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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038902,000002: ## Copyright: Public domain.
038903,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
038904,000004: ## Purpose: A section of Luminary revision 96.
038905,000005: ## It is part of the reconstructed source code for the
038906,000006: ## original release of the flight software for the Lunar
038907,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
038908,000008: ## The code has been recreated from a previously reconstructed
038909,000009: ## copy of Luminary 97 by undoing changes described in anomaly
038910,000010: ## report LNY-59. The code has been adapted such that the
038911,000011: ## resulting bugger words exactly match those specified for
038912,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
038913,000013: ## high confidence that the reconstruction is correct.
038914,000014: ## Reference: pp. 908-925
038915,000015: ## Assembler: yaYUL
038916,000016: ## Contact: Ron Burkey <info@sandroid.org>.
038917,000017: ## Website: www.ibiblio.org/apollo/index.html
038918,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
038919,000019:
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Page 908
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038921,000021: # PROGRAM NAME: FINDCDUW
038922,000022: # MOD NUMBER: 1 68 07 15
038923,000023: # MOD AUTHOR: KLUMPP
038924,000024:
038925,000025: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
038926,000026: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
038927,000027: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
038928,000028: # FETCHING FOR THE THRUST DIRECTION FILTER THE
038929,000029: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
038930,000030: # MODES.
038931,000031: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
038932,000032: # AUTOPILOT COMMANDS WHENEVER
038933,000033: # 1) NOT IN PNGCS-AUTO, OR
038934,000034: # 2) ENGINE IS OFF.
038935,000035:
038936,000036: # FUNCTIONAL DESCRIPTION:
038937,000037:
038938,000038: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
038939,000039: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
038940,000040: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
038941,000041: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
038942,000042: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
038943,000043: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
038944,000044: # ACCELERATIONS AVAILABLE).
038945,000045:
038946,000046: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
038947,000047: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
038948,000048: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
038949,000049:
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Page 909
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038951,000051: # SPECIFICATIONS:
038952,000052:
038953,000053: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
038954,000054: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
038955,000055:
038956,000056: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
038957,000057: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
038958,000058: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
038959,000059:
038960,000060: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
038961,000061: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
038962,000062: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
038963,000063: # WITHOUT ISSUING AUTOPILOT CMDS.
038964,000064: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
038965,000065: # ISSUING AUTOPILOT CMDS.
038966,000066:
038967,000067: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
038968,000068: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
038969,000069: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
038970,000070:
038971,000071: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
038972,000072: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
038973,000073: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
038974,000074:
038975,000075: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038976,000076: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038977,000077: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
038978,000078: # CSMDOCKD FLAG DENOTING CSM DOCKED.
038979,000079: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
038980,000080:
038981,000081: # OUTPUTS: DELCDUX,Y,Z
038982,000082: # OMEGAPD,+1,+2
038983,000083: # DELPEROR,+1,+2
038984,000084: # CPHI,+1,+2 FOR NOUN22
038985,000085:
038986,000086: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
038987,000087: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
038988,000088: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
038989,000089:
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Page 910
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038991,000091: # INITIALIZATION FOR FINDCDUW
038992,000092:
038993,000093: 30,3104 BANK 30
038994,000094: 30,2000 SETLOC FCDUW
038995,000095: 30,2000 BANK
038996,000096:
038997,000097: 30,3104 E6,1646 EBANK= ECDUW
038998,000098: 30,3104 COUNT* $$/FCDUW
038999,000099:
039000,000100: 30,3104 77775 INITCDUW VLOAD
039001,000101: 30,3105 06520 UNITX
039002,000102: 30,3106 03270 STORE UNFV/2
039003,000103: 30,3107 03262 STORE UNWC/2
039004,000104: 30,3110 77616 RVQ
039005,000105:
039006,000106: # FINDCDUW PRELIMINARIES
039007,000107:
039008,000108: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039009,000109: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039010,000110: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039011,000111: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
039012,000112: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039013,000113: 30,3116 77420 STQ EXIT
039014,000114: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
039015,000115:
039016,000116: # MORE HAUSKEEPING
039017,000117: 30,3120 33761 CA ECDUWL
039018,000118: 30,3121 56003 XCH EBANK # SET EBANK
039019,000119: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
039020,000120:
039021,000121: 30,3123 30111 CA DAPBOOLS
039022,000122: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039023,000123: 30,3125 10000 CCS A
039024,000124: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
039025,000125: 30,3127 55650 TS NDXCDUW
039026,000126:
039027,000127: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039028,000128: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039029,000129:
039030,000130: 30,3132 70111 MASK DAPBOOLS
039031,000131: 30,3133 55651 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039032,000132:
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Page 911
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039034,000134: # FETCH BASIC DATA
039035,000135: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039036,000136:
039037,000137: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039038,000138: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039039,000139: 30,3137 30033 CA CDUY
039040,000140: 30,3140 54766 TS CDUSPOTY
039041,000141: 30,3141 30034 CA CDUZ
039042,000142: 30,3142 54770 TS CDUSPOTZ
039043,000143:
039044,000144: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
039045,000145: 30,3144 00006 EXTEND
039046,000146: 30,3145 02030 RAND CHAN30
039047,000147: 30,3146 10000 CCS A
039048,000148: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039049,000149:
039050,000150: 30,3150 34736 CA BIT14 # AUTO MODE BIT
039051,000151: 30,3151 00006 EXTEND
039052,000152: 30,3152 02031 RAND CHAN31
039053,000153: 30,3153 10000 CCS A
039054,000154: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039055,000155:
039056,000156: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039057,000157:
039058,000158: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039059,000159: 30,3157 54772 TS CDUSPOTX
039060,000160: 30,3160 31636 CA CDUYD
039061,000161: 30,3161 54766 TS CDUSPOTY
039062,000162: 30,3162 31637 CA CDUZD
039063,000163: 30,3163 54770 TS CDUSPOTZ
039064,000164:
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Page 912
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039066,000166: # FETCH INPUTS
039067,000167: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039068,000168: 30,3165 77634 RTB
039069,000169: 30,3166 21726 NORMUNIT
039070,000170: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039071,000171: 30,3170 03262 UNWC/2
039072,000172: 30,3171 47034 RTB RTB
039073,000173: 30,3172 21726 NORMUNIT
039074,000174: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039075,000175: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039076,000176: 30,3175 00325 DELV
039077,000177: 30,3176 53404 BOVB UNIT
039078,000178: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039079,000179: 30,3200 45000 BOV CALL
039080,000180: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039081,000181: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039082,000182:
039083,000183: # THRUST DIRECTION FILTER
039084,000184:
039085,000185: 30,3203 77776 EXIT
039086,000186:
039087,000187: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039088,000188: 30,3205 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039089,000189: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039090,000190: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039091,000191:
039092,000192: 30,3210 31673 CA UNFVZ/2
