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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019848,000002: ## Copyright: Public domain.
019849,000003: ## Filename: R60,R62.agc
019850,000004: ## Purpose: A section of Luminary revision 96.
019851,000005: ## It is part of the reconstructed source code for the
019852,000006: ## original release of the flight software for the Lunar
019853,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
019854,000008: ## The code has been recreated from a previously reconstructed
019855,000009: ## copy of Luminary 97 by undoing changes described in anomaly
019856,000010: ## report LNY-59. The code has been adapted such that the
019857,000011: ## resulting bugger words exactly match those specified for
019858,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
019859,000013: ## high confidence that the reconstruction is correct.
019860,000014: ## Reference: pp. 472-485
019861,000015: ## Assembler: yaYUL
019862,000016: ## Contact: Ron Burkey <info@sandroid.org>.
019863,000017: ## Website: www.ibiblio.org/apollo/index.html
019864,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
019865,000019:
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019867,000021: # MOD NO: 0 DATE: 1 MAY 1968
019868,000022: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
019869,000023:
019870,000024: # FUNCTIONAL DESCRIPTION:
019871,000025:
019872,000026: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019873,000027: # ATTITUDE.
019874,000028:
019875,000029: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
019876,000030: # CALCULATED (VECPOINT).
019877,000031:
019878,000032: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019879,000033:
019880,000034: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
019881,000035:
019882,000036: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
019883,000037: # ASTRONAUT RESPONSE.
019884,000038:
019885,000039: # 5. DISPLAY RESPONSE RETURNS:
019886,000040:
019887,000041: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
019888,000042:
019889,000043: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
019890,000044: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
019891,000045: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
019892,000046:
019893,000047: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
019894,000048:
019895,000049: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
019896,000050: # (VECPOINT).
019897,000051:
019898,000052: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019899,000053:
019900,000054: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
019901,000055: #
019902,000056: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
019903,000057:
019904,000058: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
019905,000059:
019906,000060: # 11. DO A PHASECHANGE.
019907,000061:
019908,000062: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
019909,000063: # GIMBAL ANGLES (GOMANUR).
019910,000064:
019911,000065: # 13. AT END OF MANEUVER GO TO STEP 3.
019912,000066:
019913,000067: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
019914,000068: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
019915,000069: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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019917,000071: # STEP 5C.
019918,000072:
019919,000073: # CALLING SEQUENCE: TC BANKCALL
019920,000074: # CADR R60LEM
019921,000075:
019922,000076: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
019923,000077: # 3AXISFLG.
019924,000078:
019925,000079: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
019926,000080: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
019927,000081:
019928,000082: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
019929,000083: # TC BANKJUMP
019930,000084:
019931,000085: # ALARMS: NONE
019932,000086:
019933,000087: # OUTPUT: NONE
019934,000088:
019935,000089: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
019936,000090:
019937,000091: 34,2000 BANK 34
019938,000092: 26,2000 SETLOC MANUVER
019939,000093: 26,2000 BANK
019940,000094:
019941,000095: 26,2123 1164 EBANK= TEMPR60
019942,000096:
019943,000097: 26,2123 COUNT* $$/R06
019944,000098: 26,2123 04645 R60LEM TC MAKECADR
019945,000099: 26,2124 55164 TS TEMPR60
019946,000100:
019947,000101: 26,2125 34746 REDOMANN CAF 3AXISBIT
019948,000102: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019949,000103: 26,2127 10000 CCS A
019950,000104: 26,2130 12136 TCF TOBALL # YES
019951,000105: 26,2131 06037 TC INTPRET
019952,000106: 26,2132 77624 CALL
019953,000107: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
019954,000108: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
019955,000109: 26,2135 77776 EXIT
019956,000110:
019957,000111: 26,2136 04616 TOBALL TC BANKCALL
019958,000112: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
019959,000113: 26,2140 32254 TOBALLA CAF V06N18
019960,000114: 26,2141 04616 TC BANKCALL
019961,000115: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
019962,000116: 26,2143 02242 TC R61TEST
019963,000117: 26,2144 02150 TC REDOMANC # PROCEED
019964,000118: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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019966,000120: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
019967,000121: 26,2147 05155 TC ENDOFJOB
019968,000122:
019969,000123: 26,2150 34746 REDOMANC CAF 3AXISBIT
019970,000124: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019971,000125: 26,2152 10000 CCS A
019972,000126: 26,2153 12161 TCF TOBALLC # YES
019973,000127: 26,2154 06037 TC INTPRET
019974,000128: 26,2155 77624 CALL
019975,000129: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
019976,000130: 26,2157 00322 STORE CPHI # STORE ANGLES
019977,000131: 26,2160 77776 EXIT
019978,000132:
019979,000133: 26,2161 04616 TOBALLC TC BANKCALL
019980,000134: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
019981,000135: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
019982,000136: 26,2164 10000 CCS A
019983,000137: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
019984,000138:
019985,000139: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
019986,000140: 26,2167 04616 TC BANKCALL # -
019987,000141: 26,2170 20451 CADR GODSPR # -
019988,000142: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
019989,000143:
019990,000144: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
019991,000145: 26,2173 17750 CADR GOMANUR
019992,000146:
019993,000147: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
019994,000148: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
019995,000149: 26,2176 00124 ADRES 3AXISFLG
019996,000150: 26,2177 31164 CAE TEMPR60 # -
019997,000151: 26,2200 04640 TC BANKJUMP # -
019998,000152:
019999,000153: 26,2201 40100 CHKLINUS CS FLAGWRD4
020000,000154: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020001,000155: 26,2203 10000 CCS A # -
020002,000156: 26,2204 00002 TC Q # NO - EXIT
020003,000157: 26,2205 30002 CA Q
020004,000158: 26,2206 54156 TS MPAC +2 # SAVE RETURN
020005,000159: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
020006,000160: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020007,000161: 26,2211 55055 TS TBASE2
020008,000162:
020009,000163: 26,2212 05353 TC PHASCHNG
020010,000164: 26,2213 00132 OCT 00132
020011,000165:
020012,000166: 26,2214 34745 CAF BIT7
020013,000167: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020014,000168: 26,2216 00156 TC MPAC +2
020015,000169:
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020017,000171: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020018,000172: 26,2220 05146 TC PRIOCHNG
020019,000173:
020020,000174: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020021,000175: 26,2222 70075 MASK FLAGWRD1
020022,000176: 26,2223 10000 CCS A
020023,000177: 26,2224 12237 TCF RER60
020024,000178:
020025,000179: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
020026,000180: 26,2226 70074 MASK FLAGWRD0
020027,000181: 26,2227 10000 CCS A
020028,000182: 26,2230 02234 TC +4 # YES
020029,000183: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020030,000184: 26,2232 40112 OCT 40112
020031,000185:
020032,000186: 26,2233 05155 TC ENDOFJOB
020033,000187:
020034,000188: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020035,000189: 26,2235 40072 OCT 40072
020036,000190:
020037,000191: 26,2236 05155 TC ENDOFJOB
020038,000192:
020039,000193: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020040,000194: 26,2240 00077 ADRES PDSPFLAG
020041,000195:
020042,000196: 26,2241 01055 TC TBASE2
020043,000197:
020044,000198: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020045,000199: 26,2243 00006 EXTEND
020046,000200: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020047,000201:
020048,000202: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020049,000203: 26,2246 74740 MASK PDSPFBIT
020050,000204: 26,2247 00006 EXTEND
020051,000205: 26,2250 16001 BZF GOTOPOOH # NO
020052,000206: 26,2251 06022 TC GOTOV56 # YES
020053,000207:
020054,000208: 26,2252 20100 BIT14+7 OCT 20100 # -
020055,000209: 26,2253 00203 OCT203 OCT 203
020056,000210: 26,2254 01422 V06N18 VN 0618
020057,000211:
020058,000212: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020059,000213:
020060,000214: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020061,000215: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020062,000216:
020063,000217: 26,2255 00006 G+N,AUTO EXTEND
020064,000218: 26,2256 00030 READ CHAN30
020065,000219: 26,2257 74742 MASK BIT10
020066,000220: 26,2260 10000 CCS A
020067,000221: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
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020069,000223: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020070,000224: 26,2263 00031 READ CHAN31
020071,000225: 26,2264 74736 MASK BIT14
020072,000226: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020073,000227:
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020075,000229: # PROGRAM DESCRIPTION BALLANGS
020076,000230: # MOD NO. LOG SECTION R60,R62
020077,000231:
020078,000232: # WRITTEN BY RAMA M. AIYAWAR
020079,000233:
020080,000234: # FUNCTIONAL DESCRIPTION
020081,000235:
020082,000236: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020083,000237:
020084,000238: # CALLING SEQUENCE
020085,000239:
020086,000240: # TC BALLANGS
020087,000241:
020088,000242: # NORMAL EXIT MODE
020089,000243:
020090,000244: # TC BALLEXIT (SAVED Q)
020091,000245:
020092,000246: # ALARM OR EXIT MODE NIL
020093,000247:
020094,000248: # SUBROUTINES CALLED
020095,000249:
020096,000250: # CD*TR*G
020097,000251: # ARCTAN
020098,000252:
020099,000253: # INPUT
020100,000254:
020101,000255: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020102,000256: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020103,000257:
020104,000258: # OUTPUT
020105,000259:
020106,000260: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020107,000261: # SP,2S COMPLIMENT.
020108,000262:
020109,000263: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020110,000264:
020111,000265: # ERASABLE INITIALIZATION REQUIRED
020112,000266:
020113,000267: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020114,000268:
020115,000269: # DEBRIS
020116,000270:
020117,000271: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020118,000272:
020119,000273: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020120,000274: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020121,000275:
020122,000276: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020123,000277:
020124,000278: 26,2000 SETLOC BAWLANGS
020125,000279: 26,2000 BANK
020126,000280:
020127,000281: 26,2266 COUNT* $$/BALL
020128,000282: 26,2266 04645 BALLANGS TC MAKECADR
020129,000283: 26,2267 55342 TS BALLEXIT
020130,000284: 26,2270 30321 CA CPHI
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020132,000286: 26,2271 54772 TS CDUSPOT +4
020133,000287: 26,2272 30322 CA CTHETA
020134,000288: 26,2273 54766 TS CDUSPOT
020135,000289: 26,2274 30323 CA CPSI
020136,000290: 26,2275 54770 TS CDUSPOT +2
020137,000291:
020138,000292: 26,2276 06037 TC INTPRET
020139,000293: 26,2277 45001 SETPD CALL
020140,000294: 26,2300 00001 0D
020141,000295: 26,2301 47543 CD*TR*G
020142,000296:
020143,000297: 26,2302 41345 DLOAD DMP
020144,000298: 26,2303 00743 SINCDUX # SIN (OGA)
020145,000299: 26,2304 00747 COSCDUZ # COS (MGA)
020146,000300:
020147,000301: 26,2305 57552 SL1 DCOMP # SCALE
020148,000302: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020149,000303: 26,2307 00741 SINCDUZ
020150,000304: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020151,000305: 26,2311 00747 COSCDUZ
020152,000306: 26,2312 72405 DMP SL1 # RESCALE
020153,000307: 26,2313 00751 COSCDUX
020154,000308: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020155,000309: 26,2315 26510 ARCTAN
020156,000310: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020157,000311: 26,2317 00741 SINCDUZ
020158,000312: 26,2320 00743 SINCDUX
020159,000313: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020160,000314: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020161,000315: 26,2323 00745 COSCDUY
020162,000316: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020163,000317: 26,2325 00737 SINCDUY
020164,000318: 26,2326 00751 COSCDUX
020165,000319: 26,2327 72405 DMP SL1 # CXCY
020166,000320: 26,2330 00745 COSCDUY
020167,000321: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020168,000322: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020169,000323: 26,2333 00737 SINCDUY
020170,000324: 26,2334 72405 DMP SL1
020171,000325: 26,2335 00751 COSCDUX # CXSY
020172,000326: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020173,000327: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020174,000328: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020175,000329: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020176,000330: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020177,000331: 26,2343 21620 V1STO2S
020178,000332: 26,2344 02345 STORE FDAIX # MODE IS TP
020179,000333: 26,2345 77776 EXIT
020180,000334:
020181,000335: 26,2346 31342 ENDBALL CA BALLEXIT
020182,000336:
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020184,000338: 26,2347 04640 TC BANKJUMP
020185,000339:
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020187,000341: # PROGRAM DESCRIPTION - VECPOINT
020188,000342:
020189,000343: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020190,000344: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020191,000345: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020192,000346: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020193,000347: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020194,000348: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020195,000349: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020196,000350: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020197,000351:
020198,000352: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020199,000353: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020200,000354: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020201,000355: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020202,000356: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020203,000357: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020204,000358: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020205,000359:
020206,000360: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020207,000361: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020208,000362: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020209,000363: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020210,000364:
020211,000365: # CALLING SEQUENCE -
020212,000366:
020213,000367: # 1) LOAD SCAXIS, POINTVSM
020214,000368: # 2) CALL
020215,000369: # VECPOINT
020216,000370:
020217,000371: # RETURNS WITH
020218,000372:
020219,000373: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020220,000374: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020221,000375: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020222,000376:
020223,000377: # ERASABLES USED -
020224,000378:
020225,000379: # 1) SCAXIS 6
020226,000380: # 2) POINTVSM 6
020227,000381: # 3) MIS 18
020228,000382: # 4) DEL 18
020229,000383: # 5) COF 6
020230,000384: # 6) VECQTEMP 1
020231,000385: # 7) ALL OF VAC AREA 43
020232,000386:
020233,000387: # TOTAL 99
020234,000388:
020235,000389: 27,2000 SETLOC VECPT
020236,000390: 27,2000 BANK
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Page 481
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020238,000392: 27,2032 COUNT* $$/VECPT
020239,000393:
020240,000394: 27,2032 E6,1676 EBANK= BCDU
020241,000395:
020242,000396: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020243,000397: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020244,000398: 27,2034 56035 VECPNT2
020245,000399: 27,2035 52164 VECPNT2 AXC,2 GOTO
020246,000400: 27,2036 03246 MIS
020247,000401: 27,2037 56046 STORANG
020248,000402: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020249,000403: 27,2041 03325 VECQTEMP
020250,000404: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020251,000405: 27,2043 47164 VECLEAR AXC,2 RTB
020252,000406: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020253,000407: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020254,000408: 27,2046 34032 STORANG STCALL 25D
020255,000409: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020256,000410: 27,2050 61375 VLOAD VXM
020257,000411: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020258,000412: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020259,000413: 27,2053 77656 UNIT
020260,000414: 27,2054 00035 STORE 28D
020261,000415: # PD 28 29 30 31 32 33
020262,000416: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020263,000417: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020264,000418: 27,2057 57400 BOV VCOMP
020265,000419: 27,2060 56170 PICKAXIS
020266,000420: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020267,000421: 27,2062 00045 36D # OF CROSS PRODUCT
020268,000422: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020269,000423: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020270,000424: 27,2065 56170 PICKAXIS # UNIT OPERATION
020271,000425: 27,2066 50375 VLOAD DOT # INVALID.
020272,000426: 27,2067 03765 SCAXIS
020273,000427: 27,2070 00035 28D
020274,000428: 27,2071 65552 SL1 ARCCOS
020275,000429: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020276,000430: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020277,000431: 27,2074 75160 AXC,1 AXC,2
020278,000432: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020279,000433: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020280,000434: 27,2077 77624 CALL # MFS = MIS MFI
020281,000435: 27,2100 44312 MXM3 # (IN PD LIST)
020282,000436:
020283,000437: 27,2101 51545 DLOAD ABS
020284,000438: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020285,000439: 27,2103 50025 DSU BMN
020286,000440: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020287,000441: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 482
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020289,000443: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020290,000444:
020291,000445: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020292,000446: 27,2107 03765 SCAXIS # THE THRUST AXIS
020293,000447: 27,2110 51025 DSU BPL
020294,000448: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020295,000449: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020296,000450: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020297,000451: 27,2114 77626 STADR
020298,000452: 27,2115 50514 STOVL MIS +12D
020299,000453: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020300,000454: 27,2117 50522 STOVL MIS +6
020301,000455: 27,2120 77626 STADR
020302,000456: 27,2121 50530 STOVL MIS
020303,000457: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020304,000458: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020305,000459: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020306,000460:
020307,000461: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020308,000462: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020309,000463: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020310,000464: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020311,000465: # OTHERWISE U = -SCAXIS
020312,000466:
020313,000467: 27,2130 57575 VLOAD VCOMP
020314,000468: 27,2131 03765 SCAXIS
020315,000469: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020316,000470: 27,2133 56137 CHEKAXIS
020317,000471: 27,2134 77775 U=SCAXIS VLOAD
020318,000472: 27,2135 03765 SCAXIS
020319,000473: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020320,000474: 27,2137 51545 CHEKAXIS DLOAD ABS
020321,000475: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020322,000476: 27,2141 51025 DSU BPL
020323,000477: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020324,000478: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020325,000479: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020326,000480: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020327,000481: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020328,000482: # OF GIMBAL LOCK (VECANG2 $360)
020329,000483: 27,2147 77745 PICKANG1 DLOAD
020330,000484: 27,2150 14404 VECANG1 # = 50 DEGS $360
020331,000485: 27,2151 77624 COMPMFSN CALL
020332,000486: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020333,000487: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020334,000488: 27,2154 03246 MIS
020335,000489: 27,2155 02230 KEL
020336,000490: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020337,000491: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020338,000492: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 483
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020340,000494: # GIMBAL LOCK
020341,000495: 27,2160 45160 FINDGIMB AXC,1 CALL
020342,000496: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020343,000497: 27,2162 44654 DCMTOCDU # THIS MATRIX
020344,000498: 27,2163 40234 RTB SETPD
020345,000499: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020346,000500: 27,2165 00001 0
020347,000501: 27,2166 77650 GOTO
020348,000502: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020349,000503:
020350,000504: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020351,000505: 27,2171 00035 28D
020352,000506: 27,2172 03765 SCAXIS
020353,000507: 27,2173 72240 BMN TLOAD
020354,000508: 27,2174 54350 ROT180
020355,000509: 27,2175 00032 25D
020356,000510: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020357,000511: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020358,000512:
020359,000513: 35,2000 BANK 35
020360,000514: 26,2000 SETLOC MANUVER1
020361,000515: 26,2000 BANK
020362,000516: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020363,000517: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020364,000518: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020365,000519: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020366,000520: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020367,000521: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020368,000522: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020369,000523: 26,2357 17271 STODL COF
020370,000524: 26,2360 00045 36D # CHECK MAGNITUDE
020371,000525: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020372,000526: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020373,000527: 26,2363 54372 PICKX # PICK X-AXIS.
020374,000528: 26,2364 77775 VLOAD
020375,000529: 26,2365 03271 COF
020376,000530: 26,2366 17271 XROT STODL COF
020377,000531: 26,2367 06520 HIDPHALF
020378,000532: 26,2370 77650 GOTO
020379,000533: 26,2371 56072 COMPMATX
020380,000534: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020381,000535: 26,2373 06520 HIDPHALF
020382,000536: 26,2374 54366 XROT
020383,000537: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020384,000538:
020385,000539: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020386,000540:
020387,000541: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020388,000542:
020389,000543: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 484
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020391,000545: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020392,000546:
020393,000547: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020394,000548: 26,2410 00001 DPB-14 OCT 00001
020395,000549: 26,2411 00000 OCT 00000
020396,000550:
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Page 485
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020398,000552: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020399,000553:
020400,000554: 34,2000 BANK 34
020401,000555: 23,2000 SETLOC R62
020402,000556: 23,2000 BANK
020403,000557: 23,2103 E6,1676 EBANK= BCDU
020404,000558:
020405,000559: 23,2103 COUNT* $$/R62
020406,000560:
020407,000561: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020408,000562:
020409,000563: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020410,000564: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020411,000565: 23,2105 20476 CADR GOFLASH
020412,000566: 23,2106 15472 TCF ENDEXT # TERMINATE
020413,000567: 23,2107 12111 TCF GOMOVE # PROCEED
020414,000568: 23,2110 12103 TCF R62FLASH # ENTER
020415,000569:
020416,000570: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020417,000571: # POINT
020418,000572: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020419,000573: 23,2112 00124 ADRES 3AXISFLG
020420,000574:
020421,000575: 23,2113 04616 TC BANKCALL
020422,000576: 23,2114 54123 CADR R60LEM
020423,000577: 23,2115 15472 TCF ENDEXT # END R62
020424,000578:
End of include-file R60,R62.agc. Parent file is MAIN.agc