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! |
019896,000002: ## Copyright: Public domain.
019897,000003: ## Filename: R60_R62.agc
019898,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
019899,000005: ## It is part of the source code for the Lunar Module's (LM)
019900,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
019901,000007: ## Assembler: yaYUL
019902,000008: ## Contact: Ron Burkey <info@sandroid.org>.
019903,000009: ## Website: www.ibiblio.org/apollo.
019904,000010: ## Pages: 472-485
019905,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
019906,000012: ## Luminary131 file, using page
019907,000013: ## images from Luminary 1A.
019908,000014: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
019909,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
019910,000016: ## and corrected the errors found.
019911,000017: ## 2017-01-27 RSB Back-ported a comment-text fix identified in Luminary 69.
019912,000018: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
019913,000019: ## 2017-03-09 RSB Comment text fixes noted in proofing Luminary 116.
019914,000020:
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019916,000022: # MOD NO: 0 DATE: 1 MAY 1968
019917,000023: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
019918,000024:
019919,000025: # FUNCTIONAL DESCRIPTION:
019920,000026:
019921,000027: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019922,000028: # ATTITUDE.
019923,000029:
019924,000030: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
019925,000031: # CALCULATED (VECPOINT).
019926,000032:
019927,000033: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019928,000034:
019929,000035: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
019930,000036:
019931,000037: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
019932,000038: # ASTRONAUT RESPONSE.
019933,000039:
019934,000040: # 5. DISPLAY RESPONSE RETURNS:
019935,000041:
019936,000042: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
019937,000043:
019938,000044: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
019939,000045: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
019940,000046: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
019941,000047:
019942,000048: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
019943,000049:
019944,000050: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
019945,000051: # (VECPOINT).
019946,000052:
019947,000053: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019948,000054:
019949,000055: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
019950,000056: #
019951,000057: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
019952,000058:
019953,000059: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
019954,000060:
019955,000061: # 11. DO A PHASECHANGE.
019956,000062:
019957,000063: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
019958,000064: # GIMBAL ANGLES (GOMANUR).
019959,000065:
019960,000066: # 13. AT END OF MANEUVER GO TO STEP 3.
019961,000067:
019962,000068: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
019963,000069: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
019964,000070: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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019966,000072: # STEP 5C.
019967,000073:
019968,000074: # CALLING SEQUENCE: TC BANKCALL
019969,000075: # CADR R60LEM
019970,000076:
019971,000077: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
019972,000078: # 3AXISFLG.
019973,000079:
019974,000080: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
019975,000081: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
019976,000082:
019977,000083: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
019978,000084: # TC BANKJUMP
019979,000085:
019980,000086: # ALARMS: NONE
019981,000087:
019982,000088: # OUTPUT: NONE
019983,000089:
019984,000090: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
019985,000091:
019986,000092: 34,2000 BANK 34
019987,000093: 26,2000 SETLOC MANUVER
019988,000094: 26,2000 BANK
019989,000095:
019990,000096: 26,2123 1164 EBANK= TEMPR60
019991,000097:
019992,000098: 26,2123 COUNT* $$/R06
019993,000099: 26,2123 04645 R60LEM TC MAKECADR
019994,000100: 26,2124 55164 TS TEMPR60
019995,000101:
019996,000102: 26,2125 34746 REDOMANN CAF 3AXISBIT
019997,000103: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019998,000104: 26,2127 10000 CCS A
019999,000105: 26,2130 12136 TCF TOBALL # YES
020000,000106: 26,2131 06037 TC INTPRET
020001,000107: 26,2132 77624 CALL
020002,000108: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020003,000109: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020004,000110: 26,2135 77776 EXIT
020005,000111:
020006,000112: 26,2136 04616 TOBALL TC BANKCALL
020007,000113: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020008,000114: 26,2140 32254 TOBALLA CAF V06N18
020009,000115: 26,2141 04616 TC BANKCALL
020010,000116: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020011,000117: 26,2143 02242 TC R61TEST
020012,000118: 26,2144 02150 TC REDOMANC # PROCEED
020013,000119: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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020015,000121: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020016,000122: 26,2147 05155 TC ENDOFJOB
020017,000123:
020018,000124: 26,2150 34746 REDOMANC CAF 3AXISBIT
020019,000125: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020020,000126: 26,2152 10000 CCS A
020021,000127: 26,2153 12161 TCF TOBALLC # YES
020022,000128: 26,2154 06037 TC INTPRET
020023,000129: 26,2155 77624 CALL
020024,000130: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020025,000131: 26,2157 00322 STORE CPHI # STORE ANGLES
020026,000132: 26,2160 77776 EXIT
020027,000133:
020028,000134: 26,2161 04616 TOBALLC TC BANKCALL
020029,000135: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020030,000136: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
020031,000137: 26,2164 10000 CCS A
020032,000138: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020033,000139:
020034,000140: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020035,000141: 26,2167 04616 TC BANKCALL # -
020036,000142: 26,2170 20451 CADR GODSPR # -
020037,000143: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020038,000144:
020039,000145: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020040,000146: 26,2173 17750 CADR GOMANUR
020041,000147:
020042,000148: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020043,000149: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020044,000150: 26,2176 00124 ADRES 3AXISFLG
020045,000151: 26,2177 31164 CAE TEMPR60 # -
020046,000152: 26,2200 04640 TC BANKJUMP # -
020047,000153:
020048,000154: 26,2201 40100 CHKLINUS CS FLAGWRD4
020049,000155: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020050,000156: 26,2203 10000 CCS A # -
020051,000157: 26,2204 00002 TC Q # NO - EXIT
020052,000158: 26,2205 30002 CA Q
020053,000159: 26,2206 54156 TS MPAC +2 # SAVE RETURN
020054,000160: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
020055,000161: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020056,000162: 26,2211 55055 TS TBASE2
020057,000163:
020058,000164: 26,2212 05353 TC PHASCHNG
020059,000165: 26,2213 00132 OCT 00132
020060,000166:
020061,000167: 26,2214 34745 CAF BIT7
020062,000168: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020063,000169: 26,2216 00156 TC MPAC +2
020064,000170:
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020066,000172: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020067,000173: 26,2220 05146 TC PRIOCHNG
020068,000174:
020069,000175: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020070,000176: 26,2222 70075 MASK FLAGWRD1
020071,000177: 26,2223 10000 CCS A
020072,000178: 26,2224 12237 TCF RER60
020073,000179:
020074,000180: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
020075,000181: 26,2226 70074 MASK FLAGWRD0
020076,000182: 26,2227 10000 CCS A
020077,000183: 26,2230 02234 TC +4 # YES
020078,000184: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020079,000185: 26,2232 40112 OCT 40112
020080,000186:
020081,000187: 26,2233 05155 TC ENDOFJOB
020082,000188:
020083,000189: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020084,000190: 26,2235 40072 OCT 40072
020085,000191:
020086,000192: 26,2236 05155 TC ENDOFJOB
020087,000193:
020088,000194: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020089,000195: 26,2240 00077 ADRES PDSPFLAG
020090,000196:
020091,000197: 26,2241 01055 TC TBASE2
020092,000198:
020093,000199: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020094,000200: 26,2243 00006 EXTEND
020095,000201: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020096,000202:
020097,000203: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020098,000204: 26,2246 74740 MASK PDSPFBIT
020099,000205: 26,2247 00006 EXTEND
020100,000206: 26,2250 16001 BZF GOTOPOOH # NO
020101,000207: 26,2251 06022 TC GOTOV56 # YES
020102,000208:
020103,000209: 26,2252 20100 BIT14+7 OCT 20100 # -
020104,000210: 26,2253 00203 OCT203 OCT 203
020105,000211: 26,2254 01422 V06N18 VN 0618
020106,000212:
020107,000213: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020108,000214:
020109,000215: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020110,000216: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020111,000217:
020112,000218: 26,2255 00006 G+N,AUTO EXTEND
020113,000219: 26,2256 00030 READ CHAN30
020114,000220: 26,2257 74742 MASK BIT10
020115,000221: 26,2260 10000 CCS A
020116,000222: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
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020118,000224: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020119,000225: 26,2263 00031 READ CHAN31
020120,000226: 26,2264 74736 MASK BIT14
020121,000227: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020122,000228:
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020124,000230: # PROGRAM DESCRIPTION BALLANGS
020125,000231: # MOD NO. LOG SECTION R60,R62
020126,000232:
020127,000233: # WRITTEN BY RAMA M. AIYAWAR
020128,000234:
020129,000235: # FUNCTIONAL DESCRIPTION
020130,000236:
020131,000237: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020132,000238:
020133,000239: # CALLING SEQUENCE
020134,000240:
020135,000241: # TC BALLANGS
020136,000242:
020137,000243: # NORMAL EXIT MODE
020138,000244:
020139,000245: # TC BALLEXIT (SAVED Q)
020140,000246:
020141,000247: # ALARM OR EXIT MODE NIL
020142,000248:
020143,000249: # SUBROUTINES CALLED
020144,000250:
020145,000251: # CD*TR*G
020146,000252: # ARCTAN
020147,000253:
020148,000254: # INPUT
020149,000255:
020150,000256: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020151,000257: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020152,000258:
020153,000259: # OUTPUT
020154,000260:
020155,000261: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020156,000262: # SP,2S COMPLIMENT.
020157,000263:
020158,000264: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020159,000265:
020160,000266: # ERASABLE INITIALIZATION REQUIRED
020161,000267:
020162,000268: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020163,000269:
020164,000270: # DEBRIS
020165,000271:
020166,000272: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020167,000273:
020168,000274: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020169,000275: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020170,000276:
020171,000277: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020172,000278:
020173,000279: 26,2000 SETLOC BAWLANGS
020174,000280: 26,2000 BANK
020175,000281:
020176,000282: 26,2266 COUNT* $$/BALL
020177,000283: 26,2266 04645 BALLANGS TC MAKECADR
020178,000284: 26,2267 55342 TS BALLEXIT
020179,000285: 26,2270 30321 CA CPHI
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020181,000287: 26,2271 54772 TS CDUSPOT +4
020182,000288: 26,2272 30322 CA CTHETA
020183,000289: 26,2273 54766 TS CDUSPOT
020184,000290: 26,2274 30323 CA CPSI
020185,000291: 26,2275 54770 TS CDUSPOT +2
020186,000292:
020187,000293: 26,2276 06037 TC INTPRET
020188,000294: 26,2277 45001 SETPD CALL
020189,000295: 26,2300 00001 0D
020190,000296: 26,2301 47543 CD*TR*G
020191,000297:
020192,000298: 26,2302 41345 DLOAD DMP
020193,000299: 26,2303 00743 SINCDUX # SIN (OGA)
020194,000300: 26,2304 00747 COSCDUZ # COS (MGA)
020195,000301:
020196,000302: 26,2305 57552 SL1 DCOMP # SCALE
020197,000303: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020198,000304: 26,2307 00741 SINCDUZ
020199,000305: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020200,000306: 26,2311 00747 COSCDUZ
020201,000307: 26,2312 72405 DMP SL1 # RESCALE
020202,000308: 26,2313 00751 COSCDUX
020203,000309: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020204,000310: 26,2315 26510 ARCTAN
020205,000311: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020206,000312: 26,2317 00741 SINCDUZ
020207,000313: 26,2320 00743 SINCDUX
020208,000314: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020209,000315: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020210,000316: 26,2323 00745 COSCDUY
020211,000317: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020212,000318: 26,2325 00737 SINCDUY
020213,000319: 26,2326 00751 COSCDUX
020214,000320: 26,2327 72405 DMP SL1 # CXCY
020215,000321: 26,2330 00745 COSCDUY
020216,000322: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020217,000323: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020218,000324: 26,2333 00737 SINCDUY
020219,000325: 26,2334 72405 DMP SL1
020220,000326: 26,2335 00751 COSCDUX # CXSY
020221,000327: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020222,000328: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020223,000329: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020224,000330: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020225,000331: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020226,000332: 26,2343 21620 V1STO2S
020227,000333: 26,2344 02345 STORE FDAIX # MODE IS TP
020228,000334: 26,2345 77776 EXIT
020229,000335:
020230,000336: 26,2346 31342 ENDBALL CA BALLEXIT
020231,000337:
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020233,000339: 26,2347 04640 TC BANKJUMP
020234,000340:
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020236,000342: # PROGRAM DESCRIPTION - VECPOINT
020237,000343:
020238,000344: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020239,000345: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020240,000346: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020241,000347: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020242,000348: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020243,000349: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020244,000350: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020245,000351: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020246,000352:
020247,000353: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020248,000354: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020249,000355: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020250,000356: # 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,
020251,000357: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020252,000358: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020253,000359: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020254,000360:
020255,000361: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020256,000362: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020257,000363: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020258,000364: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020259,000365:
020260,000366: # CALLING SEQUENCE -
020261,000367:
020262,000368: # 1) LOAD SCAXIS, POINTVSM
020263,000369: # 2) CALL
020264,000370: # VECPOINT
020265,000371:
020266,000372: # RETURNS WITH
020267,000373:
020268,000374: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020269,000375: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020270,000376: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020271,000377:
020272,000378: # ERASABLES USED -
020273,000379:
020274,000380: # 1) SCAXIS 6
020275,000381: # 2) POINTVSM 6
020276,000382: # 3) MIS 18
020277,000383: # 4) DEL 18
020278,000384: # 5) COF 6
020279,000385: # 6) VECQTEMP 1
020280,000386: # 7) ALL OF VAC AREA 43
020281,000387:
020282,000388: # TOTAL 99
020283,000389:
020284,000390: 27,2000 SETLOC VECPT
020285,000391: 27,2000 BANK
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Page 481 |
020287,000393: 27,2032 COUNT* $$/VECPT
020288,000394:
020289,000395: 27,2032 E6,1676 EBANK= BCDU
020290,000396:
020291,000397: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020292,000398: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020293,000399: 27,2034 56035 VECPNT2
020294,000400: 27,2035 52164 VECPNT2 AXC,2 GOTO
020295,000401: 27,2036 03246 MIS
020296,000402: 27,2037 56046 STORANG
020297,000403: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020298,000404: 27,2041 03325 VECQTEMP
020299,000405: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020300,000406: 27,2043 47164 VECLEAR AXC,2 RTB
020301,000407: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020302,000408: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020303,000409: 27,2046 34032 STORANG STCALL 25D
020304,000410: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020305,000411: 27,2050 61375 VLOAD VXM
020306,000412: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020307,000413: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020308,000414: 27,2053 77656 UNIT
020309,000415: 27,2054 00035 STORE 28D
020310,000416: # PD 28 29 30 31 32 33
020311,000417: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020312,000418: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020313,000419: 27,2057 57400 BOV VCOMP
020314,000420: 27,2060 56170 PICKAXIS
020315,000421: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020316,000422: 27,2062 00045 36D # OF CROSS PRODUCT
020317,000423: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020318,000424: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020319,000425: 27,2065 56170 PICKAXIS # UNIT OPERATION
020320,000426: 27,2066 50375 VLOAD DOT # INVALID.
020321,000427: 27,2067 03765 SCAXIS
020322,000428: 27,2070 00035 28D
020323,000429: 27,2071 65552 SL1 ARCCOS
020324,000430: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020325,000431: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020326,000432: 27,2074 75160 AXC,1 AXC,2
020327,000433: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020328,000434: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020329,000435: 27,2077 77624 CALL # MFS = MIS MFI
020330,000436: 27,2100 44312 MXM3 # (IN PD LIST)
020331,000437:
020332,000438: 27,2101 51545 DLOAD ABS
020333,000439: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020334,000440: 27,2103 50025 DSU BMN
020335,000441: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020336,000442: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 482 |
020338,000444: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020339,000445:
020340,000446: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020341,000447: 27,2107 03765 SCAXIS # THE THRUST AXIS
020342,000448: 27,2110 51025 DSU BPL
020343,000449: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020344,000450: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020345,000451: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020346,000452: 27,2114 77626 STADR
020347,000453: 27,2115 50514 STOVL MIS +12D
020348,000454: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020349,000455: 27,2117 50522 STOVL MIS +6
020350,000456: 27,2120 77626 STADR
020351,000457: 27,2121 50530 STOVL MIS
020352,000458: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020353,000459: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020354,000460: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020355,000461:
020356,000462: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020357,000463: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020358,000464: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020359,000465: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020360,000466: # OTHERWISE U = -SCAXIS
020361,000467:
020362,000468: 27,2130 57575 VLOAD VCOMP
020363,000469: 27,2131 03765 SCAXIS
020364,000470: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020365,000471: 27,2133 56137 CHEKAXIS
020366,000472: 27,2134 77775 U=SCAXIS VLOAD
020367,000473: 27,2135 03765 SCAXIS
020368,000474: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020369,000475: 27,2137 51545 CHEKAXIS DLOAD ABS
020370,000476: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020371,000477: 27,2141 51025 DSU BPL
020372,000478: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020373,000479: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020374,000480: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020375,000481: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020376,000482: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020377,000483: # OF GIMBAL LOCK (VECANG2 $360)
020378,000484: 27,2147 77745 PICKANG1 DLOAD
020379,000485: 27,2150 14404 VECANG1 # = 50 DEGS $360
020380,000486: 27,2151 77624 COMPMFSN CALL
020381,000487: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020382,000488: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020383,000489: 27,2154 03246 MIS
020384,000490: 27,2155 02230 KEL
020385,000491: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020386,000492: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020387,000493: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 483 |
020389,000495: # GIMBAL LOCK
020390,000496: 27,2160 45160 FINDGIMB AXC,1 CALL
020391,000497: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020392,000498: 27,2162 44654 DCMTOCDU # THIS MATRIX
020393,000499: 27,2163 40234 RTB SETPD
020394,000500: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020395,000501: 27,2165 00001 0
020396,000502: 27,2166 77650 GOTO
020397,000503: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020398,000504:
020399,000505: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020400,000506: 27,2171 00035 28D
020401,000507: 27,2172 03765 SCAXIS
020402,000508: 27,2173 72240 BMN TLOAD
020403,000509: 27,2174 54350 ROT180
020404,000510: 27,2175 00032 25D
020405,000511: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020406,000512: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020407,000513:
020408,000514: 35,2000 BANK 35
020409,000515: 26,2000 SETLOC MANUVER1
020410,000516: 26,2000 BANK
020411,000517: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020412,000518: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020413,000519: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020414,000520: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020415,000521: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020416,000522: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020417,000523: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020418,000524: 26,2357 17271 STODL COF
020419,000525: 26,2360 00045 36D # CHECK MAGNITUDE
020420,000526: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020421,000527: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020422,000528: 26,2363 54372 PICKX # PICK X-AXIS.
020423,000529: 26,2364 77775 VLOAD
020424,000530: 26,2365 03271 COF
020425,000531: 26,2366 17271 XROT STODL COF
020426,000532: 26,2367 06520 HIDPHALF
020427,000533: 26,2370 77650 GOTO
020428,000534: 26,2371 56072 COMPMATX
020429,000535: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020430,000536: 26,2373 06520 HIDPHALF
020431,000537: 26,2374 54366 XROT
020432,000538: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020433,000539:
020434,000540: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020435,000541:
020436,000542: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020437,000543:
020438,000544: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 484 |
020440,000546: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020441,000547:
020442,000548: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020443,000549: 26,2410 00001 DPB-14 OCT 00001
020444,000550: 26,2411 00000 OCT 00000
020445,000551:
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Page 485 |
020447,000553: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020448,000554:
020449,000555: 34,2000 BANK 34
020450,000556: 23,2000 SETLOC R62
020451,000557: 23,2000 BANK
020452,000558: 23,2103 E6,1676 EBANK= BCDU
020453,000559:
020454,000560: 23,2103 COUNT* $$/R62
020455,000561:
020456,000562: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020457,000563:
020458,000564: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020459,000565: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020460,000566: 23,2105 20476 CADR GOFLASH
020461,000567: 23,2106 15472 TCF ENDEXT # TERMINATE
020462,000568: 23,2107 12111 TCF GOMOVE # PROCEED
020463,000569: 23,2110 12103 TCF R62FLASH # ENTER
020464,000570:
020465,000571: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020466,000572: # POINT
020467,000573: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020468,000574: 23,2112 00124 ADRES 3AXISFLG
020469,000575:
020470,000576: 23,2113 04616 TC BANKCALL
020471,000577: 23,2114 54123 CADR R60LEM
020472,000578: 23,2115 15472 TCF ENDEXT # END R62
020473,000579:
End of include-file R60,R62.agc. Parent file is MAIN.agc