039093,000193: 30,3211 22161 LXCH MPAC +5
039094,000194: 30,3212 03503 TC FLTRSUB
039095,000195: 30,3213 55673 TS UNFVZ/2
039096,000196:
039097,000197: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039098,000198:
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Page 913
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039100,000200: # FIND A SUITABLE WINDOW POINTING VECTOR
039101,000201:
039102,000202: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039103,000203: 30,3216 03252 FLAGOODW
039104,000204: 30,3217 61223 FETCHZNB
039105,000205: 30,3220 45175 VLOAD CALL
039106,000206: 30,3221 00015 UNZ/2
039107,000207: 30,3222 61523 UNWCTEST
039108,000208:
039109,000209: 30,3223 77775 FETCHZNB VLOAD
039110,000210: 30,3224 02162 ZNBPIP
039111,000211: 30,3225 34015 STCALL UNZ/2
039112,000212: 30,3226 61523 UNWCTEST
039113,000213:
039114,000214: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039115,000215: 30,3230 02146 XNBPIP
039116,000216: 30,3231 00015 STORE UNZ/2
039117,000217:
039118,000218: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039119,000219:
039120,000220: 30,3232 47375 DCMCL VLOAD VXV
039121,000221: 30,3233 00015 UNZ/2
039122,000222: 30,3234 00001 UNX/2
039123,000223: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039124,000224: 30,3236 76435 VXV VSL1
039125,000225: 30,3237 00001 UNX/2
039126,000226: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039127,000227: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039128,000228: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
039129,000229: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039130,000230: 30,3244 03272 UNFVY/2 # MUST BE SMALL
039131,000231: 30,3245 53372 VSL1 VAD
039132,000232: 30,3246 00001 UNX/2
039133,000233: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039134,000234: 30,3250 00001 STORE UNX/2 # UNX/2
039135,000235: 30,3251 76435 VXV VSL1
039136,000236: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039137,000237: 30,3253 00007 STORE UNY/2 # UNY/2
039138,000238: 30,3254 47276 VCOMP VXV
039139,000239: 30,3255 00001 UNX/2
039140,000240: 30,3256 77772 VSL1
039141,000241: 30,3257 00015 STORE UNZ/2 # UNZ/2
039142,000242:
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Page 914
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039144,000244: # COMPUTE THE REQUIRED GIMBAL ANGLES
039145,000245:
039146,000246: 30,3260 77624 CALL
039147,000247: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039148,000248: 30,3262 77776 EXIT
039149,000249:
039150,000250: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039151,000251:
039152,000252: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
039153,000253: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039154,000254: 30,3265 33773 CA CDUZDLIM
039155,000255: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039156,000256: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039157,000257: 30,3270 00006 EXTEND
039158,000258: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039159,000259: 30,3272 00006 EXTEND
039160,000260: 30,3273 13275 BZF +2
039161,000261: 30,3274 13756 TCF ALARMMGA
039162,000262:
039163,000263: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039164,000264:
039165,000265: 30,3276 22007 ZL
039166,000266: 30,3277 34752 CA TWO
039167,000267: 30,3300 54142 DELGMBLP TS TEM2
039168,000268:
039169,000269: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039170,000270: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039171,000271: 30,3303 70000 SQUARE
039172,000272: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039173,000273: 30,3305 00006 EXTEND
039174,000274: 30,3306 63311 BZMF +3
039175,000275: 30,3307 34755 CA ZERO
039176,000276: 30,3310 55651 TS FLAGOODW
039177,000277:
039178,000278: 30,3311 50142 INDEX TEM2
039179,000279: 30,3312 30154 CA MPAC
039180,000280: 30,3313 50142 INDEX TEM2
039181,000281: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
039182,000282: 30,3315 00006 EXTEND
039183,000283: 30,3316 50142 INDEX TEM2
039184,000284: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039185,000285: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039186,000286: 30,3321 50142 INDEX TEM2
039187,000287: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039188,000288: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
039189,000289: 30,3324 10142 CCS TEM2
039190,000290: 30,3325 13300 TCF DELGMBLP
039191,000291:
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Page 915
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039193,000293: # BRANCHES TO NOATTCNT
039194,000294: 30,3326 11652 CCS FLPAUTNO
039195,000295: 30,3327 13752 TCF NOATTCNT +2 # NOT PNGCS AUTO
039196,000296:
039197,000297: 30,3330 30101 CA FLAGWRD5
039198,000298: 30,3331 74745 MASK ENGONBIT
039199,000299: 30,3332 00006 EXTEND
039200,000300: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
039201,000301:
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Page 916
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039203,000303: # LIMIT THE ATTITUDE ANGLE CHANGES
039204,000304:
039205,000305: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039206,000306: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039207,000307: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039208,000308: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039209,000309:
039210,000310: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039211,000311: # * * * * * *
039212,000312: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039213,000313: # * * * * * *
039214,000314: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039215,000315:
039216,000316: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039217,000317: 30,3335 51650 INDEX NDXCDUW
039218,000318: 30,3336 33767 CA DAZMAX
039219,000319: 30,3337 03727 TC LIMITSUB
039220,000320: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
039221,000321:
039222,000322: 30,3341 31676 CA -DELGMB +1
039223,000323: 30,3342 00006 EXTEND
039224,000324: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039225,000325: 30,3344 54001 TS L
039226,000326: 30,3345 51650 INDEX NDXCDUW
039227,000327: 30,3346 33771 CA DAY/2MAX
039228,000328: 30,3347 03727 TC LIMITSUB
039229,000329: 30,3350 00006 EXTEND
039230,000330: 30,3351 10746 DV COSCDUZ
039231,000331: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039232,000332:
039233,000333: 30,3353 00006 EXTEND
039234,000334: 30,3354 70740 MP SINCDUZ
039235,000335: 30,3355 20001 DDOUBL
039236,000336: 30,3356 40000 COM
039237,000337: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039238,000338: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039239,000339: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039240,000340: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039241,000341: 30,3363 33767 CA DAXMAX
039242,000342: 30,3364 03727 TC LIMITSUB
039243,000343: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
039244,000344: 30,3366 11651 CCS FLAGOODW
039245,000345: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039246,000346: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039247,000347: 30,3371 41676 CS -DELGMB +1
039248,000348: 30,3372 00006 EXTEND
039249,000349: 30,3373 70740 MP SINCDUZ
039250,000350: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039251,000351: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039252,000352: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039253,000353:
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Page 917
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039255,000355: # COMPUTE COMMANDED ATTITUDE RATES
039256,000356:
039257,000357: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039258,000358: # * * * * * *
039259,000359: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039260,000360: # * * * * * *
039261,000361: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039262,000362:
039263,000363: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039264,000364: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039265,000365: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039266,000366:
039267,000367: 30,3376 41675 CS -DELGMB
039268,000368: 30,3377 55643 TS OMEGAPD
039269,000369: 30,3400 41676 CS -DELGMB +1
039270,000370: 30,3401 00006 EXTEND
039271,000371: 30,3402 70740 MP SINCDUZ
039272,000372: 30,3403 20001 DDOUBL
039273,000373: 30,3404 27643 ADS OMEGAPD
039274,000374: 30,3405 27643 ADS OMEGAPD
039275,000375:
039276,000376: 30,3406 41676 CS -DELGMB +1
039277,000377: 30,3407 00006 EXTEND
039278,000378: 30,3410 70750 MP COSCDUX
039279,000379: 30,3411 20001 DDOUBL
039280,000380: 30,3412 00006 EXTEND
039281,000381: 30,3413 70746 MP COSCDUZ
039282,000382: 30,3414 55644 TS OMEGAQD
039283,000383: 30,3415 41677 CS -DELGMB +2
039284,000384: 30,3416 00006 EXTEND
039285,000385: 30,3417 70742 MP SINCDUX
039286,000386: 30,3420 27644 ADS OMEGAQD
039287,000387: 30,3421 27644 ADS OMEGAQD
039288,000388: 30,3422 27644 ADS OMEGAQD
039289,000389:
039290,000390: 30,3423 31676 CA -DELGMB +1
039291,000391: 30,3424 00006 EXTEND
039292,000392: 30,3425 70742 MP SINCDUX
039293,000393: 30,3426 20001 DDOUBL
039294,000394: 30,3427 00006 EXTEND
039295,000395: 30,3430 70746 MP COSCDUZ
039296,000396: 30,3431 55645 TS OMEGARD
039297,000397: 30,3432 41677 CS -DELGMB +2
039298,000398: 30,3433 00006 EXTEND
039299,000399: 30,3434 70750 MP COSCDUX
039300,000400: 30,3435 27645 ADS OMEGARD
039301,000401: 30,3436 27645 ADS OMEGARD
039302,000402: 30,3437 27645 ADS OMEGARD
039303,000403:
|
|
Page 918
|
039305,000405: # FINAL TRANSFER
039306,000406:
039307,000407: 30,3440 34752 CA TWO
039308,000408: 30,3441 54142 CDUWXFR TS TEM2
039309,000409: 30,3442 50142 INDEX TEM2
039310,000410: 30,3443 31675 CA -DELGMB
039311,000411: 30,3444 00006 EXTEND
039312,000412: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039313,000413: 30,3446 03743 TC ONESTO2S
039314,000414: 30,3447 50142 INDEX TEM2
039315,000415: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
039316,000416:
039317,000417: 30,3451 50142 INDEX TEM2
039318,000418: 30,3452 11643 CCS OMEGAPD
039319,000419: 30,3453 64753 AD ONE
039320,000420: 30,3454 13456 TCF +2
039321,000421: 30,3455 64753 AD ONE
039322,000422: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039323,000423: 30,3457 50142 INDEX TEM2
039324,000424: 30,3460 71643 MP OMEGAPD
039325,000425: 30,3461 00006 EXTEND
039326,000426: 30,3462 74741 MP BIT11 # 1/16
039327,000427: 30,3463 00006 EXTEND
039328,000428: 30,3464 50142 INDEX TEM2 # 2
039329,000429: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039330,000430: 30,3466 54001 TS L
039331,000431: 30,3467 33771 CA DELERLIM
039332,000432: 30,3470 03727 TC LIMITSUB
039333,000433: 30,3471 50142 INDEX TEM2
039334,000434: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039335,000435: 30,3473 10142 CCS TEM2
039336,000436: 30,3474 13441 TCF CDUWXFR
039337,000437:
039338,000438: # HAUSKEEPING AND RETURN
039339,000439:
039340,000440: 30,3475 31646 TCQCDUW CA ECDUWUSR
039341,000441: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
039342,000442:
039343,000443: 30,3477 06037 TC INTPRET
039344,000444: 30,3500 52001 SETPD GOTO
039345,000445: 30,3501 00001 0
039346,000446: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039347,000447:
|
|
Page 919
|
039349,000449: # THRUST VECTOR FILTER SUBROUTINE
039350,000450:
039351,000451: 30,3503 00006 FLTRSUB EXTEND
039352,000452: 30,3504 22142 QXCH TEM2
039353,000453: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039354,000454: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039355,000455: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039356,000456: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039357,000457: 30,3511 51650 INDEX NDXCDUW
039358,000458: 30,3512 73762 MP GAINFLTR
039359,000459: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
039360,000460: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039361,000461: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039362,000462: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
039363,000463: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
039364,000464: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039365,000465: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039366,000466: 30,3522 00142 TC TEM2
039367,000467:
039368,000468: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039369,000469:
039370,000470: 30,3523 63441 UNWCTEST DOT DSQ
039371,000471: 30,3524 00001 UNX/2
039372,000472: 30,3525 50025 DSU BMN
039373,000473: 30,3526 21767 DOTSWFMX
039374,000474: 30,3527 61232 DCMCL
039375,000475: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039376,000476: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
039377,000477: 30,3532 00000 0
039378,000478:
|
|
Page 920
|
039380,000480: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039381,000481: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039382,000482: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039383,000483:
039384,000484: 30,3533 63545 NB2CDUSP DLOAD DSQ
039385,000485: 30,3534 00003 2
039386,000486: 30,3535 51021 BDSU BPL
039387,000487: 30,3536 06512 DP1/4TH
039388,000488: 30,3537 61542 +3
039389,000489: 30,3540 77745 DLOAD
039390,000490: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039391,000491: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039392,000492:
039393,000493: 30,3543 00006 EXTEND
039394,000494: 30,3544 30155 DCA MPAC
039395,000495: 30,3545 20001 DDOUBL
039396,000496: 30,3546 54145 TS TEM5
039397,000497: 30,3547 13552 TCF +3
039398,000498: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039399,000499: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039400,000500:
039401,000501: 30,3552 50120 INDEX FIXLOC
039402,000502: 30,3553 30002 CA 2
039403,000503: 30,3554 22154 LXCH MPAC
039404,000504: 30,3555 03622 TC ARCTRGSP
039405,000505: 30,3556 54156 TS MPAC +2 # CDUZ
039406,000506:
039407,000507: 30,3557 34755 CA ZERO
039408,000508: 30,3560 03600 TC DVBYCOSM
039409,000509: 30,3561 34751 CA FOUR
039410,000510: 30,3562 03600 TC DVBYCOSM
039411,000511: 30,3563 40141 CS TEM1
039412,000512: 30,3564 03622 TC ARCTRGSP
039413,000513: 30,3565 54155 TS MPAC +1 # CDUY
039414,000514:
039415,000515: 30,3566 34750 CA BIT4
039416,000516: 30,3567 03600 TC DVBYCOSM
039417,000517: 30,3570 33577 CA 16OCT
039418,000518: 30,3571 03600 TC DVBYCOSM
039419,000519: 30,3572 40141 CS TEM1
039420,000520: 30,3573 03622 TC ARCTRGSP
039421,000521: 30,3574 54154 TS MPAC # CDUX
039422,000522:
039423,000523: 30,3575 06037 TC INTPRET
039424,000524: 30,3576 77616 RVQ
039425,000525:
039426,000526: 30,3577 00016 16OCT OCT 16
039427,000527:
|
|
Page 921
|
039429,000529: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039430,000530: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039431,000531: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039432,000532: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039433,000533: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039434,000534: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039435,000535: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039436,000536:
039437,000537: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039438,000538: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039439,000539: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039440,000540: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039441,000541:
039442,000542: 30,3600 60120 DVBYCOSM AD FIXLOC
039443,000543: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
039444,000544:
039445,000545: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039446,000546: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039447,000547: 30,3604 00006 EXTEND
039448,000548: 30,3605 63607 BZMF +2
039449,000549: 30,3606 40000 COM
039450,000550: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039451,000551: 30,3610 00006 EXTEND
039452,000552: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039453,000553:
039454,000554: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039455,000555: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039456,000556: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039457,000557: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039458,000558: 30,3616 10145 DV TEM5
039459,000559: 30,3617 54001 TSL&TCQ TS L
039460,000560: 30,3620 22141 LXCH TEM1
039461,000561: 30,3621 00002 TC Q
039462,000562:
|
|
Page 922
|
039464,000564: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039465,000565: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039466,000566: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039467,000567:
039468,000568: 30,3622 00006 ARCTRGSP EXTEND
039469,000569: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039470,000570:
039471,000571: 30,3624 00006 EXTEND
039472,000572: 30,3625 22144 QXCH TEM4
039473,000573: 30,3626 54142 TS TEM2
039474,000574: 30,3627 30001 CA L
039475,000575: 30,3630 54143 TS TEM3
039476,000576: 30,3631 34755 CA ZERO
039477,000577: 30,3632 00006 EXTEND
039478,000578: 30,3633 10142 DV TEM2
039479,000579: 30,3634 00006 EXTEND
039480,000580: 30,3635 13654 BZF USECOS
039481,000581:
039482,000582: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039483,000583: 30,3637 34755 CA ZERO
039484,000584: 30,3640 13644 TCF +4
039485,000585: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039486,000586: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039487,000587: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039488,000588: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
039489,000589: 30,3645 30142 CA TEM2
039490,000590: 30,3646 03672 TC SPARCSIN -1
039491,000591: 30,3647 03743 TC ONESTO2S
039492,000592: 30,3650 00006 EXTEND
039493,000593: 30,3651 20143 MSU TEM3
039494,000594: 30,3652 03743 1TO2&TCQ TC ONESTO2S
039495,000595: 30,3653 00144 TC TEM4
039496,000596:
039497,000597: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
039498,000598: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039499,000599: 30,3656 64736 AD HALF
039500,000600: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
039501,000601: 30,3660 10142 CCS TEM2
039502,000602: 30,3661 30143 CA TEM3
039503,000603: 30,3662 13652 TCF 1TO2&TCQ
039504,000604: 30,3663 40143 CS TEM3
039505,000605: 30,3664 13652 TCF 1TO2&TCQ
039506,000606:
039507,000607: 30,3665 10001 SINZERO CCS L
039508,000608: 30,3666 34755 CA ZERO
039509,000609: 30,3667 00002 TC Q
039510,000610: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
039511,000611: 30,3671 00002 TC Q
039512,000612:
|
|
Page 923
|
039514,000614: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039515,000615: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039516,000616: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039517,000617: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039518,000618:
039519,000619: 30,3672 60000 DOUBLE
039520,000620: 30,3673 54021 SPARCSIN TS SR
039521,000621: 30,3674 13700 TCF +4
039522,000622: 30,3675 50000 INDEX A
039523,000623: 30,3676 44734 CS LIMITS
039524,000624: 30,3677 54021 TS SR
039525,000625: 30,3700 00006 EXTEND
039526,000626: 30,3701 70000 MP A
039527,000627: 30,3702 54141 TS TEM1
039528,000628: 30,3703 00006 EXTEND
039529,000629: 30,3704 73726 MP DPL9
039530,000630: 30,3705 63725 AD DPL7
039531,000631: 30,3706 00006 EXTEND
039532,000632: 30,3707 70141 MP TEM1
039533,000633: 30,3710 63724 AD DPL5
039534,000634: 30,3711 00006 EXTEND
039535,000635: 30,3712 70141 MP TEM1
039536,000636: 30,3713 63723 AD DPL3
039537,000637: 30,3714 00006 EXTEND
039538,000638: 30,3715 70141 MP TEM1
039539,000639: 30,3716 63722 AD DPL1
039540,000640: 30,3717 00006 EXTEND
039541,000641: 30,3720 70021 MP SR
039542,000642: 30,3721 00002 TC Q
039543,000643: 30,3722 24406 DPL1 DEC 10502 B-14
039544,000644: 30,3723 00660 DPL3 DEC 432 B-14
039545,000645: 30,3724 16204 DPL5 DEC 7300 B-14
039546,000646: 30,3725 50744 DPL7 DEC -11803 B-14
039547,000647: 30,3726 20315 DPL9 DEC 8397 B-14
039548,000648:
|
|
Page 924
|
039550,000650: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039551,000651: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039552,000652: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039553,000653:
039554,000654: # VERSION COURTESY HUGH BLAIR-SMITH
039555,000655:
039556,000656: 30,3727 54141 LIMITSUB TS TEM1
039557,000657: 30,3730 34755 CA ZERO
039558,000658: 30,3731 00006 EXTEND
039559,000659: 30,3732 10141 DV TEM1
039560,000660: 30,3733 10000 CCS A
039561,000661: 30,3734 22141 LXCH TEM1
039562,000662: 30,3735 13737 TCF +2
039563,000663: 30,3736 13741 TCF +3
039564,000664: 30,3737 30001 CA L
039565,000665: 30,3740 00002 TC Q
039566,000666: 30,3741 40141 CS TEM1
039567,000667: 30,3742 00002 TC Q
039568,000668:
039569,000669: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039570,000670:
039571,000671: 30,3743 10000 ONESTO2S CCS A
039572,000672: 30,3744 64753 AD ONE
039573,000673: 30,3745 00002 TC Q
039574,000674: 30,3746 40000 CS A
039575,000675: 30,3747 00002 TC Q
039576,000676:
039577,000677: # NO ATTITUDE CONTROL
039578,000678:
039579,000679: 30,3750 05567 NOATTCNT TC ALARM
039580,000680: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
039581,000681:
039582,000682: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039583,000683: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039584,000684: 30,3754 40165 FCADR STOPRATE
039585,000685: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039586,000686:
039587,000687: # MIDDLE GIMBAL ANGLE ALARM
039588,000688:
039589,000689: 30,3756 05567 ALARMMGA TC ALARM
039590,000690: 30,3757 00401 OCT 00401
039591,000691: 30,3760 13275 TCF MGARET
039592,000692:
|
|
Page 925
|
039594,000694: # ************************************************************************
039595,000695: # CONSTANTS
039596,000696: # ************************************************************************
039597,000697:
039598,000698: # ADDRESS CONSTANTS
039599,000699:
039600,000700: 30,3761 03246 ECDUWL ECADR ECDUW
039601,000701:
039602,000702: # THRUST DIRECTION FILTER CONSTANTS
039603,000703:
039604,000704: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039605,000705: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
039606,000706:
039607,000707: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039608,000708: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039609,000709:
039610,000710: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039611,000711: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039612,000712:
039613,000713: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039614,000714:
039615,000715: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039616,000716: # LOWER PART COMES FROM NEXT CONSTANT
039617,000717:
039618,000718: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039619,000719: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039620,000720:
039621,000721: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039622,000722: 30,3772 00133 DEC .0055555555
039623,000723:
039624,000724: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039625,000725:
039626,000726: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039627,000727:
039628,000728: # CONSTANTS FOR DATA TRANSFER
039629,000729:
039630,000730: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039631,000731: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039632,000732:
039633,000733: 30,3775 30,3771 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039634,000734:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc