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. |
061470,000002: ## Copyright: Public domain.
061471,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
061472,000004: ## Purpose: The main source file for Luminary revision 069.
061473,000005: ## It is part of the source code for the original release
061474,000006: ## of the flight software for the Lunar Module's (LM) Apollo
061475,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
061476,000008: ## version was Luminary 69 revision 2, which included a
061477,000009: ## newer lunar gravity model and only affected module 2.
061478,000010: ## This file is intended to be a faithful transcription, except
061479,000011: ## that the code format has been changed to conform to the
061480,000012: ## requirements of the yaYUL assembler rather than the
061481,000013: ## original YUL assembler.
061482,000014: ## Reference: pp. 1416-1435
061483,000015: ## Assembler: yaYUL
061484,000016: ## Contact: Ron Burkey <info@sandroid.org>.
061485,000017: ## Website: www.ibiblio.org/apollo/index.html
061486,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
061487,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
061488,000020: ## 2017-01-05 RRB Updated for Luminary 69.
061489,000021: ## 2017-01-22 HG Add a "D" to opernad +8 -> +8D.
061490,000022: ## Should actually be changed in yaYul but it might be the only case of this
061491,000023: ## kind in the existing code
061492,000024: ## 2017-01-22 HG Fix operand DAPTREG4 -> ITEMP1
061493,000025: ## 2017-01-28 MAS Removed the +8D workaround.
061494,000026: ## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
061495,000027: ## but no errors found.
061496,000028: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
061497,000029: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
061498,000030: ## side-by-side diff of Luminary 69/99/116/131/210.
061499,000031: ## 2021-05-30 ABS "--1" -> " -1" to match scans and for
061500,000032: ## yaYUL compatibility.
061501,000033:
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Page 1416 |
061503,000035: 16,2210 BANK 16
061504,000036: 16,2000 SETLOC DAPS1
061505,000037: 16,2000 BANK
061506,000038:
061507,000039: 16,2210 E6,1462 EBANK= PERROR
061508,000040: 16,2210 COUNT* $$/DAPP
061509,000041:
061510,000042: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
061511,000043: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
061512,000044:
061513,000045: 16,2210 37726 PAXIS CA MS100
061514,000046: 16,2211 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
061515,000047: # CHRONIZATION WITH OTHER INTERRUPTS ***
061516,000048:
061517,000049: 16,2212 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
061518,000050: 16,2213 00006 EXTEND
061519,000051: 16,2214 22012 QXCH QRUPT
061520,000052:
061521,000053: # CHECK IF DAP PASS IS PERMISSIBLE
061522,000054:
061523,000055: 16,2215 11755 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
061524,000056: 16,2216 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
061525,000057: 16,2217 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
061526,000058:
061527,000059: 16,2220 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
061528,000060:
061529,000061: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
061530,000062:
061531,000063: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
061532,000064: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
061533,000065:
061534,000066: 16,2221 31633 CA CDUXD
061535,000067: 16,2222 00006 EXTEND
061536,000068: 16,2223 21636 MSU DELCDUX
061537,000069: 16,2224 02245 TC 1STOTWOS
061538,000070: 16,2225 55633 TS CDUXD
061539,000071: 16,2226 31634 CA CDUYD
061540,000072: 16,2227 00006 EXTEND
061541,000073: 16,2230 21637 MSU DELCDUY
061542,000074: 16,2231 02245 TC 1STOTWOS
061543,000075: 16,2232 55634 TS CDUYD
061544,000076: 16,2233 31635 CA CDUZD
061545,000077: 16,2234 00006 EXTEND
061546,000078: 16,2235 21640 MSU DELCDUZ
061547,000079: 16,2236 02245 TC 1STOTWOS
061548,000080: 16,2237 55635 TS CDUZD
061549,000081: 16,2240 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
061550,000082: 16,2241 27443 DIM TCP # TIME COUNTERS.
061551,000083: 16,2242 00006 EXTEND
061552,000084: 16,2243 27455 DIM TCQR
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Page 1417 |
061554,000086: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
061555,000087: # RETURNS TO BACKP.
061556,000088:
061557,000089: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
061558,000090: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
061559,000091: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
061560,000092:
061561,000093: 16,2244 13624 TCF RATELOOP
061562,000094: 16,2245 10000 1STOTWOS CCS A
061563,000095: 16,2246 64753 AD ONE
061564,000096: 16,2247 00002 TC Q
061565,000097: 16,2250 40000 CS A
061566,000098: 16,2251 00002 TC Q
061567,000099: 16,2252 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
061568,000100: 16,2253 71737 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
061569,000101: 16,2254 21425 DAS OMEGAU # OVERFLOW
061570,000102:
061571,000103: 16,2255 00006 +3 EXTEND
061572,000104: 16,2256 31425 DCA OMEGAU
061573,000105: 16,2257 53742 DXCH DAPTEMP5
061574,000106: 16,2260 11424 CCS OMEGAU
061575,000107: 16,2261 12263 TCF +2
061576,000108: 16,2262 12273 TCF DIVIDER
061577,000109: 16,2263 62304 AD -OCT630
061578,000110: 16,2264 00006 EXTEND
061579,000111: 16,2265 62273 BZMF DIVIDER
061580,000112:
061581,000113: 16,2266 11424 CCS OMEGAU
061582,000114: 16,2267 34733 CA POSMAX # 45 DEG/SEC
061583,000115: 16,2270 00002 TC Q
061584,000116: 16,2271 44733 CS POSMAX
061585,000117: 16,2272 00002 TC Q
061586,000118:
061587,000119: 16,2273 53425 DIVIDER DXCH OMEGAU
061588,000120: 16,2274 00006 EXTEND
061589,000121: 16,2275 10061 DV ITEMP1
061590,000122: 16,2276 00002 TC Q
061591,000123:
