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
015295,000063: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
015296,000064: # DESIRED FINAL GIMBAL ANGLES.
015297,000065:
015298,000066:
015299,000067: # PROGRAM LOGIC FLOW
015300,000068:
015301,000069: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
015302,000070: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
|
|
Page 356
|
015304,000072: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
015305,000073: # * * *
015306,000074: # MEMBER AXES (MIS, MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
015307,000075: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
015308,000076:
015309,000077: # A) AM LESS THAN .25 DEGREES (MINANG)
015310,000078: # B) AM GREATER THAN 170 DEGREES (MAXANG)
015311,000079:
015312,000080: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
015313,000081: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
015314,000082:
015315,000083: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
015316,000084: # - *
015317,000085: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
015318,000086: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
015319,000087: # -
015320,000088: # TO DETERMINE COF.
015321,000089:
015322,000090: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
015323,000091: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
015324,000092: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
015325,000093: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
015326,000094: # YAW.
015327,000095:
015328,000096: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
015329,000097: # -
015330,000098: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
015331,000099: # DESIRED REFERENCE MATRIX IS THEN,
015332,000100:
015333,000101: # * * *
015334,000102: # MIS = MIS DEL
015335,000103: # N+1 N
015336,000104:
015337,000105: # *
015338,000106: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
015339,000107: # *
015340,000108: # FROM MIS.
015341,000109:
015342,000110: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
015343,000111: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
015344,000112: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
015345,000113: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
015346,000114: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
015347,000115: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
015348,000116:
015349,000117: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
015350,000118: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
015351,000119:
|
|
Page 357
|
015353,000121: # CALLING SEQUENCE
015354,000122:
015355,000123: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
015356,000124: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
015357,000125: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
015358,000126: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
015359,000127:
015360,000128: # *
015361,000129: # CAF PRIO XX
015362,000130: # --
015363,000131: # INHINT
015364,000132: # TC FINDVAC
015365,000133: # 2CADR KALCMAN3
015366,000134: # RELINT
015367,000135:
015368,000136: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
015369,000137: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
015370,000138:
015371,000139: # L TC BANKCALL
015372,000140: # L+1 CADR ATTSTALL
015373,000141: # L+2 (BAD RETURN)
015374,000142: # L+3 (GOOD RETURN)
015375,000143:
015376,000144: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
015377,000145: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
015378,000146: # WAS IN GIMBAL LOCK.
015379,000147:
015380,000148: # ***NOTA BENE*** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
015381,000149: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
015382,000150: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
015383,000151: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
015384,000152: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
015385,000153: # SUBROUTINES
015386,000154:
015387,000155: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
015388,000156: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
015389,000157:
015390,000158: # MXM3
015391,000159: # ----
015392,000160:
015393,000161: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
015394,000162: # DOWN LIST, I.E.,
015395,000163:
015396,000164: # (M M M )
015397,000165: # ( 0 1 2)
015398,000166: # * ( ) * *
015399,000167: # M = (M M M ) = M1 X M2
015400,000168: # ( 3 4 5)
015401,000169: # ( )
015402,000170: # (M M M )
|
|
Page 358
|
015404,000172: # ( 6 7 8)
015405,000173:
015406,000174: # *
015407,000175: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
015408,000176: # *
015409,000177: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
015410,000178: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
015411,000179: # 8
015412,000180:
015413,000181: # TRANSPOS
015414,000182: # --------
015415,000183:
015416,000184: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
015417,000185: #
015418,000186: # * * T
015419,000187: # M = M1
015420,000188:
015421,000189: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
015422,000190: # *
015423,000191: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
015424,000192:
015425,000193: # CDU TO DCM
015426,000194: # ----------
015427,000195:
015428,000196: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
015429,000197: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
015430,000198:
015431,000199: # M = COSY COSZ
015432,000200: # 0
015433,000201:
015434,000202: # M = -COSY SINZ COSX + SINY SINX
015435,000203: # 1
015436,000204:
015437,000205: # M = COSY SINZ SINX + SINY COSX
015438,000206: # 2
015439,000207:
015440,000208: # M = SINZ
015441,000209: # 3
015442,000210:
015443,000211: # M = COSZ COSX
015444,000212: # 4
015445,000213:
015446,000214: # M = -COSZ SINX
015447,000215: # 5
015448,000216:
015449,000217: # M = -SINY COSZ
015450,000218: # 6
015451,000219: #
015452,000220: # M = SINY SINZ COSX + COSY SINX
015453,000221: # 7
|
|
Page 359
|
015455,000223: # M = -SINY SINZ SINX + COSY COSX
015456,000224: # 8
015457,000225:
015458,000226: # WHERE X = OUTER GIMBAL ANGLE
015459,000227: # Y = INNER GIMBAL ANGLE
015460,000228: # Z = MIDDLE GIMBAL ANGLE
015461,000229:
015462,000230: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
015463,000231:
015464,000232: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
015465,000233: # X Y Z
015466,000234: # STABLE MEMBER AXES (B , B , B ) ARE
015467,000235: # X Y Z
015468,000236:
015469,000237: # (B ) (A )
015470,000238: # ( X) ( X)
015471,000239: # ( ) ( )
015472,000240: # ( ) * ( )
015473,000241: # (B ) = M (A )
015474,000242: # ( Y) ( Y)
015475,000243: # ( ) ( )
015476,000244: # (B ) (A )
015477,000245: # ( Z) ( Z)
015478,000246:
015479,000247: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
015480,000248: # *
015481,000249: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
015482,000250:
015483,000251: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
015484,000252: # REGISTER X2.
015485,000253:
015486,000254:
015487,000255: # DCM TO CDU
015488,000256: # ----------
015489,000257: # *
015490,000258: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
015491,000259: # *
015492,000260: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
015493,000261: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
015494,000262: # FOR THIS CONVERSION ARE
015495,000263:
015496,000264: # Z = ARCSIN (M )
015497,000265: # 3
015498,000266:
015499,000267: # Y = ARCSIN (-M /COSZ)
015500,000268: # 6
015501,000269:
015502,000270: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
015503,000271: # 0
|
|
Page 360
|
015505,000273: # X = ARCSIN (-M /COSZ)
015506,000274: # 5
015507,000275:
015508,000276: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
015509,000277: # 4
015510,000278:
015511,000279: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
015512,000280: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
015513,000281: # THE PUSH DOWN LIST.
015514,000282:
015515,000283:
015516,000284: # DELCOMP
015517,000285: # -------
015518,000286:
015519,000287: # *
015520,000288: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
015521,000289: # -
015522,000290: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
015523,000291:
015524,000292: # * * --T *
015525,000293: # DEL = I COSA + UU (1-COSA) + V SINA
015526,000294: # X
015527,000295:
015528,000296: # WHERE * (1 0 0)
015529,000297: # I = (0 1 0)
015530,000298: # (0 0 1)
015531,000299:
015532,000300:
015533,000301: # 2
015534,000302: # (U U U U U )
015535,000303: # ( X X Y X Z)
015536,000304: # ( )
015537,000305: # --T ( 2 )
015538,000306: # UU = (U U U U U )
015539,000307: # ( Y X Y Y Z)
015540,000308: # ( )
015541,000309: # ( 2 )
015542,000310: # (U U U U U )
015543,000311: # ( Z X Z Y Z )
015544,000312:
015545,000313:
015546,000314: # (0 -U U )
015547,000315: # ( Z Y )
015548,000316: # * ( )
015549,000317: # V = (U 0 -U )
015550,000318: # X ( Z X)
015551,000319: # ( )
015552,000320: # (-U U 0 )
015553,000321: # ( Y X )
015554,000322:
|
|
Page 361
|
015556,000324: # -
015557,000325: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
015558,000326: # A = ROTATION ANGLE
015559,000327:
015560,000328: # *
015561,000329: # THE INTERPRETATION OF DEL IS AS FOLLOWS
015562,000330:
015563,000331: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
015564,000332: # X Y Z
015565,000333: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
015566,000334: # X Y Z
015567,000335:
015568,000336: # (B ) (A )
015569,000337: # ( X) ( X)
015570,000338: # ( ) * ( )
015571,000339: # (B ) = DEL (A )
015572,000340: # ( Y) ( Y)
015573,000341: # ( ) ( )
015574,000342: # (B ) (A )
015575,000343: # ( Z) ( Z)
015576,000344:
015577,000345: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
015578,000346: # -
015579,000347: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
015580,000348: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
015581,000349: # MUST THEN BE LOADED INTO D(MPAC).
015582,000350:
015583,000351: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
015584,000352:
015585,000353:
015586,000354:
015587,000355: # READCDUK
015588,000356: # --------
015589,000357:
015590,000358: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
015591,000359:
015592,000360:
015593,000361:
015594,000362: # SIGNMPAC
015595,000363: # --------
015596,000364:
015597,000365: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
015598,000366:
015599,000367:
015600,000368:
015601,000369: # PROGRAM STORAGE ALLOCATION
015602,000370:
015603,000371: # 1) FIXED MEMORY 1059 WORDS
015604,000372: # 2) ERASABLE MEMORY 98
015605,000373: # 3) STATE SWITCHES 3
|
|
Page 362
|
015607,000375: # 4) FLAGS 1
015608,000376:
015609,000377:
015610,000378: # JOB PRIORITIES
015611,000379:
015612,000380: # 1) KALCMANU TBD
015613,000381: # 2) ONE SECOND UPDATE TBD
015614,000382:
015615,000383:
015616,000384: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
015617,000385:
015618,000386: # STATE FLAGWRD 2 SETTING MEANING
015619,000387: # SWITCH NO. BIT NO.
015620,000388:
015621,000389: # *
015622,000390: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
015623,000391: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
015624,000392: # *
015625,000393: # 32 13 0 CONTINUE UPDATE PROCESS
015626,000394: # 1 START UPDATE PROCESS
015627,000395:
015628,000396: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
015629,000397: # 1 IGNORE ANY FINAL P-AXIS YAW
015630,000398:
015631,000399: # 34 11 0 SIGNAL END OF KALCMANU
015632,000400: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
015633,000401:
015634,000402:
015635,000403: # * INTERNAL TO KALCMANU
015636,000404:
015637,000405:
015638,000406: # SUGGESTIONS FOR PROGRAM INTEGRATION
015639,000407:
015640,000408: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
015641,000409:
015642,000410: # CPHI
015643,000411: # CTHETA
015644,000412: # CPSI
015645,000413: # POINTVSM +5
015646,000414: # SCAXIS +5
015647,000415: # DELDCDU
015648,000416: # DELDCDU1
015649,000417: # DELDCDU2
015650,000418: # RATEINDX
015651,000419:
015652,000420: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
015653,000421:
015654,000422: # MXM3
|
|
Page 363
|
015656,000424: # TRANSPOS
015657,000425: # SIGNMPAC
015658,000426: # READCDUK
015659,000427: # CDUTODCM
015660,000428:
|
|
Page 364
|
015662,000430: 15,2050 BANK 15
015663,000431: 22,2000 SETLOC KALCMON1
015664,000432: 22,2000 BANK
015665,000433:
015666,000434: 22,2004 E6,1674 EBANK= BCDU
015667,000435:
015668,000436: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
015669,000437: # LOCATIONS, CPHI, CTHETA, CPSI.
015670,000438:
015671,000439: 22,2004 COUNT* $$/KALC
015672,000440: 22,2004 06036 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
015673,000441: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
015674,000442: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
015675,000443: 22,2007 03275 STORE BCDU # STORE INITIAL S/C ANGLES
015676,000444: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
015677,000445: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
015678,000446: 22,2012 51025 DSU BPL
015679,000447: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
015680,000448: 22,2014 44724 TOOBADF
015681,000449: 22,2015 72364 AXC,2 TLOAD
015682,000450: 22,2016 03244 MIS
015683,000451: 22,2017 03275 BCDU
015684,000452: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
015685,000453: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
015686,000454: 22,2022 72364 AXC,2 TLOAD
015687,000455: 22,2023 02234 MFS # PREPARE TO CALCULATE ARRAY MFS
015688,000456: 22,2024 00322 CPHI
015689,000457: 22,2025 77624 CALL
015690,000458: 22,2026 44410 CDUTODCM
015691,000459: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
015692,000460: 22,2030 03244 MIS
015693,000461: 22,2031 44326 TRANSPOS
015694,000462: 22,2032 45575 VLOAD STADR
015695,000463: 22,2033 50461 STOVL TMIS +12D
015696,000464: 22,2034 77626 STADR
015697,000465: 22,2035 50467 STOVL TMIS +6
015698,000466: 22,2036 77626 STADR
015699,000467: 22,2037 74475 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
015700,000468: 22,2040 75160 AXC,1 AXC,2
015701,000469: 22,2041 03301 TMIS
015702,000470: 22,2042 02234 MFS
015703,000471: 22,2043 77624 CALL
015704,000472: 22,2044 44312 MXM3
015705,000473: 22,2045 45575 VLOAD STADR
015706,000474: 22,2046 51526 STOVL MFI +12D
015707,000475: 22,2047 77626 STADR
015708,000476: 22,2050 51534 STOVL MFI +6
015709,000477: 22,2051 77626 STADR
015710,000478: 22,2052 75542 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
015711,000479: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
|
|
Page 365
|
015713,000481: 22,2054 00023 18D
015714,000482: 22,2055 44335 TRNSPSPD
015715,000483: 22,2056 45575 VLOAD STADR
015716,000484: 22,2057 50461 STOVL TMFI +12D
015717,000485: 22,2060 77626 STADR
015718,000486: 22,2061 50467 STOVL TMFI +6
015719,000487: 22,2062 77626 STADR
015720,000488: 22,2063 74475 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
015721,000489: #
015722,000490: # CALCULATE COFSKEW AND MFISYM
015723,000491:
015724,000492: 22,2064 45345 DLOAD DSU
015725,000493: 22,2065 03304 TMFI +2
015726,000494: 22,2066 02237 MFI +2
015727,000495: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
015728,000496: 22,2070 02241 MFI +4
015729,000497: 22,2071 03306 TMFI +4
015730,000498: 22,2072 45325 PDDL DSU
015731,000499: 22,2073 03314 TMFI +10D
015732,000500: 22,2074 02247 MFI +10D
015733,000501: 22,2075 77666 VDEF
015734,000502: 22,2076 03324 STORE COFSKEW # EQUALS MFISKEW
015735,000503: #
015736,000504: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015737,000505:
015738,000506: 22,2077 43345 DLOAD DAD
015739,000507: 22,2100 02235 MFI
015740,000508: 22,2101 02255 MFI +16D
015741,000509: 22,2102 43225 DSU DAD
015742,000510: 22,2103 06414 DP1/4TH
015743,000511: 22,2104 02245 MFI +8D
015744,000512: 22,2105 03332 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015745,000513: 22,2106 77726 ARCCOS
015746,000514: 22,2107 03334 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
015747,000515: 22,2110 51025 DSU BPL
015748,000516: 22,2111 04363 MINANG
015749,000517: 22,2112 44117 CHECKMAX
015750,000518: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
015751,000519: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
015752,000520: 22,2115 37234 STCALL CDUXD # ABOUT COMMANDED ANGLES
015753,000521: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
015754,000522:
015755,000523: 22,2117 45345 CHECKMAX DLOAD DSU
015756,000524: 22,2120 03334 AM
015757,000525: 22,2121 04365 MAXANG
015758,000526: 22,2122 77244 BPL VLOAD
015759,000527: 22,2123 44131 ALTCALC # UNIT
015760,000528: 22,2124 03324 COFSKEW # COFSKEW
015761,000529: 22,2125 77656 UNIT
015762,000530: 22,2126 03267 STORE COF # COF IS THE MANEUVER AXIS
|
|
Page 366
|
015764,000532: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
015765,000533: 22,2130 44744 LOCSKIRT
015766,000534: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
015767,000535: 22,2132 02235 MFI
015768,000536: 22,2133 03302 TMFI
015769,000537: 22,2134 77762 VSR1
015770,000538: 22,2135 27302 STOVL MFISYM
015771,000539: 22,2136 02243 MFI +6
015772,000540: 22,2137 74455 VAD VSR1
015773,000541: 22,2140 03310 TMFI +6
015774,000542: 22,2141 27310 STOVL MFISYM +6
015775,000543: 22,2142 02251 MFI +12D
015776,000544: 22,2143 74455 VAD VSR1
015777,000545: 22,2144 03316 TMFI +12D
015778,000546: 22,2145 03316 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
015779,000547:
015780,000548:
015781,000549: # CALCULATE COF
015782,000550:
015783,000551:
015784,000552: 22,2146 70545 DLOAD SR1
015785,000553: 22,2147 03332 CAM
015786,000554: 22,2150 45325 PDDL DSU # PDO CAM $4
015787,000555: 22,2151 06422 DPHALF
015788,000556: 22,2152 03332 CAM
015789,000557: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
015790,000558: 22,2154 21664 SIGNMPAC
015791,000559: 22,2155 03322 MFISYM +16D
015792,000560: 22,2156 56225 DSU DDV
015793,000561: 22,2157 00001 0
015794,000562: 22,2160 00003 2
015795,000563: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015796,000564: 22,2162 03312 MFISYM +8D # $ ROOT 2
015797,000565: 22,2163 56225 DSU DDV
015798,000566: 22,2164 00001 0
015799,000567: 22,2165 00003 2
015800,000568: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
015801,000569: 22,2167 03302 MFISYM
015802,000570: 22,2170 56225 DSU DDV
015803,000571: 22,2171 00001 0
015804,000572: 22,2172 00003 2
015805,000573: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
015806,000574: 22,2174 77656 UNIT
015807,000575: 22,2175 03267 STORE COF
015808,000576: #
015809,000577: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015810,000578:
015811,000579: 22,2176 45345 COFMAXGO DLOAD DSU
015812,000580: 22,2177 03267 COF
015813,000581: 22,2200 03271 COF +2
015814,000582: 22,2201 71240 BMN DLOAD # COFY G COFX
|
|
Page 367
|
015816,000584: 22,2202 44211 COMP12
015817,000585: 22,2203 03267 COF
015818,000586: 22,2204 50025 DSU BMN
015819,000587: 22,2205 03273 COF +4
015820,000588: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
015821,000589: 22,2207 77650 GOTO
015822,000590: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
015823,000591: 22,2211 45345 COMP12 DLOAD DSU
015824,000592: 22,2212 03271 COF +2
015825,000593: 22,2213 03273 COF +4
015826,000594: 22,2214 77640 BMN
015827,000595: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
015828,000596:
015829,000597: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
015830,000598: 22,2217 03326 COFSKEW +2 # UY
015831,000599: 22,2220 44224 U2POS
015832,000600: 22,2221 57575 VLOAD VCOMP
015833,000601: 22,2222 03267 COF
015834,000602: 22,2223 03267 STORE COF
015835,000603: 22,2224 51145 U2POS DLOAD BPL
015836,000604: 22,2225 03304 MFISYM +2 # UX UY
015837,000605: 22,2226 44232 OKU21
015838,000606: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
015839,000607: 22,2230 03267 COF
015840,000608: 22,2231 03267 STORE COF
015841,000609: 22,2232 51145 OKU21 DLOAD BPL
015842,000610: 22,2233 03314 MFISYM +10D # UY UZ
015843,000611: 22,2234 44744 LOCSKIRT
015844,000612: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015845,000613: 22,2236 03273 COF +4
015846,000614: 22,2237 03273 STORE COF +4
015847,000615: 22,2240 77650 GOTO
015848,000616: 22,2241 44744 LOCSKIRT
015849,000617: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
015850,000618: 22,2243 03324 COFSKEW # UX
015851,000619: 22,2244 44250 U1POS
015852,000620: 22,2245 57575 VLOAD VCOMP
015853,000621: 22,2246 03267 COF
015854,000622: 22,2247 03267 STORE COF
015855,000623: 22,2250 51145 U1POS DLOAD BPL
015856,000624: 22,2251 03304 MFISYM +2 # UX UY
015857,000625: 22,2252 44256 OKU12
015858,000626: 22,2253 57545 DLOAD DCOMP
015859,000627: 22,2254 03271 COF +2 # SIGN OF UY OPPOSITE TO UX
015860,000628: 22,2255 03271 STORE COF +2
015861,000629: 22,2256 51145 OKU12 DLOAD BPL
015862,000630: 22,2257 03306 MFISYM +4 # UX UZ
015863,000631: 22,2260 44744 LOCSKIRT
015864,000632: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015865,000633: 22,2262 03273 COF +4
|
|
Page 368
|
015867,000635: 22,2263 03273 STORE COF +4
015868,000636: 22,2264 77650 GOTO
015869,000637: 22,2265 44744 LOCSKIRT
015870,000638: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
015871,000639: 22,2267 03330 COFSKEW +4 # UZ
015872,000640: 22,2270 44274 U3POS
015873,000641: 22,2271 57575 VLOAD VCOMP
015874,000642: 22,2272 03267 COF
015875,000643: 22,2273 03267 STORE COF
015876,000644: 22,2274 51145 U3POS DLOAD BPL
015877,000645: 22,2275 03306 MFISYM +4 # UX UZ
015878,000646: 22,2276 44302 OKU31
015879,000647: 22,2277 57545 DLOAD DCOMP
015880,000648: 22,2300 03267 COF # SIGN OF UX OPPOSITE TO UZ
015881,000649: 22,2301 03267 STORE COF
015882,000650: 22,2302 51145 OKU31 DLOAD BPL
015883,000651: 22,2303 03314 MFISYM +10D # UY UZ
015884,000652: 22,2304 44744 LOCSKIRT
015885,000653: 22,2305 57545 DLOAD DCOMP
015886,000654: 22,2306 03271 COF +2 # SIGN OF UY OPPOSITE TO UZ
015887,000655: 22,2307 03271 STORE COF +2
015888,000656: 22,2310 77650 GOTO
015889,000657: 22,2311 44744 LOCSKIRT
|
|
Page 369
|
015891,000659: # MATRIX OPERATIONS
015892,000660:
015893,000661: 13,2207 BANK 13
015894,000662: 22,2000 SETLOC KALCMON2
015895,000663: 22,2000 BANK
015896,000664:
015897,000665: 22,2312 E6,1674 EBANK= BCDU
015898,000666:
015899,000667: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
015900,000668: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
015901,000669: 22,2314 00001 0,1 # AND MPAC
015902,000670: 22,2315 62703 VXM* PDVL*
015903,000671: 22,2316 77776 0,2
015904,000672: 22,2317 00007 6,1
015905,000673: 22,2320 62703 VXM* PDVL*
015906,000674: 22,2321 77776 0,2
015907,000675: 22,2322 00015 12D,1
015908,000676: 22,2323 41503 VXM* PUSH
015909,000677: 22,2324 77776 0,2
015910,000678: 22,2325 77616 RVQ
015911,000679:
015912,000680:
015913,000681: # RETURN WITH M1XM2 IN PD LIST
015914,000682:
015915,000683: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
015916,000684: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
015917,000685: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
015918,000686: 22,2331 62713 PDVL* PDVL*
015919,000687: 22,2332 00007 6,1
015920,000688: 22,2333 00015 12D,1
015921,000689: 22,2334 77606 PUSH # MATRIX IN PD
015922,000690: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
015923,000691: 22,2336 50120 INDEX FIXLOC
015924,000692: 22,2337 52013 DXCH 12
015925,000693: 22,2340 50120 INDEX FIXLOC
015926,000694: 22,2341 52017 DXCH 16
015927,000695: 22,2342 50120 INDEX FIXLOC
015928,000696: 22,2343 52013 DXCH 12
015929,000697: 22,2344 50120 INDEX FIXLOC
015930,000698: 22,2345 52015 DXCH 14
015931,000699: 22,2346 50120 INDEX FIXLOC
015932,000700: 22,2347 52005 DXCH 4
015933,000701: 22,2350 50120 INDEX FIXLOC
015934,000702: 22,2351 52015 DXCH 14
015935,000703: 22,2352 50120 INDEX FIXLOC
015936,000704: 22,2353 52003 DXCH 2
015937,000705: 22,2354 50120 INDEX FIXLOC
015938,000706: 22,2355 52007 DXCH 6
015939,000707: 22,2356 50120 INDEX FIXLOC
015940,000708: 22,2357 52003 DXCH 2
|
|
Page 370
|
015942,000710: 22,2360 06036 TC INTPRET
015943,000711: 22,2361 77616 RVQ
015944,000712:
015945,000713: 15,2050 BANK 15
015946,000714: 22,2000 SETLOC KALCMON1
015947,000715: 22,2000 BANK
015948,000716:
015949,000717: 22,2362 E6,1674 EBANK= BCDU
015950,000718:
015951,000719: 22,2362 00013 13563 MINANG 2DEC 0.00069375
015952,000720:
015953,000721: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
015954,000722:
015955,000723: # GIMBAL LOCK CONSTANTS
015956,000724:
015957,000725: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
015958,000726: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
015959,000727:
015960,000728: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
015961,000729:
015962,000730: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
015963,000731:
015964,000732: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
015965,000733:
015966,000734: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
015967,000735:
015968,000736: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
015969,000737:
015970,000738: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
015971,000739:
015972,000740: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
015973,000741: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
015974,000742:
015975,000743: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
015976,000744: 22,2404 54156 TS MPAC +2
015977,000745: 22,2405 00006 EXTEND
015978,000746: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
015979,000747: 22,2407 16475 TCF TLOAD +6
015980,000748:
015981,000749: 22,2410 66370 CDUTODCM AXT,1 SSP
015982,000750: 22,2411 00003 OCT 3
015983,000751: 22,2412 00051 S1
015984,000752: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
015985,000753: 22,2414 00010 STORE 7
015986,000754: 22,2415 77601 SETPD
015987,000755: 22,2416 00001 0
015988,000756: 22,2417 47133 LOOPSIN SLOAD* RTB
015989,000757: 22,2420 00013 10D,1
015990,000758: 22,2421 21465 CDULOGIC
|
|
Page 371
|
015992,000760: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
015993,000761: 22,2423 65356 SIN PDDL # 2 COS(PHI)
015994,000762: 22,2424 00013 10D # 4 SIN(THETA)
015995,000763: 22,2425 41546 COS PUSH # 6 COS(THETA)
015996,000764: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
015997,000765: 22,2427 44417 LOOPSIN # 10 COS(PSI)
015998,000766: 22,2430 00007 6
015999,000767: 22,2431 72405 DMP SL1
016000,000768: 22,2432 00013 10D
016001,000769: 22,2433 10001 STORE 0,2 # C0=COS(THETA)COS(PSI)
016002,000770: 22,2434 41345 DLOAD DMP
016003,000771: 22,2435 00005 4
016004,000772: 22,2436 00001 0
016005,000773: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
016006,000774: 22,2440 00007 6
016007,000775: 22,2441 00011 8D
016008,000776: 22,2442 72405 DMP SL1
016009,000777: 22,2443 00003 2
016010,000778: 22,2444 72421 BDSU SL1
016011,000779: 22,2445 00015 12D
016012,000780: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
016013,000781: 22,2447 41345 DLOAD DMP
016014,000782: 22,2450 00003 2
016015,000783: 22,2451 00005 4
016016,000784: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
016017,000785: 22,2453 00007 6
016018,000786: 22,2454 00011 8D
016019,000787: 22,2455 72405 DMP SL1
016020,000788: 22,2456 00001 0
016021,000789: 22,2457 72415 DAD SL1
016022,000790: 22,2460 00017 14D
016023,000791: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
016024,000792: 22,2462 77745 DLOAD
016025,000793: 22,2463 00011 8D
016026,000794: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
016027,000795: 22,2465 77745 DLOAD
016028,000796: 22,2466 00013 10D
016029,000797: 22,2467 72405 DMP SL1
016030,000798: 22,2470 00003 2
016031,000799: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
016032,000800: 22,2472 41345 DLOAD DMP
016033,000801: 22,2473 00013 10D
016034,000802: 22,2474 00001 0
016035,000803: 22,2475 72476 DCOMP SL1
016036,000804: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
016037,000805: 22,2477 41345 DLOAD DMP
016038,000806: 22,2500 00005 4
016039,000807: 22,2501 00013 10D
016040,000808: 22,2502 72476 DCOMP SL1
016041,000809: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
|
|
Page 372
|
016043,000811: 22,2504 77745 DLOAD
016044,000812: 22,2505 72405 DMP SL1 # (PUSH UP 7)
016045,000813: 22,2506 00011 8D
016046,000814: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
016047,000815: 22,2510 00007 6
016048,000816: 22,2511 00001 0
016049,000817: 22,2512 72415 DAD SL1 # (PUSH UP 7)
016050,000818: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
016051,000819: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
016052,000820: 22,2515 77745 DLOAD
016053,000821: 22,2516 72405 DMP SL1 # (PUSH UP 6)
016054,000822: 22,2517 00011 8D
016055,000823: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
016056,000824: 22,2521 00007 6
016057,000825: 22,2522 00003 2
016058,000826: 22,2523 72425 DSU SL1 # (PUSH UP 6)
016059,000827: 22,2524 77626 STADR
016060,000828: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
016061,000829: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
016062,000830:
016063,000831: # CALCULATION OF THE MATRIX DEL......
016064,000832:
016065,000833: # * * --T *
016066,000834: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
016067,000835:
016068,000836: # -
016069,000837: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
016070,000838: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
016071,000839: # -
016072,000840: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
016073,000841:
016074,000842: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
016075,000843: 22,2530 00001 0
016076,000844: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
016077,000845: 22,2532 41546 COS PUSH # PD2 = COS(A)
016078,000846: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
016079,000847: 22,2534 41021 BDSU BOVB
016080,000848: 22,2535 06422 DPHALF
016081,000849: 22,2536 21664 SIGNMPAC
016082,000850: 22,2537 77725 PDDL # PD4 = 1-COS(A)
016083,000851:
016084,000852: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
016085,000853:
016086,000854: 22,2540 03267 COF
016087,000855: 22,2541 41316 DSQ DMP
016088,000856: 22,2542 00005 4
016089,000857: 22,2543 52415 DAD SL3
016090,000858: 22,2544 00003 2
016091,000859: 22,2545 77604 BOVB
016092,000860: 22,2546 21664 SIGNMPAC
|
|
Page 373
|
016094,000862: 22,2547 16235 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
016095,000863: 22,2550 03271 COF +2
016096,000864: 22,2551 41316 DSQ DMP
016097,000865: 22,2552 00005 4
016098,000866: 22,2553 52415 DAD SL3
016099,000867: 22,2554 00003 2
016100,000868: 22,2555 77604 BOVB
016101,000869: 22,2556 21664 SIGNMPAC
016102,000870: 22,2557 16245 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
016103,000871: 22,2560 03273 COF +4
016104,000872: 22,2561 41316 DSQ DMP
016105,000873: 22,2562 00005 4
016106,000874: 22,2563 52415 DAD SL3
016107,000875: 22,2564 00003 2
016108,000876: 22,2565 77604 BOVB
016109,000877: 22,2566 21664 SIGNMPAC
016110,000878: 22,2567 02255 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
016111,000879:
016112,000880: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
016113,000881:
016114,000882: 22,2570 41345 DLOAD DMP
016115,000883: 22,2571 03267 COF
016116,000884: 22,2572 03271 COF +2
016117,000885: 22,2573 72405 DMP SL1
016118,000886: 22,2574 00005 4
016119,000887: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
016120,000888: 22,2576 03273 COF +4
016121,000889: 22,2577 00001 0
016122,000890: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
016123,000891: 22,2601 00007 6
016124,000892: 22,2602 41112 SL2 BOVB
016125,000893: 22,2603 21664 SIGNMPAC
016126,000894: 22,2604 16243 STODL KEL +6
016127,000895: 22,2605 62421 BDSU SL2
016128,000896: 22,2606 77604 BOVB
016129,000897: 22,2607 21664 SIGNMPAC
016130,000898: 22,2610 16237 STODL KEL +2
016131,000899: 22,2611 03267 COF
016132,000900: 22,2612 41205 DMP DMP
016133,000901: 22,2613 03273 COF +4
016134,000902: 22,2614 00005 4
016135,000903: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
016136,000904: 22,2616 03271 COF +2
016137,000905: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
016138,000906: 22,2620 00001 0
016139,000907: 22,2621 62415 DAD SL2
016140,000908: 22,2622 00007 6
016141,000909: 22,2623 77604 BOVB
016142,000910: 22,2624 21664 SIGNMPAC
016143,000911: 22,2625 16241 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
|
|
Page 374
|
016145,000913: 22,2626 62421 BDSU SL2
016146,000914: 22,2627 77604 BOVB
016147,000915: 22,2630 21664 SIGNMPAC
016148,000916: 22,2631 16251 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
016149,000917: 22,2632 03271 COF +2
016150,000918: 22,2633 41205 DMP DMP
016151,000919: 22,2634 03273 COF +4
016152,000920: 22,2635 00005 4
016153,000921: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
016154,000922: 22,2637 03267 COF
016155,000923: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
016156,000924: 22,2641 00001 0
016157,000925: 22,2642 62415 DAD SL2
016158,000926: 22,2643 00007 6
016159,000927: 22,2644 77604 BOVB
016160,000928: 22,2645 21664 SIGNMPAC
016161,000929: 22,2646 16253 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
016162,000930: 22,2647 62421 BDSU SL2
016163,000931: 22,2650 77604 BOVB
016164,000932: 22,2651 21664 SIGNMPAC
016165,000933: 22,2652 02247 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
016166,000934: 22,2653 77616 RVQ
016167,000935:
016168,000936:
016169,000937: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
016170,000938: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
016171,000939: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
016172,000940: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
016173,000941:
016174,000942: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
016175,000943:
016176,000944: # C =COS(THETA)COS(PSI)
016177,000945: # 0
016178,000946: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
016179,000947: # 1
016180,000948: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
016181,000949: # 2
016182,000950: # C =SIN(PSI)
016183,000951: # 3
016184,000952: # C =COS(PSI)COS(PHI)
016185,000953: # 4
016186,000954: # C =-COS(PSI)SIN(PHI)
016187,000955: # 5
016188,000956: # C =-SIN(THETA)COS(PSI)
016189,000957: # 6
016190,000958: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
016191,000959: # 7
016192,000960: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
016193,000961: # 8
|
|
Page 375
|
016195,000963: # WHERE PHI = OGA
016196,000964: # THETA = IGA
016197,000965: # PSI = MGA
016198,000966:
016199,000967: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
016200,000968: 22,2655 00007 6,1
016201,000969: 22,2656 71406 PUSH COS # PD +0 PSI
016202,000970: 22,2657 41152 SL1 BOVB
016203,000971: 22,2660 21664 SIGNMPAC
016204,000972: 22,2661 00051 STORE S1
016205,000973: 22,2662 57543 DLOAD* DCOMP
016206,000974: 22,2663 00015 12D,1
016207,000975: 22,2664 67471 DDV ARCSIN
016208,000976: 22,2665 00051 S1
016209,000977: 22,2666 51123 PDDL* BPL # PD +2 THETA
016210,000978: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
016211,000979: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
016212,000980: 22,2671 57545 DLOAD DCOMP
016213,000981: 22,2672 43244 BPL DAD
016214,000982: 22,2673 44677 SUHALFA
016215,000983: 22,2674 06422 DPHALF
016216,000984: 22,2675 77650 GOTO
016217,000985: 22,2676 44701 CALCPHI
016218,000986: 22,2677 77625 SUHALFA DSU
016219,000987: 22,2700 06422 DPHALF
016220,000988: 22,2701 77606 CALCPHI PUSH
016221,000989: 22,2702 57543 OKTHETA DLOAD* DCOMP
016222,000990: 22,2703 00013 10D,1
016223,000991: 22,2704 67471 DDV ARCSIN
016224,000992: 22,2705 00051 S1
016225,000993: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
016226,000994: 22,2707 00011 8D,1
016227,000995: 22,2710 44722 OKPHI
016228,000996: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
016229,000997: 22,2712 43244 BPL DAD
016230,000998: 22,2713 44717 SUHALFAP
016231,000999: 22,2714 06422 DPHALF
016232,001000: 22,2715 77650 GOTO
016233,001001: 22,2716 44723 VECOFANG
016234,001002: 22,2717 52025 SUHALFAP DSU GOTO
016235,001003: 22,2720 06422 DPHALF
016236,001004: 22,2721 44723 VECOFANG
016237,001005: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
016238,001006: 22,2723 43466 VECOFANG VDEF RVQ
|
|
Page 376
|
016240,001008: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
016241,001009:
016242,001010: 22,2724 77776 TOOBADF EXIT
016243,001011: 22,2725 05567 TC ALARM
016244,001012: 22,2726 00401 OCT 00401
016245,001013:
016246,001014: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
016247,001015:
016248,001016: 22,2730 04616 TC BANKCALL
016249,001017: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
016250,001018:
016251,001019: 22,2732 04616 NOGO TC BANKCALL
016252,001020: 22,2733 40165 CADR STOPRATE # STOP RATES
016253,001021:
016254,001022: 22,2734 34752 CAF TWO
016255,001023: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
016256,001024: 22,2736 05203 TC WAITLIST
016257,001025: 22,2737 E6,1674 EBANK= BCDU
016258,001026: 22,2737 03234 44066 2CADR GOODMANU
016259,001027:
016260,001028: 22,2741 15155 TCF ENDOFJOB
016261,001029:
016262,001030: 22,2742 77776 TOOBADI EXIT
016263,001031: 22,2743 12732 TCF NOGO
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc