Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note 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 derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
014244,000002: ## Copyright: Public domain.
014245,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014246,000004: ## Purpose: A section of Luminary revision 116.
014247,000005: ## It is part of the source code for the Lunar Module's (LM)
014248,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
014249,000007: ## This file is intended to be a faithful transcription, except
014250,000008: ## that the code format has been changed to conform to the
014251,000009: ## requirements of the yaYUL assembler rather than the
014252,000010: ## original YUL assembler.
014253,000011: ## Reference: pp. 343-364
014254,000012: ## Assembler: yaYUL
014255,000013: ## Contact: Ron Burkey <info@sandroid.org>.
014256,000014: ## Website: www.ibiblio.org/apollo/index.html
014257,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
014258,000016: ## 2017-03-07 RSB Transcribed, and then proofed comment-text using
014259,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
014260,000018: ## (Admittedly, the former is more for detecting errors
014261,000019: ## in Luminary 99 than the other way around.)
014262,000020: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
014263,000021: ## side-by-side diff of Luminary 69/99/116/131/210.
014264,000022:
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014266,000024: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
014267,000025:
014268,000026: # MOD 2 DATE 5/1/67 BY DON KEENE
014269,000027:
014270,000028: # PROGRAM DESCRIPTION
014271,000029:
014272,000030: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014273,000031: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014274,000032: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014275,000033: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014276,000034: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014277,000035:
014278,000036: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014279,000037: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014280,000038: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014281,000039:
014282,000040: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014283,000041: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014284,000042: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014285,000043: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014286,000044: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014287,000045: # -
014288,000046: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014289,000047: # -
014290,000048: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014291,000049: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014292,000050: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014293,000051:
014294,000052: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014295,000053: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014296,000054: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014297,000055: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014298,000056: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014299,000057: # -
014300,000058: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014301,000059:
014302,000060: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014303,000061: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014304,000062: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014305,000063: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014306,000064: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014307,000065: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014308,000066: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014309,000067: # DESIRED FINAL GIMBAL ANGLES.
014310,000068:
014311,000069: # PROGRAM LOGIC FLOW
014312,000070:
014313,000071: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014314,000072: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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014316,000074: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014317,000075: # * * *
014318,000076: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014319,000077: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014320,000078:
014321,000079: # A) AM LESS THAN .25 DEGREES (MINANG)
014322,000080: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014323,000081:
014324,000082: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014325,000083: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014326,000084:
014327,000085: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014328,000086: # - *
014329,000087: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014330,000088: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014331,000089: # -
014332,000090: # TO DETERMINE COF.
014333,000091:
014334,000092: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014335,000093: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014336,000094: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014337,000095: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014338,000096: # YAW.
014339,000097:
014340,000098: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014341,000099: # -
014342,000100: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014343,000101: # DESIRED REFERENCE MATRIX IS THEN,
014344,000102: # * * *
014345,000103: # MIS = MIS DEL
014346,000104: # N+1 N
014347,000105: # *
014348,000106: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014349,000107: # *
014350,000108: # FROM MIS.
014351,000109:
014352,000110: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014353,000111: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014354,000112: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014355,000113: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014356,000114: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014357,000115: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014358,000116:
014359,000117: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014360,000118: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014361,000119:
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014363,000121: # CALLING SEQUENCE
014364,000122:
014365,000123: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014366,000124: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014367,000125: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014368,000126: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014369,000127:
014370,000128: # *
014371,000129: # CAF PRIO XX
014372,000130: # --
014373,000131: # INHINT
014374,000132: # TC FINDVAC
014375,000133: # 2CADR KALCMAN3
014376,000134: # RELINT
014377,000135:
014378,000136: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014379,000137: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014380,000138:
014381,000139: # L TC BANKCALL
014382,000140: # L+1 CADR ATTSTALL
014383,000141: # L+2 (BAD RETURN)
014384,000142: # L+3 (GOOD RETURN)
014385,000143:
014386,000144: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014387,000145: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014388,000146: # WAS IN GIMBAL LOCK.
014389,000147:
014390,000148: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014391,000149: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014392,000150: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014393,000151: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014394,000152: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014395,000153: # SUBROUTINES
014396,000154:
014397,000155: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014398,000156: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014399,000157:
014400,000158: # MXM3
014401,000159: # ----
014402,000160:
014403,000161: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014404,000162: # DOWN LIST, I.E.,
014405,000163: # ( M M M )
014406,000164: # ( 0 1 2 )
014407,000165: # * ( ) * *
014408,000166: # M = ( M M M ) = M1 X M2
014409,000167: # ( 3 4 5 )
014410,000168: # ( )
014411,000169: # ( M M M )
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014413,000171: # ( 6 7 8 )
014414,000172: # *
014415,000173: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014416,000174: # *
014417,000175: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014418,000176: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014419,000177: # 8
014420,000178: # TRANSPOS
014421,000179: # --------
014422,000180:
014423,000181: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014424,000182: #
014425,000183: # * * T
014426,000184: # M = M1
014427,000185:
014428,000186: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014429,000187: # *
014430,000188: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014431,000189:
014432,000190: # CDU TO DCM
014433,000191: # ----------
014434,000192:
014435,000193: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014436,000194: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014437,000195:
014438,000196: # M = COSY COSZ
014439,000197: # 0
014440,000198:
014441,000199: # M = -COSY SINZ COSX + SINY SINX
014442,000200: # 1
014443,000201:
014444,000202: # M = COSY SINZ SINX + SINY COSX
014445,000203: # 2
014446,000204:
014447,000205: # M = SINZ
014448,000206: # 3
014449,000207:
014450,000208: # M = COSZ COSX
014451,000209: # 4
014452,000210:
014453,000211: # M = -COSZ SINX
014454,000212: # 5
014455,000213:
014456,000214: # M = -SINY COSZ
014457,000215: # 6
014458,000216: #
014459,000217: # M = SINY SINZ COSX + COSY SINX
014460,000218: # 7
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014462,000220: # M = -SINY SINZ SINX + COSY COSX
014463,000221: # 8
014464,000222:
014465,000223: # WHERE X = OUTER GIMBAL ANGLE
014466,000224: # Y = INNER GIMBAL ANGLE
014467,000225: # Z = MIDDLE GIMBAL ANGLE
014468,000226:
014469,000227: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014470,000228:
014471,000229: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014472,000230: # X Y Z
014473,000231: # STABLE MEMBER AXES (B , B , B ) ARE
014474,000232: # X Y Z
014475,000233:
014476,000234: # ( B ) ( A )
014477,000235: # ( X ) ( X )
014478,000236: # ( ) ( )
014479,000237: # ( ) * ( )
014480,000238: # ( B ) = M ( A )
014481,000239: # ( Y ) ( Y )
014482,000240: # ( ) ( )
014483,000241: # ( B ) ( A )
014484,000242: # ( Z ) ( Z )
014485,000243:
014486,000244: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014487,000245: # *
014488,000246: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014489,000247:
014490,000248: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014491,000249: # REGISTER X2.
014492,000250:
014493,000251: # DCM TO CDU
014494,000252: # ----------
014495,000253: # *
014496,000254: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014497,000255: # *
014498,000256: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014499,000257: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014500,000258: # FOR THIS CONVERSION ARE
014501,000259:
014502,000260: # Z = ARCSIN (M )
014503,000261: # 3
014504,000262:
014505,000263: # Y = ARCSIN (-M /COSZ)
014506,000264: # 6
014507,000265:
014508,000266: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014509,000267: # 0
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014511,000269: # X = ARCSIN (-M /COSZ)
014512,000270: # 5
014513,000271:
014514,000272: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014515,000273: # 4
014516,000274:
014517,000275: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014518,000276: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014519,000277: # THE PUSH DOWN LIST.
014520,000278:
014521,000279: # DELCOMP
014522,000280: # -------
014523,000281: # *
014524,000282: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014525,000283: # -
014526,000284: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014527,000285:
014528,000286: # * * - -T *
014529,000287: # DEL = I COSA + U U (1 - COSA) + V SINA
014530,000288: # X
014531,000289:
014532,000290: # WHERE * ( 1 0 0 )
014533,000291: # I = ( 0 1 0 )
014534,000292: # ( 0 0 1 )
014535,000293:
014536,000294: # 2
014537,000295: # ( U U U U U )
014538,000296: # ( X X Y X Z )
014539,000297: # ( )
014540,000298: # - -T ( 2 )
014541,000299: # U U = ( U U U U U )
014542,000300: # ( Y X Y Y Z )
014543,000301: # ( )
014544,000302: # ( 2 )
014545,000303: # ( U U U U U )
014546,000304: # ( Z X Z Y Z )
014547,000305:
014548,000306:
014549,000307: # ( 0 -U U )
014550,000308: # ( Z Y )
014551,000309: # * ( )
014552,000310: # V = ( U 0 -U )
014553,000311: # X ( Z X )
014554,000312: # ( )
014555,000313: # ( -U U 0 )
014556,000314: # ( Y X )
014557,000315:
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014559,000317: # -
014560,000318: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014561,000319: # A = ROTATION ANGLE
014562,000320:
014563,000321: # *
014564,000322: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014565,000323:
014566,000324: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014567,000325: # X Y Z
014568,000326: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014569,000327: # X Y Z
014570,000328:
014571,000329: # ( B ) ( A )
014572,000330: # ( X ) ( X )
014573,000331: # ( ) * ( )
014574,000332: # ( B ) = DEL ( A )
014575,000333: # ( Y ) ( Y )
014576,000334: # ( ) ( )
014577,000335: # ( B ) ( A )
014578,000336: # ( Z ) ( Z )
014579,000337:
014580,000338: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014581,000339: # -
014582,000340: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014583,000341: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014584,000342: # MUST THEN BE LOADED INTO D(MPAC).
014585,000343: #
014586,000344: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014587,000345:
014588,000346: # READCDUK
014589,000347: # --------
014590,000348:
014591,000349: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014592,000350:
014593,000351: # SIGNMPAC
014594,000352: # --------
014595,000353:
014596,000354: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014597,000355:
014598,000356: # PROGRAM STORAGE ALLOCATION
014599,000357:
014600,000358: # 1) FIXED MEMORY 1059 WORDS
014601,000359: # 2) ERASABLE MEMORY 98
014602,000360: # 3) STATE SWITCHES 3
|
|
Page 350 |
014604,000362: # 4) FLAGS 1
014605,000363:
014606,000364: # JOB PRIORITIES
014607,000365:
014608,000366: # 1) KALCMANU TBD
014609,000367: # 2) ONE SECOND UPDATE TBD
014610,000368:
014611,000369: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014612,000370:
014613,000371: # STATE FLAGWRD 2 SETTING MEANING
014614,000372: # SWITCH NO. BIT NO.
014615,000373:
014616,000374: # *
014617,000375: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014618,000376: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014619,000377: # *
014620,000378: # 32 13 0 CONTINUE UPDATE PROCESS
014621,000379: # 1 START UPDATE PROCESS
014622,000380:
014623,000381: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014624,000382: # 1 IGNORE ANY FINAL P-AXIS YAW
014625,000383:
014626,000384: # 34 11 0 SIGNAL END OF KALCMANU
014627,000385: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014628,000386:
014629,000387: # * INTERNAL TO KALCMANU
014630,000388:
014631,000389: # SUGGESTIONS FOR PROGRAM INTEGRATION
014632,000390:
014633,000391: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014634,000392:
014635,000393: # CPHI
014636,000394: # CTHETA
014637,000395: # CPSI
014638,000396: # POINTVSM +5
014639,000397: # SCAXIS +5
014640,000398: # DELDCDU
014641,000399: # DELDCDU1
014642,000400: # DELDCDU2
014643,000401: # RATEINDX
014644,000402:
014645,000403: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014646,000404:
014647,000405: # MXM3
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|
Page 351 |
014649,000407: # TRANSPOS
014650,000408: # SIGNMPAC
014651,000409: # READCDUK
014652,000410: # CDUTODCM
014653,000411:
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|
Page 352 |
014655,000413: 15,2050 BANK 15
014656,000414: 22,2000 SETLOC KALCMON1
014657,000415: 22,2000 BANK
014658,000416:
014659,000417: 22,2004 E6,1676 EBANK= BCDU
014660,000418:
014661,000419: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014662,000420: # LOCATIONS, CPHI, CTHETA, CPSI.
014663,000421:
014664,000422: 22,2004 COUNT* $$/KALC
014665,000423: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014666,000424: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014667,000425: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014668,000426: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES
014669,000427: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014670,000428: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014671,000429: 22,2012 51025 DSU BPL
014672,000430: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014673,000431: 22,2014 44724 TOOBADF
014674,000432: 22,2015 72364 AXC,2 TLOAD
014675,000433: 22,2016 03246 MIS
014676,000434: 22,2017 03277 BCDU
014677,000435: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014678,000436: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014679,000437: 22,2022 72364 AXC,2 TLOAD
014680,000438: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014681,000439: 22,2024 00322 CPHI
014682,000440: 22,2025 77624 CALL
014683,000441: 22,2026 44410 CDUTODCM
014684,000442: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014685,000443: 22,2030 03246 MIS
014686,000444: 22,2031 44326 TRANSPOS
014687,000445: 22,2032 45575 VLOAD STADR
014688,000446: 22,2033 50457 STOVL TMIS +12D
014689,000447: 22,2034 77626 STADR
014690,000448: 22,2035 50465 STOVL TMIS +6
014691,000449: 22,2036 77626 STADR
014692,000450: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014693,000451: 22,2040 75160 AXC,1 AXC,2
014694,000452: 22,2041 03303 TMIS
014695,000453: 22,2042 02230 MFS
014696,000454: 22,2043 77624 CALL
014697,000455: 22,2044 44312 MXM3
014698,000456: 22,2045 45575 VLOAD STADR
014699,000457: 22,2046 51532 STOVL MFI +12D
014700,000458: 22,2047 77626 STADR
014701,000459: 22,2050 51540 STOVL MFI +6
014702,000460: 22,2051 77626 STADR
014703,000461: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014704,000462: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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|
Page 353 |
014706,000464: 22,2054 00023 18D
014707,000465: 22,2055 44335 TRNSPSPD
014708,000466: 22,2056 45575 VLOAD STADR
014709,000467: 22,2057 50457 STOVL TMFI +12D
014710,000468: 22,2060 77626 STADR
014711,000469: 22,2061 50465 STOVL TMFI +6
014712,000470: 22,2062 77626 STADR
014713,000471: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014714,000472:
014715,000473: # CALCULATE COFSKEW AND MFISYM
014716,000474:
014717,000475: 22,2064 45345 DLOAD DSU
014718,000476: 22,2065 03306 TMFI +2
014719,000477: 22,2066 02233 MFI +2
014720,000478: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014721,000479: 22,2070 02235 MFI +4
014722,000480: 22,2071 03310 TMFI +4
014723,000481: 22,2072 45325 PDDL DSU
014724,000482: 22,2073 03316 TMFI +10D
014725,000483: 22,2074 02243 MFI +10D
014726,000484: 22,2075 77666 VDEF
014727,000485: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW
014728,000486:
014729,000487: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014730,000488:
014731,000489: 22,2077 43345 DLOAD DAD
014732,000490: 22,2100 02231 MFI
014733,000491: 22,2101 02251 MFI +16D
014734,000492: 22,2102 43225 DSU DAD
014735,000493: 22,2103 06514 DP1/4TH
014736,000494: 22,2104 02241 MFI +8D
014737,000495: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014738,000496: 22,2106 77726 ARCCOS
014739,000497: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014740,000498: 22,2110 51025 DSU BPL
014741,000499: 22,2111 04363 MINANG
014742,000500: 22,2112 44117 CHECKMAX
014743,000501: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014744,000502: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014745,000503: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES
014746,000504: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014747,000505:
014748,000506: 22,2117 45345 CHECKMAX DLOAD DSU
014749,000507: 22,2120 03336 AM
014750,000508: 22,2121 04365 MAXANG
014751,000509: 22,2122 77244 BPL VLOAD
014752,000510: 22,2123 44131 ALTCALC # UNIT
014753,000511: 22,2124 03326 COFSKEW # COFSKEW
014754,000512: 22,2125 77656 UNIT
014755,000513: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS
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|
Page 354 |
014757,000515: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014758,000516: 22,2130 44744 LOCSKIRT
014759,000517: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014760,000518: 22,2132 02231 MFI
014761,000519: 22,2133 03304 TMFI
014762,000520: 22,2134 77762 VSR1
014763,000521: 22,2135 27304 STOVL MFISYM
014764,000522: 22,2136 02237 MFI +6
014765,000523: 22,2137 74455 VAD VSR1
014766,000524: 22,2140 03312 TMFI +6
014767,000525: 22,2141 27312 STOVL MFISYM +6
014768,000526: 22,2142 02245 MFI +12D
014769,000527: 22,2143 74455 VAD VSR1
014770,000528: 22,2144 03320 TMFI +12D
014771,000529: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014772,000530:
014773,000531: # CALCULATE COF
014774,000532:
014775,000533: 22,2146 70545 DLOAD SR1
014776,000534: 22,2147 03334 CAM
014777,000535: 22,2150 45325 PDDL DSU # PDO CAM $4
014778,000536: 22,2151 06522 DPHALF
014779,000537: 22,2152 03334 CAM
014780,000538: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014781,000539: 22,2154 21713 SIGNMPAC
014782,000540: 22,2155 03324 MFISYM +16D
014783,000541: 22,2156 56225 DSU DDV
014784,000542: 22,2157 00001 0
014785,000543: 22,2160 00003 2
014786,000544: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014787,000545: 22,2162 03314 MFISYM +8D # $ ROOT 2
014788,000546: 22,2163 56225 DSU DDV
014789,000547: 22,2164 00001 0
014790,000548: 22,2165 00003 2
014791,000549: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014792,000550: 22,2167 03304 MFISYM
014793,000551: 22,2170 56225 DSU DDV
014794,000552: 22,2171 00001 0
014795,000553: 22,2172 00003 2
014796,000554: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014797,000555: 22,2174 77656 UNIT
014798,000556: 22,2175 03271 STORE COF
014799,000557:
014800,000558: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014801,000559:
014802,000560: 22,2176 45345 COFMAXGO DLOAD DSU
014803,000561: 22,2177 03271 COF
014804,000562: 22,2200 03273 COF +2
014805,000563: 22,2201 71240 BMN DLOAD # COFY G COFX
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|
Page 355 |
014807,000565: 22,2202 44211 COMP12
014808,000566: 22,2203 03271 COF
014809,000567: 22,2204 50025 DSU BMN
014810,000568: 22,2205 03275 COF +4
014811,000569: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014812,000570: 22,2207 77650 GOTO
014813,000571: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014814,000572: 22,2211 45345 COMP12 DLOAD DSU
014815,000573: 22,2212 03273 COF +2
014816,000574: 22,2213 03275 COF +4
014817,000575: 22,2214 77640 BMN
014818,000576: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014819,000577:
014820,000578: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014821,000579: 22,2217 03330 COFSKEW +2 # UY
014822,000580: 22,2220 44224 U2POS
014823,000581: 22,2221 57575 VLOAD VCOMP
014824,000582: 22,2222 03271 COF
014825,000583: 22,2223 03271 STORE COF
014826,000584: 22,2224 51145 U2POS DLOAD BPL
014827,000585: 22,2225 03306 MFISYM +2 # UX UY
014828,000586: 22,2226 44232 OKU21
014829,000587: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014830,000588: 22,2230 03271 COF
014831,000589: 22,2231 03271 STORE COF
014832,000590: 22,2232 51145 OKU21 DLOAD BPL
014833,000591: 22,2233 03316 MFISYM +10D # UY UZ
014834,000592: 22,2234 44744 LOCSKIRT
014835,000593: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014836,000594: 22,2236 03275 COF +4
014837,000595: 22,2237 03275 STORE COF +4
014838,000596: 22,2240 77650 GOTO
014839,000597: 22,2241 44744 LOCSKIRT
014840,000598: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014841,000599: 22,2243 03326 COFSKEW # UX
014842,000600: 22,2244 44250 U1POS
014843,000601: 22,2245 57575 VLOAD VCOMP
014844,000602: 22,2246 03271 COF
014845,000603: 22,2247 03271 STORE COF
014846,000604: 22,2250 51145 U1POS DLOAD BPL
014847,000605: 22,2251 03306 MFISYM +2 # UX UY
014848,000606: 22,2252 44256 OKU12
014849,000607: 22,2253 57545 DLOAD DCOMP
014850,000608: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX
014851,000609: 22,2255 03273 STORE COF +2
014852,000610: 22,2256 51145 OKU12 DLOAD BPL
014853,000611: 22,2257 03310 MFISYM +4 # UX UZ
014854,000612: 22,2260 44744 LOCSKIRT
014855,000613: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014856,000614: 22,2262 03275 COF +4
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|
Page 356 |
014858,000616: 22,2263 03275 STORE COF +4
014859,000617: 22,2264 77650 GOTO
014860,000618: 22,2265 44744 LOCSKIRT
014861,000619: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014862,000620: 22,2267 03332 COFSKEW +4 # UZ
014863,000621: 22,2270 44274 U3POS
014864,000622: 22,2271 57575 VLOAD VCOMP
014865,000623: 22,2272 03271 COF
014866,000624: 22,2273 03271 STORE COF
014867,000625: 22,2274 51145 U3POS DLOAD BPL
014868,000626: 22,2275 03310 MFISYM +4 # UX UZ
014869,000627: 22,2276 44302 OKU31
014870,000628: 22,2277 57545 DLOAD DCOMP
014871,000629: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ
014872,000630: 22,2301 03271 STORE COF
014873,000631: 22,2302 51145 OKU31 DLOAD BPL
014874,000632: 22,2303 03316 MFISYM +10D # UY UZ
014875,000633: 22,2304 44744 LOCSKIRT
014876,000634: 22,2305 57545 DLOAD DCOMP
014877,000635: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ
014878,000636: 22,2307 03273 STORE COF +2
014879,000637: 22,2310 77650 GOTO
014880,000638: 22,2311 44744 LOCSKIRT
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|
Page 357 |
014882,000640: # MATRIX OPERATIONS
014883,000641:
014884,000642: 13,2207 BANK 13
014885,000643: 22,2000 SETLOC KALCMON2
014886,000644: 22,2000 BANK
014887,000645:
014888,000646: 22,2312 E6,1676 EBANK= BCDU
014889,000647:
014890,000648: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014891,000649: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014892,000650: 22,2314 00001 0,1 # AND MPAC
014893,000651: 22,2315 62703 VXM* PDVL*
014894,000652: 22,2316 77776 0,2
014895,000653: 22,2317 00007 6,1
014896,000654: 22,2320 62703 VXM* PDVL*
014897,000655: 22,2321 77776 0,2
014898,000656: 22,2322 00015 12D,1
014899,000657: 22,2323 41503 VXM* PUSH
014900,000658: 22,2324 77776 0,2
014901,000659: 22,2325 77616 RVQ
014902,000660:
014903,000661: # RETURN WITH M1XM2 IN PD LIST
014904,000662:
014905,000663: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014906,000664: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014907,000665: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014908,000666: 22,2331 62713 PDVL* PDVL*
014909,000667: 22,2332 00007 6,1
014910,000668: 22,2333 00015 12D,1
014911,000669: 22,2334 77606 PUSH # MATRIX IN PD
014912,000670: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014913,000671: 22,2336 50120 INDEX FIXLOC
014914,000672: 22,2337 52013 DXCH 12
014915,000673: 22,2340 50120 INDEX FIXLOC
014916,000674: 22,2341 52017 DXCH 16
014917,000675: 22,2342 50120 INDEX FIXLOC
014918,000676: 22,2343 52013 DXCH 12
014919,000677: 22,2344 50120 INDEX FIXLOC
014920,000678: 22,2345 52015 DXCH 14
014921,000679: 22,2346 50120 INDEX FIXLOC
014922,000680: 22,2347 52005 DXCH 4
014923,000681: 22,2350 50120 INDEX FIXLOC
014924,000682: 22,2351 52015 DXCH 14
014925,000683: 22,2352 50120 INDEX FIXLOC
014926,000684: 22,2353 52003 DXCH 2
014927,000685: 22,2354 50120 INDEX FIXLOC
014928,000686: 22,2355 52007 DXCH 6
014929,000687: 22,2356 50120 INDEX FIXLOC
014930,000688: 22,2357 52003 DXCH 2
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|
Page 358 |
014932,000690: 22,2360 06042 TC INTPRET
014933,000691: 22,2361 77616 RVQ
014934,000692:
014935,000693: 15,2050 BANK 15
014936,000694: 22,2000 SETLOC KALCMON1
014937,000695: 22,2000 BANK
014938,000696:
014939,000697: 22,2362 E6,1676 EBANK= BCDU
014940,000698:
014941,000699: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014942,000700:
014943,000701: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014944,000702:
014945,000703: # GIMBAL LOCK CONSTANTS
014946,000704:
014947,000705: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014948,000706: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014949,000707:
014950,000708: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014951,000709:
014952,000710: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014953,000711:
014954,000712: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014955,000713:
014956,000714: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014957,000715:
014958,000716: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014959,000717:
014960,000718: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014961,000719:
014962,000720: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014963,000721: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014964,000722:
014965,000723: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014966,000724: 22,2404 54156 TS MPAC +2
014967,000725: 22,2405 00006 EXTEND
014968,000726: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014969,000727: 22,2407 16501 TCF TLOAD +6
014970,000728:
014971,000729: 22,2410 66370 CDUTODCM AXT,1 SSP
014972,000730: 22,2411 00003 OCT 3
014973,000731: 22,2412 00051 S1
014974,000732: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014975,000733: 22,2414 00010 STORE 7
014976,000734: 22,2415 77601 SETPD
014977,000735: 22,2416 00001 0
014978,000736: 22,2417 47133 LOOPSIN SLOAD* RTB
014979,000737: 22,2420 00013 10D,1
014980,000738: 22,2421 21577 CDULOGIC
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|
Page 359 |
014982,000740: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014983,000741: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014984,000742: 22,2424 00013 10D # 4 SIN(THETA)
014985,000743: 22,2425 41546 COS PUSH # 6 COS(THETA)
014986,000744: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014987,000745: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014988,000746: 22,2430 00007 6
014989,000747: 22,2431 72405 DMP SL1
014990,000748: 22,2432 00013 10D
014991,000749: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014992,000750: 22,2434 41345 DLOAD DMP
014993,000751: 22,2435 00005 4
014994,000752: 22,2436 00001 0
014995,000753: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014996,000754: 22,2440 00007 6
014997,000755: 22,2441 00011 8D
014998,000756: 22,2442 72405 DMP SL1
014999,000757: 22,2443 00003 2
015000,000758: 22,2444 72421 BDSU SL1
015001,000759: 22,2445 00015 12D
015002,000760: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
015003,000761: 22,2447 41345 DLOAD DMP
015004,000762: 22,2450 00003 2
015005,000763: 22,2451 00005 4
015006,000764: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015007,000765: 22,2453 00007 6
015008,000766: 22,2454 00011 8D
015009,000767: 22,2455 72405 DMP SL1
015010,000768: 22,2456 00001 0
015011,000769: 22,2457 72415 DAD SL1
015012,000770: 22,2460 00017 14D
015013,000771: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015014,000772: 22,2462 77745 DLOAD
015015,000773: 22,2463 00011 8D
015016,000774: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015017,000775: 22,2465 77745 DLOAD
015018,000776: 22,2466 00013 10D
015019,000777: 22,2467 72405 DMP SL1
015020,000778: 22,2470 00003 2
015021,000779: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015022,000780: 22,2472 41345 DLOAD DMP
015023,000781: 22,2473 00013 10D
015024,000782: 22,2474 00001 0
015025,000783: 22,2475 72476 DCOMP SL1
015026,000784: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015027,000785: 22,2477 41345 DLOAD DMP
015028,000786: 22,2500 00005 4
015029,000787: 22,2501 00013 10D
015030,000788: 22,2502 72476 DCOMP SL1
015031,000789: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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Page 360 |
015033,000791: 22,2504 77745 DLOAD
015034,000792: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015035,000793: 22,2506 00011 8D
015036,000794: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
015037,000795: 22,2510 00007 6
015038,000796: 22,2511 00001 0
015039,000797: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015040,000798: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015041,000799: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015042,000800: 22,2515 77745 DLOAD
015043,000801: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015044,000802: 22,2517 00011 8D
015045,000803: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
015046,000804: 22,2521 00007 6
015047,000805: 22,2522 00003 2
015048,000806: 22,2523 72425 DSU SL1 # (PUSH UP 6)
015049,000807: 22,2524 77626 STADR
015050,000808: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015051,000809: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
015052,000810:
015053,000811: # CALCULATION OF THE MATRIX DEL......
015054,000812:
015055,000813: # * * --T *
015056,000814: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
015057,000815: # -
015058,000816: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015059,000817: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
015060,000818: # -
015061,000819: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015062,000820:
015063,000821: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
015064,000822: 22,2530 00001 0
015065,000823: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
015066,000824: 22,2532 41546 COS PUSH # PD2 = COS(A)
015067,000825: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
015068,000826: 22,2534 41021 BDSU BOVB
015069,000827: 22,2535 06522 DPHALF
015070,000828: 22,2536 21713 SIGNMPAC
015071,000829: 22,2537 77725 PDDL # PD4 = 1-COS(A)
015072,000830:
015073,000831: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
015074,000832:
015075,000833: 22,2540 03271 COF
015076,000834: 22,2541 41316 DSQ DMP
015077,000835: 22,2542 00005 4
015078,000836: 22,2543 52415 DAD SL3
015079,000837: 22,2544 00003 2
015080,000838: 22,2545 77604 BOVB
015081,000839: 22,2546 21713 SIGNMPAC
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|
Page 361 |
015083,000841: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015084,000842: 22,2550 03273 COF +2
015085,000843: 22,2551 41316 DSQ DMP
015086,000844: 22,2552 00005 4
015087,000845: 22,2553 52415 DAD SL3
015088,000846: 22,2554 00003 2
015089,000847: 22,2555 77604 BOVB
015090,000848: 22,2556 21713 SIGNMPAC
015091,000849: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015092,000850: 22,2560 03275 COF +4
015093,000851: 22,2561 41316 DSQ DMP
015094,000852: 22,2562 00005 4
015095,000853: 22,2563 52415 DAD SL3
015096,000854: 22,2564 00003 2
015097,000855: 22,2565 77604 BOVB
015098,000856: 22,2566 21713 SIGNMPAC
015099,000857: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015100,000858:
015101,000859: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015102,000860:
015103,000861: 22,2570 41345 DLOAD DMP
015104,000862: 22,2571 03271 COF
015105,000863: 22,2572 03273 COF +2
015106,000864: 22,2573 72405 DMP SL1
015107,000865: 22,2574 00005 4
015108,000866: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
015109,000867: 22,2576 03275 COF +4
015110,000868: 22,2577 00001 0
015111,000869: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
015112,000870: 22,2601 00007 6
015113,000871: 22,2602 41112 SL2 BOVB
015114,000872: 22,2603 21713 SIGNMPAC
015115,000873: 22,2604 16237 STODL KEL +6
015116,000874: 22,2605 62421 BDSU SL2
015117,000875: 22,2606 77604 BOVB
015118,000876: 22,2607 21713 SIGNMPAC
015119,000877: 22,2610 16233 STODL KEL +2
015120,000878: 22,2611 03271 COF
015121,000879: 22,2612 41205 DMP DMP
015122,000880: 22,2613 03275 COF +4
015123,000881: 22,2614 00005 4
015124,000882: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
015125,000883: 22,2616 03273 COF +2
015126,000884: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015127,000885: 22,2620 00001 0
015128,000886: 22,2621 62415 DAD SL2
015129,000887: 22,2622 00007 6
015130,000888: 22,2623 77604 BOVB
015131,000889: 22,2624 21713 SIGNMPAC
015132,000890: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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Page 362 |
015134,000892: 22,2626 62421 BDSU SL2
015135,000893: 22,2627 77604 BOVB
015136,000894: 22,2630 21713 SIGNMPAC
015137,000895: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015138,000896: 22,2632 03273 COF +2
015139,000897: 22,2633 41205 DMP DMP
015140,000898: 22,2634 03275 COF +4
015141,000899: 22,2635 00005 4
015142,000900: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
015143,000901: 22,2637 03271 COF
015144,000902: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015145,000903: 22,2641 00001 0
015146,000904: 22,2642 62415 DAD SL2
015147,000905: 22,2643 00007 6
015148,000906: 22,2644 77604 BOVB
015149,000907: 22,2645 21713 SIGNMPAC
015150,000908: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015151,000909: 22,2647 62421 BDSU SL2
015152,000910: 22,2650 77604 BOVB
015153,000911: 22,2651 21713 SIGNMPAC
015154,000912: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015155,000913: 22,2653 77616 RVQ
015156,000914:
015157,000915: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015158,000916: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015159,000917: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015160,000918: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015161,000919:
015162,000920: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015163,000921:
015164,000922: # C = COS(THETA) COS(PSI)
015165,000923: # 0
015166,000924:
015167,000925: # C = -COS(THETA) SIN(PSI) COS(PHI) + SI (THETA) SIN(PHI)
015168,000926: # 1
015169,000927:
015170,000928: # C = COS(THETA) SIN(PSI) SIN(PHI) + S N(THETA) COS(PHI)
015171,000929: # 2
015172,000930:
015173,000931: # C = SIN(PSI)
015174,000932: # 3
015175,000933:
015176,000934: # C = COS(PSI) COS(PHI)
015177,000935: # 4
015178,000936:
015179,000937: # C = -COS(PSI) SIN(PHI)
015180,000938: # 5
015181,000939:
015182,000940: # C = -SIN(THETA) COS(PSI)
015183,000941: # 6
015184,000942:
015185,000943: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS THETA) SIN(PHI)
015186,000944: # 7
015187,000945:
015188,000946: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + CO (THETA)COS(PHI)
015189,000947: # 8
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Page 363 |
015191,000949:
015192,000950: # WHERE PHI = OGA
015193,000951: # THETA = IGA
015194,000952: # PSI = MGA
015195,000953:
015196,000954: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015197,000955: 22,2655 00007 6,1
015198,000956: 22,2656 71406 PUSH COS # PD +0 PSI
015199,000957: 22,2657 41152 SL1 BOVB
015200,000958: 22,2660 21713 SIGNMPAC
015201,000959: 22,2661 00051 STORE S1
015202,000960: 22,2662 57543 DLOAD* DCOMP
015203,000961: 22,2663 00015 12D,1
015204,000962: 22,2664 67471 DDV ARCSIN
015205,000963: 22,2665 00051 S1
015206,000964: 22,2666 51123 PDDL* BPL # PD +2 THETA
015207,000965: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015208,000966: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015209,000967: 22,2671 57545 DLOAD DCOMP
015210,000968: 22,2672 43244 BPL DAD
015211,000969: 22,2673 44677 SUHALFA
015212,000970: 22,2674 06522 DPHALF
015213,000971: 22,2675 77650 GOTO
015214,000972: 22,2676 44701 CALCPHI
015215,000973: 22,2677 77625 SUHALFA DSU
015216,000974: 22,2700 06522 DPHALF
015217,000975: 22,2701 77606 CALCPHI PUSH
015218,000976: 22,2702 57543 OKTHETA DLOAD* DCOMP
015219,000977: 22,2703 00013 10D,1
015220,000978: 22,2704 67471 DDV ARCSIN
015221,000979: 22,2705 00051 S1
015222,000980: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015223,000981: 22,2707 00011 8D,1
015224,000982: 22,2710 44722 OKPHI
015225,000983: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015226,000984: 22,2712 43244 BPL DAD
015227,000985: 22,2713 44717 SUHALFAP
015228,000986: 22,2714 06522 DPHALF
015229,000987: 22,2715 77650 GOTO
015230,000988: 22,2716 44723 VECOFANG
015231,000989: 22,2717 52025 SUHALFAP DSU GOTO
015232,000990: 22,2720 06522 DPHALF
015233,000991: 22,2721 44723 VECOFANG
015234,000992: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015235,000993: 22,2723 43466 VECOFANG VDEF RVQ
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Page 364 |
015237,000995: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015238,000996:
015239,000997: 22,2724 77776 TOOBADF EXIT
015240,000998: 22,2725 05567 TC ALARM
015241,000999: 22,2726 00401 OCT 00401
015242,001000:
015243,001001: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015244,001002:
015245,001003: 22,2730 04616 TC BANKCALL
015246,001004: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015247,001005:
015248,001006: 22,2732 04616 NOGO TC BANKCALL
015249,001007: 22,2733 40166 CADR STOPRATE # STOP RATES
015250,001008:
015251,001009: 22,2734 34752 CAF TWO
015252,001010: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015253,001011: 22,2736 05203 TC WAITLIST
015254,001012: 22,2737 E6,1676 EBANK= BCDU
015255,001013: 22,2737 03234 44066 2CADR GOODMANU
015256,001014:
015257,001015: 22,2741 15155 TCF ENDOFJOB
015258,001016:
015259,001017: 22,2742 77776 TOOBADI EXIT
015260,001018: 22,2743 12732 TCF NOGO
015261,001019:
015262,001020:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc