Source Code
|
|
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! |
039029,000002: ## Copyright: Public domain.
039030,000003: ## Filename: FINDCDUW--GUIDAP_INTERFACE.agc
039031,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
039032,000005: ## It is part of the source code for the Lunar Module's (LM)
039033,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
039034,000007: ## Assembler: yaYUL
039035,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
039036,000009: ## Website: www.ibiblio.org/apollo.
039037,000010: ## Pages: 908-925
039038,000011: ## Mod history: 2009-05-28 HG Transcribed from page images.
039039,000012: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
039040,000013: ## and corrected the errors found.
039041,000014: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
039042,000015: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
039043,000016: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
039044,000017: ## side-by-side diff of Luminary 69/99/116/131/210.
039045,000018:
|
|
Page 908 |
039047,000020: # PROGRAM NAME: FINDCDUW
039048,000021: # MOD NUMBER: 1 68 07 15
039049,000022: # MOD AUTHOR: KLUMPP
039050,000023:
039051,000024: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039052,000025: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039053,000026: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039054,000027: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039055,000028: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039056,000029: # MODES.
039057,000030: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039058,000031: # AUTOPILOT COMMANDS WHENEVER
039059,000032: # 1) NOT IN PNGCS-AUTO, OR
039060,000033: # 2) ENGINE IS OFF.
039061,000034:
039062,000035: # FUNCTIONAL DESCRIPTION:
039063,000036:
039064,000037: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039065,000038: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039066,000039: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039067,000040: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039068,000041: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039069,000042: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039070,000043: # ACCELERATIONS AVAILABLE).
039071,000044:
039072,000045: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039073,000046: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039074,000047: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039075,000048:
|
|
Page 909 |
039077,000050: # SPECIFICATIONS:
039078,000051:
039079,000052: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039080,000053: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039081,000054:
039082,000055: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039083,000056: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039084,000057: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039085,000058:
039086,000059: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039087,000060: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039088,000061: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039089,000062: # WITHOUT ISSUING AUTOPILOT CMDS.
039090,000063: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039091,000064: # ISSUING AUTOPILOT CMDS.
039092,000065:
039093,000066: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039094,000067: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039095,000068: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039096,000069:
039097,000070: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039098,000071: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039099,000072: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039100,000073:
039101,000074: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039102,000075: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039103,000076: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039104,000077: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039105,000078: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039106,000079:
039107,000080: # OUTPUTS: DELCDUX,Y,Z
039108,000081: # OMEGAPD,+1,+2
039109,000082: # DELPEROR,+1,+2
039110,000083: # CPHI,+1,+2 FOR NOUN22
039111,000084:
039112,000085: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039113,000086: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039114,000087: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039115,000088:
|
|
Page 910 |
039117,000090: # INITIALIZATION FOR FINDCDUW
039118,000091:
039119,000092: 30,3104 BANK 30
039120,000093: 30,2000 SETLOC FCDUW
039121,000094: 30,2000 BANK
039122,000095:
039123,000096: 30,3104 E6,1646 EBANK= ECDUW
039124,000097: 30,3104 COUNT* $$/FCDUW
039125,000098:
039126,000099: 30,3104 77775 INITCDUW VLOAD
039127,000100: 30,3105 06520 UNITX
039128,000101: 30,3106 03270 STORE UNFV/2
039129,000102: 30,3107 03262 STORE UNWC/2
039130,000103: 30,3110 77616 RVQ
039131,000104:
039132,000105: # FINDCDUW PRELIMINARIES
039133,000106:
039134,000107: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039135,000108: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039136,000109: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039137,000110: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
039138,000111: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039139,000112: 30,3116 77420 STQ EXIT
039140,000113: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
039141,000114:
039142,000115: # MORE HAUSKEEPING
039143,000116: 30,3120 33761 CA ECDUWL
039144,000117: 30,3121 56003 XCH EBANK # SET EBANK
039145,000118: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
039146,000119:
039147,000120: 30,3123 30111 CA DAPBOOLS
039148,000121: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039149,000122: 30,3125 10000 CCS A
039150,000123: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
039151,000124: 30,3127 55650 TS NDXCDUW
039152,000125:
039153,000126: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039154,000127: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039155,000128:
039156,000129: 30,3132 70111 MASK DAPBOOLS
039157,000130: 30,3133 55651 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039158,000131:
|
|
Page 911 |
039160,000133: # FETCH BASIC DATA
039161,000134: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039162,000135:
039163,000136: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039164,000137: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039165,000138: 30,3137 30033 CA CDUY
039166,000139: 30,3140 54766 TS CDUSPOTY
039167,000140: 30,3141 30034 CA CDUZ
039168,000141: 30,3142 54770 TS CDUSPOTZ
039169,000142:
039170,000143: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
039171,000144: 30,3144 00006 EXTEND
039172,000145: 30,3145 02030 RAND CHAN30
039173,000146: 30,3146 10000 CCS A
039174,000147: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039175,000148:
039176,000149: 30,3150 34736 CA BIT14 # AUTO MODE BIT
039177,000150: 30,3151 00006 EXTEND
039178,000151: 30,3152 02031 RAND CHAN31
039179,000152: 30,3153 10000 CCS A
039180,000153: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039181,000154:
039182,000155: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039183,000156:
039184,000157: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039185,000158: 30,3157 54772 TS CDUSPOTX
039186,000159: 30,3160 31636 CA CDUYD
039187,000160: 30,3161 54766 TS CDUSPOTY
039188,000161: 30,3162 31637 CA CDUZD
039189,000162: 30,3163 54770 TS CDUSPOTZ
039190,000163:
|
|
Page 912 |
039192,000165: # FETCH INPUTS
039193,000166: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039194,000167: 30,3165 77634 RTB
039195,000168: 30,3166 21726 NORMUNIT
039196,000169: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039197,000170: 30,3170 03262 UNWC/2
039198,000171: 30,3171 47034 RTB RTB
039199,000172: 30,3172 21726 NORMUNIT
039200,000173: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039201,000174: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039202,000175: 30,3175 00325 DELV
039203,000176: 30,3176 53404 BOVB UNIT
039204,000177: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039205,000178: 30,3200 45000 BOV CALL
039206,000179: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039207,000180: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039208,000181:
039209,000182: # THRUST DIRECTION FILTER
039210,000183:
039211,000184: 30,3203 77776 EXIT
039212,000185:
039213,000186: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039214,000187: 30,3205 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039215,000188: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039216,000189: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039217,000190:
039218,000191: 30,3210 31673 CA UNFVZ/2
039219,000192: 30,3211 22161 LXCH MPAC +5
039220,000193: 30,3212 03503 TC FLTRSUB
039221,000194: 30,3213 55673 TS UNFVZ/2
039222,000195:
039223,000196: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039224,000197:
|
|
Page 913 |
039226,000199: # FIND A SUITABLE WINDOW POINTING VECTOR
039227,000200:
039228,000201: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039229,000202: 30,3216 03252 FLAGOODW
039230,000203: 30,3217 61223 FETCHZNB
039231,000204: 30,3220 45175 VLOAD CALL
039232,000205: 30,3221 00015 UNZ/2
039233,000206: 30,3222 61523 UNWCTEST
039234,000207:
039235,000208: 30,3223 77775 FETCHZNB VLOAD
039236,000209: 30,3224 02162 ZNBPIP
039237,000210: 30,3225 34015 STCALL UNZ/2
039238,000211: 30,3226 61523 UNWCTEST
039239,000212:
039240,000213: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039241,000214: 30,3230 02146 XNBPIP
039242,000215: 30,3231 00015 STORE UNZ/2
039243,000216:
039244,000217: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039245,000218:
039246,000219: 30,3232 47375 DCMCL VLOAD VXV
039247,000220: 30,3233 00015 UNZ/2
039248,000221: 30,3234 00001 UNX/2
039249,000222: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039250,000223: 30,3236 76435 VXV VSL1
039251,000224: 30,3237 00001 UNX/2
039252,000225: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039253,000226: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039254,000227: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
039255,000228: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039256,000229: 30,3244 03272 UNFVY/2 # MUST BE SMALL
039257,000230: 30,3245 53372 VSL1 VAD
039258,000231: 30,3246 00001 UNX/2
039259,000232: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039260,000233: 30,3250 00001 STORE UNX/2 # UNX/2
039261,000234: 30,3251 76435 VXV VSL1
039262,000235: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039263,000236: 30,3253 00007 STORE UNY/2 # UNY/2
039264,000237: 30,3254 47276 VCOMP VXV
039265,000238: 30,3255 00001 UNX/2
039266,000239: 30,3256 77772 VSL1
039267,000240: 30,3257 00015 STORE UNZ/2 # UNZ/2
039268,000241:
|
|
Page 914 |
039270,000243: # COMPUTE THE REQUIRED GIMBAL ANGLES
039271,000244:
039272,000245: 30,3260 77624 CALL
039273,000246: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039274,000247: 30,3262 77776 EXIT
039275,000248:
039276,000249: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039277,000250:
039278,000251: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
039279,000252: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039280,000253: 30,3265 33773 CA CDUZDLIM
039281,000254: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039282,000255: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039283,000256: 30,3270 00006 EXTEND
039284,000257: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039285,000258: 30,3272 00006 EXTEND
039286,000259: 30,3273 13275 BZF +2
039287,000260: 30,3274 13756 TCF ALARMMGA
039288,000261:
039289,000262: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039290,000263:
039291,000264: 30,3276 22007 ZL
039292,000265: 30,3277 34752 CA TWO
039293,000266: 30,3300 54142 DELGMBLP TS TEM2
039294,000267:
039295,000268: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039296,000269: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039297,000270: 30,3303 70000 SQUARE
039298,000271: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039299,000272: 30,3305 00006 EXTEND
039300,000273: 30,3306 63311 BZMF +3
039301,000274: 30,3307 34755 CA ZERO
039302,000275: 30,3310 55651 TS FLAGOODW
039303,000276:
039304,000277: 30,3311 50142 INDEX TEM2
039305,000278: 30,3312 30154 CA MPAC
039306,000279: 30,3313 50142 INDEX TEM2
039307,000280: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
039308,000281: 30,3315 00006 EXTEND
039309,000282: 30,3316 50142 INDEX TEM2
039310,000283: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039311,000284: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039312,000285: 30,3321 50142 INDEX TEM2
039313,000286: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039314,000287: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
039315,000288: 30,3324 10142 CCS TEM2
039316,000289: 30,3325 13300 TCF DELGMBLP
039317,000290:
|
|
Page 915 |
039319,000292: # BRANCHES TO NOATTCNT
039320,000293: 30,3326 11652 CCS FLPAUTNO
039321,000294: 30,3327 13752 TCF NOATTCNT +2 # NOT PNGCS AUTO
039322,000295:
039323,000296: 30,3330 30101 CA FLAGWRD5
039324,000297: 30,3331 74745 MASK ENGONBIT
039325,000298: 30,3332 00006 EXTEND
039326,000299: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
039327,000300:
|
|
Page 916 |
039329,000302: # LIMIT THE ATTITUDE ANGLE CHANGES
039330,000303:
039331,000304: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039332,000305: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039333,000306: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039334,000307: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039335,000308:
039336,000309: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039337,000310: # * * * * * *
039338,000311: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039339,000312: # * * * * * *
039340,000313: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039341,000314:
039342,000315: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039343,000316: 30,3335 51650 INDEX NDXCDUW
039344,000317: 30,3336 33767 CA DAZMAX
039345,000318: 30,3337 03727 TC LIMITSUB
039346,000319: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
039347,000320:
039348,000321: 30,3341 31676 CA -DELGMB +1
039349,000322: 30,3342 00006 EXTEND
039350,000323: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039351,000324: 30,3344 54001 TS L
039352,000325: 30,3345 51650 INDEX NDXCDUW
039353,000326: 30,3346 33771 CA DAY/2MAX
039354,000327: 30,3347 03727 TC LIMITSUB
039355,000328: 30,3350 00006 EXTEND
039356,000329: 30,3351 10746 DV COSCDUZ
039357,000330: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039358,000331:
039359,000332: 30,3353 00006 EXTEND
039360,000333: 30,3354 70740 MP SINCDUZ
039361,000334: 30,3355 20001 DDOUBL
039362,000335: 30,3356 40000 COM
039363,000336: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039364,000337: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039365,000338: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039366,000339: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039367,000340: 30,3363 33767 CA DAXMAX
039368,000341: 30,3364 03727 TC LIMITSUB
039369,000342: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
039370,000343: 30,3366 11651 CCS FLAGOODW
039371,000344: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039372,000345: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039373,000346: 30,3371 41676 CS -DELGMB +1
039374,000347: 30,3372 00006 EXTEND
039375,000348: 30,3373 70740 MP SINCDUZ
039376,000349: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039377,000350: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039378,000351: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039379,000352:
|
|
Page 917 |
039381,000354: # COMPUTE COMMANDED ATTITUDE RATES
039382,000355:
039383,000356: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039384,000357: # * * * * * *
039385,000358: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039386,000359: # * * * * * *
039387,000360: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039388,000361:
039389,000362: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039390,000363: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039391,000364: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039392,000365:
039393,000366: 30,3376 41675 CS -DELGMB
039394,000367: 30,3377 55643 TS OMEGAPD
039395,000368: 30,3400 41676 CS -DELGMB +1
039396,000369: 30,3401 00006 EXTEND
039397,000370: 30,3402 70740 MP SINCDUZ
039398,000371: 30,3403 20001 DDOUBL
039399,000372: 30,3404 27643 ADS OMEGAPD
039400,000373: 30,3405 27643 ADS OMEGAPD
039401,000374:
039402,000375: 30,3406 41676 CS -DELGMB +1
039403,000376: 30,3407 00006 EXTEND
039404,000377: 30,3410 70750 MP COSCDUX
039405,000378: 30,3411 20001 DDOUBL
039406,000379: 30,3412 00006 EXTEND
039407,000380: 30,3413 70746 MP COSCDUZ
039408,000381: 30,3414 55644 TS OMEGAQD
039409,000382: 30,3415 41677 CS -DELGMB +2
039410,000383: 30,3416 00006 EXTEND
039411,000384: 30,3417 70742 MP SINCDUX
039412,000385: 30,3420 27644 ADS OMEGAQD
039413,000386: 30,3421 27644 ADS OMEGAQD
039414,000387: 30,3422 27644 ADS OMEGAQD
039415,000388:
039416,000389: 30,3423 31676 CA -DELGMB +1
039417,000390: 30,3424 00006 EXTEND
039418,000391: 30,3425 70742 MP SINCDUX
039419,000392: 30,3426 20001 DDOUBL
039420,000393: 30,3427 00006 EXTEND
039421,000394: 30,3430 70746 MP COSCDUZ
039422,000395: 30,3431 55645 TS OMEGARD
039423,000396: 30,3432 41677 CS -DELGMB +2
039424,000397: 30,3433 00006 EXTEND
039425,000398: 30,3434 70750 MP COSCDUX
039426,000399: 30,3435 27645 ADS OMEGARD
039427,000400: 30,3436 27645 ADS OMEGARD
039428,000401: 30,3437 27645 ADS OMEGARD
039429,000402:
|
|
Page 918 |
039431,000404: # FINAL TRANSFER
039432,000405:
039433,000406: 30,3440 34752 CA TWO
039434,000407: 30,3441 54142 CDUWXFR TS TEM2
039435,000408: 30,3442 50142 INDEX TEM2
039436,000409: 30,3443 31675 CA -DELGMB
039437,000410: 30,3444 00006 EXTEND
039438,000411: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039439,000412: 30,3446 03743 TC ONESTO2S
039440,000413: 30,3447 50142 INDEX TEM2
039441,000414: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
039442,000415:
039443,000416: 30,3451 50142 INDEX TEM2
039444,000417: 30,3452 11643 CCS OMEGAPD
039445,000418: 30,3453 64753 AD ONE
039446,000419: 30,3454 13456 TCF +2
039447,000420: 30,3455 64753 AD ONE
039448,000421: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039449,000422: 30,3457 50142 INDEX TEM2
039450,000423: 30,3460 71643 MP OMEGAPD
039451,000424: 30,3461 00006 EXTEND
039452,000425: 30,3462 74741 MP BIT11 # 1/16
039453,000426: 30,3463 00006 EXTEND
039454,000427: 30,3464 50142 INDEX TEM2 # 2
039455,000428: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039456,000429: 30,3466 54001 TS L
039457,000430: 30,3467 33771 CA DELERLIM
039458,000431: 30,3470 03727 TC LIMITSUB
039459,000432: 30,3471 50142 INDEX TEM2
039460,000433: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039461,000434: 30,3473 10142 CCS TEM2
039462,000435: 30,3474 13441 TCF CDUWXFR
039463,000436:
039464,000437: # HAUSKEEPING AND RETURN
039465,000438:
039466,000439: 30,3475 31646 TCQCDUW CA ECDUWUSR
039467,000440: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
039468,000441:
039469,000442: 30,3477 06037 TC INTPRET
039470,000443: 30,3500 52001 SETPD GOTO
039471,000444: 30,3501 00001 0
039472,000445: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039473,000446:
|
|
Page 919 |
039475,000448: # THRUST VECTOR FILTER SUBROUTINE
039476,000449:
039477,000450: 30,3503 00006 FLTRSUB EXTEND
039478,000451: 30,3504 22142 QXCH TEM2
039479,000452: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039480,000453: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039481,000454: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039482,000455: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039483,000456: 30,3511 51650 INDEX NDXCDUW
039484,000457: 30,3512 73762 MP GAINFLTR
039485,000458: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
039486,000459: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039487,000460: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039488,000461: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
039489,000462: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
039490,000463: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039491,000464: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039492,000465: 30,3522 00142 TC TEM2
039493,000466:
039494,000467: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039495,000468:
039496,000469: 30,3523 63441 UNWCTEST DOT DSQ
039497,000470: 30,3524 00001 UNX/2
039498,000471: 30,3525 50025 DSU BMN
039499,000472: 30,3526 21767 DOTSWFMX
039500,000473: 30,3527 61232 DCMCL
039501,000474: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039502,000475: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
039503,000476: 30,3532 00000 0
039504,000477:
|
|
Page 920 |
039506,000479: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039507,000480: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039508,000481: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039509,000482:
039510,000483: 30,3533 63545 NB2CDUSP DLOAD DSQ
039511,000484: 30,3534 00003 2
039512,000485: 30,3535 51021 BDSU BPL
039513,000486: 30,3536 06512 DP1/4TH
039514,000487: 30,3537 61542 +3
039515,000488: 30,3540 77745 DLOAD
039516,000489: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039517,000490: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039518,000491:
039519,000492: 30,3543 00006 EXTEND
039520,000493: 30,3544 30155 DCA MPAC
039521,000494: 30,3545 20001 DDOUBL
039522,000495: 30,3546 54145 TS TEM5
039523,000496: 30,3547 13552 TCF +3
039524,000497: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039525,000498: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039526,000499:
039527,000500: 30,3552 50120 INDEX FIXLOC
039528,000501: 30,3553 30002 CA 2
039529,000502: 30,3554 22154 LXCH MPAC
039530,000503: 30,3555 03622 TC ARCTRGSP
039531,000504: 30,3556 54156 TS MPAC +2 # CDUZ
039532,000505:
039533,000506: 30,3557 34755 CA ZERO
039534,000507: 30,3560 03600 TC DVBYCOSM
039535,000508: 30,3561 34751 CA FOUR
039536,000509: 30,3562 03600 TC DVBYCOSM
039537,000510: 30,3563 40141 CS TEM1
039538,000511: 30,3564 03622 TC ARCTRGSP
039539,000512: 30,3565 54155 TS MPAC +1 # CDUY
039540,000513:
039541,000514: 30,3566 34750 CA BIT4
039542,000515: 30,3567 03600 TC DVBYCOSM
039543,000516: 30,3570 33577 CA 16OCT
039544,000517: 30,3571 03600 TC DVBYCOSM
039545,000518: 30,3572 40141 CS TEM1
039546,000519: 30,3573 03622 TC ARCTRGSP
039547,000520: 30,3574 54154 TS MPAC # CDUX
039548,000521:
039549,000522: 30,3575 06037 TC INTPRET
039550,000523: 30,3576 77616 RVQ
039551,000524:
039552,000525: 30,3577 00016 16OCT OCT 16
039553,000526:
|
|
Page 921 |
039555,000528: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039556,000529: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039557,000530: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039558,000531: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039559,000532: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039560,000533: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039561,000534: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039562,000535:
039563,000536: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039564,000537: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039565,000538: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039566,000539: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039567,000540:
039568,000541: 30,3600 60120 DVBYCOSM AD FIXLOC
039569,000542: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
039570,000543:
039571,000544: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039572,000545: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039573,000546: 30,3604 00006 EXTEND
039574,000547: 30,3605 63607 BZMF +2
039575,000548: 30,3606 40000 COM
039576,000549: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039577,000550: 30,3610 00006 EXTEND
039578,000551: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039579,000552:
039580,000553: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039581,000554: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039582,000555: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039583,000556: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039584,000557: 30,3616 10145 DV TEM5
039585,000558: 30,3617 54001 TSL&TCQ TS L
039586,000559: 30,3620 22141 LXCH TEM1
039587,000560: 30,3621 00002 TC Q
039588,000561:
|
|
Page 922 |
039590,000563: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039591,000564: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039592,000565: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039593,000566:
039594,000567: 30,3622 00006 ARCTRGSP EXTEND
039595,000568: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039596,000569:
039597,000570: 30,3624 00006 EXTEND
039598,000571: 30,3625 22144 QXCH TEM4
039599,000572: 30,3626 54142 TS TEM2
039600,000573: 30,3627 30001 CA L
039601,000574: 30,3630 54143 TS TEM3
039602,000575: 30,3631 34755 CA ZERO
039603,000576: 30,3632 00006 EXTEND
039604,000577: 30,3633 10142 DV TEM2
039605,000578: 30,3634 00006 EXTEND
039606,000579: 30,3635 13654 BZF USECOS
039607,000580:
039608,000581: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039609,000582: 30,3637 34755 CA ZERO
039610,000583: 30,3640 13644 TCF +4
039611,000584: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039612,000585: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039613,000586: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039614,000587: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
039615,000588: 30,3645 30142 CA TEM2
039616,000589: 30,3646 03672 TC SPARCSIN -1
039617,000590: 30,3647 03743 TC ONESTO2S
039618,000591: 30,3650 00006 EXTEND
039619,000592: 30,3651 20143 MSU TEM3
039620,000593: 30,3652 03743 1TO2&TCQ TC ONESTO2S
039621,000594: 30,3653 00144 TC TEM4
039622,000595:
039623,000596: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
039624,000597: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039625,000598: 30,3656 64736 AD HALF
039626,000599: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
039627,000600: 30,3660 10142 CCS TEM2
039628,000601: 30,3661 30143 CA TEM3
039629,000602: 30,3662 13652 TCF 1TO2&TCQ
039630,000603: 30,3663 40143 CS TEM3
039631,000604: 30,3664 13652 TCF 1TO2&TCQ
039632,000605:
039633,000606: 30,3665 10001 SINZERO CCS L
039634,000607: 30,3666 34755 CA ZERO
039635,000608: 30,3667 00002 TC Q
039636,000609: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
039637,000610: 30,3671 00002 TC Q
039638,000611:
|
|
Page 923 |
039640,000613: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039641,000614: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039642,000615: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039643,000616: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039644,000617:
039645,000618: 30,3672 60000 DOUBLE
039646,000619: 30,3673 54021 SPARCSIN TS SR
039647,000620: 30,3674 13700 TCF +4
039648,000621: 30,3675 50000 INDEX A
039649,000622: 30,3676 44734 CS LIMITS
039650,000623: 30,3677 54021 TS SR
039651,000624: 30,3700 00006 EXTEND
039652,000625: 30,3701 70000 MP A
039653,000626: 30,3702 54141 TS TEM1
039654,000627: 30,3703 00006 EXTEND
039655,000628: 30,3704 73726 MP DPL9
039656,000629: 30,3705 63725 AD DPL7
039657,000630: 30,3706 00006 EXTEND
039658,000631: 30,3707 70141 MP TEM1
039659,000632: 30,3710 63724 AD DPL5
039660,000633: 30,3711 00006 EXTEND
039661,000634: 30,3712 70141 MP TEM1
039662,000635: 30,3713 63723 AD DPL3
039663,000636: 30,3714 00006 EXTEND
039664,000637: 30,3715 70141 MP TEM1
039665,000638: 30,3716 63722 AD DPL1
039666,000639: 30,3717 00006 EXTEND
039667,000640: 30,3720 70021 MP SR
039668,000641: 30,3721 00002 TC Q
039669,000642: 30,3722 24406 DPL1 DEC 10502 B-14
039670,000643: 30,3723 00660 DPL3 DEC 432 B-14
039671,000644: 30,3724 16204 DPL5 DEC 7300 B-14
039672,000645: 30,3725 50744 DPL7 DEC -11803 B-14
039673,000646: 30,3726 20315 DPL9 DEC 8397 B-14
039674,000647:
|
|
Page 924 |
039676,000649: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039677,000650: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039678,000651: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039679,000652:
039680,000653: # VERSION COURTESY HUGH BLAIR-SMITH
039681,000654:
039682,000655: 30,3727 54141 LIMITSUB TS TEM1
039683,000656: 30,3730 34755 CA ZERO
039684,000657: 30,3731 00006 EXTEND
039685,000658: 30,3732 10141 DV TEM1
039686,000659: 30,3733 10000 CCS A
039687,000660: 30,3734 22141 LXCH TEM1
039688,000661: 30,3735 13737 TCF +2
039689,000662: 30,3736 13741 TCF +3
039690,000663: 30,3737 30001 CA L
039691,000664: 30,3740 00002 TC Q
039692,000665: 30,3741 40141 CS TEM1
039693,000666: 30,3742 00002 TC Q
039694,000667:
039695,000668: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039696,000669:
039697,000670: 30,3743 10000 ONESTO2S CCS A
039698,000671: 30,3744 64753 AD ONE
039699,000672: 30,3745 00002 TC Q
039700,000673: 30,3746 40000 CS A
039701,000674: 30,3747 00002 TC Q
039702,000675:
039703,000676: # NO ATTITUDE CONTROL
039704,000677:
039705,000678: 30,3750 05567 NOATTCNT TC ALARM
039706,000679: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
039707,000680:
039708,000681: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039709,000682: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039710,000683: 30,3754 40165 FCADR STOPRATE
039711,000684: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039712,000685:
039713,000686: # MIDDLE GIMBAL ANGLE ALARM
039714,000687:
039715,000688: 30,3756 05567 ALARMMGA TC ALARM
039716,000689: 30,3757 00401 OCT 00401
039717,000690: 30,3760 13275 TCF MGARET
039718,000691:
|
|
Page 925 |
039720,000693: # ************************************************************************
039721,000694: # CONSTANTS
039722,000695: # ************************************************************************
039723,000696:
039724,000697: # ADDRESS CONSTANTS
039725,000698:
039726,000699: 30,3761 03246 ECDUWL ECADR ECDUW
039727,000700:
039728,000701: # THRUST DIRECTION FILTER CONSTANTS
039729,000702:
039730,000703: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039731,000704: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
039732,000705:
039733,000706: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039734,000707: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039735,000708:
039736,000709: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039737,000710: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039738,000711:
039739,000712: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039740,000713:
039741,000714: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039742,000715: # LOWER PART COMES FROM NEXT CONSTANT
039743,000716:
039744,000717: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039745,000718: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039746,000719:
039747,000720: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039748,000721: 30,3772 00133 DEC .0055555555
039749,000722:
039750,000723: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039751,000724:
039752,000725: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039753,000726:
039754,000727: # CONSTANTS FOR DATA TRANSFER
039755,000728:
039756,000729: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039757,000730: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039758,000731:
039759,000732: 30,3775 30,3771 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039760,000733:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc