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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021328,000002: ## Copyright: Public domain.
021329,000003: ## Filename: R60,R62.agc
021330,000004: ## Purpose: A section of LUM69 revision 2.
021331,000005: ## It is part of the reconstructed source code for the flown
021332,000006: ## version of the flight software for the Lunar Module's (LM)
021333,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
021334,000008: ## been recreated from a copy of Luminary revsion 069, using
021335,000009: ## changes present in Luminary 099 which were described in
021336,000010: ## Luminary memos 75 and 78. The code has been adapted such
021337,000011: ## that the resulting bugger words exactly match those specified
021338,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
021339,000013: ## relatively high confidence that the reconstruction is correct.
021340,000014: ## Reference: pp. 485-497
021341,000015: ## Assembler: yaYUL
021342,000016: ## Contact: Ron Burkey <info@sandroid.org>.
021343,000017: ## Website: www.ibiblio.org/apollo/index.html
021344,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
021345,000019:
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021347,000021: # MOD NO: 0 DATE: 1 MAY 1968
021348,000022: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
021349,000023:
021350,000024: # FUNCTIONAL DESCRIPTION:
021351,000025:
021352,000026: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
021353,000027: # ATTITUDE.
021354,000028:
021355,000029: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
021356,000030: # CALCULATED (VECPOINT).
021357,000031:
021358,000032: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021359,000033:
021360,000034: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
021361,000035:
021362,000036: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
021363,000037: # ASTRONAUT RESPONSE.
021364,000038:
021365,000039: # 5. DISPLAY RESPONSE RETURNS:
021366,000040:
021367,000041: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
021368,000042:
021369,000043: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
021370,000044: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
021371,000045: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
021372,000046:
021373,000047: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
021374,000048:
021375,000049: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
021376,000050: # (VECPOINT).
021377,000051:
021378,000052: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021379,000053:
021380,000054: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
021381,000055: #
021382,000056: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
021383,000057:
021384,000058: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
021385,000059:
021386,000060: # 11. DO A PHASECHANGE.
021387,000061:
021388,000062: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
021389,000063:
021390,000064: # GIMBAL ANGLES (GOMANUR).
021391,000065: # 13. AT END OF MANEUVER GO TO STEP 3.
021392,000066:
021393,000067: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
021394,000068: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
021395,000069: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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021397,000071: # STEP 5C.
021398,000072:
021399,000073: # CALLING SEQUENCE: TC BANKCALL
021400,000074: # CADR R60LEM
021401,000075:
021402,000076: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
021403,000077: # 3AXISFLG.
021404,000078:
021405,000079: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
021406,000080: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
021407,000081:
021408,000082: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
021409,000083: # TC BANKJUMP
021410,000084:
021411,000085: # ALARMS: NONE
021412,000086:
021413,000087: # OUTPUT: NONE
021414,000088:
021415,000089: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
021416,000090:
021417,000091: 34,2000 BANK 34
021418,000092: 26,2000 SETLOC MANUVER
021419,000093: 26,2000 BANK
021420,000094:
021421,000095: 26,2101 1164 EBANK= TEMPR60
021422,000096:
021423,000097: 26,2101 COUNT* $$/R06
021424,000098: 26,2101 04645 R60LEM TC MAKECADR
021425,000099: 26,2102 55164 TS TEMPR60
021426,000100:
021427,000101: 26,2103 34746 REDOMANN CAF 3AXISBIT
021428,000102: 26,2104 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021429,000103: 26,2105 10000 CCS A
021430,000104: 26,2106 12114 TCF TOBALL # YES
021431,000105: 26,2107 06036 TC INTPRET
021432,000106: 26,2110 77624 CALL
021433,000107: 26,2111 56016 VECPOINT # TO COMPUTE FINAL ANGLES
021434,000108: 26,2112 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
021435,000109: 26,2113 77776 EXIT
021436,000110:
021437,000111: 26,2114 04616 TOBALL TC BANKCALL
021438,000112: 26,2115 54244 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021439,000113: 26,2116 32232 TOBALLA CAF V06N18
021440,000114: 26,2117 04616 TC BANKCALL
021441,000115: 26,2120 20563 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
021442,000116: 26,2121 02220 TC R61TEST
021443,000117: 26,2122 02126 TC REDOMANC # PROCEED
021444,000118: 26,2123 02153 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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021446,000120: 26,2124 02157 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021447,000121: 26,2125 05155 TC ENDOFJOB
021448,000122:
021449,000123: 26,2126 34746 REDOMANC CAF 3AXISBIT
021450,000124: 26,2127 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021451,000125: 26,2130 10000 CCS A
021452,000126: 26,2131 12137 TCF TOBALLC # YES
021453,000127: 26,2132 06036 TC INTPRET
021454,000128: 26,2133 77624 CALL
021455,000129: 26,2134 56016 VECPOINT # TO COMPUTE FINAL ANGLES
021456,000130: 26,2135 00322 STORE CPHI # STORE ANGLES
021457,000131: 26,2136 77776 EXIT
021458,000132:
021459,000133: 26,2137 04616 TOBALLC TC BANKCALL
021460,000134: 26,2140 54244 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021461,000135: 26,2141 02233 TC G+N,AUTO # CHECK AUTO MODE
021462,000136: 26,2142 10000 CCS A
021463,000137: 26,2143 12116 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
021464,000138:
021465,000139: 26,2144 32232 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
021466,000140: 26,2145 04616 TC BANKCALL # -
021467,000141: 26,2146 20327 CADR GODSPR # -
021468,000142: 26,2147 02157 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021469,000143:
021470,000144: 26,2150 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
021471,000145: 26,2151 17723 CADR GOMANUR
021472,000146:
021473,000147: 26,2152 12116 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
021474,000148: 26,2153 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
021475,000149: 26,2154 00124 ADRES 3AXISFLG
021476,000150: 26,2155 31164 CAE TEMPR60 # -
021477,000151: 26,2156 04640 TC BANKJUMP # -
021478,000152:
021479,000153: 26,2157 40100 CHKLINUS CS FLAGWRD4
021480,000154: 26,2160 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
021481,000155: 26,2161 10000 CCS A # -
021482,000156: 26,2162 00002 TC Q # NO - EXIT
021483,000157: 26,2163 30002 CA Q
021484,000158: 26,2164 54156 TS MPAC +2 # SAVE RETURN
021485,000159: 26,2165 46244 CS THREE # OBTAIN LOCATION FOR RESTART
021486,000160: 26,2166 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
021487,000161: 26,2167 55055 TS TBASE2
021488,000162:
021489,000163: 26,2170 05353 TC PHASCHNG
021490,000164: 26,2171 00132 OCT 00132
021491,000165:
021492,000166: 26,2172 34745 CAF BIT7
021493,000167: 26,2173 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
021494,000168: 26,2174 00156 TC MPAC +2
021495,000169:
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021497,000171: 26,2175 37713 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
021498,000172: 26,2176 05146 TC PRIOCHNG
021499,000173:
021500,000174: 26,2177 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021501,000175: 26,2200 70075 MASK FLAGWRD1
021502,000176: 26,2201 10000 CCS A
021503,000177: 26,2202 12215 TCF RER60
021504,000178:
021505,000179: 26,2203 34745 CAF RNDVZBIT # IS IT P20?
021506,000180: 26,2204 70074 MASK FLAGWRD0
021507,000181: 26,2205 10000 CCS A
021508,000182: 26,2206 02212 TC +4 # YES
021509,000183: 26,2207 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
021510,000184: 26,2210 40112 OCT 40112
021511,000185:
021512,000186: 26,2211 05155 TC ENDOFJOB
021513,000187:
021514,000188: 26,2212 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
021515,000189: 26,2213 40072 OCT 40072
021516,000190:
021517,000191: 26,2214 05155 TC ENDOFJOB
021518,000192:
021519,000193: 26,2215 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
021520,000194: 26,2216 00077 ADRES PDSPFLAG
021521,000195:
021522,000196: 26,2217 01055 TC TBASE2
021523,000197:
021524,000198: 26,2220 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
021525,000199: 26,2221 00006 EXTEND
021526,000200: 26,2222 12153 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
021527,000201:
021528,000202: 26,2223 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
021529,000203: 26,2224 74740 MASK PDSPFBIT
021530,000204: 26,2225 00006 EXTEND
021531,000205: 26,2226 16001 BZF GOTOPOOH # NO
021532,000206: 26,2227 06022 TC GOTOV56 # YES
021533,000207:
021534,000208: 26,2230 20100 BIT14+7 OCT 20100 # -
021535,000209: 26,2231 00203 OCT203 OCT 203
021536,000210: 26,2232 01422 V06N18 VN 0618
021537,000211:
021538,000212: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021539,000213:
021540,000214: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
021541,000215: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021542,000216:
021543,000217: 26,2233 00006 G+N,AUTO EXTEND
021544,000218: 26,2234 00030 READ CHAN30
021545,000219: 26,2235 74742 MASK BIT10
021546,000220: 26,2236 10000 CCS A
021547,000221: 26,2237 00002 TC Q # NOT IN G+N C(A) = +
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021549,000223: 26,2240 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
021550,000224: 26,2241 00031 READ CHAN31
021551,000225: 26,2242 74736 MASK BIT14
021552,000226: 26,2243 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
021553,000227:
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021555,000229: # PROGRAM DESCRIPTION BALLANGS
021556,000230: # MOD NO. LOG SECTION R60,R62
021557,000231:
021558,000232: # WRITTEN BY RAMA M. AIYAWAR
021559,000233: # FUNCTIONAL DESCRIPTION
021560,000234:
021561,000235: # COMPUTES LM FDAI BALL DISPLAY ANGLES
021562,000236: # CALLING SEQUENCE
021563,000237:
021564,000238: # TC BALLANGS
021565,000239: # NORMAL EXIT MODE
021566,000240:
021567,000241: # TC BALLEXIT (SAVED Q)
021568,000242:
021569,000243: # ALARM OR EXIT MODE NIL
021570,000244: # SUBROUTINES CALLED
021571,000245: # CD*TR*G
021572,000246: # ARCTAN
021573,000247:
021574,000248: # INPUT
021575,000249:
021576,000250: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021577,000251: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021578,000252: # OUTPUT
021579,000253:
021580,000254: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021581,000255: # SP,2S COMPLIMENT.
021582,000256: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021583,000257:
021584,000258: # ERASABLE INITIALIZATION REQUIRED
021585,000259:
021586,000260: # CPHI,CTHETA,CPSI EACH A SP REGISTER
021587,000261: # DEBRIS
021588,000262:
021589,000263: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021590,000264:
021591,000265: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021592,000266: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021593,000267:
021594,000268: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021595,000269:
021596,000270: 26,2000 SETLOC BAWLANGS
021597,000271: 26,2000 BANK
021598,000272:
021599,000273: 26,2244 COUNT* $$/BALL
021600,000274: 26,2244 04645 BALLANGS TC MAKECADR
021601,000275: 26,2245 55342 TS BALLEXIT
021602,000276: 26,2246 30321 CA CPHI
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021604,000278: 26,2247 54772 TS CDUSPOT +4
021605,000279: 26,2250 30322 CA CTHETA
021606,000280: 26,2251 54766 TS CDUSPOT
021607,000281: 26,2252 30323 CA CPSI
021608,000282: 26,2253 54770 TS CDUSPOT +2
021609,000283:
021610,000284: 26,2254 06036 TC INTPRET
021611,000285: 26,2255 45001 SETPD CALL
021612,000286: 26,2256 00001 0D
021613,000287: 26,2257 47447 CD*TR*G
021614,000288:
021615,000289: 26,2260 41345 DLOAD DMP
021616,000290: 26,2261 00743 SINCDUX # SIN (OGA)
021617,000291: 26,2262 00747 COSCDUZ # COS (MGA)
021618,000292:
021619,000293: 26,2263 57552 SL1 DCOMP # SCALE
021620,000294: 26,2264 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
021621,000295: 26,2265 00741 SINCDUZ
021622,000296: 26,2266 14023 STODL SINTH # (SINTH = 18D IN PD)
021623,000297: 26,2267 00747 COSCDUZ
021624,000298: 26,2270 72405 DMP SL1 # RESCALE
021625,000299: 26,2271 00751 COSCDUX
021626,000300: 26,2272 34021 STCALL COSTH # (COSTH= 16D IN PD)
021627,000301: 26,2273 26510 ARCTAN
021628,000302: 26,2274 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021629,000303: 26,2275 00741 SINCDUZ
021630,000304: 26,2276 00743 SINCDUX
021631,000305: 26,2277 41512 SL2 PUSH # SXSZ INTO 4 PD
021632,000306: 26,2300 65205 DMP PDDL # SXSZCY INTO 4 PD
021633,000307: 26,2301 00745 COSCDUY
021634,000308: 26,2302 65205 DMP PDDL # SXSZSY INTO 6 PD
021635,000309: 26,2303 00737 SINCDUY
021636,000310: 26,2304 00751 COSCDUX
021637,000311: 26,2305 72405 DMP SL1 # CXCY
021638,000312: 26,2306 00745 COSCDUY
021639,000313: 26,2307 45425 DSU STADR # PULL UP FROM 6 PD
021640,000314: 26,2310 63756 STODL COSTH # COSTH = CXCY - SXSZSY
021641,000315: 26,2311 00737 SINCDUY
021642,000316: 26,2312 72405 DMP SL1
021643,000317: 26,2313 00751 COSCDUX # CXSY
021644,000318: 26,2314 45415 DAD STADR # PULL UP FROM 4 PD
021645,000319: 26,2315 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
021646,000320: 26,2316 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
021647,000321: 26,2317 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
021648,000322: 26,2320 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021649,000323: 26,2321 21524 V1STO2S
021650,000324: 26,2322 02351 STORE FDAIX # MODE IS TP
021651,000325: 26,2323 77776 EXIT
021652,000326:
021653,000327: 26,2324 31342 ENDBALL CA BALLEXIT
021654,000328:
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021656,000330: 26,2325 04640 TC BANKJUMP
021657,000331:
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021659,000333: # PROGRAM DESCRIPTION - VECPOINT
021660,000334:
021661,000335: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
021662,000336: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021663,000337: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021664,000338: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021665,000339: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
021666,000340: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021667,000341: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
021668,000342: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021669,000343: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021670,000344: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021671,000345: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021672,000346: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
021673,000347: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021674,000348: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021675,000349: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021676,000350: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021677,000351: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021678,000352: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021679,000353: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021680,000354:
021681,000355: # CALLING SEQUENCE -
021682,000356: # 1) LOAD SCAXIS, POINTVSM
021683,000357: # 2) CALL
021684,000358: # VECPOINT
021685,000359:
021686,000360: # RETURNS WITH
021687,000361:
021688,000362: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
021689,000363: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
021690,000364: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021691,000365:
021692,000366: # ERASABLES USED -
021693,000367:
021694,000368: # 1) SCAXIS 6
021695,000369: # 2) POINTVSM 6
021696,000370: # 3) MIS 18
021697,000371: # 4) DEL 18
021698,000372: # 5) COF 6
021699,000373: # 6) VECQTEMP 1
021700,000374: # 7) ALL OF VAC AREA 43
021701,000375:
021702,000376: # TOTAL 99
021703,000377:
021704,000378: 27,2000 SETLOC VECPT
021705,000379: 27,2000 BANK
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021707,000381: 27,2016 COUNT* $$/VECPT
021708,000382:
021709,000383: 27,2016 E6,1674 EBANK= BCDU
021710,000384:
021711,000385: 27,2016 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
021712,000386: 27,2017 03323 VECQTEMP
021713,000387: 27,2020 56021 VECLEAR # AND CLEAR OVFIND
021714,000388: 27,2021 47164 VECLEAR AXC,2 RTB
021715,000389: 27,2022 03244 MIS # READ THE PRESENT CDU ANGLES AND
021716,000390: 27,2023 44403 READCDUK # STORE THEM IN PD25, 26, 27
021717,000391: 27,2024 34032 STCALL 25D
021718,000392: 27,2025 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
021719,000393: 27,2026 61375 VLOAD VXM
021720,000394: 27,2027 03767 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
021721,000395: 27,2030 03245 MIS # INITIAL S/C AXES (VF = POINTVSM)
021722,000396: 27,2031 77656 UNIT
021723,000397: 27,2032 00035 STORE 28D
021724,000398: # PD 28 29 30 31 32 33
021725,000399: 27,2033 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
021726,000400: 27,2034 03761 SCAXIS # WHERE VI = SCAXIS
021727,000401: 27,2035 57400 BOV VCOMP
021728,000402: 27,2036 56146 PICKAXIS
021729,000403: 27,2037 17267 STODL COF # CHECK MAGNITUDE
021730,000404: 27,2040 00045 36D # OF CROSS PRODUCT
021731,000405: 27,2041 50025 DSU BMN # VECTOR, IF LESS
021732,000406: 27,2042 14367 DPB-14 # THAN B-14 ASSUME
021733,000407: 27,2043 56146 PICKAXIS # UNIT OPERATION
021734,000408: 27,2044 50375 VLOAD DOT # INVALID.
021735,000409: 27,2045 03761 SCAXIS
021736,000410: 27,2046 00035 28D
021737,000411: 27,2047 65552 SL1 ARCCOS
021738,000412: 27,2050 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
021739,000413: 27,2051 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
021740,000414: 27,2052 75160 AXC,1 AXC,2
021741,000415: 27,2053 03244 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
021742,000416: 27,2054 02234 KEL # S/C AXES TO STABLE MEMBER AXES
021743,000417: 27,2055 77624 CALL # MFS = MIS MFI
021744,000418: 27,2056 44312 MXM3 # (IN PD LIST)
021745,000419:
021746,000420: 27,2057 51545 DLOAD ABS
021747,000421: 27,2060 00007 6 # MFS6 = SIN(CPSI) $2
021748,000422: 27,2061 50025 DSU BMN
021749,000423: 27,2062 14354 SINGIMLC # = SIN(59 DEGS) $2
021750,000424: 27,2063 56136 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
021751,000425: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021752,000426:
021753,000427: 27,2064 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
021754,000428: 27,2065 03761 SCAXIS # THE THRUST AXIS
021755,000429: 27,2066 51025 DSU BPL
021756,000430: 27,2067 14356 SINVEC1 # SIN 49.4 DEGS $2
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021758,000432: 27,2070 56136 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
021759,000433: 27,2071 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
021760,000434: 27,2072 77626 STADR
021761,000435: 27,2073 50516 STOVL MIS +12D
021762,000436: 27,2074 77626 STADR # STORE MFS (IN PD LIST) IN MIS
021763,000437: 27,2075 50524 STOVL MIS +6
021764,000438: 27,2076 77626 STADR
021765,000439: 27,2077 50532 STOVL MIS
021766,000440: 27,2100 03253 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
021767,000441: 27,2101 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
021768,000442: 27,2102 56103 IGSAMEX # FINAL X S/C AXIS
021769,000443:
021770,000444: 27,2103 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
021771,000445: 27,2104 03761 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
021772,000446: 27,2105 56112 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
021773,000447: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021774,000448: # OTHERWISE U = -SCAXIS
021775,000449:
021776,000450: 27,2106 57575 VLOAD VCOMP
021777,000451: 27,2107 03761 SCAXIS
021778,000452: 27,2110 37267 STCALL COF # ROTATE ABOUT -SCAXIS
021779,000453: 27,2111 56115 CHEKAXIS
021780,000454: 27,2112 77775 U=SCAXIS VLOAD
021781,000455: 27,2113 03761 SCAXIS
021782,000456: 27,2114 03267 STORE COF # ROTATE ABOUT + SCAXIS
021783,000457: 27,2115 51545 CHEKAXIS DLOAD ABS
021784,000458: 27,2116 03761 SCAXIS # SEE IF WE ARE POINTING THE AOT
021785,000459: 27,2117 51025 DSU BPL
021786,000460: 27,2120 14360 SINVEC2 # SIN 29.5 DEGS $2
021787,000461: 27,2121 56125 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021788,000462: 27,2122 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
021789,000463: 27,2123 14364 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
021790,000464: 27,2124 56127 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
021791,000465: # OF GIMBAL LOCK (VECANG2 $360)
021792,000466: 27,2125 77745 PICKANG1 DLOAD
021793,000467: 27,2126 14362 VECANG1 # = 50 DEGS $360
021794,000468: 27,2127 77624 COMPMFSN CALL
021795,000469: 27,2130 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
021796,000470: 27,2131 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
021797,000471: 27,2132 03244 MIS
021798,000472: 27,2133 02234 KEL
021799,000473: 27,2134 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
021800,000474: 27,2135 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
021801,000475: # WHICH WILL ALIGN VI WITH VF AND AVOID
021802,000476: # GIMBAL LOCK
021803,000477: 27,2136 45160 FINDGIMB AXC,1 CALL
021804,000478: 27,2137 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
021805,000479: 27,2140 44654 DCMTOCDU # THIS MATRIX
021806,000480: 27,2141 40234 RTB SETPD
021807,000481: 27,2142 21524 V1STO2S # CONVERT TO 2:S COMPLEMENT
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021809,000483: 27,2143 00001 0
021810,000484: 27,2144 77650 GOTO
021811,000485: 27,2145 03323 VECQTEMP # RETURN TO CALLER
021812,000486:
021813,000487: 27,2146 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
021814,000488: 27,2147 00035 28D
021815,000489: 27,2150 03761 SCAXIS
021816,000490: 27,2151 72240 BMN TLOAD
021817,000491: 27,2152 54326 ROT180
021818,000492: 27,2153 00032 25D
021819,000493: 27,2154 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
021820,000494: 27,2155 03323 VECQTEMP # PRESENT CDU ANGLES
021821,000495:
021822,000496: 35,2000 BANK 35
021823,000497: 26,2000 SETLOC MANUVER1
021824,000498: 26,2000 BANK
021825,000499: 26,2326 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
021826,000500: 26,2327 03253 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
021827,000501: 26,2330 06422 HIDPHALF # INITIAL S/C AXES.
021828,000502: 26,2331 47256 UNIT VXV # FIND Y(SM) X X(I)
021829,000503: 26,2332 03761 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
021830,000504: 26,2333 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
021831,000505: 26,2334 54350 PICKX # Y(SM) PERPENDICULAR TO VI
021832,000506: 26,2335 17267 STODL COF
021833,000507: 26,2336 00045 36D # CHECK MAGNITUDE
021834,000508: 26,2337 50025 DSU BMN # OF THIS VECTOR.
021835,000509: 26,2340 14367 DPB-14 # IF LESS THAN B-14,
021836,000510: 26,2341 54350 PICKX # PICK X-AXIS.
021837,000511: 26,2342 77775 VLOAD
021838,000512: 26,2343 03267 COF
021839,000513: 26,2344 17267 XROT STODL COF
021840,000514: 26,2345 06422 HIDPHALF
021841,000515: 26,2346 77650 GOTO
021842,000516: 26,2347 56050 COMPMATX
021843,000517: 26,2350 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
021844,000518: 26,2351 06422 HIDPHALF
021845,000519: 26,2352 54344 XROT
021846,000520: 26,2353 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
021847,000521:
021848,000522: 26,2355 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
021849,000523:
021850,000524: 26,2357 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
021851,000525:
021852,000526: 26,2361 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
021853,000527:
021854,000528: 26,2363 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
021855,000529:
021856,000530: 26,2365 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
021857,000531: 26,2366 00001 DPB-14 OCT 00001
021858,000532: 26,2367 00000 OCT 00000
021859,000533:
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021861,000535: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
021862,000536:
021863,000537: 34,2000 BANK 34
021864,000538: 23,2000 SETLOC R62
021865,000539: 23,2000 BANK
021866,000540: 23,2065 E6,1674 EBANK= BCDU
021867,000541:
021868,000542: 23,2065 COUNT* $$/R62
021869,000543:
021870,000544: 23,2065 23,2065 R62DISP EQUALS R62FLASH
021871,000545:
021872,000546: 23,2065 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
021873,000547: 23,2066 04616 TC BANKCALL # ICDU ANGLES
021874,000548: 23,2067 20351 CADR GOFLASH
021875,000549: 23,2070 15472 TCF ENDEXT # TERMINATE
021876,000550: 23,2071 12073 TCF GOMOVE # PROCEED
021877,000551: 23,2072 12065 TCF R62FLASH # ENTER
021878,000552:
021879,000553: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
021880,000554: # POINT
021881,000555: 23,2073 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
021882,000556: 23,2074 00124 ADRES 3AXISFLG
021883,000557:
021884,000558: 23,2075 04616 TC BANKCALL
021885,000559: 23,2076 54101 CADR R60LEM
021886,000560: 23,2077 15472 TCF ENDEXT # END R62
021887,000561:
End of include-file R60,R62.agc. Parent file is MAIN.agc