Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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013870,000002: ## Copyright: Public domain.
013871,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
013872,000004: ## Purpose: A section of Luminary revision 96.
013873,000005: ## It is part of the reconstructed source code for the
013874,000006: ## original release of the flight software for the Lunar
013875,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
013876,000008: ## The code has been recreated from a previously reconstructed
013877,000009: ## copy of Luminary 97 by undoing changes described in anomaly
013878,000010: ## report LNY-59. The code has been adapted such that the
013879,000011: ## resulting bugger words exactly match those specified for
013880,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
013881,000013: ## high confidence that the reconstruction is correct.
013882,000014: ## Reference: pp. 342-363
013883,000015: ## Assembler: yaYUL
013884,000016: ## Contact: Ron Burkey <info@sandroid.org>.
013885,000017: ## Website: www.ibiblio.org/apollo/index.html
013886,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
013887,000019:
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013889,000021: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
013890,000022:
013891,000023: # MOD 2 DATE 5/1/67 BY DON KEENE
013892,000024:
013893,000025: # PROGRAM DESCRIPTION
013894,000026:
013895,000027: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
013896,000028: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
013897,000029: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
013898,000030: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
013899,000031: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
013900,000032:
013901,000033: # CPHI = COMMANDED OUTER GIMBAL ANGLE
013902,000034: # CTHETA = COMMANDED INNER GIMBAL ANGLE
013903,000035: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
013904,000036:
013905,000037: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
013906,000038: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
013907,000039: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
013908,000040: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
013909,000041: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
013910,000042: # -
013911,000043: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
013912,000044: # -
013913,000045: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
013914,000046: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
013915,000047: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
013916,000048:
013917,000049: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
013918,000050: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
013919,000051: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
013920,000052: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
013921,000053: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
013922,000054: # -
013923,000055: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
013924,000056:
013925,000057: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
013926,000058: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
013927,000059: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
013928,000060: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
013929,000061: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
013930,000062: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
013931,000063: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
013932,000064: # DESIRED FINAL GIMBAL ANGLES.
013933,000065:
013934,000066: # PROGRAM LOGIC FLOW
013935,000067:
013936,000068: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
013937,000069: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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013939,000071: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
013940,000072: # * * *
013941,000073: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
013942,000074: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
013943,000075:
013944,000076: # A) AM LESS THAN .25 DEGREES (MINANG)
013945,000077: # B) AM GREATER THAN 170 DEGREES (MAXANG)
013946,000078:
013947,000079: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
013948,000080: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
013949,000081:
013950,000082: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
013951,000083: # - *
013952,000084: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
013953,000085: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
013954,000086: # -
013955,000087: # TO DETERMINE COF.
013956,000088:
013957,000089: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
013958,000090: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
013959,000091: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
013960,000092: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
013961,000093: # YAW.
013962,000094:
013963,000095: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
013964,000096: # -
013965,000097: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
013966,000098: # DESIRED REFERENCE MATRIX IS THEN,
013967,000099: # * * *
013968,000100: # MIS = MIS DEL
013969,000101: # N+1 N
013970,000102: # *
013971,000103: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
013972,000104: # *
013973,000105: # FROM MIS.
013974,000106:
013975,000107: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
013976,000108: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
013977,000109: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
013978,000110: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
013979,000111: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
013980,000112: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
013981,000113:
013982,000114: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
013983,000115: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
013984,000116:
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013986,000118: # CALLING SEQUENCE
013987,000119:
013988,000120: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
013989,000121: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
013990,000122: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
013991,000123: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
013992,000124: # *
013993,000125: # CAF PRIO XX
013994,000126: # --
013995,000127: # INHINT
013996,000128: # TC FINDVAC
013997,000129: # 2CADR KALCMAN3
013998,000130: # RELINT
013999,000131:
014000,000132: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014001,000133: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014002,000134:
014003,000135: # L TC BANKCALL
014004,000136: # L+1 CADR ATTSTALL
014005,000137: # L+2 (BAD RETURN)
014006,000138: # L+3 (GOOD RETURN)
014007,000139:
014008,000140: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014009,000141: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014010,000142: # WAS IN GIMBAL LOCK.
014011,000143:
014012,000144: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014013,000145: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014014,000146: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014015,000147: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014016,000148: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014017,000149: # SUBROUTINES
014018,000150:
014019,000151: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014020,000152: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014021,000153:
014022,000154: # MXM3
014023,000155: # ----
014024,000156:
014025,000157: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014026,000158: # DOWN LIST, I.E.,
014027,000159: # ( M M M )
014028,000160: # ( 0 1 2 )
014029,000161: # * ( ) * *
014030,000162: # M = ( M M M ) = M1 X M2
014031,000163: # ( 3 4 5 )
014032,000164: # ( )
014033,000165: # ( M M M )
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014035,000167: # ( 6 7 8 )
014036,000168: # *
014037,000169: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014038,000170: # *
014039,000171: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014040,000172: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014041,000173: # 8
014042,000174: # TRANSPOS
014043,000175: # --------
014044,000176:
014045,000177: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014046,000178: #
014047,000179: # * * T
014048,000180: # M = M1
014049,000181:
014050,000182: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014051,000183: # *
014052,000184: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014053,000185:
014054,000186: # CDU TO DCM
014055,000187: # ----------
014056,000188:
014057,000189: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014058,000190: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014059,000191:
014060,000192: # M = COSY COSZ
014061,000193: # 0
014062,000194:
014063,000195: # M = -COSY SINZ COSX + SINY SINX
014064,000196: # 1
014065,000197:
014066,000198: # M = COSY SINZ SINX + SINY COSX
014067,000199: # 2
014068,000200:
014069,000201: # M = SINZ
014070,000202: # 3
014071,000203:
014072,000204: # M = COSZ COSX
014073,000205: # 4
014074,000206:
014075,000207: # M = -COSZ SINX
014076,000208: # 5
014077,000209:
014078,000210: # M = -SINY COSZ
014079,000211: # 6
014080,000212: #
014081,000213: # M = SINY SINZ COSX + COSY SINX
014082,000214: # 7
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014084,000216: # M = -SINY SINZ SINX + COSY COSX
014085,000217: # 8
014086,000218:
014087,000219: # WHERE X = OUTER GIMBAL ANGLE
014088,000220: # Y = INNER GIMBAL ANGLE
014089,000221: # Z = MIDDLE GIMBAL ANGLE
014090,000222:
014091,000223: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014092,000224:
014093,000225: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014094,000226: # X Y Z
014095,000227: # STABLE MEMBER AXES (B , B , B ) ARE
014096,000228: # X Y Z
014097,000229:
014098,000230: # ( B ) ( A )
014099,000231: # ( X ) ( X )
014100,000232: # ( ) ( )
014101,000233: # ( ) * ( )
014102,000234: # ( B ) = M ( A )
014103,000235: # ( Y ) ( Y )
014104,000236: # ( ) ( )
014105,000237: # ( B ) ( A )
014106,000238: # ( Z ) ( Z )
014107,000239:
014108,000240: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014109,000241: # *
014110,000242: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014111,000243:
014112,000244: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014113,000245: # REGISTER X2.
014114,000246:
014115,000247: # DCM TO CDU
014116,000248: # ----------
014117,000249: # *
014118,000250: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014119,000251: # *
014120,000252: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014121,000253: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014122,000254: # FOR THIS CONVERSION ARE
014123,000255:
014124,000256: # Z = ARCSIN (M )
014125,000257: # 3
014126,000258:
014127,000259: # Y = ARCSIN (-M /COSZ)
014128,000260: # 6
014129,000261:
014130,000262: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014131,000263: # 0
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014133,000265: # X = ARCSIN (-M /COSZ)
014134,000266: # 5
014135,000267:
014136,000268: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014137,000269: # 4
014138,000270:
014139,000271: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014140,000272: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014141,000273: # THE PUSH DOWN LIST.
014142,000274:
014143,000275: # DELCOMP
014144,000276: # -------
014145,000277: # *
014146,000278: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014147,000279: # -
014148,000280: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014149,000281:
014150,000282: # * * - -T *
014151,000283: # DEL = I COSA + U U (1 - COSA) + V SINA
014152,000284: # X
014153,000285:
014154,000286: # WHERE * ( 1 0 0 )
014155,000287: # I = ( 0 1 0 )
014156,000288: # ( 0 0 1 )
014157,000289:
014158,000290: # 2
014159,000291: # ( U U U U U )
014160,000292: # ( X X Y X Z )
014161,000293: # ( )
014162,000294: # - -T ( 2 )
014163,000295: # U U = ( U U U U U )
014164,000296: # ( Y X Y Y Z )
014165,000297: # ( )
014166,000298: # ( 2 )
014167,000299: # ( U U U U U )
014168,000300: # ( Z X Z Y Z )
014169,000301:
014170,000302:
014171,000303: # ( 0 -U U )
014172,000304: # ( Z Y )
014173,000305: # * ( )
014174,000306: # V = ( U 0 -U )
014175,000307: # X ( Z X )
014176,000308: # ( )
014177,000309: # ( -U U 0 )
014178,000310: # ( Y X )
014179,000311:
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014181,000313: # -
014182,000314: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014183,000315: # A = ROTATION ANGLE
014184,000316:
014185,000317: # *
014186,000318: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014187,000319:
014188,000320: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014189,000321: # X Y Z
014190,000322: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014191,000323: # X Y Z
014192,000324:
014193,000325: # ( B ) ( A )
014194,000326: # ( X ) ( X )
014195,000327: # ( ) * ( )
014196,000328: # ( B ) = DEL ( A )
014197,000329: # ( Y ) ( Y )
014198,000330: # ( ) ( )
014199,000331: # ( B ) ( A )
014200,000332: # ( Z ) ( Z )
014201,000333:
014202,000334: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014203,000335: # -
014204,000336: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014205,000337: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014206,000338: # MUST THEN BE LOADED INTO D(MPAC).
014207,000339: #
014208,000340: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014209,000341:
014210,000342: # READCDUK
014211,000343: # --------
014212,000344:
014213,000345: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014214,000346:
014215,000347: # SIGNMPAC
014216,000348: # --------
014217,000349:
014218,000350: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014219,000351:
014220,000352: # PROGRAM STORAGE ALLOCATION
014221,000353:
014222,000354: # 1) FIXED MEMORY 1059 WORDS
014223,000355: # 2) ERASABLE MEMORY 98
014224,000356: # 3) STATE SWITCHES 3
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014226,000358: # 4) FLAGS 1
014227,000359:
014228,000360: # JOB PRIORITIES
014229,000361:
014230,000362: # 1) KALCMANU TBD
014231,000363: # 2) ONE SECOND UPDATE TBD
014232,000364:
014233,000365: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014234,000366:
014235,000367: # STATE FLAGWRD 2 SETTING MEANING
014236,000368: # SWITCH NO. BIT NO.
014237,000369:
014238,000370: # *
014239,000371: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014240,000372: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014241,000373: # *
014242,000374: # 32 13 0 CONTINUE UPDATE PROCESS
014243,000375: # 1 START UPDATE PROCESS
014244,000376:
014245,000377: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014246,000378: # 1 IGNORE ANY FINAL P-AXIS YAW
014247,000379:
014248,000380: # 34 11 0 SIGNAL END OF KALCMANU
014249,000381: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014250,000382:
014251,000383: # * INTERNAL TO KALCMANU
014252,000384:
014253,000385: # SUGGESTIONS FOR PROGRAM INTEGRATION
014254,000386:
014255,000387: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014256,000388:
014257,000389: # CPHI
014258,000390: # CTHETA
014259,000391: # CPSI
014260,000392: # POINTVSM +5
014261,000393: # SCAXIS +5
014262,000394: # DELDCDU
014263,000395: # DELDCDU1
014264,000396: # DELDCDU2
014265,000397: # RATEINDX
014266,000398:
014267,000399: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014268,000400:
014269,000401: # MXM3
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Page 350
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014271,000403: # TRANSPOS
014272,000404: # SIGNMPAC
014273,000405: # READCDUK
014274,000406: # CDUTODCM
014275,000407:
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014277,000409: 15,2050 BANK 15
014278,000410: 22,2000 SETLOC KALCMON1
014279,000411: 22,2000 BANK
014280,000412:
014281,000413: 22,2004 E6,1676 EBANK= BCDU
014282,000414:
014283,000415: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014284,000416: # LOCATIONS, CPHI, CTHETA, CPSI.
014285,000417:
014286,000418: 22,2004 COUNT* $$/KALC
014287,000419: 22,2004 06037 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014288,000420: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014289,000421: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014290,000422: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES
014291,000423: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014292,000424: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014293,000425: 22,2012 51025 DSU BPL
014294,000426: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014295,000427: 22,2014 44724 TOOBADF
014296,000428: 22,2015 72364 AXC,2 TLOAD
014297,000429: 22,2016 03246 MIS
014298,000430: 22,2017 03277 BCDU
014299,000431: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014300,000432: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014301,000433: 22,2022 72364 AXC,2 TLOAD
014302,000434: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014303,000435: 22,2024 00322 CPHI
014304,000436: 22,2025 77624 CALL
014305,000437: 22,2026 44410 CDUTODCM
014306,000438: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014307,000439: 22,2030 03246 MIS
014308,000440: 22,2031 44326 TRANSPOS
014309,000441: 22,2032 45575 VLOAD STADR
014310,000442: 22,2033 50457 STOVL TMIS +12D
014311,000443: 22,2034 77626 STADR
014312,000444: 22,2035 50465 STOVL TMIS +6
014313,000445: 22,2036 77626 STADR
014314,000446: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014315,000447: 22,2040 75160 AXC,1 AXC,2
014316,000448: 22,2041 03303 TMIS
014317,000449: 22,2042 02230 MFS
014318,000450: 22,2043 77624 CALL
014319,000451: 22,2044 44312 MXM3
014320,000452: 22,2045 45575 VLOAD STADR
014321,000453: 22,2046 51532 STOVL MFI +12D
014322,000454: 22,2047 77626 STADR
014323,000455: 22,2050 51540 STOVL MFI +6
014324,000456: 22,2051 77626 STADR
014325,000457: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014326,000458: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 352
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014328,000460: 22,2054 00023 18D
014329,000461: 22,2055 44335 TRNSPSPD
014330,000462: 22,2056 45575 VLOAD STADR
014331,000463: 22,2057 50457 STOVL TMFI +12D
014332,000464: 22,2060 77626 STADR
014333,000465: 22,2061 50465 STOVL TMFI +6
014334,000466: 22,2062 77626 STADR
014335,000467: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014336,000468:
014337,000469: # CALCULATE COFSKEW AND MFISYM
014338,000470:
014339,000471: 22,2064 45345 DLOAD DSU
014340,000472: 22,2065 03306 TMFI +2
014341,000473: 22,2066 02233 MFI +2
014342,000474: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014343,000475: 22,2070 02235 MFI +4
014344,000476: 22,2071 03310 TMFI +4
014345,000477: 22,2072 45325 PDDL DSU
014346,000478: 22,2073 03316 TMFI +10D
014347,000479: 22,2074 02243 MFI +10D
014348,000480: 22,2075 77666 VDEF
014349,000481: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW
014350,000482:
014351,000483: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014352,000484:
014353,000485: 22,2077 43345 DLOAD DAD
014354,000486: 22,2100 02231 MFI
014355,000487: 22,2101 02251 MFI +16D
014356,000488: 22,2102 43225 DSU DAD
014357,000489: 22,2103 06512 DP1/4TH
014358,000490: 22,2104 02241 MFI +8D
014359,000491: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014360,000492: 22,2106 77726 ARCCOS
014361,000493: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014362,000494: 22,2110 51025 DSU BPL
014363,000495: 22,2111 04363 MINANG
014364,000496: 22,2112 44117 CHECKMAX
014365,000497: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014366,000498: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014367,000499: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES
014368,000500: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014369,000501:
014370,000502: 22,2117 45345 CHECKMAX DLOAD DSU
014371,000503: 22,2120 03336 AM
014372,000504: 22,2121 04365 MAXANG
014373,000505: 22,2122 77244 BPL VLOAD
014374,000506: 22,2123 44131 ALTCALC # UNIT
014375,000507: 22,2124 03326 COFSKEW # COFSKEW
014376,000508: 22,2125 77656 UNIT
014377,000509: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS
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014379,000511: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014380,000512: 22,2130 44744 LOCSKIRT
014381,000513: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014382,000514: 22,2132 02231 MFI
014383,000515: 22,2133 03304 TMFI
014384,000516: 22,2134 77762 VSR1
014385,000517: 22,2135 27304 STOVL MFISYM
014386,000518: 22,2136 02237 MFI +6
014387,000519: 22,2137 74455 VAD VSR1
014388,000520: 22,2140 03312 TMFI +6
014389,000521: 22,2141 27312 STOVL MFISYM +6
014390,000522: 22,2142 02245 MFI +12D
014391,000523: 22,2143 74455 VAD VSR1
014392,000524: 22,2144 03320 TMFI +12D
014393,000525: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014394,000526:
014395,000527: # CALCULATE COF
014396,000528:
014397,000529: 22,2146 70545 DLOAD SR1
014398,000530: 22,2147 03334 CAM
014399,000531: 22,2150 45325 PDDL DSU # PDO CAM $4
014400,000532: 22,2151 06520 DPHALF
014401,000533: 22,2152 03334 CAM
014402,000534: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014403,000535: 22,2154 21712 SIGNMPAC
014404,000536: 22,2155 03324 MFISYM +16D
014405,000537: 22,2156 56225 DSU DDV
014406,000538: 22,2157 00001 0
014407,000539: 22,2160 00003 2
014408,000540: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014409,000541: 22,2162 03314 MFISYM +8D # $ ROOT 2
014410,000542: 22,2163 56225 DSU DDV
014411,000543: 22,2164 00001 0
014412,000544: 22,2165 00003 2
014413,000545: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014414,000546: 22,2167 03304 MFISYM
014415,000547: 22,2170 56225 DSU DDV
014416,000548: 22,2171 00001 0
014417,000549: 22,2172 00003 2
014418,000550: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014419,000551: 22,2174 77656 UNIT
014420,000552: 22,2175 03271 STORE COF
014421,000553:
014422,000554: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014423,000555:
014424,000556: 22,2176 45345 COFMAXGO DLOAD DSU
014425,000557: 22,2177 03271 COF
014426,000558: 22,2200 03273 COF +2
014427,000559: 22,2201 71240 BMN DLOAD # COFY G COFX
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014429,000561: 22,2202 44211 COMP12
014430,000562: 22,2203 03271 COF
014431,000563: 22,2204 50025 DSU BMN
014432,000564: 22,2205 03275 COF +4
014433,000565: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014434,000566: 22,2207 77650 GOTO
014435,000567: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014436,000568: 22,2211 45345 COMP12 DLOAD DSU
014437,000569: 22,2212 03273 COF +2
014438,000570: 22,2213 03275 COF +4
014439,000571: 22,2214 77640 BMN
014440,000572: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014441,000573:
014442,000574: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014443,000575: 22,2217 03330 COFSKEW +2 # UY
014444,000576: 22,2220 44224 U2POS
014445,000577: 22,2221 57575 VLOAD VCOMP
014446,000578: 22,2222 03271 COF
014447,000579: 22,2223 03271 STORE COF
014448,000580: 22,2224 51145 U2POS DLOAD BPL
014449,000581: 22,2225 03306 MFISYM +2 # UX UY
014450,000582: 22,2226 44232 OKU21
014451,000583: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014452,000584: 22,2230 03271 COF
014453,000585: 22,2231 03271 STORE COF
014454,000586: 22,2232 51145 OKU21 DLOAD BPL
014455,000587: 22,2233 03316 MFISYM +10D # UY UZ
014456,000588: 22,2234 44744 LOCSKIRT
014457,000589: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014458,000590: 22,2236 03275 COF +4
014459,000591: 22,2237 03275 STORE COF +4
014460,000592: 22,2240 77650 GOTO
014461,000593: 22,2241 44744 LOCSKIRT
014462,000594: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014463,000595: 22,2243 03326 COFSKEW # UX
014464,000596: 22,2244 44250 U1POS
014465,000597: 22,2245 57575 VLOAD VCOMP
014466,000598: 22,2246 03271 COF
014467,000599: 22,2247 03271 STORE COF
014468,000600: 22,2250 51145 U1POS DLOAD BPL
014469,000601: 22,2251 03306 MFISYM +2 # UX UY
014470,000602: 22,2252 44256 OKU12
014471,000603: 22,2253 57545 DLOAD DCOMP
014472,000604: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX
014473,000605: 22,2255 03273 STORE COF +2
014474,000606: 22,2256 51145 OKU12 DLOAD BPL
014475,000607: 22,2257 03310 MFISYM +4 # UX UZ
014476,000608: 22,2260 44744 LOCSKIRT
014477,000609: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014478,000610: 22,2262 03275 COF +4
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Page 355
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014480,000612: 22,2263 03275 STORE COF +4
014481,000613: 22,2264 77650 GOTO
014482,000614: 22,2265 44744 LOCSKIRT
014483,000615: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014484,000616: 22,2267 03332 COFSKEW +4 # UZ
014485,000617: 22,2270 44274 U3POS
014486,000618: 22,2271 57575 VLOAD VCOMP
014487,000619: 22,2272 03271 COF
014488,000620: 22,2273 03271 STORE COF
014489,000621: 22,2274 51145 U3POS DLOAD BPL
014490,000622: 22,2275 03310 MFISYM +4 # UX UZ
014491,000623: 22,2276 44302 OKU31
014492,000624: 22,2277 57545 DLOAD DCOMP
014493,000625: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ
014494,000626: 22,2301 03271 STORE COF
014495,000627: 22,2302 51145 OKU31 DLOAD BPL
014496,000628: 22,2303 03316 MFISYM +10D # UY UZ
014497,000629: 22,2304 44744 LOCSKIRT
014498,000630: 22,2305 57545 DLOAD DCOMP
014499,000631: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ
014500,000632: 22,2307 03273 STORE COF +2
014501,000633: 22,2310 77650 GOTO
014502,000634: 22,2311 44744 LOCSKIRT
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Page 356
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014504,000636: # MATRIX OPERATIONS
014505,000637:
014506,000638: 13,2207 BANK 13
014507,000639: 22,2000 SETLOC KALCMON2
014508,000640: 22,2000 BANK
014509,000641:
014510,000642: 22,2312 E6,1676 EBANK= BCDU
014511,000643:
014512,000644: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014513,000645: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014514,000646: 22,2314 00001 0,1 # AND MPAC
014515,000647: 22,2315 62703 VXM* PDVL*
014516,000648: 22,2316 77776 0,2
014517,000649: 22,2317 00007 6,1
014518,000650: 22,2320 62703 VXM* PDVL*
014519,000651: 22,2321 77776 0,2
014520,000652: 22,2322 00015 12D,1
014521,000653: 22,2323 41503 VXM* PUSH
014522,000654: 22,2324 77776 0,2
014523,000655: 22,2325 77616 RVQ
014524,000656:
014525,000657: # RETURN WITH M1XM2 IN PD LIST
014526,000658:
014527,000659: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014528,000660: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014529,000661: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014530,000662: 22,2331 62713 PDVL* PDVL*
014531,000663: 22,2332 00007 6,1
014532,000664: 22,2333 00015 12D,1
014533,000665: 22,2334 77606 PUSH # MATRIX IN PD
014534,000666: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014535,000667: 22,2336 50120 INDEX FIXLOC
014536,000668: 22,2337 52013 DXCH 12
014537,000669: 22,2340 50120 INDEX FIXLOC
014538,000670: 22,2341 52017 DXCH 16
014539,000671: 22,2342 50120 INDEX FIXLOC
014540,000672: 22,2343 52013 DXCH 12
014541,000673: 22,2344 50120 INDEX FIXLOC
014542,000674: 22,2345 52015 DXCH 14
014543,000675: 22,2346 50120 INDEX FIXLOC
014544,000676: 22,2347 52005 DXCH 4
014545,000677: 22,2350 50120 INDEX FIXLOC
014546,000678: 22,2351 52015 DXCH 14
014547,000679: 22,2352 50120 INDEX FIXLOC
014548,000680: 22,2353 52003 DXCH 2
014549,000681: 22,2354 50120 INDEX FIXLOC
014550,000682: 22,2355 52007 DXCH 6
014551,000683: 22,2356 50120 INDEX FIXLOC
014552,000684: 22,2357 52003 DXCH 2
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014554,000686: 22,2360 06037 TC INTPRET
014555,000687: 22,2361 77616 RVQ
014556,000688:
014557,000689: 15,2050 BANK 15
014558,000690: 22,2000 SETLOC KALCMON1
014559,000691: 22,2000 BANK
014560,000692:
014561,000693: 22,2362 E6,1676 EBANK= BCDU
014562,000694:
014563,000695: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014564,000696:
014565,000697: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014566,000698:
014567,000699: # GIMBAL LOCK CONSTANTS
014568,000700:
014569,000701: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014570,000702: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014571,000703:
014572,000704: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014573,000705:
014574,000706: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014575,000707:
014576,000708: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014577,000709:
014578,000710: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014579,000711:
014580,000712: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014581,000713:
014582,000714: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014583,000715:
014584,000716: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014585,000717:
014586,000718: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014587,000719:
014588,000720: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014589,000721: 22,2404 54156 TS MPAC +2
014590,000722: 22,2405 00006 EXTEND
014591,000723: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014592,000724: 22,2407 16476 TCF TLOAD +6
014593,000725:
014594,000726: 22,2410 66370 CDUTODCM AXT,1 SSP
014595,000727: 22,2411 00003 OCT 3
014596,000728: 22,2412 00051 S1
014597,000729: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014598,000730: 22,2414 00010 STORE 7
014599,000731: 22,2415 77601 SETPD
014600,000732: 22,2416 00001 0
014601,000733: 22,2417 47133 LOOPSIN SLOAD* RTB
014602,000734: 22,2420 00013 10D,1
014603,000735: 22,2421 21576 CDULOGIC
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014605,000737: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014606,000738: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014607,000739: 22,2424 00013 10D # 4 SIN(THETA)
014608,000740: 22,2425 41546 COS PUSH # 6 COS(THETA)
014609,000741: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014610,000742: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014611,000743: 22,2430 00007 6
014612,000744: 22,2431 72405 DMP SL1
014613,000745: 22,2432 00013 10D
014614,000746: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014615,000747: 22,2434 41345 DLOAD DMP
014616,000748: 22,2435 00005 4
014617,000749: 22,2436 00001 0
014618,000750: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014619,000751: 22,2440 00007 6
014620,000752: 22,2441 00011 8D
014621,000753: 22,2442 72405 DMP SL1
014622,000754: 22,2443 00003 2
014623,000755: 22,2444 72421 BDSU SL1
014624,000756: 22,2445 00015 12D
014625,000757: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014626,000758: 22,2447 41345 DLOAD DMP
014627,000759: 22,2450 00003 2
014628,000760: 22,2451 00005 4
014629,000761: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
014630,000762: 22,2453 00007 6
014631,000763: 22,2454 00011 8D
014632,000764: 22,2455 72405 DMP SL1
014633,000765: 22,2456 00001 0
014634,000766: 22,2457 72415 DAD SL1
014635,000767: 22,2460 00017 14D
014636,000768: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
014637,000769: 22,2462 77745 DLOAD
014638,000770: 22,2463 00011 8D
014639,000771: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
014640,000772: 22,2465 77745 DLOAD
014641,000773: 22,2466 00013 10D
014642,000774: 22,2467 72405 DMP SL1
014643,000775: 22,2470 00003 2
014644,000776: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
014645,000777: 22,2472 41345 DLOAD DMP
014646,000778: 22,2473 00013 10D
014647,000779: 22,2474 00001 0
014648,000780: 22,2475 72476 DCOMP SL1
014649,000781: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
014650,000782: 22,2477 41345 DLOAD DMP
014651,000783: 22,2500 00005 4
014652,000784: 22,2501 00013 10D
014653,000785: 22,2502 72476 DCOMP SL1
014654,000786: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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014656,000788: 22,2504 77745 DLOAD
014657,000789: 22,2505 72405 DMP SL1 # (PUSH UP 7)
014658,000790: 22,2506 00011 8D
014659,000791: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
014660,000792: 22,2510 00007 6
014661,000793: 22,2511 00001 0
014662,000794: 22,2512 72415 DAD SL1 # (PUSH UP 7)
014663,000795: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
014664,000796: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
014665,000797: 22,2515 77745 DLOAD
014666,000798: 22,2516 72405 DMP SL1 # (PUSH UP 6)
014667,000799: 22,2517 00011 8D
014668,000800: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
014669,000801: 22,2521 00007 6
014670,000802: 22,2522 00003 2
014671,000803: 22,2523 72425 DSU SL1 # (PUSH UP 6)
014672,000804: 22,2524 77626 STADR
014673,000805: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
014674,000806: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
014675,000807:
014676,000808: # CALCULATION OF THE MATRIX DEL......
014677,000809:
014678,000810: # * * --T *
014679,000811: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
014680,000812: # -
014681,000813: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
014682,000814: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
014683,000815: # -
014684,000816: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
014685,000817:
014686,000818: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
014687,000819: 22,2530 00001 0
014688,000820: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
014689,000821: 22,2532 41546 COS PUSH # PD2 = COS(A)
014690,000822: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
014691,000823: 22,2534 41021 BDSU BOVB
014692,000824: 22,2535 06520 DPHALF
014693,000825: 22,2536 21712 SIGNMPAC
014694,000826: 22,2537 77725 PDDL # PD4 = 1-COS(A)
014695,000827:
014696,000828: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
014697,000829:
014698,000830: 22,2540 03271 COF
014699,000831: 22,2541 41316 DSQ DMP
014700,000832: 22,2542 00005 4
014701,000833: 22,2543 52415 DAD SL3
014702,000834: 22,2544 00003 2
014703,000835: 22,2545 77604 BOVB
014704,000836: 22,2546 21712 SIGNMPAC
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014706,000838: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
014707,000839: 22,2550 03273 COF +2
014708,000840: 22,2551 41316 DSQ DMP
014709,000841: 22,2552 00005 4
014710,000842: 22,2553 52415 DAD SL3
014711,000843: 22,2554 00003 2
014712,000844: 22,2555 77604 BOVB
014713,000845: 22,2556 21712 SIGNMPAC
014714,000846: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
014715,000847: 22,2560 03275 COF +4
014716,000848: 22,2561 41316 DSQ DMP
014717,000849: 22,2562 00005 4
014718,000850: 22,2563 52415 DAD SL3
014719,000851: 22,2564 00003 2
014720,000852: 22,2565 77604 BOVB
014721,000853: 22,2566 21712 SIGNMPAC
014722,000854: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
014723,000855:
014724,000856: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
014725,000857:
014726,000858: 22,2570 41345 DLOAD DMP
014727,000859: 22,2571 03271 COF
014728,000860: 22,2572 03273 COF +2
014729,000861: 22,2573 72405 DMP SL1
014730,000862: 22,2574 00005 4
014731,000863: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
014732,000864: 22,2576 03275 COF +4
014733,000865: 22,2577 00001 0
014734,000866: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
014735,000867: 22,2601 00007 6
014736,000868: 22,2602 41112 SL2 BOVB
014737,000869: 22,2603 21712 SIGNMPAC
014738,000870: 22,2604 16237 STODL KEL +6
014739,000871: 22,2605 62421 BDSU SL2
014740,000872: 22,2606 77604 BOVB
014741,000873: 22,2607 21712 SIGNMPAC
014742,000874: 22,2610 16233 STODL KEL +2
014743,000875: 22,2611 03271 COF
014744,000876: 22,2612 41205 DMP DMP
014745,000877: 22,2613 03275 COF +4
014746,000878: 22,2614 00005 4
014747,000879: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
014748,000880: 22,2616 03273 COF +2
014749,000881: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
014750,000882: 22,2620 00001 0
014751,000883: 22,2621 62415 DAD SL2
014752,000884: 22,2622 00007 6
014753,000885: 22,2623 77604 BOVB
014754,000886: 22,2624 21712 SIGNMPAC
014755,000887: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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014757,000889: 22,2626 62421 BDSU SL2
014758,000890: 22,2627 77604 BOVB
014759,000891: 22,2630 21712 SIGNMPAC
014760,000892: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
014761,000893: 22,2632 03273 COF +2
014762,000894: 22,2633 41205 DMP DMP
014763,000895: 22,2634 03275 COF +4
014764,000896: 22,2635 00005 4
014765,000897: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
014766,000898: 22,2637 03271 COF
014767,000899: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
014768,000900: 22,2641 00001 0
014769,000901: 22,2642 62415 DAD SL2
014770,000902: 22,2643 00007 6
014771,000903: 22,2644 77604 BOVB
014772,000904: 22,2645 21712 SIGNMPAC
014773,000905: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
014774,000906: 22,2647 62421 BDSU SL2
014775,000907: 22,2650 77604 BOVB
014776,000908: 22,2651 21712 SIGNMPAC
014777,000909: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
014778,000910: 22,2653 77616 RVQ
014779,000911:
014780,000912: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
014781,000913: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
014782,000914: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
014783,000915: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
014784,000916:
014785,000917: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
014786,000918:
014787,000919: # C = COS(THETA) COS(PSI)
014788,000920: # 0
014789,000921:
014790,000922: # C = -COS(THETA) SIN(PSI) COS(PHI) + SI (THETA) SIN(PHI)
014791,000923: # 1
014792,000924:
014793,000925: # C = COS(THETA) SIN(PSI) SIN(PHI) + S N(THETA) COS(PHI)
014794,000926: # 2
014795,000927:
014796,000928: # C = SIN(PSI)
014797,000929: # 3
014798,000930:
014799,000931: # C = COS(PSI) COS(PHI)
014800,000932: # 4
014801,000933:
014802,000934: # C = -COS(PSI) SIN(PHI)
014803,000935: # 5
014804,000936:
014805,000937: # C = -SIN(THETA) COS(PSI)
014806,000938: # 6
014807,000939:
014808,000940: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS THETA) SIN(PHI)
014809,000941: # 7
014810,000942:
014811,000943: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + CO (THETA)COS(PHI)
014812,000944: # 8
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014814,000946:
014815,000947: # WHERE PHI = OGA
014816,000948: # THETA = IGA
014817,000949: # PSI = MGA
014818,000950:
014819,000951: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
014820,000952: 22,2655 00007 6,1
014821,000953: 22,2656 71406 PUSH COS # PD +0 PSI
014822,000954: 22,2657 41152 SL1 BOVB
014823,000955: 22,2660 21712 SIGNMPAC
014824,000956: 22,2661 00051 STORE S1
014825,000957: 22,2662 57543 DLOAD* DCOMP
014826,000958: 22,2663 00015 12D,1
014827,000959: 22,2664 67471 DDV ARCSIN
014828,000960: 22,2665 00051 S1
014829,000961: 22,2666 51123 PDDL* BPL # PD +2 THETA
014830,000962: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
014831,000963: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
014832,000964: 22,2671 57545 DLOAD DCOMP
014833,000965: 22,2672 43244 BPL DAD
014834,000966: 22,2673 44677 SUHALFA
014835,000967: 22,2674 06520 DPHALF
014836,000968: 22,2675 77650 GOTO
014837,000969: 22,2676 44701 CALCPHI
014838,000970: 22,2677 77625 SUHALFA DSU
014839,000971: 22,2700 06520 DPHALF
014840,000972: 22,2701 77606 CALCPHI PUSH
014841,000973: 22,2702 57543 OKTHETA DLOAD* DCOMP
014842,000974: 22,2703 00013 10D,1
014843,000975: 22,2704 67471 DDV ARCSIN
014844,000976: 22,2705 00051 S1
014845,000977: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
014846,000978: 22,2707 00011 8D,1
014847,000979: 22,2710 44722 OKPHI
014848,000980: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
014849,000981: 22,2712 43244 BPL DAD
014850,000982: 22,2713 44717 SUHALFAP
014851,000983: 22,2714 06520 DPHALF
014852,000984: 22,2715 77650 GOTO
014853,000985: 22,2716 44723 VECOFANG
014854,000986: 22,2717 52025 SUHALFAP DSU GOTO
014855,000987: 22,2720 06520 DPHALF
014856,000988: 22,2721 44723 VECOFANG
014857,000989: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
014858,000990: 22,2723 43466 VECOFANG VDEF RVQ
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014860,000992: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
014861,000993:
014862,000994: 22,2724 77776 TOOBADF EXIT
014863,000995: 22,2725 05567 TC ALARM
014864,000996: 22,2726 00401 OCT 00401
014865,000997:
014866,000998: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
014867,000999:
014868,001000: 22,2730 04616 TC BANKCALL
014869,001001: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
014870,001002:
014871,001003: 22,2732 04616 NOGO TC BANKCALL
014872,001004: 22,2733 40165 CADR STOPRATE # STOP RATES
014873,001005:
014874,001006: 22,2734 34752 CAF TWO
014875,001007: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
014876,001008: 22,2736 05203 TC WAITLIST
014877,001009: 22,2737 E6,1676 EBANK= BCDU
014878,001010: 22,2737 03234 44066 2CADR GOODMANU
014879,001011:
014880,001012: 22,2741 15155 TCF ENDOFJOB
014881,001013:
014882,001014: 22,2742 77776 TOOBADI EXIT
014883,001015: 22,2743 12732 TCF NOGO
014884,001016:
014885,001017:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc