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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059673,000002: ## Copyright: Public domain.
059674,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
059675,000004: ## Purpose: A section of Luminary revision 96.
059676,000005: ## It is part of the reconstructed source code for the
059677,000006: ## original release of the flight software for the Lunar
059678,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
059679,000008: ## The code has been recreated from a previously reconstructed
059680,000009: ## copy of Luminary 97 by undoing changes described in anomaly
059681,000010: ## report LNY-59. The code has been adapted such that the
059682,000011: ## resulting bugger words exactly match those specified for
059683,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
059684,000013: ## high confidence that the reconstruction is correct.
059685,000014: ## Reference: pp. 1421-1441
059686,000015: ## Assembler: yaYUL
059687,000016: ## Contact: Ron Burkey <info@sandroid.org>.
059688,000017: ## Website: www.ibiblio.org/apollo/index.html
059689,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
059690,000019:
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Page 1421
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059692,000021: 16,2213 BANK 16
059693,000022: 16,2000 SETLOC DAPS1
059694,000023: 16,2000 BANK
059695,000024:
059696,000025: 16,2213 E6,1464 EBANK= PERROR
059697,000026: 16,2213 COUNT* $$/DAPP
059698,000027:
059699,000028: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
059700,000029: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
059701,000030:
059702,000031: 16,2213 37727 PAXIS CA MS100
059703,000032: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
059704,000033: # CHRONIZATION WITH OTHER INTERRUPTS ***
059705,000034:
059706,000035: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
059707,000036: 16,2216 00006 EXTEND
059708,000037: 16,2217 22012 QXCH QRUPT
059709,000038:
059710,000039: # CHECK IF DAP PASS IS PERMISSIBLE
059711,000040:
059712,000041: 16,2220 11757 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
059713,000042: 16,2221 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
059714,000043: 16,2222 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
059715,000044:
059716,000045: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
059717,000046:
059718,000047: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
059719,000048: 16,2225 55750 TS DAPTREG4
059720,000049: 16,2226 30033 CA CDUY
059721,000050: 16,2227 55751 TS DAPTREG5
059722,000051: 16,2230 30034 CA CDUZ
059723,000052: 16,2231 55752 TS DAPTREG6
059724,000053:
059725,000054: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
059726,000055:
059727,000056: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
059728,000057: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
059729,000058:
059730,000059: 16,2232 31635 CA CDUXD
059731,000060: 16,2233 00006 EXTEND
059732,000061: 16,2234 21640 MSU DELCDUX
059733,000062: 16,2235 02256 TC 1STOTWOS
059734,000063: 16,2236 55635 TS CDUXD
059735,000064: 16,2237 31636 CA CDUYD
059736,000065: 16,2240 00006 EXTEND
059737,000066: 16,2241 21641 MSU DELCDUY
059738,000067: 16,2242 02256 TC 1STOTWOS
059739,000068: 16,2243 55636 TS CDUYD
059740,000069: 16,2244 31637 CA CDUZD
059741,000070: 16,2245 00006 EXTEND
059742,000071: 16,2246 21642 MSU DELCDUZ
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Page 1422
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059744,000073: 16,2247 02256 TC 1STOTWOS
059745,000074: 16,2250 55637 TS CDUZD
059746,000075: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
059747,000076: 16,2252 27445 DIM TCP # TIME COUNTERS.
059748,000077: 16,2253 00006 EXTEND
059749,000078: 16,2254 27457 DIM TCQR
059750,000079:
059751,000080: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
059752,000081: # RETURNS TO BACKP.
059753,000082:
059754,000083: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
059755,000084: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
059756,000085: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
059757,000086:
059758,000087: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
059759,000088: 16,2256 10000 1STOTWOS CCS A
059760,000089: 16,2257 64753 AD ONE
059761,000090: 16,2260 00002 TC Q
059762,000091: 16,2261 40000 CS A
059763,000092: 16,2262 00002 TC Q
059764,000093: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
059765,000094: 16,2264 71741 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
059766,000095: 16,2265 21427 DAS OMEGAU # OVERFLOW
059767,000096:
059768,000097: 16,2266 00006 +3 EXTEND
059769,000098: 16,2267 31427 DCA OMEGAU
059770,000099: 16,2270 53744 DXCH DAPTEMP5
059771,000100: 16,2271 11426 CCS OMEGAU
059772,000101: 16,2272 12274 TCF +2
059773,000102: 16,2273 12304 TCF DIVIDER
059774,000103: 16,2274 62315 AD -OCT630
059775,000104: 16,2275 00006 EXTEND
059776,000105: 16,2276 62304 BZMF DIVIDER
059777,000106:
059778,000107: 16,2277 11426 CCS OMEGAU
059779,000108: 16,2300 34733 CA POSMAX # 45 DEG/SEC
059780,000109: 16,2301 00002 TC Q
059781,000110: 16,2302 44733 CS POSMAX
059782,000111: 16,2303 00002 TC Q
059783,000112:
059784,000113: 16,2304 53427 DIVIDER DXCH OMEGAU
059785,000114: 16,2305 00006 EXTEND
059786,000115: 16,2306 11750 DV DAPTREG4
059787,000116: 16,2307 00002 TC Q
059788,000117:
059789,000118: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
059790,000119: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
059791,000120: 16,2312 50000 INDEX A
059792,000121: 16,2313 44734 CS BIT15 -1
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Page 1423
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059794,000123: 16,2314 00002 TC Q
059795,000124:
059796,000125: 16,2315 77147 -OCT630 OCT 77147
059797,000126:
059798,000127: 16,2316 31737 BACKP CA DAPTEMP1
059799,000128: 16,2317 00006 EXTEND
059800,000129: 16,2320 71530 MP 1JACC
059801,000130: 16,2321 55745 TS JETRATE
059802,000131:
059803,000132: # BEGINNING OF THE RATE DERIVATION
059804,000133: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
059805,000134: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
059806,000135: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
059807,000136: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
059808,000137: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
059809,000138: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
059810,000139: # OMEGAU DP-TEMPORARY STORAGE
059811,000140: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
059812,000141:
059813,000142: 16,2322 31750 CAE DAPTREG4 # CDUX IS STORED HERE
059814,000143: 16,2323 54001 TS L
059815,000144: 16,2324 00006 EXTEND
059816,000145: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
059817,000146: 16,2326 23440 LXCH OLDXFORP
059818,000147: 16,2327 55737 TS DAPTEMP1
059819,000148: 16,2330 33620 CA 1/40
059820,000149: 16,2331 55750 TS DAPTREG4
059821,000150: 16,2332 41745 CS JETRATE
059822,000151: 16,2333 00006 EXTEND
059823,000152: 16,2334 74736 MP BIT14
059824,000153: 16,2335 27430 ADS TRAPEDP
059825,000154: 16,2336 31746 CA JETRATEQ
059826,000155: 16,2337 61545 AD AOSQTERM
059827,000156: 16,2340 00006 EXTEND
059828,000157: 16,2341 77736 MP -BIT14
059829,000158: 16,2342 27431 ADS TRAPEDQ
059830,000159: 16,2343 31747 CA JETRATER
059831,000160: 16,2344 61546 AD AOSRTERM
059832,000161: 16,2345 00006 EXTEND
059833,000162: 16,2346 77736 MP -BIT14
059834,000163: 16,2347 27432 ADS TRAPEDR
059835,000164:
059836,000165: 16,2350 31751 CA DAPTREG5 # CDUY IS STORED HERE
059837,000166: 16,2351 54001 TS L
059838,000167: 16,2352 00006 EXTEND
059839,000168: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
059840,000169: 16,2354 23441 LXCH OLDYFORP
059841,000170: 16,2355 55740 TS DAPTEMP2
059842,000171: 16,2356 00006 EXTEND
059843,000172: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1424
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059845,000174: 16,2360 61737 AD DAPTEMP1
059846,000175: 16,2361 53427 DXCH OMEGAU
059847,000176:
059848,000177: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
059849,000178:
059850,000179: 16,2363 00006 EXTEND
059851,000180: 16,2364 61421 SU OMEGAP
059852,000181: 16,2365 27430 ADS TRAPEDP
059853,000182: 16,2366 02310 TC OVERSUB
059854,000183: 16,2367 55430 TS TRAPEDP
059855,000184: 16,2370 00006 EXTEND
059856,000185: 16,2371 31744 DCA DAPTEMP5
059857,000186: 16,2372 21447 DAS DXERROR
059858,000187: 16,2373 41454 CS PLAST
059859,000188: 16,2374 00006 EXTEND
059860,000189: 16,2375 73620 MP 1/40
059861,000190: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
059862,000191: 16,2377 31752 CA DAPTREG6 # CDUZ IS STORED HERE
059863,000192: 16,2400 54001 TS L
059864,000193: 16,2401 00006 EXTEND
059865,000194: 16,2402 21442 MSU OLDZFORQ
059866,000195: 16,2403 55741 TS DAPTEMP3
059867,000196: 16,2404 23442 LXCH OLDZFORQ
059868,000197: 16,2405 31415 CA M21
059869,000198: 16,2406 00006 EXTEND
059870,000199: 16,2407 71740 MP DAPTEMP2
059871,000200: 16,2410 53427 DXCH OMEGAU
059872,000201: 16,2411 31417 CA M22
059873,000202: 16,2412 02263 TC SUBDIVDE
059874,000203:
059875,000204: 16,2413 00006 EXTEND
059876,000205: 16,2414 61422 SU OMEGAQ
059877,000206: 16,2415 27431 ADS TRAPEDQ
059878,000207: 16,2416 02310 TC OVERSUB
059879,000208: 16,2417 55431 TS TRAPEDQ
059880,000209: 16,2420 00006 EXTEND
059881,000210: 16,2421 31744 DCA DAPTEMP5
059882,000211: 16,2422 21451 DAS DYERROR
059883,000212: 16,2423 41455 CS QLAST
059884,000213: 16,2424 00006 EXTEND
059885,000214: 16,2425 73620 MP 1/40
059886,000215: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
059887,000216: 16,2427 31416 CA M31
059888,000217: 16,2430 00006 EXTEND
059889,000218: 16,2431 71740 MP DAPTEMP2
059890,000219: 16,2432 53427 DXCH OMEGAU
059891,000220: 16,2433 31420 CA M32
059892,000221:
059893,000222: 16,2434 02263 TC SUBDIVDE
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Page 1425
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059895,000224: 16,2435 00006 EXTEND
059896,000225: 16,2436 61423 SU OMEGAR
059897,000226: 16,2437 27432 ADS TRAPEDR
059898,000227: 16,2440 02310 TC OVERSUB
059899,000228: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
059900,000229:
059901,000230: 16,2442 00006 EXTEND
059902,000231: 16,2443 31744 DCA DAPTEMP5
059903,000232: 16,2444 21453 DAS DZERROR
059904,000233: 16,2445 41456 CS RLAST
059905,000234: 16,2446 00006 EXTEND
059906,000235: 16,2447 73620 MP 1/40
059907,000236: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
059908,000237: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
059909,000238: 16,2452 74737 MASK CSMDOCKD
059910,000239: 16,2453 00006 EXTEND
059911,000240: 16,2454 12462 BZF LMONLY
059912,000241: 16,2455 00006 EXTEND # DOCKED
059913,000242: 16,2456 31405 DCA DKOMEGAN
059914,000243: 16,2457 53751 DXCH DAPTREG4
059915,000244: 16,2460 31403 CA DKTRAP
059916,000245: 16,2461 12466 TCF +5
059917,000246: 16,2462 00006 LMONLY EXTEND # UNDOCKED
059918,000247: 16,2463 31410 DCA LMOMEGAN
059919,000248: 16,2464 53751 DXCH DAPTREG4
059920,000249: 16,2465 31406 CA LMTRAP
059921,000250: 16,2466 55752 +5 TS DAPTREG6
059922,000251: 16,2467 11430 CCS TRAPEDP
059923,000252: 16,2470 12472 TCF +2
059924,000253: 16,2471 12507 TCF SMALPDIF
059925,000254: 16,2472 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059926,000255: 16,2473 00006 EXTEND
059927,000256: 16,2474 62507 BZMF SMALPDIF
059928,000257: 16,2475 22007 ZL
059929,000258: 16,2476 23430 LXCH TRAPEDP
059930,000259: 16,2477 34755 CA ZERO
059931,000260: 16,2500 00006 EXTEND
059932,000261: 16,2501 11433 DV NPTRAPS
059933,000262: 16,2502 27421 ADS OMEGAP
059934,000263: 16,2503 02310 TC OVERSUB
059935,000264: 16,2504 55421 TS OMEGAP
059936,000265: 16,2505 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059937,000266: 16,2506 55433 TS NPTRAPS
059938,000267: 16,2507 25433 SMALPDIF INCR NPTRAPS
059939,000268: 16,2510 31745 P-RATE CA JETRATE
059940,000269: 16,2511 27421 ADS OMEGAP
059941,000270: 16,2512 02310 TC OVERSUB
059942,000271: 16,2513 55421 TS OMEGAP
059943,000272:
059944,000273: 16,2514 11431 CCS TRAPEDQ
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Page 1426
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059946,000275: 16,2515 12517 TCF +2
059947,000276: 16,2516 12544 TCF Q-RATE
059948,000277: 16,2517 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059949,000278: 16,2520 00006 EXTEND
059950,000279: 16,2521 62544 BZMF Q-RATE
059951,000280: 16,2522 22007 ZL
059952,000281: 16,2523 23431 LXCH TRAPEDQ
059953,000282: 16,2524 34755 CA ZERO
059954,000283: 16,2525 00006 EXTEND
059955,000284: 16,2526 11434 DV NQTRAPS
059956,000285: 16,2527 55737 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
059957,000286: 16,2530 27422 ADS OMEGAQ
059958,000287: 16,2531 02310 TC OVERSUB
059959,000288: 16,2532 55422 TS OMEGAQ
059960,000289: 16,2533 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059961,000290: 16,2534 57434 XCH NQTRAPS
059962,000291: 16,2535 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
059963,000292: 16,2536 57737 XCH DAPTEMP1
059964,000293: 16,2537 00006 EXTEND
059965,000294: 16,2540 74756 MP FIVE
059966,000295: 16,2541 00006 EXTEND
059967,000296: 16,2542 11737 DV DAPTEMP1
059968,000297: 16,2543 27537 ADS AOSQ
059969,000298: 16,2544 25434 Q-RATE INCR NQTRAPS
059970,000299: 16,2545 31746 CA JETRATEQ
059971,000300: 16,2546 61545 AD AOSQTERM
059972,000301: 16,2547 27422 ADS OMEGAQ
059973,000302: 16,2550 02310 TC OVERSUB
059974,000303: 16,2551 55422 TS OMEGAQ
059975,000304:
059976,000305: 16,2552 11432 CCS TRAPEDR
059977,000306: 16,2553 12555 TCF +2
059978,000307: 16,2554 12602 TCF R-RATE
059979,000308: 16,2555 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059980,000309: 16,2556 00006 EXTEND
059981,000310: 16,2557 62602 BZMF R-RATE
059982,000311: 16,2560 22007 ZL
059983,000312: 16,2561 23432 LXCH TRAPEDR
059984,000313: 16,2562 34755 CA ZERO
059985,000314: 16,2563 00006 EXTEND
059986,000315: 16,2564 11435 DV NRTRAPS
059987,000316: 16,2565 55740 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
059988,000317: 16,2566 27423 ADS OMEGAR
059989,000318: 16,2567 02310 TC OVERSUB
059990,000319: 16,2570 55423 TS OMEGAR
059991,000320: 16,2571 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059992,000321: 16,2572 57435 XCH NRTRAPS
059993,000322: 16,2573 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
059994,000323: 16,2574 57740 XCH DAPTEMP2
059995,000324: 16,2575 00006 EXTEND
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Page 1427
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059997,000326: 16,2576 74756 MP FIVE
059998,000327: 16,2577 00006 EXTEND
059999,000328: 16,2600 11740 DV DAPTEMP2
060000,000329: 16,2601 27541 ADS AOSR
060001,000330: 16,2602 25435 R-RATE INCR NRTRAPS
060002,000331: 16,2603 31747 CA JETRATER
060003,000332: 16,2604 61546 AD AOSRTERM
060004,000333: 16,2605 27423 ADS OMEGAR
060005,000334: 16,2606 02310 TC OVERSUB
060006,000335: 16,2607 55423 TS OMEGAR
060007,000336:
060008,000337: # END OF RATE DERIVATION
060009,000338: # BEGIN OFFSET ESTIMATER
060010,000339: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060011,000340: # AOS = AOS + K*SUMRATE
060012,000341:
060013,000342: 16,2610 40111 CS DAPBOOLS
060014,000343: 16,2611 74744 MASK DRIFTBIT
060015,000344: 16,2612 10000 CCS A
060016,000345: 16,2613 12624 TCF WORKTIME
060017,000346: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
060018,000347: 16,2615 55425 TS ALPHAR
060019,000348: 16,2616 55545 TS AOSQTERM
060020,000349: 16,2617 55546 TS AOSRTERM
060021,000350: 16,2620 55537 TS AOSQ
060022,000351: 16,2621 55541 TS AOSR
060023,000352: 16,2622 12667 TCF PRETIMCK
060024,000353: 16,2623 00074 KAOS DEC 60 B-14
060025,000354: 16,2624 31510 WORKTIME CA QACCDOT
060026,000355: 16,2625 00006 EXTEND
060027,000356: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060028,000357: 16,2627 21540 DAS AOSQ
060029,000358: 16,2630 31537 CA AOSQ
060030,000359: 16,2631 55424 TS ALPHAQ
060031,000360: 16,2632 00006 EXTEND
060032,000361: 16,2633 73616 MP 200MS # .2 AT 1
060033,000362: 16,2634 55545 TS AOSQTERM
060034,000363: 16,2635 31512 CA RACCDOT
060035,000364: 16,2636 00006 EXTEND
060036,000365: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060037,000366: 16,2640 21542 DAS AOSR
060038,000367: 16,2641 31541 CA AOSR
060039,000368: 16,2642 55425 TS ALPHAR
060040,000369: 16,2643 00006 EXTEND
060041,000370: 16,2644 73616 MP 200MS # .2 AT 1
060042,000371: 16,2645 55546 TS AOSRTERM
060043,000372: 16,2646 12667 TCF PRETIMCK
060044,000373:
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Page 1428
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060046,000375: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
060047,000376: 16,2650 71273 MASK RCSFLAGS
060048,000377: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
060049,000378: 16,2652 03736 TC ACDT+C12 # VALID.
060050,000379:
060051,000380: 16,2653 52011 DXCH ARUPT
060052,000381: 16,2654 53754 DXCH DAPARUPT
060053,000382: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
060054,000383: 16,2656 56017 XCH BRUPT
060055,000384: 16,2657 22012 LXCH QRUPT
060056,000385: 16,2660 53756 DXCH DAPBQRPT
060057,000386: 16,2661 32665 CA SUPERADR
060058,000387: 16,2662 52016 DXCH ZRUPT
060059,000388: 16,2663 53760 DXCH DAPZRUPT
060060,000389: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
060061,000390: # FORM OF A JASK, AT SUPERJOB.
060062,000391:
060063,000392: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
060064,000393:
060065,000394: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060066,000395:
060067,000396: 16,2666 13641 SUPERJOB TCF RATELOOP
060068,000397: 16,2667 11632 PRETIMCK CCS QGIMTIMR
060069,000398: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
060070,000399: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
060071,000400: 16,2672 11634 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
060072,000401: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
060073,000402: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
060074,000403:
060075,000404: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
060076,000405: 16,2676 27767 DIM PJETCTR
060077,000406: 16,2677 00006 EXTEND
060078,000407: 16,2700 27770 DIM UJETCTR
060079,000408: 16,2701 00006 EXTEND
060080,000409: 16,2702 27771 DIM VJETCTR
060081,000410: 16,2703 34740 CA BIT12
060082,000411: 16,2704 71273 MASK RCSFLAGS
060083,000412: 16,2705 00006 EXTEND
060084,000413: 16,2706 12734 BZF SKIPPAXS
060085,000414: 16,2707 02740 TC CHKVISFZ
060086,000415: 16,2710 55632 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
060087,000416: 16,2711 12672 TCF CHKRTIMR
060088,000417: 16,2712 55634 DECRTIMR TS RGIMTIMR
060089,000418: 16,2713 12675 TCF CHKRTIMR +3
060090,000419:
060091,000420: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
060092,000421: 16,2715 55510 TS QACCDOT
060093,000422: 16,2716 45007 CS QGIMBITS
060094,000423: 16,2717 00006 EXTEND
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Page 1429
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060096,000425: 16,2720 03012 WAND CHAN12
060097,000426: 16,2721 34735 CAF NEGMAX
060098,000427: 16,2722 55632 TS QGIMTIMR
060099,000428: 16,2723 12672 TCF CHKRTIMR
060100,000429: 16,2724 55503 TURNOFFR TS NEGUR
060101,000430: 16,2725 55512 TS RACCDOT
060102,000431: 16,2726 45020 CS RGIMBITS
060103,000432: 16,2727 00006 EXTEND
060104,000433: 16,2730 03012 WAND CHAN12
060105,000434: 16,2731 34735 CAF NEGMAX
060106,000435: 16,2732 55634 TS RGIMTIMR
060107,000436: 16,2733 12675 TCF CHKRTIMR +3
060108,000437: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
060109,000438: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
060110,000439:
060111,000440: 16,2734 41273 SKIPPAXS CS RCSFLAGS
060112,000441: 16,2735 74740 MASK BIT12
060113,000442: 16,2736 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
060114,000443: 16,2737 13624 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
060115,000444:
060116,000445: # Y-Z TRANSLATION
060117,000446:
060118,000447: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060119,000448:
060120,000449: # OUTPUT: NEXTP
060121,000450:
060122,000451: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060123,000452: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060124,000453: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
060125,000454: # ALARM (IF NO PAIR)
060126,000455: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060127,000456: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
060128,000457:
060129,000458: 16,2740 00006 CHKVISFZ EXTEND
060130,000459: 16,2741 00031 READ CHAN31
060131,000460: 16,2742 40000 CS A
060132,000461: 16,2743 73613 MASK 07400OCT
060133,000462: 16,2744 00006 EXTEND
060134,000463: 16,2745 13014 BZF TSNEXTP
060135,000464: 16,2746 00006 EXTEND
060136,000465: 16,2747 74745 MP BIT7
060137,000466: 16,2750 50000 INDEX A
060138,000467: 16,2751 33572 CA INDXYZ
060139,000468: 16,2752 55744 TS ROTINDEX
060140,000469: 16,2753 36242 TRYUORV CA SIX
060141,000470: 16,2754 03551 TC SELECTYZ
060142,000471: 16,2755 46242 CS SIX
060143,000472: 16,2756 61743 AD NUMBERT
060144,000473: 16,2757 00006 EXTEND
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Page 1430
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060146,000475: 16,2760 13013 BZF TSNEXTP -1
060147,000476: 16,2761 44756 CS FIVE
060148,000477: 16,2762 61744 AD ROTINDEX
060149,000478: 16,2763 00006 EXTEND
060150,000479: 16,2764 63002 BZMF ALTERYZ
060151,000480: 16,2765 41743 CS NUMBERT
060152,000481: 16,2766 64751 AD FOUR
060153,000482: 16,2767 00006 EXTEND
060154,000483: 16,2770 63013 BZMF TSNEXTP -1
060155,000484: 16,2771 05567 ABORTYZ TC ALARM
060156,000485: 16,2772 02001 OCT 02001
060157,000486: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060158,000487: 16,2774 23273 LXCH RCSFLAGS
060159,000488: 16,2775 00006 EXTEND
060160,000489: 16,2776 06001 RXOR 1
060161,000490: 16,2777 55273 TS RCSFLAGS
060162,000491: 16,3000 34755 CA ZERO
060163,000492: 16,3001 13014 TCF TSNEXTP
060164,000493: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060165,000494: 16,3003 23273 LXCH RCSFLAGS
060166,000495: 16,3004 00006 EXTEND
060167,000496: 16,3005 06001 RXOR 1
060168,000497: 16,3006 55273 TS RCSFLAGS
060169,000498: 16,3007 74753 MASK BIT1
060170,000499: 16,3010 64751 AD FOUR
060171,000500: 16,3011 27744 ADS ROTINDEX
060172,000501: 16,3012 12753 TCF TRYUORV
060173,000502: 16,3013 31741 CA POLYTEMP
060174,000503: 16,3014 55472 TSNEXTP TS NEXTP
060175,000504:
060176,000505: # STATE LOGIC
060177,000506: # CHECK IN ORDER: IF ON
060178,000507: # LPDPHASE GO TO PURGENCY
060179,000508: # PULSES MINIMUM PULSE LOGIC
060180,000509: # DETENT(BIT15 CH31) RATE COMMAND
060181,000510: # GO TO PURGENCY
060182,000511:
060183,000512: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060184,000513: 16,3016 00006 EXTEND
060185,000514: 16,3017 02031 RAND CHAN31
060186,000515: 16,3020 00006 EXTEND
060187,000516: 16,3021 13027 BZF MANMODE
060188,000517:
060189,000518: 16,3022 30111 CA DAPBOOLS
060190,000519: 16,3023 74743 MASK XOVINHIB
060191,000520: 16,3024 10000 CCS A
060192,000521: 16,3025 13463 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060193,000522:
060194,000523: 16,3026 13071 TCF DETENTCK
060195,000524: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060196,000525: 16,3030 70111 MASK DAPBOOLS
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|
Page 1431
|
060198,000527: 16,3031 00006 EXTEND
060199,000528: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060200,000529:
060201,000530: 16,3033 34755 CA ZERO
060202,000531: 16,3034 55464 TS PERROR
060203,000532:
060204,000533: # MINIMUM IMPULSE MODE
060205,000534:
060206,000535: 16,3035 30032 CA CDUX
060207,000536: 16,3036 55635 TS CDUXD
060208,000537:
060209,000538: 16,3037 11460 CCS OLDPMIN
060210,000539: 16,3040 13054 TCF CHECKP
060211,000540:
060212,000541: 16,3041 34751 FIREP CA BIT3
060213,000542: 16,3042 00006 EXTEND
060214,000543: 16,3043 02031 RAND CHAN31
060215,000544: 16,3044 00006 EXTEND
060216,000545: 16,3045 13064 BZF +XMIN
060217,000546:
060218,000547: 16,3046 34750 CA BIT4
060219,000548: 16,3047 00006 EXTEND
060220,000549: 16,3050 02031 RAND CHAN31
060221,000550: 16,3051 00006 EXTEND
060222,000551: 16,3052 13062 BZF -XMIN
060223,000552:
060224,000553: 16,3053 13442 TCF JETSOFF
060225,000554:
060226,000555: 16,3054 00006 CHECKP EXTEND
060227,000556: 16,3055 00031 READ CHAN31
060228,000557: 16,3056 40000 CS A
060229,000558: 16,3057 75751 MASK OCT14
060230,000559: 16,3060 55460 TS OLDPMIN
060231,000560: 16,3061 13442 TCF JETSOFF
060232,000561:
060233,000562: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060234,000563: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060235,000564: 16,3064 34363 +XMIN CA TEN
060236,000565: 16,3065 55524 TS TJP
060237,000566: 16,3066 34753 CA ONE
060238,000567: 16,3067 55460 TS OLDPMIN
060239,000568: 16,3070 13350 TCF PJETSLEC -6
060240,000569:
060241,000570: # MANUAL RATE COMMAND MODE
060242,000571: # ========================
060243,000572: # BY ROBERT F. STENGEL
060244,000573:
060245,000574: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060246,000575: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060247,000576: # RATE CONTROL AND ATTITUDE HOLD.
060248,000577:
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Page 1432
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060250,000579: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060251,000580: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060252,000581: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060253,000582:
060254,000583: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060255,000584: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060256,000585: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060257,000586:
060258,000587: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060259,000588: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060260,000589: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060261,000590:
060262,000591: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060263,000592: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060264,000593: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060265,000594: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060266,000595:
060267,000596: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060268,000597: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060269,000598:
060270,000599: 16,3071 00006 DETENTCK EXTEND
060271,000600: 16,3072 00031 READ CHAN31
060272,000601: 16,3073 55443 TS CH31TEMP
060273,000602: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060274,000603: 16,3075 00006 EXTEND
060275,000604: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060276,000605: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060277,000606: 16,3100 70111 MASK DAPBOOLS
060278,000607: 16,3101 00006 EXTEND
060279,000608: 16,3102 13463 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
060280,000609:
060281,000610: # ........................................................................
060282,000611:
060283,000612: 16,3103 34743 CA BIT9 # JUST IN DETENT??
060284,000613: 16,3104 71273 MASK RCSFLAGS
060285,000614: 16,3105 00006 EXTEND
060286,000615: 16,3106 13120 BZF RUTH
060287,000616: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
060288,000617: 16,3110 00006 EXTEND
060289,000618: 16,3111 02031 RAND CHAN31
060290,000619: 16,3112 00006 EXTEND
060291,000620: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
060292,000621:
060293,000622: 16,3114 45014 CS BITS9,11 # IN AUTO.
060294,000623: 16,3115 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
060295,000624: 16,3116 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060296,000625: 16,3117 13220 TCF RATEDAMP
060297,000626:
060298,000627: 16,3120 31273 RUTH CA RCSFLAGS
060299,000628: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
060300,000629: 16,3122 00006 EXTEND
060301,000630: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
060302,000631: 16,3124 13220 TCF RATEDAMP
060303,000632:
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Page 1433
|
060305,000634: 16,3125 31273 CA RCSFLAGS
060306,000635: 16,3126 74741 MASK QRBIT
060307,000636: 16,3127 00006 EXTEND
060308,000637: 16,3130 13136 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
060309,000638: 16,3131 13220 TCF RATEDAMP
060310,000639:
060311,000640: # ============================================
060312,000641:
060313,000642: 16,3132 00001 1/10SEC OCT 1
060314,000643: 16,3133 00050 40CYC OCT 50
060315,000644: 16,3134 74777 PQRBIT OCT 74777
060316,000645: 16,3135 5014 BITS9,11 EQUALS EBANK5
060317,000646: 16,3135 00056 LINRATP DEC 46 B-14
060318,000647:
060319,000648: # ============================================
060320,000649:
060321,000650: 16,3136 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
060322,000651: 16,3137 00004 INHINT # ALL AXES.
060323,000652: 16,3140 70111 MASK DAPBOOLS
060324,000653: 16,3141 54111 TS DAPBOOLS
060325,000654:
060326,000655: # READ CDUS INTO CDU DESIRED REGISTERS
060327,000656:
060328,000657: 16,3142 34737 CAF BIT13
060329,000658: 16,3143 00006 EXTEND
060330,000659: 16,3144 02031 RAND CHAN31
060331,000660: 16,3145 00006 EXTEND
060332,000661: 16,3146 13152 BZF +4
060333,000662: 16,3147 30032 CA CDUX # (X-AXIS OVERRIDE)
060334,000663: 16,3150 55635 TS CDUXD
060335,000664: 16,3151 03154 TC +3
060336,000665: 16,3152 04674 TC IBNKCALL
060337,000666: 16,3153 40153 FCADR ZATTEROR
060338,000667: 16,3154 00003 RELINT
060339,000668: 16,3155 13463 TCF PURGENCY
060340,000669:
060341,000670: 16,3156 55464 TS PERROR
060342,000671: 16,3157 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
060343,000672: 16,3160 26111 ADS DAPBOOLS
060344,000673: 16,3161 34755 CA ZERO
060345,000674: 16,3162 55446 TS DXERROR
060346,000675: 16,3163 55447 TS DXERROR +1
060347,000676: 16,3164 55450 TS DYERROR
060348,000677: 16,3165 55451 TS DYERROR +1
060349,000678: 16,3166 55452 TS DZERROR
060350,000679: 16,3167 55453 TS DZERROR +1
060351,000680: 16,3170 55454 TS PLAST
060352,000681: 16,3171 55455 TS QLAST
060353,000682: 16,3172 55456 TS RLAST
060354,000683: 16,3173 54042 TS Q-RHCCTR
060355,000684: 16,3174 54044 TS R-RHCCTR
060356,000685: 16,3175 33134 CA PQRBIT
060357,000686: 16,3176 71273 MASK RCSFLAGS
060358,000687: 16,3177 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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Page 1434
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060360,000689: 16,3200 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
060361,000690: 16,3201 74743 MASK BIT9
060362,000691: 16,3202 27273 ADS RCSFLAGS
060363,000692: 16,3203 03205 TC ZEROENBL
060364,000693: 16,3204 13442 TCF JETSOFF
060365,000694: 16,3205 22044 ZEROENBL LXCH R-RHCCTR
060366,000695: 16,3206 30042 CA Q-RHCCTR
060367,000696: 16,3207 53463 DXCH SAVEHAND
060368,000697: 16,3210 34755 CA ZERO
060369,000698: 16,3211 54043 TS P-RHCCTR
060370,000699: 16,3212 54042 TS Q-RHCCTR
060371,000700: 16,3213 54044 TS R-RHCCTR
060372,000701: 16,3214 33617 CA BITS8,9
060373,000702: 16,3215 00006 EXTEND
060374,000703: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
060375,000704: 16,3217 00002 TC Q
060376,000705: 16,3220 34755 RATEDAMP CA ZERO
060377,000706: 16,3221 54043 TS P-RHCCTR
060378,000707: 16,3222 13227 TCF RATERROR
060379,000708:
060380,000709: 16,3223 34740 RHCMOVED CA OURRCBIT # P CONTROL
060381,000710: 16,3224 70111 MASK DAPBOOLS
060382,000711: 16,3225 00006 EXTEND
060383,000712: 16,3226 13156 BZF JUSTOUT -1
060384,000713: 16,3227 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060385,000714: 16,3230 55635 TS CDUXD # X-AXIS OVERRIDE
060386,000715: 16,3231 10043 CCS P-RHCCTR
060387,000716: 16,3232 13235 TCF +3
060388,000717: 16,3233 13235 TCF +2
060389,000718: 16,3234 13235 TCF +1
060390,000719: 16,3235 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
060391,000720: 16,3236 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
060392,000721: 16,3237 63135 AD LINRATP # AUTOPILOT)
060393,000722: 16,3240 00006 EXTEND
060394,000723: 16,3241 70043 MP P-RHCCTR
060395,000724: 16,3242 30001 CA L
060396,000725: 16,3243 00006 EXTEND
060397,000726: 16,3244 71444 MP STIKSENS
060398,000727: 16,3245 57454 XCH PLAST
060399,000728: 16,3246 40000 COM
060400,000729: 16,3247 61454 AD PLAST
060401,000730: 16,3250 55737 TS DAPTEMP1
060402,000731: 16,3251 03205 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
060403,000732: 16,3252 41454 CS PLAST
060404,000733: 16,3253 61421 AD OMEGAP
060405,000734: 16,3254 55427 TS EDOTP
060406,000735: 16,3255 11737 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
060407,000736: 16,3256 13261 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
060408,000737: 16,3257 13267 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
060409,000738: 16,3260 13261 TCF +1
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Page 1435
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060411,000740: 16,3261 61476 AD -RATEDB
060412,000741: 16,3262 00006 EXTEND
060413,000742: 16,3263 63267 BZMF +4
060414,000743: 16,3264 33133 CA 40CYC
060415,000744: 16,3265 55445 TS TCP
060416,000745: 16,3266 03300 TC PEGI
060417,000746: 16,3267 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
060418,000747: 16,3270 74742 MASK PBIT
060419,000748: 16,3271 00006 EXTEND
060420,000749: 16,3272 13274 BZF +2
060421,000750: 16,3273 03300 TC PEGI # TO PURE RATE COMMAND
060422,000751: 16,3274 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
060423,000752: 16,3275 55752 TS E # X-ATTITUDE ERROR (SP)
060424,000753: 16,3276 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060425,000754: 16,3277 03467 TC PURGENCY +4
060426,000755: 16,3300 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
060427,000756: 16,3301 55635 TS CDUXD
060428,000757: 16,3302 34755 CA ZERO
060429,000758: 16,3303 55446 TS DXERROR
060430,000759: 16,3304 55447 TS DXERROR +1
060431,000760: 16,3305 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060432,000761: 16,3306 11427 CCS EDOTP
060433,000762: 16,3307 03312 TC +3
060434,000763: 16,3310 03312 TC +2
060435,000764: 16,3311 03312 TC +1
060436,000765: 16,3312 55737 TS ABSEDOTP
060437,000766: 16,3313 61476 AD TARGETDB
060438,000767: 16,3314 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
060439,000768: 16,3315 63325 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
060440,000769: 16,3316 31445 CA TCP
060441,000770: 16,3317 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060442,000771: 16,3320 63325 BZMF LAST
060443,000772: 16,3321 41273 CS RCSFLAGS
060444,000773: 16,3322 74742 MASK PBIT
060445,000774: 16,3323 27273 ADS RCSFLAGS # BIT 10 IS 1.
060446,000775: 16,3324 13330 TCF +4
060447,000776: 16,3325 44742 LAST CS PBIT
060448,000777: 16,3326 71273 MASK RCSFLAGS
060449,000778: 16,3327 55273 TS RCSFLAGS # BIT 10 IS 0.
060450,000779: 16,3330 41427 CS EDOTP
060451,000780: 16,3331 00006 EXTEND
060452,000781: 16,3332 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
060453,000782: 16,3333 20001 DAS A
060454,000783: 16,3334 02310 TC OVERSUB
060455,000784: 16,3335 00006 EXTEND
060456,000785: 16,3336 77716 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060457,000786: 16,3337 55524 TS TJP # 4.JET TIME
060458,000787: 16,3340 31737 CA ABSEDOTP
060459,000788: 16,3341 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
060460,000789: 16,3342 00006 EXTEND
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Page 1436
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060462,000791: 16,3343 63346 BZMF +3
060463,000792:
060464,000793: 16,3344 36242 CA SIX
060465,000794: 16,3345 13355 TCF +8D
060466,000795: 16,3346 31524 CA TJP
060467,000796: 16,3347 27524 ADS TJP
060468,000797:
060469,000798: # GOES TO PJETSLEC FOR TWO JETS
060470,000799: # P-JET-SELECTION-ROUTINE (ROTATION)
060471,000800:
060472,000801: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
060473,000802: # TJP + FOR +P ROTATION
060474,000803:
060475,000804: # OUTPUT: CHANNEL 6
060476,000805: # PJUMPADR FOR P-AXIS SKIP
060477,000806: # (JTLST CALL) (SMALL TJP)
060478,000807:
060479,000808: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060480,000809: # +P -P
060481,000810: # 7,15 8,16
060482,000811: # 4,12 3,11
060483,000812: # 4,7 8,11
060484,000813: # 7,12 11,16
060485,000814: # 12,15 3,16
060486,000815: # 4,15 3,8
060487,000816: # ALARM ALARM
060488,000817:
060489,000818: 16,3350 34747 CA AORBSYST
060490,000819: 16,3351 70111 MASK DAPBOOLS
060491,000820: 16,3352 10000 CCS A
060492,000821: 16,3353 34753 CA ONE
060493,000822: 16,3354 64751 AD FOUR
060494,000823: 16,3355 55743 TS NUMBERT
060495,000824: 16,3356 34753 PJETSLEC CA ONE
060496,000825: 16,3357 54001 TS L
060497,000826: 16,3360 11524 CCS TJP
060498,000827: 16,3361 13366 TCF +5
060499,000828: 16,3362 13442 TCF JETSOFF
060500,000829: 16,3363 13365 TCF +2
060501,000830: 16,3364 13442 TCF JETSOFF
060502,000831: 16,3365 22007 ZL
060503,000832: 16,3366 64753 AD ONE
060504,000833: 16,3367 55737 TS ABSTJ
060505,000834: 16,3370 23744 LXCH ROTINDEX
060506,000835: 16,3371 03531 TC SELECTP
060507,000836: 16,3372 46242 CS SIX
060508,000837: 16,3373 61743 AD NUMBERT
060509,000838: 16,3374 00006 EXTEND
060510,000839: 16,3375 13377 BZF +2
060511,000840:
060512,000841: 16,3376 44752 CS TWO
060513,000842:
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Page 1437
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060515,000844: 16,3377 64751 AD FOUR
060516,000845: 16,3400 55521 TS NO.PJETS
060517,000846: 16,3401 31741 CA POLYTEMP
060518,000847: 16,3402 05754 TC WRITEP
060519,000848: 16,3403 41737 CS ABSTJ
060520,000849: 16,3404 63612 AD +150MST6
060521,000850: 16,3405 00006 EXTEND
060522,000851: 16,3406 63624 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
060523,000852:
060524,000853: 16,3407 63572 AD -136MST6
060525,000854: 16,3410 00006 EXTEND
060526,000855: 16,3411 63416 BZMF +5
060527,000856:
060528,000857: 16,3412 27737 ADS ABSTJ
060529,000858: 16,3413 51744 INDEX ROTINDEX
060530,000859: 16,3414 33621 CA MINTIMES
060531,000860: 16,3415 55524 TS TJP
060532,000861:
060533,000862: 16,3416 31737 CA ABSTJ
060534,000863: 16,3417 22007 ZL
060535,000864: 16,3420 00004 INHINT
060536,000865: 16,3421 53471 DXCH T6FURTHA
060537,000866: 16,3422 04674 TC IBNKCALL
060538,000867: 16,3423 37114 CADR JTLST
060539,000868: 16,3424 44740 CS BIT12
060540,000869: 16,3425 71273 MASK RCSFLAGS
060541,000870: 16,3426 55273 TS RCSFLAGS # BIT 12 SET TO 0.
060542,000871: 16,3427 03431 TC ALTSYST
060543,000872: 16,3430 13624 TCF QRAXIS
060544,000873:
060545,000874: 16,3431 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
060546,000875: 16,3432 54001 TS L
060547,000876: 16,3433 34747 CA AORBSYST
060548,000877: 16,3434 00006 EXTEND
060549,000878: 16,3435 06001 RXOR LCHAN
060550,000879: 16,3436 54111 TS DAPBOOLS
060551,000880: 16,3437 00003 RELINT
060552,000881: 16,3440 00002 TC Q
060553,000882:
060554,000883: 16,3441 03431 DKALT TC ALTSYST
060555,000884:
060556,000885: 16,3442 05753 JETSOFF TC WRITEP -1
060557,000886: 16,3443 34755 CA ZERO
060558,000887: 16,3444 55524 TS TJP
060559,000888: 16,3445 13624 TCF QRAXIS
060560,000889:
060561,000890: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060562,000891:
060563,000892: 16,3446 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
060564,000893: 16,3447 00006 EXTEND
060565,000894: 16,3450 21636 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
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Page 1438
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060567,000896: 16,3451 00006 EXTEND
060568,000897: 16,3452 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060569,000898: 16,3453 57752 XCH E # SAVE FIRST TERM (OF TWO)
060570,000899: 16,3454 30032 CA CDUX # THIRD COMPONENT
060571,000900: 16,3455 00006 EXTEND
060572,000901: 16,3456 21635 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
060573,000902: # EXTEND
060574,000903: # MP M13
060575,000904: 16,3457 61277 AD DELPEROR # KALCMANU INERFACE ERROR
060576,000905: 16,3460 27752 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
060577,000906: 16,3461 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060578,000907: 16,3462 00002 TC Q # RETURN TO CALLER
060579,000908:
060580,000909: # P-AXIS URGENCY FUNCTION CALCULATION.
060581,000910:
060582,000911: 16,3463 03446 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
060583,000912: 16,3464 41643 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
060584,000913: 16,3465 61421 AD OMEGAP # SPS-BACKUP MODE.
060585,000914: 16,3466 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060586,000915:
060587,000916: 16,3467 44753 CS ONE
060588,000917: 16,3470 55505 TS AXISCTR
060589,000918: 16,3471 30111 CA DAPBOOLS
060590,000919: 16,3472 74737 MASK CSMDOCKD
060591,000920: 16,3473 00006 EXTEND
060592,000921: 16,3474 13505 BZF HEADTJET
060593,000922: 16,3475 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060594,000923: 16,3476 04674 TC IBNKCALL
060595,000924: 16,3477 43727 CADR SPSRCS
060596,000925:
060597,000926: 16,3500 31524 CA TJP
060598,000927: 16,3501 00006 EXTEND
060599,000928: 16,3502 13441 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
060600,000929: 16,3503 00003 RELINT
060601,000930: 16,3504 13350 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
060602,000931: 16,3505 34755 HEADTJET CA ZERO
060603,000932: 16,3506 55500 TS SENSETYP
060604,000933: 16,3507 00004 INHINT
060605,000934: 16,3510 04674 TC IBNKCALL
060606,000935: 16,3511 37252 CADR TJETLAW
060607,000936: 16,3512 00003 RELINT
060608,000937:
060609,000938: 16,3513 41741 CS FIREFCT
060610,000939: 16,3514 63530 AD -FOURDEG
060611,000940: 16,3515 00006 EXTEND
060612,000941: 16,3516 63350 BZMF PJETSLEC -6
060613,000942: 16,3517 11524 CCS TJP
060614,000943: 16,3520 13522 TCF +2
060615,000944: 16,3521 13442 TCF JETSOFF
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Page 1439
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060617,000946: 16,3522 63527 AD -160MST6
060618,000947: 16,3523 00006 EXTEND
060619,000948: 16,3524 63350 BZMF PJETSLEC -6
060620,000949: 16,3525 36242 CA SIX
060621,000950: 16,3526 13355 TCF PJETSLEC -1
060622,000951: 16,3527 77377 -160MST6 DEC -256 B-14
060623,000952: 16,3530 75117 -FOURDEG DEC -.08888
060624,000953:
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Page 1440
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060626,000955: # JET POLICY CONSTRUCTION SUBROUTINE
060627,000956:
060628,000957: # INPUT: ROTINDEX, NUMBERT
060629,000958:
060630,000959: # OUTPUT: POLYTEMP (JET POLICY)
060631,000960:
060632,000961: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060633,000962:
060634,000963: 16,3531 36242 SELECTP CA SIX
060635,000964: 16,3532 55742 TS TEMPNUM
060636,000965: 16,3533 51743 INDEX NUMBERT
060637,000966: 16,3534 33563 CA TYPEP
060638,000967: 16,3535 51744 INDEX ROTINDEX
060639,000968: 16,3536 73554 MASK JETSALL
060640,000969: 16,3537 55741 TS POLYTEMP
060641,000970: 16,3540 71263 MASK CH6MASK
060642,000971: 16,3541 10000 CCS A
060643,000972: 16,3542 13544 TCF +2
060644,000973: 16,3543 00002 TC Q
060645,000974: 16,3544 11742 CCS TEMPNUM
060646,000975: 16,3545 13551 TCF +4
060647,000976: 16,3546 05567 TC ALARM
060648,000977: 16,3547 02003 OCT 02003
060649,000978: 16,3550 13442 TCF JETSOFF # *****TCF ALARMJET *********************
060650,000979: 16,3551 55743 SELECTYZ TS NUMBERT
060651,000980: 16,3552 13532 TCF SELECTP +1
060652,000981: 16,3553 12773 -1 TCF ABORTYZ +2
060653,000982: 16,3554 00252 JETSALL OCT 00252
060654,000983: 16,3555 00125 OCT 00125 # +P
060655,000984: 16,3556 00140 OCT 00140 # -Y
060656,000985: 16,3557 00006 OCT 00006 # -Z
060657,000986: 16,3560 00220 OCT 00220 # +Y
060658,000987: 16,3561 00011 OCT 00011 # +Z
060659,000988: 16,3562 00151 OCT 00151 # +V
060660,000989: 16,3563 00146 TYPEP OCT 00146 # -U
060661,000990: 16,3564 00226 OCT 00226 # -V
060662,000991: 16,3565 00231 OCT 00231 # +U
060663,000992: 16,3566 00151 OCT 00151 # +V
060664,000993: 16,3567 00132 OCT 00132 # 1-3
060665,000994: 16,3570 00245 OCT 00245 # 2-4
060666,000995: 16,3571 00377 OCT 00377 # ALL
060667,000996: 16,3572 16,3572 INDXYZ = -136MST6
060668,000997: 16,3572 77445 -136MST6 DEC -218 B-14
060669,000998: 16,3573 00004 DEC 4 B-14
060670,000999: 16,3574 00002 DEC 2 B-14
060671,001000: 16,3575 07776 OCT 07776
060672,001001: 16,3576 00005 DEC 5 B-14
060673,001002: 16,3577 00011 DEC 9 B-14
060674,001003: 16,3600 00012 DEC 10 B-14
060675,001004: 16,3601 07776 OCT 07776
060676,001005: 16,3602 00003 DEC 3 B-14
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Page 1441
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060678,001007: 16,3603 00010 DEC 8 B-14
060679,001008: 16,3604 00007 DEC 7 B-14
060680,001009: 16,3605 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
060681,001010: 16,3606 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
060682,001011: 16,3607 07776 OCT 07776 # TO BE TC JETSALL -1
060683,001012: 16,3610 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
060684,001013: 16,3611 07776 OCT 07776
060685,001014: 16,3612 00360 +150MST6 DEC 240 B-14
060686,001015: 16,3613 07400 07400OCT OCT 07400
060687,001016:
060688,001017: # T-JET LAW FIXED CONSTANTS
060689,001018:
060690,001019: 16,3614 00266 NORMSCL OCT 266
060691,001020: 16,3615 74631 -100MS DEC -.1
060692,001021: 16,3616 06315 200MS DEC .2
060693,001022: 16,3617 7716 25/32 = PRIO31 # (DEC .78125)
060694,001023: 16,3617 00600 BITS8,9 OCTAL 00600
060695,001024: 16,3620 00632 1/40 DEC .02500
060696,001025: 16,3621 77751 MINTIMES DEC -22 B-14
060697,001026: 16,3622 00026 DEC 22 B-14
060698,001027: 16,3623 02734 PSKIPADR GENADR SKIPPAXS
060699,001028:
060700,001029: # GOES TO Q,R-AXES RCS AUTOPILOT
060701,001030:
060702,001031: 16,3624 41645 QRAXIS CS OMEGARD
060703,001032: 16,3625 61423 AD OMEGAR
060704,001033: 16,3626 02310 TC OVERSUB
060705,001034: 16,3627 55437 TS EDOTR
060706,001035: 16,3630 41644 CS OMEGAQD
060707,001036: 16,3631 61422 AD OMEGAQ
060708,001037: 16,3632 02310 TC OVERSUB
060709,001038: 16,3633 55436 TS EDOTQ
060710,001039: 16,3634 00006 EXTEND
060711,001040: 16,3635 33640 DCA QERRCALL
060712,001041: 16,3636 52006 DTCB
060713,001042:
060714,001043: 16,3637 E6,1537 EBANK= AOSQ
060715,001044: 16,3637 02072 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc