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. |
061970,000002: ## Copyright: Public domain.
061971,000003: ## Filename: TJET_LAW.agc
061972,000004: ## Purpose: A section of Luminary revision 116.
061973,000005: ## It is part of the source code for the Lunar Module's (LM)
061974,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
061975,000007: ## This file is intended to be a faithful transcription, except
061976,000008: ## that the code format has been changed to conform to the
061977,000009: ## requirements of the yaYUL assembler rather than the
061978,000010: ## original YUL assembler.
061979,000011: ## Reference: pp. 1450-1459
061980,000012: ## Assembler: yaYUL
061981,000013: ## Contact: Ron Burkey <info@sandroid.org>.
061982,000014: ## Website: www.ibiblio.org/apollo/index.html
061983,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
061984,000016: ## 2017-01-26 RRB Updated for Luminary 116.
061985,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
061986,000018: ## Luminary 99 and 131.
061987,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
061988,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
061989,000021: ## 2017-03-19 HG Fix statement AD -3DEG --> TCF +3
061990,000022: ## Add missing statement TCF +1
061991,000023: ## 2021-05-30 ABS Fixed a page number to match scans.
061992,000024:
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Page 1450 |
061994,000026: # PROGRAM DESCRIPTION
061995,000027:
061996,000028: # DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN
061997,000029:
061998,000030: # CODED BY: P. S. WEISSMAN 28 FEBRUARY 1968
061999,000031:
062000,000032: # TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
062001,000033: # ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
062002,000034: # -1 INDICATES THE P-AXIS
062003,000035: # +0 INDICATES THE U-AXIS
062004,000036: # +1 INDICATES THE V-AXIS.
062005,000037: # THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
062006,000038: # UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
062007,000039: # COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
062008,000040: # ACCESSED BY INDEXING.
062009,000041: # THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
062010,000042: # PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU OR TJV). THE NUMBER OF JETS THAT
062011,000043: # TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
062012,000044: # ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
062013,000045: # (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
062014,000046: # IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
062015,000047: # ERROR AND/OR ERROR RATE ARE LARGE.
062016,000048:
062017,000049: # CALLING SEQUENCE:
062018,000050: # TC TJETLAW (MUST BE IN JASK)
062019,000051: # OR
062020,000052: # INHINT (MUST BE IN JASK)
062021,000053: # TC IBNKCALL
062022,000054: # CADR TJETLAW
062023,000055: # RELINT
062024,000056:
062025,000057: # EXIT: RETURN TO Q.
062026,000058:
062027,000059: # INPUT:
062028,000060: # FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP, -U, -V.
062029,000061: # FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU, -V).
062030,000062:
062031,000063: # OUTPUT:
062032,000064: # TJP,-U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
062033,000065:
062034,000066: # DEBRIS:
062035,000067: # A, L, Q, E, EDOT, DAPTEMP1-6, DAPTREG1-4.
062036,000068:
062037,000069: # ALARM: NONE
062038,000070:
062039,000071: 17,3304 BANK 17
062040,000072: 17,2000 SETLOC DAPS2
062041,000073: 17,2000 BANK
062042,000074: 17,3304 E6,1524 EBANK= TJP
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Page 1451 |
062044,000076: 17,3304 COUNT* $$/DAPTJ
062045,000077:
062046,000078: 17,3304 00006 TJETLAW EXTEND # SAVE Q FOR RETURN.
062047,000079: 17,3305 23745 QXCH HOLDQ
062048,000080:
062049,000081: # SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
062050,000082:
062051,000083: 17,3306 51505 INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BER P AND U
062052,000084: 17,3307 33755 CAF AXISDIFF # AXISDIFF(0) = 0
062053,000085: 17,3310 55746 TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
062054,000086:
062055,000087: 17,3311 31427 CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
062056,000088: 17,3312 00006 EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
062057,000089: 17,3313 63320 BZMF NEGEDOT # POSITIVE EDOT.
062058,000090: 17,3314 31746 CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
062059,000091: 17,3315 55744 TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
062060,000092: 17,3316 33757 CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
062061,000093: 17,3317 13330 TCF SETSENSE # INITIALIZED POSITIVE.
062062,000094:
062063,000095: 17,3320 41752 NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
062064,000096: 17,3321 55752 TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
062065,000097: 17,3322 41427 CS EDOT # 1.COMPLEMENT E AND EDOT.
062066,000098: 17,3323 55427 TS EDOT # 2.SET SENSE OF ROTATION TO NEGATIVE
062067,000099: 17,3324 34753 CAF BIT1 # (REVERSED LATER IF NECESSARY).
062068,000100: 17,3325 27746 ADS ADRSDIF1 # 3.INCREMENT INDEXERS BY ONE SO THAT
062069,000101: 17,3326 55744 TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
062070,000102: 17,3327 43757 CS SENSOR
062071,000103: 17,3330 55740 SETSENSE TS ROTSENSE
062072,000104:
062073,000105: # TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
062074,000106: # IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
062075,000107: # IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
062076,000108:
062077,000109: 17,3331 31752 CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
062078,000110: 17,3332 00006 EXTEND
062079,000111: 17,3333 74747 MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
062080,000112: 17,3334 10000 CCS A # ZERO, RESCALE AND TEST EDOT.
062081,000113: 17,3335 13717 TCF RUFLAW2
062082,000114: 17,3336 13340 TCF SCALEE
062083,000115: 17,3337 13663 TCF RUFLAW1
062084,000116: 17,3340 34737 SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
062085,000117: 17,3341 00006 EXTEND # IT TO PI/4 AND SAVE IT.
062086,000118: 17,3342 70001 MP L
062087,000119: 17,3343 55752 TS E
062088,000120:
062089,000121: # TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
062090,000122: # IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
062091,000123: # IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
062092,000124:
062093,000125: 17,3344 31427 CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
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Page 1452 |
062095,000127: 17,3345 00006 EXTEND # FOR THIS AXIS=
062096,000128: 17,3346 74750 MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
062097,000129: 17,3347 00006 EXTEND # ZERO, THEN RESCALE AND USE FINELAW.
062098,000130: 17,3350 13352 BZF SCALEDOT
062099,000131: 17,3351 13725 TCF RUFLAW3
062100,000132:
062101,000133: # *** FINELAW STARTS HERE ***
062102,000134:
062103,000135: 17,3352 23427 SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
062104,000136:
062105,000137: 17,3353 31427 CAE EDOT # COMPUTE (EDOT)(EDOT)
062106,000138: 17,3354 00006 EXTEND
062107,000139: 17,3355 70000 SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
062108,000140: 17,3356 00006 EXTEND
062109,000141: 17,3357 74737 MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
062110,000142: 17,3360 55737 TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
062111,000143:
062112,000144: 17,3361 11752 ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
062113,000145: 17,3362 13365 TCF +3 # DEADBAND) REQUIRE MAXIMUM JETS?
062114,000146: 17,3363 13365 TCF +2
062115,000147: 17,3364 13365 TCF +1
062116,000148: 17,3365 63760 AD -3DEG
062117,000149: 17,3366 00006 EXTEND
062118,000150: 17,3367 51746 INDEX ADRSDIF1
062119,000151: 17,3370 61601 SU FIREDB
062120,000152: 17,3371 00006 EXTEND
062121,000153: 17,3372 63377 BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED|
062122,000154: 17,3373 34752 MAXJETS CAF TWO # IF YES : INCREMENT ADDRESS LOCATOR AND
062123,000155: 17,3374 27744 ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
062124,000156: 17,3375 34751 CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
062125,000157: 17,3376 13402 TCF TJCALC
062126,000158: 17,3377 11500 SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
062127,000159: 17,3400 13402 TCF TJCALC # YES. USE MIN-JET PARAMETERS.
062128,000160: 17,3401 13373 TCF MAXJETS # NO. GET MAX-JET PARAMETERS.
062129,000161: 17,3402 55743 TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
062130,000162:
062131,000163: # BEGINNING OF TJET CALCULATIONS:
062132,000164:
062133,000165: 17,3403 41737 CS EDOTSQ # SCALED AT PI(2)/2(8).
062134,000166: 17,3404 00006 EXTEND
062135,000167: 17,3405 51744 INDEX ADRSDIF2
062136,000168: 17,3406 71567 MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
062137,000169: 17,3407 51746 INDEX ADRSDIF1
062138,000170: 17,3410 61601 AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
062139,000171: 17,3411 00006 EXTEND
062140,000172: 17,3412 61752 SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
062141,000173: 17,3413 55741 TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
062142,000174: 17,3414 00006 EXTEND
062143,000175: 17,3415 63575 BZMF ZON1,2,3
062144,000176:
062145,000177: 17,3416 51746 ZONE4,5 INDEX ADRSDIF1
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Page 1453 |
062147,000179: 17,3417 31573 CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
062148,000180: 17,3420 00006 EXTEND # ACC = MAX(AMIN, AOS-).
062149,000181: 17,3421 71737 MP EDOTSQ # SCALED AT PI/2(8).
062150,000182: 17,3422 61752 AD E # SCALED AT PI/4
062151,000183: 17,3423 51746 INDEX ADRSDIF1
062152,000184: 17,3424 61603 AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
062153,000185: 17,3425 00006 EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
062154,000186: 17,3426 63461 BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
062155,000187: # IF FUNCTION POSITIVE, IN ZONE 4.
062156,000188:
062157,000189: # ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
062158,000190: # A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
062159,000191: # B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
062160,000192: # THEN THE THRUSTERS ARE KEPT ON.
062161,000193:
062162,000194: 17,3427 51505 ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
062163,000195: 17,3430 41525 CS TJETU # WITH SENSE OPPOSITE TO EDOT,
062164,000196: 17,3431 00006 EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD
062165,000197: 17,3432 71740 MP ROTSENSE # THE DESIRABLE STATE).
062166,000198: 17,3433 00006 EXTEND
062167,000199: 17,3434 63455 BZMF COASTTJ # NO. COAST.
062168,000200:
062169,000201: 17,3435 11555 JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT|
062170,000202: 17,3436 13447 TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
062171,000203:
062172,000204: 17,3437 41741 CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
062173,000205: 17,3440 51746 INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
062174,000206: 17,3441 61605 AD AXISDIST # PHASE PLANE|
062175,000207: 17,3442 00006 EXTEND
062176,000208: 17,3443 63455 BZMF COASTTJ # NO. SET TJET = 0.
062177,000209: 17,3444 03561 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
062178,000210: 17,3445 31741 CAE FIREFCT # AFTER COMPUTING THE REQUIRED
062179,000211: 17,3446 13615 TCF ZONE1 # PARAMETERS.
062180,000212:
062181,000213: 17,3447 51746 DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
062182,000214: 17,3450 41601 CS FIREDB # THIS POINT IN THE PHASE PLANE|
062183,000215: 17,3451 60000 DOUBLE
062184,000216: 17,3452 61741 AD FIREFCT
062185,000217: 17,3453 00006 EXTEND
062186,000218: 17,3454 63457 BZMF +3
062187,000219: 17,3455 34755 COASTTJ CAF ZERO # NO. SET TJET = 0.
062188,000220: 17,3456 13521 TCF RETURNTJ
062189,000221:
062190,000222: 17,3457 03561 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
062191,000223: 17,3460 13602 TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
062192,000224:
062193,000225: 17,3461 54001 ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
062194,000226: 17,3462 11740 CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
062195,000227: 17,3463 13467 TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
062196,000228: 17,3464 05675 TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
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Page 1454 |
062198,000230: 17,3465 44752 CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
062199,000231: 17,3466 27744 ADS ADRSDIF2
062200,000232:
062201,000233: 17,3467 30001 +4 CAE L
062202,000234: 17,3470 00006 EXTEND
062203,000235: 17,3471 51744 INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
062204,000236: 17,3472 71576 MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
062205,000237: 17,3473 20001 DDOUBL # BASED.
062206,000238: 17,3474 20001 DDOUBL
062207,000239: 17,3475 53750 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
062208,000240: 17,3476 51744 INDEX ADRSDIF2
062209,000241: 17,3477 31570 CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
062210,000242: 17,3500 00006 EXTEND
062211,000243: 17,3501 71427 MP EDOT # SCALED AT PI/2(5)
062212,000244: 17,3502 55742 TS TTOAXIS # SCALED AT 4 SEC.
062213,000245:
062214,000246: # TEST WHETHER TJET GREATER THAN 50 MSEC.
062215,000247:
062216,000248: 17,3503 00006 EXTEND
062217,000249: 17,3504 73767 MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
062218,000250: 17,3505 61747 AD HH # (SCALED AT 8 SEC(2) ).
062219,000251: 17,3506 67751 AD NEG2
062220,000252: 17,3507 00006 EXTEND
062221,000253: 17,3510 63536 BZMF FORMULA1
062222,000254:
062223,000255: # TEST WHETHER TJET GREATER THAN 150 MSEC.
062224,000256:
062225,000257: 17,3511 31742 CAE TTOAXIS
062226,000258: 17,3512 00006 EXTEND
062227,000259: 17,3513 73770 MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
062228,000260: 17,3514 61747 AD HH # (SCALED AT 8 SEC(2) )
062229,000261: 17,3515 63761 AD -.0112A8
062230,000262: 17,3516 00006 EXTEND
062231,000263: 17,3517 63546 BZMF FORMULA2
062232,000264:
062233,000265: # IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
062234,000266: # IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
062235,000267:
062236,000268: 17,3520 34741 FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
062237,000269:
062238,000270: # RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
062239,000271:
062240,000272: 17,3521 00006 RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
062241,000273: 17,3522 71740 MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
062242,000274: 17,3523 51505 INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
062243,000275: 17,3524 55525 TS TJETU
062244,000276: 17,3525 00006 EXTEND
062245,000277: 17,3526 51505 INDEX AXISCTR
062246,000278: 17,3527 71547 MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
062247,000279: 17,3530 30001 CAE L
062248,000280: 17,3531 00006 EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
062249,000281: 17,3532 63535 BZMF +3 # A MAX-JET CALCULATION.
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Page 1455 |
062251,000283: 17,3533 34751 CAF FOUR
062252,000284: 17,3534 55743 TS NUMBERT
062253,000285: 17,3535 01745 TC HOLDQ # RETURN VIA SAVED Q.
062254,000286:
062255,000287: # TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
062256,000288:
062257,000289: 17,3536 43766 FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
062258,000290: 17,3537 61742 AD TTOAXIS # SCALED AT 4 SECONDS.
062259,000291: 17,3540 53750 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
062260,000292: 17,3541 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
062261,000293: 17,3542 11747 DV HH # DP H AND DIVIDE BY DENOMINATOR.
062262,000294: 17,3543 00006 EXTEND
062263,000295: 17,3544 74736 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
062264,000296: 17,3545 13656 TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
062265,000297:
062266,000298: # TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
062267,000299:
062268,000300: 17,3546 00006 FORMULA2 EXTEND
062269,000301: 17,3547 33772 DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
062270,000302: 17,3550 21750 DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
062271,000303: # BE PRESERVED.
062272,000304: 17,3551 31742 CAE TTOAXIS # SCALED AT 4 SEC.
062273,000305: 17,3552 63762 AD .1AT4 # 0.1 SEC SCALED AT 4.
062274,000306: 17,3553 53750 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
062275,000307: 17,3554 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
062276,000308: 17,3555 11747 DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
062277,000309: 17,3556 00006 EXTEND
062278,000310: 17,3557 74736 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
062279,000311: 17,3560 13521 TCF RETURNTJ # END SUBROUTINE.
062280,000312:
062281,000313: # SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
062282,000314:
062283,000315: # REACHED BY TC FROM 3 POINTS IN TJETLAW.
062284,000316:
062285,000317: 17,3561 41740 Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
062286,000318: 17,3562 55740 TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
062287,000319: 17,3563 31427 CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
062288,000320: 17,3564 00006 EXTEND
062289,000321: 17,3565 51744 INDEX ADRSDIF2
062290,000322: 17,3566 71567 MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
062291,000323: 17,3567 55742 TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
062292,000324: 17,3570 63773 AD -TJMAX
062293,000325: 17,3571 00006 EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
062294,000326: 17,3572 63574 BZMF +2
062295,000327: 17,3573 13520 TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
062296,000328: 17,3574 00002 RETURN # YES. GO ON TO FIND TJET
062297,000329:
062298,000330: 17,3575 03561 ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
062299,000331:
062300,000332: # IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
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Page 1456 |
062302,000334: # LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
062303,000335: # OR ULLAGE, FLAT = 0
062304,000336:
062305,000337: 17,3576 31741 CAE FIREFCT # SCALED AT PI/4 RAD.
062306,000338: 17,3577 61555 AD FLAT
062307,000339: 17,3600 00006 EXTEND
062308,000340: 17,3601 63615 BZMF ZONE1 # NOT IN SPECIAL ZONES.
062309,000341:
062310,000342: # FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
062311,000343:
062312,000344: 17,3602 41556 ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
062313,000345: 17,3603 61742 AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
062314,000346: 17,3604 00006 EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
062315,000347: 17,3605 63610 BZMF ZONE3
062316,000348: 17,3606 31742 ZONE2 CAE TTOAXIS # FIRE TO AXIS.
062317,000349: 17,3607 13521 TCF RETURNTJ
062318,000350: 17,3610 11427 ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
062319,000351: 17,3611 34746 CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
062320,000352: 17,3612 13521 TCF RETURNTJ # TJET = +0.
062321,000353: 17,3613 05675 TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
062322,000354: 17,3614 13521 TCF RETURNTJ # TJET = +0.
062323,000355:
062324,000356: 17,3615 00006 ZONE1 EXTEND
062325,000357: 17,3616 51746 INDEX ADRSDIF1
062326,000358: 17,3617 61605 SU AXISDIST # SCALED AT PI/4 RAD.
062327,000359: 17,3620 00006 EXTEND
062328,000360: 17,3621 51744 INDEX ADRSDIF2
062329,000361: 17,3622 71575 MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
062330,000362: 17,3623 20001 DDOUBL
062331,000363: 17,3624 20001 DDOUBL
062332,000364: 17,3625 53750 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
062333,000365:
062334,000366: # TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
062335,000367: # 2 2
062336,000368: # IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS )
062337,000369:
062338,000370: 17,3626 31742 CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS.
062339,000371: 17,3627 63773 AD -TJMAX # -.150 SECOND SCALED AT 4.
062340,000372: 17,3630 00006 EXTEND
062341,000373: 17,3631 70000 SQUARE
062342,000374: 17,3632 00006 EXTEND
062343,000375: 17,3633 61747 SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
062344,000376: 17,3634 00006 EXTEND
062345,000377: 17,3635 63520 BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
062346,000378:
062347,000379: # TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
062348,000380:
062349,000381: 17,3636 31747 CAE HH
062350,000382: 17,3637 67751 AD NEG2
062351,000383: 17,3640 00006 EXTEND
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Page 1457 |
062353,000385: 17,3641 63651 BZMF FORMULA3
062354,000386:
062355,000387:
062356,000388: # TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
062357,000389:
062358,000390: 17,3642 33763 CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
062359,000391: 17,3643 53750 DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
062360,000392: 17,3644 00006 EXTEND # PRESERVED.
062361,000393: 17,3645 11747 DV HH # QUOTIENT SCALED AT 4 SECONDS.
062362,000394: 17,3646 61742 AD TTOAXIS # SCALED AT 4 SEC.
062363,000395: 17,3647 63764 AD .0375AT4 # .0375 SEC SCALED AT 4.
062364,000396: 17,3650 13521 TCF RETURNTJ # END COMPUTATION.
062365,000397:
062366,000398: # TJET = H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
062367,000399:
062368,000400: 17,3651 43765 FORMULA3 CS -.025AT2 # STORE +.025 SEC SCALED AT 2 FOR DIVISION
062369,000401: 17,3652 53750 DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
062370,000402: 17,3653 00006 EXTEND # PRESERVED.
062371,000403: 17,3654 11747 DV HH # QUOTIENT SCALED AT 4 SECONDS.
062372,000404: 17,3655 61742 AD TTOAXIS # SCALED AT 4 SEC.
062373,000405:
062374,000406: # IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
062375,000407: # MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
062376,000408:
062377,000409: 17,3656 63775 CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
062378,000410: 17,3657 00006 EXTEND
062379,000411: 17,3660 63455 BZMF COASTTJ # YES, SET TIME TO ZERO.
062380,000412: 17,3661 63774 AD TJMIN # NO, RESTORE COMPUTED TIME.
062381,000413: 17,3662 13521 TCF RETURNTJ # END COMPUTATION.
062382,000414:
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Page 1458 |
062384,000416: # *** ROUGHLAW ***
062385,000417:
062386,000418: # BEFORE ENTRY TO RUFLAW:
062387,000419: # 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
062388,000420: # 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
062389,000421: # 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
062390,000422: # (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
062391,000423:
062392,000424: # RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.).
062393,000425: # RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
062394,000426: # RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
062395,000427:
062396,000428: 17,3663 43776 RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
062397,000429: 17,3664 27427 ADS EDOT # WHICH IS THE TARGET RATE
062398,000430: 17,3665 00006 EXTEND
062399,000431: 17,3666 63707 BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
062400,000432: 17,3667 03745 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
062401,000433: 17,3670 31427 CAE EDOT # PICK UP DESIRED RATE CHANGE.
062402,000434:
062403,000435: 17,3671 00006 RUFLAW12 EXTEND # COMPUTE TJET
062404,000436: 17,3672 51744 INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
062405,000437: 17,3673 71571 MP 1/ANET1 +2
062406,000438: 17,3674 67744 AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
062407,000439: 17,3675 00006 EXTEND # 4 SECONDS, SET TJET TO TJMAX.
062408,000440: 17,3676 63700 BZMF +2
062409,000441: 17,3677 13520 TCF FULLTIME
062410,000442: 17,3700 00006 EXTEND
062411,000443: 17,3701 13520 BZF FULLTIME
062412,000444: 17,3702 64740 AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR.
062413,000445: 17,3703 20001 DAS A
062414,000446: 17,3704 20001 DAS A
062415,000447: 17,3705 20001 DAS A # RESCALED TJET AT 4 SECONDS.
062416,000448: 17,3706 13656 TCF CHKMINTJ # RETURN AS FROM FINELAW.
062417,000449:
062418,000450: 17,3707 03747 SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
062419,000451: 17,3710 11740 CCS ROTSENSE
062420,000452: 17,3711 34753 CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
062421,000453: 17,3712 13714 TCF +2 # CORRESPONDING TO THE PROPER SENSE.
062422,000454: 17,3713 37752 CAF NEGONE
062423,000455: 17,3714 27744 ADS ADRSDIF2
062424,000456:
062425,000457: 17,3715 41427 CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
062426,000458: 17,3716 13671 TCF RUFLAW12
062427,000459:
062428,000460: 17,3717 03745 RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
062429,000461: 17,3720 33776 CAF RUFRATE
062430,000462: 17,3721 61427 AD EDOT # (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG.
062431,000463: 17,3722 54000 TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
062432,000464: 17,3723 13671 TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
062433,000465: 17,3724 13520 TCF FULLTIME
062434,000466:
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Page 1459 |
062436,000468: 17,3725 03745 RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
062437,000469: 17,3726 51746 INDEX ADRSDIF1
062438,000470: 17,3727 41601 CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
062439,000471: 17,3730 61752 AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
062440,000472: 17,3731 00006 EXTEND # SCALED AT 4 PI RADIANS
062441,000473: 17,3732 74741 MP BIT11
062442,000474: 17,3733 57427 XCH EDOT
062443,000475: 17,3734 00006 EXTEND
062444,000476: 17,3735 70000 SQUARE
062445,000477: 17,3736 00006 EXTEND
062446,000478: 17,3737 51746 INDEX ADRSDIF1
062447,000479: 17,3740 71571 MP 1/ANET1 +2
062448,000480: 17,3741 61427 AD EDOT
062449,000481: 17,3742 00006 EXTEND
062450,000482: 17,3743 63455 BZMF COASTTJ # COAST IF BELOW IT.
062451,000483: 17,3744 13520 TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
062452,000484:
062453,000485: # SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
062454,000486:
062455,000487: 17,3745 41740 RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
062456,000488: 17,3746 55740 TS ROTSENSE
062457,000489: 17,3747 34751 +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
062458,000490: 17,3750 55743 TS NUMBERT
062459,000491: 17,3751 34735 CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS.
062460,000492: 17,3752 55741 TS FIREFCT
062461,000493: 17,3753 00002 TC Q
062462,000494:
062463,000495: # CONSTANTS FOR TJETLAW
062464,000496:
062465,000497: 17,3754 77757 DEC -16 B-14 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
062466,000498: 17,3755 00000 AXISDIFF DEC +0 B-14 # BETWEEN STORED 1/ACCS PARAMETERS FOR
062467,000499: 17,3756 00020 DEC 16 B-14 # THE INDEXED AXIS AND THE U-AXIS.
062468,000500: 17,3757 14400 SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
062469,000501: # (4 SEC) TO SCALING FOR T6 (10.24 SEC).
062470,000502: 17,3760 75673 -3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
062471,000503: 17,3761 77750 -.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
062472,000504: 17,3762 00632 .1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
062473,000505: 17,3763 01463 .1AT2 DEC .05 # 0.1 SEC SCALED AT 2.
062474,000506: 17,3764 00232 .0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
062475,000507: 17,3765 77462 -.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
062476,000508: 17,3766 77631 -.025AT4 DEC -.00625
062477,000509: 17,3767 77145 -.05AT2 DEC -.025
062478,000510: 17,3770 75462 -.15AT2 DEC -.075
062479,000511: 17,3771 00007 25605 .00375A8 2DEC .00375 B-3
062480,000512:
062481,000513: 17,3773 76631 -TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
062482,000514: 17,3774 00122 TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
062483,000515: 17,3775 77655 -TJMIN DEC -.005
062484,000516: 17,3776 04476 RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
End of include-file TJET_LAW.agc. Parent file is MAIN.agc