Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
013899,000002: ## Copyright: Public domain.
013900,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
013901,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
013902,000005: ## It is part of the source code for the Lunar Module's (LM)
013903,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
013904,000007: ## Assembler: yaYUL
013905,000008: ## Contact: Ron Burkey <info@sandroid.org>.
013906,000009: ## Website: www.ibiblio.org/apollo.
013907,000010: ## Pages: 342-363
013908,000011: ## Mod history: 2009-05-16 RSB Adapted from the corresponding
013909,000012: ## Luminary131 file, using page
013910,000013: ## images from Luminary 1A.
013911,000014: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
013912,000015: ## and corrected the errors found.
013913,000016: ## 2017-01-19 MAS Corrected some USER'S to USER:S
013914,000017: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
013915,000018: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
013916,000019: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
013917,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
013918,000021:
013919,000022: ## Notations on the hardcopy document read, in part:
013920,000023: ##
013921,000024: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
013922,000025: ## 16:27 JULY 14, 1969
013923,000026:
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013925,000028: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
013926,000029:
013927,000030: # MOD 2 DATE 5/1/67 BY DON KEENE
013928,000031:
013929,000032: # PROGRAM DESCRIPTION
013930,000033:
013931,000034: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
013932,000035: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
013933,000036: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
013934,000037: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
013935,000038: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
013936,000039:
013937,000040: # CPHI = COMMANDED OUTER GIMBAL ANGLE
013938,000041: # CTHETA = COMMANDED INNER GIMBAL ANGLE
013939,000042: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
013940,000043:
013941,000044: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
013942,000045: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
013943,000046: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
013944,000047: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
013945,000048: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
013946,000049: # -
013947,000050: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
013948,000051: # -
013949,000052: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
013950,000053: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
013951,000054: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
013952,000055:
013953,000056: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
013954,000057: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
013955,000058: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
013956,000059: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
013957,000060: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
013958,000061: # -
013959,000062: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
013960,000063:
013961,000064: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
013962,000065: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
013963,000066: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
013964,000067: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
013965,000068: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
013966,000069: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
013967,000070: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
013968,000071: # DESIRED FINAL GIMBAL ANGLES.
013969,000072:
013970,000073: # PROGRAM LOGIC FLOW
013971,000074:
013972,000075: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
013973,000076: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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013975,000078: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
013976,000079: # * * *
013977,000080: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
013978,000081: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
013979,000082:
013980,000083: # A) AM LESS THAN .25 DEGREES (MINANG)
013981,000084: # B) AM GREATER THAN 170 DEGREES (MAXANG)
013982,000085:
013983,000086: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
013984,000087: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
013985,000088:
013986,000089: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
013987,000090: # - *
013988,000091: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
013989,000092: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
013990,000093: # -
013991,000094: # TO DETERMINE COF.
013992,000095:
013993,000096: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
013994,000097: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
013995,000098: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
013996,000099: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
013997,000100: # YAW.
013998,000101:
013999,000102: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014000,000103: # -
014001,000104: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014002,000105: # DESIRED REFERENCE MATRIX IS THEN,
014003,000106: # * * *
014004,000107: # MIS = MIS DEL
014005,000108: # N+1 N
014006,000109: # *
014007,000110: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014008,000111: # *
014009,000112: # FROM MIS.
014010,000113:
014011,000114: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014012,000115: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014013,000116: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014014,000117: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014015,000118: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014016,000119: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014017,000120:
014018,000121: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014019,000122: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014020,000123:
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014022,000125: # CALLING SEQUENCE
014023,000126:
014024,000127: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014025,000128: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014026,000129: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014027,000130: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014028,000131: # *
014029,000132: # CAF PRIO XX
014030,000133: # --
014031,000134: # INHINT
014032,000135: # TC FINDVAC
014033,000136: # 2CADR KALCMAN3
014034,000137: # RELINT
014035,000138:
014036,000139: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014037,000140: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014038,000141:
014039,000142: # L TC BANKCALL
014040,000143: # L+1 CADR ATTSTALL
014041,000144: # L+2 (BAD RETURN)
014042,000145: # L+3 (GOOD RETURN)
014043,000146:
014044,000147: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014045,000148: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014046,000149: # WAS IN GIMBAL LOCK.
014047,000150:
014048,000151: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014049,000152: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014050,000153: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014051,000154: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014052,000155: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014053,000156: # SUBROUTINES
014054,000157:
014055,000158: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014056,000159: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014057,000160:
014058,000161: # MXM3
014059,000162: # ----
014060,000163:
014061,000164: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014062,000165: # DOWN LIST, I.E.,
014063,000166: # ( M M M )
014064,000167: # ( 0 1 2 )
014065,000168: # * ( ) * *
014066,000169: # M = ( M M M ) = M1 X M2
014067,000170: # ( 3 4 5 )
014068,000171: # ( )
014069,000172: # ( M M M )
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014071,000174: # ( 6 7 8 )
014072,000175: # *
014073,000176: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014074,000177: # *
014075,000178: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014076,000179: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014077,000180: # 8
014078,000181: # TRANSPOS
014079,000182: # --------
014080,000183:
014081,000184: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014082,000185: #
014083,000186: # * * T
014084,000187: # M = M1
014085,000188:
014086,000189: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014087,000190: # *
014088,000191: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014089,000192:
014090,000193: # CDU TO DCM
014091,000194: # ----------
014092,000195:
014093,000196: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014094,000197: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014095,000198:
014096,000199: # M = COSY COSZ
014097,000200: # 0
014098,000201:
014099,000202: # M = -COSY SINZ COSX + SINY SINX
014100,000203: # 1
014101,000204:
014102,000205: # M = COSY SINZ SINX + SINY COSX
014103,000206: # 2
014104,000207:
014105,000208: # M = SINZ
014106,000209: # 3
014107,000210:
014108,000211: # M = COSZ COSX
014109,000212: # 4
014110,000213:
014111,000214: # M = -COSZ SINX
014112,000215: # 5
014113,000216:
014114,000217: # M = -SINY COSZ
014115,000218: # 6
014116,000219: #
014117,000220: # M = SINY SINZ COSX + COSY SINX
014118,000221: # 7
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014120,000223: # M = -SINY SINZ SINX + COSY COSX
014121,000224: # 8
014122,000225:
014123,000226: # WHERE X = OUTER GIMBAL ANGLE
014124,000227: # Y = INNER GIMBAL ANGLE
014125,000228: # Z = MIDDLE GIMBAL ANGLE
014126,000229:
014127,000230: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014128,000231:
014129,000232: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014130,000233: # X Y Z
014131,000234: # STABLE MEMBER AXES (B , B , B ) ARE
014132,000235: # X Y Z
014133,000236:
014134,000237: # ( B ) ( A )
014135,000238: # ( X ) ( X )
014136,000239: # ( ) ( )
014137,000240: # ( ) * ( )
014138,000241: # ( B ) = M ( A )
014139,000242: # ( Y ) ( Y )
014140,000243: # ( ) ( )
014141,000244: # ( B ) ( A )
014142,000245: # ( Z ) ( Z )
014143,000246:
014144,000247: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014145,000248: # *
014146,000249: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014147,000250:
014148,000251: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014149,000252: # REGISTER X2.
014150,000253:
014151,000254: # DCM TO CDU
014152,000255: # ----------
014153,000256: # *
014154,000257: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014155,000258: # *
014156,000259: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014157,000260: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014158,000261: # FOR THIS CONVERSION ARE
014159,000262:
014160,000263: # Z = ARCSIN (M )
014161,000264: # 3
014162,000265:
014163,000266: # Y = ARCSIN (-M /COSZ)
014164,000267: # 6
014165,000268:
014166,000269: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014167,000270: # 0
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014169,000272: # X = ARCSIN (-M /COSZ)
014170,000273: # 5
014171,000274:
014172,000275: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014173,000276: # 4
014174,000277:
014175,000278: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014176,000279: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014177,000280: # THE PUSH DOWN LIST.
014178,000281:
014179,000282: # DELCOMP
014180,000283: # -------
014181,000284: # *
014182,000285: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014183,000286: # -
014184,000287: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014185,000288:
014186,000289: # * * - -T *
014187,000290: # DEL = I COSA + U U (1 - COSA) + V SINA
014188,000291: # X
014189,000292:
014190,000293: # WHERE * ( 1 0 0 )
014191,000294: # I = ( 0 1 0 )
014192,000295: # ( 0 0 1 )
014193,000296:
014194,000297: # 2
014195,000298: # ( U U U U U )
014196,000299: # ( X X Y X Z )
014197,000300: # ( )
014198,000301: # - -T ( 2 )
014199,000302: # U U = ( U U U U U )
014200,000303: # ( Y X Y Y Z )
014201,000304: # ( )
014202,000305: # ( 2 )
014203,000306: # ( U U U U U )
014204,000307: # ( Z X Z Y Z )
014205,000308:
014206,000309:
014207,000310: # ( 0 -U U )
014208,000311: # ( Z Y )
014209,000312: # * ( )
014210,000313: # V = ( U 0 -U )
014211,000314: # X ( Z X )
014212,000315: # ( )
014213,000316: # ( -U U 0 )
014214,000317: # ( Y X )
014215,000318:
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014217,000320: # -
014218,000321: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014219,000322: # A = ROTATION ANGLE
014220,000323:
014221,000324: # *
014222,000325: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014223,000326:
014224,000327: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014225,000328: # X Y Z
014226,000329: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014227,000330: # X Y Z
014228,000331:
014229,000332: # ( B ) ( A )
014230,000333: # ( X ) ( X )
014231,000334: # ( ) * ( )
014232,000335: # ( B ) = DEL ( A )
014233,000336: # ( Y ) ( Y )
014234,000337: # ( ) ( )
014235,000338: # ( B ) ( A )
014236,000339: # ( Z ) ( Z )
014237,000340:
014238,000341: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014239,000342: # -
014240,000343: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014241,000344: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014242,000345: # MUST THEN BE LOADED INTO D(MPAC).
014243,000346: #
014244,000347: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014245,000348:
014246,000349: # READCDUK
014247,000350: # --------
014248,000351:
014249,000352: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014250,000353:
014251,000354: # SIGNMPAC
014252,000355: # --------
014253,000356:
014254,000357: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014255,000358:
014256,000359: # PROGRAM STORAGE ALLOCATION
014257,000360:
014258,000361: # 1) FIXED MEMORY 1059 WORDS
014259,000362: # 2) ERASABLE MEMORY 98
014260,000363: # 3) STATE SWITCHES 3
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|
Page 349 |
014262,000365: # 4) FLAGS 1
014263,000366:
014264,000367: # JOB PRIORITIES
014265,000368:
014266,000369: # 1) KALCMANU TBD
014267,000370: # 2) ONE SECOND UPDATE TBD
014268,000371:
014269,000372: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014270,000373:
014271,000374: # STATE FLAGWRD 2 SETTING MEANING
014272,000375: # SWITCH NO. BIT NO.
014273,000376:
014274,000377: # *
014275,000378: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014276,000379: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014277,000380: # *
014278,000381: # 32 13 0 CONTINUE UPDATE PROCESS
014279,000382: # 1 START UPDATE PROCESS
014280,000383:
014281,000384: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014282,000385: # 1 IGNORE ANY FINAL P-AXIS YAW
014283,000386:
014284,000387: # 34 11 0 SIGNAL END OF KALCMANU
014285,000388: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014286,000389:
014287,000390: # * INTERNAL TO KALCMANU
014288,000391:
014289,000392: # SUGGESTIONS FOR PROGRAM INTEGRATION
014290,000393:
014291,000394: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014292,000395:
014293,000396: # CPHI
014294,000397: # CTHETA
014295,000398: # CPSI
014296,000399: # POINTVSM +5
014297,000400: # SCAXIS +5
014298,000401: # DELDCDU
014299,000402: # DELDCDU1
014300,000403: # DELDCDU2
014301,000404: # RATEINDX
014302,000405:
014303,000406: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014304,000407:
014305,000408: # MXM3
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|
Page 350 |
014307,000410: # TRANSPOS
014308,000411: # SIGNMPAC
014309,000412: # READCDUK
014310,000413: # CDUTODCM
014311,000414:
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|
Page 351 |
014313,000416: 15,2050 BANK 15
014314,000417: 22,2000 SETLOC KALCMON1
014315,000418: 22,2000 BANK
014316,000419:
014317,000420: 22,2004 E6,1676 EBANK= BCDU
014318,000421:
014319,000422: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014320,000423: # LOCATIONS, CPHI, CTHETA, CPSI.
014321,000424:
014322,000425: 22,2004 COUNT* $$/KALC
014323,000426: 22,2004 06037 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014324,000427: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014325,000428: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014326,000429: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES
014327,000430: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014328,000431: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014329,000432: 22,2012 51025 DSU BPL
014330,000433: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014331,000434: 22,2014 44724 TOOBADF
014332,000435: 22,2015 72364 AXC,2 TLOAD
014333,000436: 22,2016 03246 MIS
014334,000437: 22,2017 03277 BCDU
014335,000438: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014336,000439: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014337,000440: 22,2022 72364 AXC,2 TLOAD
014338,000441: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014339,000442: 22,2024 00322 CPHI
014340,000443: 22,2025 77624 CALL
014341,000444: 22,2026 44410 CDUTODCM
014342,000445: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014343,000446: 22,2030 03246 MIS
014344,000447: 22,2031 44326 TRANSPOS
014345,000448: 22,2032 45575 VLOAD STADR
014346,000449: 22,2033 50457 STOVL TMIS +12D
014347,000450: 22,2034 77626 STADR
014348,000451: 22,2035 50465 STOVL TMIS +6
014349,000452: 22,2036 77626 STADR
014350,000453: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014351,000454: 22,2040 75160 AXC,1 AXC,2
014352,000455: 22,2041 03303 TMIS
014353,000456: 22,2042 02230 MFS
014354,000457: 22,2043 77624 CALL
014355,000458: 22,2044 44312 MXM3
014356,000459: 22,2045 45575 VLOAD STADR
014357,000460: 22,2046 51532 STOVL MFI +12D
014358,000461: 22,2047 77626 STADR
014359,000462: 22,2050 51540 STOVL MFI +6
014360,000463: 22,2051 77626 STADR
014361,000464: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014362,000465: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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|
Page 352 |
014364,000467: 22,2054 00023 18D
014365,000468: 22,2055 44335 TRNSPSPD
014366,000469: 22,2056 45575 VLOAD STADR
014367,000470: 22,2057 50457 STOVL TMFI +12D
014368,000471: 22,2060 77626 STADR
014369,000472: 22,2061 50465 STOVL TMFI +6
014370,000473: 22,2062 77626 STADR
014371,000474: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014372,000475:
014373,000476: # CALCULATE COFSKEW AND MFISYM
014374,000477:
014375,000478: 22,2064 45345 DLOAD DSU
014376,000479: 22,2065 03306 TMFI +2
014377,000480: 22,2066 02233 MFI +2
014378,000481: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014379,000482: 22,2070 02235 MFI +4
014380,000483: 22,2071 03310 TMFI +4
014381,000484: 22,2072 45325 PDDL DSU
014382,000485: 22,2073 03316 TMFI +10D
014383,000486: 22,2074 02243 MFI +10D
014384,000487: 22,2075 77666 VDEF
014385,000488: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW
014386,000489:
014387,000490: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014388,000491:
014389,000492: 22,2077 43345 DLOAD DAD
014390,000493: 22,2100 02231 MFI
014391,000494: 22,2101 02251 MFI +16D
014392,000495: 22,2102 43225 DSU DAD
014393,000496: 22,2103 06512 DP1/4TH
014394,000497: 22,2104 02241 MFI +8D
014395,000498: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014396,000499: 22,2106 77726 ARCCOS
014397,000500: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014398,000501: 22,2110 51025 DSU BPL
014399,000502: 22,2111 04363 MINANG
014400,000503: 22,2112 44117 CHECKMAX
014401,000504: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014402,000505: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014403,000506: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES
014404,000507: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014405,000508:
014406,000509: 22,2117 45345 CHECKMAX DLOAD DSU
014407,000510: 22,2120 03336 AM
014408,000511: 22,2121 04365 MAXANG
014409,000512: 22,2122 77244 BPL VLOAD
014410,000513: 22,2123 44131 ALTCALC # UNIT
014411,000514: 22,2124 03326 COFSKEW # COFSKEW
014412,000515: 22,2125 77656 UNIT
014413,000516: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS
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Page 353 |
014415,000518: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014416,000519: 22,2130 44744 LOCSKIRT
014417,000520: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014418,000521: 22,2132 02231 MFI
014419,000522: 22,2133 03304 TMFI
014420,000523: 22,2134 77762 VSR1
014421,000524: 22,2135 27304 STOVL MFISYM
014422,000525: 22,2136 02237 MFI +6
014423,000526: 22,2137 74455 VAD VSR1
014424,000527: 22,2140 03312 TMFI +6
014425,000528: 22,2141 27312 STOVL MFISYM +6
014426,000529: 22,2142 02245 MFI +12D
014427,000530: 22,2143 74455 VAD VSR1
014428,000531: 22,2144 03320 TMFI +12D
014429,000532: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014430,000533:
014431,000534: # CALCULATE COF
014432,000535:
014433,000536: 22,2146 70545 DLOAD SR1
014434,000537: 22,2147 03334 CAM
014435,000538: 22,2150 45325 PDDL DSU # PDO CAM $4
014436,000539: 22,2151 06520 DPHALF
014437,000540: 22,2152 03334 CAM
014438,000541: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014439,000542: 22,2154 21712 SIGNMPAC
014440,000543: 22,2155 03324 MFISYM +16D
014441,000544: 22,2156 56225 DSU DDV
014442,000545: 22,2157 00001 0
014443,000546: 22,2160 00003 2
014444,000547: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014445,000548: 22,2162 03314 MFISYM +8D # $ ROOT 2
014446,000549: 22,2163 56225 DSU DDV
014447,000550: 22,2164 00001 0
014448,000551: 22,2165 00003 2
014449,000552: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014450,000553: 22,2167 03304 MFISYM
014451,000554: 22,2170 56225 DSU DDV
014452,000555: 22,2171 00001 0
014453,000556: 22,2172 00003 2
014454,000557: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014455,000558: 22,2174 77656 UNIT
014456,000559: 22,2175 03271 STORE COF
014457,000560:
014458,000561: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014459,000562:
014460,000563: 22,2176 45345 COFMAXGO DLOAD DSU
014461,000564: 22,2177 03271 COF
014462,000565: 22,2200 03273 COF +2
014463,000566: 22,2201 71240 BMN DLOAD # COFY G COFX
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Page 354 |
014465,000568: 22,2202 44211 COMP12
014466,000569: 22,2203 03271 COF
014467,000570: 22,2204 50025 DSU BMN
014468,000571: 22,2205 03275 COF +4
014469,000572: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014470,000573: 22,2207 77650 GOTO
014471,000574: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014472,000575: 22,2211 45345 COMP12 DLOAD DSU
014473,000576: 22,2212 03273 COF +2
014474,000577: 22,2213 03275 COF +4
014475,000578: 22,2214 77640 BMN
014476,000579: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014477,000580:
014478,000581: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014479,000582: 22,2217 03330 COFSKEW +2 # UY
014480,000583: 22,2220 44224 U2POS
014481,000584: 22,2221 57575 VLOAD VCOMP
014482,000585: 22,2222 03271 COF
014483,000586: 22,2223 03271 STORE COF
014484,000587: 22,2224 51145 U2POS DLOAD BPL
014485,000588: 22,2225 03306 MFISYM +2 # UX UY
014486,000589: 22,2226 44232 OKU21
014487,000590: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014488,000591: 22,2230 03271 COF
014489,000592: 22,2231 03271 STORE COF
014490,000593: 22,2232 51145 OKU21 DLOAD BPL
014491,000594: 22,2233 03316 MFISYM +10D # UY UZ
014492,000595: 22,2234 44744 LOCSKIRT
014493,000596: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014494,000597: 22,2236 03275 COF +4
014495,000598: 22,2237 03275 STORE COF +4
014496,000599: 22,2240 77650 GOTO
014497,000600: 22,2241 44744 LOCSKIRT
014498,000601: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014499,000602: 22,2243 03326 COFSKEW # UX
014500,000603: 22,2244 44250 U1POS
014501,000604: 22,2245 57575 VLOAD VCOMP
014502,000605: 22,2246 03271 COF
014503,000606: 22,2247 03271 STORE COF
014504,000607: 22,2250 51145 U1POS DLOAD BPL
014505,000608: 22,2251 03306 MFISYM +2 # UX UY
014506,000609: 22,2252 44256 OKU12
014507,000610: 22,2253 57545 DLOAD DCOMP
014508,000611: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX
014509,000612: 22,2255 03273 STORE COF +2
014510,000613: 22,2256 51145 OKU12 DLOAD BPL
014511,000614: 22,2257 03310 MFISYM +4 # UX UZ
014512,000615: 22,2260 44744 LOCSKIRT
014513,000616: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014514,000617: 22,2262 03275 COF +4
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Page 355 |
014516,000619: 22,2263 03275 STORE COF +4
014517,000620: 22,2264 77650 GOTO
014518,000621: 22,2265 44744 LOCSKIRT
014519,000622: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014520,000623: 22,2267 03332 COFSKEW +4 # UZ
014521,000624: 22,2270 44274 U3POS
014522,000625: 22,2271 57575 VLOAD VCOMP
014523,000626: 22,2272 03271 COF
014524,000627: 22,2273 03271 STORE COF
014525,000628: 22,2274 51145 U3POS DLOAD BPL
014526,000629: 22,2275 03310 MFISYM +4 # UX UZ
014527,000630: 22,2276 44302 OKU31
014528,000631: 22,2277 57545 DLOAD DCOMP
014529,000632: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ
014530,000633: 22,2301 03271 STORE COF
014531,000634: 22,2302 51145 OKU31 DLOAD BPL
014532,000635: 22,2303 03316 MFISYM +10D # UY UZ
014533,000636: 22,2304 44744 LOCSKIRT
014534,000637: 22,2305 57545 DLOAD DCOMP
014535,000638: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ
014536,000639: 22,2307 03273 STORE COF +2
014537,000640: 22,2310 77650 GOTO
014538,000641: 22,2311 44744 LOCSKIRT
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|
Page 356 |
014540,000643: # MATRIX OPERATIONS
014541,000644:
014542,000645: 13,2207 BANK 13
014543,000646: 22,2000 SETLOC KALCMON2
014544,000647: 22,2000 BANK
014545,000648:
014546,000649: 22,2312 E6,1676 EBANK= BCDU
014547,000650:
014548,000651: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014549,000652: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014550,000653: 22,2314 00001 0,1 # AND MPAC
014551,000654: 22,2315 62703 VXM* PDVL*
014552,000655: 22,2316 77776 0,2
014553,000656: 22,2317 00007 6,1
014554,000657: 22,2320 62703 VXM* PDVL*
014555,000658: 22,2321 77776 0,2
014556,000659: 22,2322 00015 12D,1
014557,000660: 22,2323 41503 VXM* PUSH
014558,000661: 22,2324 77776 0,2
014559,000662: 22,2325 77616 RVQ
014560,000663:
014561,000664: # RETURN WITH M1XM2 IN PD LIST
014562,000665:
014563,000666: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014564,000667: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014565,000668: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014566,000669: 22,2331 62713 PDVL* PDVL*
014567,000670: 22,2332 00007 6,1
014568,000671: 22,2333 00015 12D,1
014569,000672: 22,2334 77606 PUSH # MATRIX IN PD
014570,000673: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014571,000674: 22,2336 50120 INDEX FIXLOC
014572,000675: 22,2337 52013 DXCH 12
014573,000676: 22,2340 50120 INDEX FIXLOC
014574,000677: 22,2341 52017 DXCH 16
014575,000678: 22,2342 50120 INDEX FIXLOC
014576,000679: 22,2343 52013 DXCH 12
014577,000680: 22,2344 50120 INDEX FIXLOC
014578,000681: 22,2345 52015 DXCH 14
014579,000682: 22,2346 50120 INDEX FIXLOC
014580,000683: 22,2347 52005 DXCH 4
014581,000684: 22,2350 50120 INDEX FIXLOC
014582,000685: 22,2351 52015 DXCH 14
014583,000686: 22,2352 50120 INDEX FIXLOC
014584,000687: 22,2353 52003 DXCH 2
014585,000688: 22,2354 50120 INDEX FIXLOC
014586,000689: 22,2355 52007 DXCH 6
014587,000690: 22,2356 50120 INDEX FIXLOC
014588,000691: 22,2357 52003 DXCH 2
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Page 357 |
014590,000693: 22,2360 06037 TC INTPRET
014591,000694: 22,2361 77616 RVQ
014592,000695:
014593,000696: 15,2050 BANK 15
014594,000697: 22,2000 SETLOC KALCMON1
014595,000698: 22,2000 BANK
014596,000699:
014597,000700: 22,2362 E6,1676 EBANK= BCDU
014598,000701:
014599,000702: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014600,000703:
014601,000704: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014602,000705:
014603,000706: # GIMBAL LOCK CONSTANTS
014604,000707:
014605,000708: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014606,000709: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014607,000710:
014608,000711: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014609,000712:
014610,000713: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014611,000714:
014612,000715: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014613,000716:
014614,000717: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014615,000718:
014616,000719: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014617,000720:
014618,000721: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014619,000722:
014620,000723: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014621,000724:
014622,000725: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014623,000726:
014624,000727: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014625,000728: 22,2404 54156 TS MPAC +2
014626,000729: 22,2405 00006 EXTEND
014627,000730: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014628,000731: 22,2407 16476 TCF TLOAD +6
014629,000732:
014630,000733: 22,2410 66370 CDUTODCM AXT,1 SSP
014631,000734: 22,2411 00003 OCT 3
014632,000735: 22,2412 00051 S1
014633,000736: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014634,000737: 22,2414 00010 STORE 7
014635,000738: 22,2415 77601 SETPD
014636,000739: 22,2416 00001 0
014637,000740: 22,2417 47133 LOOPSIN SLOAD* RTB
014638,000741: 22,2420 00013 10D,1
014639,000742: 22,2421 21576 CDULOGIC
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|
Page 358 |
014641,000744: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014642,000745: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014643,000746: 22,2424 00013 10D # 4 SIN(THETA)
014644,000747: 22,2425 41546 COS PUSH # 6 COS(THETA)
014645,000748: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014646,000749: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014647,000750: 22,2430 00007 6
014648,000751: 22,2431 72405 DMP SL1
014649,000752: 22,2432 00013 10D
014650,000753: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014651,000754: 22,2434 41345 DLOAD DMP
014652,000755: 22,2435 00005 4
014653,000756: 22,2436 00001 0
014654,000757: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014655,000758: 22,2440 00007 6
014656,000759: 22,2441 00011 8D
014657,000760: 22,2442 72405 DMP SL1
014658,000761: 22,2443 00003 2
014659,000762: 22,2444 72421 BDSU SL1
014660,000763: 22,2445 00015 12D
014661,000764: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014662,000765: 22,2447 41345 DLOAD DMP
014663,000766: 22,2450 00003 2
014664,000767: 22,2451 00005 4
014665,000768: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
014666,000769: 22,2453 00007 6
014667,000770: 22,2454 00011 8D
014668,000771: 22,2455 72405 DMP SL1
014669,000772: 22,2456 00001 0
014670,000773: 22,2457 72415 DAD SL1
014671,000774: 22,2460 00017 14D
014672,000775: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
014673,000776: 22,2462 77745 DLOAD
014674,000777: 22,2463 00011 8D
014675,000778: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
014676,000779: 22,2465 77745 DLOAD
014677,000780: 22,2466 00013 10D
014678,000781: 22,2467 72405 DMP SL1
014679,000782: 22,2470 00003 2
014680,000783: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
014681,000784: 22,2472 41345 DLOAD DMP
014682,000785: 22,2473 00013 10D
014683,000786: 22,2474 00001 0
014684,000787: 22,2475 72476 DCOMP SL1
014685,000788: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
014686,000789: 22,2477 41345 DLOAD DMP
014687,000790: 22,2500 00005 4
014688,000791: 22,2501 00013 10D
014689,000792: 22,2502 72476 DCOMP SL1
014690,000793: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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Page 359 |
014692,000795: 22,2504 77745 DLOAD
014693,000796: 22,2505 72405 DMP SL1 # (PUSH UP 7)
014694,000797: 22,2506 00011 8D
014695,000798: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
014696,000799: 22,2510 00007 6
014697,000800: 22,2511 00001 0
014698,000801: 22,2512 72415 DAD SL1 # (PUSH UP 7)
014699,000802: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
014700,000803: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
014701,000804: 22,2515 77745 DLOAD
014702,000805: 22,2516 72405 DMP SL1 # (PUSH UP 6)
014703,000806: 22,2517 00011 8D
014704,000807: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
014705,000808: 22,2521 00007 6
014706,000809: 22,2522 00003 2
014707,000810: 22,2523 72425 DSU SL1 # (PUSH UP 6)
014708,000811: 22,2524 77626 STADR
014709,000812: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
014710,000813: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
014711,000814:
014712,000815: # CALCULATION OF THE MATRIX DEL......
014713,000816:
014714,000817: # * * --T *
014715,000818: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
014716,000819: # -
014717,000820: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
014718,000821: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
014719,000822: # -
014720,000823: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
014721,000824:
014722,000825: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
014723,000826: 22,2530 00001 0
014724,000827: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
014725,000828: 22,2532 41546 COS PUSH # PD2 = COS(A)
014726,000829: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
014727,000830: 22,2534 41021 BDSU BOVB
014728,000831: 22,2535 06520 DPHALF
014729,000832: 22,2536 21712 SIGNMPAC
014730,000833: 22,2537 77725 PDDL # PD4 = 1-COS(A)
014731,000834:
014732,000835: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
014733,000836:
014734,000837: 22,2540 03271 COF
014735,000838: 22,2541 41316 DSQ DMP
014736,000839: 22,2542 00005 4
014737,000840: 22,2543 52415 DAD SL3
014738,000841: 22,2544 00003 2
014739,000842: 22,2545 77604 BOVB
014740,000843: 22,2546 21712 SIGNMPAC
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Page 360 |
014742,000845: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
014743,000846: 22,2550 03273 COF +2
014744,000847: 22,2551 41316 DSQ DMP
014745,000848: 22,2552 00005 4
014746,000849: 22,2553 52415 DAD SL3
014747,000850: 22,2554 00003 2
014748,000851: 22,2555 77604 BOVB
014749,000852: 22,2556 21712 SIGNMPAC
014750,000853: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
014751,000854: 22,2560 03275 COF +4
014752,000855: 22,2561 41316 DSQ DMP
014753,000856: 22,2562 00005 4
014754,000857: 22,2563 52415 DAD SL3
014755,000858: 22,2564 00003 2
014756,000859: 22,2565 77604 BOVB
014757,000860: 22,2566 21712 SIGNMPAC
014758,000861: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
014759,000862:
014760,000863: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
014761,000864:
014762,000865: 22,2570 41345 DLOAD DMP
014763,000866: 22,2571 03271 COF
014764,000867: 22,2572 03273 COF +2
014765,000868: 22,2573 72405 DMP SL1
014766,000869: 22,2574 00005 4
014767,000870: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
014768,000871: 22,2576 03275 COF +4
014769,000872: 22,2577 00001 0
014770,000873: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
014771,000874: 22,2601 00007 6
014772,000875: 22,2602 41112 SL2 BOVB
014773,000876: 22,2603 21712 SIGNMPAC
014774,000877: 22,2604 16237 STODL KEL +6
014775,000878: 22,2605 62421 BDSU SL2
014776,000879: 22,2606 77604 BOVB
014777,000880: 22,2607 21712 SIGNMPAC
014778,000881: 22,2610 16233 STODL KEL +2
014779,000882: 22,2611 03271 COF
014780,000883: 22,2612 41205 DMP DMP
014781,000884: 22,2613 03275 COF +4
014782,000885: 22,2614 00005 4
014783,000886: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
014784,000887: 22,2616 03273 COF +2
014785,000888: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
014786,000889: 22,2620 00001 0
014787,000890: 22,2621 62415 DAD SL2
014788,000891: 22,2622 00007 6
014789,000892: 22,2623 77604 BOVB
014790,000893: 22,2624 21712 SIGNMPAC
014791,000894: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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Page 361 |
014793,000896: 22,2626 62421 BDSU SL2
014794,000897: 22,2627 77604 BOVB
014795,000898: 22,2630 21712 SIGNMPAC
014796,000899: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
014797,000900: 22,2632 03273 COF +2
014798,000901: 22,2633 41205 DMP DMP
014799,000902: 22,2634 03275 COF +4
014800,000903: 22,2635 00005 4
014801,000904: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
014802,000905: 22,2637 03271 COF
014803,000906: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
014804,000907: 22,2641 00001 0
014805,000908: 22,2642 62415 DAD SL2
014806,000909: 22,2643 00007 6
014807,000910: 22,2644 77604 BOVB
014808,000911: 22,2645 21712 SIGNMPAC
014809,000912: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
014810,000913: 22,2647 62421 BDSU SL2
014811,000914: 22,2650 77604 BOVB
014812,000915: 22,2651 21712 SIGNMPAC
014813,000916: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
014814,000917: 22,2653 77616 RVQ
014815,000918:
014816,000919: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
014817,000920: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
014818,000921: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
014819,000922: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
014820,000923:
014821,000924: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
014822,000925:
014823,000926: # C = COS(THETA) COS(PSI)
014824,000927: # 0
014825,000928:
014826,000929: # C = -COS(THETA) SIN(PSI) COS(PHI) + SI (THETA) SIN(PHI)
014827,000930: # 1
014828,000931:
014829,000932: # C = COS(THETA) SIN(PSI) SIN(PHI) + S N(THETA) COS(PHI)
014830,000933: # 2
014831,000934:
014832,000935: # C = SIN(PSI)
014833,000936: # 3
014834,000937:
014835,000938: # C = COS(PSI) COS(PHI)
014836,000939: # 4
014837,000940:
014838,000941: # C = -COS(PSI) SIN(PHI)
014839,000942: # 5
014840,000943:
014841,000944: # C = -SIN(THETA) COS(PSI)
014842,000945: # 6
014843,000946:
014844,000947: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS THETA) SIN(PHI)
014845,000948: # 7
014846,000949:
014847,000950: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + CO (THETA)COS(PHI)
014848,000951: # 8
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Page 362 |
014850,000953:
014851,000954: # WHERE PHI = OGA
014852,000955: # THETA = IGA
014853,000956: # PSI = MGA
014854,000957:
014855,000958: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
014856,000959: 22,2655 00007 6,1
014857,000960: 22,2656 71406 PUSH COS # PD +0 PSI
014858,000961: 22,2657 41152 SL1 BOVB
014859,000962: 22,2660 21712 SIGNMPAC
014860,000963: 22,2661 00051 STORE S1
014861,000964: 22,2662 57543 DLOAD* DCOMP
014862,000965: 22,2663 00015 12D,1
014863,000966: 22,2664 67471 DDV ARCSIN
014864,000967: 22,2665 00051 S1
014865,000968: 22,2666 51123 PDDL* BPL # PD +2 THETA
014866,000969: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
014867,000970: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
014868,000971: 22,2671 57545 DLOAD DCOMP
014869,000972: 22,2672 43244 BPL DAD
014870,000973: 22,2673 44677 SUHALFA
014871,000974: 22,2674 06520 DPHALF
014872,000975: 22,2675 77650 GOTO
014873,000976: 22,2676 44701 CALCPHI
014874,000977: 22,2677 77625 SUHALFA DSU
014875,000978: 22,2700 06520 DPHALF
014876,000979: 22,2701 77606 CALCPHI PUSH
014877,000980: 22,2702 57543 OKTHETA DLOAD* DCOMP
014878,000981: 22,2703 00013 10D,1
014879,000982: 22,2704 67471 DDV ARCSIN
014880,000983: 22,2705 00051 S1
014881,000984: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
014882,000985: 22,2707 00011 8D,1
014883,000986: 22,2710 44722 OKPHI
014884,000987: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
014885,000988: 22,2712 43244 BPL DAD
014886,000989: 22,2713 44717 SUHALFAP
014887,000990: 22,2714 06520 DPHALF
014888,000991: 22,2715 77650 GOTO
014889,000992: 22,2716 44723 VECOFANG
014890,000993: 22,2717 52025 SUHALFAP DSU GOTO
014891,000994: 22,2720 06520 DPHALF
014892,000995: 22,2721 44723 VECOFANG
014893,000996: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
014894,000997: 22,2723 43466 VECOFANG VDEF RVQ
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Page 363 |
014896,000999: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
014897,001000:
014898,001001: 22,2724 77776 TOOBADF EXIT
014899,001002: 22,2725 05567 TC ALARM
014900,001003: 22,2726 00401 OCT 00401
014901,001004:
014902,001005: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
014903,001006:
014904,001007: 22,2730 04616 TC BANKCALL
014905,001008: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
014906,001009:
014907,001010: 22,2732 04616 NOGO TC BANKCALL
014908,001011: 22,2733 40165 CADR STOPRATE # STOP RATES
014909,001012:
014910,001013: 22,2734 34752 CAF TWO
014911,001014: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
014912,001015: 22,2736 05203 TC WAITLIST
014913,001016: 22,2737 E6,1676 EBANK= BCDU
014914,001017: 22,2737 03234 44066 2CADR GOODMANU
014915,001018:
014916,001019: 22,2741 15155 TCF ENDOFJOB
014917,001020:
014918,001021: 22,2742 77776 TOOBADI EXIT
014919,001022: 22,2743 12732 TCF NOGO
014920,001023:
014921,001024:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc