Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. 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 97 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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019946,000002: ## Copyright: Public domain.
019947,000003: ## Filename: R60,R62.agc
019948,000004: ## Purpose: A section of Luminary revision 97.
019949,000005: ## It is part of the reconstructed source code for the
019950,000006: ## second release of the flight software for the Lunar
019951,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
019952,000008: ## It was created to fix two incorrect ephemeris constants in
019953,000009: ## Luminary 96, as described by anomaly report LNY-59.
019954,000010: ## The code has been recreated from a copy of Luminary 99
019955,000011: ## revision 001, using asterisks indicating changed lines in
019956,000012: ## the listing and Luminary Memos #83 and #85, which list
019957,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
019958,000014: ## code has been adapted such that the resulting bugger words
019959,000015: ## exactly match those specified for Luminary 97 in NASA drawing
019960,000016: ## 2021152D, which gives relatively high confidence that the
019961,000017: ## reconstruction is correct.
019962,000018: ## Reference: pp. 472-485
019963,000019: ## Assembler: yaYUL
019964,000020: ## Contact: Ron Burkey <info@sandroid.org>.
019965,000021: ## Website: www.ibiblio.org/apollo/index.html
019966,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
019967,000023:
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019969,000025: # MOD NO: 0 DATE: 1 MAY 1968
019970,000026: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
019971,000027:
019972,000028: # FUNCTIONAL DESCRIPTION:
019973,000029:
019974,000030: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019975,000031: # ATTITUDE.
019976,000032:
019977,000033: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
019978,000034: # CALCULATED (VECPOINT).
019979,000035:
019980,000036: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019981,000037:
019982,000038: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
019983,000039:
019984,000040: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
019985,000041: # ASTRONAUT RESPONSE.
019986,000042:
019987,000043: # 5. DISPLAY RESPONSE RETURNS:
019988,000044:
019989,000045: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
019990,000046:
019991,000047: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
019992,000048: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
019993,000049: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
019994,000050:
019995,000051: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
019996,000052:
019997,000053: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
019998,000054: # (VECPOINT).
019999,000055:
020000,000056: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020001,000057:
020002,000058: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020003,000059: #
020004,000060: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020005,000061:
020006,000062: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020007,000063:
020008,000064: # 11. DO A PHASECHANGE.
020009,000065:
020010,000066: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020011,000067: # GIMBAL ANGLES (GOMANUR).
020012,000068:
020013,000069: # 13. AT END OF MANEUVER GO TO STEP 3.
020014,000070:
020015,000071: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020016,000072: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020017,000073: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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020019,000075: # STEP 5C.
020020,000076:
020021,000077: # CALLING SEQUENCE: TC BANKCALL
020022,000078: # CADR R60LEM
020023,000079:
020024,000080: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
020025,000081: # 3AXISFLG.
020026,000082:
020027,000083: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020028,000084: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020029,000085:
020030,000086: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020031,000087: # TC BANKJUMP
020032,000088:
020033,000089: # ALARMS: NONE
020034,000090:
020035,000091: # OUTPUT: NONE
020036,000092:
020037,000093: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020038,000094:
020039,000095: 34,2000 BANK 34
020040,000096: 26,2000 SETLOC MANUVER
020041,000097: 26,2000 BANK
020042,000098:
020043,000099: 26,2123 1164 EBANK= TEMPR60
020044,000100:
020045,000101: 26,2123 COUNT* $$/R06
020046,000102: 26,2123 04645 R60LEM TC MAKECADR
020047,000103: 26,2124 55164 TS TEMPR60
020048,000104:
020049,000105: 26,2125 34746 REDOMANN CAF 3AXISBIT
020050,000106: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020051,000107: 26,2127 10000 CCS A
020052,000108: 26,2130 12136 TCF TOBALL # YES
020053,000109: 26,2131 06037 TC INTPRET
020054,000110: 26,2132 77624 CALL
020055,000111: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020056,000112: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020057,000113: 26,2135 77776 EXIT
020058,000114:
020059,000115: 26,2136 04616 TOBALL TC BANKCALL
020060,000116: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020061,000117: 26,2140 32254 TOBALLA CAF V06N18
020062,000118: 26,2141 04616 TC BANKCALL
020063,000119: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020064,000120: 26,2143 02242 TC R61TEST
020065,000121: 26,2144 02150 TC REDOMANC # PROCEED
020066,000122: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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020068,000124: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020069,000125: 26,2147 05155 TC ENDOFJOB
020070,000126:
020071,000127: 26,2150 34746 REDOMANC CAF 3AXISBIT
020072,000128: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020073,000129: 26,2152 10000 CCS A
020074,000130: 26,2153 12161 TCF TOBALLC # YES
020075,000131: 26,2154 06037 TC INTPRET
020076,000132: 26,2155 77624 CALL
020077,000133: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020078,000134: 26,2157 00322 STORE CPHI # STORE ANGLES
020079,000135: 26,2160 77776 EXIT
020080,000136:
020081,000137: 26,2161 04616 TOBALLC TC BANKCALL
020082,000138: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020083,000139: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
020084,000140: 26,2164 10000 CCS A
020085,000141: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020086,000142:
020087,000143: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020088,000144: 26,2167 04616 TC BANKCALL # -
020089,000145: 26,2170 20451 CADR GODSPR # -
020090,000146: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020091,000147:
020092,000148: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020093,000149: 26,2173 17750 CADR GOMANUR
020094,000150:
020095,000151: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020096,000152: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020097,000153: 26,2176 00124 ADRES 3AXISFLG
020098,000154: 26,2177 31164 CAE TEMPR60 # -
020099,000155: 26,2200 04640 TC BANKJUMP # -
020100,000156:
020101,000157: 26,2201 40100 CHKLINUS CS FLAGWRD4
020102,000158: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020103,000159: 26,2203 10000 CCS A # -
020104,000160: 26,2204 00002 TC Q # NO - EXIT
020105,000161: 26,2205 30002 CA Q
020106,000162: 26,2206 54156 TS MPAC +2 # SAVE RETURN
020107,000163: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
020108,000164: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020109,000165: 26,2211 55055 TS TBASE2
020110,000166:
020111,000167: 26,2212 05353 TC PHASCHNG
020112,000168: 26,2213 00132 OCT 00132
020113,000169:
020114,000170: 26,2214 34745 CAF BIT7
020115,000171: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020116,000172: 26,2216 00156 TC MPAC +2
020117,000173:
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020119,000175: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020120,000176: 26,2220 05146 TC PRIOCHNG
020121,000177:
020122,000178: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020123,000179: 26,2222 70075 MASK FLAGWRD1
020124,000180: 26,2223 10000 CCS A
020125,000181: 26,2224 12237 TCF RER60
020126,000182:
020127,000183: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
020128,000184: 26,2226 70074 MASK FLAGWRD0
020129,000185: 26,2227 10000 CCS A
020130,000186: 26,2230 02234 TC +4 # YES
020131,000187: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020132,000188: 26,2232 40112 OCT 40112
020133,000189:
020134,000190: 26,2233 05155 TC ENDOFJOB
020135,000191:
020136,000192: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020137,000193: 26,2235 40072 OCT 40072
020138,000194:
020139,000195: 26,2236 05155 TC ENDOFJOB
020140,000196:
020141,000197: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020142,000198: 26,2240 00077 ADRES PDSPFLAG
020143,000199:
020144,000200: 26,2241 01055 TC TBASE2
020145,000201:
020146,000202: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020147,000203: 26,2243 00006 EXTEND
020148,000204: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020149,000205:
020150,000206: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020151,000207: 26,2246 74740 MASK PDSPFBIT
020152,000208: 26,2247 00006 EXTEND
020153,000209: 26,2250 16001 BZF GOTOPOOH # NO
020154,000210: 26,2251 06022 TC GOTOV56 # YES
020155,000211:
020156,000212: 26,2252 20100 BIT14+7 OCT 20100 # -
020157,000213: 26,2253 00203 OCT203 OCT 203
020158,000214: 26,2254 01422 V06N18 VN 0618
020159,000215:
020160,000216: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020161,000217:
020162,000218: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020163,000219: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020164,000220:
020165,000221: 26,2255 00006 G+N,AUTO EXTEND
020166,000222: 26,2256 00030 READ CHAN30
020167,000223: 26,2257 74742 MASK BIT10
020168,000224: 26,2260 10000 CCS A
020169,000225: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
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020171,000227: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020172,000228: 26,2263 00031 READ CHAN31
020173,000229: 26,2264 74736 MASK BIT14
020174,000230: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020175,000231:
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020177,000233: # PROGRAM DESCRIPTION BALLANGS
020178,000234: # MOD NO. LOG SECTION R60,R62
020179,000235:
020180,000236: # WRITTEN BY RAMA M. AIYAWAR
020181,000237:
020182,000238: # FUNCTIONAL DESCRIPTION
020183,000239:
020184,000240: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020185,000241:
020186,000242: # CALLING SEQUENCE
020187,000243:
020188,000244: # TC BALLANGS
020189,000245:
020190,000246: # NORMAL EXIT MODE
020191,000247:
020192,000248: # TC BALLEXIT (SAVED Q)
020193,000249:
020194,000250: # ALARM OR EXIT MODE NIL
020195,000251:
020196,000252: # SUBROUTINES CALLED
020197,000253:
020198,000254: # CD*TR*G
020199,000255: # ARCTAN
020200,000256:
020201,000257: # INPUT
020202,000258:
020203,000259: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020204,000260: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020205,000261:
020206,000262: # OUTPUT
020207,000263:
020208,000264: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020209,000265: # SP,2S COMPLIMENT.
020210,000266:
020211,000267: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020212,000268:
020213,000269: # ERASABLE INITIALIZATION REQUIRED
020214,000270:
020215,000271: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020216,000272:
020217,000273: # DEBRIS
020218,000274:
020219,000275: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020220,000276:
020221,000277: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020222,000278: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020223,000279:
020224,000280: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020225,000281:
020226,000282: 26,2000 SETLOC BAWLANGS
020227,000283: 26,2000 BANK
020228,000284:
020229,000285: 26,2266 COUNT* $$/BALL
020230,000286: 26,2266 04645 BALLANGS TC MAKECADR
020231,000287: 26,2267 55342 TS BALLEXIT
020232,000288: 26,2270 30321 CA CPHI
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020234,000290: 26,2271 54772 TS CDUSPOT +4
020235,000291: 26,2272 30322 CA CTHETA
020236,000292: 26,2273 54766 TS CDUSPOT
020237,000293: 26,2274 30323 CA CPSI
020238,000294: 26,2275 54770 TS CDUSPOT +2
020239,000295:
020240,000296: 26,2276 06037 TC INTPRET
020241,000297: 26,2277 45001 SETPD CALL
020242,000298: 26,2300 00001 0D
020243,000299: 26,2301 47543 CD*TR*G
020244,000300:
020245,000301: 26,2302 41345 DLOAD DMP
020246,000302: 26,2303 00743 SINCDUX # SIN (OGA)
020247,000303: 26,2304 00747 COSCDUZ # COS (MGA)
020248,000304:
020249,000305: 26,2305 57552 SL1 DCOMP # SCALE
020250,000306: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020251,000307: 26,2307 00741 SINCDUZ
020252,000308: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020253,000309: 26,2311 00747 COSCDUZ
020254,000310: 26,2312 72405 DMP SL1 # RESCALE
020255,000311: 26,2313 00751 COSCDUX
020256,000312: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020257,000313: 26,2315 26510 ARCTAN
020258,000314: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020259,000315: 26,2317 00741 SINCDUZ
020260,000316: 26,2320 00743 SINCDUX
020261,000317: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020262,000318: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020263,000319: 26,2323 00745 COSCDUY
020264,000320: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020265,000321: 26,2325 00737 SINCDUY
020266,000322: 26,2326 00751 COSCDUX
020267,000323: 26,2327 72405 DMP SL1 # CXCY
020268,000324: 26,2330 00745 COSCDUY
020269,000325: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020270,000326: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020271,000327: 26,2333 00737 SINCDUY
020272,000328: 26,2334 72405 DMP SL1
020273,000329: 26,2335 00751 COSCDUX # CXSY
020274,000330: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020275,000331: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020276,000332: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020277,000333: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020278,000334: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020279,000335: 26,2343 21620 V1STO2S
020280,000336: 26,2344 02345 STORE FDAIX # MODE IS TP
020281,000337: 26,2345 77776 EXIT
020282,000338:
020283,000339: 26,2346 31342 ENDBALL CA BALLEXIT
020284,000340:
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020286,000342: 26,2347 04640 TC BANKJUMP
020287,000343:
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020289,000345: # PROGRAM DESCRIPTION - VECPOINT
020290,000346:
020291,000347: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020292,000348: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020293,000349: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020294,000350: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020295,000351: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020296,000352: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020297,000353: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020298,000354: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020299,000355:
020300,000356: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020301,000357: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020302,000358: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020303,000359: # 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,
020304,000360: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020305,000361: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020306,000362: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020307,000363:
020308,000364: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020309,000365: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020310,000366: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020311,000367: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020312,000368:
020313,000369: # CALLING SEQUENCE -
020314,000370:
020315,000371: # 1) LOAD SCAXIS, POINTVSM
020316,000372: # 2) CALL
020317,000373: # VECPOINT
020318,000374:
020319,000375: # RETURNS WITH
020320,000376:
020321,000377: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020322,000378: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020323,000379: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020324,000380:
020325,000381: # ERASABLES USED -
020326,000382:
020327,000383: # 1) SCAXIS 6
020328,000384: # 2) POINTVSM 6
020329,000385: # 3) MIS 18
020330,000386: # 4) DEL 18
020331,000387: # 5) COF 6
020332,000388: # 6) VECQTEMP 1
020333,000389: # 7) ALL OF VAC AREA 43
020334,000390:
020335,000391: # TOTAL 99
020336,000392:
020337,000393: 27,2000 SETLOC VECPT
020338,000394: 27,2000 BANK
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Page 481
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020340,000396: 27,2032 COUNT* $$/VECPT
020341,000397:
020342,000398: 27,2032 E6,1676 EBANK= BCDU
020343,000399:
020344,000400: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020345,000401: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020346,000402: 27,2034 56035 VECPNT2
020347,000403: 27,2035 52164 VECPNT2 AXC,2 GOTO
020348,000404: 27,2036 03246 MIS
020349,000405: 27,2037 56046 STORANG
020350,000406: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020351,000407: 27,2041 03325 VECQTEMP
020352,000408: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020353,000409: 27,2043 47164 VECLEAR AXC,2 RTB
020354,000410: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020355,000411: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020356,000412: 27,2046 34032 STORANG STCALL 25D
020357,000413: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020358,000414: 27,2050 61375 VLOAD VXM
020359,000415: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020360,000416: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020361,000417: 27,2053 77656 UNIT
020362,000418: 27,2054 00035 STORE 28D
020363,000419: # PD 28 29 30 31 32 33
020364,000420: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020365,000421: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020366,000422: 27,2057 57400 BOV VCOMP
020367,000423: 27,2060 56170 PICKAXIS
020368,000424: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020369,000425: 27,2062 00045 36D # OF CROSS PRODUCT
020370,000426: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020371,000427: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020372,000428: 27,2065 56170 PICKAXIS # UNIT OPERATION
020373,000429: 27,2066 50375 VLOAD DOT # INVALID.
020374,000430: 27,2067 03765 SCAXIS
020375,000431: 27,2070 00035 28D
020376,000432: 27,2071 65552 SL1 ARCCOS
020377,000433: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020378,000434: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020379,000435: 27,2074 75160 AXC,1 AXC,2
020380,000436: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020381,000437: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020382,000438: 27,2077 77624 CALL # MFS = MIS MFI
020383,000439: 27,2100 44312 MXM3 # (IN PD LIST)
020384,000440:
020385,000441: 27,2101 51545 DLOAD ABS
020386,000442: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020387,000443: 27,2103 50025 DSU BMN
020388,000444: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020389,000445: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 482
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020391,000447: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020392,000448:
020393,000449: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020394,000450: 27,2107 03765 SCAXIS # THE THRUST AXIS
020395,000451: 27,2110 51025 DSU BPL
020396,000452: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020397,000453: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020398,000454: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020399,000455: 27,2114 77626 STADR
020400,000456: 27,2115 50514 STOVL MIS +12D
020401,000457: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020402,000458: 27,2117 50522 STOVL MIS +6
020403,000459: 27,2120 77626 STADR
020404,000460: 27,2121 50530 STOVL MIS
020405,000461: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020406,000462: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020407,000463: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020408,000464:
020409,000465: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020410,000466: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020411,000467: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020412,000468: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020413,000469: # OTHERWISE U = -SCAXIS
020414,000470:
020415,000471: 27,2130 57575 VLOAD VCOMP
020416,000472: 27,2131 03765 SCAXIS
020417,000473: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020418,000474: 27,2133 56137 CHEKAXIS
020419,000475: 27,2134 77775 U=SCAXIS VLOAD
020420,000476: 27,2135 03765 SCAXIS
020421,000477: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020422,000478: 27,2137 51545 CHEKAXIS DLOAD ABS
020423,000479: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020424,000480: 27,2141 51025 DSU BPL
020425,000481: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020426,000482: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020427,000483: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020428,000484: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020429,000485: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020430,000486: # OF GIMBAL LOCK (VECANG2 $360)
020431,000487: 27,2147 77745 PICKANG1 DLOAD
020432,000488: 27,2150 14404 VECANG1 # = 50 DEGS $360
020433,000489: 27,2151 77624 COMPMFSN CALL
020434,000490: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020435,000491: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020436,000492: 27,2154 03246 MIS
020437,000493: 27,2155 02230 KEL
020438,000494: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020439,000495: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020440,000496: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 483
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020442,000498: # GIMBAL LOCK
020443,000499: 27,2160 45160 FINDGIMB AXC,1 CALL
020444,000500: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020445,000501: 27,2162 44654 DCMTOCDU # THIS MATRIX
020446,000502: 27,2163 40234 RTB SETPD
020447,000503: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020448,000504: 27,2165 00001 0
020449,000505: 27,2166 77650 GOTO
020450,000506: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020451,000507:
020452,000508: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020453,000509: 27,2171 00035 28D
020454,000510: 27,2172 03765 SCAXIS
020455,000511: 27,2173 72240 BMN TLOAD
020456,000512: 27,2174 54350 ROT180
020457,000513: 27,2175 00032 25D
020458,000514: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020459,000515: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020460,000516:
020461,000517: 35,2000 BANK 35
020462,000518: 26,2000 SETLOC MANUVER1
020463,000519: 26,2000 BANK
020464,000520: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020465,000521: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020466,000522: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020467,000523: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020468,000524: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020469,000525: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020470,000526: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020471,000527: 26,2357 17271 STODL COF
020472,000528: 26,2360 00045 36D # CHECK MAGNITUDE
020473,000529: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020474,000530: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020475,000531: 26,2363 54372 PICKX # PICK X-AXIS.
020476,000532: 26,2364 77775 VLOAD
020477,000533: 26,2365 03271 COF
020478,000534: 26,2366 17271 XROT STODL COF
020479,000535: 26,2367 06520 HIDPHALF
020480,000536: 26,2370 77650 GOTO
020481,000537: 26,2371 56072 COMPMATX
020482,000538: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020483,000539: 26,2373 06520 HIDPHALF
020484,000540: 26,2374 54366 XROT
020485,000541: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020486,000542:
020487,000543: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020488,000544:
020489,000545: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020490,000546:
020491,000547: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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020493,000549: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020494,000550:
020495,000551: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020496,000552: 26,2410 00001 DPB-14 OCT 00001
020497,000553: 26,2411 00000 OCT 00000
020498,000554:
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Page 485
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020500,000556: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020501,000557:
020502,000558: 34,2000 BANK 34
020503,000559: 23,2000 SETLOC R62
020504,000560: 23,2000 BANK
020505,000561: 23,2103 E6,1676 EBANK= BCDU
020506,000562:
020507,000563: 23,2103 COUNT* $$/R62
020508,000564:
020509,000565: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020510,000566:
020511,000567: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020512,000568: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020513,000569: 23,2105 20476 CADR GOFLASH
020514,000570: 23,2106 15472 TCF ENDEXT # TERMINATE
020515,000571: 23,2107 12111 TCF GOMOVE # PROCEED
020516,000572: 23,2110 12103 TCF R62FLASH # ENTER
020517,000573:
020518,000574: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020519,000575: # POINT
020520,000576: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020521,000577: 23,2112 00124 ADRES 3AXISFLG
020522,000578:
020523,000579: 23,2113 04616 TC BANKCALL
020524,000580: 23,2114 54123 CADR R60LEM
020525,000581: 23,2115 15472 TCF ENDEXT # END R62
020526,000582:
End of include-file R60,R62.agc. Parent file is MAIN.agc