GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
061074,000002: ## Copyright: Public domain.
061075,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
061076,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
061077,000005: ## It is part of the source code for the Lunar Module's (LM)
061078,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
061079,000007: ## Assembler: yaYUL
061080,000008: ## Contact: Ron Burkey <info@sandroid.org>.
061081,000009: ## Website: www.ibiblio.org/apollo.
061082,000010: ## Pages: 1421-1441
061083,000011: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
061084,000012: ## Luminary131 file, using page
061085,000013: ## images from Luminary 1A.
061086,000014: ## 2009-06-05 RSB Corrected a relative jump from
061087,000015: ## +8 to +8D.
061088,000016: ## 2009-06-07 RSB Corrected a typo.
061089,000017: ## 2011-01-06 JL Fixed pseudo-label indentation.
061090,000018: ## 2011-01-06 JL Added missing comment characters.
061091,000019: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
061092,000020: ## and corrected the errors found.
061093,000021: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
061094,000022: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
061095,000023: ## side-by-side diff of Luminary 69/99/116/131/210.
061096,000024:
061097,000025: ## This source code has been transcribed or otherwise adapted from
061098,000026: ## digitized images of a hardcopy from the MIT Museum. The digitization
061099,000027: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
061100,000028: ## the Museum. Many thanks to both. The images (with suitable reduction
061101,000029: ## in storage size and consequent reduction in image quality as well) are
061102,000030: ## available online at www.ibiblio.org/apollo. If for some reason you
061103,000031: ## find that the images are illegible, contact me at info@sandroid.org
061104,000032: ## about getting access to the (much) higher-quality images which Paul
061105,000033: ## actually created.
061106,000034: ##
061107,000035: ## Notations on the hardcopy document read, in part:
061108,000036: ##
061109,000037: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
061110,000038: ## 16:27 JULY 14, 1969
061111,000039:
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Page 1421 |
061113,000041: 16,2213 BANK 16
061114,000042: 16,2000 SETLOC DAPS1
061115,000043: 16,2000 BANK
061116,000044:
061117,000045: 16,2213 E6,1464 EBANK= PERROR
061118,000046: 16,2213 COUNT* $$/DAPP
061119,000047:
061120,000048: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
061121,000049: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
061122,000050:
061123,000051: 16,2213 37727 PAXIS CA MS100
061124,000052: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
061125,000053: # CHRONIZATION WITH OTHER INTERRUPTS ***
061126,000054:
061127,000055: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
061128,000056: 16,2216 00006 EXTEND
061129,000057: 16,2217 22012 QXCH QRUPT
061130,000058:
061131,000059: # CHECK IF DAP PASS IS PERMISSIBLE
061132,000060:
061133,000061: 16,2220 11757 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
061134,000062: 16,2221 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
061135,000063: 16,2222 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
061136,000064:
061137,000065: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
061138,000066:
061139,000067: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
061140,000068: 16,2225 55750 TS DAPTREG4
061141,000069: 16,2226 30033 CA CDUY
061142,000070: 16,2227 55751 TS DAPTREG5
061143,000071: 16,2230 30034 CA CDUZ
061144,000072: 16,2231 55752 TS DAPTREG6
061145,000073:
061146,000074: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
061147,000075:
061148,000076: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
061149,000077: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
061150,000078:
061151,000079: 16,2232 31635 CA CDUXD
061152,000080: 16,2233 00006 EXTEND
061153,000081: 16,2234 21640 MSU DELCDUX
061154,000082: 16,2235 02256 TC 1STOTWOS
061155,000083: 16,2236 55635 TS CDUXD
061156,000084: 16,2237 31636 CA CDUYD
061157,000085: 16,2240 00006 EXTEND
061158,000086: 16,2241 21641 MSU DELCDUY
061159,000087: 16,2242 02256 TC 1STOTWOS
061160,000088: 16,2243 55636 TS CDUYD
061161,000089: 16,2244 31637 CA CDUZD
061162,000090: 16,2245 00006 EXTEND
061163,000091: 16,2246 21642 MSU DELCDUZ
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Page 1422 |
061165,000093: 16,2247 02256 TC 1STOTWOS
061166,000094: 16,2250 55637 TS CDUZD
061167,000095: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
061168,000096: 16,2252 27445 DIM TCP # TIME COUNTERS.
061169,000097: 16,2253 00006 EXTEND
061170,000098: 16,2254 27457 DIM TCQR
061171,000099:
061172,000100: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
061173,000101: # RETURNS TO BACKP.
061174,000102:
061175,000103: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
061176,000104: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
061177,000105: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
061178,000106:
061179,000107: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
061180,000108: 16,2256 10000 1STOTWOS CCS A
061181,000109: 16,2257 64753 AD ONE
061182,000110: 16,2260 00002 TC Q
061183,000111: 16,2261 40000 CS A
061184,000112: 16,2262 00002 TC Q
061185,000113: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
061186,000114: 16,2264 71741 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
061187,000115: 16,2265 21427 DAS OMEGAU # OVERFLOW
061188,000116:
061189,000117: 16,2266 00006 +3 EXTEND
061190,000118: 16,2267 31427 DCA OMEGAU
061191,000119: 16,2270 53744 DXCH DAPTEMP5
061192,000120: 16,2271 11426 CCS OMEGAU
061193,000121: 16,2272 12274 TCF +2
061194,000122: 16,2273 12304 TCF DIVIDER
061195,000123: 16,2274 62315 AD -OCT630
061196,000124: 16,2275 00006 EXTEND
061197,000125: 16,2276 62304 BZMF DIVIDER
061198,000126:
061199,000127: 16,2277 11426 CCS OMEGAU
061200,000128: 16,2300 34733 CA POSMAX # 45 DEG/SEC
061201,000129: 16,2301 00002 TC Q
061202,000130: 16,2302 44733 CS POSMAX
061203,000131: 16,2303 00002 TC Q
061204,000132:
061205,000133: 16,2304 53427 DIVIDER DXCH OMEGAU
061206,000134: 16,2305 00006 EXTEND
061207,000135: 16,2306 11750 DV DAPTREG4
061208,000136: 16,2307 00002 TC Q
061209,000137:
061210,000138: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061211,000139: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061212,000140: 16,2312 50000 INDEX A
061213,000141: 16,2313 44734 CS BIT15 -1
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Page 1423 |
061215,000143: 16,2314 00002 TC Q
061216,000144:
061217,000145: 16,2315 77147 -OCT630 OCT 77147
061218,000146:
061219,000147: 16,2316 31737 BACKP CA DAPTEMP1
061220,000148: 16,2317 00006 EXTEND
061221,000149: 16,2320 71530 MP 1JACC
061222,000150: 16,2321 55745 TS JETRATE
061223,000151:
061224,000152: # BEGINNING OF THE RATE DERIVATION
061225,000153: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
061226,000154: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
061227,000155: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
061228,000156: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
061229,000157: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
061230,000158: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
061231,000159: # OMEGAU DP-TEMPORARY STORAGE
061232,000160: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
061233,000161:
061234,000162: 16,2322 31750 CAE DAPTREG4 # CDUX IS STORED HERE
061235,000163: 16,2323 54001 TS L
061236,000164: 16,2324 00006 EXTEND
061237,000165: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
061238,000166: 16,2326 23440 LXCH OLDXFORP
061239,000167: 16,2327 55737 TS DAPTEMP1
061240,000168: 16,2330 33620 CA 1/40
061241,000169: 16,2331 55750 TS DAPTREG4
061242,000170: 16,2332 41745 CS JETRATE
061243,000171: 16,2333 00006 EXTEND
061244,000172: 16,2334 74736 MP BIT14
061245,000173: 16,2335 27430 ADS TRAPEDP
061246,000174: 16,2336 31746 CA JETRATEQ
061247,000175: 16,2337 61545 AD AOSQTERM
061248,000176: 16,2340 00006 EXTEND
061249,000177: 16,2341 77736 MP -BIT14
061250,000178: 16,2342 27431 ADS TRAPEDQ
061251,000179: 16,2343 31747 CA JETRATER
061252,000180: 16,2344 61546 AD AOSRTERM
061253,000181: 16,2345 00006 EXTEND
061254,000182: 16,2346 77736 MP -BIT14
061255,000183: 16,2347 27432 ADS TRAPEDR
061256,000184:
061257,000185: 16,2350 31751 CA DAPTREG5 # CDUY IS STORED HERE
061258,000186: 16,2351 54001 TS L
061259,000187: 16,2352 00006 EXTEND
061260,000188: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
061261,000189: 16,2354 23441 LXCH OLDYFORP
061262,000190: 16,2355 55740 TS DAPTEMP2
061263,000191: 16,2356 00006 EXTEND
061264,000192: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1424 |
061266,000194: 16,2360 61737 AD DAPTEMP1
061267,000195: 16,2361 53427 DXCH OMEGAU
061268,000196:
061269,000197: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
061270,000198:
061271,000199: 16,2363 00006 EXTEND
061272,000200: 16,2364 61421 SU OMEGAP
061273,000201: 16,2365 27430 ADS TRAPEDP
061274,000202: 16,2366 02310 TC OVERSUB
061275,000203: 16,2367 55430 TS TRAPEDP
061276,000204: 16,2370 00006 EXTEND
061277,000205: 16,2371 31744 DCA DAPTEMP5
061278,000206: 16,2372 21447 DAS DXERROR
061279,000207: 16,2373 41454 CS PLAST
061280,000208: 16,2374 00006 EXTEND
061281,000209: 16,2375 73620 MP 1/40
061282,000210: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
061283,000211: 16,2377 31752 CA DAPTREG6 # CDUZ IS STORED HERE
061284,000212: 16,2400 54001 TS L
061285,000213: 16,2401 00006 EXTEND
061286,000214: 16,2402 21442 MSU OLDZFORQ
061287,000215: 16,2403 55741 TS DAPTEMP3
061288,000216: 16,2404 23442 LXCH OLDZFORQ
061289,000217: 16,2405 31415 CA M21
061290,000218: 16,2406 00006 EXTEND
061291,000219: 16,2407 71740 MP DAPTEMP2
061292,000220: 16,2410 53427 DXCH OMEGAU
061293,000221: 16,2411 31417 CA M22
061294,000222: 16,2412 02263 TC SUBDIVDE
061295,000223:
061296,000224: 16,2413 00006 EXTEND
061297,000225: 16,2414 61422 SU OMEGAQ
061298,000226: 16,2415 27431 ADS TRAPEDQ
061299,000227: 16,2416 02310 TC OVERSUB
061300,000228: 16,2417 55431 TS TRAPEDQ
061301,000229: 16,2420 00006 EXTEND
061302,000230: 16,2421 31744 DCA DAPTEMP5
061303,000231: 16,2422 21451 DAS DYERROR
061304,000232: 16,2423 41455 CS QLAST
061305,000233: 16,2424 00006 EXTEND
061306,000234: 16,2425 73620 MP 1/40
061307,000235: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
061308,000236: 16,2427 31416 CA M31
061309,000237: 16,2430 00006 EXTEND
061310,000238: 16,2431 71740 MP DAPTEMP2
061311,000239: 16,2432 53427 DXCH OMEGAU
061312,000240: 16,2433 31420 CA M32
061313,000241:
061314,000242: 16,2434 02263 TC SUBDIVDE
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Page 1425 |
061316,000244: 16,2435 00006 EXTEND
061317,000245: 16,2436 61423 SU OMEGAR
061318,000246: 16,2437 27432 ADS TRAPEDR
061319,000247: 16,2440 02310 TC OVERSUB
061320,000248: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
061321,000249:
061322,000250: 16,2442 00006 EXTEND
061323,000251: 16,2443 31744 DCA DAPTEMP5
061324,000252: 16,2444 21453 DAS DZERROR
061325,000253: 16,2445 41456 CS RLAST
061326,000254: 16,2446 00006 EXTEND
061327,000255: 16,2447 73620 MP 1/40
061328,000256: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
061329,000257: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
061330,000258: 16,2452 74737 MASK CSMDOCKD
061331,000259: 16,2453 00006 EXTEND
061332,000260: 16,2454 12462 BZF LMONLY
061333,000261: 16,2455 00006 EXTEND # DOCKED
061334,000262: 16,2456 31405 DCA DKOMEGAN
061335,000263: 16,2457 53751 DXCH DAPTREG4
061336,000264: 16,2460 31403 CA DKTRAP
061337,000265: 16,2461 12466 TCF +5
061338,000266: 16,2462 00006 LMONLY EXTEND # UNDOCKED
061339,000267: 16,2463 31410 DCA LMOMEGAN
061340,000268: 16,2464 53751 DXCH DAPTREG4
061341,000269: 16,2465 31406 CA LMTRAP
061342,000270: 16,2466 55752 +5 TS DAPTREG6
061343,000271: 16,2467 11430 CCS TRAPEDP
061344,000272: 16,2470 12472 TCF +2
061345,000273: 16,2471 12507 TCF SMALPDIF
061346,000274: 16,2472 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061347,000275: 16,2473 00006 EXTEND
061348,000276: 16,2474 62507 BZMF SMALPDIF
061349,000277: 16,2475 22007 ZL
061350,000278: 16,2476 23430 LXCH TRAPEDP
061351,000279: 16,2477 34755 CA ZERO
061352,000280: 16,2500 00006 EXTEND
061353,000281: 16,2501 11433 DV NPTRAPS
061354,000282: 16,2502 27421 ADS OMEGAP
061355,000283: 16,2503 02310 TC OVERSUB
061356,000284: 16,2504 55421 TS OMEGAP
061357,000285: 16,2505 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061358,000286: 16,2506 55433 TS NPTRAPS
061359,000287: 16,2507 25433 SMALPDIF INCR NPTRAPS
061360,000288: 16,2510 31745 P-RATE CA JETRATE
061361,000289: 16,2511 27421 ADS OMEGAP
061362,000290: 16,2512 02310 TC OVERSUB
061363,000291: 16,2513 55421 TS OMEGAP
061364,000292:
061365,000293: 16,2514 11431 CCS TRAPEDQ
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Page 1426 |
061367,000295: 16,2515 12517 TCF +2
061368,000296: 16,2516 12544 TCF Q-RATE
061369,000297: 16,2517 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061370,000298: 16,2520 00006 EXTEND
061371,000299: 16,2521 62544 BZMF Q-RATE
061372,000300: 16,2522 22007 ZL
061373,000301: 16,2523 23431 LXCH TRAPEDQ
061374,000302: 16,2524 34755 CA ZERO
061375,000303: 16,2525 00006 EXTEND
061376,000304: 16,2526 11434 DV NQTRAPS
061377,000305: 16,2527 55737 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
061378,000306: 16,2530 27422 ADS OMEGAQ
061379,000307: 16,2531 02310 TC OVERSUB
061380,000308: 16,2532 55422 TS OMEGAQ
061381,000309: 16,2533 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061382,000310: 16,2534 57434 XCH NQTRAPS
061383,000311: 16,2535 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
061384,000312: 16,2536 57737 XCH DAPTEMP1
061385,000313: 16,2537 00006 EXTEND
061386,000314: 16,2540 74756 MP FIVE
061387,000315: 16,2541 00006 EXTEND
061388,000316: 16,2542 11737 DV DAPTEMP1
061389,000317: 16,2543 27537 ADS AOSQ
061390,000318: 16,2544 25434 Q-RATE INCR NQTRAPS
061391,000319: 16,2545 31746 CA JETRATEQ
061392,000320: 16,2546 61545 AD AOSQTERM
061393,000321: 16,2547 27422 ADS OMEGAQ
061394,000322: 16,2550 02310 TC OVERSUB
061395,000323: 16,2551 55422 TS OMEGAQ
061396,000324:
061397,000325: 16,2552 11432 CCS TRAPEDR
061398,000326: 16,2553 12555 TCF +2
061399,000327: 16,2554 12602 TCF R-RATE
061400,000328: 16,2555 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
061401,000329: 16,2556 00006 EXTEND
061402,000330: 16,2557 62602 BZMF R-RATE
061403,000331: 16,2560 22007 ZL
061404,000332: 16,2561 23432 LXCH TRAPEDR
061405,000333: 16,2562 34755 CA ZERO
061406,000334: 16,2563 00006 EXTEND
061407,000335: 16,2564 11435 DV NRTRAPS
061408,000336: 16,2565 55740 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
061409,000337: 16,2566 27423 ADS OMEGAR
061410,000338: 16,2567 02310 TC OVERSUB
061411,000339: 16,2570 55423 TS OMEGAR
061412,000340: 16,2571 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
061413,000341: 16,2572 57435 XCH NRTRAPS
061414,000342: 16,2573 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
061415,000343: 16,2574 57740 XCH DAPTEMP2
061416,000344: 16,2575 00006 EXTEND
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Page 1427 |
061418,000346: 16,2576 74756 MP FIVE
061419,000347: 16,2577 00006 EXTEND
061420,000348: 16,2600 11740 DV DAPTEMP2
061421,000349: 16,2601 27541 ADS AOSR
061422,000350: 16,2602 25435 R-RATE INCR NRTRAPS
061423,000351: 16,2603 31747 CA JETRATER
061424,000352: 16,2604 61546 AD AOSRTERM
061425,000353: 16,2605 27423 ADS OMEGAR
061426,000354: 16,2606 02310 TC OVERSUB
061427,000355: 16,2607 55423 TS OMEGAR
061428,000356:
061429,000357: # END OF RATE DERIVATION
061430,000358: # BEGIN OFFSET ESTIMATER
061431,000359: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
061432,000360: # AOS = AOS + K*SUMRATE
061433,000361:
061434,000362: 16,2610 40111 CS DAPBOOLS
061435,000363: 16,2611 74744 MASK DRIFTBIT
061436,000364: 16,2612 10000 CCS A
061437,000365: 16,2613 12624 TCF WORKTIME
061438,000366: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
061439,000367: 16,2615 55425 TS ALPHAR
061440,000368: 16,2616 55545 TS AOSQTERM
061441,000369: 16,2617 55546 TS AOSRTERM
061442,000370: 16,2620 55537 TS AOSQ
061443,000371: 16,2621 55541 TS AOSR
061444,000372: 16,2622 12667 TCF PRETIMCK
061445,000373: 16,2623 00074 KAOS DEC 60 B-14
061446,000374: 16,2624 31510 WORKTIME CA QACCDOT
061447,000375: 16,2625 00006 EXTEND
061448,000376: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061449,000377: 16,2627 21540 DAS AOSQ
061450,000378: 16,2630 31537 CA AOSQ
061451,000379: 16,2631 55424 TS ALPHAQ
061452,000380: 16,2632 00006 EXTEND
061453,000381: 16,2633 73616 MP 200MS # .2 AT 1
061454,000382: 16,2634 55545 TS AOSQTERM
061455,000383: 16,2635 31512 CA RACCDOT
061456,000384: 16,2636 00006 EXTEND
061457,000385: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
061458,000386: 16,2640 21542 DAS AOSR
061459,000387: 16,2641 31541 CA AOSR
061460,000388: 16,2642 55425 TS ALPHAR
061461,000389: 16,2643 00006 EXTEND
061462,000390: 16,2644 73616 MP 200MS # .2 AT 1
061463,000391: 16,2645 55546 TS AOSRTERM
061464,000392: 16,2646 12667 TCF PRETIMCK
061465,000393:
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|
Page 1428 |
061467,000395: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
061468,000396: 16,2650 71273 MASK RCSFLAGS
061469,000397: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
061470,000398: 16,2652 03736 TC ACDT+C12 # VALID.
061471,000399:
061472,000400: 16,2653 52011 DXCH ARUPT
061473,000401: 16,2654 53754 DXCH DAPARUPT
061474,000402: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
061475,000403: 16,2656 56017 XCH BRUPT
061476,000404: 16,2657 22012 LXCH QRUPT
061477,000405: 16,2660 53756 DXCH DAPBQRPT
061478,000406: 16,2661 32665 CA SUPERADR
061479,000407: 16,2662 52016 DXCH ZRUPT
061480,000408: 16,2663 53760 DXCH DAPZRUPT
061481,000409: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
061482,000410: # FORM OF A JASK, AT SUPERJOB.
061483,000411:
061484,000412: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
061485,000413:
061486,000414: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
061487,000415:
061488,000416: 16,2666 13641 SUPERJOB TCF RATELOOP
061489,000417: 16,2667 11632 PRETIMCK CCS QGIMTIMR
061490,000418: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
061491,000419: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
061492,000420: 16,2672 11634 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
061493,000421: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
061494,000422: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
061495,000423:
061496,000424: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
061497,000425: 16,2676 27767 DIM PJETCTR
061498,000426: 16,2677 00006 EXTEND
061499,000427: 16,2700 27770 DIM UJETCTR
061500,000428: 16,2701 00006 EXTEND
061501,000429: 16,2702 27771 DIM VJETCTR
061502,000430: 16,2703 34740 CA BIT12
061503,000431: 16,2704 71273 MASK RCSFLAGS
061504,000432: 16,2705 00006 EXTEND
061505,000433: 16,2706 12734 BZF SKIPPAXS
061506,000434: 16,2707 02740 TC CHKVISFZ
061507,000435: 16,2710 55632 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
061508,000436: 16,2711 12672 TCF CHKRTIMR
061509,000437: 16,2712 55634 DECRTIMR TS RGIMTIMR
061510,000438: 16,2713 12675 TCF CHKRTIMR +3
061511,000439:
061512,000440: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
061513,000441: 16,2715 55510 TS QACCDOT
061514,000442: 16,2716 45007 CS QGIMBITS
061515,000443: 16,2717 00006 EXTEND
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|
Page 1429 |
061517,000445: 16,2720 03012 WAND CHAN12
061518,000446: 16,2721 34735 CAF NEGMAX
061519,000447: 16,2722 55632 TS QGIMTIMR
061520,000448: 16,2723 12672 TCF CHKRTIMR
061521,000449: 16,2724 55503 TURNOFFR TS NEGUR
061522,000450: 16,2725 55512 TS RACCDOT
061523,000451: 16,2726 45020 CS RGIMBITS
061524,000452: 16,2727 00006 EXTEND
061525,000453: 16,2730 03012 WAND CHAN12
061526,000454: 16,2731 34735 CAF NEGMAX
061527,000455: 16,2732 55634 TS RGIMTIMR
061528,000456: 16,2733 12675 TCF CHKRTIMR +3
061529,000457: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
061530,000458: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
061531,000459:
061532,000460: 16,2734 41273 SKIPPAXS CS RCSFLAGS
061533,000461: 16,2735 74740 MASK BIT12
061534,000462: 16,2736 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
061535,000463: 16,2737 13624 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
061536,000464:
061537,000465: # Y-Z TRANSLATION
061538,000466:
061539,000467: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
061540,000468:
061541,000469: # OUTPUT: NEXTP
061542,000470:
061543,000471: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
061544,000472: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
061545,000473: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
061546,000474: # ALARM (IF NO PAIR)
061547,000475: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
061548,000476: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
061549,000477:
061550,000478: 16,2740 00006 CHKVISFZ EXTEND
061551,000479: 16,2741 00031 READ CHAN31
061552,000480: 16,2742 40000 CS A
061553,000481: 16,2743 73613 MASK 07400OCT
061554,000482: 16,2744 00006 EXTEND
061555,000483: 16,2745 13014 BZF TSNEXTP
061556,000484: 16,2746 00006 EXTEND
061557,000485: 16,2747 74745 MP BIT7
061558,000486: 16,2750 50000 INDEX A
061559,000487: 16,2751 33572 CA INDXYZ
061560,000488: 16,2752 55744 TS ROTINDEX
061561,000489: 16,2753 36242 TRYUORV CA SIX
061562,000490: 16,2754 03551 TC SELECTYZ
061563,000491: 16,2755 46242 CS SIX
061564,000492: 16,2756 61743 AD NUMBERT
061565,000493: 16,2757 00006 EXTEND
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|
Page 1430 |
061567,000495: 16,2760 13013 BZF TSNEXTP -1
061568,000496: 16,2761 44756 CS FIVE
061569,000497: 16,2762 61744 AD ROTINDEX
061570,000498: 16,2763 00006 EXTEND
061571,000499: 16,2764 63002 BZMF ALTERYZ
061572,000500: 16,2765 41743 CS NUMBERT
061573,000501: 16,2766 64751 AD FOUR
061574,000502: 16,2767 00006 EXTEND
061575,000503: 16,2770 63013 BZMF TSNEXTP -1
061576,000504: 16,2771 05567 ABORTYZ TC ALARM
061577,000505: 16,2772 02001 OCT 02001
061578,000506: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061579,000507: 16,2774 23273 LXCH RCSFLAGS
061580,000508: 16,2775 00006 EXTEND
061581,000509: 16,2776 06001 RXOR 1
061582,000510: 16,2777 55273 TS RCSFLAGS
061583,000511: 16,3000 34755 CA ZERO
061584,000512: 16,3001 13014 TCF TSNEXTP
061585,000513: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
061586,000514: 16,3003 23273 LXCH RCSFLAGS
061587,000515: 16,3004 00006 EXTEND
061588,000516: 16,3005 06001 RXOR 1
061589,000517: 16,3006 55273 TS RCSFLAGS
061590,000518: 16,3007 74753 MASK BIT1
061591,000519: 16,3010 64751 AD FOUR
061592,000520: 16,3011 27744 ADS ROTINDEX
061593,000521: 16,3012 12753 TCF TRYUORV
061594,000522: 16,3013 31741 CA POLYTEMP
061595,000523: 16,3014 55472 TSNEXTP TS NEXTP
061596,000524:
061597,000525: # STATE LOGIC
061598,000526: # CHECK IN ORDER: IF ON
061599,000527: # LPDPHASE GO TO PURGENCY
061600,000528: # PULSES MINIMUM PULSE LOGIC
061601,000529: # DETENT(BIT15 CH31) RATE COMMAND
061602,000530: # GO TO PURGENCY
061603,000531:
061604,000532: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
061605,000533: 16,3016 00006 EXTEND
061606,000534: 16,3017 02031 RAND CHAN31
061607,000535: 16,3020 00006 EXTEND
061608,000536: 16,3021 13027 BZF MANMODE
061609,000537:
061610,000538: 16,3022 30111 CA DAPBOOLS
061611,000539: 16,3023 74743 MASK XOVINHIB
061612,000540: 16,3024 10000 CCS A
061613,000541: 16,3025 13463 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
061614,000542:
061615,000543: 16,3026 13071 TCF DETENTCK
061616,000544: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
061617,000545: 16,3030 70111 MASK DAPBOOLS
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|
Page 1431 |
061619,000547: 16,3031 00006 EXTEND
061620,000548: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
061621,000549:
061622,000550: 16,3033 34755 CA ZERO
061623,000551: 16,3034 55464 TS PERROR
061624,000552:
061625,000553: # MINIMUM IMPULSE MODE
061626,000554:
061627,000555: 16,3035 30032 CA CDUX
061628,000556: 16,3036 55635 TS CDUXD
061629,000557:
061630,000558: 16,3037 11460 CCS OLDPMIN
061631,000559: 16,3040 13054 TCF CHECKP
061632,000560:
061633,000561: 16,3041 34751 FIREP CA BIT3
061634,000562: 16,3042 00006 EXTEND
061635,000563: 16,3043 02031 RAND CHAN31
061636,000564: 16,3044 00006 EXTEND
061637,000565: 16,3045 13064 BZF +XMIN
061638,000566:
061639,000567: 16,3046 34750 CA BIT4
061640,000568: 16,3047 00006 EXTEND
061641,000569: 16,3050 02031 RAND CHAN31
061642,000570: 16,3051 00006 EXTEND
061643,000571: 16,3052 13062 BZF -XMIN
061644,000572:
061645,000573: 16,3053 13442 TCF JETSOFF
061646,000574:
061647,000575: 16,3054 00006 CHECKP EXTEND
061648,000576: 16,3055 00031 READ CHAN31
061649,000577: 16,3056 40000 CS A
061650,000578: 16,3057 75751 MASK OCT14
061651,000579: 16,3060 55460 TS OLDPMIN
061652,000580: 16,3061 13442 TCF JETSOFF
061653,000581:
061654,000582: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
061655,000583: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
061656,000584: 16,3064 34363 +XMIN CA TEN
061657,000585: 16,3065 55524 TS TJP
061658,000586: 16,3066 34753 CA ONE
061659,000587: 16,3067 55460 TS OLDPMIN
061660,000588: 16,3070 13350 TCF PJETSLEC -6
061661,000589:
061662,000590: # MANUAL RATE COMMAND MODE
061663,000591: # ========================
061664,000592: # BY ROBERT F. STENGEL
061665,000593:
061666,000594: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
061667,000595: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
061668,000596: # RATE CONTROL AND ATTITUDE HOLD.
061669,000597:
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|
Page 1432 |
061671,000599: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
061672,000600: # 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
061673,000601: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
061674,000602:
061675,000603: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
061676,000604: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
061677,000605: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
061678,000606:
061679,000607: # 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,
061680,000608: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
061681,000609: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
061682,000610:
061683,000611: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
061684,000612: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
061685,000613: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
061686,000614: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
061687,000615:
061688,000616: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
061689,000617: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
061690,000618:
061691,000619: 16,3071 00006 DETENTCK EXTEND
061692,000620: 16,3072 00031 READ CHAN31
061693,000621: 16,3073 55443 TS CH31TEMP
061694,000622: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
061695,000623: 16,3075 00006 EXTEND
061696,000624: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
061697,000625: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
061698,000626: 16,3100 70111 MASK DAPBOOLS
061699,000627: 16,3101 00006 EXTEND
061700,000628: 16,3102 13463 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
061701,000629:
061702,000630: # ........................................................................
061703,000631:
061704,000632: 16,3103 34743 CA BIT9 # JUST IN DETENT??
061705,000633: 16,3104 71273 MASK RCSFLAGS
061706,000634: 16,3105 00006 EXTEND
061707,000635: 16,3106 13120 BZF RUTH
061708,000636: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
061709,000637: 16,3110 00006 EXTEND
061710,000638: 16,3111 02031 RAND CHAN31
061711,000639: 16,3112 00006 EXTEND
061712,000640: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
061713,000641:
061714,000642: 16,3114 45014 CS BITS9,11 # IN AUTO.
061715,000643: 16,3115 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
061716,000644: 16,3116 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
061717,000645: 16,3117 13220 TCF RATEDAMP
061718,000646:
061719,000647: 16,3120 31273 RUTH CA RCSFLAGS
061720,000648: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
061721,000649: 16,3122 00006 EXTEND
061722,000650: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
061723,000651: 16,3124 13220 TCF RATEDAMP
061724,000652:
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Page 1433 |
061726,000654: 16,3125 31273 CA RCSFLAGS
061727,000655: 16,3126 74741 MASK QRBIT
061728,000656: 16,3127 00006 EXTEND
061729,000657: 16,3130 13136 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
061730,000658: 16,3131 13220 TCF RATEDAMP
061731,000659:
061732,000660: # ============================================
061733,000661:
061734,000662: 16,3132 00001 1/10SEC OCT 1
061735,000663: 16,3133 00050 40CYC OCT 50
061736,000664: 16,3134 74777 PQRBIT OCT 74777
061737,000665: 16,3135 5014 BITS9,11 EQUALS EBANK5
061738,000666: 16,3135 00056 LINRATP DEC 46 B-14
061739,000667:
061740,000668: # ============================================
061741,000669:
061742,000670: 16,3136 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
061743,000671: 16,3137 00004 INHINT # ALL AXES.
061744,000672: 16,3140 70111 MASK DAPBOOLS
061745,000673: 16,3141 54111 TS DAPBOOLS
061746,000674:
061747,000675: # READ CDUS INTO CDU DESIRED REGISTERS
061748,000676:
061749,000677: 16,3142 34737 CAF BIT13
061750,000678: 16,3143 00006 EXTEND
061751,000679: 16,3144 02031 RAND CHAN31
061752,000680: 16,3145 00006 EXTEND
061753,000681: 16,3146 13152 BZF +4
061754,000682: 16,3147 30032 CA CDUX # (X-AXIS OVERRIDE)
061755,000683: 16,3150 55635 TS CDUXD
061756,000684: 16,3151 03154 TC +3
061757,000685: 16,3152 04674 TC IBNKCALL
061758,000686: 16,3153 40153 FCADR ZATTEROR
061759,000687: 16,3154 00003 RELINT
061760,000688: 16,3155 13463 TCF PURGENCY
061761,000689:
061762,000690: 16,3156 55464 TS PERROR
061763,000691: 16,3157 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
061764,000692: 16,3160 26111 ADS DAPBOOLS
061765,000693: 16,3161 34755 CA ZERO
061766,000694: 16,3162 55446 TS DXERROR
061767,000695: 16,3163 55447 TS DXERROR +1
061768,000696: 16,3164 55450 TS DYERROR
061769,000697: 16,3165 55451 TS DYERROR +1
061770,000698: 16,3166 55452 TS DZERROR
061771,000699: 16,3167 55453 TS DZERROR +1
061772,000700: 16,3170 55454 TS PLAST
061773,000701: 16,3171 55455 TS QLAST
061774,000702: 16,3172 55456 TS RLAST
061775,000703: 16,3173 54042 TS Q-RHCCTR
061776,000704: 16,3174 54044 TS R-RHCCTR
061777,000705: 16,3175 33134 CA PQRBIT
061778,000706: 16,3176 71273 MASK RCSFLAGS
061779,000707: 16,3177 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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|
Page 1434 |
061781,000709: 16,3200 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
061782,000710: 16,3201 74743 MASK BIT9
061783,000711: 16,3202 27273 ADS RCSFLAGS
061784,000712: 16,3203 03205 TC ZEROENBL
061785,000713: 16,3204 13442 TCF JETSOFF
061786,000714: 16,3205 22044 ZEROENBL LXCH R-RHCCTR
061787,000715: 16,3206 30042 CA Q-RHCCTR
061788,000716: 16,3207 53463 DXCH SAVEHAND
061789,000717: 16,3210 34755 CA ZERO
061790,000718: 16,3211 54043 TS P-RHCCTR
061791,000719: 16,3212 54042 TS Q-RHCCTR
061792,000720: 16,3213 54044 TS R-RHCCTR
061793,000721: 16,3214 33617 CA BITS8,9
061794,000722: 16,3215 00006 EXTEND
061795,000723: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
061796,000724: 16,3217 00002 TC Q
061797,000725: 16,3220 34755 RATEDAMP CA ZERO
061798,000726: 16,3221 54043 TS P-RHCCTR
061799,000727: 16,3222 13227 TCF RATERROR
061800,000728:
061801,000729: 16,3223 34740 RHCMOVED CA OURRCBIT # P CONTROL
061802,000730: 16,3224 70111 MASK DAPBOOLS
061803,000731: 16,3225 00006 EXTEND
061804,000732: 16,3226 13156 BZF JUSTOUT -1
061805,000733: 16,3227 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
061806,000734: 16,3230 55635 TS CDUXD # X-AXIS OVERRIDE
061807,000735: 16,3231 10043 CCS P-RHCCTR
061808,000736: 16,3232 13235 TCF +3
061809,000737: 16,3233 13235 TCF +2
061810,000738: 16,3234 13235 TCF +1
061811,000739: 16,3235 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
061812,000740: 16,3236 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
061813,000741: 16,3237 63135 AD LINRATP # AUTOPILOT)
061814,000742: 16,3240 00006 EXTEND
061815,000743: 16,3241 70043 MP P-RHCCTR
061816,000744: 16,3242 30001 CA L
061817,000745: 16,3243 00006 EXTEND
061818,000746: 16,3244 71444 MP STIKSENS
061819,000747: 16,3245 57454 XCH PLAST
061820,000748: 16,3246 40000 COM
061821,000749: 16,3247 61454 AD PLAST
061822,000750: 16,3250 55737 TS DAPTEMP1
061823,000751: 16,3251 03205 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
061824,000752: 16,3252 41454 CS PLAST
061825,000753: 16,3253 61421 AD OMEGAP
061826,000754: 16,3254 55427 TS EDOTP
061827,000755: 16,3255 11737 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
061828,000756: 16,3256 13261 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
061829,000757: 16,3257 13267 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
061830,000758: 16,3260 13261 TCF +1
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|
Page 1435 |
061832,000760: 16,3261 61476 AD -RATEDB
061833,000761: 16,3262 00006 EXTEND
061834,000762: 16,3263 63267 BZMF +4
061835,000763: 16,3264 33133 CA 40CYC
061836,000764: 16,3265 55445 TS TCP
061837,000765: 16,3266 03300 TC PEGI
061838,000766: 16,3267 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
061839,000767: 16,3270 74742 MASK PBIT
061840,000768: 16,3271 00006 EXTEND
061841,000769: 16,3272 13274 BZF +2
061842,000770: 16,3273 03300 TC PEGI # TO PURE RATE COMMAND
061843,000771: 16,3274 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
061844,000772: 16,3275 55752 TS E # X-ATTITUDE ERROR (SP)
061845,000773: 16,3276 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061846,000774: 16,3277 03467 TC PURGENCY +4
061847,000775: 16,3300 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
061848,000776: 16,3301 55635 TS CDUXD
061849,000777: 16,3302 34755 CA ZERO
061850,000778: 16,3303 55446 TS DXERROR
061851,000779: 16,3304 55447 TS DXERROR +1
061852,000780: 16,3305 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061853,000781: 16,3306 11427 CCS EDOTP
061854,000782: 16,3307 03312 TC +3
061855,000783: 16,3310 03312 TC +2
061856,000784: 16,3311 03312 TC +1
061857,000785: 16,3312 55737 TS ABSEDOTP
061858,000786: 16,3313 61476 AD TARGETDB
061859,000787: 16,3314 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
061860,000788: 16,3315 63325 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
061861,000789: 16,3316 31445 CA TCP
061862,000790: 16,3317 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
061863,000791: 16,3320 63325 BZMF LAST
061864,000792: 16,3321 41273 CS RCSFLAGS
061865,000793: 16,3322 74742 MASK PBIT
061866,000794: 16,3323 27273 ADS RCSFLAGS # BIT 10 IS 1.
061867,000795: 16,3324 13330 TCF +4
061868,000796: 16,3325 44742 LAST CS PBIT
061869,000797: 16,3326 71273 MASK RCSFLAGS
061870,000798: 16,3327 55273 TS RCSFLAGS # BIT 10 IS 0.
061871,000799: 16,3330 41427 CS EDOTP
061872,000800: 16,3331 00006 EXTEND
061873,000801: 16,3332 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
061874,000802: 16,3333 20001 DAS A
061875,000803: 16,3334 02310 TC OVERSUB
061876,000804: 16,3335 00006 EXTEND
061877,000805: 16,3336 77716 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
061878,000806: 16,3337 55524 TS TJP # 4.JET TIME
061879,000807: 16,3340 31737 CA ABSEDOTP
061880,000808: 16,3341 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
061881,000809: 16,3342 00006 EXTEND
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|
Page 1436 |
061883,000811: 16,3343 63346 BZMF +3
061884,000812:
061885,000813: 16,3344 36242 CA SIX
061886,000814: 16,3345 13355 TCF +8D
061887,000815: 16,3346 31524 CA TJP
061888,000816: 16,3347 27524 ADS TJP
061889,000817:
061890,000818: # GOES TO PJETSLEC FOR TWO JETS
061891,000819: # P-JET-SELECTION-ROUTINE (ROTATION)
061892,000820:
061893,000821: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
061894,000822: # TJP + FOR +P ROTATION
061895,000823:
061896,000824: # OUTPUT: CHANNEL 6
061897,000825: # PJUMPADR FOR P-AXIS SKIP
061898,000826: # (JTLST CALL) (SMALL TJP)
061899,000827:
061900,000828: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
061901,000829: # +P -P
061902,000830: # 7,15 8,16
061903,000831: # 4,12 3,11
061904,000832: # 4,7 8,11
061905,000833: # 7,12 11,16
061906,000834: # 12,15 3,16
061907,000835: # 4,15 3,8
061908,000836: # ALARM ALARM
061909,000837:
061910,000838: 16,3350 34747 CA AORBSYST
061911,000839: 16,3351 70111 MASK DAPBOOLS
061912,000840: 16,3352 10000 CCS A
061913,000841: 16,3353 34753 CA ONE
061914,000842: 16,3354 64751 AD FOUR
061915,000843: 16,3355 55743 TS NUMBERT
061916,000844: 16,3356 34753 PJETSLEC CA ONE
061917,000845: 16,3357 54001 TS L
061918,000846: 16,3360 11524 CCS TJP
061919,000847: 16,3361 13366 TCF +5
061920,000848: 16,3362 13442 TCF JETSOFF
061921,000849: 16,3363 13365 TCF +2
061922,000850: 16,3364 13442 TCF JETSOFF
061923,000851: 16,3365 22007 ZL
061924,000852: 16,3366 64753 AD ONE
061925,000853: 16,3367 55737 TS ABSTJ
061926,000854: 16,3370 23744 LXCH ROTINDEX
061927,000855: 16,3371 03531 TC SELECTP
061928,000856: 16,3372 46242 CS SIX
061929,000857: 16,3373 61743 AD NUMBERT
061930,000858: 16,3374 00006 EXTEND
061931,000859: 16,3375 13377 BZF +2
061932,000860:
061933,000861: 16,3376 44752 CS TWO
061934,000862:
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|
Page 1437 |
061936,000864: 16,3377 64751 AD FOUR
061937,000865: 16,3400 55521 TS NO.PJETS
061938,000866: 16,3401 31741 CA POLYTEMP
061939,000867: 16,3402 05754 TC WRITEP
061940,000868: 16,3403 41737 CS ABSTJ
061941,000869: 16,3404 63612 AD +150MST6
061942,000870: 16,3405 00006 EXTEND
061943,000871: 16,3406 63624 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
061944,000872:
061945,000873: 16,3407 63572 AD -136MST6
061946,000874: 16,3410 00006 EXTEND
061947,000875: 16,3411 63416 BZMF +5
061948,000876:
061949,000877: 16,3412 27737 ADS ABSTJ
061950,000878: 16,3413 51744 INDEX ROTINDEX
061951,000879: 16,3414 33621 CA MINTIMES
061952,000880: 16,3415 55524 TS TJP
061953,000881:
061954,000882: 16,3416 31737 CA ABSTJ
061955,000883: 16,3417 22007 ZL
061956,000884: 16,3420 00004 INHINT
061957,000885: 16,3421 53471 DXCH T6FURTHA
061958,000886: 16,3422 04674 TC IBNKCALL
061959,000887: 16,3423 37114 CADR JTLST
061960,000888: 16,3424 44740 CS BIT12
061961,000889: 16,3425 71273 MASK RCSFLAGS
061962,000890: 16,3426 55273 TS RCSFLAGS # BIT 12 SET TO 0.
061963,000891: 16,3427 03431 TC ALTSYST
061964,000892: 16,3430 13624 TCF QRAXIS
061965,000893:
061966,000894: 16,3431 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
061967,000895: 16,3432 54001 TS L
061968,000896: 16,3433 34747 CA AORBSYST
061969,000897: 16,3434 00006 EXTEND
061970,000898: 16,3435 06001 RXOR LCHAN
061971,000899: 16,3436 54111 TS DAPBOOLS
061972,000900: 16,3437 00003 RELINT
061973,000901: 16,3440 00002 TC Q
061974,000902:
061975,000903: 16,3441 03431 DKALT TC ALTSYST
061976,000904:
061977,000905: 16,3442 05753 JETSOFF TC WRITEP -1
061978,000906: 16,3443 34755 CA ZERO
061979,000907: 16,3444 55524 TS TJP
061980,000908: 16,3445 13624 TCF QRAXIS
061981,000909:
061982,000910: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
061983,000911:
061984,000912: 16,3446 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
061985,000913: 16,3447 00006 EXTEND
061986,000914: 16,3450 21636 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
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|
Page 1438 |
061988,000916: 16,3451 00006 EXTEND
061989,000917: 16,3452 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
061990,000918: 16,3453 57752 XCH E # SAVE FIRST TERM (OF TWO)
061991,000919: 16,3454 30032 CA CDUX # THIRD COMPONENT
061992,000920: 16,3455 00006 EXTEND
061993,000921: 16,3456 21635 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
061994,000922: # EXTEND
061995,000923: # MP M13
061996,000924: 16,3457 61277 AD DELPEROR # KALCMANU INERFACE ERROR
061997,000925: 16,3460 27752 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
061998,000926: 16,3461 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
061999,000927: 16,3462 00002 TC Q # RETURN TO CALLER
062000,000928:
062001,000929: # P-AXIS URGENCY FUNCTION CALCULATION.
062002,000930:
062003,000931: 16,3463 03446 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
062004,000932: 16,3464 41643 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
062005,000933: 16,3465 61421 AD OMEGAP # SPS-BACKUP MODE.
062006,000934: 16,3466 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
062007,000935:
062008,000936: 16,3467 44753 CS ONE
062009,000937: 16,3470 55505 TS AXISCTR
062010,000938: 16,3471 30111 CA DAPBOOLS
062011,000939: 16,3472 74737 MASK CSMDOCKD
062012,000940: 16,3473 00006 EXTEND
062013,000941: 16,3474 13505 BZF HEADTJET
062014,000942: 16,3475 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
062015,000943: 16,3476 04674 TC IBNKCALL
062016,000944: 16,3477 43727 CADR SPSRCS
062017,000945:
062018,000946: 16,3500 31524 CA TJP
062019,000947: 16,3501 00006 EXTEND
062020,000948: 16,3502 13441 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
062021,000949: 16,3503 00003 RELINT
062022,000950: 16,3504 13350 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
062023,000951: 16,3505 34755 HEADTJET CA ZERO
062024,000952: 16,3506 55500 TS SENSETYP
062025,000953: 16,3507 00004 INHINT
062026,000954: 16,3510 04674 TC IBNKCALL
062027,000955: 16,3511 37252 CADR TJETLAW
062028,000956: 16,3512 00003 RELINT
062029,000957:
062030,000958: 16,3513 41741 CS FIREFCT
062031,000959: 16,3514 63530 AD -FOURDEG
062032,000960: 16,3515 00006 EXTEND
062033,000961: 16,3516 63350 BZMF PJETSLEC -6
062034,000962: 16,3517 11524 CCS TJP
062035,000963: 16,3520 13522 TCF +2
062036,000964: 16,3521 13442 TCF JETSOFF
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Page 1439 |
062038,000966: 16,3522 63527 AD -160MST6
062039,000967: 16,3523 00006 EXTEND
062040,000968: 16,3524 63350 BZMF PJETSLEC -6
062041,000969: 16,3525 36242 CA SIX
062042,000970: 16,3526 13355 TCF PJETSLEC -1
062043,000971: 16,3527 77377 -160MST6 DEC -256 B-14
062044,000972: 16,3530 75117 -FOURDEG DEC -.08888
062045,000973:
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Page 1440 |
062047,000975: # JET POLICY CONSTRUCTION SUBROUTINE
062048,000976:
062049,000977: # INPUT: ROTINDEX, NUMBERT
062050,000978:
062051,000979: # OUTPUT: POLYTEMP (JET POLICY)
062052,000980:
062053,000981: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
062054,000982:
062055,000983: 16,3531 36242 SELECTP CA SIX
062056,000984: 16,3532 55742 TS TEMPNUM
062057,000985: 16,3533 51743 INDEX NUMBERT
062058,000986: 16,3534 33563 CA TYPEP
062059,000987: 16,3535 51744 INDEX ROTINDEX
062060,000988: 16,3536 73554 MASK JETSALL
062061,000989: 16,3537 55741 TS POLYTEMP
062062,000990: 16,3540 71263 MASK CH6MASK
062063,000991: 16,3541 10000 CCS A
062064,000992: 16,3542 13544 TCF +2
062065,000993: 16,3543 00002 TC Q
062066,000994: 16,3544 11742 CCS TEMPNUM
062067,000995: 16,3545 13551 TCF +4
062068,000996: 16,3546 05567 TC ALARM
062069,000997: 16,3547 02003 OCT 02003
062070,000998: 16,3550 13442 TCF JETSOFF # *****TCF ALARMJET *********************
062071,000999: 16,3551 55743 SELECTYZ TS NUMBERT
062072,001000: 16,3552 13532 TCF SELECTP +1
062073,001001: 16,3553 12773 -1 TCF ABORTYZ +2
062074,001002: 16,3554 00252 JETSALL OCT 00252
062075,001003: 16,3555 00125 OCT 00125 # +P
062076,001004: 16,3556 00140 OCT 00140 # -Y
062077,001005: 16,3557 00006 OCT 00006 # -Z
062078,001006: 16,3560 00220 OCT 00220 # +Y
062079,001007: 16,3561 00011 OCT 00011 # +Z
062080,001008: 16,3562 00151 OCT 00151 # +V
062081,001009: 16,3563 00146 TYPEP OCT 00146 # -U
062082,001010: 16,3564 00226 OCT 00226 # -V
062083,001011: 16,3565 00231 OCT 00231 # +U
062084,001012: 16,3566 00151 OCT 00151 # +V
062085,001013: 16,3567 00132 OCT 00132 # 1-3
062086,001014: 16,3570 00245 OCT 00245 # 2-4
062087,001015: 16,3571 00377 OCT 00377 # ALL
062088,001016: 16,3572 16,3572 INDXYZ = -136MST6
062089,001017: 16,3572 77445 -136MST6 DEC -218 B-14
062090,001018: 16,3573 00004 DEC 4 B-14
062091,001019: 16,3574 00002 DEC 2 B-14
062092,001020: 16,3575 07776 OCT 07776
062093,001021: 16,3576 00005 DEC 5 B-14
062094,001022: 16,3577 00011 DEC 9 B-14
062095,001023: 16,3600 00012 DEC 10 B-14
062096,001024: 16,3601 07776 OCT 07776
062097,001025: 16,3602 00003 DEC 3 B-14
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|
Page 1441 |
062099,001027: 16,3603 00010 DEC 8 B-14
062100,001028: 16,3604 00007 DEC 7 B-14
062101,001029: 16,3605 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
062102,001030: 16,3606 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
062103,001031: 16,3607 07776 OCT 07776 # TO BE TC JETSALL -1
062104,001032: 16,3610 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
062105,001033: 16,3611 07776 OCT 07776
062106,001034: 16,3612 00360 +150MST6 DEC 240 B-14
062107,001035: 16,3613 07400 07400OCT OCT 07400
062108,001036:
062109,001037: # T-JET LAW FIXED CONSTANTS
062110,001038:
062111,001039: 16,3614 00266 NORMSCL OCT 266
062112,001040: 16,3615 74631 -100MS DEC -.1
062113,001041: 16,3616 06315 200MS DEC .2
062114,001042: 16,3617 7716 25/32 = PRIO31 # (DEC .78125)
062115,001043: 16,3617 00600 BITS8,9 OCTAL 00600
062116,001044: 16,3620 00632 1/40 DEC .02500
062117,001045: 16,3621 77751 MINTIMES DEC -22 B-14
062118,001046: 16,3622 00026 DEC 22 B-14
062119,001047: 16,3623 02734 PSKIPADR GENADR SKIPPAXS
062120,001048:
062121,001049: # GOES TO Q,R-AXES RCS AUTOPILOT
062122,001050:
062123,001051: 16,3624 41645 QRAXIS CS OMEGARD
062124,001052: 16,3625 61423 AD OMEGAR
062125,001053: 16,3626 02310 TC OVERSUB
062126,001054: 16,3627 55437 TS EDOTR
062127,001055: 16,3630 41644 CS OMEGAQD
062128,001056: 16,3631 61422 AD OMEGAQ
062129,001057: 16,3632 02310 TC OVERSUB
062130,001058: 16,3633 55436 TS EDOTQ
062131,001059: 16,3634 00006 EXTEND
062132,001060: 16,3635 33640 DCA QERRCALL
062133,001061: 16,3636 52006 DTCB
062134,001062:
062135,001063: 16,3637 E6,1537 EBANK= AOSQ
062136,001064: 16,3637 02072 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc