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. |
020236,000002: ## Copyright: Public domain.
020237,000003: ## Filename: R60,R62.agc
020238,000004: ## Purpose: A section of Luminary revision 116.
020239,000005: ## It is part of the source code for the Lunar Module's (LM)
020240,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
020241,000007: ## This file is intended to be a faithful transcription, except
020242,000008: ## that the code format has been changed to conform to the
020243,000009: ## requirements of the yaYUL assembler rather than the
020244,000010: ## original YUL assembler.
020245,000011: ## Reference: pp. 474-487
020246,000012: ## Assembler: yaYUL
020247,000013: ## Contact: Ron Burkey <info@sandroid.org>.
020248,000014: ## Website: www.ibiblio.org/apollo/index.html
020249,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
020250,000016: ## 2017-01-27 RSB Back-ported a comment-text fix identified in Luminary 69.
020251,000017: ## 2017-03-09 RSB Transcribed, and then proofed comment-text using
020252,000018: ## 3-way diff vs Luminary 99 and Luminary 131.
020253,000019: ## (Admittedly, the former is more for detecting errors
020254,000020: ## in Luminary 99 than the other way around.)
020255,000021:
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Page 474 |
020257,000023: # MOD NO: 0 DATE: 1 MAY 1968
020258,000024: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020259,000025:
020260,000026: # FUNCTIONAL DESCRIPTION:
020261,000027:
020262,000028: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020263,000029: # ATTITUDE.
020264,000030:
020265,000031: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020266,000032: # CALCULATED (VECPOINT).
020267,000033:
020268,000034: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020269,000035:
020270,000036: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020271,000037:
020272,000038: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020273,000039: # ASTRONAUT RESPONSE.
020274,000040:
020275,000041: # 5. DISPLAY RESPONSE RETURNS:
020276,000042:
020277,000043: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020278,000044:
020279,000045: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020280,000046: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020281,000047: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020282,000048:
020283,000049: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020284,000050:
020285,000051: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020286,000052: # (VECPOINT).
020287,000053:
020288,000054: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020289,000055:
020290,000056: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020291,000057: #
020292,000058: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020293,000059:
020294,000060: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020295,000061:
020296,000062: # 11. DO A PHASECHANGE.
020297,000063:
020298,000064: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020299,000065:
020300,000066: # GIMBAL ANGLES (GOMANUR).
020301,000067: # 13. AT END OF MANEUVER GO TO STEP 3.
020302,000068:
020303,000069: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020304,000070: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020305,000071: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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020307,000073: # STEP 5C.
020308,000074:
020309,000075: # CALLING SEQUENCE: TC BANKCALL
020310,000076: # CADR R60LEM
020311,000077:
020312,000078: # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
020313,000079: # 3AXISFLG.
020314,000080:
020315,000081: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020316,000082: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020317,000083:
020318,000084: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020319,000085: # TC BANKJUMP
020320,000086:
020321,000087: # ALARMS: NONE
020322,000088:
020323,000089: # OUTPUT: NONE
020324,000090:
020325,000091: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020326,000092:
020327,000093: 34,2000 BANK 34
020328,000094: 26,2000 SETLOC MANUVER
020329,000095: 26,2000 BANK
020330,000096:
020331,000097: 26,2123 1163 EBANK= TEMPR60
020332,000098:
020333,000099: 26,2123 COUNT* $$/R06
020334,000100: 26,2123 04645 R60LEM TC MAKECADR
020335,000101: 26,2124 55163 TS TEMPR60
020336,000102:
020337,000103: 26,2125 05504 TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
020338,000104: 26,2126 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES.
020339,000105: 26,2127 05516 TC DOWNFLAG
020340,000106: 26,2130 00000 ADRES NEED2FLG
020341,000107:
020342,000108: 26,2131 34746 REDOMANN CAF 3AXISBIT
020343,000109: 26,2132 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020344,000110: 26,2133 10000 CCS A
020345,000111: 26,2134 12142 TCF TOBALL # YES
020346,000112: 26,2135 06042 TC INTPRET
020347,000113: 26,2136 77624 CALL
020348,000114: 26,2137 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020349,000115: 26,2140 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020350,000116: 26,2141 77776 EXIT
020351,000117:
020352,000118: 26,2142 04616 TOBALL TC BANKCALL
020353,000119: 26,2143 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020354,000120: 26,2144 32260 TOBALLA CAF V06N18
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020356,000122: 26,2145 04616 TC BANKCALL
020357,000123: 26,2146 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020358,000124: 26,2147 02246 TC R61TEST
020359,000125: 26,2150 02154 TC REDOMANC # PROCEED
020360,000126: 26,2151 02201 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
020361,000127: 26,2152 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020362,000128: 26,2153 05155 TC ENDOFJOB
020363,000129:
020364,000130: 26,2154 34746 REDOMANC CAF 3AXISBIT
020365,000131: 26,2155 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020366,000132: 26,2156 10000 CCS A
020367,000133: 26,2157 12165 TCF TOBALLC # YES
020368,000134: 26,2160 06042 TC INTPRET
020369,000135: 26,2161 77624 CALL
020370,000136: 26,2162 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020371,000137: 26,2163 00322 STORE CPHI # STORE ANGLES
020372,000138: 26,2164 77776 EXIT
020373,000139:
020374,000140: 26,2165 04616 TOBALLC TC BANKCALL
020375,000141: 26,2166 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020376,000142: 26,2167 02261 TC G+N,AUTO # CHECK AUTO MODE
020377,000143: 26,2170 10000 CCS A
020378,000144: 26,2171 12144 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020379,000145:
020380,000146: 26,2172 32260 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020381,000147: 26,2173 04616 TC BANKCALL # -
020382,000148: 26,2174 20452 CADR GODSPR # -
020383,000149: 26,2175 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020384,000150:
020385,000151: 26,2176 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020386,000152: 26,2177 17742 CADR GOMANUR
020387,000153:
020388,000154: 26,2200 12144 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020389,000155: 26,2201 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020390,000156: 26,2202 00124 ADRES 3AXISFLG
020391,000157: 26,2203 31163 CAE TEMPR60 # -
020392,000158: 26,2204 04640 TC BANKJUMP # -
020393,000159:
020394,000160: 26,2205 40100 CHKLINUS CS FLAGWRD4
020395,000161: 26,2206 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020396,000162: 26,2207 10000 CCS A # -
020397,000163: 26,2210 00002 TC Q # NO - EXIT
020398,000164: 26,2211 30002 CA Q
020399,000165: 26,2212 54156 TS MPAC +2 # SAVE RETURN
020400,000166: 26,2213 46250 CS THREE # OBTAIN LOCATION FOR RESTART
020401,000167: 26,2214 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
020402,000168: 26,2215 55054 TS TBASE2
020403,000169:
020404,000170: 26,2216 05353 TC PHASCHNG
020405,000171: 26,2217 00132 OCT 00132
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Page 477 |
020407,000173:
020408,000174: 26,2220 34745 CAF BIT7
020409,000175: 26,2221 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
020410,000176: 26,2222 00156 TC MPAC +2
020411,000177:
020412,000178: 26,2223 37717 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
020413,000179: 26,2224 05146 TC PRIOCHNG
020414,000180:
020415,000181: 26,2225 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020416,000182: 26,2226 70075 MASK FLAGWRD1
020417,000183: 26,2227 10000 CCS A
020418,000184: 26,2230 12243 TCF RER60
020419,000185:
020420,000186: 26,2231 34745 CAF RNDVZBIT # IS IT P20?
020421,000187: 26,2232 70074 MASK FLAGWRD0
020422,000188: 26,2233 10000 CCS A
020423,000189: 26,2234 02240 TC +4 # YES
020424,000190: 26,2235 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
020425,000191: 26,2236 40112 OCT 40112
020426,000192:
020427,000193: 26,2237 05155 TC ENDOFJOB
020428,000194:
020429,000195: 26,2240 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20
020430,000196: 26,2241 40072 OCT 40072
020431,000197:
020432,000198: 26,2242 05155 TC ENDOFJOB
020433,000199:
020434,000200: 26,2243 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
020435,000201: 26,2244 00077 ADRES PDSPFLAG
020436,000202:
020437,000203: 26,2245 01054 TC TBASE2
020438,000204:
020439,000205: 26,2246 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
020440,000206: 26,2247 00006 EXTEND
020441,000207: 26,2250 12201 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
020442,000208:
020443,000209: 26,2251 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
020444,000210: 26,2252 74740 MASK PDSPFBIT
020445,000211: 26,2253 00006 EXTEND
020446,000212: 26,2254 16001 BZF GOTOPOOH # NO
020447,000213: 26,2255 06025 TC GOTOV56 # YES
020448,000214:
020449,000215: 26,2256 20100 BIT14+7 OCT 20100 # -
020450,000216: 26,2257 00203 OCT203 OCT 203
020451,000217: 26,2260 01422 V06N18 VN 0618
020452,000218: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020453,000219:
020454,000220: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
020455,000221: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
020456,000222:
020457,000223: 26,2261 00006 G+N,AUTO EXTEND
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020459,000225: 26,2262 00030 READ CHAN30
020460,000226: 26,2263 74742 MASK BIT10
020461,000227: 26,2264 10000 CCS A
020462,000228: 26,2265 00002 TC Q # NOT IN G+N C(A) = +
020463,000229: 26,2266 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
020464,000230: 26,2267 00031 READ CHAN31
020465,000231: 26,2270 74736 MASK BIT14
020466,000232: 26,2271 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
020467,000233:
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020469,000235: # PROGRAM DESCRIPTION BALLANGS
020470,000236: # MOD NO. LOG SECTION R60,R62
020471,000237:
020472,000238: # WRITTEN BY RAMA M. AIYAWAR
020473,000239:
020474,000240: # FUNCTIONAL DESCRIPTION
020475,000241:
020476,000242: # COMPUTES LM FDAI BALL DISPLAY ANGLES
020477,000243:
020478,000244: # CALLING SEQUENCE
020479,000245:
020480,000246: # TC BALLANGS
020481,000247:
020482,000248: # NORMAL EXIT MODE
020483,000249:
020484,000250: # TC BALLEXIT (SAVED Q)
020485,000251:
020486,000252: # ALARM OR EXIT MODE NIL
020487,000253:
020488,000254: # SUBROUTINES CALLED
020489,000255:
020490,000256: # CD*TR*G
020491,000257: # ARCTAN
020492,000258:
020493,000259: # INPUT
020494,000260:
020495,000261: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
020496,000262: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020497,000263:
020498,000264: # OUTPUT
020499,000265:
020500,000266: # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020501,000267: # SP,2S COMPLIMENT.
020502,000268:
020503,000269: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020504,000270:
020505,000271: # ERASABLE INITIALIZATION REQUIRED
020506,000272:
020507,000273: # CPHI, CTHETA, CPSI EACH A SP REGISTER
020508,000274:
020509,000275: # DEBRIS
020510,000276:
020511,000277: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020512,000278:
020513,000279: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020514,000280: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020515,000281:
020516,000282: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020517,000283:
020518,000284: 26,2000 SETLOC BAWLANGS
020519,000285: 26,2000 BANK
020520,000286:
020521,000287: 26,2272 COUNT* $$/BALL
020522,000288: 26,2272 04645 BALLANGS TC MAKECADR
020523,000289: 26,2273 55337 TS BALLEXIT
020524,000290: 26,2274 30321 CA CPHI
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020526,000292: 26,2275 54771 TS CDUSPOT +4
020527,000293: 26,2276 30322 CA CTHETA
020528,000294: 26,2277 54765 TS CDUSPOT
020529,000295: 26,2300 30323 CA CPSI
020530,000296: 26,2301 54767 TS CDUSPOT +2
020531,000297:
020532,000298: 26,2302 06042 TC INTPRET
020533,000299: 26,2303 45001 SETPD CALL
020534,000300: 26,2304 00001 0D
020535,000301: 26,2305 47545 CD*TR*G
020536,000302:
020537,000303: 26,2306 41345 DLOAD DMP
020538,000304: 26,2307 00742 SINCDUX # SIN (OGA)
020539,000305: 26,2310 00746 COSCDUZ # COS (MGA)
020540,000306:
020541,000307: 26,2311 57552 SL1 DCOMP # SCALE
020542,000308: 26,2312 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
020543,000309: 26,2313 00740 SINCDUZ
020544,000310: 26,2314 14023 STODL SINTH # (SINTH = 18D IN PD)
020545,000311: 26,2315 00746 COSCDUZ
020546,000312: 26,2316 72405 DMP SL1 # RESCALE
020547,000313: 26,2317 00750 COSCDUX
020548,000314: 26,2320 34021 STCALL COSTH # (COSTH = 16D IN PD)
020549,000315: 26,2321 26510 ARCTAN
020550,000316: 26,2322 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020551,000317: 26,2323 00740 SINCDUZ
020552,000318: 26,2324 00742 SINCDUX
020553,000319: 26,2325 41512 SL2 PUSH # SXSZ INTO 4 PD
020554,000320: 26,2326 65205 DMP PDDL # SXSZCY INTO 4 PD
020555,000321: 26,2327 00744 COSCDUY
020556,000322: 26,2330 65205 DMP PDDL # SXSZSY INTO 6 PD
020557,000323: 26,2331 00736 SINCDUY
020558,000324: 26,2332 00750 COSCDUX
020559,000325: 26,2333 72405 DMP SL1 # CXCY
020560,000326: 26,2334 00744 COSCDUY
020561,000327: 26,2335 45425 DSU STADR # PULL UP FROM 6 PD
020562,000328: 26,2336 63756 STODL COSTH # COSTH = CXCY - SXSZSY
020563,000329: 26,2337 00736 SINCDUY
020564,000330: 26,2340 72405 DMP SL1
020565,000331: 26,2341 00750 COSCDUX # CXSY
020566,000332: 26,2342 45415 DAD STADR # PULL UP FROM 4 PD
020567,000333: 26,2343 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
020568,000334: 26,2344 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH
020569,000335: 26,2345 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020570,000336: 26,2346 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020571,000337: 26,2347 21621 V1STO2S
020572,000338: 26,2350 02345 STORE FDAIX # MODE IS TP
020573,000339: 26,2351 77776 EXIT
020574,000340:
020575,000341: 26,2352 31337 ENDBALL CA BALLEXIT
020576,000342:
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Page 481 |
020578,000344: 26,2353 04640 TC BANKJUMP
020579,000345:
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Page 482 |
020581,000347: # PROGRAM DESCRIPTION - VECPOINT
020582,000348:
020583,000349: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
020584,000350: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020585,000351: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020586,000352: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020587,000353: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
020588,000354: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020589,000355: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
020590,000356: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020591,000357:
020592,000358: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020593,000359: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020594,000360: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020595,000361: # 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,
020596,000362: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020597,000363: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020598,000364: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020599,000365:
020600,000366: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020601,000367: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020602,000368: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020603,000369: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020604,000370:
020605,000371: # CALLING SEQUENCE -
020606,000372:
020607,000373: # 1) LOAD SCAXIS, POINTVSM
020608,000374: # 2) CALL
020609,000375: # VECPOINT
020610,000376:
020611,000377: # RETURNS WITH
020612,000378:
020613,000379: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
020614,000380: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
020615,000381: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020616,000382:
020617,000383: # ERASABLES USED -
020618,000384:
020619,000385: # 1) SCAXIS 6
020620,000386: # 2) POINTVSM 6
020621,000387: # 3) MIS 18
020622,000388: # 4) DEL 18
020623,000389: # 5) COF 6
020624,000390: # 6) VECQTEMP 1
020625,000391: # 7) ALL OF VAC AREA 43
020626,000392:
020627,000393: # TOTAL 99
020628,000394:
020629,000395: 27,2000 SETLOC VECPT
020630,000396: 27,2000 BANK
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Page 483 |
020632,000398: 27,2032 COUNT* $$/VECPT
020633,000399:
020634,000400: 27,2032 E6,1676 EBANK= BCDU
020635,000401:
020636,000402: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
020637,000403: 27,2033 03325 VECQTEMP # NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020638,000404: 27,2034 56035 VECPNT2
020639,000405: 27,2035 52164 VECPNT2 AXC,2 GOTO
020640,000406: 27,2036 03246 MIS
020641,000407: 27,2037 56046 STORANG
020642,000408: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
020643,000409: 27,2041 03325 VECQTEMP
020644,000410: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
020645,000411: 27,2043 47164 VECLEAR AXC,2 RTB
020646,000412: 27,2044 03246 MIS # READ THE PRESENT CDU ANGLES AND
020647,000413: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
020648,000414: 27,2046 34032 STORANG STCALL 25D
020649,000415: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
020650,000416: 27,2050 61375 VLOAD VXM
020651,000417: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
020652,000418: 27,2052 03247 MIS # INITIAL S/C AXES (VF = POINTVSM)
020653,000419: 27,2053 77656 UNIT
020654,000420: 27,2054 00035 STORE 28D
020655,000421: # PD 28 29 30 31 32 33
020656,000422: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
020657,000423: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
020658,000424: 27,2057 57400 BOV VCOMP
020659,000425: 27,2060 56170 PICKAXIS
020660,000426: 27,2061 17271 STODL COF # CHECK MAGNITUDE
020661,000427: 27,2062 00045 36D # OF CROSS PRODUCT
020662,000428: 27,2063 50025 DSU BMN # VECTOR, IF LESS
020663,000429: 27,2064 14415 DPB-14 # THAN B-14 ASSUME
020664,000430: 27,2065 56170 PICKAXIS # UNIT OPERATION
020665,000431: 27,2066 50375 VLOAD DOT # INVALID.
020666,000432: 27,2067 03765 SCAXIS
020667,000433: 27,2070 00035 28D
020668,000434: 27,2071 65552 SL1 ARCCOS
020669,000435: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
020670,000436: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
020671,000437: 27,2074 75160 AXC,1 AXC,2
020672,000438: 27,2075 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
020673,000439: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
020674,000440: 27,2077 77624 CALL # MFS = MIS MFI
020675,000441: 27,2100 44312 MXM3 # (IN PD LIST)
020676,000442:
020677,000443: 27,2101 51545 DLOAD ABS
020678,000444: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
020679,000445: 27,2103 50025 DSU BMN
020680,000446: 27,2104 14402 SINGIMLC # = SIN(59 DEGS) $2
020681,000447: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 484 |
020683,000449: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020684,000450:
020685,000451: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
020686,000452: 27,2107 03765 SCAXIS # THE THRUST AXIS
020687,000453: 27,2110 51025 DSU BPL
020688,000454: 27,2111 14404 SINVEC1 # SIN 49.4 DEGS $2
020689,000455: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
020690,000456: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
020691,000457: 27,2114 77626 STADR
020692,000458: 27,2115 50514 STOVL MIS +12D
020693,000459: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
020694,000460: 27,2117 50522 STOVL MIS +6
020695,000461: 27,2120 77626 STADR
020696,000462: 27,2121 50530 STOVL MIS
020697,000463: 27,2122 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
020698,000464: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
020699,000465: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
020700,000466:
020701,000467: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
020702,000468: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
020703,000469: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
020704,000470: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020705,000471: # OTHERWISE U = -SCAXIS
020706,000472:
020707,000473: 27,2130 57575 VLOAD VCOMP
020708,000474: 27,2131 03765 SCAXIS
020709,000475: 27,2132 37271 STCALL COF # ROTATE ABOUT -SCAXIS
020710,000476: 27,2133 56137 CHEKAXIS
020711,000477: 27,2134 77775 U=SCAXIS VLOAD
020712,000478: 27,2135 03765 SCAXIS
020713,000479: 27,2136 03271 STORE COF # ROTATE ABOUT + SCAXIS
020714,000480: 27,2137 51545 CHEKAXIS DLOAD ABS
020715,000481: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
020716,000482: 27,2141 51025 DSU BPL
020717,000483: 27,2142 14406 SINVEC2 # SIN 29.5 DEGS $2
020718,000484: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020719,000485: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
020720,000486: 27,2145 14412 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
020721,000487: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
020722,000488: # OF GIMBAL LOCK (VECANG2 $360)
020723,000489: 27,2147 77745 PICKANG1 DLOAD
020724,000490: 27,2150 14410 VECANG1 # = 50 DEGS $360
020725,000491: 27,2151 77624 COMPMFSN CALL
020726,000492: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
020727,000493: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
020728,000494: 27,2154 03246 MIS
020729,000495: 27,2155 02230 KEL
020730,000496: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
020731,000497: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
020732,000498: # WHICH WILL ALIGN VI WITH VF AND AVOID
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020734,000500: # GIMBAL LOCK
020735,000501: 27,2160 45160 FINDGIMB AXC,1 CALL
020736,000502: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
020737,000503: 27,2162 44654 DCMTOCDU # THIS MATRIX
020738,000504: 27,2163 40234 RTB SETPD
020739,000505: 27,2164 21621 V1STO2S # CONVERT TO 2:S COMPLEMENT
020740,000506: 27,2165 00001 0
020741,000507: 27,2166 77650 GOTO
020742,000508: 27,2167 03325 VECQTEMP # RETURN TO CALLER
020743,000509:
020744,000510: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
020745,000511: 27,2171 00035 28D
020746,000512: 27,2172 03765 SCAXIS
020747,000513: 27,2173 72240 BMN TLOAD
020748,000514: 27,2174 54354 ROT180
020749,000515: 27,2175 00032 25D
020750,000516: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
020751,000517: 27,2177 03325 VECQTEMP # PRESENT CDU ANGLES
020752,000518:
020753,000519: 35,2000 BANK 35
020754,000520: 26,2000 SETLOC MANUVER1
020755,000521: 26,2000 BANK
020756,000522: 26,2354 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020757,000523: 26,2355 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
020758,000524: 26,2356 06522 HIDPHALF # INITIAL S/C AXES.
020759,000525: 26,2357 47256 UNIT VXV # FIND Y(SM) X X(I)
020760,000526: 26,2360 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020761,000527: 26,2361 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
020762,000528: 26,2362 54376 PICKX # Y(SM) PERPENDICULAR TO VI
020763,000529: 26,2363 17271 STODL COF
020764,000530: 26,2364 00045 36D # CHECK MAGNITUDE
020765,000531: 26,2365 50025 DSU BMN # OF THIS VECTOR.
020766,000532: 26,2366 14415 DPB-14 # IF LESS THAN B-14,
020767,000533: 26,2367 54376 PICKX # PICK X-AXIS.
020768,000534: 26,2370 77775 VLOAD
020769,000535: 26,2371 03271 COF
020770,000536: 26,2372 17271 XROT STODL COF
020771,000537: 26,2373 06522 HIDPHALF
020772,000538: 26,2374 77650 GOTO
020773,000539: 26,2375 56072 COMPMATX
020774,000540: 26,2376 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
020775,000541: 26,2377 06522 HIDPHALF
020776,000542: 26,2400 54372 XROT
020777,000543: 26,2401 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2
020778,000544:
020779,000545: 26,2403 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
020780,000546:
020781,000547: 26,2405 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
020782,000548:
020783,000549: 26,2407 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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Page 486 |
020785,000551: 26,2411 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
020786,000552:
020787,000553: 26,2413 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
020788,000554: 26,2414 00001 DPB-14 OCT 00001
020789,000555: 26,2415 00000 OCT 00000
020790,000556:
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Page 487 |
020792,000558: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020793,000559:
020794,000560: 34,2000 BANK 34
020795,000561: 23,2000 SETLOC R62
020796,000562: 23,2000 BANK
020797,000563: 23,2103 E6,1676 EBANK= BCDU
020798,000564:
020799,000565: 23,2103 COUNT* $$/R62
020800,000566:
020801,000567: 23,2103 23,2103 R62DISP EQUALS R62FLASH
020802,000568:
020803,000569: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
020804,000570: 23,2104 04616 TC BANKCALL # ICDU ANGLES
020805,000571: 23,2105 20477 CADR GOFLASH
020806,000572: 23,2106 15472 TCF ENDEXT # TERMINATE
020807,000573: 23,2107 12111 TCF GOMOVE # PROCEED
020808,000574: 23,2110 12103 TCF R62FLASH # ENTER
020809,000575:
020810,000576: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020811,000577: # POINT
020812,000578: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
020813,000579: 23,2112 00124 ADRES 3AXISFLG
020814,000580:
020815,000581: 23,2113 04616 TC BANKCALL
020816,000582: 23,2114 54123 CADR R60LEM
020817,000583: 23,2115 15472 TCF ENDEXT # END R62
020818,000584:
End of include-file R60,R62.agc. Parent file is MAIN.agc