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
|
|
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. |
020311,000002: ## Copyright: Public domain.
020312,000003: ## Filename: R60_R62.agc
020313,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
020314,000005: ## It is part of the source code for the Lunar Module's (LM)
020315,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
020316,000007: ## Assembler: yaYUL
020317,000008: ## Contact: Ron Burkey <info@sandroid.org>.
020318,000009: ## Website: www.ibiblio.org/apollo.
020319,000010: ## Pages: 472-485
020320,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
020321,000012: ## Luminary131 file, using page
020322,000013: ## images from Luminary 1A.
020323,000014: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
020324,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
020325,000016: ## and corrected the errors found.
020326,000017: ## 2017-01-27 RSB Back-ported a comment-text fix identified in Luminary 69.
020327,000018: ## 2017-03-09 RSB Comment text fixes noted in proofing Luminary 116.
020328,000019:
020329,000020: ## This source code has been transcribed or otherwise adapted from
020330,000021: ## digitized images of a hardcopy from the MIT Museum. The digitization
020331,000022: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
020332,000023: ## the Museum. Many thanks to both. The images (with suitable reduction
020333,000024: ## in storage size and consequent reduction in image quality as well) are
020334,000025: ## available online at www.ibiblio.org/apollo. If for some reason you
020335,000026: ## find that the images are illegible, contact me at info@sandroid.org
020336,000027: ## about getting access to the (much) higher-quality images which Paul
020337,000028: ## actually created.
020338,000029: ##
020339,000030: ## Notations on the hardcopy document read, in part:
020340,000031: ##
020341,000032: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
020342,000033: ## 16:27 JULY 14, 1969
020343,000034:
|
|
Page 472 |
020345,000036: # MOD NO: 0 DATE: 1 MAY 1968
020346,000037: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020347,000038:
020348,000039: # FUNCTIONAL DESCRIPTION:
020349,000040:
020350,000041: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020351,000042: # ATTITUDE.
020352,000043:
020353,000044: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020354,000045: # CALCULATED (VECPOINT).
020355,000046:
020356,000047: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020357,000048:
020358,000049: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020359,000050:
020360,000051: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020361,000052: # ASTRONAUT RESPONSE.
020362,000053:
020363,000054: # 5. DISPLAY RESPONSE RETURNS:
020364,000055:
020365,000056: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020366,000057:
020367,000058: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020368,000059: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020369,000060: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020370,000061:
020371,000062: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020372,000063:
020373,000064: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020374,000065: # (VECPOINT).
020375,000066:
020376,000067: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020377,000068:
020378,000069: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020379,000070: #
020380,000071: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020381,000072:
020382,000073: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020383,000074:
020384,000075: # 11. DO A PHASECHANGE.
020385,000076:
020386,000077: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020387,000078: # GIMBAL ANGLES (GOMANUR).
020388,000079:
020389,000080: # 13. AT END OF MANEUVER GO TO STEP 3.
020390,000081:
020391,000082: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020392,000083: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020393,000084: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
|
|
Page 473 |
020395,000086: # STEP 5C.
020396,000087:
020397,000088: # CALLING SEQUENCE: TC BANKCALL
020398,000089: # CADR R60LEM
020399,000090:
020400,000091: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
020401,000092: # 3AXISFLG.
020402,000093:
020403,000094: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020404,000095: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020405,000096:
020406,000097: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020407,000098: # TC BANKJUMP
020408,000099:
020409,000100: # ALARMS: NONE
020410,000101:
020411,000102: # OUTPUT: NONE
020412,000103:
020413,000104: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020414,000105:
020415,000106: 34,2000 BANK 34
020416,000107: 26,2000 SETLOC MANUVER
020417,000108: 26,2000 BANK
020418,000109:
020419,000110: 26,2123 1164 EBANK= TEMPR60
020420,000111:
020421,000112: 26,2123 COUNT* $$/R06
020422,000113: 26,2123 04645 R60LEM TC MAKECADR
020423,000114: 26,2124 55164 TS TEMPR60
020424,000115:
020425,000116: 26,2125 34746 REDOMANN CAF 3AXISBIT
020426,000117: 26,2126 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020427,000118: 26,2127 10000 CCS A
020428,000119: 26,2130 12136 TCF TOBALL # YES
020429,000120: 26,2131 06037 TC INTPRET
020430,000121: 26,2132 77624 CALL
020431,000122: 26,2133 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020432,000123: 26,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020433,000124: 26,2135 77776 EXIT
020434,000125:
020435,000126: 26,2136 04616 TOBALL TC BANKCALL
020436,000127: 26,2137 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020437,000128: 26,2140 32254 TOBALLA CAF V06N18
020438,000129: 26,2141 04616 TC BANKCALL
020439,000130: 26,2142 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020440,000131: 26,2143 02242 TC R61TEST
020441,000132: 26,2144 02150 TC REDOMANC # PROCEED
020442,000133: 26,2145 02175 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
|
|
Page 474 |
020444,000135: 26,2146 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020445,000136: 26,2147 05155 TC ENDOFJOB
020446,000137:
020447,000138: 26,2150 34746 REDOMANC CAF 3AXISBIT
020448,000139: 26,2151 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020449,000140: 26,2152 10000 CCS A
020450,000141: 26,2153 12161 TCF TOBALLC # YES
020451,000142: 26,2154 06037 TC INTPRET
020452,000143: 26,2155 77624 CALL
020453,000144: 26,2156 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020454,000145: 26,2157 00322 STORE CPHI # STORE ANGLES
020455,000146: 26,2160 77776 EXIT
020456,000147:
020457,000148: 26,2161 04616 TOBALLC TC BANKCALL
020458,000149: 26,2162 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020459,000150: 26,2163 02255 TC G+N,AUTO # CHECK AUTO MODE
020460,000151: 26,2164 10000 CCS A
020461,000152: 26,2165 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020462,000153:
020463,000154: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020464,000155: 26,2167 04616 TC BANKCALL # -
020465,000156: 26,2170 20451 CADR GODSPR # -
020466,000157: 26,2171 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020467,000158:
020468,000159: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020469,000160: 26,2173 17750 CADR GOMANUR
020470,000161:
020471,000162: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020472,000163: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020473,000164: 26,2176 00124 ADRES 3AXISFLG
020474,000165: 26,2177 31164 CAE TEMPR60 # -
020475,000166: 26,2200 04640 TC BANKJUMP # -
020476,000167:
020477,000168: 26,2201 40100 CHKLINUS CS FLAGWRD4
020478,000169: 26,2202 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020479,000170: 26,2203 10000 CCS A # -
020480,000171: 26,2204 00002 TC Q # NO - EXIT
020481,000172: 26,2205 30002 CA Q
020482,000173: 26,2206 54156 TS MPAC +2 # SAVE RETURN
020483,000174: 26,2207 46245 CS THREE # OBTAIN LOCATION FOR RESTART
020484,000175: 26,2210 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020485,000176: 26,2211 55055 TS TBASE2
020486,000177:
020487,000178: 26,2212 05353 TC PHASCHNG
020488,000179: 26,2213 00132 OCT 00132
020489,000180:
020490,000181: 26,2214 34745 CAF BIT7
020491,000182: 26,2215 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020492,000183: 26,2216 00156 TC MPAC +2
020493,000184:
|
|
Page 475 |
020495,000186: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020496,000187: 26,2220 05146 TC PRIOCHNG
020497,000188:
020498,000189: 26,2221 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020499,000190: 26,2222 70075 MASK FLAGWRD1
020500,000191: 26,2223 10000 CCS A
020501,000192: 26,2224 12237 TCF RER60
020502,000193:
020503,000194: 26,2225 34745 CAF RNDVZBIT # IS IT P20?
020504,000195: 26,2226 70074 MASK FLAGWRD0
020505,000196: 26,2227 10000 CCS A
020506,000197: 26,2230 02234 TC +4 # YES
020507,000198: 26,2231 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020508,000199: 26,2232 40112 OCT 40112
020509,000200:
020510,000201: 26,2233 05155 TC ENDOFJOB
020511,000202:
020512,000203: 26,2234 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020513,000204: 26,2235 40072 OCT 40072
020514,000205:
020515,000206: 26,2236 05155 TC ENDOFJOB
020516,000207:
020517,000208: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020518,000209: 26,2240 00077 ADRES PDSPFLAG
020519,000210:
020520,000211: 26,2241 01055 TC TBASE2
020521,000212:
020522,000213: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020523,000214: 26,2243 00006 EXTEND
020524,000215: 26,2244 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020525,000216:
020526,000217: 26,2245 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020527,000218: 26,2246 74740 MASK PDSPFBIT
020528,000219: 26,2247 00006 EXTEND
020529,000220: 26,2250 16001 BZF GOTOPOOH # NO
020530,000221: 26,2251 06022 TC GOTOV56 # YES
020531,000222:
020532,000223: 26,2252 20100 BIT14+7 OCT 20100 # -
020533,000224: 26,2253 00203 OCT203 OCT 203
020534,000225: 26,2254 01422 V06N18 VN 0618
020535,000226:
020536,000227: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020537,000228:
020538,000229: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020539,000230: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020540,000231:
020541,000232: 26,2255 00006 G+N,AUTO EXTEND
020542,000233: 26,2256 00030 READ CHAN30
020543,000234: 26,2257 74742 MASK BIT10
020544,000235: 26,2260 10000 CCS A
020545,000236: 26,2261 00002 TC Q # NOT IN G+N C(A) = +
|
|
Page 476 |
020547,000238: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020548,000239: 26,2263 00031 READ CHAN31
020549,000240: 26,2264 74736 MASK BIT14
020550,000241: 26,2265 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020551,000242:
|
|
Page 477 |
020553,000244: # PROGRAM DESCRIPTION BALLANGS
020554,000245: # MOD NO. LOG SECTION R60,R62
020555,000246:
020556,000247: # WRITTEN BY RAMA M. AIYAWAR
020557,000248:
020558,000249: # FUNCTIONAL DESCRIPTION
020559,000250:
020560,000251: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020561,000252:
020562,000253: # CALLING SEQUENCE
020563,000254:
020564,000255: # TC BALLANGS
020565,000256:
020566,000257: # NORMAL EXIT MODE
020567,000258:
020568,000259: # TC BALLEXIT (SAVED Q)
020569,000260:
020570,000261: # ALARM OR EXIT MODE NIL
020571,000262:
020572,000263: # SUBROUTINES CALLED
020573,000264:
020574,000265: # CD*TR*G
020575,000266: # ARCTAN
020576,000267:
020577,000268: # INPUT
020578,000269:
020579,000270: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020580,000271: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020581,000272:
020582,000273: # OUTPUT
020583,000274:
020584,000275: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020585,000276: # SP,2S COMPLIMENT.
020586,000277:
020587,000278: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020588,000279:
020589,000280: # ERASABLE INITIALIZATION REQUIRED
020590,000281:
020591,000282: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020592,000283:
020593,000284: # DEBRIS
020594,000285:
020595,000286: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020596,000287:
020597,000288: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020598,000289: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020599,000290:
020600,000291: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020601,000292:
020602,000293: 26,2000 SETLOC BAWLANGS
020603,000294: 26,2000 BANK
020604,000295:
020605,000296: 26,2266 COUNT* $$/BALL
020606,000297: 26,2266 04645 BALLANGS TC MAKECADR
020607,000298: 26,2267 55342 TS BALLEXIT
020608,000299: 26,2270 30321 CA CPHI
|
|
Page 478 |
020610,000301: 26,2271 54772 TS CDUSPOT +4
020611,000302: 26,2272 30322 CA CTHETA
020612,000303: 26,2273 54766 TS CDUSPOT
020613,000304: 26,2274 30323 CA CPSI
020614,000305: 26,2275 54770 TS CDUSPOT +2
020615,000306:
020616,000307: 26,2276 06037 TC INTPRET
020617,000308: 26,2277 45001 SETPD CALL
020618,000309: 26,2300 00001 0D
020619,000310: 26,2301 47543 CD*TR*G
020620,000311:
020621,000312: 26,2302 41345 DLOAD DMP
020622,000313: 26,2303 00743 SINCDUX # SIN (OGA)
020623,000314: 26,2304 00747 COSCDUZ # COS (MGA)
020624,000315:
020625,000316: 26,2305 57552 SL1 DCOMP # SCALE
020626,000317: 26,2306 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020627,000318: 26,2307 00741 SINCDUZ
020628,000319: 26,2310 14023 STODL SINTH # (SINTH = 18D IN PD)
020629,000320: 26,2311 00747 COSCDUZ
020630,000321: 26,2312 72405 DMP SL1 # RESCALE
020631,000322: 26,2313 00751 COSCDUX
020632,000323: 26,2314 34021 STCALL COSTH # (COSTH = 16D IN PD)
020633,000324: 26,2315 26510 ARCTAN
020634,000325: 26,2316 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020635,000326: 26,2317 00741 SINCDUZ
020636,000327: 26,2320 00743 SINCDUX
020637,000328: 26,2321 41512 SL2 PUSH # SXSZ INTO 4 PD
020638,000329: 26,2322 65205 DMP PDDL # SXSZCY INTO 4 PD
020639,000330: 26,2323 00745 COSCDUY
020640,000331: 26,2324 65205 DMP PDDL # SXSZSY INTO 6 PD
020641,000332: 26,2325 00737 SINCDUY
020642,000333: 26,2326 00751 COSCDUX
020643,000334: 26,2327 72405 DMP SL1 # CXCY
020644,000335: 26,2330 00745 COSCDUY
020645,000336: 26,2331 45425 DSU STADR # PULL UP FROM 6 PD
020646,000337: 26,2332 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020647,000338: 26,2333 00737 SINCDUY
020648,000339: 26,2334 72405 DMP SL1
020649,000340: 26,2335 00751 COSCDUX # CXSY
020650,000341: 26,2336 45415 DAD STADR # PULL UP FROM 4 PD
020651,000342: 26,2337 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020652,000343: 26,2340 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020653,000344: 26,2341 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020654,000345: 26,2342 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020655,000346: 26,2343 21620 V1STO2S
020656,000347: 26,2344 02345 STORE FDAIX # MODE IS TP
020657,000348: 26,2345 77776 EXIT
020658,000349:
020659,000350: 26,2346 31342 ENDBALL CA BALLEXIT
020660,000351:
|
|
Page 479 |
020662,000353: 26,2347 04640 TC BANKJUMP
020663,000354:
|
|
Page 480 |
020665,000356: # PROGRAM DESCRIPTION - VECPOINT
020666,000357:
020667,000358: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020668,000359: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020669,000360: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020670,000361: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020671,000362: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020672,000363: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020673,000364: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020674,000365: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020675,000366:
020676,000367: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020677,000368: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020678,000369: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020679,000370: # 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,
020680,000371: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020681,000372: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020682,000373: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020683,000374:
020684,000375: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020685,000376: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020686,000377: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020687,000378: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020688,000379:
020689,000380: # CALLING SEQUENCE -
020690,000381:
020691,000382: # 1) LOAD SCAXIS, POINTVSM
020692,000383: # 2) CALL
020693,000384: # VECPOINT
020694,000385:
020695,000386: # RETURNS WITH
020696,000387:
020697,000388: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020698,000389: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020699,000390: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020700,000391:
020701,000392: # ERASABLES USED -
020702,000393:
020703,000394: # 1) SCAXIS 6
020704,000395: # 2) POINTVSM 6
020705,000396: # 3) MIS 18
020706,000397: # 4) DEL 18
020707,000398: # 5) COF 6
020708,000399: # 6) VECQTEMP 1
020709,000400: # 7) ALL OF VAC AREA 43
020710,000401:
020711,000402: # TOTAL 99
020712,000403:
020713,000404: 27,2000 SETLOC VECPT
020714,000405: 27,2000 BANK
|
|
Page 481 |
020716,000407: 27,2032 COUNT* $$/VECPT
020717,000408:
020718,000409: 27,2032 E6,1676 EBANK= BCDU
020719,000410:
020720,000411: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020721,000412: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020722,000413: 27,2034 56035 VECPNT2
020723,000414: 27,2035 52164 VECPNT2 AXC,2 GOTO
020724,000415: 27,2036 03246 MIS
020725,000416: 27,2037 56046 STORANG
020726,000417: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020727,000418: 27,2041 03325 VECQTEMP
020728,000419: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020729,000420: 27,2043 47164 VECLEAR AXC,2 RTB
020730,000421: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020731,000422: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020732,000423: 27,2046 34032 STORANG STCALL 25D
020733,000424: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020734,000425: 27,2050 61375 VLOAD VXM
020735,000426: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020736,000427: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020737,000428: 27,2053 77656 UNIT
020738,000429: 27,2054 00035 STORE 28D
020739,000430: # PD 28 29 30 31 32 33
020740,000431: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020741,000432: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020742,000433: 27,2057 57400 BOV VCOMP
020743,000434: 27,2060 56170 PICKAXIS
020744,000435: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020745,000436: 27,2062 00045 36D # OF CROSS PRODUCT
020746,000437: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020747,000438: 27,2064 14411 DPB-14 # THAN B-14 ASSUME
020748,000439: 27,2065 56170 PICKAXIS # UNIT OPERATION
020749,000440: 27,2066 50375 VLOAD DOT # INVALID.
020750,000441: 27,2067 03765 SCAXIS
020751,000442: 27,2070 00035 28D
020752,000443: 27,2071 65552 SL1 ARCCOS
020753,000444: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020754,000445: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020755,000446: 27,2074 75160 AXC,1 AXC,2
020756,000447: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020757,000448: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020758,000449: 27,2077 77624 CALL # MFS = MIS MFI
020759,000450: 27,2100 44312 MXM3 # (IN PD LIST)
020760,000451:
020761,000452: 27,2101 51545 DLOAD ABS
020762,000453: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020763,000454: 27,2103 50025 DSU BMN
020764,000455: 27,2104 14376 SINGIMLC # = SIN(59 DEGS) $2
020765,000456: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
|
|
Page 482 |
020767,000458: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020768,000459:
020769,000460: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020770,000461: 27,2107 03765 SCAXIS # THE THRUST AXIS
020771,000462: 27,2110 51025 DSU BPL
020772,000463: 27,2111 14400 SINVEC1 # SIN 49.4 DEGS $2
020773,000464: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020774,000465: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020775,000466: 27,2114 77626 STADR
020776,000467: 27,2115 50514 STOVL MIS +12D
020777,000468: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020778,000469: 27,2117 50522 STOVL MIS +6
020779,000470: 27,2120 77626 STADR
020780,000471: 27,2121 50530 STOVL MIS
020781,000472: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020782,000473: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020783,000474: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020784,000475:
020785,000476: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020786,000477: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020787,000478: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020788,000479: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020789,000480: # OTHERWISE U = -SCAXIS
020790,000481:
020791,000482: 27,2130 57575 VLOAD VCOMP
020792,000483: 27,2131 03765 SCAXIS
020793,000484: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020794,000485: 27,2133 56137 CHEKAXIS
020795,000486: 27,2134 77775 U=SCAXIS VLOAD
020796,000487: 27,2135 03765 SCAXIS
020797,000488: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020798,000489: 27,2137 51545 CHEKAXIS DLOAD ABS
020799,000490: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020800,000491: 27,2141 51025 DSU BPL
020801,000492: 27,2142 14402 SINVEC2 # SIN 29.5 DEGS $2
020802,000493: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020803,000494: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020804,000495: 27,2145 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020805,000496: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020806,000497: # OF GIMBAL LOCK (VECANG2 $360)
020807,000498: 27,2147 77745 PICKANG1 DLOAD
020808,000499: 27,2150 14404 VECANG1 # = 50 DEGS $360
020809,000500: 27,2151 77624 COMPMFSN CALL
020810,000501: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020811,000502: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020812,000503: 27,2154 03246 MIS
020813,000504: 27,2155 02230 KEL
020814,000505: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020815,000506: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020816,000507: # WHICH WILL ALIGN VI WITH VF AND AVOID
|
|
Page 483 |
020818,000509: # GIMBAL LOCK
020819,000510: 27,2160 45160 FINDGIMB AXC,1 CALL
020820,000511: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020821,000512: 27,2162 44654 DCMTOCDU # THIS MATRIX
020822,000513: 27,2163 40234 RTB SETPD
020823,000514: 27,2164 21620 V1STO2S # CONVERT TO 2:S COMPLEMENT
020824,000515: 27,2165 00001 0
020825,000516: 27,2166 77650 GOTO
020826,000517: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020827,000518:
020828,000519: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020829,000520: 27,2171 00035 28D
020830,000521: 27,2172 03765 SCAXIS
020831,000522: 27,2173 72240 BMN TLOAD
020832,000523: 27,2174 54350 ROT180
020833,000524: 27,2175 00032 25D
020834,000525: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020835,000526: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020836,000527:
020837,000528: 35,2000 BANK 35
020838,000529: 26,2000 SETLOC MANUVER1
020839,000530: 26,2000 BANK
020840,000531: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020841,000532: 26,2351 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020842,000533: 26,2352 06520 HIDPHALF # INITIAL S/C AXES.
020843,000534: 26,2353 47256 UNIT VXV # FIND Y(SM) X X(I)
020844,000535: 26,2354 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020845,000536: 26,2355 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020846,000537: 26,2356 54372 PICKX # Y(SM) PERPENDICULAR TO VI
020847,000538: 26,2357 17271 STODL COF
020848,000539: 26,2360 00045 36D # CHECK MAGNITUDE
020849,000540: 26,2361 50025 DSU BMN # OF THIS VECTOR.
020850,000541: 26,2362 14411 DPB-14 # IF LESS THAN B-14,
020851,000542: 26,2363 54372 PICKX # PICK X-AXIS.
020852,000543: 26,2364 77775 VLOAD
020853,000544: 26,2365 03271 COF
020854,000545: 26,2366 17271 XROT STODL COF
020855,000546: 26,2367 06520 HIDPHALF
020856,000547: 26,2370 77650 GOTO
020857,000548: 26,2371 56072 COMPMATX
020858,000549: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020859,000550: 26,2373 06520 HIDPHALF
020860,000551: 26,2374 54366 XROT
020861,000552: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020862,000553:
020863,000554: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020864,000555:
020865,000556: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020866,000557:
020867,000558: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
|
|
Page 484 |
020869,000560: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020870,000561:
020871,000562: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020872,000563: 26,2410 00001 DPB-14 OCT 00001
020873,000564: 26,2411 00000 OCT 00000
020874,000565:
|
|
Page 485 |
020876,000567: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020877,000568:
020878,000569: 34,2000 BANK 34
020879,000570: 23,2000 SETLOC R62
020880,000571: 23,2000 BANK
020881,000572: 23,2103 E6,1676 EBANK= BCDU
020882,000573:
020883,000574: 23,2103 COUNT* $$/R62
020884,000575:
020885,000576: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020886,000577:
020887,000578: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020888,000579: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020889,000580: 23,2105 20476 CADR GOFLASH
020890,000581: 23,2106 15472 TCF ENDEXT # TERMINATE
020891,000582: 23,2107 12111 TCF GOMOVE # PROCEED
020892,000583: 23,2110 12103 TCF R62FLASH # ENTER
020893,000584:
020894,000585: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020895,000586: # POINT
020896,000587: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020897,000588: 23,2112 00124 ADRES 3AXISFLG
020898,000589:
020899,000590: 23,2113 04616 TC BANKCALL
020900,000591: 23,2114 54123 CADR R60LEM
020901,000592: 23,2115 15472 TCF ENDEXT # END R62
020902,000593:
End of include-file R60,R62.agc. Parent file is MAIN.agc