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. |
021409,000002: ## Copyright: Public domain.
021410,000003: ## Filename: R60,R62.agc
021411,000004: ## Purpose: The main source file for Luminary revision 069.
021412,000005: ## It is part of the source code for the original release
021413,000006: ## of the flight software for the Lunar Module's (LM) Apollo
021414,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
021415,000008: ## version was Luminary 69 revision 2, which included a
021416,000009: ## newer lunar gravity model and only affected module 2.
021417,000010: ## This file is intended to be a faithful transcription, except
021418,000011: ## that the code format has been changed to conform to the
021419,000012: ## requirements of the yaYUL assembler rather than the
021420,000013: ## original YUL assembler.
021421,000014: ## Reference: pp. 485-497
021422,000015: ## Assembler: yaYUL
021423,000016: ## Contact: Ron Burkey <info@sandroid.org>.
021424,000017: ## Website: www.ibiblio.org/apollo/index.html
021425,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
021426,000019: ## 2016-12-14 MAS Updated from comment-proofed Luminary 99 version.
021427,000020: ## 2017-01-20 RRB Updated for Luminary 69.
021428,000021: ## 2017-01-27 RSB Proofed comment text using octopus/prooferComments
021429,000022: ## and fixed errors found.
021430,000023: ## 2017-03-09 RSB Comment text fixes noted in proofing Luminary 116.
021431,000024:
|
|
Page 485 |
021433,000026: # MOD NO: 0 DATE: 1 MAY 1968
021434,000027: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
021435,000028:
021436,000029: # FUNCTIONAL DESCRIPTION:
021437,000030:
021438,000031: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
021439,000032: # ATTITUDE.
021440,000033:
021441,000034: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
021442,000035: # CALCULATED (VECPOINT).
021443,000036:
021444,000037: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021445,000038:
021446,000039: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
021447,000040:
021448,000041: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
021449,000042: # ASTRONAUT RESPONSE.
021450,000043:
021451,000044: # 5. DISPLAY RESPONSE RETURNS:
021452,000045:
021453,000046: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
021454,000047:
021455,000048: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
021456,000049: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
021457,000050: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
021458,000051:
021459,000052: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
021460,000053:
021461,000054: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
021462,000055: # (VECPOINT).
021463,000056:
021464,000057: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021465,000058:
021466,000059: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
021467,000060: #
021468,000061: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
021469,000062:
021470,000063: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
021471,000064:
021472,000065: # 11. DO A PHASECHANGE.
021473,000066:
021474,000067: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
021475,000068:
021476,000069: # GIMBAL ANGLES (GOMANUR).
021477,000070: # 13. AT END OF MANEUVER GO TO STEP 3.
021478,000071:
021479,000072: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
021480,000073: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
021481,000074: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
|
|
Page 486 |
021483,000076: # STEP 5C.
021484,000077:
021485,000078: # CALLING SEQUENCE: TC BANKCALL
021486,000079: # CADR R60LEM
021487,000080:
021488,000081: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
021489,000082: # 3AXISFLG.
021490,000083:
021491,000084: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
021492,000085: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
021493,000086:
021494,000087: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
021495,000088: # TC BANKJUMP
021496,000089:
021497,000090: # ALARMS: NONE
021498,000091:
021499,000092: # OUTPUT: NONE
021500,000093:
021501,000094: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
021502,000095:
021503,000096: 34,2000 BANK 34
021504,000097: 26,2000 SETLOC MANUVER
021505,000098: 26,2000 BANK
021506,000099:
021507,000100: 26,2101 1164 EBANK= TEMPR60
021508,000101:
021509,000102: 26,2101 COUNT* $$/R06
021510,000103: 26,2101 04645 R60LEM TC MAKECADR
021511,000104: 26,2102 55164 TS TEMPR60
021512,000105:
021513,000106: 26,2103 34746 REDOMANN CAF 3AXISBIT
021514,000107: 26,2104 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021515,000108: 26,2105 10000 CCS A
021516,000109: 26,2106 12114 TCF TOBALL # YES
021517,000110: 26,2107 06036 TC INTPRET
021518,000111: 26,2110 77624 CALL
021519,000112: 26,2111 56016 VECPOINT # TO COMPUTE FINAL ANGLES
021520,000113: 26,2112 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
021521,000114: 26,2113 77776 EXIT
021522,000115:
021523,000116: 26,2114 04616 TOBALL TC BANKCALL
021524,000117: 26,2115 54244 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021525,000118: 26,2116 32232 TOBALLA CAF V06N18
021526,000119: 26,2117 04616 TC BANKCALL
021527,000120: 26,2120 20563 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
021528,000121: 26,2121 02220 TC R61TEST
021529,000122: 26,2122 02126 TC REDOMANC # PROCEED
021530,000123: 26,2123 02153 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
|
|
Page 487 |
021532,000125: 26,2124 02157 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021533,000126: 26,2125 05155 TC ENDOFJOB
021534,000127:
021535,000128: 26,2126 34746 REDOMANC CAF 3AXISBIT
021536,000129: 26,2127 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021537,000130: 26,2130 10000 CCS A
021538,000131: 26,2131 12137 TCF TOBALLC # YES
021539,000132: 26,2132 06036 TC INTPRET
021540,000133: 26,2133 77624 CALL
021541,000134: 26,2134 56016 VECPOINT # TO COMPUTE FINAL ANGLES
021542,000135: 26,2135 00322 STORE CPHI # STORE ANGLES
021543,000136: 26,2136 77776 EXIT
021544,000137:
021545,000138: 26,2137 04616 TOBALLC TC BANKCALL
021546,000139: 26,2140 54244 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021547,000140: 26,2141 02233 TC G+N,AUTO # CHECK AUTO MODE
021548,000141: 26,2142 10000 CCS A
021549,000142: 26,2143 12116 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
021550,000143:
021551,000144: 26,2144 32232 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
021552,000145: 26,2145 04616 TC BANKCALL # -
021553,000146: 26,2146 20327 CADR GODSPR # -
021554,000147: 26,2147 02157 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021555,000148:
021556,000149: 26,2150 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
021557,000150: 26,2151 17723 CADR GOMANUR
021558,000151:
021559,000152: 26,2152 12116 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
021560,000153: 26,2153 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
021561,000154: 26,2154 00124 ADRES 3AXISFLG
021562,000155: 26,2155 31164 CAE TEMPR60 # -
021563,000156: 26,2156 04640 TC BANKJUMP # -
021564,000157:
021565,000158: 26,2157 40100 CHKLINUS CS FLAGWRD4
021566,000159: 26,2160 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
021567,000160: 26,2161 10000 CCS A # -
021568,000161: 26,2162 00002 TC Q # NO - EXIT
021569,000162: 26,2163 30002 CA Q
021570,000163: 26,2164 54156 TS MPAC +2 # SAVE RETURN
021571,000164: 26,2165 46244 CS THREE # OBTAIN LOCATION FOR RESTART
021572,000165: 26,2166 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
021573,000166: 26,2167 55055 TS TBASE2
021574,000167:
021575,000168: 26,2170 05353 TC PHASCHNG
021576,000169: 26,2171 00132 OCT 00132
021577,000170:
021578,000171: 26,2172 34745 CAF BIT7
021579,000172: 26,2173 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
021580,000173: 26,2174 00156 TC MPAC +2
021581,000174:
|
|
Page 488 |
021583,000176: 26,2175 37713 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
021584,000177: 26,2176 05146 TC PRIOCHNG
021585,000178:
021586,000179: 26,2177 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021587,000180: 26,2200 70075 MASK FLAGWRD1
021588,000181: 26,2201 10000 CCS A
021589,000182: 26,2202 12215 TCF RER60
021590,000183:
021591,000184: 26,2203 34745 CAF RNDVZBIT # IS IT P20?
021592,000185: 26,2204 70074 MASK FLAGWRD0
021593,000186: 26,2205 10000 CCS A
021594,000187: 26,2206 02212 TC +4 # YES
021595,000188: 26,2207 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
021596,000189: 26,2210 40112 OCT 40112
021597,000190:
021598,000191: 26,2211 05155 TC ENDOFJOB
021599,000192:
021600,000193: 26,2212 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
021601,000194: 26,2213 40072 OCT 40072
021602,000195:
021603,000196: 26,2214 05155 TC ENDOFJOB
021604,000197:
021605,000198: 26,2215 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
021606,000199: 26,2216 00077 ADRES PDSPFLAG
021607,000200:
021608,000201: 26,2217 01055 TC TBASE2
021609,000202:
021610,000203: 26,2220 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
021611,000204: 26,2221 00006 EXTEND
021612,000205: 26,2222 12153 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
021613,000206:
021614,000207: 26,2223 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
021615,000208: 26,2224 74740 MASK PDSPFBIT
021616,000209: 26,2225 00006 EXTEND
021617,000210: 26,2226 16001 BZF GOTOPOOH # NO
021618,000211: 26,2227 06022 TC GOTOV56 # YES
021619,000212:
021620,000213: 26,2230 20100 BIT14+7 OCT 20100 # -
021621,000214: 26,2231 00203 OCT203 OCT 203
021622,000215: 26,2232 01422 V06N18 VN 0618
021623,000216:
021624,000217: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021625,000218:
021626,000219: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
021627,000220: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021628,000221:
021629,000222: 26,2233 00006 G+N,AUTO EXTEND
021630,000223: 26,2234 00030 READ CHAN30
021631,000224: 26,2235 74742 MASK BIT10
021632,000225: 26,2236 10000 CCS A
021633,000226: 26,2237 00002 TC Q # NOT IN G+N C(A) = +
|
|
Page 489 |
021635,000228: 26,2240 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
021636,000229: 26,2241 00031 READ CHAN31
021637,000230: 26,2242 74736 MASK BIT14
021638,000231: 26,2243 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
021639,000232:
|
|
Page 490 |
021641,000234: # PROGRAM DESCRIPTION BALLANGS
021642,000235: # MOD NO. LOG SECTION R60,R62
021643,000236:
021644,000237: # WRITTEN BY RAMA M. AIYAWAR
021645,000238: # FUNCTIONAL DESCRIPTION
021646,000239:
021647,000240: # COMPUTES LM FDAI BALL DISPLAY ANGLES
021648,000241: # CALLING SEQUENCE
021649,000242:
021650,000243: # TC BALLANGS
021651,000244: # NORMAL EXIT MODE
021652,000245:
021653,000246: # TC BALLEXIT (SAVED Q)
021654,000247:
021655,000248: # ALARM OR EXIT MODE NIL
021656,000249: # SUBROUTINES CALLED
021657,000250: # CD*TR*G
021658,000251: # ARCTAN
021659,000252:
021660,000253: # INPUT
021661,000254:
021662,000255: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021663,000256: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021664,000257: # OUTPUT
021665,000258:
021666,000259: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021667,000260: # SP,2S COMPLIMENT.
021668,000261: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021669,000262:
021670,000263: # ERASABLE INITIALIZATION REQUIRED
021671,000264:
021672,000265: # CPHI,CTHETA,CPSI EACH A SP REGISTER
021673,000266: # DEBRIS
021674,000267:
021675,000268: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021676,000269:
021677,000270: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021678,000271: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021679,000272:
021680,000273: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021681,000274:
021682,000275: 26,2000 SETLOC BAWLANGS
021683,000276: 26,2000 BANK
021684,000277:
021685,000278: 26,2244 COUNT* $$/BALL
021686,000279: 26,2244 04645 BALLANGS TC MAKECADR
021687,000280: 26,2245 55342 TS BALLEXIT
021688,000281: 26,2246 30321 CA CPHI
|
|
Page 491 |
021690,000283: 26,2247 54772 TS CDUSPOT +4
021691,000284: 26,2250 30322 CA CTHETA
021692,000285: 26,2251 54766 TS CDUSPOT
021693,000286: 26,2252 30323 CA CPSI
021694,000287: 26,2253 54770 TS CDUSPOT +2
021695,000288:
021696,000289: 26,2254 06036 TC INTPRET
021697,000290: 26,2255 45001 SETPD CALL
021698,000291: 26,2256 00001 0D
021699,000292: 26,2257 47447 CD*TR*G
021700,000293:
021701,000294: 26,2260 41345 DLOAD DMP
021702,000295: 26,2261 00743 SINCDUX # SIN (OGA)
021703,000296: 26,2262 00747 COSCDUZ # COS (MGA)
021704,000297:
021705,000298: 26,2263 57552 SL1 DCOMP # SCALE
021706,000299: 26,2264 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
021707,000300: 26,2265 00741 SINCDUZ
021708,000301: 26,2266 14023 STODL SINTH # (SINTH = 18D IN PD)
021709,000302: 26,2267 00747 COSCDUZ
021710,000303: 26,2270 72405 DMP SL1 # RESCALE
021711,000304: 26,2271 00751 COSCDUX
021712,000305: 26,2272 34021 STCALL COSTH # (COSTH= 16D IN PD)
021713,000306: 26,2273 26510 ARCTAN
021714,000307: 26,2274 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021715,000308: 26,2275 00741 SINCDUZ
021716,000309: 26,2276 00743 SINCDUX
021717,000310: 26,2277 41512 SL2 PUSH # SXSZ INTO 4 PD
021718,000311: 26,2300 65205 DMP PDDL # SXSZCY INTO 4 PD
021719,000312: 26,2301 00745 COSCDUY
021720,000313: 26,2302 65205 DMP PDDL # SXSZSY INTO 6 PD
021721,000314: 26,2303 00737 SINCDUY
021722,000315: 26,2304 00751 COSCDUX
021723,000316: 26,2305 72405 DMP SL1 # CXCY
021724,000317: 26,2306 00745 COSCDUY
021725,000318: 26,2307 45425 DSU STADR # PULL UP FROM 6 PD
021726,000319: 26,2310 63756 STODL COSTH # COSTH = CXCY - SXSZSY
021727,000320: 26,2311 00737 SINCDUY
021728,000321: 26,2312 72405 DMP SL1
021729,000322: 26,2313 00751 COSCDUX # CXSY
021730,000323: 26,2314 45415 DAD STADR # PULL UP FROM 4 PD
021731,000324: 26,2315 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
021732,000325: 26,2316 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
021733,000326: 26,2317 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
021734,000327: 26,2320 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021735,000328: 26,2321 21524 V1STO2S
021736,000329: 26,2322 02351 STORE FDAIX # MODE IS TP
021737,000330: 26,2323 77776 EXIT
021738,000331:
021739,000332: 26,2324 31342 ENDBALL CA BALLEXIT
021740,000333:
|
|
Page 492 |
021742,000335: 26,2325 04640 TC BANKJUMP
021743,000336:
|
|
Page 493 |
021745,000338: # PROGRAM DESCRIPTION - VECPOINT
021746,000339:
021747,000340: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
021748,000341: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021749,000342: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021750,000343: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021751,000344: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
021752,000345: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021753,000346: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
021754,000347: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021755,000348: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021756,000349: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021757,000350: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021758,000351: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
021759,000352: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021760,000353: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021761,000354: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021762,000355: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021763,000356: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021764,000357: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021765,000358: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021766,000359:
021767,000360: # CALLING SEQUENCE -
021768,000361: # 1) LOAD SCAXIS, POINTVSM
021769,000362: # 2) CALL
021770,000363: # VECPOINT
021771,000364:
021772,000365: # RETURNS WITH
021773,000366:
021774,000367: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
021775,000368: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
021776,000369: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021777,000370:
021778,000371: # ERASABLES USED -
021779,000372:
021780,000373: # 1) SCAXIS 6
021781,000374: # 2) POINTVSM 6
021782,000375: # 3) MIS 18
021783,000376: # 4) DEL 18
021784,000377: # 5) COF 6
021785,000378: # 6) VECQTEMP 1
021786,000379: # 7) ALL OF VAC AREA 43
021787,000380:
021788,000381: # TOTAL 99
021789,000382:
021790,000383: 27,2000 SETLOC VECPT
021791,000384: 27,2000 BANK
|
|
Page 494 |
021793,000386: 27,2016 COUNT* $$/VECPT
021794,000387:
021795,000388: 27,2016 E6,1674 EBANK= BCDU
021796,000389:
021797,000390: 27,2016 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
021798,000391: 27,2017 03323 VECQTEMP
021799,000392: 27,2020 56021 VECLEAR # AND CLEAR OVFIND
021800,000393: 27,2021 47164 VECLEAR AXC,2 RTB
021801,000394: 27,2022 03244 MIS # READ THE PRESENT CDU ANGLES AND
021802,000395: 27,2023 44403 READCDUK # STORE THEM IN PD25, 26, 27
021803,000396: 27,2024 34032 STCALL 25D
021804,000397: 27,2025 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
021805,000398: 27,2026 61375 VLOAD VXM
021806,000399: 27,2027 03767 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
021807,000400: 27,2030 03245 MIS # INITIAL S/C AXES (VF = POINTVSM)
021808,000401: 27,2031 77656 UNIT
021809,000402: 27,2032 00035 STORE 28D
021810,000403: # PD 28 29 30 31 32 33
021811,000404: 27,2033 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
021812,000405: 27,2034 03761 SCAXIS # WHERE VI = SCAXIS
021813,000406: 27,2035 57400 BOV VCOMP
021814,000407: 27,2036 56146 PICKAXIS
021815,000408: 27,2037 17267 STODL COF # CHECK MAGNITUDE
021816,000409: 27,2040 00045 36D # OF CROSS PRODUCT
021817,000410: 27,2041 50025 DSU BMN # VECTOR, IF LESS
021818,000411: 27,2042 14367 DPB-14 # THAN B-14 ASSUME
021819,000412: 27,2043 56146 PICKAXIS # UNIT OPERATION
021820,000413: 27,2044 50375 VLOAD DOT # INVALID.
021821,000414: 27,2045 03761 SCAXIS
021822,000415: 27,2046 00035 28D
021823,000416: 27,2047 65552 SL1 ARCCOS
021824,000417: 27,2050 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
021825,000418: 27,2051 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
021826,000419: 27,2052 75160 AXC,1 AXC,2
021827,000420: 27,2053 03244 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
021828,000421: 27,2054 02234 KEL # S/C AXES TO STABLE MEMBER AXES
021829,000422: 27,2055 77624 CALL # MFS = MIS MFI
021830,000423: 27,2056 44312 MXM3 # (IN PD LIST)
021831,000424:
021832,000425: 27,2057 51545 DLOAD ABS
021833,000426: 27,2060 00007 6 # MFS6 = SIN(CPSI) $2
021834,000427: 27,2061 50025 DSU BMN
021835,000428: 27,2062 14354 SINGIMLC # = SIN(59 DEGS) $2
021836,000429: 27,2063 56136 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
021837,000430: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021838,000431:
021839,000432: 27,2064 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
021840,000433: 27,2065 03761 SCAXIS # THE THRUST AXIS
021841,000434: 27,2066 51025 DSU BPL
021842,000435: 27,2067 14356 SINVEC1 # SIN 49.4 DEGS $2
|
|
Page 495 |
021844,000437: 27,2070 56136 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
021845,000438: 27,2071 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
021846,000439: 27,2072 77626 STADR
021847,000440: 27,2073 50516 STOVL MIS +12D
021848,000441: 27,2074 77626 STADR # STORE MFS (IN PD LIST) IN MIS
021849,000442: 27,2075 50524 STOVL MIS +6
021850,000443: 27,2076 77626 STADR
021851,000444: 27,2077 50532 STOVL MIS
021852,000445: 27,2100 03253 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
021853,000446: 27,2101 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
021854,000447: 27,2102 56103 IGSAMEX # FINAL X S/C AXIS
021855,000448:
021856,000449: 27,2103 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
021857,000450: 27,2104 03761 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
021858,000451: 27,2105 56112 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
021859,000452: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021860,000453: # OTHERWISE U = -SCAXIS
021861,000454:
021862,000455: 27,2106 57575 VLOAD VCOMP
021863,000456: 27,2107 03761 SCAXIS
021864,000457: 27,2110 37267 STCALL COF # ROTATE ABOUT -SCAXIS
021865,000458: 27,2111 56115 CHEKAXIS
021866,000459: 27,2112 77775 U=SCAXIS VLOAD
021867,000460: 27,2113 03761 SCAXIS
021868,000461: 27,2114 03267 STORE COF # ROTATE ABOUT + SCAXIS
021869,000462: 27,2115 51545 CHEKAXIS DLOAD ABS
021870,000463: 27,2116 03761 SCAXIS # SEE IF WE ARE POINTING THE AOT
021871,000464: 27,2117 51025 DSU BPL
021872,000465: 27,2120 14360 SINVEC2 # SIN 29.5 DEGS $2
021873,000466: 27,2121 56125 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021874,000467: 27,2122 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
021875,000468: 27,2123 14364 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
021876,000469: 27,2124 56127 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
021877,000470: # OF GIMBAL LOCK (VECANG2 $360)
021878,000471: 27,2125 77745 PICKANG1 DLOAD
021879,000472: 27,2126 14362 VECANG1 # = 50 DEGS $360
021880,000473: 27,2127 77624 COMPMFSN CALL
021881,000474: 27,2130 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
021882,000475: 27,2131 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
021883,000476: 27,2132 03244 MIS
021884,000477: 27,2133 02234 KEL
021885,000478: 27,2134 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
021886,000479: 27,2135 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
021887,000480: # WHICH WILL ALIGN VI WITH VF AND AVOID
021888,000481: # GIMBAL LOCK
021889,000482: 27,2136 45160 FINDGIMB AXC,1 CALL
021890,000483: 27,2137 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
021891,000484: 27,2140 44654 DCMTOCDU # THIS MATRIX
021892,000485: 27,2141 40234 RTB SETPD
021893,000486: 27,2142 21524 V1STO2S # CONVERT TO 2:S COMPLEMENT
|
|
Page 496 |
021895,000488: 27,2143 00001 0
021896,000489: 27,2144 77650 GOTO
021897,000490: 27,2145 03323 VECQTEMP # RETURN TO CALLER
021898,000491:
021899,000492: 27,2146 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
021900,000493: 27,2147 00035 28D
021901,000494: 27,2150 03761 SCAXIS
021902,000495: 27,2151 72240 BMN TLOAD
021903,000496: 27,2152 54326 ROT180
021904,000497: 27,2153 00032 25D
021905,000498: 27,2154 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
021906,000499: 27,2155 03323 VECQTEMP # PRESENT CDU ANGLES
021907,000500:
021908,000501: 35,2000 BANK 35
021909,000502: 26,2000 SETLOC MANUVER1
021910,000503: 26,2000 BANK
021911,000504: 26,2326 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
021912,000505: 26,2327 03253 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
021913,000506: 26,2330 06422 HIDPHALF # INITIAL S/C AXES.
021914,000507: 26,2331 47256 UNIT VXV # FIND Y(SM) X X(I)
021915,000508: 26,2332 03761 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
021916,000509: 26,2333 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
021917,000510: 26,2334 54350 PICKX # Y(SM) PERPENDICULAR TO VI
021918,000511: 26,2335 17267 STODL COF
021919,000512: 26,2336 00045 36D # CHECK MAGNITUDE
021920,000513: 26,2337 50025 DSU BMN # OF THIS VECTOR.
021921,000514: 26,2340 14367 DPB-14 # IF LESS THAN B-14,
021922,000515: 26,2341 54350 PICKX # PICK X-AXIS.
021923,000516: 26,2342 77775 VLOAD
021924,000517: 26,2343 03267 COF
021925,000518: 26,2344 17267 XROT STODL COF
021926,000519: 26,2345 06422 HIDPHALF
021927,000520: 26,2346 77650 GOTO
021928,000521: 26,2347 56050 COMPMATX
021929,000522: 26,2350 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
021930,000523: 26,2351 06422 HIDPHALF
021931,000524: 26,2352 54344 XROT
021932,000525: 26,2353 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
021933,000526:
021934,000527: 26,2355 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
021935,000528:
021936,000529: 26,2357 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
021937,000530:
021938,000531: 26,2361 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
021939,000532:
021940,000533: 26,2363 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
021941,000534:
021942,000535: 26,2365 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
021943,000536: 26,2366 00001 DPB-14 OCT 00001
021944,000537: 26,2367 00000 OCT 00000
021945,000538:
|
|
Page 497 |
021947,000540: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
021948,000541:
021949,000542: 34,2000 BANK 34
021950,000543: 23,2000 SETLOC R62
021951,000544: 23,2000 BANK
021952,000545: 23,2065 E6,1674 EBANK= BCDU
021953,000546:
021954,000547: 23,2065 COUNT* $$/R62
021955,000548:
021956,000549: 23,2065 23,2065 R62DISP EQUALS R62FLASH
021957,000550:
021958,000551: 23,2065 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
021959,000552: 23,2066 04616 TC BANKCALL # ICDU ANGLES
021960,000553: 23,2067 20351 CADR GOFLASH
021961,000554: 23,2070 15472 TCF ENDEXT # TERMINATE
021962,000555: 23,2071 12073 TCF GOMOVE # PROCEED
021963,000556: 23,2072 12065 TCF R62FLASH # ENTER
021964,000557:
021965,000558: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
021966,000559: # POINT
021967,000560: 23,2073 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
021968,000561: 23,2074 00124 ADRES 3AXISFLG
021969,000562:
021970,000563: 23,2075 04616 TC BANKCALL
021971,000564: 23,2076 54101 CADR R60LEM
021972,000565: 23,2077 15472 TCF ENDEXT # END R62
021973,000566:
End of include-file R60,R62.agc. Parent file is MAIN.agc