061592,000124: 16,2277 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061593,000125: 16,2300 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061594,000126: 16,2301 50000 INDEX A
061595,000127: 16,2302 44734 CS BIT15 -1
061596,000128: 16,2303 00002 TC Q
061597,000129:
061598,000130: 16,2304 77147 -OCT630 OCT 77147
061599,000131:
061600,000132: 16,2305 31735 BACKP CA DAPTEMP1
061601,000133: 16,2306 00006 EXTEND
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Page 1418 |
061603,000135: 16,2307 71530 MP 1JACC
061604,000136: 16,2310 55743 TS JETRATE
061605,000137:
061606,000138: # BEGINNING OF THE RATE DERIVATION
061607,000139: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
061608,000140: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
061609,000141: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
061610,000142: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
061611,000143: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
061612,000144: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
061613,000145: # OMEGAU DP-TEMPORARY STORAGE
061614,000146: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
061615,000147:
061616,000148: 16,2311 30032 CAE CDUX
061617,000149: 16,2312 54001 TS L
061618,000150: 16,2313 00006 EXTEND
061619,000151: 16,2314 21436 MSU OLDXFORP # SCALED AT PI
061620,000152: 16,2315 23436 LXCH OLDXFORP
061621,000153: 16,2316 55735 TS DAPTEMP1
061622,000154: 16,2317 33603 CA 1/40
061623,000155: 16,2320 54061 TS ITEMP1
061624,000156: 16,2321 41743 CS JETRATE
061625,000157: 16,2322 00006 EXTEND
061626,000158: 16,2323 74736 MP BIT14
061627,000159: 16,2324 27426 ADS TRAPEDP
061628,000160: 16,2325 31744 CA JETRATEQ
061629,000161: 16,2326 61545 AD AOSQTERM
061630,000162: 16,2327 00006 EXTEND
061631,000163: 16,2330 77735 MP -BIT14
061632,000164: 16,2331 27427 ADS TRAPEDQ
061633,000165: 16,2332 31745 CA JETRATER
061634,000166: 16,2333 61546 AD AOSRTERM
061635,000167: 16,2334 00006 EXTEND
061636,000168: 16,2335 77735 MP -BIT14
061637,000169: 16,2336 27430 ADS TRAPEDR
061638,000170:
061639,000171: 16,2337 30033 CA CDUY
061640,000172: 16,2340 54001 TS L
061641,000173: 16,2341 00006 EXTEND
061642,000174: 16,2342 21437 MSU OLDYFORP # SCALED AT PI
061643,000175: 16,2343 23437 LXCH OLDYFORP
061644,000176: 16,2344 55736 TS DAPTEMP2
061645,000177: 16,2345 00006 EXTEND
061646,000178: 16,2346 71412 MP M11 # M11 SCALED AT 1
061647,000179: 16,2347 61735 AD DAPTEMP1
061648,000180: 16,2350 53425 DXCH OMEGAU
061649,000181:
061650,000182: 16,2351 02255 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
061651,000183:
061652,000184: 16,2352 00006 EXTEND
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Page 1419 |
061654,000186: 16,2353 61417 SU OMEGAP
061655,000187: 16,2354 27426 ADS TRAPEDP
061656,000188: 16,2355 02277 TC OVERSUB
061657,000189: 16,2356 55426 TS TRAPEDP
061658,000190: 16,2357 00006 EXTEND
061659,000191: 16,2360 31742 DCA DAPTEMP5
061660,000192: 16,2361 21445 DAS DXERROR
061661,000193: 16,2362 41452 CS PLAST
061662,000194: 16,2363 00006 EXTEND
061663,000195: 16,2364 73603 MP 1/40
061664,000196: 16,2365 21445 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
061665,000197: 16,2366 30034 CA CDUZ
061666,000198: 16,2367 54001 TS L
061667,000199: 16,2370 00006 EXTEND
061668,000200: 16,2371 21440 MSU OLDZFORQ
061669,000201: 16,2372 55737 TS DAPTEMP3
061670,000202: 16,2373 23440 LXCH OLDZFORQ
061671,000203: 16,2374 31413 CA M21
061672,000204: 16,2375 00006 EXTEND
061673,000205: 16,2376 71736 MP DAPTEMP2
061674,000206: 16,2377 53425 DXCH OMEGAU
061675,000207: 16,2400 31415 CA M22
061676,000208: 16,2401 02252 TC SUBDIVDE
061677,000209:
061678,000210: 16,2402 00006 EXTEND
061679,000211: 16,2403 61420 SU OMEGAQ
061680,000212: 16,2404 27427 ADS TRAPEDQ
061681,000213: 16,2405 02277 TC OVERSUB
061682,000214: 16,2406 55427 TS TRAPEDQ
061683,000215: 16,2407 00006 EXTEND
061684,000216: 16,2410 31742 DCA DAPTEMP5
061685,000217: 16,2411 21447 DAS DYERROR
061686,000218: 16,2412 41453 CS QLAST
061687,000219: 16,2413 00006 EXTEND
061688,000220: 16,2414 73603 MP 1/40
061689,000221: 16,2415 21447 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
061690,000222: 16,2416 31414 CA M31
061691,000223: 16,2417 00006 EXTEND
061692,000224: 16,2420 71736 MP DAPTEMP2
061693,000225: 16,2421 53425 DXCH OMEGAU
061694,000226: 16,2422 31416 CA M32
061695,000227:
061696,000228: 16,2423 02252 TC SUBDIVDE
061697,000229:
061698,000230: 16,2424 00006 EXTEND
061699,000231: 16,2425 61421 SU OMEGAR
061700,000232: 16,2426 27430 ADS TRAPEDR
061701,000233: 16,2427 02277 TC OVERSUB
061702,000234: 16,2430 55430 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
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Page 1420 |
061704,000236: 16,2431 00006 EXTEND
061705,000237: 16,2432 31742 DCA DAPTEMP5
061706,000238: 16,2433 21451 DAS DZERROR
061707,000239: 16,2434 41454 CS RLAST
061708,000240: 16,2435 00006 EXTEND
061709,000241: 16,2436 73603 MP 1/40
061710,000242: 16,2437 21451 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
061711,000243: 16,2440 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
061712,000244: 16,2441 74737 MASK CSMDOCKD
061713,000245: 16,2442 00006 EXTEND
061714,000246: 16,2443 12451 BZF LMONLY
061715,000247: 16,2444 00006 EXTEND # DOCKED
061716,000248: 16,2445 31405 DCA DKOMEGAN
061717,000249: 16,2446 52062 DXCH ITEMP1
061718,000250: 16,2447 31403 CA DKTRAP
061719,000251: 16,2450 12455 TCF +5
061720,000252: 16,2451 00006 LMONLY EXTEND # UNDOCKED
061721,000253: 16,2452 31410 DCA LMOMEGAN
061722,000254: 16,2453 52062 DXCH ITEMP1
061723,000255: 16,2454 31406 CA LMTRAP
061724,000256: 16,2455 54063 +5 TS ITEMP3
061725,000257:
061726,000258: 16,2456 11426 CCS TRAPEDP
061727,000259: 16,2457 12461 TCF +2
061728,000260: 16,2460 12476 TCF SMALPDIF
061729,000261: 16,2461 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061730,000262: 16,2462 00006 EXTEND
061731,000263: 16,2463 62476 BZMF SMALPDIF
061732,000264: 16,2464 22007 ZL
061733,000265: 16,2465 23426 LXCH TRAPEDP
061734,000266: 16,2466 34755 CA ZERO
061735,000267: 16,2467 00006 EXTEND
061736,000268: 16,2470 11431 DV NPTRAPS
061737,000269: 16,2471 27417 ADS OMEGAP
061738,000270: 16,2472 02277 TC OVERSUB
061739,000271: 16,2473 55417 TS OMEGAP
061740,000272: 16,2474 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061741,000273: 16,2475 55431 TS NPTRAPS
061742,000274: 16,2476 25431 SMALPDIF INCR NPTRAPS
061743,000275: 16,2477 31743 P-RATE CA JETRATE
061744,000276: 16,2500 27417 ADS OMEGAP
061745,000277: 16,2501 02277 TC OVERSUB
061746,000278: 16,2502 55417 TS OMEGAP
061747,000279:
061748,000280: 16,2503 11427 CCS TRAPEDQ
061749,000281: 16,2504 12506 TCF +2
061750,000282: 16,2505 12533 TCF Q-RATE
061751,000283: 16,2506 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061752,000284: 16,2507 00006 EXTEND
061753,000285: 16,2510 62533 BZMF Q-RATE
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Page 1421 |
061755,000287: 16,2511 22007 ZL
061756,000288: 16,2512 23427 LXCH TRAPEDQ
061757,000289: 16,2513 34755 CA ZERO
061758,000290: 16,2514 00006 EXTEND
061759,000291: 16,2515 11432 DV NQTRAPS
061760,000292: 16,2516 55735 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
061761,000293: 16,2517 27420 ADS OMEGAQ
061762,000294: 16,2520 02277 TC OVERSUB
061763,000295: 16,2521 55420 TS OMEGAQ
061764,000296: 16,2522 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061765,000297: 16,2523 57432 XCH NQTRAPS
061766,000298: 16,2524 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
061767,000299: 16,2525 57735 XCH DAPTEMP1
061768,000300: 16,2526 00006 EXTEND
061769,000301: 16,2527 74756 MP FIVE
061770,000302: 16,2530 00006 EXTEND
061771,000303: 16,2531 11735 DV DAPTEMP1
061772,000304: 16,2532 27537 ADS AOSQ
061773,000305: 16,2533 25432 Q-RATE INCR NQTRAPS
061774,000306: 16,2534 31744 CA JETRATEQ
061775,000307: 16,2535 61545 AD AOSQTERM
061776,000308: 16,2536 27420 ADS OMEGAQ
061777,000309: 16,2537 02277 TC OVERSUB
061778,000310: 16,2540 55420 TS OMEGAQ
061779,000311:
061780,000312: 16,2541 11430 CCS TRAPEDR
061781,000313: 16,2542 12544 TCF +2
061782,000314: 16,2543 12571 TCF R-RATE
061783,000315: 16,2544 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061784,000316: 16,2545 00006 EXTEND
061785,000317: 16,2546 62571 BZMF R-RATE
061786,000318: 16,2547 22007 ZL
061787,000319: 16,2550 23430 LXCH TRAPEDR
061788,000320: 16,2551 34755 CA ZERO
061789,000321: 16,2552 00006 EXTEND
061790,000322: 16,2553 11433 DV NRTRAPS
061791,000323: 16,2554 55736 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
061792,000324: 16,2555 27421 ADS OMEGAR
061793,000325: 16,2556 02277 TC OVERSUB
061794,000326: 16,2557 55421 TS OMEGAR
061795,000327: 16,2560 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061796,000328: 16,2561 57433 XCH NRTRAPS
061797,000329: 16,2562 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
061798,000330: 16,2563 57736 XCH DAPTEMP2
061799,000331: 16,2564 00006 EXTEND
061800,000332: 16,2565 74756 MP FIVE
061801,000333: 16,2566 00006 EXTEND
061802,000334: 16,2567 11736 DV DAPTEMP2
061803,000335: 16,2570 27541 ADS AOSR
061804,000336: 16,2571 25433 R-RATE INCR NRTRAPS
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Page 1422 |
061806,000338: 16,2572 31745 CA JETRATER
061807,000339: 16,2573 61546 AD AOSRTERM
061808,000340: 16,2574 27421 ADS OMEGAR
061809,000341: 16,2575 02277 TC OVERSUB
061810,000342: 16,2576 55421 TS OMEGAR
061811,000343:
061812,000344: # END OF RATE DERIVATION
061813,000345: # BEGIN OFFSET ESTIMATER
061814,000346: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
061815,000347: # AOS = AOS + K*SUMRATE
061816,000348:
061817,000349: 16,2577 40111 CS DAPBOOLS
061818,000350: 16,2600 74744 MASK DRIFTBIT
061819,000351: 16,2601 10000 CCS A
061820,000352: 16,2602 12613 TCF WORKTIME
061821,000353: 16,2603 55422 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
061822,000354: 16,2604 55423 TS ALPHAR
061823,000355: 16,2605 55545 TS AOSQTERM
061824,000356: 16,2606 55546 TS AOSRTERM
061825,000357: 16,2607 55537 TS AOSQ
061826,000358: 16,2610 55541 TS AOSR
061827,000359: 16,2611 12635 TCF PAXFILT
061828,000360: 16,2612 00074 KAOS DEC 60 B-14
061829,000361: 16,2613 31510 WORKTIME CA QACCDOT
061830,000362: 16,2614 00006 EXTEND
061831,000363: 16,2615 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061832,000364: 16,2616 21540 DAS AOSQ
061833,000365: 16,2617 31537 CA AOSQ
061834,000366: 16,2620 55422 TS ALPHAQ
061835,000367: 16,2621 00006 EXTEND
061836,000368: 16,2622 73601 MP 200MS # .2 AT 1
061837,000369: 16,2623 55545 TS AOSQTERM
061838,000370: 16,2624 31512 CA RACCDOT
061839,000371: 16,2625 00006 EXTEND
061840,000372: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061841,000373: 16,2627 21542 DAS AOSR
061842,000374: 16,2630 31541 CA AOSR
061843,000375: 16,2631 55423 TS ALPHAR
061844,000376: 16,2632 00006 EXTEND
061845,000377: 16,2633 73601 MP 200MS # .2 AT 1
061846,000378: 16,2634 55546 TS AOSRTERM
061847,000379:
061848,000380: 16,2635 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
061849,000381: 16,2636 71273 MASK RCSFLAGS
061850,000382: 16,2637 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
061851,000383: 16,2640 03721 TC ACDT+C12 # VALID.
|
|
Page 1423 |
061853,000385: 16,2641 52011 DXCH ARUPT
061854,000386: 16,2642 53752 DXCH DAPARUPT
061855,000387: 16,2643 32654 CA SUPERJOB # SETTING UP THE SUPERJOB
061856,000388: 16,2644 56017 XCH BRUPT
061857,000389: 16,2645 22012 LXCH QRUPT
061858,000390: 16,2646 53754 DXCH DAPBQRPT
061859,000391: 16,2647 32653 CA SUPERADR
061860,000392: 16,2650 52016 DXCH ZRUPT
061861,000393: 16,2651 53756 DXCH DAPZRUPT
061862,000394: 16,2652 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
061863,000395: # FORM OF A JASK, AT SUPERJOB.
061864,000396:
061865,000397: 16,2653 02655 SUPERADR GENADR SUPERJOB +1
061866,000398:
061867,000399: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
061868,000400:
061869,000401: 16,2654 11630 SUPERJOB CCS QGIMTIMR # Q-AXIS GIMBAL DRIVE TIMER
061870,000402: 16,2655 12667 TCF DECQTIMR # POSITIVE- COUNTING DOWN
061871,000403: 16,2656 12673 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
061872,000404: 16,2657 11632 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
061873,000405: 16,2660 12671 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
061874,000406: 16,2661 12703 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
061875,000407:
061876,000408: 16,2662 34740 CA BIT12
061877,000409: 16,2663 71273 MASK RCSFLAGS
061878,000410: 16,2664 00006 EXTEND
061879,000411: 16,2665 12713 BZF SKIPPAXS
061880,000412: 16,2666 02717 TC CHKVISFZ
061881,000413: 16,2667 55630 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
061882,000414: 16,2670 12657 TCF CHKRTIMR
061883,000415: 16,2671 55632 DECRTIMR TS RGIMTIMR
061884,000416: 16,2672 12662 TCF CHKRTIMR +3
061885,000417:
061886,000418: 16,2673 55500 TURNOFFQ TS NEGUQ # HALT DRIVES.
061887,000419: 16,2674 55510 TS QACCDOT
061888,000420: 16,2675 45007 CS QGIMBITS
061889,000421: 16,2676 00006 EXTEND
061890,000422: 16,2677 03012 WAND CHAN12
061891,000423: 16,2700 34735 CAF NEGMAX
061892,000424: 16,2701 55630 TS QGIMTIMR
061893,000425: 16,2702 12657 TCF CHKRTIMR
061894,000426: 16,2703 55502 TURNOFFR TS NEGUR
061895,000427: 16,2704 55512 TS RACCDOT
061896,000428: 16,2705 45020 CS RGIMBITS
061897,000429: 16,2706 00006 EXTEND
061898,000430: 16,2707 03012 WAND CHAN12
061899,000431: 16,2710 34735 CAF NEGMAX
061900,000432: 16,2711 55632 TS RGIMTIMR
061901,000433: 16,2712 12662 TCF CHKRTIMR +3
061902,000434: 16,2713 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
061903,000435: 16,2713 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
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|
Page 1424 |
061905,000437: 16,2713 41273 SKIPPAXS CS RCSFLAGS
061906,000438: 16,2714 74740 MASK BIT12
061907,000439: 16,2715 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
061908,000440: 16,2716 13607 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
061909,000441:
061910,000442: # Y-Z TRANSLATION
061911,000443:
061912,000444: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
061913,000445:
061914,000446: # OUTPUT: NEXTP
061915,000447:
061916,000448: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
061917,000449: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
061918,000450: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
061919,000451: # ALARM (IF NO PAIR)
061920,000452: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
061921,000453: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
061922,000454:
061923,000455: 16,2717 00006 CHKVISFZ EXTEND
061924,000456: 16,2720 00031 READ CHAN31
061925,000457: 16,2721 40000 CS A
061926,000458: 16,2722 73576 MASK 07400OCT
061927,000459: 16,2723 00006 EXTEND
061928,000460: 16,2724 12773 BZF TSNEXTP
061929,000461: 16,2725 00006 EXTEND
061930,000462: 16,2726 74745 MP BIT7
061931,000463: 16,2727 50000 INDEX A
061932,000464: 16,2730 33555 CA INDXYZ
061933,000465: 16,2731 55742 TS ROTINDEX
061934,000466: 16,2732 36241 TRYUORV CA SIX
061935,000467: 16,2733 03534 TC SELECTYZ
061936,000468: 16,2734 46241 CS SIX
061937,000469: 16,2735 61741 AD NUMBERT
061938,000470: 16,2736 00006 EXTEND
061939,000471: 16,2737 12772 BZF TSNEXTP -1
061940,000472: 16,2740 44756 CS FIVE
061941,000473: 16,2741 61742 AD ROTINDEX
061942,000474: 16,2742 00006 EXTEND
061943,000475: 16,2743 62761 BZMF ALTERYZ
061944,000476: 16,2744 41741 CS NUMBERT
061945,000477: 16,2745 64751 AD FOUR
061946,000478: 16,2746 00006 EXTEND
061947,000479: 16,2747 62772 BZMF TSNEXTP -1
061948,000480: 16,2750 05567 ABORTYZ TC ALARM
061949,000481: 16,2751 02001 OCT 02001
061950,000482: 16,2752 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061951,000483: 16,2753 23273 LXCH RCSFLAGS
061952,000484: 16,2754 00006 EXTEND
061953,000485: 16,2755 06001 RXOR 1
|
|
Page 1425 |
061955,000487: 16,2756 55273 TS RCSFLAGS
061956,000488: 16,2757 34755 CA ZERO
061957,000489: 16,2760 12773 TCF TSNEXTP
061958,000490: 16,2761 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061959,000491: 16,2762 23273 LXCH RCSFLAGS
061960,000492: 16,2763 00006 EXTEND
061961,000493: 16,2764 06001 RXOR 1
061962,000494: 16,2765 55273 TS RCSFLAGS
061963,000495: 16,2766 74753 MASK BIT1
061964,000496: 16,2767 64751 AD FOUR
061965,000497: 16,2770 27742 ADS ROTINDEX
061966,000498: 16,2771 12732 TCF TRYUORV
061967,000499: 16,2772 31737 CA POLYTEMP
061968,000500: 16,2773 55470 TSNEXTP TS NEXTP
061969,000501:
061970,000502: # STATE LOGIC
061971,000503: # CHECK IN ORDER: IF ON
061972,000504: # LPDPHASE GO TO PURGENCY
061973,000505: # PULSES MINIMUM PULSE LOGIC
061974,000506: # DETENT(BIT15 CH31) RATE COMMAND
061975,000507: # GO TO PURGENCY
061976,000508:
061977,000509: 16,2774 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
061978,000510: 16,2775 00006 EXTEND
061979,000511: 16,2776 02031 RAND CHAN31
061980,000512: 16,2777 00006 EXTEND
061981,000513: 16,3000 13006 BZF MANMODE
061982,000514:
061983,000515: 16,3001 30111 CA DAPBOOLS
061984,000516: 16,3002 74743 MASK XOVINHIB
061985,000517: 16,3003 10000 CCS A
061986,000518: 16,3004 13442 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
061987,000519:
061988,000520: 16,3005 13050 TCF DETENTCK
061989,000521: 16,3006 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
061990,000522: 16,3007 70111 MASK DAPBOOLS
061991,000523: 16,3010 00006 EXTEND
061992,000524: 16,3011 13050 BZF DETENTCK # BRANCH FOR RATE COMMAND
061993,000525:
061994,000526: 16,3012 34755 CA ZERO
061995,000527: 16,3013 55462 TS PERROR
061996,000528:
061997,000529: # MINIMUM IMPULSE MODE
061998,000530:
061999,000531: 16,3014 30032 CA CDUX
062000,000532: 16,3015 55633 TS CDUXD
062001,000533:
062002,000534: 16,3016 11456 CCS OLDPMIN
062003,000535: 16,3017 13033 TCF CHECKP
062004,000536:
062005,000537: 16,3020 34751 FIREP CA BIT3
062006,000538: 16,3021 00006 EXTEND
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|
Page 1426 |
062008,000540: 16,3022 02031 RAND CHAN31
062009,000541: 16,3023 00006 EXTEND
062010,000542: 16,3024 13043 BZF +XMIN
062011,000543:
062012,000544: 16,3025 34750 CA BIT4
062013,000545: 16,3026 00006 EXTEND
062014,000546: 16,3027 02031 RAND CHAN31
062015,000547: 16,3030 00006 EXTEND
062016,000548: 16,3031 13041 BZF -XMIN
062017,000549:
062018,000550: 16,3032 13421 TCF JETSOFF
062019,000551:
062020,000552: 16,3033 00006 CHECKP EXTEND
062021,000553: 16,3034 00031 READ CHAN31
062022,000554: 16,3035 40000 CS A
062023,000555: 16,3036 75742 MASK OCT14
062024,000556: 16,3037 55456 TS OLDPMIN
062025,000557: 16,3040 13421 TCF JETSOFF
062026,000558:
062027,000559: 16,3041 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
062028,000560: 16,3042 13044 TCF +2 # IN JET SELECTION ROUTINE
062029,000561: 16,3043 34363 +XMIN CA TEN
062030,000562: 16,3044 55524 TS TJP
062031,000563: 16,3045 34753 CA ONE
062032,000564: 16,3046 55456 TS OLDPMIN
062033,000565: 16,3047 13327 TCF PJETSLEC -6
062034,000566:
062035,000567: # MANUAL RATE COMMAND MODE
062036,000568: # ========================
062037,000569: # BY ROBERT F. STENGEL
062038,000570:
062039,000571: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
062040,000572: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
062041,000573: # RATE CONTROL AND ATTITUDE HOLD.
062042,000574:
062043,000575: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
062044,000576: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
062045,000577: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
062046,000578: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
062047,000579: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
062048,000580: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
062049,000581:
062050,000582: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
062051,000583: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
062052,000584: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
062053,000585:
062054,000586: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
062055,000587: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
062056,000588: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
062057,000589: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
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|
Page 1427 |
062059,000591: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
062060,000592: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
062061,000593:
062062,000594: 16,3050 00006 DETENTCK EXTEND
062063,000595: 16,3051 00031 READ CHAN31
062064,000596: 16,3052 55441 TS CH31TEMP
062065,000597: 16,3053 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
062066,000598: 16,3054 00006 EXTEND
062067,000599: 16,3055 13202 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
062068,000600: 16,3056 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
062069,000601: 16,3057 70111 MASK DAPBOOLS
062070,000602: 16,3060 00006 EXTEND
062071,000603: 16,3061 13442 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
062072,000604:
062073,000605: # ........................................................................
062074,000606:
062075,000607: 16,3062 34743 CA BIT9 # JUST IN DETENT??
062076,000608: 16,3063 71273 MASK RCSFLAGS
062077,000609: 16,3064 00006 EXTEND
062078,000610: 16,3065 13077 BZF RUTH
062079,000611: 16,3066 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
062080,000612: 16,3067 00006 EXTEND
062081,000613: 16,3070 02031 RAND CHAN31
062082,000614: 16,3071 00006 EXTEND
062083,000615: 16,3072 13177 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
062084,000616:
062085,000617: 16,3073 45014 CS BITS9,11 # IN AUTO.
062086,000618: 16,3074 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
062087,000619: 16,3075 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
062088,000620: 16,3076 13177 TCF RATEDAMP
062089,000621:
062090,000622: 16,3077 31273 RUTH CA RCSFLAGS
062091,000623: 16,3100 74742 MASK PBIT # IN ATTITUDE HOLD.
062092,000624: 16,3101 00006 EXTEND
062093,000625: 16,3102 13104 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
062094,000626: 16,3103 13177 TCF RATEDAMP
062095,000627: 16,3104 31273 CA RCSFLAGS
062096,000628: 16,3105 74741 MASK QRBIT
062097,000629: 16,3106 00006 EXTEND
062098,000630: 16,3107 13115 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
062099,000631: 16,3110 13177 TCF RATEDAMP
062100,000632:
062101,000633: # ============================================
062102,000634:
062103,000635: 16,3111 00001 1/10SEC OCT 1
062104,000636: 16,3112 00050 40CYC OCT 50
062105,000637: 16,3113 74777 PQRBIT OCT 74777
062106,000638: 16,3114 5014 BITS9,11 EQUALS EBANK5
062107,000639: 16,3114 00056 LINRATP DEC 46 B-14
062108,000640:
062109,000641: # ============================================
062110,000642:
062111,000643: 16,3115 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
062112,000644: 16,3116 00004 INHINT # ALL AXES.
062113,000645: 16,3117 70111 MASK DAPBOOLS
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|
Page 1428 |
062115,000647: 16,3120 54111 TS DAPBOOLS
062116,000648:
062117,000649: # READ CDUS INTO CDU DESIRED REGISTERS
062118,000650:
062119,000651: 16,3121 34737 CAF BIT13
062120,000652: 16,3122 00006 EXTEND
062121,000653: 16,3123 02031 RAND CHAN31
062122,000654: 16,3124 00006 EXTEND
062123,000655: 16,3125 13131 BZF +4
062124,000656: 16,3126 30032 CA CDUX # (X-AXIS OVERRIDE)
062125,000657: 16,3127 55633 TS CDUXD
062126,000658: 16,3130 03133 TC +3
062127,000659: 16,3131 04674 TC IBNKCALL
062128,000660: 16,3132 40153 FCADR ZATTEROR
062129,000661: 16,3133 00003 RELINT
062130,000662: 16,3134 13442 TCF PURGENCY
062131,000663:
062132,000664: 16,3135 55462 TS PERROR
062133,000665: 16,3136 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
062134,000666: 16,3137 26111 ADS DAPBOOLS
062135,000667: 16,3140 34755 CA ZERO
062136,000668: 16,3141 55444 TS DXERROR
062137,000669: 16,3142 55445 TS DXERROR +1
062138,000670: 16,3143 55446 TS DYERROR
062139,000671: 16,3144 55447 TS DYERROR +1
062140,000672: 16,3145 55450 TS DZERROR
062141,000673: 16,3146 55451 TS DZERROR +1
062142,000674: 16,3147 55452 TS PLAST
062143,000675: 16,3150 55453 TS QLAST
062144,000676: 16,3151 55454 TS RLAST
062145,000677: 16,3152 54042 TS Q-RHCCTR
062146,000678: 16,3153 54044 TS R-RHCCTR
062147,000679: 16,3154 33113 CA PQRBIT
062148,000680: 16,3155 71273 MASK RCSFLAGS
062149,000681: 16,3156 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
062150,000682: 16,3157 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
062151,000683: 16,3160 74743 MASK BIT9
062152,000684: 16,3161 27273 ADS RCSFLAGS
062153,000685: 16,3162 03164 TC ZEROENBL
062154,000686: 16,3163 13421 TCF JETSOFF
062155,000687: 16,3164 22044 ZEROENBL LXCH R-RHCCTR
062156,000688: 16,3165 30042 CA Q-RHCCTR
062157,000689: 16,3166 53461 DXCH SAVEHAND
062158,000690: 16,3167 34755 CA ZERO
062159,000691: 16,3170 54043 TS P-RHCCTR
062160,000692: 16,3171 54042 TS Q-RHCCTR
062161,000693: 16,3172 54044 TS R-RHCCTR
062162,000694: 16,3173 33602 CA BITS8,9
062163,000695: 16,3174 00006 EXTEND
062164,000696: 16,3175 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
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|
Page 1429 |
062166,000698: 16,3176 00002 TC Q
062167,000699: 16,3177 34755 RATEDAMP CA ZERO
062168,000700: 16,3200 54043 TS P-RHCCTR
062169,000701: 16,3201 13206 TCF RATERROR
062170,000702:
062171,000703: 16,3202 34740 RHCMOVED CA OURRCBIT # P CONTROL
062172,000704: 16,3203 70111 MASK DAPBOOLS
062173,000705: 16,3204 00006 EXTEND
062174,000706: 16,3205 13135 BZF JUSTOUT -1
062175,000707: 16,3206 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
062176,000708: 16,3207 55633 TS CDUXD # X-AXIS OVERRIDE
062177,000709: 16,3210 10043 CCS P-RHCCTR
062178,000710: 16,3211 13214 TCF +3
062179,000711: 16,3212 13214 TCF +2
062180,000712: 16,3213 13214 TCF +1
062181,000713: 16,3214 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
062182,000714: 16,3215 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
062183,000715: 16,3216 63114 AD LINRATP # AUTOPILOT)
062184,000716: 16,3217 00006 EXTEND
062185,000717: 16,3220 70043 MP P-RHCCTR
062186,000718: 16,3221 30001 CA L
062187,000719: 16,3222 00006 EXTEND
062188,000720: 16,3223 71442 MP STIKSENS
062189,000721: 16,3224 57452 XCH PLAST
062190,000722: 16,3225 40000 COM
062191,000723: 16,3226 61452 AD PLAST
062192,000724: 16,3227 55735 TS DAPTEMP1
062193,000725: 16,3230 03164 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
062194,000726: 16,3231 41452 CS PLAST
062195,000727: 16,3232 61417 AD OMEGAP
062196,000728: 16,3233 55425 TS EDOTP
062197,000729: 16,3234 11735 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
062198,000730: 16,3235 13240 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
062199,000731: 16,3236 13246 TCF +8 # CHECK FOR DIRECT RATE CONTROL LAST TIME.
062200,000732: 16,3237 13240 TCF +1
062201,000733: 16,3240 61474 AD -RATEDB
062202,000734: 16,3241 00006 EXTEND
062203,000735: 16,3242 63246 BZMF +4
062204,000736: 16,3243 33112 CA 40CYC
062205,000737: 16,3244 55443 TS TCP
062206,000738: 16,3245 03257 TC PEGI
062207,000739: 16,3246 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
062208,000740: 16,3247 74742 MASK PBIT
062209,000741: 16,3250 00006 EXTEND
062210,000742: 16,3251 13253 BZF +2
062211,000743: 16,3252 03257 TC PEGI # TO PURE RATE COMMAND
062212,000744: 16,3253 31444 CA DXERROR # PSEUDO-AUTO CONTROL.
062213,000745: 16,3254 55750 TS E # X-ATTITUDE ERROR (SP)
062214,000746: 16,3255 55462 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
062215,000747: 16,3256 03446 TC PURGENCY +4
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|
Page 1430 |
062217,000749: 16,3257 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
062218,000750: 16,3260 55633 TS CDUXD
062219,000751: 16,3261 34755 CA ZERO
062220,000752: 16,3262 55444 TS DXERROR
062221,000753: 16,3263 55445 TS DXERROR +1
062222,000754: 16,3264 55462 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
062223,000755: 16,3265 11425 CCS EDOTP
062224,000756: 16,3266 03271 TC +3
062225,000757: 16,3267 03271 TC +2
062226,000758: 16,3270 03271 TC +1
062227,000759: 16,3271 55735 TS ABSEDOTP
062228,000760: 16,3272 61474 AD TARGETDB
062229,000761: 16,3273 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
062230,000762: 16,3274 63304 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
062231,000763: 16,3275 31443 CA TCP
062232,000764: 16,3276 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
062233,000765: 16,3277 63304 BZMF LAST
062234,000766: 16,3300 41273 CS RCSFLAGS
062235,000767: 16,3301 74742 MASK PBIT
062236,000768: 16,3302 27273 ADS RCSFLAGS # BIT 10 IS 1.
062237,000769: 16,3303 13307 TCF +4
062238,000770: 16,3304 44742 LAST CS PBIT
062239,000771: 16,3305 71273 MASK RCSFLAGS
062240,000772: 16,3306 55273 TS RCSFLAGS # BIT 10 IS 0.
062241,000773: 16,3307 41425 CS EDOTP
062242,000774: 16,3310 00006 EXTEND
062243,000775: 16,3311 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
062244,000776: 16,3312 20001 DAS A
062245,000777: 16,3313 02277 TC OVERSUB
062246,000778: 16,3314 00006 EXTEND
062247,000779: 16,3315 77715 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
062248,000780: 16,3316 55524 TS TJP # 4.JET TIME
062249,000781: 16,3317 31735 CA ABSEDOTP
062250,000782: 16,3320 61473 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
062251,000783: 16,3321 00006 EXTEND
062252,000784: 16,3322 63325 BZMF +3
062253,000785:
062254,000786: 16,3323 36241 CA SIX
062255,000787: 16,3324 13334 TCF +8D
062256,000788: 16,3325 31524 CA TJP
062257,000789: 16,3326 27524 ADS TJP
062258,000790:
062259,000791: # GOES TO PJETSLEC FOR TWO JETS
062260,000792:
062261,000793: # P-JET-SELECTION-ROUTINE (ROTATION)
062262,000794:
062263,000795: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
062264,000796: # TJP + FOR +P ROTATION
062265,000797:
062266,000798: # OUTPUT: CHANNEL 6
062267,000799: # PJUMPADR FOR P-AXIS SKIP
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Page 1431 |
062269,000801: # (JTLST CALL) (SMALL TJP)
062270,000802:
062271,000803: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
062272,000804: # +P -P
062273,000805: # 7,15 8,16
062274,000806: # 4,12 3,11
062275,000807: # 4,7 8,11
062276,000808: # 7,12 11,16
062277,000809: # 12,15 3,16
062278,000810: # 4,15 3,8
062279,000811: # ALARM ALARM
062280,000812:
062281,000813: 16,3327 34747 CA AORBSYST
062282,000814: 16,3330 70111 MASK DAPBOOLS
062283,000815: 16,3331 10000 CCS A
062284,000816: 16,3332 34753 CA ONE
062285,000817: 16,3333 64751 AD FOUR
062286,000818: 16,3334 55741 TS NUMBERT
062287,000819: 16,3335 34753 PJETSLEC CA ONE
062288,000820: 16,3336 54001 TS L
062289,000821: 16,3337 11524 CCS TJP
062290,000822: 16,3340 13345 TCF +5
062291,000823: 16,3341 13421 TCF JETSOFF
062292,000824: 16,3342 13344 TCF +2
062293,000825: 16,3343 13421 TCF JETSOFF
062294,000826: 16,3344 22007 ZL
062295,000827: 16,3345 64753 AD ONE
062296,000828: 16,3346 55735 TS ABSTJ
062297,000829: 16,3347 23742 LXCH ROTINDEX
062298,000830: 16,3350 03514 TC SELECTP
062299,000831: 16,3351 46241 CS SIX
062300,000832: 16,3352 61741 AD NUMBERT
062301,000833: 16,3353 00006 EXTEND
062302,000834: 16,3354 13356 BZF +2
062303,000835:
062304,000836: 16,3355 44752 CS TWO
062305,000837: 16,3356 64751 AD FOUR
062306,000838: 16,3357 55521 TS NO.PJETS
062307,000839: 16,3360 31737 CA POLYTEMP
062308,000840: 16,3361 05745 TC WRITEP
062309,000841: 16,3362 41735 CS ABSTJ
062310,000842: 16,3363 63575 AD +150MST6
062311,000843: 16,3364 00006 EXTEND
062312,000844: 16,3365 63607 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
062313,000845:
062314,000846: 16,3366 63555 AD -136MST6
062315,000847: 16,3367 00006 EXTEND
062316,000848: 16,3370 63375 BZMF +5
062317,000849:
062318,000850: 16,3371 27735 ADS ABSTJ
062319,000851: 16,3372 51742 INDEX ROTINDEX
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Page 1432 |
062321,000853: 16,3373 33604 CA MINTIMES
062322,000854: 16,3374 55524 TS TJP
062323,000855:
062324,000856: 16,3375 31735 CA ABSTJ
062325,000857: 16,3376 22007 ZL
062326,000858: 16,3377 00004 INHINT
062327,000859: 16,3400 53467 DXCH T6FURTHA
062328,000860: 16,3401 04674 TC IBNKCALL
062329,000861: 16,3402 37046 CADR JTLST
062330,000862: 16,3403 44740 CS BIT12
062331,000863: 16,3404 71273 MASK RCSFLAGS
062332,000864: 16,3405 55273 TS RCSFLAGS # BIT 12 SET TO 0.
062333,000865: 16,3406 03410 TC ALTSYST
062334,000866: 16,3407 13607 TCF QRAXIS
062335,000867:
062336,000868: 16,3410 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
062337,000869: 16,3411 54001 TS L
062338,000870: 16,3412 34747 CA AORBSYST
062339,000871: 16,3413 00006 EXTEND
062340,000872: 16,3414 06001 RXOR LCHAN
062341,000873: 16,3415 54111 TS DAPBOOLS
062342,000874: 16,3416 00003 RELINT
062343,000875: 16,3417 00002 TC Q
062344,000876:
062345,000877: 16,3420 03410 DKALT TC ALTSYST
062346,000878:
062347,000879: 16,3421 05744 JETSOFF TC WRITEP -1
062348,000880: 16,3422 34755 CA ZERO
062349,000881: 16,3423 55524 TS TJP
062350,000882: 16,3424 13607 TCF QRAXIS
062351,000883:
062352,000884: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
062353,000885:
062354,000886: 16,3425 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
062355,000887: 16,3426 00006 EXTEND
062356,000888: 16,3427 21634 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
062357,000889: 16,3430 00006 EXTEND
062358,000890: 16,3431 71412 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
062359,000891: 16,3432 57750 XCH E # SAVE FIRST TERM (OF TWO)
062360,000892: 16,3433 30032 CA CDUX # THIRD COMPONENT
062361,000893: 16,3434 00006 EXTEND
062362,000894: 16,3435 21633 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
062363,000895: # EXTEND
062364,000896: # MP M13
062365,000897: 16,3436 61277 AD DELPEROR # KALCMANU INERFACE ERROR
062366,000898: 16,3437 27750 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
062367,000899: 16,3440 57462 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
062368,000900: 16,3441 00002 TC Q # RETURN TO CALLER
062369,000901:
062370,000902: # P-AXIS URGENCY FUNCTION CALCULATION.
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Page 1433 |
062372,000904: 16,3442 03425 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
062373,000905: 16,3443 41641 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
062374,000906: 16,3444 61417 AD OMEGAP # SPS-BACKUP MODE.
062375,000907: 16,3445 55425 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
062376,000908:
062377,000909: 16,3446 44753 CS ONE
062378,000910: 16,3447 55476 TS AXISCTR
062379,000911: 16,3450 30111 CA DAPBOOLS
062380,000912: 16,3451 74737 MASK CSMDOCKD
062381,000913: 16,3452 00006 EXTEND
062382,000914: 16,3453 13470 BZF HEADTJET
062383,000915: 16,3454 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
062384,000916: 16,3455 04674 TC IBNKCALL
062385,000917: 16,3456 37700 CADR SPSRCS
062386,000918:
062387,000919: 16,3457 31524 CA TJP
062388,000920: 16,3460 00006 EXTEND
062389,000921: 16,3461 13420 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
062390,000922: 16,3462 00003 RELINT
062391,000923: 16,3463 41741 CS NUMBERT
062392,000924: 16,3464 66241 AD SIX
062393,000925: 16,3465 00006 EXTEND # IF NUMBERT = 6 BYPASS AORBSYST CHECK
062394,000926: 16,3466 13335 BZF PJETSLEC # AND USE FOUR JETS, OTHERWISE,
062395,000927: 16,3467 13327 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
062396,000928: 16,3470 34755 HEADTJET CA ZERO
062397,000929: 16,3471 55477 TS SENSETYP
062398,000930: 16,3472 00004 INHINT
062399,000931: 16,3473 04674 TC IBNKCALL
062400,000932: 16,3474 37207 CADR TJETLAW
062401,000933: 16,3475 00003 RELINT
062402,000934:
062403,000935: 16,3476 41737 CS FIREFCT
062404,000936: 16,3477 63513 AD -FOURDEG
062405,000937: 16,3500 00006 EXTEND
062406,000938: 16,3501 63327 BZMF PJETSLEC -6
062407,000939: 16,3502 11524 CCS TJP
062408,000940: 16,3503 13505 TCF +2
062409,000941: 16,3504 13421 TCF JETSOFF
062410,000942: 16,3505 63512 AD -160MST6
062411,000943: 16,3506 00006 EXTEND
062412,000944: 16,3507 63327 BZMF PJETSLEC -6
062413,000945: 16,3510 36241 CA SIX
062414,000946: 16,3511 13334 TCF PJETSLEC -1
062415,000947: 16,3512 77377 -160MST6 DEC -256 B-14
062416,000948: 16,3513 75117 -FOURDEG DEC -.08888
062417,000949:
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Page 1434 |
062419,000951: # JET POLICY CONSTRUCTION SUBROUTINE
062420,000952:
062421,000953: # INPUT: ROTINDEX, NUMBERT
062422,000954:
062423,000955: # OUTPUT: POLYTEMP (JET POLICY)
062424,000956:
062425,000957: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
062426,000958:
062427,000959: 16,3514 36241 SELECTP CA SIX
062428,000960: 16,3515 55740 TS TEMPNUM
062429,000961: 16,3516 51741 INDEX NUMBERT
062430,000962: 16,3517 33546 CA TYPEP
062431,000963: 16,3520 51742 INDEX ROTINDEX
062432,000964: 16,3521 73537 MASK JETSALL
062433,000965: 16,3522 55737 TS POLYTEMP
062434,000966: 16,3523 71263 MASK CH6MASK
062435,000967: 16,3524 10000 CCS A
062436,000968: 16,3525 13527 TCF +2
062437,000969: 16,3526 00002 TC Q
062438,000970: 16,3527 11740 CCS TEMPNUM
062439,000971: 16,3530 13534 TCF +4
062440,000972: 16,3531 05567 TC ALARM
062441,000973: 16,3532 02003 OCT 02003
062442,000974: 16,3533 13421 TCF JETSOFF # *****TCF ALARMJET *********************
062443,000975: 16,3534 55741 SELECTYZ TS NUMBERT
062444,000976: 16,3535 13515 TCF SELECTP +1
062445,000977: 16,3536 12752 -1 TCF ABORTYZ +2
062446,000978: 16,3537 00252 JETSALL OCT 00252
062447,000979: 16,3540 00125 OCT 00125 # +P
062448,000980: 16,3541 00140 OCT 00140 # -Y
062449,000981: 16,3542 00006 OCT 00006 # -Z
062450,000982: 16,3543 00220 OCT 00220 # +Y
062451,000983: 16,3544 00011 OCT 00011 # +Z
062452,000984: 16,3545 00151 OCT 00151 # +V
062453,000985: 16,3546 00146 TYPEP OCT 00146 # -U
062454,000986: 16,3547 00226 OCT 00226 # -V
062455,000987: 16,3550 00231 OCT 00231 # +U
062456,000988: 16,3551 00151 OCT 00151 # +V
062457,000989: 16,3552 00132 OCT 00132 # 1-3
062458,000990: 16,3553 00245 OCT 00245 # 2-4
062459,000991: 16,3554 00377 OCT 00377 # ALL
062460,000992: 16,3555 16,3555 INDXYZ = -136MST6
062461,000993: 16,3555 77445 -136MST6 DEC -218 B-14
062462,000994: 16,3556 00004 DEC 4 B-14
062463,000995: 16,3557 00002 DEC 2 B-14
062464,000996: 16,3560 07776 OCT 07776
062465,000997: 16,3561 00005 DEC 5 B-14
062466,000998: 16,3562 00011 DEC 9 B-14
062467,000999: 16,3563 00012 DEC 10 B-14
062468,001000: 16,3564 07776 OCT 07776
062469,001001: 16,3565 00003 DEC 3 B-14
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Page 1435 |
062471,001003: 16,3566 00010 DEC 8 B-14
062472,001004: 16,3567 00007 DEC 7 B-14
062473,001005: 16,3570 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
062474,001006: 16,3571 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
062475,001007: 16,3572 07776 OCT 07776 # TO BE TC JETSALL -1
062476,001008: 16,3573 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
062477,001009: 16,3574 07776 OCT 07776
062478,001010: 16,3575 00360 +150MST6 DEC 240 B-14
062479,001011: 16,3576 07400 07400OCT OCT 07400
062480,001012:
062481,001013: # T-JET LAW FIXED CONSTANTS
062482,001014:
062483,001015: 16,3577 00266 NORMSCL OCT 266
062484,001016: 16,3600 74631 -100MS DEC -.1
062485,001017: 16,3601 06315 200MS DEC .2
062486,001018: 16,3602 7715 25/32 = PRIO31 # (DEC .78125)
062487,001019: 16,3602 00600 BITS8,9 OCTAL 00600
062488,001020: 16,3603 00632 1/40 DEC .02500
062489,001021: 16,3604 77751 MINTIMES DEC -22 B-14
062490,001022: 16,3605 00026 DEC 22 B-14
062491,001023: 16,3606 02713 PSKIPADR GENADR SKIPPAXS
062492,001024:
062493,001025: # GOES TO Q,R-AXES RCS AUTOPILOT
062494,001026: 16,3607 41643 QRAXIS CS OMEGARD
062495,001027: 16,3610 61421 AD OMEGAR
062496,001028: 16,3611 02277 TC OVERSUB
062497,001029: 16,3612 55435 TS EDOTR
062498,001030: 16,3613 41642 CS OMEGAQD
062499,001031: 16,3614 61420 AD OMEGAQ
062500,001032: 16,3615 02277 TC OVERSUB
062501,001033: 16,3616 55434 TS EDOTQ
062502,001034: 16,3617 00006 EXTEND
062503,001035: 16,3620 33623 DCA QERRCALL
062504,001036: 16,3621 52006 DTCB
062505,001037:
062506,001038: 16,3622 E6,1537 EBANK= AOSQ
062507,001039: 16,3622 02043 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc