Source Code
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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.
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061161,000002: ## Copyright: Public domain.
061162,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
061163,000004: ## Purpose: A section of LUM69 revision 2.
061164,000005: ## It is part of the reconstructed source code for the flown
061165,000006: ## version of the flight software for the Lunar Module's (LM)
061166,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
061167,000008: ## been recreated from a copy of Luminary revsion 069, using
061168,000009: ## changes present in Luminary 099 which were described in
061169,000010: ## Luminary memos 75 and 78. The code has been adapted such
061170,000011: ## that the resulting bugger words exactly match those specified
061171,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
061172,000013: ## relatively high confidence that the reconstruction is correct.
061173,000014: ## Reference: pp. 1416-1435
061174,000015: ## Assembler: yaYUL
061175,000016: ## Contact: Ron Burkey <info@sandroid.org>.
061176,000017: ## Website: www.ibiblio.org/apollo/index.html
061177,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
061178,000019: ## 2021-05-30 ABS "--1" -> " -1" to match Luminary 69 and for
061179,000020: ## yaYUL compatibility.
061180,000021:
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Page 1416
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061182,000023: 16,2210 BANK 16
061183,000024: 16,2000 SETLOC DAPS1
061184,000025: 16,2000 BANK
061185,000026:
061186,000027: 16,2210 E6,1462 EBANK= PERROR
061187,000028: 16,2210 COUNT* $$/DAPP
061188,000029:
061189,000030: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
061190,000031: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
061191,000032:
061192,000033: 16,2210 37726 PAXIS CA MS100
061193,000034: 16,2211 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
061194,000035: # CHRONIZATION WITH OTHER INTERRUPTS ***
061195,000036:
061196,000037: 16,2212 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
061197,000038: 16,2213 00006 EXTEND
061198,000039: 16,2214 22012 QXCH QRUPT
061199,000040:
061200,000041: # CHECK IF DAP PASS IS PERMISSIBLE
061201,000042:
061202,000043: 16,2215 11755 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
061203,000044: 16,2216 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
061204,000045: 16,2217 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
061205,000046:
061206,000047: 16,2220 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
061207,000048:
061208,000049: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
061209,000050:
061210,000051: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
061211,000052: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
061212,000053:
061213,000054: 16,2221 31633 CA CDUXD
061214,000055: 16,2222 00006 EXTEND
061215,000056: 16,2223 21636 MSU DELCDUX
061216,000057: 16,2224 02245 TC 1STOTWOS
061217,000058: 16,2225 55633 TS CDUXD
061218,000059: 16,2226 31634 CA CDUYD
061219,000060: 16,2227 00006 EXTEND
061220,000061: 16,2230 21637 MSU DELCDUY
061221,000062: 16,2231 02245 TC 1STOTWOS
061222,000063: 16,2232 55634 TS CDUYD
061223,000064: 16,2233 31635 CA CDUZD
061224,000065: 16,2234 00006 EXTEND
061225,000066: 16,2235 21640 MSU DELCDUZ
061226,000067: 16,2236 02245 TC 1STOTWOS
061227,000068: 16,2237 55635 TS CDUZD
061228,000069: 16,2240 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
061229,000070: 16,2241 27443 DIM TCP # TIME COUNTERS.
061230,000071: 16,2242 00006 EXTEND
061231,000072: 16,2243 27455 DIM TCQR
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Page 1417
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061233,000074: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
061234,000075: # RETURNS TO BACKP.
061235,000076:
061236,000077: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
061237,000078: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
061238,000079: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
061239,000080:
061240,000081: 16,2244 13624 TCF RATELOOP
061241,000082: 16,2245 10000 1STOTWOS CCS A
061242,000083: 16,2246 64753 AD ONE
061243,000084: 16,2247 00002 TC Q
061244,000085: 16,2250 40000 CS A
061245,000086: 16,2251 00002 TC Q
061246,000087: 16,2252 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
061247,000088: 16,2253 71737 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
061248,000089: 16,2254 21425 DAS OMEGAU # OVERFLOW
061249,000090:
061250,000091: 16,2255 00006 +3 EXTEND
061251,000092: 16,2256 31425 DCA OMEGAU
061252,000093: 16,2257 53742 DXCH DAPTEMP5
061253,000094: 16,2260 11424 CCS OMEGAU
061254,000095: 16,2261 12263 TCF +2
061255,000096: 16,2262 12273 TCF DIVIDER
061256,000097: 16,2263 62304 AD -OCT630
061257,000098: 16,2264 00006 EXTEND
061258,000099: 16,2265 62273 BZMF DIVIDER
061259,000100:
061260,000101: 16,2266 11424 CCS OMEGAU
061261,000102: 16,2267 34733 CA POSMAX # 45 DEG/SEC
061262,000103: 16,2270 00002 TC Q
061263,000104: 16,2271 44733 CS POSMAX
061264,000105: 16,2272 00002 TC Q
061265,000106:
061266,000107: 16,2273 53425 DIVIDER DXCH OMEGAU
061267,000108: 16,2274 00006 EXTEND
061268,000109: 16,2275 10061 DV ITEMP1
061269,000110: 16,2276 00002 TC Q
061270,000111:
061271,000112: 16,2277 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061272,000113: 16,2300 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061273,000114: 16,2301 50000 INDEX A
061274,000115: 16,2302 44734 CS BIT15 -1
061275,000116: 16,2303 00002 TC Q
061276,000117:
061277,000118: 16,2304 77147 -OCT630 OCT 77147
061278,000119:
061279,000120: 16,2305 31735 BACKP CA DAPTEMP1
061280,000121: 16,2306 00006 EXTEND
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Page 1418
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061282,000123: 16,2307 71530 MP 1JACC
061283,000124: 16,2310 55743 TS JETRATE
061284,000125:
061285,000126: # BEGINNING OF THE RATE DERIVATION
061286,000127: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
061287,000128: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
061288,000129: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
061289,000130: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
061290,000131: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
061291,000132: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
061292,000133: # OMEGAU DP-TEMPORARY STORAGE
061293,000134: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
061294,000135:
061295,000136: 16,2311 30032 CAE CDUX
061296,000137: 16,2312 54001 TS L
061297,000138: 16,2313 00006 EXTEND
061298,000139: 16,2314 21436 MSU OLDXFORP # SCALED AT PI
061299,000140: 16,2315 23436 LXCH OLDXFORP
061300,000141: 16,2316 55735 TS DAPTEMP1
061301,000142: 16,2317 33603 CA 1/40
061302,000143: 16,2320 54061 TS ITEMP1
061303,000144: 16,2321 41743 CS JETRATE
061304,000145: 16,2322 00006 EXTEND
061305,000146: 16,2323 74736 MP BIT14
061306,000147: 16,2324 27426 ADS TRAPEDP
061307,000148: 16,2325 31744 CA JETRATEQ
061308,000149: 16,2326 61545 AD AOSQTERM
061309,000150: 16,2327 00006 EXTEND
061310,000151: 16,2330 77735 MP -BIT14
061311,000152: 16,2331 27427 ADS TRAPEDQ
061312,000153: 16,2332 31745 CA JETRATER
061313,000154: 16,2333 61546 AD AOSRTERM
061314,000155: 16,2334 00006 EXTEND
061315,000156: 16,2335 77735 MP -BIT14
061316,000157: 16,2336 27430 ADS TRAPEDR
061317,000158:
061318,000159: 16,2337 30033 CA CDUY
061319,000160: 16,2340 54001 TS L
061320,000161: 16,2341 00006 EXTEND
061321,000162: 16,2342 21437 MSU OLDYFORP # SCALED AT PI
061322,000163: 16,2343 23437 LXCH OLDYFORP
061323,000164: 16,2344 55736 TS DAPTEMP2
061324,000165: 16,2345 00006 EXTEND
061325,000166: 16,2346 71412 MP M11 # M11 SCALED AT 1
061326,000167: 16,2347 61735 AD DAPTEMP1
061327,000168: 16,2350 53425 DXCH OMEGAU
061328,000169:
061329,000170: 16,2351 02255 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
061330,000171:
061331,000172: 16,2352 00006 EXTEND
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Page 1419
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061333,000174: 16,2353 61417 SU OMEGAP
061334,000175: 16,2354 27426 ADS TRAPEDP
061335,000176: 16,2355 02277 TC OVERSUB
061336,000177: 16,2356 55426 TS TRAPEDP
061337,000178: 16,2357 00006 EXTEND
061338,000179: 16,2360 31742 DCA DAPTEMP5
061339,000180: 16,2361 21445 DAS DXERROR
061340,000181: 16,2362 41452 CS PLAST
061341,000182: 16,2363 00006 EXTEND
061342,000183: 16,2364 73603 MP 1/40
061343,000184: 16,2365 21445 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
061344,000185: 16,2366 30034 CA CDUZ
061345,000186: 16,2367 54001 TS L
061346,000187: 16,2370 00006 EXTEND
061347,000188: 16,2371 21440 MSU OLDZFORQ
061348,000189: 16,2372 55737 TS DAPTEMP3
061349,000190: 16,2373 23440 LXCH OLDZFORQ
061350,000191: 16,2374 31413 CA M21
061351,000192: 16,2375 00006 EXTEND
061352,000193: 16,2376 71736 MP DAPTEMP2
061353,000194: 16,2377 53425 DXCH OMEGAU
061354,000195: 16,2400 31415 CA M22
061355,000196: 16,2401 02252 TC SUBDIVDE
061356,000197:
061357,000198: 16,2402 00006 EXTEND
061358,000199: 16,2403 61420 SU OMEGAQ
061359,000200: 16,2404 27427 ADS TRAPEDQ
061360,000201: 16,2405 02277 TC OVERSUB
061361,000202: 16,2406 55427 TS TRAPEDQ
061362,000203: 16,2407 00006 EXTEND
061363,000204: 16,2410 31742 DCA DAPTEMP5
061364,000205: 16,2411 21447 DAS DYERROR
061365,000206: 16,2412 41453 CS QLAST
061366,000207: 16,2413 00006 EXTEND
061367,000208: 16,2414 73603 MP 1/40
061368,000209: 16,2415 21447 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
061369,000210: 16,2416 31414 CA M31
061370,000211: 16,2417 00006 EXTEND
061371,000212: 16,2420 71736 MP DAPTEMP2
061372,000213: 16,2421 53425 DXCH OMEGAU
061373,000214: 16,2422 31416 CA M32
061374,000215:
061375,000216: 16,2423 02252 TC SUBDIVDE
061376,000217:
061377,000218: 16,2424 00006 EXTEND
061378,000219: 16,2425 61421 SU OMEGAR
061379,000220: 16,2426 27430 ADS TRAPEDR
061380,000221: 16,2427 02277 TC OVERSUB
061381,000222: 16,2430 55430 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
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Page 1420
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061383,000224: 16,2431 00006 EXTEND
061384,000225: 16,2432 31742 DCA DAPTEMP5
061385,000226: 16,2433 21451 DAS DZERROR
061386,000227: 16,2434 41454 CS RLAST
061387,000228: 16,2435 00006 EXTEND
061388,000229: 16,2436 73603 MP 1/40
061389,000230: 16,2437 21451 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
061390,000231: 16,2440 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
061391,000232: 16,2441 74737 MASK CSMDOCKD
061392,000233: 16,2442 00006 EXTEND
061393,000234: 16,2443 12451 BZF LMONLY
061394,000235: 16,2444 00006 EXTEND # DOCKED
061395,000236: 16,2445 31405 DCA DKOMEGAN
061396,000237: 16,2446 52062 DXCH ITEMP1
061397,000238: 16,2447 31403 CA DKTRAP
061398,000239: 16,2450 12455 TCF +5
061399,000240: 16,2451 00006 LMONLY EXTEND # UNDOCKED
061400,000241: 16,2452 31410 DCA LMOMEGAN
061401,000242: 16,2453 52062 DXCH ITEMP1
061402,000243: 16,2454 31406 CA LMTRAP
061403,000244: 16,2455 54063 +5 TS ITEMP3
061404,000245:
061405,000246: 16,2456 11426 CCS TRAPEDP
061406,000247: 16,2457 12461 TCF +2
061407,000248: 16,2460 12476 TCF SMALPDIF
061408,000249: 16,2461 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061409,000250: 16,2462 00006 EXTEND
061410,000251: 16,2463 62476 BZMF SMALPDIF
061411,000252: 16,2464 22007 ZL
061412,000253: 16,2465 23426 LXCH TRAPEDP
061413,000254: 16,2466 34755 CA ZERO
061414,000255: 16,2467 00006 EXTEND
061415,000256: 16,2470 11431 DV NPTRAPS
061416,000257: 16,2471 27417 ADS OMEGAP
061417,000258: 16,2472 02277 TC OVERSUB
061418,000259: 16,2473 55417 TS OMEGAP
061419,000260: 16,2474 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061420,000261: 16,2475 55431 TS NPTRAPS
061421,000262: 16,2476 25431 SMALPDIF INCR NPTRAPS
061422,000263: 16,2477 31743 P-RATE CA JETRATE
061423,000264: 16,2500 27417 ADS OMEGAP
061424,000265: 16,2501 02277 TC OVERSUB
061425,000266: 16,2502 55417 TS OMEGAP
061426,000267:
061427,000268: 16,2503 11427 CCS TRAPEDQ
061428,000269: 16,2504 12506 TCF +2
061429,000270: 16,2505 12533 TCF Q-RATE
061430,000271: 16,2506 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061431,000272: 16,2507 00006 EXTEND
061432,000273: 16,2510 62533 BZMF Q-RATE
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Page 1421
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061434,000275: 16,2511 22007 ZL
061435,000276: 16,2512 23427 LXCH TRAPEDQ
061436,000277: 16,2513 34755 CA ZERO
061437,000278: 16,2514 00006 EXTEND
061438,000279: 16,2515 11432 DV NQTRAPS
061439,000280: 16,2516 55735 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
061440,000281: 16,2517 27420 ADS OMEGAQ
061441,000282: 16,2520 02277 TC OVERSUB
061442,000283: 16,2521 55420 TS OMEGAQ
061443,000284: 16,2522 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061444,000285: 16,2523 57432 XCH NQTRAPS
061445,000286: 16,2524 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
061446,000287: 16,2525 57735 XCH DAPTEMP1
061447,000288: 16,2526 00006 EXTEND
061448,000289: 16,2527 74756 MP FIVE
061449,000290: 16,2530 00006 EXTEND
061450,000291: 16,2531 11735 DV DAPTEMP1
061451,000292: 16,2532 27537 ADS AOSQ
061452,000293: 16,2533 25432 Q-RATE INCR NQTRAPS
061453,000294: 16,2534 31744 CA JETRATEQ
061454,000295: 16,2535 61545 AD AOSQTERM
061455,000296: 16,2536 27420 ADS OMEGAQ
061456,000297: 16,2537 02277 TC OVERSUB
061457,000298: 16,2540 55420 TS OMEGAQ
061458,000299:
061459,000300: 16,2541 11430 CCS TRAPEDR
061460,000301: 16,2542 12544 TCF +2
061461,000302: 16,2543 12571 TCF R-RATE
061462,000303: 16,2544 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061463,000304: 16,2545 00006 EXTEND
061464,000305: 16,2546 62571 BZMF R-RATE
061465,000306: 16,2547 22007 ZL
061466,000307: 16,2550 23430 LXCH TRAPEDR
061467,000308: 16,2551 34755 CA ZERO
061468,000309: 16,2552 00006 EXTEND
061469,000310: 16,2553 11433 DV NRTRAPS
061470,000311: 16,2554 55736 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
061471,000312: 16,2555 27421 ADS OMEGAR
061472,000313: 16,2556 02277 TC OVERSUB
061473,000314: 16,2557 55421 TS OMEGAR
061474,000315: 16,2560 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061475,000316: 16,2561 57433 XCH NRTRAPS
061476,000317: 16,2562 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
061477,000318: 16,2563 57736 XCH DAPTEMP2
061478,000319: 16,2564 00006 EXTEND
061479,000320: 16,2565 74756 MP FIVE
061480,000321: 16,2566 00006 EXTEND
061481,000322: 16,2567 11736 DV DAPTEMP2
061482,000323: 16,2570 27541 ADS AOSR
061483,000324: 16,2571 25433 R-RATE INCR NRTRAPS
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Page 1422
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061485,000326: 16,2572 31745 CA JETRATER
061486,000327: 16,2573 61546 AD AOSRTERM
061487,000328: 16,2574 27421 ADS OMEGAR
061488,000329: 16,2575 02277 TC OVERSUB
061489,000330: 16,2576 55421 TS OMEGAR
061490,000331:
061491,000332: # END OF RATE DERIVATION
061492,000333: # BEGIN OFFSET ESTIMATER
061493,000334: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
061494,000335: # AOS = AOS + K*SUMRATE
061495,000336:
061496,000337: 16,2577 40111 CS DAPBOOLS
061497,000338: 16,2600 74744 MASK DRIFTBIT
061498,000339: 16,2601 10000 CCS A
061499,000340: 16,2602 12613 TCF WORKTIME
061500,000341: 16,2603 55422 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
061501,000342: 16,2604 55423 TS ALPHAR
061502,000343: 16,2605 55545 TS AOSQTERM
061503,000344: 16,2606 55546 TS AOSRTERM
061504,000345: 16,2607 55537 TS AOSQ
061505,000346: 16,2610 55541 TS AOSR
061506,000347: 16,2611 12635 TCF PAXFILT
061507,000348: 16,2612 00074 KAOS DEC 60 B-14
061508,000349: 16,2613 31510 WORKTIME CA QACCDOT
061509,000350: 16,2614 00006 EXTEND
061510,000351: 16,2615 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061511,000352: 16,2616 21540 DAS AOSQ
061512,000353: 16,2617 31537 CA AOSQ
061513,000354: 16,2620 55422 TS ALPHAQ
061514,000355: 16,2621 00006 EXTEND
061515,000356: 16,2622 73601 MP 200MS # .2 AT 1
061516,000357: 16,2623 55545 TS AOSQTERM
061517,000358: 16,2624 31512 CA RACCDOT
061518,000359: 16,2625 00006 EXTEND
061519,000360: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061520,000361: 16,2627 21542 DAS AOSR
061521,000362: 16,2630 31541 CA AOSR
061522,000363: 16,2631 55423 TS ALPHAR
061523,000364: 16,2632 00006 EXTEND
061524,000365: 16,2633 73601 MP 200MS # .2 AT 1
061525,000366: 16,2634 55546 TS AOSRTERM
061526,000367:
061527,000368: 16,2635 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
061528,000369: 16,2636 71273 MASK RCSFLAGS
061529,000370: 16,2637 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
061530,000371: 16,2640 03721 TC ACDT+C12 # VALID.
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Page 1423
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061532,000373: 16,2641 52011 DXCH ARUPT
061533,000374: 16,2642 53752 DXCH DAPARUPT
061534,000375: 16,2643 32654 CA SUPERJOB # SETTING UP THE SUPERJOB
061535,000376: 16,2644 56017 XCH BRUPT
061536,000377: 16,2645 22012 LXCH QRUPT
061537,000378: 16,2646 53754 DXCH DAPBQRPT
061538,000379: 16,2647 32653 CA SUPERADR
061539,000380: 16,2650 52016 DXCH ZRUPT
061540,000381: 16,2651 53756 DXCH DAPZRUPT
061541,000382: 16,2652 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
061542,000383: # FORM OF A JASK, AT SUPERJOB.
061543,000384:
061544,000385: 16,2653 02655 SUPERADR GENADR SUPERJOB +1
061545,000386:
061546,000387: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
061547,000388:
061548,000389: 16,2654 11630 SUPERJOB CCS QGIMTIMR # Q-AXIS GIMBAL DRIVE TIMER
061549,000390: 16,2655 12667 TCF DECQTIMR # POSITIVE- COUNTING DOWN
061550,000391: 16,2656 12673 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
061551,000392: 16,2657 11632 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
061552,000393: 16,2660 12671 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
061553,000394: 16,2661 12703 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
061554,000395:
061555,000396: 16,2662 34740 CA BIT12
061556,000397: 16,2663 71273 MASK RCSFLAGS
061557,000398: 16,2664 00006 EXTEND
061558,000399: 16,2665 12713 BZF SKIPPAXS
061559,000400: 16,2666 02717 TC CHKVISFZ
061560,000401: 16,2667 55630 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
061561,000402: 16,2670 12657 TCF CHKRTIMR
061562,000403: 16,2671 55632 DECRTIMR TS RGIMTIMR
061563,000404: 16,2672 12662 TCF CHKRTIMR +3
061564,000405:
061565,000406: 16,2673 55500 TURNOFFQ TS NEGUQ # HALT DRIVES.
061566,000407: 16,2674 55510 TS QACCDOT
061567,000408: 16,2675 45007 CS QGIMBITS
061568,000409: 16,2676 00006 EXTEND
061569,000410: 16,2677 03012 WAND CHAN12
061570,000411: 16,2700 34735 CAF NEGMAX
061571,000412: 16,2701 55630 TS QGIMTIMR
061572,000413: 16,2702 12657 TCF CHKRTIMR
061573,000414: 16,2703 55502 TURNOFFR TS NEGUR
061574,000415: 16,2704 55512 TS RACCDOT
061575,000416: 16,2705 45020 CS RGIMBITS
061576,000417: 16,2706 00006 EXTEND
061577,000418: 16,2707 03012 WAND CHAN12
061578,000419: 16,2710 34735 CAF NEGMAX
061579,000420: 16,2711 55632 TS RGIMTIMR
061580,000421: 16,2712 12662 TCF CHKRTIMR +3
061581,000422: 16,2713 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
061582,000423: 16,2713 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
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Page 1424
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061584,000425: 16,2713 41273 SKIPPAXS CS RCSFLAGS
061585,000426: 16,2714 74740 MASK BIT12
061586,000427: 16,2715 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
061587,000428: 16,2716 13607 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
061588,000429:
061589,000430: # Y-Z TRANSLATION
061590,000431:
061591,000432: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
061592,000433:
061593,000434: # OUTPUT: NEXTP
061594,000435:
061595,000436: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
061596,000437: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
061597,000438: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
061598,000439: # ALARM (IF NO PAIR)
061599,000440: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
061600,000441: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
061601,000442:
061602,000443: 16,2717 00006 CHKVISFZ EXTEND
061603,000444: 16,2720 00031 READ CHAN31
061604,000445: 16,2721 40000 CS A
061605,000446: 16,2722 73576 MASK 07400OCT
061606,000447: 16,2723 00006 EXTEND
061607,000448: 16,2724 12773 BZF TSNEXTP
061608,000449: 16,2725 00006 EXTEND
061609,000450: 16,2726 74745 MP BIT7
061610,000451: 16,2727 50000 INDEX A
061611,000452: 16,2730 33555 CA INDXYZ
061612,000453: 16,2731 55742 TS ROTINDEX
061613,000454: 16,2732 36241 TRYUORV CA SIX
061614,000455: 16,2733 03534 TC SELECTYZ
061615,000456: 16,2734 46241 CS SIX
061616,000457: 16,2735 61741 AD NUMBERT
061617,000458: 16,2736 00006 EXTEND
061618,000459: 16,2737 12772 BZF TSNEXTP -1
061619,000460: 16,2740 44756 CS FIVE
061620,000461: 16,2741 61742 AD ROTINDEX
061621,000462: 16,2742 00006 EXTEND
061622,000463: 16,2743 62761 BZMF ALTERYZ
061623,000464: 16,2744 41741 CS NUMBERT
061624,000465: 16,2745 64751 AD FOUR
061625,000466: 16,2746 00006 EXTEND
061626,000467: 16,2747 62772 BZMF TSNEXTP -1
061627,000468: 16,2750 05567 ABORTYZ TC ALARM
061628,000469: 16,2751 02001 OCT 02001
061629,000470: 16,2752 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061630,000471: 16,2753 23273 LXCH RCSFLAGS
061631,000472: 16,2754 00006 EXTEND
061632,000473: 16,2755 06001 RXOR 1
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Page 1425
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061634,000475: 16,2756 55273 TS RCSFLAGS
061635,000476: 16,2757 34755 CA ZERO
061636,000477: 16,2760 12773 TCF TSNEXTP
061637,000478: 16,2761 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061638,000479: 16,2762 23273 LXCH RCSFLAGS
061639,000480: 16,2763 00006 EXTEND
061640,000481: 16,2764 06001 RXOR 1
061641,000482: 16,2765 55273 TS RCSFLAGS
061642,000483: 16,2766 74753 MASK BIT1
061643,000484: 16,2767 64751 AD FOUR
061644,000485: 16,2770 27742 ADS ROTINDEX
061645,000486: 16,2771 12732 TCF TRYUORV
061646,000487: 16,2772 31737 CA POLYTEMP
061647,000488: 16,2773 55470 TSNEXTP TS NEXTP
061648,000489:
061649,000490: # STATE LOGIC
061650,000491: # CHECK IN ORDER: IF ON
061651,000492: # LPDPHASE GO TO PURGENCY
061652,000493: # PULSES MINIMUM PULSE LOGIC
061653,000494: # DETENT(BIT15 CH31) RATE COMMAND
061654,000495: # GO TO PURGENCY
061655,000496:
061656,000497: 16,2774 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
061657,000498: 16,2775 00006 EXTEND
061658,000499: 16,2776 02031 RAND CHAN31
061659,000500: 16,2777 00006 EXTEND
061660,000501: 16,3000 13006 BZF MANMODE
061661,000502:
061662,000503: 16,3001 30111 CA DAPBOOLS
061663,000504: 16,3002 74743 MASK XOVINHIB
061664,000505: 16,3003 10000 CCS A
061665,000506: 16,3004 13442 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
061666,000507:
061667,000508: 16,3005 13050 TCF DETENTCK
061668,000509: 16,3006 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
061669,000510: 16,3007 70111 MASK DAPBOOLS
061670,000511: 16,3010 00006 EXTEND
061671,000512: 16,3011 13050 BZF DETENTCK # BRANCH FOR RATE COMMAND
061672,000513:
061673,000514: 16,3012 34755 CA ZERO
061674,000515: 16,3013 55462 TS PERROR
061675,000516:
061676,000517: # MINIMUM IMPULSE MODE
061677,000518:
061678,000519: 16,3014 30032 CA CDUX
061679,000520: 16,3015 55633 TS CDUXD
061680,000521:
061681,000522: 16,3016 11456 CCS OLDPMIN
061682,000523: 16,3017 13033 TCF CHECKP
061683,000524:
061684,000525: 16,3020 34751 FIREP CA BIT3
061685,000526: 16,3021 00006 EXTEND
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Page 1426
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061687,000528: 16,3022 02031 RAND CHAN31
061688,000529: 16,3023 00006 EXTEND
061689,000530: 16,3024 13043 BZF +XMIN
061690,000531:
061691,000532: 16,3025 34750 CA BIT4
061692,000533: 16,3026 00006 EXTEND
061693,000534: 16,3027 02031 RAND CHAN31
061694,000535: 16,3030 00006 EXTEND
061695,000536: 16,3031 13041 BZF -XMIN
061696,000537:
061697,000538: 16,3032 13421 TCF JETSOFF
061698,000539:
061699,000540: 16,3033 00006 CHECKP EXTEND
061700,000541: 16,3034 00031 READ CHAN31
061701,000542: 16,3035 40000 CS A
061702,000543: 16,3036 75742 MASK OCT14
061703,000544: 16,3037 55456 TS OLDPMIN
061704,000545: 16,3040 13421 TCF JETSOFF
061705,000546:
061706,000547: 16,3041 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
061707,000548: 16,3042 13044 TCF +2 # IN JET SELECTION ROUTINE
061708,000549: 16,3043 34363 +XMIN CA TEN
061709,000550: 16,3044 55524 TS TJP
061710,000551: 16,3045 34753 CA ONE
061711,000552: 16,3046 55456 TS OLDPMIN
061712,000553: 16,3047 13327 TCF PJETSLEC -6
061713,000554:
061714,000555: # MANUAL RATE COMMAND MODE
061715,000556: # ========================
061716,000557: # BY ROBERT F. STENGEL
061717,000558:
061718,000559: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
061719,000560: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
061720,000561: # RATE CONTROL AND ATTITUDE HOLD.
061721,000562:
061722,000563: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
061723,000564: # 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
061724,000565: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
061725,000566: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
061726,000567: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
061727,000568: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
061728,000569:
061729,000570: # 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,
061730,000571: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
061731,000572: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
061732,000573:
061733,000574: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
061734,000575: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
061735,000576: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
061736,000577: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
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Page 1427
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061738,000579: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
061739,000580: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
061740,000581:
061741,000582: 16,3050 00006 DETENTCK EXTEND
061742,000583: 16,3051 00031 READ CHAN31
061743,000584: 16,3052 55441 TS CH31TEMP
061744,000585: 16,3053 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
061745,000586: 16,3054 00006 EXTEND
061746,000587: 16,3055 13202 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
061747,000588: 16,3056 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
061748,000589: 16,3057 70111 MASK DAPBOOLS
061749,000590: 16,3060 00006 EXTEND
061750,000591: 16,3061 13442 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
061751,000592:
061752,000593: # ........................................................................
061753,000594:
061754,000595: 16,3062 34743 CA BIT9 # JUST IN DETENT??
061755,000596: 16,3063 71273 MASK RCSFLAGS
061756,000597: 16,3064 00006 EXTEND
061757,000598: 16,3065 13077 BZF RUTH
061758,000599: 16,3066 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
061759,000600: 16,3067 00006 EXTEND
061760,000601: 16,3070 02031 RAND CHAN31
061761,000602: 16,3071 00006 EXTEND
061762,000603: 16,3072 13177 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
061763,000604:
061764,000605: 16,3073 45014 CS BITS9,11 # IN AUTO.
061765,000606: 16,3074 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
061766,000607: 16,3075 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
061767,000608: 16,3076 13177 TCF RATEDAMP
061768,000609:
061769,000610: 16,3077 31273 RUTH CA RCSFLAGS
061770,000611: 16,3100 74742 MASK PBIT # IN ATTITUDE HOLD.
061771,000612: 16,3101 00006 EXTEND
061772,000613: 16,3102 13104 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
061773,000614: 16,3103 13177 TCF RATEDAMP
061774,000615: 16,3104 31273 CA RCSFLAGS
061775,000616: 16,3105 74741 MASK QRBIT
061776,000617: 16,3106 00006 EXTEND
061777,000618: 16,3107 13115 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
061778,000619: 16,3110 13177 TCF RATEDAMP
061779,000620:
061780,000621: # ============================================
061781,000622:
061782,000623: 16,3111 00001 1/10SEC OCT 1
061783,000624: 16,3112 00050 40CYC OCT 50
061784,000625: 16,3113 74777 PQRBIT OCT 74777
061785,000626: 16,3114 5014 BITS9,11 EQUALS EBANK5
061786,000627: 16,3114 00056 LINRATP DEC 46 B-14
061787,000628:
061788,000629: # ============================================
061789,000630:
061790,000631: 16,3115 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
061791,000632: 16,3116 00004 INHINT # ALL AXES.
061792,000633: 16,3117 70111 MASK DAPBOOLS
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Page 1428
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061794,000635: 16,3120 54111 TS DAPBOOLS
061795,000636:
061796,000637: # READ CDUS INTO CDU DESIRED REGISTERS
061797,000638:
061798,000639: 16,3121 34737 CAF BIT13
061799,000640: 16,3122 00006 EXTEND
061800,000641: 16,3123 02031 RAND CHAN31
061801,000642: 16,3124 00006 EXTEND
061802,000643: 16,3125 13131 BZF +4
061803,000644: 16,3126 30032 CA CDUX # (X-AXIS OVERRIDE)
061804,000645: 16,3127 55633 TS CDUXD
061805,000646: 16,3130 03133 TC +3
061806,000647: 16,3131 04674 TC IBNKCALL
061807,000648: 16,3132 40153 FCADR ZATTEROR
061808,000649: 16,3133 00003 RELINT
061809,000650: 16,3134 13442 TCF PURGENCY
061810,000651:
061811,000652: 16,3135 55462 TS PERROR
061812,000653: 16,3136 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
061813,000654: 16,3137 26111 ADS DAPBOOLS
061814,000655: 16,3140 34755 CA ZERO
061815,000656: 16,3141 55444 TS DXERROR
061816,000657: 16,3142 55445 TS DXERROR +1
061817,000658: 16,3143 55446 TS DYERROR
061818,000659: 16,3144 55447 TS DYERROR +1
061819,000660: 16,3145 55450 TS DZERROR
061820,000661: 16,3146 55451 TS DZERROR +1
061821,000662: 16,3147 55452 TS PLAST
061822,000663: 16,3150 55453 TS QLAST
061823,000664: 16,3151 55454 TS RLAST
061824,000665: 16,3152 54042 TS Q-RHCCTR
061825,000666: 16,3153 54044 TS R-RHCCTR
061826,000667: 16,3154 33113 CA PQRBIT
061827,000668: 16,3155 71273 MASK RCSFLAGS
061828,000669: 16,3156 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
061829,000670: 16,3157 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
061830,000671: 16,3160 74743 MASK BIT9
061831,000672: 16,3161 27273 ADS RCSFLAGS
061832,000673: 16,3162 03164 TC ZEROENBL
061833,000674: 16,3163 13421 TCF JETSOFF
061834,000675: 16,3164 22044 ZEROENBL LXCH R-RHCCTR
061835,000676: 16,3165 30042 CA Q-RHCCTR
061836,000677: 16,3166 53461 DXCH SAVEHAND
061837,000678: 16,3167 34755 CA ZERO
061838,000679: 16,3170 54043 TS P-RHCCTR
061839,000680: 16,3171 54042 TS Q-RHCCTR
061840,000681: 16,3172 54044 TS R-RHCCTR
061841,000682: 16,3173 33602 CA BITS8,9
061842,000683: 16,3174 00006 EXTEND
061843,000684: 16,3175 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
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Page 1429
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061845,000686: 16,3176 00002 TC Q
061846,000687: 16,3177 34755 RATEDAMP CA ZERO
061847,000688: 16,3200 54043 TS P-RHCCTR
061848,000689: 16,3201 13206 TCF RATERROR
061849,000690:
061850,000691: 16,3202 34740 RHCMOVED CA OURRCBIT # P CONTROL
061851,000692: 16,3203 70111 MASK DAPBOOLS
061852,000693: 16,3204 00006 EXTEND
061853,000694: 16,3205 13135 BZF JUSTOUT -1
061854,000695: 16,3206 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
061855,000696: 16,3207 55633 TS CDUXD # X-AXIS OVERRIDE
061856,000697: 16,3210 10043 CCS P-RHCCTR
061857,000698: 16,3211 13214 TCF +3
061858,000699: 16,3212 13214 TCF +2
061859,000700: 16,3213 13214 TCF +1
061860,000701: 16,3214 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
061861,000702: 16,3215 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
061862,000703: 16,3216 63114 AD LINRATP # AUTOPILOT)
061863,000704: 16,3217 00006 EXTEND
061864,000705: 16,3220 70043 MP P-RHCCTR
061865,000706: 16,3221 30001 CA L
061866,000707: 16,3222 00006 EXTEND
061867,000708: 16,3223 71442 MP STIKSENS
061868,000709: 16,3224 57452 XCH PLAST
061869,000710: 16,3225 40000 COM
061870,000711: 16,3226 61452 AD PLAST
061871,000712: 16,3227 55735 TS DAPTEMP1
061872,000713: 16,3230 03164 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
061873,000714: 16,3231 41452 CS PLAST
061874,000715: 16,3232 61417 AD OMEGAP
061875,000716: 16,3233 55425 TS EDOTP
061876,000717: 16,3234 11735 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
061877,000718: 16,3235 13240 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
061878,000719: 16,3236 13246 TCF +8 # CHECK FOR DIRECT RATE CONTROL LAST TIME.
061879,000720: 16,3237 13240 TCF +1
061880,000721: 16,3240 61474 AD -RATEDB
061881,000722: 16,3241 00006 EXTEND
061882,000723: 16,3242 63246 BZMF +4
061883,000724: 16,3243 33112 CA 40CYC
061884,000725: 16,3244 55443 TS TCP
061885,000726: 16,3245 03257 TC PEGI
061886,000727: 16,3246 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
061887,000728: 16,3247 74742 MASK PBIT
061888,000729: 16,3250 00006 EXTEND
061889,000730: 16,3251 13253 BZF +2
061890,000731: 16,3252 03257 TC PEGI # TO PURE RATE COMMAND
061891,000732: 16,3253 31444 CA DXERROR # PSEUDO-AUTO CONTROL.
061892,000733: 16,3254 55750 TS E # X-ATTITUDE ERROR (SP)
061893,000734: 16,3255 55462 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061894,000735: 16,3256 03446 TC PURGENCY +4
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Page 1430
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061896,000737: 16,3257 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
061897,000738: 16,3260 55633 TS CDUXD
061898,000739: 16,3261 34755 CA ZERO
061899,000740: 16,3262 55444 TS DXERROR
061900,000741: 16,3263 55445 TS DXERROR +1
061901,000742: 16,3264 55462 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061902,000743: 16,3265 11425 CCS EDOTP
061903,000744: 16,3266 03271 TC +3
061904,000745: 16,3267 03271 TC +2
061905,000746: 16,3270 03271 TC +1
061906,000747: 16,3271 55735 TS ABSEDOTP
061907,000748: 16,3272 61474 AD TARGETDB
061908,000749: 16,3273 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
061909,000750: 16,3274 63304 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
061910,000751: 16,3275 31443 CA TCP
061911,000752: 16,3276 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
061912,000753: 16,3277 63304 BZMF LAST
061913,000754: 16,3300 41273 CS RCSFLAGS
061914,000755: 16,3301 74742 MASK PBIT
061915,000756: 16,3302 27273 ADS RCSFLAGS # BIT 10 IS 1.
061916,000757: 16,3303 13307 TCF +4
061917,000758: 16,3304 44742 LAST CS PBIT
061918,000759: 16,3305 71273 MASK RCSFLAGS
061919,000760: 16,3306 55273 TS RCSFLAGS # BIT 10 IS 0.
061920,000761: 16,3307 41425 CS EDOTP
061921,000762: 16,3310 00006 EXTEND
061922,000763: 16,3311 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
061923,000764: 16,3312 20001 DAS A
061924,000765: 16,3313 02277 TC OVERSUB
061925,000766: 16,3314 00006 EXTEND
061926,000767: 16,3315 77715 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
061927,000768: 16,3316 55524 TS TJP # 4.JET TIME
061928,000769: 16,3317 31735 CA ABSEDOTP
061929,000770: 16,3320 61473 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
061930,000771: 16,3321 00006 EXTEND
061931,000772: 16,3322 63325 BZMF +3
061932,000773:
061933,000774: 16,3323 36241 CA SIX
061934,000775: 16,3324 13334 TCF +8D
061935,000776: 16,3325 31524 CA TJP
061936,000777: 16,3326 27524 ADS TJP
061937,000778:
061938,000779: # GOES TO PJETSLEC FOR TWO JETS
061939,000780:
061940,000781: # P-JET-SELECTION-ROUTINE (ROTATION)
061941,000782:
061942,000783: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
061943,000784: # TJP + FOR +P ROTATION
061944,000785:
061945,000786: # OUTPUT: CHANNEL 6
061946,000787: # PJUMPADR FOR P-AXIS SKIP
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Page 1431
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061948,000789: # (JTLST CALL) (SMALL TJP)
061949,000790:
061950,000791: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
061951,000792: # +P -P
061952,000793: # 7,15 8,16
061953,000794: # 4,12 3,11
061954,000795: # 4,7 8,11
061955,000796: # 7,12 11,16
061956,000797: # 12,15 3,16
061957,000798: # 4,15 3,8
061958,000799: # ALARM ALARM
061959,000800:
061960,000801: 16,3327 34747 CA AORBSYST
061961,000802: 16,3330 70111 MASK DAPBOOLS
061962,000803: 16,3331 10000 CCS A
061963,000804: 16,3332 34753 CA ONE
061964,000805: 16,3333 64751 AD FOUR
061965,000806: 16,3334 55741 TS NUMBERT
061966,000807: 16,3335 34753 PJETSLEC CA ONE
061967,000808: 16,3336 54001 TS L
061968,000809: 16,3337 11524 CCS TJP
061969,000810: 16,3340 13345 TCF +5
061970,000811: 16,3341 13421 TCF JETSOFF
061971,000812: 16,3342 13344 TCF +2
061972,000813: 16,3343 13421 TCF JETSOFF
061973,000814: 16,3344 22007 ZL
061974,000815: 16,3345 64753 AD ONE
061975,000816: 16,3346 55735 TS ABSTJ
061976,000817: 16,3347 23742 LXCH ROTINDEX
061977,000818: 16,3350 03514 TC SELECTP
061978,000819: 16,3351 46241 CS SIX
061979,000820: 16,3352 61741 AD NUMBERT
061980,000821: 16,3353 00006 EXTEND
061981,000822: 16,3354 13356 BZF +2
061982,000823:
061983,000824: 16,3355 44752 CS TWO
061984,000825: 16,3356 64751 AD FOUR
061985,000826: 16,3357 55521 TS NO.PJETS
061986,000827: 16,3360 31737 CA POLYTEMP
061987,000828: 16,3361 05745 TC WRITEP
061988,000829: 16,3362 41735 CS ABSTJ
061989,000830: 16,3363 63575 AD +150MST6
061990,000831: 16,3364 00006 EXTEND
061991,000832: 16,3365 63607 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
061992,000833:
061993,000834: 16,3366 63555 AD -136MST6
061994,000835: 16,3367 00006 EXTEND
061995,000836: 16,3370 63375 BZMF +5
061996,000837:
061997,000838: 16,3371 27735 ADS ABSTJ
061998,000839: 16,3372 51742 INDEX ROTINDEX
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Page 1432
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062000,000841: 16,3373 33604 CA MINTIMES
062001,000842: 16,3374 55524 TS TJP
062002,000843:
062003,000844: 16,3375 31735 CA ABSTJ
062004,000845: 16,3376 22007 ZL
062005,000846: 16,3377 00004 INHINT
062006,000847: 16,3400 53467 DXCH T6FURTHA
062007,000848: 16,3401 04674 TC IBNKCALL
062008,000849: 16,3402 37046 CADR JTLST
062009,000850: 16,3403 44740 CS BIT12
062010,000851: 16,3404 71273 MASK RCSFLAGS
062011,000852: 16,3405 55273 TS RCSFLAGS # BIT 12 SET TO 0.
062012,000853: 16,3406 03410 TC ALTSYST
062013,000854: 16,3407 13607 TCF QRAXIS
062014,000855:
062015,000856: 16,3410 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
062016,000857: 16,3411 54001 TS L
062017,000858: 16,3412 34747 CA AORBSYST
062018,000859: 16,3413 00006 EXTEND
062019,000860: 16,3414 06001 RXOR LCHAN
062020,000861: 16,3415 54111 TS DAPBOOLS
062021,000862: 16,3416 00003 RELINT
062022,000863: 16,3417 00002 TC Q
062023,000864:
062024,000865: 16,3420 03410 DKALT TC ALTSYST
062025,000866:
062026,000867: 16,3421 05744 JETSOFF TC WRITEP -1
062027,000868: 16,3422 34755 CA ZERO
062028,000869: 16,3423 55524 TS TJP
062029,000870: 16,3424 13607 TCF QRAXIS
062030,000871:
062031,000872: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
062032,000873:
062033,000874: 16,3425 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
062034,000875: 16,3426 00006 EXTEND
062035,000876: 16,3427 21634 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
062036,000877: 16,3430 00006 EXTEND
062037,000878: 16,3431 71412 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
062038,000879: 16,3432 57750 XCH E # SAVE FIRST TERM (OF TWO)
062039,000880: 16,3433 30032 CA CDUX # THIRD COMPONENT
062040,000881: 16,3434 00006 EXTEND
062041,000882: 16,3435 21633 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
062042,000883: # EXTEND
062043,000884: # MP M13
062044,000885: 16,3436 61277 AD DELPEROR # KALCMANU INERFACE ERROR
062045,000886: 16,3437 27750 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
062046,000887: 16,3440 57462 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
062047,000888: 16,3441 00002 TC Q # RETURN TO CALLER
062048,000889:
062049,000890: # P-AXIS URGENCY FUNCTION CALCULATION.
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Page 1433
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062051,000892: 16,3442 03425 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
062052,000893: 16,3443 41641 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
062053,000894: 16,3444 61417 AD OMEGAP # SPS-BACKUP MODE.
062054,000895: 16,3445 55425 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
062055,000896:
062056,000897: 16,3446 44753 CS ONE
062057,000898: 16,3447 55476 TS AXISCTR
062058,000899: 16,3450 30111 CA DAPBOOLS
062059,000900: 16,3451 74737 MASK CSMDOCKD
062060,000901: 16,3452 00006 EXTEND
062061,000902: 16,3453 13470 BZF HEADTJET
062062,000903: 16,3454 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
062063,000904: 16,3455 04674 TC IBNKCALL
062064,000905: 16,3456 37700 CADR SPSRCS
062065,000906:
062066,000907: 16,3457 31524 CA TJP
062067,000908: 16,3460 00006 EXTEND
062068,000909: 16,3461 13420 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
062069,000910: 16,3462 00003 RELINT
062070,000911: 16,3463 41741 CS NUMBERT
062071,000912: 16,3464 66241 AD SIX
062072,000913: 16,3465 00006 EXTEND # IF NUMBERT = 6 BYPASS AORBSYST CHECK
062073,000914: 16,3466 13335 BZF PJETSLEC # AND USE FOUR JETS, OTHERWISE,
062074,000915: 16,3467 13327 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
062075,000916: 16,3470 34755 HEADTJET CA ZERO
062076,000917: 16,3471 55477 TS SENSETYP
062077,000918: 16,3472 00004 INHINT
062078,000919: 16,3473 04674 TC IBNKCALL
062079,000920: 16,3474 37207 CADR TJETLAW
062080,000921: 16,3475 00003 RELINT
062081,000922:
062082,000923: 16,3476 41737 CS FIREFCT
062083,000924: 16,3477 63513 AD -FOURDEG
062084,000925: 16,3500 00006 EXTEND
062085,000926: 16,3501 63327 BZMF PJETSLEC -6
062086,000927: 16,3502 11524 CCS TJP
062087,000928: 16,3503 13505 TCF +2
062088,000929: 16,3504 13421 TCF JETSOFF
062089,000930: 16,3505 63512 AD -160MST6
062090,000931: 16,3506 00006 EXTEND
062091,000932: 16,3507 63327 BZMF PJETSLEC -6
062092,000933: 16,3510 36241 CA SIX
062093,000934: 16,3511 13334 TCF PJETSLEC -1
062094,000935: 16,3512 77377 -160MST6 DEC -256 B-14
062095,000936: 16,3513 75117 -FOURDEG DEC -.08888
062096,000937:
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Page 1434
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062098,000939: # JET POLICY CONSTRUCTION SUBROUTINE
062099,000940:
062100,000941: # INPUT: ROTINDEX, NUMBERT
062101,000942:
062102,000943: # OUTPUT: POLYTEMP (JET POLICY)
062103,000944:
062104,000945: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
062105,000946:
062106,000947: 16,3514 36241 SELECTP CA SIX
062107,000948: 16,3515 55740 TS TEMPNUM
062108,000949: 16,3516 51741 INDEX NUMBERT
062109,000950: 16,3517 33546 CA TYPEP
062110,000951: 16,3520 51742 INDEX ROTINDEX
062111,000952: 16,3521 73537 MASK JETSALL
062112,000953: 16,3522 55737 TS POLYTEMP
062113,000954: 16,3523 71263 MASK CH6MASK
062114,000955: 16,3524 10000 CCS A
062115,000956: 16,3525 13527 TCF +2
062116,000957: 16,3526 00002 TC Q
062117,000958: 16,3527 11740 CCS TEMPNUM
062118,000959: 16,3530 13534 TCF +4
062119,000960: 16,3531 05567 TC ALARM
062120,000961: 16,3532 02003 OCT 02003
062121,000962: 16,3533 13421 TCF JETSOFF # *****TCF ALARMJET *********************
062122,000963: 16,3534 55741 SELECTYZ TS NUMBERT
062123,000964: 16,3535 13515 TCF SELECTP +1
062124,000965: 16,3536 12752 -1 TCF ABORTYZ +2
062125,000966: 16,3537 00252 JETSALL OCT 00252
062126,000967: 16,3540 00125 OCT 00125 # +P
062127,000968: 16,3541 00140 OCT 00140 # -Y
062128,000969: 16,3542 00006 OCT 00006 # -Z
062129,000970: 16,3543 00220 OCT 00220 # +Y
062130,000971: 16,3544 00011 OCT 00011 # +Z
062131,000972: 16,3545 00151 OCT 00151 # +V
062132,000973: 16,3546 00146 TYPEP OCT 00146 # -U
062133,000974: 16,3547 00226 OCT 00226 # -V
062134,000975: 16,3550 00231 OCT 00231 # +U
062135,000976: 16,3551 00151 OCT 00151 # +V
062136,000977: 16,3552 00132 OCT 00132 # 1-3
062137,000978: 16,3553 00245 OCT 00245 # 2-4
062138,000979: 16,3554 00377 OCT 00377 # ALL
062139,000980: 16,3555 16,3555 INDXYZ = -136MST6
062140,000981: 16,3555 77445 -136MST6 DEC -218 B-14
062141,000982: 16,3556 00004 DEC 4 B-14
062142,000983: 16,3557 00002 DEC 2 B-14
062143,000984: 16,3560 07776 OCT 07776
062144,000985: 16,3561 00005 DEC 5 B-14
062145,000986: 16,3562 00011 DEC 9 B-14
062146,000987: 16,3563 00012 DEC 10 B-14
062147,000988: 16,3564 07776 OCT 07776
062148,000989: 16,3565 00003 DEC 3 B-14
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Page 1435
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062150,000991: 16,3566 00010 DEC 8 B-14
062151,000992: 16,3567 00007 DEC 7 B-14
062152,000993: 16,3570 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
062153,000994: 16,3571 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
062154,000995: 16,3572 07776 OCT 07776 # TO BE TC JETSALL -1
062155,000996: 16,3573 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
062156,000997: 16,3574 07776 OCT 07776
062157,000998: 16,3575 00360 +150MST6 DEC 240 B-14
062158,000999: 16,3576 07400 07400OCT OCT 07400
062159,001000:
062160,001001: # T-JET LAW FIXED CONSTANTS
062161,001002:
062162,001003: 16,3577 00266 NORMSCL OCT 266
062163,001004: 16,3600 74631 -100MS DEC -.1
062164,001005: 16,3601 06315 200MS DEC .2
062165,001006: 16,3602 7715 25/32 = PRIO31 # (DEC .78125)
062166,001007: 16,3602 00600 BITS8,9 OCTAL 00600
062167,001008: 16,3603 00632 1/40 DEC .02500
062168,001009: 16,3604 77751 MINTIMES DEC -22 B-14
062169,001010: 16,3605 00026 DEC 22 B-14
062170,001011: 16,3606 02713 PSKIPADR GENADR SKIPPAXS
062171,001012:
062172,001013: # GOES TO Q,R-AXES RCS AUTOPILOT
062173,001014: 16,3607 41643 QRAXIS CS OMEGARD
062174,001015: 16,3610 61421 AD OMEGAR
062175,001016: 16,3611 02277 TC OVERSUB
062176,001017: 16,3612 55435 TS EDOTR
062177,001018: 16,3613 41642 CS OMEGAQD
062178,001019: 16,3614 61420 AD OMEGAQ
062179,001020: 16,3615 02277 TC OVERSUB
062180,001021: 16,3616 55434 TS EDOTQ
062181,001022: 16,3617 00006 EXTEND
062182,001023: 16,3620 33623 DCA QERRCALL
062183,001024: 16,3621 52006 DTCB
062184,001025:
062185,001026: 16,3622 E6,1537 EBANK= AOSQ
062186,001027: 16,3622 02043 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc