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
|
|
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. |
014701,000002: ## Copyright: Public domain.
014702,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
014703,000004: ## Purpose: The main source file for Luminary revision 069.
014704,000005: ## It is part of the source code for the original release
014705,000006: ## of the flight software for the Lunar Module's (LM) Apollo
014706,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
014707,000008: ## version was Luminary 69 revision 2, which included a
014708,000009: ## newer lunar gravity model and only affected module 2.
014709,000010: ## This file is intended to be a faithful transcription, except
014710,000011: ## that the code format has been changed to conform to the
014711,000012: ## requirements of the yaYUL assembler rather than the
014712,000013: ## original YUL assembler.
014713,000014: ## Reference: pp. 339-350
014714,000015: ## Assembler: yaYUL
014715,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014716,000017: ## Website: www.ibiblio.org/apollo/index.html
014717,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
014718,000019: ## 2016-12-14 MAS Updated from comment-proofed Luminary 99 version.
014719,000020: ## 2017-01-19 RRB Updated for Luminary 69.
014720,000021: ## 2017-01-25 RSB Proofed comment text using octopus/prooferComments
014721,000022: ## and fixed errors found.
014722,000023: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014723,000024:
|
|
Page 339 |
014725,000026: 07,2667 BANK 7
014726,000027: 06,2000 SETLOC IMUCOMP
014727,000028: 06,2000 BANK
014728,000029:
014729,000030: 06,3263 E3,1460 EBANK= NBDX
014730,000031:
014731,000032: 06,3263 COUNT* $$/ICOMP
014732,000033: 06,3263 33531 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
014733,000034: 06,3264 56003 XCH EBANK
014734,000035: 06,3265 54163 TS MODE
014735,000036:
014736,000037: 06,3266 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014737,000038: 06,3267 13272 TCF +3
014738,000039: 06,3270 13272 TCF +2
014739,000040: 06,3271 13353 TCF IRIG1 # RETURN
014740,000041:
014741,000042: 06,3272 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014742,000043: 06,3273 54132 TS BUF +2
014743,000044:
014744,000045: 06,3274 50132 INDEX BUF +2
014745,000046: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
014746,000047: 06,3276 00006 EXTEND
014747,000048: 06,3277 50132 INDEX BUF +2
014748,000049: 06,3300 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
014749,000050: 06,3301 54002 TS Q # SAVE MAJOR PART
014750,000051:
014751,000052: 06,3302 30001 CA L # MINOR PART
014752,000053: 06,3303 00006 EXTEND
014753,000054: 06,3304 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014754,000055: 06,3305 50132 INDEX BUF +2
014755,000056: 06,3306 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
014756,000057:
014757,000058: 06,3307 30002 CA Q # MAJOR PART
014758,000059: 06,3310 00006 EXTEND
014759,000060: 06,3311 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
014760,000061: 06,3312 50132 INDEX BUF +2
014761,000062: 06,3313 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
014762,000063:
|
|
Lines from here to the bottom of the page angle and start to overlap. The code until the MP BIT4 is legible.
It is assumed that the illegible portions are identical to their Luminary 99 counterparts. - RRB 2017
The comments are legible, except that the last line is rather tricky, and can be verified directly. - RSB 2017 |
014766,000067: 06,3314 50132 INDEX BUF +2
014767,000068: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) *
014768,000069: 06,3316 00006 EXTEND
014769,000070: 06,3317 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3) *
014770,000071: 06,3320 00006 EXTEND
014771,000072: 06,3321 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
014772,000073: 06,3322 50132 INDEX BUF +2
014773,000074: 06,3323 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
014774,000075:
014775,000076: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
014776,000077: 06,3325 67746 AD NEG1
014777,000078: 06,3326 13273 TCF 1/PIPA1 +1
|
|
Page 340 |
014779,000080: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE
014780,000081:
|
|
Page 341 |
014782,000083: 06,3330 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014783,000084: 06,3331 54130 TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
014784,000085:
014785,000086: 06,3332 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS
014786,000087:
014787,000088: 06,3333 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014788,000089: 06,3334 03454 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014789,000090:
014790,000091: 06,3335 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS
014791,000092:
014792,000093: 06,3336 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
014793,000094: 06,3337 03454 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014794,000095:
014795,000096: 06,3340 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014796,000097:
014797,000098: 06,3341 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014798,000099: 06,3342 03454 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014799,000100:
014800,000101: 06,3343 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014801,000102: 06,3344 13346 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
014802,000103: 06,3345 13353 TCF IRIG1 # NO RETURN
014803,000104:
014804,000105: 06,3346 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
014805,000106: 06,3347 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
014806,000107: 06,3350 E3,1460 EBANK= NBDX
014807,000108: 06,3350 03507 14063 2CADR 1/GYRO
014808,000109:
014809,000110: 06,3352 00003 RELINT
014810,000111: 06,3353 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
014811,000112: 06,3354 54003 TS EBANK
014812,000113: 06,3355 14631 TCF SWRETURN
014813,000114:
|
|
Page 342 |
014815,000116: 06,3356 00006 IRIGX EXTEND
014816,000117: 06,3357 22156 QXCH MPAC +2 # SAVE Q
014817,000118: 06,3360 00006 EXTEND
014818,000119: 06,3361 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
014819,000120: 06,3362 52155 DXCH MPAC
014820,000121: 06,3363 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014821,000122: 06,3364 03425 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
014822,000123:
014823,000124: 06,3365 00006 EXTEND #
014824,000125: 06,3366 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014825,000126: 06,3367 52155 DXCH MPAC #
014826,000127: 06,3370 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014827,000128: 06,3371 03425 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
014828,000129:
014829,000130: # EXTEND ***
014830,000131: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
014831,000132: # DXCH MPAC ***
014832,000133: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014833,000134: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
014834,000135:
014835,000136: 06,3372 00156 TC MPAC +2
014836,000137:
014837,000138: 06,3373 00006 IRIGY EXTEND
014838,000139: 06,3374 22156 QXCH MPAC +2 # SAVE Q
014839,000140: 06,3375 00006 EXTEND
014840,000141: 06,3376 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014841,000142: 06,3377 52155 DXCH MPAC
014842,000143: 06,3400 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014843,000144: 06,3401 03425 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
014844,000145:
014845,000146: 06,3402 00006 EXTEND
014846,000147: 06,3403 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014847,000148: 06,3404 52155 DXCH MPAC
014848,000149: 06,3405 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014849,000150: 06,3406 03425 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
014850,000151:
014851,000152: # EXTEND ***
014852,000153: # DCS DELVX *** (PIPA PULSES) X 2(+14)
014853,000154: # DXCH MPAC ***
014854,000155: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014855,000156: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
014856,000157:
014857,000158: 06,3407 00156 TC MPAC +2
014858,000159:
014859,000160: 06,3410 00006 IRIGZ EXTEND
014860,000161: 06,3411 22156 QXCH MPAC +2 # SAVE Q
014861,000162: 06,3412 00006 EXTEND
014862,000163: 06,3413 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014863,000164: 06,3414 52155 DXCH MPAC
014864,000165: 06,3415 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
|
|
Page 343 |
014866,000167: 06,3416 03425 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
014867,000168:
014868,000169: 06,3417 00006 EXTEND
014869,000170: 06,3420 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014870,000171: 06,3421 52155 DXCH MPAC
014871,000172: 06,3422 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014872,000173: 06,3423 03425 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
014873,000174:
014874,000175: # EXTEND ***
014875,000176: # DCS DELVX *** (PIPA PULSE) X 2(+14)
014876,000177: # DXCH MPAC ***
014877,000178: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014878,000179: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
014879,000180:
014880,000181: 06,3424 00156 TC MPAC +2
014881,000182:
|
|
Page 344 |
014883,000184: 06,3425 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014884,000185: 06,3426 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
014885,000186: 06,3427 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014886,000187: 06,3430 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
014887,000188:
014888,000189: 06,3431 30155 CA MPAC +1 # MINOR PART PIPA PULSES
014889,000190: 06,3432 00006 EXTEND
014890,000191: 06,3433 70154 MP MPAC # ADIA OR ADSRA
014891,000192: 06,3434 54001 TS L
014892,000193: 06,3435 34755 CAF ZERO
014893,000194: 06,3436 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
014894,000195:
014895,000196: 06,3437 30122 CA VBUF # PARTIAL RESULT - MAJOR
014896,000197: 06,3440 00006 EXTEND
014897,000198: 06,3441 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014898,000199: 06,3442 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014899,000200: 06,3443 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
014900,000201:
014901,000202: 06,3444 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
014902,000203: 06,3445 00006 EXTEND
014903,000204: 06,3446 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014904,000205: 06,3447 54001 TS L
014905,000206: 06,3450 34755 CAF ZERO
014906,000207: 06,3451 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014907,000208: 06,3452 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
014908,000209:
014909,000210: 06,3453 00002 TC Q
014910,000211:
|
|
Page 345 |
014912,000213: 06,3454 00006 DRIFTSUB EXTEND
014913,000214: 06,3455 22131 QXCH BUF +1
014914,000215:
014915,000216: 06,3456 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
014916,000217: 06,3457 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
014917,000218: 06,3460 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
014918,000219: 06,3461 00006 EXTEND
014919,000220: 06,3462 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014920,000221: 06,3463 50130 INDEX BUF
014921,000222: 06,3464 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014922,000223:
014923,000224: 06,3465 30155 CA MPAC +1 # NOW MINOR PART
014924,000225: 06,3466 00006 EXTEND
014925,000226: 06,3467 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014926,000227: 06,3470 54001 TS L
014927,000228: 06,3471 34755 CAF ZERO
014928,000229: 06,3472 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
014929,000230: 06,3473 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014930,000231:
014931,000232: 06,3474 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
014932,000233: 06,3475 60130 AD BUF
014933,000234: 06,3476 56130 XCH BUF
014934,000235: 06,3477 50000 INDEX A
014935,000236: 06,3500 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
014936,000237: 06,3501 13503 TCF +2 # YES
014937,000238: 06,3502 00131 TC BUF +1 # NO
014938,000239:
014939,000240: 06,3503 73553 MASK COMPCHK # DEC -1
014940,000241: 06,3504 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014941,000242: 06,3505 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
014942,000243: 06,3506 00131 TC BUF +1 # NO
014943,000244:
|
|
Page 346 |
014945,000246: 06,3507 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
014946,000247: 06,3510 54130 TS BUF
014947,000248:
014948,000249: 06,3511 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
014949,000250: 06,3512 31472 CA GCOMP +1 # FRACTIONAL PULSES
014950,000251: 06,3513 00006 EXTEND
014951,000252: 06,3514 74744 MP BIT8 # SHIFT RIGHT 7
014952,000253: 06,3515 50130 INDEX BUF
014953,000254: 06,3516 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
014954,000255:
014955,000256: 06,3517 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
014956,000257: 06,3520 50130 INDEX BUF
014957,000258: 06,3521 57471 XCH GCOMP # GYRO PULSES
014958,000259: 06,3522 00006 EXTEND
014959,000260: 06,3523 74744 MP BIT8 # SHIFT RIGHT 7
014960,000261: 06,3524 50130 INDEX BUF
014961,000262: 06,3525 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
014962,000263:
014963,000264: 06,3526 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014964,000265: 06,3527 67746 AD NEG1
014965,000266: 06,3530 13510 TCF 1/GYRO +1
014966,000267: 06,3531 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
014967,000268:
014968,000269: 06,3532 33531 CAF LGCOMP
014969,000270: 06,3533 04616 TC BANKCALL
014970,000271: 06,3534 17276 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
014971,000272: 06,3535 04616 TC BANKCALL
014972,000273: 06,3536 17671 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
014973,000274: 06,3537 15155 TCF ENDOFJOB # TEMPORARY
014974,000275:
014975,000276: 06,3540 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014976,000277: 06,3541 54130 TS BUF
014977,000278:
014978,000279: 06,3542 50130 INDEX BUF # RESCALE
014979,000280: 06,3543 31472 CA GCOMP +1
014980,000281: 06,3544 00006 EXTEND
014981,000282: 06,3545 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
014982,000283: 06,3546 50130 INDEX BUF
014983,000284: 06,3547 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
014984,000285:
014985,000286: 06,3550 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014986,000287: 06,3551 67746 AD NEG1
014987,000288: 06,3552 13541 TCF GCOMP1 +1
014988,000289: 06,3553 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
014989,000290: 06,3554 15155 TCF ENDOFJOB
014990,000291:
|
|
Page 347 |
014992,000293: 06,3555 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014993,000294: 06,3556 13561 TCF +3
014994,000295: 06,3557 13561 TCF +2
014995,000296: 06,3560 15155 TCF ENDOFJOB
014996,000297:
014997,000298: 06,3561 00004 INHINT
014998,000299: 06,3562 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
014999,000300: 06,3563 15155 TCF ENDOFJOB
015000,000301: 06,3564 15155 TCF ENDOFJOB
015001,000302: 06,3565 13566 TCF +1
015002,000303:
015003,000304: 06,3566 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
015004,000305: 06,3567 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
015005,000306: 06,3570 54141 TS TEM1 # WILL BE COMPENSATED.
015006,000307: 06,3571 00006 EXTEND
015007,000308: 06,3572 13575 BZF +3 # ARE WE ON THE SURFACE
015008,000309:
015009,000310: 06,3573 04674 TC IBNKCALL # ON THE SURFACE
015010,000311: 06,3574 77533 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
015011,000312:
015012,000313: 06,3575 30025 CA TIME1 # (CS) X 2(+14)
015013,000314: 06,3576 57075 XCH 1/PIPADT # PREVIOUS TIME
015014,000315: 06,3577 00003 RELINT
015015,000316: 06,3600 40000 COM
015016,000317: 06,3601 61075 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
015017,000318: 06,3602 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
015018,000319: 06,3603 64736 AD HALF
015019,000320: 06,3604 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
015020,000321: 06,3605 56001 XCH L # OVERFLOW.
015021,000322:
015022,000323: 06,3606 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
015023,000324: 06,3607 74742 MP BIT10 # SHIFT RIGHT 5
015024,000325: 06,3610 52125 DXCH VBUF +2
015025,000326:
015026,000327: 06,3611 34755 CA ZERO
015027,000328: 06,3612 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
015028,000329: 06,3613 54130 TS BUF # INDEX X, Y, Z.
015029,000330:
015030,000331: 06,3614 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015031,000332: 06,3615 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS.
015032,000333:
015033,000334: 06,3616 00006 EXTEND
015034,000335: 06,3617 30125 DCA VBUF +2
015035,000336: 06,3620 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
015036,000337:
015037,000338: 06,3621 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
015038,000339: 06,3622 03644 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
015039,000340:
015040,000341: 06,3623 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015041,000342: 06,3624 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS.
|
|
Page 348 |
015043,000344: 06,3625 00006 EXTEND
015044,000345: 06,3626 40125 DCS VBUF +2
015045,000346: 06,3627 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015046,000347: 06,3630 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
015047,000348: 06,3631 03644 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
015048,000349:
015049,000350: 06,3632 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
015050,000351: 06,3633 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
015051,000352:
015052,000353: 06,3634 00006 EXTEND
015053,000354: 06,3635 40125 DCS VBUF +2
015054,000355: 06,3636 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
015055,000356: 06,3637 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
015056,000357: 06,3640 03644 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
015057,000358:
015058,000359: 06,3641 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
015059,000360: 06,3642 13507 TCF 1/GYRO # YES
015060,000361: 06,3643 15155 TCF ENDOFJOB # NO
015061,000362:
|
|
Page 349 |
015063,000364: 06,3644 56002 FBIASSUB XCH Q
015064,000365: 06,3645 54131 TS BUF +1
015065,000366:
015066,000367: 06,3646 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
015067,000368: 06,3647 00006 EXTEND
015068,000369: 06,3650 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
015069,000370: 06,3651 50130 INDEX BUF
015070,000371: 06,3652 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015071,000372:
015072,000373: 06,3653 30002 CA Q # NOW FRACTIONAL PART
015073,000374: 06,3654 00006 EXTEND
015074,000375: 06,3655 70155 MP MPAC +1
015075,000376: 06,3656 54001 TS L
015076,000377: 06,3657 34755 CAF ZERO
015077,000378: 06,3660 50130 INDEX BUF
015078,000379: 06,3661 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
015079,000380:
015080,000381: 06,3662 13474 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
015081,000382:
015082,000383: 06,3663 04616 LASTBIAS TC BANKCALL
015083,000384: 06,3664 17252 CADR PIPUSE1
015084,000385:
015085,000386: 06,3665 11477 CCS GCOMPSW
015086,000387: 06,3666 13671 TCF +3
015087,000388: 06,3667 13671 TCF +2
015088,000389: 06,3670 15155 TCF ENDOFJOB
015089,000390:
015090,000391: 06,3671 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
015091,000392: 06,3672 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
015092,000393: 06,3673 54141 TS TEM1 # WILL BE COMPENSATED.
015093,000394:
015094,000395: 06,3674 37715 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
015095,000396: 06,3675 57075 XCH 1/PIPADT
015096,000397: 06,3676 40000 COM
015097,000398: 06,3677 61235 AD PIPTIME +1
015098,000399: 06,3700 13602 TCF NBD2
015099,000400:
015100,000401: 06,3701 33531 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
015101,000402: 06,3702 56003 XCH EBANK # CALL TO 1/PIPA
015102,000403: 06,3703 54163 TS MODE
015103,000404:
015104,000405: 06,3704 34755 CAF ZERO
015105,000406: 06,3705 55477 TS GCOMPSW
015106,000407: 06,3706 55471 TS GCOMP
015107,000408: 06,3707 55472 TS GCOMP +1
015108,000409: 06,3710 55473 TS GCOMP +2
015109,000410: 06,3711 55474 TS GCOMP +3
015110,000411: 06,3712 55475 TS GCOMP +4
|
|
Page 350 |
015112,000413: 06,3713 55476 TS GCOMP +5
015113,000414:
015114,000415: 06,3714 13353 TCF IRIG1 # RESTORE EBANK AND RETURN
015115,000416:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc