Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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014267,000002: ## Copyright: Public domain.
014268,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014269,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
014270,000005: ## This was the original program released for the Apollo 13 LM,
014271,000006: ## although several more revisions would follow. It has been
014272,000007: ## reconstructed from a listing of Luminary 131, from which it
014273,000008: ## differs on only two lines in P70-P71. The difference is
014274,000009: ## described in detail in Luminary memo #129, which was used
014275,000010: ## to perform the reconstruction. This file is intended to be a
014276,000011: ## faithful reconstruction, except that the code format has been
014277,000012: ## changed to conform to the requirements of the yaYUL assembler
014278,000013: ## rather than the original YUL assembler.
014279,000014: ## Reference: pp. 344-365
014280,000015: ## Contact: Ron Burkey <info@sandroid.org>.
014281,000016: ## Website: www.ibiblio.org/apollo/index.html
014282,000017: ## Mod history: 05/10/03 RSB. Began transcribing.
014283,000018: ## 05/14/05 RSB Corrected website reference above.
014284,000019: ## 2010-08-24 JL Added missing page number comments.
014285,000020: ## 2017-01-06 RSB Page numbers now agree with those on the
014286,000021: ## original harcopy, as opposed to the PDF page
014287,000022: ## numbers in 1701.pdf.
014288,000023: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
014289,000024: ## 2017-02-28 RSB Fixed lingering typos.
014290,000025: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014291,000026: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
014292,000027: ## side-by-side diff of Luminary 69/99/116/131/210.
014293,000028: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
014294,000029:
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Page 344
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014296,000031: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
014297,000032:
014298,000033: # MOD 2 DATE 5/1/67 BY DON KEENE
014299,000034:
014300,000035: # PROGRAM DESCRIPTION
014301,000036:
014302,000037: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014303,000038: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014304,000039: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014305,000040: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014306,000041: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014307,000042:
014308,000043: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014309,000044: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014310,000045: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014311,000046:
014312,000047: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014313,000048: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014314,000049:
014315,000050: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014316,000051: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014317,000052: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014318,000053: # -
014319,000054: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014320,000055: # -
014321,000056: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014322,000057: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014323,000058: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014324,000059:
014325,000060: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014326,000061: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014327,000062: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014328,000063: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014329,000064: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014330,000065: # -
014331,000066: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014332,000067:
014333,000068: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014334,000069: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014335,000070: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014336,000071: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014337,000072: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014338,000073: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014339,000074: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014340,000075: # DESIRED FINAL GIMBAL ANGLES.
014341,000076:
014342,000077: # PROGRAM LOGIC FLOW
014343,000078:
014344,000079: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014345,000080: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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014347,000082: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014348,000083: # * * *
014349,000084: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014350,000085: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014351,000086:
014352,000087: # A) AM LESS THAN .25 DEGREES (MINANG)
014353,000088: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014354,000089:
014355,000090: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014356,000091: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014357,000092:
014358,000093: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014359,000094: # - *
014360,000095: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014361,000096: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014362,000097: # -
014363,000098: # TO DETERMINE COF.
014364,000099:
014365,000100: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014366,000101: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014367,000102: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014368,000103: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014369,000104: # YAW.
014370,000105:
014371,000106: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014372,000107: # -
014373,000108: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014374,000109: # DESIRED REFERENCE MATRIX IS THEN,
014375,000110: # * * *
014376,000111: # MIS = MIS DEL
014377,000112: # N+1 N
014378,000113: # *
014379,000114: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014380,000115: # *
014381,000116: # FROM MIS.
014382,000117:
014383,000118: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014384,000119: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014385,000120: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014386,000121: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014387,000122: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014388,000123: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014389,000124:
014390,000125: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014391,000126: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014392,000127:
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014394,000129: # CALLING SEQUENCE
014395,000130:
014396,000131: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014397,000132: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014398,000133: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014399,000134: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014400,000135: # *
014401,000136: # CAF PRIO XX
014402,000137: # --
014403,000138: # INHINT
014404,000139: # TC FINDVAC
014405,000140: # 2CADR KALCMAN3
014406,000141: # RELINT
014407,000142:
014408,000143: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014409,000144: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014410,000145:
014411,000146: # L TC BANKCALL
014412,000147: # L+1 CADR ATTSTALL
014413,000148: # L+2 (BAD RETURN)
014414,000149: # L+3 (GOOD RETURN)
014415,000150:
014416,000151: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014417,000152: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014418,000153: # WAS IN GIMBAL LOCK.
014419,000154:
014420,000155: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014421,000156: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014422,000157:
014423,000158: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014424,000159: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014425,000160: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014426,000161: # SUBROUTINES
014427,000162:
014428,000163: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014429,000164: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014430,000165:
014431,000166: # MXM3
014432,000167: # ----
014433,000168:
014434,000169: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014435,000170: # DOWN LIST, I.E.,
014436,000171: # ( M M M )
014437,000172: # ( 0 1 2 )
014438,000173: # * ( ) * *
014439,000174: # M = ( M M M ) = M1 X M2
014440,000175: # ( 3 4 5 )
014441,000176: # ( )
014442,000177: # ( M M M )
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014444,000179: # ( 6 7 8 )
014445,000180: # *
014446,000181: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014447,000182: # *
014448,000183: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014449,000184: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014450,000185: # 8
014451,000186: # TRANSPOS
014452,000187: # --------
014453,000188:
014454,000189: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014455,000190: #
014456,000191: # * * T
014457,000192: # M = M1
014458,000193:
014459,000194: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014460,000195: # *
014461,000196: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014462,000197:
014463,000198: # CDU TO DCM
014464,000199: # ----------
014465,000200:
014466,000201: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014467,000202: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014468,000203:
014469,000204: # M = COSY COSZ
014470,000205: # 0
014471,000206:
014472,000207: # M = -COSY SINZ COSX + SINY SINX
014473,000208: # 1
014474,000209:
014475,000210: # M = COSY SINZ SINX + SINY COSX
014476,000211: # 2
014477,000212:
014478,000213: # M = SINZ
014479,000214: # 3
014480,000215:
014481,000216: # M = COSZ COSX
014482,000217: # 4
014483,000218:
014484,000219: # M = -COSZ SINX
014485,000220: # 5
014486,000221:
014487,000222: # M = -SINY COSZ
014488,000223: # 6
014489,000224: #
014490,000225: # M = SINY SINZ COSX + COSY SINX
014491,000226: # 7
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014493,000228: # M = -SINY SINZ SINX + COSY COSX
014494,000229: # 8
014495,000230:
014496,000231: # WHERE X = OUTER GIMBAL ANGLE
014497,000232: # Y = INNER GIMBAL ANGLE
014498,000233: # Z = MIDDLE GIMBAL ANGLE
014499,000234:
014500,000235: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014501,000236:
014502,000237: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014503,000238: # X Y Z
014504,000239: # STABLE MEMBER AXES (B , B , B ) ARE
014505,000240: # X Y Z
014506,000241:
014507,000242: # ( B ) ( A )
014508,000243: # ( X ) ( X )
014509,000244: # ( ) ( )
014510,000245: # ( ) * ( )
014511,000246: # ( B ) = M ( A )
014512,000247: # ( Y ) ( Y )
014513,000248: # ( ) ( )
014514,000249: # ( B ) ( A )
014515,000250: # ( Z ) ( Z )
014516,000251:
014517,000252: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014518,000253: # *
014519,000254: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014520,000255:
014521,000256: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014522,000257: # REGISTER X2.
014523,000258:
014524,000259: # DCM TO CDU
014525,000260: # ----------
014526,000261: # *
014527,000262: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROMA DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014528,000263: # *
014529,000264: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014530,000265: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014531,000266: # FOR THIS CONVERSION ARE
014532,000267:
014533,000268: # Z = ARCSIN (M )
014534,000269: # 3
014535,000270:
014536,000271: # Y = ARCSIN (-M /COSZ)
014537,000272: # 6
014538,000273:
014539,000274: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014540,000275: # 0
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014542,000277: # X = ARCSIN (-M /COSZ)
014543,000278: # 5
014544,000279:
014545,000280: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014546,000281: # 4
014547,000282:
014548,000283: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014549,000284: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014550,000285: # THE PUSH DOWN LIST.
014551,000286:
014552,000287: # DELCOMP
014553,000288: # -------
014554,000289: # *
014555,000290: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014556,000291: # -
014557,000292: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014558,000293:
014559,000294: # * * - -T *
014560,000295: # DEL = I COSA + U U (1 - COSA) + V SINA
014561,000296: # X
014562,000297:
014563,000298: # WHERE * ( 1 0 0 )
014564,000299: # I = ( 0 1 0 )
014565,000300: # ( 0 0 1 )
014566,000301:
014567,000302: # 2
014568,000303: # ( U U U U U )
014569,000304: # ( X X Y X Z )
014570,000305: # ( )
014571,000306: # - -T ( 2 )
014572,000307: # U U = ( U U U U U )
014573,000308: # ( Y X Y Y Z )
014574,000309: # ( )
014575,000310: # ( 2 )
014576,000311: # ( U U U U U )
014577,000312: # ( Z X Z Y Z )
014578,000313:
014579,000314:
014580,000315: # ( 0 -U U )
014581,000316: # ( Z Y )
014582,000317: # * ( )
014583,000318: # V = ( U 0 -U )
014584,000319: # X ( Z X )
014585,000320: # ( )
014586,000321: # ( -U U 0 )
014587,000322: # ( Y X )
014588,000323:
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014590,000325: # -
014591,000326: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014592,000327: # A = ROTATION ANGLE
014593,000328:
014594,000329: # *
014595,000330: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014596,000331:
014597,000332: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014598,000333: # X Y Z
014599,000334: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014600,000335: # X Y Z
014601,000336:
014602,000337: # ( B ) ( A )
014603,000338: # ( X ) ( X )
014604,000339: # ( ) * ( )
014605,000340: # ( B ) = DEL ( A )
014606,000341: # ( Y ) ( Y )
014607,000342: # ( ) ( )
014608,000343: # ( B ) ( A )
014609,000344: # ( Z ) ( Z )
014610,000345:
014611,000346: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014612,000347: # -
014613,000348: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014614,000349: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014615,000350: # MUST THEN BE LOADED INTO D(MPAC).
014616,000351: #
014617,000352: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014618,000353:
014619,000354: # READCDUK
014620,000355: # --------
014621,000356:
014622,000357: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014623,000358:
014624,000359: # SIGNMPAC
014625,000360: # --------
014626,000361:
014627,000362: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014628,000363:
014629,000364: # PROGRAM STORAGE ALLOCATION
014630,000365:
014631,000366: # 1) FIXED MEMORY 1059 WORDS
014632,000367: # 2) ERASABLE MEMORY 98
014633,000368: # 3) STATE SWITCHES 3
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014635,000370: # 4) FLAGS 1
014636,000371:
014637,000372: # JOB PRIORITIES
014638,000373:
014639,000374: # 1) KALCMANU TBD
014640,000375: # 2) ONE SECOND UPDATE TBD
014641,000376:
014642,000377: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014643,000378:
014644,000379: # STATE FLAGWRD 2 SETTING MEANING
014645,000380: # SWITCH NO. BIT NO.
014646,000381:
014647,000382: # *
014648,000383: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014649,000384: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014650,000385: # *
014651,000386: # 32 13 0 CONTINUE UPDATE PROCESS
014652,000387: # 1 START UPDATE PROCESS
014653,000388:
014654,000389: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014655,000390: # 1 IGNORE ANY FINAL P-AXIS YAW
014656,000391:
014657,000392: # 34 11 0 SIGNAL END OF KALCMANU
014658,000393: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014659,000394:
014660,000395: # * INTERNAL TO KALCMANU
014661,000396:
014662,000397: # SUGGESTIONS FOR PROGRAM INTEGRATION
014663,000398:
014664,000399: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014665,000400:
014666,000401: # CPHI
014667,000402: # CTHETA
014668,000403: # CPSI
014669,000404: # POINTVSM +5
014670,000405: # SCAXIS +5
014671,000406: # DELDCDU
014672,000407: # DELDCDU1
014673,000408: # DELDCDU2
014674,000409: # RATEINDX
014675,000410:
014676,000411: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014677,000412:
014678,000413: # MXM3
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014680,000415: # TRANSPOS
014681,000416: # SIGNMPAC
014682,000417: # READCDUK
014683,000418: # CDUTODCM
014684,000419:
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014686,000421: 15,2050 BANK 15
014687,000422: 22,2000 SETLOC KALCMON1
014688,000423: 22,2000 BANK
014689,000424:
014690,000425: 22,2004 E6,1675 EBANK= BCDU
014691,000426:
014692,000427: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014693,000428: # LOCATIONS, CPHI, CTHETA, CPSI.
014694,000429:
014695,000430: 22,2004 COUNT* $$/KALC
014696,000431: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014697,000432: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014698,000433: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014699,000434: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
014700,000435: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014701,000436: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014702,000437: 22,2012 51025 DSU BPL
014703,000438: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014704,000439: 22,2014 44724 TOOBADF
014705,000440: 22,2015 72364 AXC,2 TLOAD
014706,000441: 22,2016 03245 MIS
014707,000442: 22,2017 03276 BCDU
014708,000443: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014709,000444: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014710,000445: 22,2022 72364 AXC,2 TLOAD
014711,000446: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014712,000447: 22,2024 00322 CPHI
014713,000448: 22,2025 77624 CALL
014714,000449: 22,2026 44410 CDUTODCM
014715,000450: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014716,000451: 22,2030 03245 MIS
014717,000452: 22,2031 44326 TRANSPOS
014718,000453: 22,2032 45575 VLOAD STADR
014719,000454: 22,2033 50460 STOVL TMIS +12D
014720,000455: 22,2034 77626 STADR
014721,000456: 22,2035 50466 STOVL TMIS +6
014722,000457: 22,2036 77626 STADR
014723,000458: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014724,000459: 22,2040 75160 AXC,1 AXC,2
014725,000460: 22,2041 03302 TMIS
014726,000461: 22,2042 02230 MFS
014727,000462: 22,2043 77624 CALL
014728,000463: 22,2044 44312 MXM3
014729,000464: 22,2045 45575 VLOAD STADR
014730,000465: 22,2046 51532 STOVL MFI +12D
014731,000466: 22,2047 77626 STADR
014732,000467: 22,2050 51540 STOVL MFI +6
014733,000468: 22,2051 77626 STADR
014734,000469: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014735,000470: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 354
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014737,000472: 22,2054 00023 18D
014738,000473: 22,2055 44335 TRNSPSPD
014739,000474: 22,2056 45575 VLOAD STADR
014740,000475: 22,2057 50460 STOVL TMFI +12D
014741,000476: 22,2060 77626 STADR
014742,000477: 22,2061 50466 STOVL TMFI +6
014743,000478: 22,2062 77626 STADR
014744,000479: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014745,000480:
014746,000481: # CALCULATE COFSKEW AND MFISYM
014747,000482:
014748,000483: 22,2064 45345 DLOAD DSU
014749,000484: 22,2065 03305 TMFI +2
014750,000485: 22,2066 02233 MFI +2
014751,000486: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014752,000487: 22,2070 02235 MFI +4
014753,000488: 22,2071 03307 TMFI +4
014754,000489: 22,2072 45325 PDDL DSU
014755,000490: 22,2073 03315 TMFI +10D
014756,000491: 22,2074 02243 MFI +10D
014757,000492: 22,2075 77666 VDEF
014758,000493: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
014759,000494:
014760,000495: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014761,000496:
014762,000497: 22,2077 43345 DLOAD DAD
014763,000498: 22,2100 02231 MFI
014764,000499: 22,2101 02251 MFI +16D
014765,000500: 22,2102 43225 DSU DAD
014766,000501: 22,2103 06514 DP1/4TH
014767,000502: 22,2104 02241 MFI +8D
014768,000503: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014769,000504: 22,2106 77726 ARCCOS
014770,000505: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014771,000506: 22,2110 51025 DSU BPL
014772,000507: 22,2111 04363 MINANG
014773,000508: 22,2112 44117 CHECKMAX
014774,000509: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014775,000510: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014776,000511: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
014777,000512: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014778,000513:
014779,000514: 22,2117 45345 CHECKMAX DLOAD DSU
014780,000515: 22,2120 03335 AM
014781,000516: 22,2121 04365 MAXANG
014782,000517: 22,2122 77244 BPL VLOAD
014783,000518: 22,2123 44131 ALTCALC # UNIT
014784,000519: 22,2124 03325 COFSKEW # COFSKEW
014785,000520: 22,2125 77656 UNIT
014786,000521: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
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014788,000523: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014789,000524: 22,2130 44744 LOCSKIRT
014790,000525: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014791,000526: 22,2132 02231 MFI
014792,000527: 22,2133 03303 TMFI
014793,000528: 22,2134 77762 VSR1
014794,000529: 22,2135 27303 STOVL MFISYM
014795,000530: 22,2136 02237 MFI +6
014796,000531: 22,2137 74455 VAD VSR1
014797,000532: 22,2140 03311 TMFI +6
014798,000533: 22,2141 27311 STOVL MFISYM +6
014799,000534: 22,2142 02245 MFI +12D
014800,000535: 22,2143 74455 VAD VSR1
014801,000536: 22,2144 03317 TMFI +12D
014802,000537: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014803,000538:
014804,000539: # CALCULATE COF
014805,000540:
014806,000541: 22,2146 70545 DLOAD SR1
014807,000542: 22,2147 03333 CAM
014808,000543: 22,2150 45325 PDDL DSU # PDO CAM $4
014809,000544: 22,2151 06522 DPHALF
014810,000545: 22,2152 03333 CAM
014811,000546: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014812,000547: 22,2154 21713 SIGNMPAC
014813,000548: 22,2155 03323 MFISYM +16D
014814,000549: 22,2156 56225 DSU DDV
014815,000550: 22,2157 00001 0
014816,000551: 22,2160 00003 2
014817,000552: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014818,000553: 22,2162 03313 MFISYM +8D # $ ROOT 2
014819,000554: 22,2163 56225 DSU DDV
014820,000555: 22,2164 00001 0
014821,000556: 22,2165 00003 2
014822,000557: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014823,000558: 22,2167 03303 MFISYM
014824,000559: 22,2170 56225 DSU DDV
014825,000560: 22,2171 00001 0
014826,000561: 22,2172 00003 2
014827,000562: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014828,000563: 22,2174 77656 UNIT
014829,000564: 22,2175 03270 STORE COF
014830,000565:
014831,000566: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014832,000567:
014833,000568: 22,2176 45345 COFMAXGO DLOAD DSU
014834,000569: 22,2177 03270 COF
014835,000570: 22,2200 03272 COF +2
014836,000571: 22,2201 71240 BMN DLOAD # COFY G COFX
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014838,000573: 22,2202 44211 COMP12
014839,000574: 22,2203 03270 COF
014840,000575: 22,2204 50025 DSU BMN
014841,000576: 22,2205 03274 COF +4
014842,000577: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014843,000578: 22,2207 77650 GOTO
014844,000579: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014845,000580: 22,2211 45345 COMP12 DLOAD DSU
014846,000581: 22,2212 03272 COF +2
014847,000582: 22,2213 03274 COF +4
014848,000583: 22,2214 77640 BMN
014849,000584: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014850,000585:
014851,000586: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014852,000587: 22,2217 03327 COFSKEW +2 # UY
014853,000588: 22,2220 44224 U2POS
014854,000589: 22,2221 57575 VLOAD VCOMP
014855,000590: 22,2222 03270 COF
014856,000591: 22,2223 03270 STORE COF
014857,000592: 22,2224 51145 U2POS DLOAD BPL
014858,000593: 22,2225 03305 MFISYM +2 # UX UY
014859,000594: 22,2226 44232 OKU21
014860,000595: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014861,000596: 22,2230 03270 COF
014862,000597: 22,2231 03270 STORE COF
014863,000598: 22,2232 51145 OKU21 DLOAD BPL
014864,000599: 22,2233 03315 MFISYM +10D # UY UZ
014865,000600: 22,2234 44744 LOCSKIRT
014866,000601: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014867,000602: 22,2236 03274 COF +4
014868,000603: 22,2237 03274 STORE COF +4
014869,000604: 22,2240 77650 GOTO
014870,000605: 22,2241 44744 LOCSKIRT
014871,000606: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014872,000607: 22,2243 03325 COFSKEW # UX
014873,000608: 22,2244 44250 U1POS
014874,000609: 22,2245 57575 VLOAD VCOMP
014875,000610: 22,2246 03270 COF
014876,000611: 22,2247 03270 STORE COF
014877,000612: 22,2250 51145 U1POS DLOAD BPL
014878,000613: 22,2251 03305 MFISYM +2 # UX UY
014879,000614: 22,2252 44256 OKU12
014880,000615: 22,2253 57545 DLOAD DCOMP
014881,000616: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
014882,000617: 22,2255 03272 STORE COF +2
014883,000618: 22,2256 51145 OKU12 DLOAD BPL
014884,000619: 22,2257 03307 MFISYM +4 # UX UZ
014885,000620: 22,2260 44744 LOCSKIRT
014886,000621: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014887,000622: 22,2262 03274 COF +4
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Page 357
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014889,000624: 22,2263 03274 STORE COF +4
014890,000625: 22,2264 77650 GOTO
014891,000626: 22,2265 44744 LOCSKIRT
014892,000627: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014893,000628: 22,2267 03331 COFSKEW +4 # UZ
014894,000629: 22,2270 44274 U3POS
014895,000630: 22,2271 57575 VLOAD VCOMP
014896,000631: 22,2272 03270 COF
014897,000632: 22,2273 03270 STORE COF
014898,000633: 22,2274 51145 U3POS DLOAD BPL
014899,000634: 22,2275 03307 MFISYM +4 # UX UZ
014900,000635: 22,2276 44302 OKU31
014901,000636: 22,2277 57545 DLOAD DCOMP
014902,000637: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
014903,000638: 22,2301 03270 STORE COF
014904,000639: 22,2302 51145 OKU31 DLOAD BPL
014905,000640: 22,2303 03315 MFISYM +10D # UY UZ
014906,000641: 22,2304 44744 LOCSKIRT
014907,000642: 22,2305 57545 DLOAD DCOMP
014908,000643: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
014909,000644: 22,2307 03272 STORE COF +2
014910,000645: 22,2310 77650 GOTO
014911,000646: 22,2311 44744 LOCSKIRT
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Page 358
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014913,000648: # MATRIX OPERATIONS
014914,000649:
014915,000650: 13,2207 BANK 13
014916,000651: 22,2000 SETLOC KALCMON2
014917,000652: 22,2000 BANK
014918,000653:
014919,000654: 22,2312 E6,1675 EBANK= BCDU
014920,000655:
014921,000656: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014922,000657: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014923,000658: 22,2314 00001 0,1 # AND MPAC
014924,000659: 22,2315 62703 VXM* PDVL*
014925,000660: 22,2316 77776 0,2
014926,000661: 22,2317 00007 6,1
014927,000662: 22,2320 62703 VXM* PDVL*
014928,000663: 22,2321 77776 0,2
014929,000664: 22,2322 00015 12D,1
014930,000665: 22,2323 41503 VXM* PUSH
014931,000666: 22,2324 77776 0,2
014932,000667: 22,2325 77616 RVQ
014933,000668:
014934,000669: # RETURN WITH M1XM2 IN PD LIST
014935,000670:
014936,000671: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014937,000672: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014938,000673: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014939,000674: 22,2331 62713 PDVL* PDVL*
014940,000675: 22,2332 00007 6,1
014941,000676: 22,2333 00015 12D,1
014942,000677: 22,2334 77606 PUSH # MATRIX IN PD
014943,000678: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014944,000679: 22,2336 50120 INDEX FIXLOC
014945,000680: 22,2337 52013 DXCH 12
014946,000681: 22,2340 50120 INDEX FIXLOC
014947,000682: 22,2341 52017 DXCH 16
014948,000683: 22,2342 50120 INDEX FIXLOC
014949,000684: 22,2343 52013 DXCH 12
014950,000685: 22,2344 50120 INDEX FIXLOC
014951,000686: 22,2345 52015 DXCH 14
014952,000687: 22,2346 50120 INDEX FIXLOC
014953,000688: 22,2347 52005 DXCH 4
014954,000689: 22,2350 50120 INDEX FIXLOC
014955,000690: 22,2351 52015 DXCH 14
014956,000691: 22,2352 50120 INDEX FIXLOC
014957,000692: 22,2353 52003 DXCH 2
014958,000693: 22,2354 50120 INDEX FIXLOC
014959,000694: 22,2355 52007 DXCH 6
014960,000695: 22,2356 50120 INDEX FIXLOC
014961,000696: 22,2357 52003 DXCH 2
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014963,000698: 22,2360 06042 TC INTPRET
014964,000699: 22,2361 77616 RVQ
014965,000700:
014966,000701: 15,2050 BANK 15
014967,000702: 22,2000 SETLOC KALCMON1
014968,000703: 22,2000 BANK
014969,000704:
014970,000705: 22,2362 E6,1675 EBANK= BCDU
014971,000706:
014972,000707: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014973,000708: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014974,000709:
014975,000710: # GIMBAL LOCK CONSTANTS
014976,000711:
014977,000712: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014978,000713: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014979,000714:
014980,000715: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014981,000716: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014982,000717: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014983,000718: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014984,000719: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014985,000720: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014986,000721: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014987,000722:
014988,000723: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014989,000724:
014990,000725: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014991,000726: 22,2404 54156 TS MPAC +2
014992,000727: 22,2405 00006 EXTEND
014993,000728: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014994,000729: 22,2407 16501 TCF TLOAD +6
014995,000730:
014996,000731: 22,2410 66370 CDUTODCM AXT,1 SSP
014997,000732: 22,2411 00003 OCT 3
014998,000733: 22,2412 00051 S1
014999,000734: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
015000,000735: 22,2414 00010 STORE 7
015001,000736: 22,2415 77601 SETPD
015002,000737: 22,2416 00001 0
015003,000738: 22,2417 47133 LOOPSIN SLOAD* RTB
015004,000739: 22,2420 00013 10D,1
015005,000740: 22,2421 21577 CDULOGIC
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Page 360
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015007,000742: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
015008,000743: 22,2423 65356 SIN PDDL # 2 COS(PHI)
015009,000744: 22,2424 00013 10D # 4 SIN(THETA)
015010,000745: 22,2425 41546 COS PUSH # 6 COS(THETA)
015011,000746: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
015012,000747: 22,2427 44417 LOOPSIN # 10 COS(PSI)
015013,000748: 22,2430 00007 6
015014,000749: 22,2431 72405 DMP SL1
015015,000750: 22,2432 00013 10D
015016,000751: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
015017,000752: 22,2434 41345 DLOAD DMP
015018,000753: 22,2435 00005 4
015019,000754: 22,2436 00001 0
015020,000755: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
015021,000756: 22,2440 00007 6
015022,000757: 22,2441 00011 8D
015023,000758: 22,2442 72405 DMP SL1
015024,000759: 22,2443 00003 2
015025,000760: 22,2444 72421 BDSU SL1
015026,000761: 22,2445 00015 12D
015027,000762: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
015028,000763: 22,2447 41345 DLOAD DMP
015029,000764: 22,2450 00003 2
015030,000765: 22,2451 00005 4
015031,000766: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015032,000767: 22,2453 00007 6
015033,000768: 22,2454 00011 8D
015034,000769: 22,2455 72405 DMP SL1
015035,000770: 22,2456 00001 0
015036,000771: 22,2457 72415 DAD SL1
015037,000772: 22,2460 00017 14D
015038,000773: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015039,000774: 22,2462 77745 DLOAD
015040,000775: 22,2463 00011 8D
015041,000776: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015042,000777: 22,2465 77745 DLOAD
015043,000778: 22,2466 00013 10D
015044,000779: 22,2467 72405 DMP SL1
015045,000780: 22,2470 00003 2
015046,000781: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015047,000782: 22,2472 41345 DLOAD DMP
015048,000783: 22,2473 00013 10D
015049,000784: 22,2474 00001 0
015050,000785: 22,2475 72476 DCOMP SL1
015051,000786: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015052,000787: 22,2477 41345 DLOAD DMP
015053,000788: 22,2500 00005 4
015054,000789: 22,2501 00013 10D
015055,000790: 22,2502 72476 DCOMP SL1
015056,000791: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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Page 361
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015058,000793: 22,2504 77745 DLOAD
015059,000794: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015060,000795: 22,2506 00011 8D
015061,000796: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
015062,000797: 22,2510 00007 6
015063,000798: 22,2511 00001 0
015064,000799: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015065,000800: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015066,000801: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015067,000802: 22,2515 77745 DLOAD
015068,000803: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015069,000804: 22,2517 00011 8D
015070,000805: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
015071,000806: 22,2521 00007 6
015072,000807: 22,2522 00003 2
015073,000808: 22,2523 72425 DSU SL1 # (PUSH UP 6)
015074,000809: 22,2524 77626 STADR
015075,000810: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015076,000811: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
015077,000812:
015078,000813: # CALCULATION OF THE MATRIX DEL......
015079,000814:
015080,000815: # * * --T *
015081,000816: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
015082,000817: # -
015083,000818: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015084,000819: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
015085,000820: # -
015086,000821: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015087,000822:
015088,000823: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
015089,000824: 22,2530 00001 0
015090,000825: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
015091,000826: 22,2532 41546 COS PUSH # PD2 = COS(A)
015092,000827: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
015093,000828: 22,2534 41021 BDSU BOVB
015094,000829: 22,2535 06522 DPHALF
015095,000830: 22,2536 21713 SIGNMPAC
015096,000831: 22,2537 77725 PDDL # PD4 = 1-COS(A)
015097,000832:
015098,000833: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
015099,000834:
015100,000835: 22,2540 03270 COF
015101,000836: 22,2541 41316 DSQ DMP
015102,000837: 22,2542 00005 4
015103,000838: 22,2543 52415 DAD SL3
015104,000839: 22,2544 00003 2
015105,000840: 22,2545 77604 BOVB
015106,000841: 22,2546 21713 SIGNMPAC
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015108,000843: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015109,000844: 22,2550 03272 COF +2
015110,000845: 22,2551 41316 DSQ DMP
015111,000846: 22,2552 00005 4
015112,000847: 22,2553 52415 DAD SL3
015113,000848: 22,2554 00003 2
015114,000849: 22,2555 77604 BOVB
015115,000850: 22,2556 21713 SIGNMPAC
015116,000851: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015117,000852: 22,2560 03274 COF +4
015118,000853: 22,2561 41316 DSQ DMP
015119,000854: 22,2562 00005 4
015120,000855: 22,2563 52415 DAD SL3
015121,000856: 22,2564 00003 2
015122,000857: 22,2565 77604 BOVB
015123,000858: 22,2566 21713 SIGNMPAC
015124,000859: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015125,000860:
015126,000861: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015127,000862:
015128,000863: 22,2570 41345 DLOAD DMP
015129,000864: 22,2571 03270 COF
015130,000865: 22,2572 03272 COF +2
015131,000866: 22,2573 72405 DMP SL1
015132,000867: 22,2574 00005 4
015133,000868: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
015134,000869: 22,2576 03274 COF +4
015135,000870: 22,2577 00001 0
015136,000871: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
015137,000872: 22,2601 00007 6
015138,000873: 22,2602 41112 SL2 BOVB
015139,000874: 22,2603 21713 SIGNMPAC
015140,000875: 22,2604 16237 STODL KEL +6
015141,000876: 22,2605 62421 BDSU SL2
015142,000877: 22,2606 77604 BOVB
015143,000878: 22,2607 21713 SIGNMPAC
015144,000879: 22,2610 16233 STODL KEL +2
015145,000880: 22,2611 03270 COF
015146,000881: 22,2612 41205 DMP DMP
015147,000882: 22,2613 03274 COF +4
015148,000883: 22,2614 00005 4
015149,000884: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
015150,000885: 22,2616 03272 COF +2
015151,000886: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015152,000887: 22,2620 00001 0
015153,000888: 22,2621 62415 DAD SL2
015154,000889: 22,2622 00007 6
015155,000890: 22,2623 77604 BOVB
015156,000891: 22,2624 21713 SIGNMPAC
015157,000892: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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015159,000894: 22,2626 62421 BDSU SL2
015160,000895: 22,2627 77604 BOVB
015161,000896: 22,2630 21713 SIGNMPAC
015162,000897: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015163,000898: 22,2632 03272 COF +2
015164,000899: 22,2633 41205 DMP DMP
015165,000900: 22,2634 03274 COF +4
015166,000901: 22,2635 00005 4
015167,000902: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $4
015168,000903: 22,2637 03270 COF
015169,000904: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015170,000905: 22,2641 00001 0
015171,000906: 22,2642 62415 DAD SL2
015172,000907: 22,2643 00007 6
015173,000908: 22,2644 77604 BOVB
015174,000909: 22,2645 21713 SIGNMPAC
015175,000910: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015176,000911: 22,2647 62421 BDSU SL2
015177,000912: 22,2650 77604 BOVB
015178,000913: 22,2651 21713 SIGNMPAC
015179,000914: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015180,000915: 22,2653 77616 RVQ
015181,000916:
015182,000917: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015183,000918:
015184,000919: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015185,000920: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015186,000921: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015187,000922: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015188,000923:
015189,000924: # C =COS(THETA)COS(PSI)
015190,000925: # 0
015191,000926:
015192,000927: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
015193,000928: # 1
015194,000929:
015195,000930: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
015196,000931: # 2
015197,000932:
015198,000933: # C =SIN(PSI)
015199,000934: # 3
015200,000935:
015201,000936: # C =COS(PSI)COS(PHI)
015202,000937: # 4
015203,000938:
015204,000939: # C =-COS(PSI)SIN(PHI)
015205,000940: # 5
015206,000941:
015207,000942: # C =-SIN(THETA)COS(PSI)
015208,000943: # 6
015209,000944:
015210,000945: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
015211,000946: # 7
015212,000947:
015213,000948: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
015214,000949: # 8
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015216,000951:
015217,000952: # WHERE PHI = OGA
015218,000953: # THETA = IGA
015219,000954: # PSI = MGA
015220,000955:
015221,000956: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015222,000957: 22,2655 00007 6,1
015223,000958: 22,2656 71406 PUSH COS # PD +0 PSI
015224,000959: 22,2657 41152 SL1 BOVB
015225,000960: 22,2660 21713 SIGNMPAC
015226,000961: 22,2661 00051 STORE S1
015227,000962: 22,2662 57543 DLOAD* DCOMP
015228,000963: 22,2663 00015 12D,1
015229,000964: 22,2664 67471 DDV ARCSIN
015230,000965: 22,2665 00051 S1
015231,000966: 22,2666 51123 PDDL* BPL # PD +2 THETA
015232,000967: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015233,000968: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015234,000969: 22,2671 57545 DLOAD DCOMP
015235,000970: 22,2672 43244 BPL DAD
015236,000971: 22,2673 44677 SUHALFA
015237,000972: 22,2674 06522 DPHALF
015238,000973: 22,2675 77650 GOTO
015239,000974: 22,2676 44701 CALCPHI
015240,000975: 22,2677 77625 SUHALFA DSU
015241,000976: 22,2700 06522 DPHALF
015242,000977: 22,2701 77606 CALCPHI PUSH
015243,000978: 22,2702 57543 OKTHETA DLOAD* DCOMP
015244,000979: 22,2703 00013 10D,1
015245,000980: 22,2704 67471 DDV ARCSIN
015246,000981: 22,2705 00051 S1
015247,000982: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015248,000983: 22,2707 00011 8D,1
015249,000984: 22,2710 44722 OKPHI
015250,000985: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015251,000986: 22,2712 43244 BPL DAD
015252,000987: 22,2713 44717 SUHALFAP
015253,000988: 22,2714 06522 DPHALF
015254,000989: 22,2715 77650 GOTO
015255,000990: 22,2716 44723 VECOFANG
015256,000991: 22,2717 52025 SUHALFAP DSU GOTO
015257,000992: 22,2720 06522 DPHALF
015258,000993: 22,2721 44723 VECOFANG
015259,000994: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015260,000995: 22,2723 43466 VECOFANG VDEF RVQ
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015262,000997: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015263,000998:
015264,000999: 22,2724 77776 TOOBADF EXIT
015265,001000: 22,2725 05567 TC ALARM
015266,001001: 22,2726 00401 OCT 00401
015267,001002:
015268,001003: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015269,001004:
015270,001005: 22,2730 04616 TC BANKCALL
015271,001006: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015272,001007:
015273,001008: 22,2732 04616 NOGO TC BANKCALL
015274,001009: 22,2733 40166 CADR STOPRATE # STOP RATES
015275,001010:
015276,001011: 22,2734 34752 CAF TWO
015277,001012: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015278,001013: 22,2736 05203 TC WAITLIST
015279,001014: 22,2737 E6,1675 EBANK= BCDU
015280,001015: 22,2737 03234 44066 2CADR GOODMANU
015281,001016:
015282,001017: 22,2741 15155 TCF ENDOFJOB
015283,001018:
015284,001019: 22,2742 77776 TOOBADI EXIT
015285,001020: 22,2743 12732 TCF NOGO
015286,001021:
015287,001022:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc