Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
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 98 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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019792,000002: ## Copyright: Public domain.
019793,000003: ## Filename: R60,R62.agc
019794,000004: ## Purpose: A section of Luminary revision 98.
019795,000005: ## It is part of the reconstructed source code for the a
019796,000006: ## development version of the flight software for the Lunar
019797,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
019798,000008: ## The code has been recreated from a copy of Luminary 99
019799,000009: ## revision 001, using asterisks indicating changed lines in
019800,000010: ## the listing and Luminary Memo #85, which lists changes between
019801,000011: ## Luminary 98 and 99.
019802,000012: ## Reference: pp. 472-485
019803,000013: ## Assembler: yaYUL
019804,000014: ## Contact: Ron Burkey <info@sandroid.org>.
019805,000015: ## Website: www.ibiblio.org/apollo/index.html
019806,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
019807,000017:
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Page 472
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019809,000019: # MOD NO: 0 DATE: 1 MAY 1968
019810,000020: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
019811,000021:
019812,000022: # FUNCTIONAL DESCRIPTION:
019813,000023:
019814,000024: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019815,000025: # ATTITUDE.
019816,000026:
019817,000027: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
019818,000028: # CALCULATED (VECPOINT).
019819,000029:
019820,000030: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019821,000031:
019822,000032: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
019823,000033:
019824,000034: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
019825,000035: # ASTRONAUT RESPONSE.
019826,000036:
019827,000037: # 5. DISPLAY RESPONSE RETURNS:
019828,000038:
019829,000039: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
019830,000040:
019831,000041: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
019832,000042: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
019833,000043: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
019834,000044:
019835,000045: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
019836,000046:
019837,000047: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
019838,000048: # (VECPOINT).
019839,000049:
019840,000050: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
019841,000051:
019842,000052: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
019843,000053: #
019844,000054: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
019845,000055:
019846,000056: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
019847,000057:
019848,000058: # 11. DO A PHASECHANGE.
019849,000059:
019850,000060: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
019851,000061: # GIMBAL ANGLES (GOMANUR).
019852,000062:
019853,000063: # 13. AT END OF MANEUVER GO TO STEP 3.
019854,000064:
019855,000065: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
019856,000066: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
019857,000067: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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019859,000069: # STEP 5C.
019860,000070:
019861,000071: # CALLING SEQUENCE: TC BANKCALL
019862,000072: # CADR R60LEM
019863,000073:
019864,000074: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
019865,000075: # 3AXISFLG.
019866,000076:
019867,000077: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
019868,000078: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
019869,000079:
019870,000080: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
019871,000081: # TC BANKJUMP
019872,000082:
019873,000083: # ALARMS: NONE
019874,000084:
019875,000085: # OUTPUT: NONE
019876,000086:
019877,000087: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
019878,000088:
019879,000089: 34,2000 BANK 34
019880,000090: 26,2000 SETLOC MANUVER
019881,000091: 26,2000 BANK
019882,000092:
019883,000093: 26,2123 1164 EBANK= TEMPR60
019884,000094:
019885,000095: 26,2123 COUNT* $$/R06
019886,000096: 26,2123 04645 R60LEM TC MAKECADR
019887,000097: 26,2124 55164 TS TEMPR60
019888,000098:
019889,000099: 26,2125 34746 REDOMANN CAF 3AXISBIT
019890,000100: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019891,000101: 26,2127 10000 CCS A
019892,000102: 26,2130 12136 TCF TOBALL # YES
019893,000103: 26,2131 06037 TC INTPRET
019894,000104: 26,2132 77624 CALL
019895,000105: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
019896,000106: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
019897,000107: 26,2135 77776 EXIT
019898,000108:
019899,000109: 26,2136 04616 TOBALL TC BANKCALL
019900,000110: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
019901,000111: 26,2140 32254 TOBALLA CAF V06N18
019902,000112: 26,2141 04616 TC BANKCALL
019903,000113: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
019904,000114: 26,2143 02242 TC R61TEST
019905,000115: 26,2144 02150 TC REDOMANC # PROCEED
019906,000116: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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019908,000118: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
019909,000119: 26,2147 05155 TC ENDOFJOB
019910,000120:
019911,000121: 26,2150 34746 REDOMANC CAF 3AXISBIT
019912,000122: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
019913,000123: 26,2152 10000 CCS A
019914,000124: 26,2153 12161 TCF TOBALLC # YES
019915,000125: 26,2154 06037 TC INTPRET
019916,000126: 26,2155 77624 CALL
019917,000127: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
019918,000128: 26,2157 00322 STORE CPHI # STORE ANGLES
019919,000129: 26,2160 77776 EXIT
019920,000130:
019921,000131: 26,2161 04616 TOBALLC TC BANKCALL
019922,000132: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
019923,000133: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
019924,000134: 26,2164 10000 CCS A
019925,000135: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
019926,000136:
019927,000137: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
019928,000138: 26,2167 04616 TC BANKCALL # -
019929,000139: 26,2170 20451 CADR GODSPR # -
019930,000140: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
019931,000141:
019932,000142: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
019933,000143: 26,2173 17750 CADR GOMANUR
019934,000144:
019935,000145: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
019936,000146: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
019937,000147: 26,2176 00124 ADRES 3AXISFLG
019938,000148: 26,2177 31164 CAE TEMPR60 # -
019939,000149: 26,2200 04640 TC BANKJUMP # -
019940,000150:
019941,000151: 26,2201 40100 CHKLINUS CS FLAGWRD4
019942,000152: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
019943,000153: 26,2203 10000 CCS A # -
019944,000154: 26,2204 00002 TC Q # NO - EXIT
019945,000155: 26,2205 30002 CA Q
019946,000156: 26,2206 54156 TS MPAC +2 # SAVE RETURN
019947,000157: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
019948,000158: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
019949,000159: 26,2211 55055 TS TBASE2
019950,000160:
019951,000161: 26,2212 05353 TC PHASCHNG
019952,000162: 26,2213 00132 OCT 00132
019953,000163:
019954,000164: 26,2214 34745 CAF BIT7
019955,000165: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
019956,000166: 26,2216 00156 TC MPAC +2
019957,000167:
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019959,000169: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
019960,000170: 26,2220 05146 TC PRIOCHNG
019961,000171:
019962,000172: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
019963,000173: 26,2222 70075 MASK FLAGWRD1
019964,000174: 26,2223 10000 CCS A
019965,000175: 26,2224 12237 TCF RER60
019966,000176:
019967,000177: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
019968,000178: 26,2226 70074 MASK FLAGWRD0
019969,000179: 26,2227 10000 CCS A
019970,000180: 26,2230 02234 TC +4 # YES
019971,000181: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
019972,000182: 26,2232 40112 OCT 40112
019973,000183:
019974,000184: 26,2233 05155 TC ENDOFJOB
019975,000185:
019976,000186: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
019977,000187: 26,2235 40072 OCT 40072
019978,000188:
019979,000189: 26,2236 05155 TC ENDOFJOB
019980,000190:
019981,000191: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
019982,000192: 26,2240 00077 ADRES PDSPFLAG
019983,000193:
019984,000194: 26,2241 01055 TC TBASE2
019985,000195:
019986,000196: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
019987,000197: 26,2243 00006 EXTEND
019988,000198: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
019989,000199:
019990,000200: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
019991,000201: 26,2246 74740 MASK PDSPFBIT
019992,000202: 26,2247 00006 EXTEND
019993,000203: 26,2250 16001 BZF GOTOPOOH # NO
019994,000204: 26,2251 06022 TC GOTOV56 # YES
019995,000205:
019996,000206: 26,2252 20100 BIT14+7 OCT 20100 # -
019997,000207: 26,2253 00203 OCT203 OCT 203
019998,000208: 26,2254 01422 V06N18 VN 0618
019999,000209:
020000,000210: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020001,000211:
020002,000212: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020003,000213: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020004,000214:
020005,000215: 26,2255 00006 G+N,AUTO EXTEND
020006,000216: 26,2256 00030 READ CHAN30
020007,000217: 26,2257 74742 MASK BIT10
020008,000218: 26,2260 10000 CCS A
020009,000219: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
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020011,000221: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020012,000222: 26,2263 00031 READ CHAN31
020013,000223: 26,2264 74736 MASK BIT14
020014,000224: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020015,000225:
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020017,000227: # PROGRAM DESCRIPTION BALLANGS
020018,000228: # MOD NO. LOG SECTION R60,R62
020019,000229:
020020,000230: # WRITTEN BY RAMA M. AIYAWAR
020021,000231:
020022,000232: # FUNCTIONAL DESCRIPTION
020023,000233:
020024,000234: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020025,000235:
020026,000236: # CALLING SEQUENCE
020027,000237:
020028,000238: # TC BALLANGS
020029,000239:
020030,000240: # NORMAL EXIT MODE
020031,000241:
020032,000242: # TC BALLEXIT (SAVED Q)
020033,000243:
020034,000244: # ALARM OR EXIT MODE NIL
020035,000245:
020036,000246: # SUBROUTINES CALLED
020037,000247:
020038,000248: # CD*TR*G
020039,000249: # ARCTAN
020040,000250:
020041,000251: # INPUT
020042,000252:
020043,000253: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020044,000254: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020045,000255:
020046,000256: # OUTPUT
020047,000257:
020048,000258: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020049,000259: # SP,2S COMPLIMENT.
020050,000260:
020051,000261: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020052,000262:
020053,000263: # ERASABLE INITIALIZATION REQUIRED
020054,000264:
020055,000265: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020056,000266:
020057,000267: # DEBRIS
020058,000268:
020059,000269: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020060,000270:
020061,000271: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020062,000272: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020063,000273:
020064,000274: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020065,000275:
020066,000276: 26,2000 SETLOC BAWLANGS
020067,000277: 26,2000 BANK
020068,000278:
020069,000279: 26,2266 COUNT* $$/BALL
020070,000280: 26,2266 04645 BALLANGS TC MAKECADR
020071,000281: 26,2267 55342 TS BALLEXIT
020072,000282: 26,2270 30321 CA CPHI
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020074,000284: 26,2271 54772 TS CDUSPOT +4
020075,000285: 26,2272 30322 CA CTHETA
020076,000286: 26,2273 54766 TS CDUSPOT
020077,000287: 26,2274 30323 CA CPSI
020078,000288: 26,2275 54770 TS CDUSPOT +2
020079,000289:
020080,000290: 26,2276 06037 TC INTPRET
020081,000291: 26,2277 45001 SETPD CALL
020082,000292: 26,2300 00001 0D
020083,000293: 26,2301 47543 CD*TR*G
020084,000294:
020085,000295: 26,2302 41345 DLOAD DMP
020086,000296: 26,2303 00743 SINCDUX # SIN (OGA)
020087,000297: 26,2304 00747 COSCDUZ # COS (MGA)
020088,000298:
020089,000299: 26,2305 57552 SL1 DCOMP # SCALE
020090,000300: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020091,000301: 26,2307 00741 SINCDUZ
020092,000302: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020093,000303: 26,2311 00747 COSCDUZ
020094,000304: 26,2312 72405 DMP SL1 # RESCALE
020095,000305: 26,2313 00751 COSCDUX
020096,000306: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020097,000307: 26,2315 26510 ARCTAN
020098,000308: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020099,000309: 26,2317 00741 SINCDUZ
020100,000310: 26,2320 00743 SINCDUX
020101,000311: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020102,000312: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020103,000313: 26,2323 00745 COSCDUY
020104,000314: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020105,000315: 26,2325 00737 SINCDUY
020106,000316: 26,2326 00751 COSCDUX
020107,000317: 26,2327 72405 DMP SL1 # CXCY
020108,000318: 26,2330 00745 COSCDUY
020109,000319: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020110,000320: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020111,000321: 26,2333 00737 SINCDUY
020112,000322: 26,2334 72405 DMP SL1
020113,000323: 26,2335 00751 COSCDUX # CXSY
020114,000324: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020115,000325: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020116,000326: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020117,000327: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020118,000328: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020119,000329: 26,2343 21620 V1STO2S
020120,000330: 26,2344 02345 STORE FDAIX # MODE IS TP
020121,000331: 26,2345 77776 EXIT
020122,000332:
020123,000333: 26,2346 31342 ENDBALL CA BALLEXIT
020124,000334:
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020126,000336: 26,2347 04640 TC BANKJUMP
020127,000337:
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020129,000339: # PROGRAM DESCRIPTION - VECPOINT
020130,000340:
020131,000341: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020132,000342: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020133,000343: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020134,000344: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020135,000345: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020136,000346: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020137,000347: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020138,000348: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020139,000349:
020140,000350: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020141,000351: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020142,000352: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020143,000353: # 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,
020144,000354: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020145,000355: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020146,000356: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020147,000357:
020148,000358: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020149,000359: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020150,000360: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020151,000361: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020152,000362:
020153,000363: # CALLING SEQUENCE -
020154,000364:
020155,000365: # 1) LOAD SCAXIS, POINTVSM
020156,000366: # 2) CALL
020157,000367: # VECPOINT
020158,000368:
020159,000369: # RETURNS WITH
020160,000370:
020161,000371: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020162,000372: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020163,000373: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020164,000374:
020165,000375: # ERASABLES USED -
020166,000376:
020167,000377: # 1) SCAXIS 6
020168,000378: # 2) POINTVSM 6
020169,000379: # 3) MIS 18
020170,000380: # 4) DEL 18
020171,000381: # 5) COF 6
020172,000382: # 6) VECQTEMP 1
020173,000383: # 7) ALL OF VAC AREA 43
020174,000384:
020175,000385: # TOTAL 99
020176,000386:
020177,000387: 27,2000 SETLOC VECPT
020178,000388: 27,2000 BANK
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Page 481
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020180,000390: 27,2032 COUNT* $$/VECPT
020181,000391:
020182,000392: 27,2032 E6,1676 EBANK= BCDU
020183,000393:
020184,000394: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020185,000395: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020186,000396: 27,2034 56035 VECPNT2
020187,000397: 27,2035 52164 VECPNT2 AXC,2 GOTO
020188,000398: 27,2036 03246 MIS
020189,000399: 27,2037 56046 STORANG
020190,000400: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020191,000401: 27,2041 03325 VECQTEMP
020192,000402: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020193,000403: 27,2043 47164 VECLEAR AXC,2 RTB
020194,000404: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020195,000405: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020196,000406: 27,2046 34032 STORANG STCALL 25D
020197,000407: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020198,000408: 27,2050 61375 VLOAD VXM
020199,000409: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020200,000410: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020201,000411: 27,2053 77656 UNIT
020202,000412: 27,2054 00035 STORE 28D
020203,000413: # PD 28 29 30 31 32 33
020204,000414: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020205,000415: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020206,000416: 27,2057 57400 BOV VCOMP
020207,000417: 27,2060 56170 PICKAXIS
020208,000418: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020209,000419: 27,2062 00045 36D # OF CROSS PRODUCT
020210,000420: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020211,000421: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020212,000422: 27,2065 56170 PICKAXIS # UNIT OPERATION
020213,000423: 27,2066 50375 VLOAD DOT # INVALID.
020214,000424: 27,2067 03765 SCAXIS
020215,000425: 27,2070 00035 28D
020216,000426: 27,2071 65552 SL1 ARCCOS
020217,000427: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020218,000428: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020219,000429: 27,2074 75160 AXC,1 AXC,2
020220,000430: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020221,000431: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020222,000432: 27,2077 77624 CALL # MFS = MIS MFI
020223,000433: 27,2100 44312 MXM3 # (IN PD LIST)
020224,000434:
020225,000435: 27,2101 51545 DLOAD ABS
020226,000436: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020227,000437: 27,2103 50025 DSU BMN
020228,000438: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020229,000439: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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020231,000441: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020232,000442:
020233,000443: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020234,000444: 27,2107 03765 SCAXIS # THE THRUST AXIS
020235,000445: 27,2110 51025 DSU BPL
020236,000446: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020237,000447: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020238,000448: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020239,000449: 27,2114 77626 STADR
020240,000450: 27,2115 50514 STOVL MIS +12D
020241,000451: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020242,000452: 27,2117 50522 STOVL MIS +6
020243,000453: 27,2120 77626 STADR
020244,000454: 27,2121 50530 STOVL MIS
020245,000455: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020246,000456: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020247,000457: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020248,000458:
020249,000459: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020250,000460: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020251,000461: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020252,000462: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020253,000463: # OTHERWISE U = -SCAXIS
020254,000464:
020255,000465: 27,2130 57575 VLOAD VCOMP
020256,000466: 27,2131 03765 SCAXIS
020257,000467: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020258,000468: 27,2133 56137 CHEKAXIS
020259,000469: 27,2134 77775 U=SCAXIS VLOAD
020260,000470: 27,2135 03765 SCAXIS
020261,000471: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020262,000472: 27,2137 51545 CHEKAXIS DLOAD ABS
020263,000473: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020264,000474: 27,2141 51025 DSU BPL
020265,000475: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020266,000476: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020267,000477: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020268,000478: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020269,000479: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020270,000480: # OF GIMBAL LOCK (VECANG2 $360)
020271,000481: 27,2147 77745 PICKANG1 DLOAD
020272,000482: 27,2150 14404 VECANG1 # = 50 DEGS $360
020273,000483: 27,2151 77624 COMPMFSN CALL
020274,000484: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020275,000485: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020276,000486: 27,2154 03246 MIS
020277,000487: 27,2155 02230 KEL
020278,000488: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020279,000489: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020280,000490: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 483
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020282,000492: # GIMBAL LOCK
020283,000493: 27,2160 45160 FINDGIMB AXC,1 CALL
020284,000494: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020285,000495: 27,2162 44654 DCMTOCDU # THIS MATRIX
020286,000496: 27,2163 40234 RTB SETPD
020287,000497: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020288,000498: 27,2165 00001 0
020289,000499: 27,2166 77650 GOTO
020290,000500: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020291,000501:
020292,000502: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020293,000503: 27,2171 00035 28D
020294,000504: 27,2172 03765 SCAXIS
020295,000505: 27,2173 72240 BMN TLOAD
020296,000506: 27,2174 54350 ROT180
020297,000507: 27,2175 00032 25D
020298,000508: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020299,000509: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020300,000510:
020301,000511: 35,2000 BANK 35
020302,000512: 26,2000 SETLOC MANUVER1
020303,000513: 26,2000 BANK
020304,000514: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020305,000515: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020306,000516: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020307,000517: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020308,000518: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020309,000519: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020310,000520: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020311,000521: 26,2357 17271 STODL COF
020312,000522: 26,2360 00045 36D # CHECK MAGNITUDE
020313,000523: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020314,000524: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020315,000525: 26,2363 54372 PICKX # PICK X-AXIS.
020316,000526: 26,2364 77775 VLOAD
020317,000527: 26,2365 03271 COF
020318,000528: 26,2366 17271 XROT STODL COF
020319,000529: 26,2367 06520 HIDPHALF
020320,000530: 26,2370 77650 GOTO
020321,000531: 26,2371 56072 COMPMATX
020322,000532: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020323,000533: 26,2373 06520 HIDPHALF
020324,000534: 26,2374 54366 XROT
020325,000535: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020326,000536:
020327,000537: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020328,000538:
020329,000539: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020330,000540:
020331,000541: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 484
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020333,000543: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020334,000544:
020335,000545: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020336,000546: 26,2410 00001 DPB-14 OCT 00001
020337,000547: 26,2411 00000 OCT 00000
020338,000548:
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Page 485
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020340,000550: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020341,000551:
020342,000552: 34,2000 BANK 34
020343,000553: 23,2000 SETLOC R62
020344,000554: 23,2000 BANK
020345,000555: 23,2103 E6,1676 EBANK= BCDU
020346,000556:
020347,000557: 23,2103 COUNT* $$/R62
020348,000558:
020349,000559: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020350,000560:
020351,000561: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020352,000562: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020353,000563: 23,2105 20476 CADR GOFLASH
020354,000564: 23,2106 15472 TCF ENDEXT # TERMINATE
020355,000565: 23,2107 12111 TCF GOMOVE # PROCEED
020356,000566: 23,2110 12103 TCF R62FLASH # ENTER
020357,000567:
020358,000568: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020359,000569: # POINT
020360,000570: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020361,000571: 23,2112 00124 ADRES 3AXISFLG
020362,000572:
020363,000573: 23,2113 04616 TC BANKCALL
020364,000574: 23,2114 54123 CADR R60LEM
020365,000575: 23,2115 15472 TCF ENDEXT # END R62
020366,000576:
End of include-file R60,R62.agc. Parent file is MAIN.agc