GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
040272,000002: ## Copyright: Public domain.
040273,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
040274,000004: ## Purpose: The main source file for Luminary revision 069.
040275,000005: ## It is part of the source code for the original release
040276,000006: ## of the flight software for the Lunar Module's (LM) Apollo
040277,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
040278,000008: ## version was Luminary 69 revision 2, which included a
040279,000009: ## newer lunar gravity model and only affected module 2.
040280,000010: ## This file is intended to be a faithful transcription, except
040281,000011: ## that the code format has been changed to conform to the
040282,000012: ## requirements of the yaYUL assembler rather than the
040283,000013: ## original YUL assembler.
040284,000014: ## Reference: pp. 907-924
040285,000015: ## Assembler: yaYUL
040286,000016: ## Contact: Ron Burkey <info@sandroid.org>.
040287,000017: ## Website: www.ibiblio.org/apollo/index.html
040288,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
040289,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
040290,000020: ## 2017-01-22 HG Transcribed
040291,000021: ## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
040292,000022: ## and fixed errors found.
040293,000023: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
040294,000024:
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Page 907 |
040296,000026: # PROGRAM NAME: FINDCDUW
040297,000027:
040298,000028: # MOD NUMBER: 1 68 07 15
040299,000029:
040300,000030: # MOD AUTHOR: KLUMPP
040301,000031:
040302,000032: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
040303,000033: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
040304,000034: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
040305,000035: # FETCHING FOR THE THRUST DIRECTION FILTER THE
040306,000036: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
040307,000037: # MODES.
040308,000038: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
040309,000039: # AUTOPILOT COMMANDS WHENEVER
040310,000040: # 1) NOT IN PNGCS-AUTO, OR
040311,000041: # 2) ENGINE IS OFF.
040312,000042:
040313,000043: # FUNCTIONAL DESCRIPTION:
040314,000044:
040315,000045: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
040316,000046: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
040317,000047: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
040318,000048: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
040319,000049: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
040320,000050: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
040321,000051: # ACCELERATIONS AVAILABLE).
040322,000052:
040323,000053: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
040324,000054: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
040325,000055: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
040326,000056:
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Page 908 |
040328,000058: # SPECIFICATIONS:
040329,000059:
040330,000060: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
040331,000061: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
040332,000062:
040333,000063: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
040334,000064: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
040335,000065: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
040336,000066:
040337,000067: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
040338,000068:
040339,000069: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
040340,000070:
040341,000071: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
040342,000072: # WITHOUT ISSUING AUTOPILOT CMDS.
040343,000073:
040344,000074: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
040345,000075: # ISSUING AUTOPILOT CMDS.
040346,000076:
040347,000077: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
040348,000078: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
040349,000079: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
040350,000080: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
040351,000081: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
040352,000082: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
040353,000083:
040354,000084: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040355,000085: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040356,000086: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
040357,000087: # CSMDOCKD FLAG DENOTING CSM DOCKED.
040358,000088: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
040359,000089:
040360,000090: # OUTPUTS: DELCDUX,Y,Z
040361,000091: # OMEGAPD,+1,+2
040362,000092: # DELPEROR,+1,+2
040363,000093: # CPHI,+1,+2 FOR NOUN22
040364,000094:
040365,000095: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
040366,000096: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
040367,000097: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
040368,000098:
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Page 909 |
040370,000100: # INITIALIZATION FOR FINDCDUW
040371,000101:
040372,000102: 30,3055 BANK 30
040373,000103: 30,2000 SETLOC FCDUW
040374,000104: 30,2000 BANK
040375,000105:
040376,000106: 30,3055 E6,1644 EBANK= ECDUW
040377,000107:
040378,000108: 30,3055 COUNT* $$/FCDUW
040379,000109:
040380,000110: 30,3055 77775 INITCDUW VLOAD
040381,000111: 30,3056 06422 UNITX
040382,000112: 30,3057 03266 STORE UNFV/2
040383,000113: 30,3060 03260 STORE UNWC/2
040384,000114: 30,3061 77616 RVQ
040385,000115:
040386,000116: # FINDCDUW PRELIMINARIES
040387,000117:
040388,000118: 30,3062 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
040389,000119: 30,3063 03252 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
040390,000120: 30,3064 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
040391,000121: 30,3065 61064 FINDCDUW # INTERPRETER NOW INITIALIZED
040392,000122: 30,3066 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
040393,000123: 30,3067 77420 STQ EXIT
040394,000124: 30,3070 03245 QCDUWUSR # SAVE RETURN ADDRESS
040395,000125:
040396,000126: # MORE HAUSKEEPING
040397,000127: 30,3071 33732 CA ECDUWL
040398,000128: 30,3072 56003 XCH EBANK # SET EBANK
040399,000129: 30,3073 55644 TS ECDUWUSR # SAVE USER'S EBANK
040400,000130:
040401,000131: 30,3074 30111 CA DAPBOOLS
040402,000132: 30,3075 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
040403,000133: 30,3076 10000 CCS A
040404,000134: 30,3077 34753 CA ONE # INDEX IF CSM DOCKED
040405,000135: 30,3100 55646 TS NDXCDUW
040406,000136:
040407,000137: 30,3101 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
040408,000138: 30,3102 55650 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
040409,000139:
040410,000140: 30,3103 70111 MASK DAPBOOLS
040411,000141: 30,3104 55647 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
040412,000142:
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Page 910 |
040414,000144: # FETCH BASIC DATA
040415,000145:
040416,000146: 30,3105 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
040417,000147:
040418,000148: 30,3106 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
040419,000149: 30,3107 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
040420,000150: 30,3110 30033 CA CDUY
040421,000151: 30,3111 54766 TS CDUSPOTY
040422,000152: 30,3112 30034 CA CDUZ
040423,000153: 30,3113 54770 TS CDUSPOTZ
040424,000154:
040425,000155: 30,3114 34742 CA BIT10 # PNGCS CONTROL BIT
040426,000156: 30,3115 00006 EXTEND
040427,000157: 30,3116 02030 RAND CHAN30
040428,000158: 30,3117 10000 CCS A
040429,000159: 30,3120 13135 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
040430,000160:
040431,000161: 30,3121 34736 CA BIT14 # AUTO MODE BIT
040432,000162: 30,3122 00006 EXTEND
040433,000163: 30,3123 02031 RAND CHAN31
040434,000164: 30,3124 10000 CCS A
040435,000165: 30,3125 13135 TCF PAUTNO # NOT AUTO (BITS INVERTED)
040436,000166:
040437,000167: 30,3126 55650 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
040438,000168:
040439,000169: 30,3127 31633 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
040440,000170: 30,3130 54772 TS CDUSPOTX
040441,000171: 30,3131 31634 CA CDUYD
040442,000172: 30,3132 54766 TS CDUSPOTY
040443,000173: 30,3133 31635 CA CDUZD
040444,000174: 30,3134 54770 TS CDUSPOTZ
040445,000175:
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Page 911 |
040447,000177: # FETCH INPUTS
040448,000178:
040449,000179: 30,3135 06036 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
040450,000180: 30,3136 77634 RTB
040451,000181: 30,3137 21700 NORMUNIT
040452,000182: 30,3140 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
040453,000183: 30,3141 03260 UNWC/2
040454,000184: 30,3142 47034 RTB RTB
040455,000185: 30,3143 21700 NORMUNIT
040456,000186: 30,3144 47521 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
040457,000187: 30,3145 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
040458,000188: 30,3146 00325 DELV
040459,000189: 30,3147 53404 BOVB UNIT
040460,000190: 30,3150 61721 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
040461,000191: 30,3151 45000 BOV CALL
040462,000192: 30,3152 61166 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
040463,000193: 30,3153 47575 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
040464,000194:
040465,000195: # THRUST DIRECTION FILTER
040466,000196:
040467,000197: 30,3154 77776 EXIT
040468,000198:
040469,000199: 30,3155 31667 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
040470,000200: 30,3156 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
040471,000201: 30,3157 03454 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
040472,000202: 30,3160 55667 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
040473,000203:
040474,000204: 30,3161 31671 CA UNFVZ/2
040475,000205: 30,3162 22161 LXCH MPAC +5
040476,000206: 30,3163 03454 TC FLTRSUB
040477,000207: 30,3164 55671 TS UNFVZ/2
040478,000208:
040479,000209: 30,3165 06036 TC INTPRET # COMPLETES FILTER
040480,000210:
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Page 912 |
040482,000212: # FIND A SUITABLE WINDOW POINTING VECTOR
040483,000213:
040484,000214: 30,3166 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
040485,000215: 30,3167 03250 FLAGOODW
040486,000216: 30,3170 61174 FETCHZNB
040487,000217: 30,3171 45175 VLOAD CALL
040488,000218: 30,3172 00015 UNZ/2
040489,000219: 30,3173 61474 UNWCTEST
040490,000220:
040491,000221: 30,3174 77775 FETCHZNB VLOAD
040492,000222: 30,3175 02162 ZNBPIP
040493,000223: 30,3176 34015 STCALL UNZ/2
040494,000224: 30,3177 61474 UNWCTEST
040495,000225:
040496,000226: 30,3200 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
040497,000227: 30,3201 02146 XNBPIP
040498,000228: 30,3202 00015 STORE UNZ/2
040499,000229:
040500,000230: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
040501,000231:
040502,000232: 30,3203 47375 DCMCL VLOAD VXV
040503,000233: 30,3204 00015 UNZ/2
040504,000234: 30,3205 00001 UNX/2
040505,000235: 30,3206 41456 UNIT PUSH # UNY/2 FIRST ITERATION
040506,000236: 30,3207 76435 VXV VSL1
040507,000237: 30,3210 00001 UNX/2
040508,000238: 30,3211 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
040509,000239: 30,3212 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040510,000240: 30,3213 03272 UNFVZ/2 # MUST BE SMALL
040511,000241: 30,3214 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040512,000242: 30,3215 03270 UNFVY/2 # MUST BE SMALL
040513,000243: 30,3216 53372 VSL1 VAD
040514,000244: 30,3217 00001 UNX/2
040515,000245: 30,3220 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
040516,000246: 30,3221 00001 STORE UNX/2 # UNX/2
040517,000247: 30,3222 76435 VXV VSL1
040518,000248: 30,3223 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
040519,000249: 30,3224 00007 STORE UNY/2 # UNY/2
040520,000250: 30,3225 47276 VCOMP VXV
040521,000251: 30,3226 00001 UNX/2
040522,000252: 30,3227 77772 VSL1
040523,000253: 30,3230 00015 STORE UNZ/2 # UNZ/2
040524,000254:
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Page 913 |
040526,000256: # COMPUTE THE REQUIRED GIMBAL ANGLES
040527,000257:
040528,000258: 30,3231 77624 CALL
040529,000259: 30,3232 61504 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040530,000260: 30,3233 77776 EXIT
040531,000261:
040532,000262: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040533,000263:
040534,000264: 30,3234 30156 CA MPAC +2 # LIMIT THE MGA
040535,000265: 30,3235 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040536,000266: 30,3236 33744 CA CDUZDLIM
040537,000267: 30,3237 03700 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040538,000268: 30,3240 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
040539,000269: 30,3241 00006 EXTEND
040540,000270: 30,3242 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
040541,000271: 30,3243 00006 EXTEND
040542,000272: 30,3244 13246 BZF +2
040543,000273: 30,3245 13727 TCF ALARMMGA
040544,000274:
040545,000275: 30,3246 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
040546,000276:
040547,000277: 30,3247 22007 ZL
040548,000278: 30,3250 34752 CA TWO
040549,000279: 30,3251 54142 DELGMBLP TS TEM2
040550,000280:
040551,000281: 30,3252 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
040552,000282: 30,3253 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
040553,000283: 30,3254 70000 SQUARE
040554,000284: 30,3255 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
040555,000285: 30,3256 00006 EXTEND
040556,000286: 30,3257 63262 BZMF +3
040557,000287: 30,3260 34755 CA ZERO
040558,000288: 30,3261 55647 TS FLAGOODW
040559,000289:
040560,000290: 30,3262 50142 INDEX TEM2
040561,000291: 30,3263 30154 CA MPAC
040562,000292: 30,3264 50142 INDEX TEM2
040563,000293: 30,3265 54321 TS CPHI # OUTPUTS TO NOUN22
040564,000294: 30,3266 00006 EXTEND
040565,000295: 30,3267 50142 INDEX TEM2
040566,000296: 30,3270 21633 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
040567,000297: 30,3271 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
040568,000298: 30,3272 50142 INDEX TEM2
040569,000299: 30,3273 55673 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040570,000300: 30,3274 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
040571,000301: 30,3275 10142 CCS TEM2
040572,000302: 30,3276 13251 TCF DELGMBLP
040573,000303:
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Page 914 |
040575,000305: # BRANCHES TO NOATTCNT
040576,000306:
040577,000307: 30,3277 11650 CCS FLPAUTNO
040578,000308: 30,3300 13723 TCF NOATTCNT +2 # NOT PNGCS AUTO
040579,000309:
040580,000310: 30,3301 30101 CA FLAGWRD5
040581,000311: 30,3302 74745 MASK ENGONBIT
040582,000312: 30,3303 00006 EXTEND
040583,000313: 30,3304 13723 BZF NOATTCNT +2 # ENGINE NOT ON
040584,000314:
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Page 915 |
040586,000316: # LIMIT THE ATTITUDE ANGLE CHANGES
040587,000317:
040588,000318: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040589,000319: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
040590,000320: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040591,000321: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040592,000322:
040593,000323: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
040594,000324: # * * * * * *
040595,000325: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
040596,000326: # * * * * * *
040597,000327: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
040598,000328:
040599,000329: 30,3305 23675 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
040600,000330: 30,3306 51646 INDEX NDXCDUW
040601,000331: 30,3307 33740 CA DAZMAX
040602,000332: 30,3310 03700 TC LIMITSUB
040603,000333: 30,3311 55675 TS -DELGMB +2 # -DELGMBZ
040604,000334:
040605,000335: 30,3312 31674 CA -DELGMB +1
040606,000336: 30,3313 00006 EXTEND
040607,000337: 30,3314 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
040608,000338: 30,3315 54001 TS L
040609,000339: 30,3316 51646 INDEX NDXCDUW
040610,000340: 30,3317 33742 CA DAY/2MAX
040611,000341: 30,3320 03700 TC LIMITSUB
040612,000342: 30,3321 00006 EXTEND
040613,000343: 30,3322 10746 DV COSCDUZ
040614,000344: 30,3323 57674 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
040615,000345:
040616,000346: 30,3324 00006 EXTEND
040617,000347: 30,3325 70740 MP SINCDUZ
040618,000348: 30,3326 20001 DDOUBL
040619,000349: 30,3327 40000 COM
040620,000350: 30,3330 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040621,000351: 30,3331 21673 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
040622,000352: 30,3332 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
040623,000353: 30,3333 51646 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
040624,000354: 30,3334 33740 CA DAXMAX
040625,000355: 30,3335 03700 TC LIMITSUB
040626,000356: 30,3336 55673 TS -DELGMB # SAVE LIMITED +DELATTX
040627,000357: 30,3337 11647 CCS FLAGOODW
040628,000358: 30,3340 41673 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040629,000359: 30,3341 55673 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
040630,000360: 30,3342 41674 CS -DELGMB +1
040631,000361: 30,3343 00006 EXTEND
040632,000362: 30,3344 70740 MP SINCDUZ
040633,000363: 30,3345 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040634,000364: 30,3346 27673 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
040635,000365: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040636,000366:
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Page 916 |
040638,000368: # COMPUTE COMMANDED ATTITUDE RATES
040639,000369:
040640,000370: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
040641,000371: # * * * * * *
040642,000372: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
040643,000373: # * * * * * *
040644,000374: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
040645,000375:
040646,000376: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040647,000377: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040648,000378: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040649,000379:
040650,000380: 30,3347 41673 CS -DELGMB
040651,000381: 30,3350 55641 TS OMEGAPD
040652,000382: 30,3351 41674 CS -DELGMB +1
040653,000383: 30,3352 00006 EXTEND
040654,000384: 30,3353 70740 MP SINCDUZ
040655,000385: 30,3354 20001 DDOUBL
040656,000386: 30,3355 27641 ADS OMEGAPD
040657,000387: 30,3356 27641 ADS OMEGAPD
040658,000388:
040659,000389: 30,3357 41674 CS -DELGMB +1
040660,000390: 30,3360 00006 EXTEND
040661,000391: 30,3361 70750 MP COSCDUX
040662,000392: 30,3362 20001 DDOUBL
040663,000393: 30,3363 00006 EXTEND
040664,000394: 30,3364 70746 MP COSCDUZ
040665,000395: 30,3365 55642 TS OMEGAQD
040666,000396: 30,3366 41675 CS -DELGMB +2
040667,000397: 30,3367 00006 EXTEND
040668,000398: 30,3370 70742 MP SINCDUX
040669,000399: 30,3371 27642 ADS OMEGAQD
040670,000400: 30,3372 27642 ADS OMEGAQD
040671,000401: 30,3373 27642 ADS OMEGAQD
040672,000402:
040673,000403: 30,3374 31674 CA -DELGMB +1
040674,000404: 30,3375 00006 EXTEND
040675,000405: 30,3376 70742 MP SINCDUX
040676,000406: 30,3377 20001 DDOUBL
040677,000407: 30,3400 00006 EXTEND
040678,000408: 30,3401 70746 MP COSCDUZ
040679,000409: 30,3402 55643 TS OMEGARD
040680,000410: 30,3403 41675 CS -DELGMB +2
040681,000411: 30,3404 00006 EXTEND
040682,000412: 30,3405 70750 MP COSCDUX
040683,000413: 30,3406 27643 ADS OMEGARD
040684,000414: 30,3407 27643 ADS OMEGARD
040685,000415: 30,3410 27643 ADS OMEGARD
040686,000416:
|
|
Page 917 |
040688,000418: # FINAL TRANSFER
040689,000419:
040690,000420: 30,3411 34752 CA TWO
040691,000421: 30,3412 54142 CDUWXFR TS TEM2
040692,000422: 30,3413 50142 INDEX TEM2
040693,000423: 30,3414 31673 CA -DELGMB
040694,000424: 30,3415 00006 EXTEND
040695,000425: 30,3416 73745 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
040696,000426: 30,3417 03714 TC ONESTO2S
040697,000427: 30,3420 50142 INDEX TEM2
040698,000428: 30,3421 55636 TS DELCDUX # ANGLE INTERFACE
040699,000429:
040700,000430: 30,3422 50142 INDEX TEM2
040701,000431: 30,3423 11641 CCS OMEGAPD
040702,000432: 30,3424 64753 AD ONE
040703,000433: 30,3425 13427 TCF +2
040704,000434: 30,3426 64753 AD ONE
040705,000435: 30,3427 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
040706,000436: 30,3430 50142 INDEX TEM2
040707,000437: 30,3431 71641 MP OMEGAPD
040708,000438: 30,3432 00006 EXTEND
040709,000439: 30,3433 74741 MP BIT11 # 1/16
040710,000440: 30,3434 00006 EXTEND
040711,000441: 30,3435 50142 INDEX TEM2 # 2
040712,000442: 30,3436 11530 DV 1JACC # UNITS PI/4 RAD/SEC
040713,000443: 30,3437 54001 TS L
040714,000444: 30,3440 33742 CA DELERLIM
040715,000445: 30,3441 03700 TC LIMITSUB
040716,000446: 30,3442 50142 INDEX TEM2
040717,000447: 30,3443 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040718,000448: 30,3444 10142 CCS TEM2
040719,000449: 30,3445 13412 TCF CDUWXFR
040720,000450:
040721,000451: # HAUSKEEPING AND RETURN
040722,000452:
040723,000453: 30,3446 31644 TCQCDUW CA ECDUWUSR
040724,000454: 30,3447 54003 TS EBANK # RETURN USER'S EBANK
040725,000455:
040726,000456: 30,3450 06036 TC INTPRET
040727,000457: 30,3451 52001 SETPD GOTO
040728,000458: 30,3452 00001 0
040729,000459: 30,3453 03245 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
040730,000460:
|
|
Page 918 |
040732,000462: # THRUST VECTOR FILTER SUBROUTINE
040733,000463:
040734,000464: 30,3454 00006 FLTRSUB EXTEND
040735,000465: 30,3455 22142 QXCH TEM2
040736,000466: 30,3456 54143 TS TEM3 # SAVE ORIGINAL OFFSET
040737,000467: 30,3457 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040738,000468: 30,3460 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
040739,000469: 30,3461 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
040740,000470: 30,3462 51646 INDEX NDXCDUW
040741,000471: 30,3463 73733 MP GAINFLTR
040742,000472: 30,3464 54001 TS L # INCR TO OFFSET, UNLIMITED
040743,000473: 30,3465 33735 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
040744,000474: 30,3466 03700 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
040745,000475: 30,3467 60143 AD TEM3 # ORIGINAL OFFSET
040746,000476: 30,3470 54001 TS L # TOTAL OFFSET, UNLIMITED
040747,000477: 30,3471 33736 CA UNFVLIM # SAME LIMIT FOR Y AND Z
040748,000478: 30,3472 03700 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
040749,000479: 30,3473 00142 TC TEM2
040750,000480:
040751,000481: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040752,000482:
040753,000483: 30,3474 63441 UNWCTEST DOT DSQ
040754,000484: 30,3475 00001 UNX/2
040755,000485: 30,3476 50025 DSU BMN
040756,000486: 30,3477 21740 DOTSWFMX
040757,000487: 30,3500 61203 DCMCL
040758,000488: 30,3501 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040759,000489: 30,3502 03250 FLAGOODW # ZEROING WINDOW GOOD FLAG
040760,000490: 30,3503 00000 0
040761,000491:
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|
Page 919 |
040763,000493: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
040764,000494: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
040765,000495:
040766,000496: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
040767,000497:
040768,000498: 30,3504 63545 NB2CDUSP DLOAD DSQ
040769,000499: 30,3505 00003 2
040770,000500: 30,3506 51021 BDSU BPL
040771,000501: 30,3507 06414 DP1/4TH
040772,000502: 30,3510 61513 +3
040773,000503: 30,3511 77745 DLOAD
040774,000504: 30,3512 06424 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
040775,000505: 30,3513 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
040776,000506:
040777,000507: 30,3514 00006 EXTEND
040778,000508: 30,3515 30155 DCA MPAC
040779,000509: 30,3516 20001 DDOUBL
040780,000510: 30,3517 54145 TS TEM5
040781,000511: 30,3520 13523 TCF +3
040782,000512: 30,3521 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
040783,000513: 30,3522 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
040784,000514:
040785,000515: 30,3523 50120 INDEX FIXLOC
040786,000516: 30,3524 30002 CA 2
040787,000517: 30,3525 22154 LXCH MPAC
040788,000518: 30,3526 03573 TC ARCTRGSP
040789,000519: 30,3527 54156 TS MPAC +2 # CDUZ
040790,000520:
040791,000521: 30,3530 34755 CA ZERO
040792,000522: 30,3531 03551 TC DVBYCOSM
040793,000523: 30,3532 34751 CA FOUR
040794,000524: 30,3533 03551 TC DVBYCOSM
040795,000525: 30,3534 40141 CS TEM1
040796,000526: 30,3535 03573 TC ARCTRGSP
040797,000527: 30,3536 54155 TS MPAC +1 # CDUY
040798,000528:
040799,000529: 30,3537 34750 CA BIT4
040800,000530: 30,3540 03551 TC DVBYCOSM
040801,000531: 30,3541 33550 CA 16OCT
040802,000532: 30,3542 03551 TC DVBYCOSM
040803,000533: 30,3543 40141 CS TEM1
040804,000534: 30,3544 03573 TC ARCTRGSP
040805,000535: 30,3545 54154 TS MPAC # CDUX
040806,000536:
040807,000537: 30,3546 06036 TC INTPRET
040808,000538: 30,3547 77616 RVQ
040809,000539:
040810,000540: 30,3550 00016 16OCT OCT 16
040811,000541:
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|
Page 920 |
040813,000543: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040814,000544: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040815,000545: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
040816,000546: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040817,000547: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040818,000548: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040819,000549: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040820,000550:
040821,000551: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040822,000552: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040823,000553: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
040824,000554: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040825,000555:
040826,000556: 30,3551 60120 DVBYCOSM AD FIXLOC
040827,000557: 30,3552 54116 TS ADDRWD # ADRES OF OPERAND
040828,000558:
040829,000559: 30,3553 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
040830,000560: 30,3554 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
040831,000561: 30,3555 00006 EXTEND
040832,000562: 30,3556 63560 BZMF +2
040833,000563: 30,3557 40000 COM
040834,000564: 30,3560 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040835,000565: 30,3561 00006 EXTEND
040836,000566: 30,3562 63570 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
040837,000567:
040838,000568: 30,3563 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
040839,000569: 30,3564 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
040840,000570: 30,3565 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
040841,000571: 30,3566 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
040842,000572: 30,3567 10145 DV TEM5
040843,000573: 30,3570 54001 TSL&TCQ TS L
040844,000574: 30,3571 22141 LXCH TEM1
040845,000575: 30,3572 00002 TC Q
040846,000576:
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|
Page 921 |
040848,000578: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040849,000579: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040850,000580: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040851,000581:
040852,000582: 30,3573 00006 ARCTRGSP EXTEND
040853,000583: 30,3574 13636 BZF SINZERO # TO AVOID DIVIDING BY ZERO
040854,000584:
040855,000585: 30,3575 00006 EXTEND
040856,000586: 30,3576 22144 QXCH TEM4
040857,000587: 30,3577 54142 TS TEM2
040858,000588: 30,3600 30001 CA L
040859,000589: 30,3601 54143 TS TEM3
040860,000590: 30,3602 34755 CA ZERO
040861,000591: 30,3603 00006 EXTEND
040862,000592: 30,3604 10142 DV TEM2
040863,000593: 30,3605 00006 EXTEND
040864,000594: 30,3606 13625 BZF USECOS
040865,000595:
040866,000596: 30,3607 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
040867,000597: 30,3610 34755 CA ZERO
040868,000598: 30,3611 13615 TCF +4
040869,000599: 30,3612 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
040870,000600: 30,3613 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
040871,000601: 30,3614 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
040872,000602: 30,3615 54143 TS TEM3 # WE NO LONGER NEED COS
040873,000603: 30,3616 30142 CA TEM2
040874,000604: 30,3617 03643 TC SPARCSIN -1
040875,000605: 30,3620 03714 TC ONESTO2S
040876,000606: 30,3621 00006 EXTEND
040877,000607: 30,3622 20143 MSU TEM3
040878,000608: 30,3623 03714 1TO2&TCQ TC ONESTO2S
040879,000609: 30,3624 00144 TC TEM4
040880,000610:
040881,000611: 30,3625 40143 USECOS CS TEM3 # COS IS SMALLER
040882,000612: 30,3626 03643 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
040883,000613: 30,3627 64736 AD HALF
040884,000614: 30,3630 54143 TS TEM3 # WE NO LONGER NEED COS
040885,000615: 30,3631 10142 CCS TEM2
040886,000616: 30,3632 30143 CA TEM3
040887,000617: 30,3633 13623 TCF 1TO2&TCQ
040888,000618: 30,3634 40143 CS TEM3
040889,000619: 30,3635 13623 TCF 1TO2&TCQ
040890,000620:
040891,000621: 30,3636 10001 SINZERO CCS L
040892,000622: 30,3637 34755 CA ZERO
040893,000623: 30,3640 00002 TC Q
040894,000624: 30,3641 34735 CA NEGMAX # PI, 2'S COMP
040895,000625: 30,3642 00002 TC Q
040896,000626:
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|
Page 922 |
040898,000628: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040899,000629: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
040900,000630: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040901,000631: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
040902,000632:
040903,000633: 30,3643 60000 DOUBLE
040904,000634: 30,3644 54021 SPARCSIN TS SR
040905,000635: 30,3645 13651 TCF +4
040906,000636: 30,3646 50000 INDEX A
040907,000637: 30,3647 44734 CS LIMITS
040908,000638: 30,3650 54021 TS SR
040909,000639: 30,3651 00006 EXTEND
040910,000640: 30,3652 70000 MP A
040911,000641: 30,3653 54141 TS TEM1
040912,000642: 30,3654 00006 EXTEND
040913,000643: 30,3655 73677 MP DPL9
040914,000644: 30,3656 63676 AD DPL7
040915,000645: 30,3657 00006 EXTEND
040916,000646: 30,3660 70141 MP TEM1
040917,000647: 30,3661 63675 AD DPL5
040918,000648: 30,3662 00006 EXTEND
040919,000649: 30,3663 70141 MP TEM1
040920,000650: 30,3664 63674 AD DPL3
040921,000651: 30,3665 00006 EXTEND
040922,000652: 30,3666 70141 MP TEM1
040923,000653: 30,3667 63673 AD DPL1
040924,000654: 30,3670 00006 EXTEND
040925,000655: 30,3671 70021 MP SR
040926,000656: 30,3672 00002 TC Q
040927,000657: 30,3673 24406 DPL1 DEC 10502 B-14
040928,000658: 30,3674 00660 DPL3 DEC 432 B-14
040929,000659: 30,3675 16204 DPL5 DEC 7300 B-14
040930,000660: 30,3676 50744 DPL7 DEC -11803 B-14
040931,000661: 30,3677 20315 DPL9 DEC 8397 B-14
040932,000662:
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|
Page 923 |
040934,000664: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040935,000665: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040936,000666: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040937,000667:
040938,000668: # VERSION COURTESY HUGH BLAIR-SMITH
040939,000669:
040940,000670: 30,3700 54141 LIMITSUB TS TEM1
040941,000671: 30,3701 34755 CA ZERO
040942,000672: 30,3702 00006 EXTEND
040943,000673: 30,3703 10141 DV TEM1
040944,000674: 30,3704 10000 CCS A
040945,000675: 30,3705 22141 LXCH TEM1
040946,000676: 30,3706 13710 TCF +2
040947,000677: 30,3707 13712 TCF +3
040948,000678: 30,3710 30001 CA L
040949,000679: 30,3711 00002 TC Q
040950,000680: 30,3712 40141 CS TEM1
040951,000681: 30,3713 00002 TC Q
040952,000682:
040953,000683: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040954,000684:
040955,000685: 30,3714 10000 ONESTO2S CCS A
040956,000686: 30,3715 64753 AD ONE
040957,000687: 30,3716 00002 TC Q
040958,000688: 30,3717 40000 CS A
040959,000689: 30,3720 00002 TC Q
040960,000690:
040961,000691: # NO ATTITUDE CONTROL
040962,000692:
040963,000693: 30,3721 05567 NOATTCNT TC ALARM
040964,000694: 30,3722 00402 OCT 00402 # NO ATTITUDE CONTROL
040965,000695:
040966,000696: 30,3723 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
040967,000697: 30,3724 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
040968,000698: 30,3725 40165 FCADR STOPRATE
040969,000699: 30,3726 13446 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
040970,000700:
040971,000701: # MIDDLE GIMBAL ANGLE ALARM
040972,000702:
040973,000703: 30,3727 05567 ALARMMGA TC ALARM
040974,000704: 30,3730 00401 OCT 00401
040975,000705: 30,3731 13246 TCF MGARET
040976,000706:
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|
Page 924 |
040978,000708: # ************************************************************************
040979,000709: # CONSTANTS
040980,000710: # ************************************************************************
040981,000711:
040982,000712: # ADDRESS CONSTANTS
040983,000713:
040984,000714: 30,3732 03244 ECDUWL ECADR ECDUW
040985,000715:
040986,000716: # THRUST DIRECTION FILTER CONSTANTS
040987,000717:
040988,000718: 30,3733 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
040989,000719: 30,3734 03146 DEC .1 # GAIN FILTER WITH CSM
040990,000720:
040991,000721: 30,3735 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040992,000722: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
040993,000723:
040994,000724: 30,3736 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
040995,000725: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040996,000726:
040997,000727: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
040998,000728:
040999,000729: 30,3737 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
041000,000730: # LOWER PART COMES FROM NEXT CONSTANT
041001,000731:
041002,000732: 30,3740 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
041003,000733: 30,3741 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
041004,000734:
041005,000735: 30,3742 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
041006,000736: 30,3743 00133 DEC .0055555555
041007,000737:
041008,000738: 30,3744 30,3740 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
041009,000739:
041010,000740: 30,3744 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
041011,000741:
041012,000742: # CONSTANTS FOR DATA TRANSFER
041013,000743:
041014,000744: 30,3745 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
041015,000745: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
041016,000746:
041017,000747: 30,3746 30,3742 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
041018,000748:
041019,000749:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc