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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060050,000002: ## Copyright: Public domain.
060051,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
060052,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
060053,000005: ## This was the original program released for the Apollo 13 LM,
060054,000006: ## although several more revisions would follow. It has been
060055,000007: ## reconstructed from a listing of Luminary 131, from which it
060056,000008: ## differs on only two lines in P70-P71. The difference is
060057,000009: ## described in detail in Luminary memo #129, which was used
060058,000010: ## to perform the reconstruction. This file is intended to be a
060059,000011: ## faithful reconstruction, except that the code format has been
060060,000012: ## changed to conform to the requirements of the yaYUL assembler
060061,000013: ## rather than the original YUL assembler.
060062,000014: ## Reference: pp. 1413-1433
060063,000015: ## Contact: Ron Burkey <info@sandroid.org>.
060064,000016: ## Website: www.ibiblio.org/apollo/index.html
060065,000017: ## Mod history: 06/07/03 RSB. Began transcribing.
060066,000018: ## 05/14/05 RSB Corrected website reference above.
060067,000019: ## 2010-10-25 JL Added missing # in comment. Indentation fixes.
060068,000020: ## 2017-01-06 RSB Page numbers now agree with those on the
060069,000021: ## original hardcopy, as opposed to the PDF page
060070,000022: ## numbers in 1701.pdf.
060071,000023: ## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
060072,000024: ## 2017-03-01 RSB Fixed lingering comment-text typos.
060073,000025: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
060074,000026: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
060075,000027: ## side-by-side diff of Luminary 69/99/116/131/210.
060076,000028: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
060077,000029:
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Page 1413
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060079,000031: 16,2213 BANK 16
060080,000032: 16,2000 SETLOC DAPS1
060081,000033: 16,2000 BANK
060082,000034:
060083,000035: 16,2213 E6,1464 EBANK= PERROR
060084,000036: 16,2213 COUNT* $$/DAPP
060085,000037:
060086,000038: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060087,000039: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060088,000040:
060089,000041: 16,2213 37732 PAXIS CA MS100
060090,000042: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
060091,000043: # CHRONIZATION WITH OTHER INTERRUPTS ***
060092,000044:
060093,000045: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
060094,000046: 16,2216 00006 EXTEND
060095,000047: 16,2217 22012 QXCH QRUPT
060096,000048:
060097,000049: # CHECK IF DAP PASS IS PERMISSIBLE
060098,000050:
060099,000051: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
060100,000052: 16,2221 05624 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
060101,000053: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO
060102,000054:
060103,000055: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060104,000056:
060105,000057: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
060106,000058: 16,2225 55747 TS DAPTREG4
060107,000059: 16,2226 30033 CA CDUY
060108,000060: 16,2227 55750 TS DAPTREG5
060109,000061: 16,2230 30034 CA CDUZ
060110,000062: 16,2231 55751 TS DAPTREG6
060111,000063:
060112,000064: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060113,000065:
060114,000066: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060115,000067: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060116,000068:
060117,000069: 16,2232 31634 CA CDUXD
060118,000070: 16,2233 00006 EXTEND
060119,000071: 16,2234 21637 MSU DELCDUX
060120,000072: 16,2235 02256 TC 1STOTWOS
060121,000073: 16,2236 55634 TS CDUXD
060122,000074: 16,2237 31635 CA CDUYD
060123,000075: 16,2240 00006 EXTEND
060124,000076: 16,2241 21640 MSU DELCDUY
060125,000077: 16,2242 02256 TC 1STOTWOS
060126,000078: 16,2243 55635 TS CDUYD
060127,000079: 16,2244 31636 CA CDUZD
060128,000080: 16,2245 00006 EXTEND
060129,000081: 16,2246 21641 MSU DELCDUZ
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Page 1414
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060131,000083: 16,2247 02256 TC 1STOTWOS
060132,000084: 16,2250 55636 TS CDUZD
060133,000085: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
060134,000086: 16,2252 27445 DIM TCP # TIME COUNTERS.
060135,000087: 16,2253 00006 EXTEND
060136,000088: 16,2254 27457 DIM TCQR
060137,000089:
060138,000090: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
060139,000091: # RETURNS TO BACKP.
060140,000092:
060141,000093: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
060142,000094: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
060143,000095: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
060144,000096:
060145,000097: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
060146,000098: 16,2256 10000 1STOTWOS CCS A
060147,000099: 16,2257 64753 AD ONE
060148,000100: 16,2260 00002 TC Q
060149,000101: 16,2261 40000 CS A
060150,000102: 16,2262 00002 TC Q
060151,000103: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
060152,000104: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
060153,000105: 16,2265 21427 DAS OMEGAU # OVERFLOW
060154,000106:
060155,000107: 16,2266 00006 +3 EXTEND
060156,000108: 16,2267 31427 DCA OMEGAU
060157,000109: 16,2270 53743 DXCH DAPTEMP5
060158,000110: 16,2271 11426 CCS OMEGAU
060159,000111: 16,2272 12274 TCF +2
060160,000112: 16,2273 12304 TCF DIVIDER
060161,000113: 16,2274 62315 AD -OCT630
060162,000114: 16,2275 00006 EXTEND
060163,000115: 16,2276 62304 BZMF DIVIDER
060164,000116:
060165,000117: 16,2277 11426 CCS OMEGAU
060166,000118: 16,2300 34733 CA POSMAX # 45 DEG/SEC
060167,000119: 16,2301 00002 TC Q
060168,000120: 16,2302 44733 CS POSMAX
060169,000121: 16,2303 00002 TC Q
060170,000122:
060171,000123: 16,2304 53427 DIVIDER DXCH OMEGAU
060172,000124: 16,2305 00006 EXTEND
060173,000125: 16,2306 11747 DV DAPTREG4
060174,000126: 16,2307 00002 TC Q
060175,000127:
060176,000128: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
060177,000129: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
060178,000130: 16,2312 50000 INDEX A
060179,000131: 16,2313 44734 CS BIT15 -1
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Page 1415
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060181,000133: 16,2314 00002 TC Q
060182,000134:
060183,000135: 16,2315 77147 -OCT630 OCT 77147
060184,000136:
060185,000137: 16,2316 31736 BACKP CA DAPTEMP1
060186,000138: 16,2317 00006 EXTEND
060187,000139: 16,2320 71530 MP 1JACC
060188,000140: 16,2321 55744 TS JETRATE
060189,000141:
060190,000142: # BEGINNING OF THE RATE DERIVATION
060191,000143: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
060192,000144: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
060193,000145: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
060194,000146: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
060195,000147: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
060196,000148: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
060197,000149: # OMEGAU DP-TEMPORARY STORAGE
060198,000150: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060199,000151:
060200,000152: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE
060201,000153: 16,2323 54001 TS L
060202,000154: 16,2324 00006 EXTEND
060203,000155: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
060204,000156: 16,2326 23440 LXCH OLDXFORP
060205,000157: 16,2327 55736 TS DAPTEMP1
060206,000158: 16,2330 33624 CA 1/40
060207,000159: 16,2331 55747 TS DAPTREG4
060208,000160: 16,2332 41744 CS JETRATE
060209,000161: 16,2333 00006 EXTEND
060210,000162: 16,2334 74736 MP BIT14
060211,000163: 16,2335 27430 ADS TRAPEDP
060212,000164: 16,2336 31745 CA JETRATEQ
060213,000165: 16,2337 61544 AD AOSQTERM
060214,000166: 16,2340 00006 EXTEND
060215,000167: 16,2341 77741 MP -BIT14
060216,000168: 16,2342 27431 ADS TRAPEDQ
060217,000169: 16,2343 31746 CA JETRATER
060218,000170: 16,2344 61545 AD AOSRTERM
060219,000171: 16,2345 00006 EXTEND
060220,000172: 16,2346 77741 MP -BIT14
060221,000173: 16,2347 27432 ADS TRAPEDR
060222,000174:
060223,000175: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE
060224,000176: 16,2351 54001 TS L
060225,000177: 16,2352 00006 EXTEND
060226,000178: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
060227,000179: 16,2354 23441 LXCH OLDYFORP
060228,000180: 16,2355 55737 TS DAPTEMP2
060229,000181: 16,2356 00006 EXTEND
060230,000182: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1416
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060232,000184: 16,2360 61736 AD DAPTEMP1
060233,000185: 16,2361 53427 DXCH OMEGAU
060234,000186:
060235,000187: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
060236,000188:
060237,000189: 16,2363 00006 EXTEND
060238,000190: 16,2364 61421 SU OMEGAP
060239,000191: 16,2365 27430 ADS TRAPEDP
060240,000192: 16,2366 02310 TC OVERSUB
060241,000193: 16,2367 55430 TS TRAPEDP
060242,000194: 16,2370 00006 EXTEND
060243,000195: 16,2371 31743 DCA DAPTEMP5
060244,000196: 16,2372 21447 DAS DXERROR
060245,000197: 16,2373 41454 CS PLAST
060246,000198: 16,2374 00006 EXTEND
060247,000199: 16,2375 73624 MP 1/40
060248,000200: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
060249,000201: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE
060250,000202: 16,2400 54001 TS L
060251,000203: 16,2401 00006 EXTEND
060252,000204: 16,2402 21442 MSU OLDZFORQ
060253,000205: 16,2403 55740 TS DAPTEMP3
060254,000206: 16,2404 23442 LXCH OLDZFORQ
060255,000207: 16,2405 31415 CA M21
060256,000208: 16,2406 00006 EXTEND
060257,000209: 16,2407 71737 MP DAPTEMP2
060258,000210: 16,2410 53427 DXCH OMEGAU
060259,000211: 16,2411 31417 CA M22
060260,000212: 16,2412 02263 TC SUBDIVDE
060261,000213:
060262,000214: 16,2413 00006 EXTEND
060263,000215: 16,2414 61422 SU OMEGAQ
060264,000216: 16,2415 27431 ADS TRAPEDQ
060265,000217: 16,2416 02310 TC OVERSUB
060266,000218: 16,2417 55431 TS TRAPEDQ
060267,000219: 16,2420 00006 EXTEND
060268,000220: 16,2421 31743 DCA DAPTEMP5
060269,000221: 16,2422 21451 DAS DYERROR
060270,000222: 16,2423 41455 CS QLAST
060271,000223: 16,2424 00006 EXTEND
060272,000224: 16,2425 73624 MP 1/40
060273,000225: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
060274,000226: 16,2427 31416 CA M31
060275,000227: 16,2430 00006 EXTEND
060276,000228: 16,2431 71737 MP DAPTEMP2
060277,000229: 16,2432 53427 DXCH OMEGAU
060278,000230: 16,2433 31420 CA M32
060279,000231:
060280,000232: 16,2434 02263 TC SUBDIVDE
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Page 1417
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060282,000234: 16,2435 00006 EXTEND
060283,000235: 16,2436 61423 SU OMEGAR
060284,000236: 16,2437 27432 ADS TRAPEDR
060285,000237: 16,2440 02310 TC OVERSUB
060286,000238: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
060287,000239:
060288,000240: 16,2442 00006 EXTEND
060289,000241: 16,2443 31743 DCA DAPTEMP5
060290,000242: 16,2444 21453 DAS DZERROR
060291,000243: 16,2445 41456 CS RLAST
060292,000244: 16,2446 00006 EXTEND
060293,000245: 16,2447 73624 MP 1/40
060294,000246: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
060295,000247: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
060296,000248: 16,2452 74737 MASK CSMDOCKD
060297,000249: 16,2453 00006 EXTEND
060298,000250: 16,2454 12462 BZF LMONLY
060299,000251: 16,2455 00006 EXTEND # DOCKED
060300,000252: 16,2456 31405 DCA DKOMEGAN
060301,000253: 16,2457 53750 DXCH DAPTREG4
060302,000254: 16,2460 31403 CA DKTRAP
060303,000255: 16,2461 12466 TCF +5
060304,000256: 16,2462 00006 LMONLY EXTEND # UNDOCKED
060305,000257: 16,2463 31410 DCA LMOMEGAN
060306,000258: 16,2464 53750 DXCH DAPTREG4
060307,000259: 16,2465 31406 CA LMTRAP
060308,000260: 16,2466 55751 +5 TS DAPTREG6
060309,000261: 16,2467 11430 CCS TRAPEDP
060310,000262: 16,2470 12472 TCF +2
060311,000263: 16,2471 12507 TCF SMALPDIF
060312,000264: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060313,000265: 16,2473 00006 EXTEND
060314,000266: 16,2474 62507 BZMF SMALPDIF
060315,000267: 16,2475 22007 ZL
060316,000268: 16,2476 23430 LXCH TRAPEDP
060317,000269: 16,2477 34755 CA ZERO
060318,000270: 16,2500 00006 EXTEND
060319,000271: 16,2501 11433 DV NPTRAPS
060320,000272: 16,2502 27421 ADS OMEGAP
060321,000273: 16,2503 02310 TC OVERSUB
060322,000274: 16,2504 55421 TS OMEGAP
060323,000275: 16,2505 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060324,000276: 16,2506 55433 TS NPTRAPS
060325,000277: 16,2507 25433 SMALPDIF INCR NPTRAPS
060326,000278: 16,2510 31744 P-RATE CA JETRATE
060327,000279: 16,2511 27421 ADS OMEGAP
060328,000280: 16,2512 02310 TC OVERSUB
060329,000281: 16,2513 55421 TS OMEGAP
060330,000282:
060331,000283: 16,2514 11431 CCS TRAPEDQ
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Page 1418
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060333,000285: 16,2515 12517 TCF +2
060334,000286: 16,2516 12544 TCF Q-RATE
060335,000287: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060336,000288: 16,2520 00006 EXTEND
060337,000289: 16,2521 62544 BZMF Q-RATE
060338,000290: 16,2522 22007 ZL
060339,000291: 16,2523 23431 LXCH TRAPEDQ
060340,000292: 16,2524 34755 CA ZERO
060341,000293: 16,2525 00006 EXTEND
060342,000294: 16,2526 11434 DV NQTRAPS
060343,000295: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
060344,000296: 16,2530 27422 ADS OMEGAQ
060345,000297: 16,2531 02310 TC OVERSUB
060346,000298: 16,2532 55422 TS OMEGAQ
060347,000299: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060348,000300: 16,2534 57434 XCH NQTRAPS
060349,000301: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060350,000302: 16,2536 57736 XCH DAPTEMP1
060351,000303: 16,2537 00006 EXTEND
060352,000304: 16,2540 74756 MP FIVE
060353,000305: 16,2541 00006 EXTEND
060354,000306: 16,2542 11736 DV DAPTEMP1
060355,000307: 16,2543 27536 ADS AOSQ
060356,000308: 16,2544 25434 Q-RATE INCR NQTRAPS
060357,000309: 16,2545 31745 CA JETRATEQ
060358,000310: 16,2546 61544 AD AOSQTERM
060359,000311: 16,2547 27422 ADS OMEGAQ
060360,000312: 16,2550 02310 TC OVERSUB
060361,000313: 16,2551 55422 TS OMEGAQ
060362,000314:
060363,000315: 16,2552 11432 CCS TRAPEDR
060364,000316: 16,2553 12555 TCF +2
060365,000317: 16,2554 12602 TCF R-RATE
060366,000318: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060367,000319: 16,2556 00006 EXTEND
060368,000320: 16,2557 62602 BZMF R-RATE
060369,000321: 16,2560 22007 ZL
060370,000322: 16,2561 23432 LXCH TRAPEDR
060371,000323: 16,2562 34755 CA ZERO
060372,000324: 16,2563 00006 EXTEND
060373,000325: 16,2564 11435 DV NRTRAPS
060374,000326: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
060375,000327: 16,2566 27423 ADS OMEGAR
060376,000328: 16,2567 02310 TC OVERSUB
060377,000329: 16,2570 55423 TS OMEGAR
060378,000330: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060379,000331: 16,2572 57435 XCH NRTRAPS
060380,000332: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060381,000333: 16,2574 57737 XCH DAPTEMP2
060382,000334: 16,2575 00006 EXTEND
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Page 1419
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060384,000336: 16,2576 74756 MP FIVE
060385,000337: 16,2577 00006 EXTEND
060386,000338: 16,2600 11737 DV DAPTEMP2
060387,000339: 16,2601 27540 ADS AOSR
060388,000340: 16,2602 25435 R-RATE INCR NRTRAPS
060389,000341: 16,2603 31746 CA JETRATER
060390,000342: 16,2604 61545 AD AOSRTERM
060391,000343: 16,2605 27423 ADS OMEGAR
060392,000344: 16,2606 02310 TC OVERSUB
060393,000345: 16,2607 55423 TS OMEGAR
060394,000346:
060395,000347: # END OF RATE DERIVATION
060396,000348: # BEGIN OFFSET ESTIMATER
060397,000349: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060398,000350: # AOS = AOS + K*SUMRATE
060399,000351:
060400,000352: 16,2610 40111 CS DAPBOOLS
060401,000353: 16,2611 74744 MASK DRIFTBIT
060402,000354: 16,2612 10000 CCS A
060403,000355: 16,2613 12624 TCF WORKTIME
060404,000356: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
060405,000357: 16,2615 55425 TS ALPHAR
060406,000358: 16,2616 55544 TS AOSQTERM
060407,000359: 16,2617 55545 TS AOSRTERM
060408,000360: 16,2620 55536 TS AOSQ
060409,000361: 16,2621 55540 TS AOSR
060410,000362: 16,2622 12667 TCF PRETIMCK
060411,000363: 16,2623 00074 KAOS DEC 60 B-14
060412,000364: 16,2624 31510 WORKTIME CA QACCDOT
060413,000365: 16,2625 00006 EXTEND
060414,000366: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060415,000367: 16,2627 21537 DAS AOSQ
060416,000368: 16,2630 31536 CA AOSQ
060417,000369: 16,2631 55424 TS ALPHAQ
060418,000370: 16,2632 00006 EXTEND
060419,000371: 16,2633 73622 MP 200MS # .2 AT 1
060420,000372: 16,2634 55544 TS AOSQTERM
060421,000373: 16,2635 31512 CA RACCDOT
060422,000374: 16,2636 00006 EXTEND
060423,000375: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060424,000376: 16,2640 21541 DAS AOSR
060425,000377: 16,2641 31540 CA AOSR
060426,000378: 16,2642 55425 TS ALPHAR
060427,000379: 16,2643 00006 EXTEND
060428,000380: 16,2644 73622 MP 200MS # .2 AT 1
060429,000381: 16,2645 55545 TS AOSRTERM
060430,000382: 16,2646 12667 TCF PRETIMCK
060431,000383:
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Page 1420
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060433,000385: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
060434,000386: 16,2650 71262 MASK RCSFLAGS
060435,000387: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
060436,000388: 16,2652 03742 TC ACDT+C12 # VALID.
060437,000389:
060438,000390: 16,2653 52011 DXCH ARUPT
060439,000391: 16,2654 53753 DXCH DAPARUPT
060440,000392: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
060441,000393: 16,2656 56017 XCH BRUPT
060442,000394: 16,2657 22012 LXCH QRUPT
060443,000395: 16,2660 53755 DXCH DAPBQRPT
060444,000396: 16,2661 32665 CA SUPERADR
060445,000397: 16,2662 52016 DXCH ZRUPT
060446,000398: 16,2663 53757 DXCH DAPZRUPT
060447,000399: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
060448,000400: # FORM OF A JASK, AT SUPERJOB.
060449,000401:
060450,000402: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
060451,000403:
060452,000404: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060453,000405:
060454,000406: 16,2666 13645 SUPERJOB TCF RATELOOP
060455,000407: 16,2667 11631 PRETIMCK CCS QGIMTIMR
060456,000408: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
060457,000409: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
060458,000410: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
060459,000411: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
060460,000412: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
060461,000413:
060462,000414: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
060463,000415: 16,2676 27766 DIM PJETCTR
060464,000416: 16,2677 00006 EXTEND
060465,000417: 16,2700 27767 DIM UJETCTR
060466,000418: 16,2701 00006 EXTEND
060467,000419: 16,2702 27770 DIM VJETCTR
060468,000420: 16,2703 34740 CA BIT12
060469,000421: 16,2704 71262 MASK RCSFLAGS
060470,000422: 16,2705 00006 EXTEND
060471,000423: 16,2706 12734 BZF SKIPPAXS
060472,000424: 16,2707 02740 TC CHKVISFZ
060473,000425: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
060474,000426: 16,2711 12672 TCF CHKRTIMR
060475,000427: 16,2712 55633 DECRTIMR TS RGIMTIMR
060476,000428: 16,2713 12675 TCF CHKRTIMR +3
060477,000429:
060478,000430: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
060479,000431: 16,2715 55510 TS QACCDOT
060480,000432: 16,2716 45007 CS QGIMBITS
060481,000433: 16,2717 00006 EXTEND
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Page 1421
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060483,000435: 16,2720 03012 WAND CHAN12
060484,000436: 16,2721 34735 CAF NEGMAX
060485,000437: 16,2722 55631 TS QGIMTIMR
060486,000438: 16,2723 12672 TCF CHKRTIMR
060487,000439: 16,2724 55503 TURNOFFR TS NEGUR
060488,000440: 16,2725 55512 TS RACCDOT
060489,000441: 16,2726 45020 CS RGIMBITS
060490,000442: 16,2727 00006 EXTEND
060491,000443: 16,2730 03012 WAND CHAN12
060492,000444: 16,2731 34735 CAF NEGMAX
060493,000445: 16,2732 55633 TS RGIMTIMR
060494,000446: 16,2733 12675 TCF CHKRTIMR +3
060495,000447: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
060496,000448: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
060497,000449:
060498,000450: 16,2734 41262 SKIPPAXS CS RCSFLAGS
060499,000451: 16,2735 74740 MASK BIT12
060500,000452: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
060501,000453: 16,2737 13630 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
060502,000454:
060503,000455: # Y-Z TRANSLATION
060504,000456:
060505,000457: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060506,000458:
060507,000459: # OUTPUT: NEXTP
060508,000460: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060509,000461: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060510,000462: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
060511,000463: # ALARM (IF NO PAIR)
060512,000464: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060513,000465: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
060514,000466:
060515,000467: 16,2740 00006 CHKVISFZ EXTEND
060516,000468: 16,2741 00031 READ CHAN31
060517,000469: 16,2742 40000 CS A
060518,000470: 16,2743 73617 MASK 07400OCT
060519,000471: 16,2744 00006 EXTEND
060520,000472: 16,2745 13014 BZF TSNEXTP
060521,000473: 16,2746 00006 EXTEND
060522,000474: 16,2747 74745 MP BIT7
060523,000475: 16,2750 50000 INDEX A
060524,000476: 16,2751 33576 CA INDXYZ
060525,000477: 16,2752 55743 TS ROTINDEX
060526,000478: 16,2753 36245 TRYUORV CA SIX
060527,000479: 16,2754 03555 TC SELECTYZ
060528,000480: 16,2755 46245 CS SIX
060529,000481: 16,2756 61742 AD NUMBERT
060530,000482: 16,2757 00006 EXTEND
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Page 1422
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060532,000484: 16,2760 13013 BZF TSNEXTP -1
060533,000485: 16,2761 44756 CS FIVE
060534,000486: 16,2762 61743 AD ROTINDEX
060535,000487: 16,2763 00006 EXTEND
060536,000488: 16,2764 63002 BZMF ALTERYZ
060537,000489: 16,2765 41742 CS NUMBERT
060538,000490: 16,2766 64751 AD FOUR
060539,000491: 16,2767 00006 EXTEND
060540,000492: 16,2770 63013 BZMF TSNEXTP -1
060541,000493: 16,2771 05567 ABORTYZ TC ALARM
060542,000494: 16,2772 02001 OCT 02001
060543,000495: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060544,000496: 16,2774 23262 LXCH RCSFLAGS
060545,000497: 16,2775 00006 EXTEND
060546,000498: 16,2776 06001 RXOR 1
060547,000499: 16,2777 55262 TS RCSFLAGS
060548,000500: 16,3000 34755 CA ZERO
060549,000501: 16,3001 13014 TCF TSNEXTP
060550,000502: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060551,000503: 16,3003 23262 LXCH RCSFLAGS
060552,000504: 16,3004 00006 EXTEND
060553,000505: 16,3005 06001 RXOR 1
060554,000506: 16,3006 55262 TS RCSFLAGS
060555,000507: 16,3007 74753 MASK BIT1
060556,000508: 16,3010 64751 AD FOUR
060557,000509: 16,3011 27743 ADS ROTINDEX
060558,000510: 16,3012 12753 TCF TRYUORV
060559,000511: 16,3013 31740 CA POLYTEMP
060560,000512: 16,3014 55472 TSNEXTP TS NEXTP
060561,000513:
060562,000514: # STATE LOGIC
060563,000515: # CHECK IN ORDER: IF ON
060564,000516: # LPDPHASE GO TO PURGENCY
060565,000517: # PULSES MINIMUM PULSE LOGIC
060566,000518: # DETENT(BIT15 CH31) RATE COMMAND
060567,000519: # GO TO PURGENCY
060568,000520:
060569,000521: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060570,000522: 16,3016 00006 EXTEND
060571,000523: 16,3017 02031 RAND CHAN31
060572,000524: 16,3020 00006 EXTEND
060573,000525: 16,3021 13027 BZF MANMODE
060574,000526:
060575,000527: 16,3022 30111 CA DAPBOOLS
060576,000528: 16,3023 74743 MASK XOVINHIB
060577,000529: 16,3024 10000 CCS A
060578,000530: 16,3025 13467 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060579,000531:
060580,000532: 16,3026 13071 TCF DETENTCK
060581,000533: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060582,000534: 16,3030 70111 MASK DAPBOOLS
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|
Page 1423
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060584,000536: 16,3031 00006 EXTEND
060585,000537: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060586,000538:
060587,000539: 16,3033 34755 CA ZERO
060588,000540: 16,3034 55464 TS PERROR
060589,000541:
060590,000542: # MINIMUM IMPULSE MODE
060591,000543:
060592,000544: 16,3035 30032 CA CDUX
060593,000545: 16,3036 55634 TS CDUXD
060594,000546:
060595,000547: 16,3037 11460 CCS OLDPMIN
060596,000548: 16,3040 13054 TCF CHECKP
060597,000549:
060598,000550: 16,3041 34751 FIREP CA BIT3
060599,000551: 16,3042 00006 EXTEND
060600,000552: 16,3043 02031 RAND CHAN31
060601,000553: 16,3044 00006 EXTEND
060602,000554: 16,3045 13064 BZF +XMIN
060603,000555:
060604,000556: 16,3046 34750 CA BIT4
060605,000557: 16,3047 00006 EXTEND
060606,000558: 16,3050 02031 RAND CHAN31
060607,000559: 16,3051 00006 EXTEND
060608,000560: 16,3052 13062 BZF -XMIN
060609,000561:
060610,000562: 16,3053 13446 TCF JETSOFF
060611,000563:
060612,000564: 16,3054 00006 CHECKP EXTEND
060613,000565: 16,3055 00031 READ CHAN31
060614,000566: 16,3056 40000 CS A
060615,000567: 16,3057 75741 MASK OCT14
060616,000568: 16,3060 55460 TS OLDPMIN
060617,000569: 16,3061 13446 TCF JETSOFF
060618,000570:
060619,000571: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060620,000572: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060621,000573: 16,3064 34363 +XMIN CA TEN
060622,000574: 16,3065 55524 TS TJP
060623,000575: 16,3066 34753 CA ONE
060624,000576: 16,3067 55460 TS OLDPMIN
060625,000577: 16,3070 13354 TCF PJETSLEC -6
060626,000578:
060627,000579: # MANUAL RATE COMMAND MODE
060628,000580: # ========================
060629,000581: # BY ROBERT F. STENGEL
060630,000582:
060631,000583: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060632,000584: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060633,000585: # RATE CONTROL AND ATTITUDE HOLD.
060634,000586:
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Page 1424
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060636,000588: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060637,000589: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060638,000590: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060639,000591:
060640,000592: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060641,000593: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060642,000594: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060643,000595:
060644,000596: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060645,000597: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060646,000598: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060647,000599:
060648,000600: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060649,000601: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060650,000602: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060651,000603: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060652,000604:
060653,000605: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060654,000606: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060655,000607:
060656,000608: 16,3071 00006 DETENTCK EXTEND
060657,000609: 16,3072 00031 READ CHAN31
060658,000610: 16,3073 55443 TS CH31TEMP
060659,000611: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060660,000612: 16,3075 00006 EXTEND
060661,000613: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060662,000614: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060663,000615: 16,3100 70111 MASK DAPBOOLS
060664,000616: 16,3101 00006 EXTEND
060665,000617: 16,3102 13467 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
060666,000618:
060667,000619: # ........................................................................
060668,000620:
060669,000621: 16,3103 34743 CA BIT9 # JUST IN DETENT??
060670,000622: 16,3104 71262 MASK RCSFLAGS
060671,000623: 16,3105 00006 EXTEND
060672,000624: 16,3106 13120 BZF RUTH
060673,000625: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
060674,000626: 16,3110 00006 EXTEND
060675,000627: 16,3111 02031 RAND CHAN31
060676,000628: 16,3112 00006 EXTEND
060677,000629: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
060678,000630:
060679,000631: 16,3114 45014 CS BITS9,11 # IN AUTO.
060680,000632: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE)
060681,000633: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060682,000634: 16,3117 13220 TCF RATEDAMP
060683,000635:
060684,000636: 16,3120 31262 RUTH CA RCSFLAGS
060685,000637: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
060686,000638: 16,3122 00006 EXTEND
060687,000639: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
060688,000640: 16,3124 13220 TCF RATEDAMP
060689,000641:
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Page 1425
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060691,000643: 16,3125 31262 CA RCSFLAGS
060692,000644: 16,3126 74741 MASK QRBIT
060693,000645: 16,3127 00006 EXTEND
060694,000646: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
060695,000647: 16,3131 13220 TCF RATEDAMP
060696,000648:
060697,000649: # ============================================
060698,000650:
060699,000651: 16,3132 4753 1/10SEC = BIT1
060700,000652: 16,3132 4771 40CYC = OCT50
060701,000653: 16,3132 74777 PQRBIT OCT 74777
060702,000654: 16,3133 5014 BITS9,11 EQUALS EBANK5
060703,000655: 16,3133 00056 LINRATP DEC 46 B-14
060704,000656:
060705,000657: # ============================================
060706,000658:
060707,000659: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
060708,000660: 16,3135 00004 INHINT # ALL AXES.
060709,000661: 16,3136 70111 MASK DAPBOOLS
060710,000662: 16,3137 54111 TS DAPBOOLS
060711,000663:
060712,000664: # READ CDUS INTO CDU DESIRED REGISTERS
060713,000665:
060714,000666: 16,3140 34737 CAF BIT13
060715,000667: 16,3141 00006 EXTEND
060716,000668: 16,3142 02031 RAND CHAN31
060717,000669: 16,3143 00006 EXTEND
060718,000670: 16,3144 13150 BZF +4
060719,000671: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE)
060720,000672: 16,3146 55634 TS CDUXD
060721,000673: 16,3147 03152 TC +3
060722,000674: 16,3150 04674 TC IBNKCALL
060723,000675: 16,3151 40154 FCADR ZATTEROR
060724,000676: 16,3152 00003 RELINT
060725,000677: 16,3153 13467 TCF PURGENCY
060726,000678:
060727,000679: 16,3154 55464 TS PERROR
060728,000680: 16,3155 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
060729,000681: 16,3156 26111 ADS DAPBOOLS
060730,000682: 16,3157 34755 CA ZERO
060731,000683: 16,3160 55446 TS DXERROR
060732,000684: 16,3161 55447 TS DXERROR +1
060733,000685: 16,3162 55450 TS DYERROR
060734,000686: 16,3163 55451 TS DYERROR +1
060735,000687: 16,3164 55452 TS DZERROR
060736,000688: 16,3165 55453 TS DZERROR +1
060737,000689: 16,3166 55454 TS PLAST
060738,000690: 16,3167 55455 TS QLAST
060739,000691: 16,3170 55456 TS RLAST
060740,000692: 16,3171 54042 TS Q-RHCCTR
060741,000693: 16,3172 54044 TS R-RHCCTR
060742,000694: 16,3173 33132 CA PQRBIT
060743,000695: 16,3174 71262 MASK RCSFLAGS
060744,000696: 16,3175 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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Page 1426
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060746,000698: 16,3176 03201 TC ZEROENBL
060747,000699: 16,3177 00003 RELINT
060748,000700: 16,3200 13446 TCF JETSOFF
060749,000701: 16,3201 22044 ZEROENBL LXCH R-RHCCTR
060750,000702: 16,3202 30042 CA Q-RHCCTR
060751,000703: 16,3203 53463 DXCH SAVEHAND
060752,000704: 16,3204 34755 CA ZERO
060753,000705: 16,3205 54043 TS P-RHCCTR
060754,000706: 16,3206 54042 TS Q-RHCCTR
060755,000707: 16,3207 54044 TS R-RHCCTR
060756,000708: 16,3210 00004 INHINT
060757,000709: 16,3211 00006 EXTEND
060758,000710: 16,3212 23265 QXCH C13QSAV
060759,000711: 16,3213 06022 TC C13STALL
060760,000712:
060761,000713: 16,3214 33623 CA BITS8,9
060762,000714: 16,3215 00006 EXTEND
060763,000715: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
060764,000716: 16,3217 01265 TC C13QSAV
060765,000717:
060766,000718: 16,3220 34755 RATEDAMP CA ZERO
060767,000719: 16,3221 54043 TS P-RHCCTR
060768,000720: 16,3222 13232 TCF RATERROR
060769,000721:
060770,000722: 16,3223 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1
060771,000723: 16,3224 74743 MASK BIT9
060772,000724: 16,3225 27262 ADS RCSFLAGS
060773,000725: 16,3226 34740 CA OURRCBIT # P CONTROL
060774,000726: 16,3227 70111 MASK DAPBOOLS
060775,000727: 16,3230 00006 EXTEND
060776,000728: 16,3231 13154 BZF JUSTOUT -1
060777,000729: 16,3232 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060778,000730: 16,3233 55634 TS CDUXD # X-AXIS OVERRIDE
060779,000731: 16,3234 10043 CCS P-RHCCTR
060780,000732: 16,3235 13240 TCF +3
060781,000733: 16,3236 13240 TCF +2
060782,000734: 16,3237 13240 TCF +1
060783,000735: 16,3240 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
060784,000736: 16,3241 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
060785,000737: 16,3242 63133 AD LINRATP # AUTOPILOT)
060786,000738: 16,3243 00006 EXTEND
060787,000739: 16,3244 70043 MP P-RHCCTR
060788,000740: 16,3245 30001 CA L
060789,000741: 16,3246 00006 EXTEND
060790,000742: 16,3247 71444 MP STIKSENS
060791,000743: 16,3250 57454 XCH PLAST
060792,000744: 16,3251 40000 COM
060793,000745: 16,3252 61454 AD PLAST
060794,000746: 16,3253 55736 TS DAPTEMP1
060795,000747: 16,3254 03201 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
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Page 1427
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060797,000749: 16,3255 00003 RELINT
060798,000750: 16,3256 41454 CS PLAST
060799,000751: 16,3257 61421 AD OMEGAP
060800,000752: 16,3260 55427 TS EDOTP
060801,000753: 16,3261 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
060802,000754: 16,3262 13265 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
060803,000755: 16,3263 13273 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
060804,000756: 16,3264 13265 TCF +1
060805,000757: 16,3265 61476 AD -RATEDB
060806,000758: 16,3266 00006 EXTEND
060807,000759: 16,3267 63273 BZMF +4
060808,000760: 16,3270 34771 CA 40CYC
060809,000761: 16,3271 55445 TS TCP
060810,000762: 16,3272 03304 TC PEGI
060811,000763: 16,3273 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
060812,000764: 16,3274 74742 MASK PBIT
060813,000765: 16,3275 00006 EXTEND
060814,000766: 16,3276 13300 BZF +2
060815,000767: 16,3277 03304 TC PEGI # TO PURE RATE COMMAND
060816,000768: 16,3300 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
060817,000769: 16,3301 55751 TS E # X-ATTITUDE ERROR (SP)
060818,000770: 16,3302 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060819,000771: 16,3303 03473 TC PURGENCY +4
060820,000772: 16,3304 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
060821,000773: 16,3305 55634 TS CDUXD
060822,000774: 16,3306 34755 CA ZERO
060823,000775: 16,3307 55446 TS DXERROR
060824,000776: 16,3310 55447 TS DXERROR +1
060825,000777: 16,3311 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060826,000778: 16,3312 11427 CCS EDOTP
060827,000779: 16,3313 03316 TC +3
060828,000780: 16,3314 03316 TC +2
060829,000781: 16,3315 03316 TC +1
060830,000782: 16,3316 55736 TS ABSEDOTP
060831,000783: 16,3317 61476 AD TARGETDB
060832,000784: 16,3320 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
060833,000785: 16,3321 63331 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
060834,000786: 16,3322 31445 CA TCP
060835,000787: 16,3323 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060836,000788: 16,3324 63331 BZMF LAST
060837,000789: 16,3325 41262 CS RCSFLAGS
060838,000790: 16,3326 74742 MASK PBIT
060839,000791: 16,3327 27262 ADS RCSFLAGS # BIT 10 IS 1.
060840,000792: 16,3330 13334 TCF +4
060841,000793: 16,3331 44742 LAST CS PBIT
060842,000794: 16,3332 71262 MASK RCSFLAGS
060843,000795: 16,3333 55262 TS RCSFLAGS # BIT 10 IS 0.
060844,000796: 16,3334 41427 CS EDOTP
060845,000797: 16,3335 00006 EXTEND
060846,000798: 16,3336 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
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Page 1428
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060848,000800: 16,3337 20001 DAS A
060849,000801: 16,3340 02310 TC OVERSUB
060850,000802: 16,3341 00006 EXTEND
060851,000803: 16,3342 77721 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060852,000804: 16,3343 55524 TS TJP # 4.JET TIME
060853,000805: 16,3344 31736 CA ABSEDOTP
060854,000806: 16,3345 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
060855,000807: 16,3346 00006 EXTEND
060856,000808: 16,3347 63352 BZMF +3
060857,000809:
060858,000810: 16,3350 36245 CA SIX
060859,000811: 16,3351 13361 TCF +8D
060860,000812: 16,3352 31524 CA TJP
060861,000813: 16,3353 27524 ADS TJP
060862,000814:
060863,000815: # GOES TO PJETSLEC FOR TWO JETS
060864,000816: # P-JET-SELECTION-ROUTINE (ROTATION)
060865,000817:
060866,000818: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
060867,000819: # TJP + FOR +P ROTATION
060868,000820:
060869,000821: # OUTPUT: CHANNEL 6
060870,000822: # PJUMPADR FOR P-AXIS SKIP
060871,000823: # (JTLST CALL) (SMALL TJP)
060872,000824:
060873,000825: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060874,000826: # +P -P
060875,000827: # 7,15 8,16
060876,000828: # 4,12 3,11
060877,000829: # 4,7 8,11
060878,000830: # 7,12 11,16
060879,000831: # 12,15 3,16
060880,000832: # 4,15 3,8
060881,000833: # ALARM ALARM
060882,000834:
060883,000835: 16,3354 34747 CA AORBSYST
060884,000836: 16,3355 70101 MASK FLAGWRD5
060885,000837: 16,3356 10000 CCS A
060886,000838: 16,3357 34753 CA ONE
060887,000839: 16,3360 64751 AD FOUR
060888,000840: 16,3361 55742 TS NUMBERT
060889,000841: 16,3362 34753 PJETSLEC CA ONE
060890,000842: 16,3363 54001 TS L
060891,000843: 16,3364 11524 CCS TJP
060892,000844: 16,3365 13372 TCF +5
060893,000845: 16,3366 13446 TCF JETSOFF
060894,000846: 16,3367 13371 TCF +2
060895,000847: 16,3370 13446 TCF JETSOFF
060896,000848: 16,3371 22007 ZL
060897,000849: 16,3372 64753 AD ONE
060898,000850: 16,3373 55736 TS ABSTJ
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Page 1429
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060900,000852: 16,3374 23743 LXCH ROTINDEX
060901,000853: 16,3375 03535 TC SELECTP
060902,000854: 16,3376 46245 CS SIX
060903,000855: 16,3377 61742 AD NUMBERT
060904,000856: 16,3400 00006 EXTEND
060905,000857: 16,3401 13403 BZF +2
060906,000858:
060907,000859: 16,3402 44752 CS TWO
060908,000860: 16,3403 64751 AD FOUR
060909,000861: 16,3404 55521 TS NO.PJETS
060910,000862: 16,3405 31740 CA POLYTEMP
060911,000863: 16,3406 05744 TC WRITEP
060912,000864: 16,3407 41736 CS ABSTJ
060913,000865: 16,3410 63616 AD +150MST6
060914,000866: 16,3411 00006 EXTEND
060915,000867: 16,3412 63630 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
060916,000868:
060917,000869: 16,3413 63576 AD -136MST6
060918,000870: 16,3414 00006 EXTEND
060919,000871: 16,3415 63422 BZMF +5
060920,000872:
060921,000873: 16,3416 27736 ADS ABSTJ
060922,000874: 16,3417 51743 INDEX ROTINDEX
060923,000875: 16,3420 33625 CA MINTIMES
060924,000876: 16,3421 55524 TS TJP
060925,000877:
060926,000878: 16,3422 31736 CA ABSTJ
060927,000879: 16,3423 22007 ZL
060928,000880: 16,3424 00004 INHINT
060929,000881: 16,3425 53471 DXCH T6FURTHA
060930,000882: 16,3426 04674 TC IBNKCALL
060931,000883: 16,3427 37143 CADR JTLST
060932,000884: 16,3430 44740 CS BIT12
060933,000885: 16,3431 71262 MASK RCSFLAGS
060934,000886: 16,3432 55262 TS RCSFLAGS # BIT 12 SET TO 0.
060935,000887: 16,3433 03435 TC ALTSYST
060936,000888: 16,3434 13630 TCF QRAXIS
060937,000889:
060938,000890: 16,3435 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS
060939,000891: 16,3436 54001 TS L
060940,000892: 16,3437 34747 CA AORBSYST
060941,000893: 16,3440 00006 EXTEND
060942,000894: 16,3441 06001 RXOR LCHAN
060943,000895: 16,3442 54101 TS FLAGWRD5
060944,000896: 16,3443 00003 RELINT
060945,000897: 16,3444 00002 TC Q
060946,000898:
060947,000899: 16,3445 03435 DKALT TC ALTSYST
060948,000900:
060949,000901: 16,3446 05743 JETSOFF TC WRITEP -1
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Page 1430
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060951,000903: 16,3447 34755 CA ZERO
060952,000904: 16,3450 55524 TS TJP
060953,000905: 16,3451 13630 TCF QRAXIS
060954,000906:
060955,000907: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060956,000908:
060957,000909: 16,3452 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
060958,000910: 16,3453 00006 EXTEND
060959,000911: 16,3454 21635 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
060960,000912: 16,3455 00006 EXTEND
060961,000913: 16,3456 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060962,000914: 16,3457 57751 XCH E # SAVE FIRST TERM (OF TWO)
060963,000915: 16,3460 30032 CA CDUX # THIRD COMPONENT
060964,000916: 16,3461 00006 EXTEND
060965,000917: 16,3462 21634 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
060966,000918: # EXTEND
060967,000919: # MP M13
060968,000920: 16,3463 61274 AD DELPEROR # KALCMANU INERFACE ERROR
060969,000921: 16,3464 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
060970,000922: 16,3465 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060971,000923: 16,3466 00002 TC Q # RETURN TO CALLER
060972,000924:
060973,000925: # P-AXIS URGENCY FUNCTION CALCULATION.
060974,000926:
060975,000927: 16,3467 03452 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
060976,000928: 16,3470 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
060977,000929: 16,3471 61421 AD OMEGAP # SPS-BACKUP MODE.
060978,000930: 16,3472 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060979,000931:
060980,000932: 16,3473 44753 CS ONE
060981,000933: 16,3474 55505 TS AXISCTR
060982,000934: 16,3475 30111 CA DAPBOOLS
060983,000935: 16,3476 74737 MASK CSMDOCKD
060984,000936: 16,3477 00006 EXTEND
060985,000937: 16,3500 13511 BZF HEADTJET
060986,000938: 16,3501 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060987,000939: 16,3502 04674 TC IBNKCALL
060988,000940: 16,3503 43736 CADR SPSRCS
060989,000941:
060990,000942: 16,3504 31524 CA TJP
060991,000943: 16,3505 00006 EXTEND
060992,000944: 16,3506 13445 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
060993,000945: 16,3507 00003 RELINT
060994,000946: 16,3510 13354 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
060995,000947: 16,3511 34755 HEADTJET CA ZERO
060996,000948: 16,3512 55500 TS SENSETYP
060997,000949: 16,3513 00004 INHINT
060998,000950: 16,3514 04674 TC IBNKCALL
060999,000951: 16,3515 37304 CADR TJETLAW
061000,000952: 16,3516 00003 RELINT
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Page 1431
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061002,000954: 16,3517 41740 CS FIREFCT
061003,000955: 16,3520 63534 AD -FOURDEG
061004,000956: 16,3521 00006 EXTEND
061005,000957: 16,3522 63354 BZMF PJETSLEC -6
061006,000958: 16,3523 11524 CCS TJP
061007,000959: 16,3524 13526 TCF +2
061008,000960: 16,3525 13446 TCF JETSOFF
061009,000961: 16,3526 63533 AD -160MST6
061010,000962: 16,3527 00006 EXTEND
061011,000963: 16,3530 63354 BZMF PJETSLEC -6
061012,000964: 16,3531 36245 CA SIX
061013,000965: 16,3532 13361 TCF PJETSLEC -1
061014,000966: 16,3533 77377 -160MST6 DEC -256 B-14
061015,000967: 16,3534 75117 -FOURDEG DEC -.08888
061016,000968:
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Page 1432
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061018,000970: # JET POLICY CONSTRUCTION SUBROUTINE
061019,000971:
061020,000972: # INPUT: ROTINDEX, NUMBERT
061021,000973:
061022,000974: # OUTPUT: POLYTEMP (JET POLICY)
061023,000975:
061024,000976: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
061025,000977:
061026,000978: 16,3535 36245 SELECTP CA SIX
061027,000979: 16,3536 55741 TS TEMPNUM
061028,000980: 16,3537 51742 INDEX NUMBERT
061029,000981: 16,3540 33567 CA TYPEP
061030,000982: 16,3541 51743 INDEX ROTINDEX
061031,000983: 16,3542 73560 MASK JETSALL
061032,000984: 16,3543 55740 TS POLYTEMP
061033,000985: 16,3544 71260 MASK CH6MASK
061034,000986: 16,3545 10000 CCS A
061035,000987: 16,3546 13550 TCF +2
061036,000988: 16,3547 00002 TC Q
061037,000989: 16,3550 11741 CCS TEMPNUM
061038,000990: 16,3551 13555 TCF +4
061039,000991: 16,3552 05567 TC ALARM
061040,000992: 16,3553 02003 OCT 02003
061041,000993: 16,3554 13446 TCF JETSOFF # *****TCF ALARMJET *********************
061042,000994: 16,3555 55742 SELECTYZ TS NUMBERT
061043,000995: 16,3556 13536 TCF SELECTP +1
061044,000996: 16,3557 12773 -1 TCF ABORTYZ +2
061045,000997: 16,3560 00252 JETSALL OCT 00252
061046,000998: 16,3561 00125 OCT 00125 # +P
061047,000999: 16,3562 00140 OCT 00140 # -Y
061048,001000: 16,3563 00006 OCT 00006 # -Z
061049,001001: 16,3564 00220 OCT 00220 # +Y
061050,001002: 16,3565 00011 OCT 00011 # +Z
061051,001003: 16,3566 00151 OCT 00151 # +V
061052,001004: 16,3567 00146 TYPEP OCT 00146 # -U
061053,001005: 16,3570 00226 OCT 00226 # -V
061054,001006: 16,3571 00231 OCT 00231 # +U
061055,001007: 16,3572 00151 OCT 00151 # +V
061056,001008: 16,3573 00132 OCT 00132 # 1-3
061057,001009: 16,3574 00245 OCT 00245 # 2-4
061058,001010: 16,3575 00377 OCT 00377 # ALL
061059,001011: 16,3576 16,3576 INDXYZ = -136MST6
061060,001012: 16,3576 77445 -136MST6 DEC -218 B-14
061061,001013: 16,3577 00004 DEC 4 B-14
061062,001014: 16,3600 00002 DEC 2 B-14
061063,001015: 16,3601 07776 OCT 07776
061064,001016: 16,3602 00005 DEC 5 B-14
061065,001017: 16,3603 00011 DEC 9 B-14
061066,001018: 16,3604 00012 DEC 10 B-14
061067,001019: 16,3605 07776 OCT 07776
061068,001020: 16,3606 00003 DEC 3 B-14
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Page 1433
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061070,001022: 16,3607 00010 DEC 8 B-14
061071,001023: 16,3610 00007 DEC 7 B-14
061072,001024: 16,3611 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
061073,001025: 16,3612 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
061074,001026: 16,3613 07776 OCT 07776 # TO BE TC JETSALL -1
061075,001027: 16,3614 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
061076,001028: 16,3615 07776 OCT 07776
061077,001029: 16,3616 00360 +150MST6 DEC 240 B-14
061078,001030: 16,3617 07400 07400OCT OCT 07400
061079,001031:
061080,001032: # T-JET LAW FIXED CONSTANTS
061081,001033:
061082,001034: 16,3620 00266 NORMSCL OCT 266
061083,001035: 16,3621 74631 -100MS DEC -.1
061084,001036: 16,3622 06315 200MS DEC .2
061085,001037: 16,3623 7721 25/32 = PRIO31 # (DEC .78125)
061086,001038: 16,3623 00600 BITS8,9 OCTAL 00600
061087,001039: 16,3624 00632 1/40 DEC .02500
061088,001040: 16,3625 77751 MINTIMES DEC -22 B-14
061089,001041: 16,3626 00026 DEC 22 B-14
061090,001042: 16,3627 02734 PSKIPADR GENADR SKIPPAXS
061091,001043:
061092,001044: # GOES TO Q,R-AXES RCS AUTOPILOT
061093,001045:
061094,001046: 16,3630 41644 QRAXIS CS OMEGARD
061095,001047: 16,3631 61423 AD OMEGAR
061096,001048: 16,3632 02310 TC OVERSUB
061097,001049: 16,3633 55437 TS EDOTR
061098,001050: 16,3634 41643 CS OMEGAQD
061099,001051: 16,3635 61422 AD OMEGAQ
061100,001052: 16,3636 02310 TC OVERSUB
061101,001053: 16,3637 55436 TS EDOTQ
061102,001054: 16,3640 00006 EXTEND
061103,001055: 16,3641 33644 DCA QERRCALL
061104,001056: 16,3642 52006 DTCB
061105,001057:
061106,001058: 16,3643 E6,1536 EBANK= AOSQ
061107,001059: 16,3643 02124 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc