Source Code
|
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 '##'.
|
061110,000002: ## Copyright: Public domain.
061111,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
061112,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
061113,000005: ## This was the original program released for the Apollo 13 LM,
061114,000006: ## although several more revisions would follow. It has been
061115,000007: ## reconstructed from a listing of Luminary 131, from which it
061116,000008: ## differs on only two lines in P70-P71. The difference is
061117,000009: ## described in detail in Luminary memo #129, which was used
061118,000010: ## to perform the reconstruction. This file is intended to be a
061119,000011: ## faithful reconstruction, except that the code format has been
061120,000012: ## changed to conform to the requirements of the yaYUL assembler
061121,000013: ## rather than the original YUL assembler.
061122,000014: ## Reference: pp. 1434-1451
061123,000015: ## Contact: Ron Burkey <info@sandroid.org>.
061124,000016: ## Website: www.ibiblio.org/apollo/index.html
061125,000017: ## Mod history: 06/07/03 RSB. Began transcribing.
061126,000018: ## 05/14/05 RSB Corrected website reference above.
061127,000019: ## 2010-10-25 JL Indentation fixes.
061128,000020: ## 2017-01-06 RSB Page numbers now agree with those on the
061129,000021: ## original hardcopy, as opposed to the PDF page
061130,000022: ## numbers in 1701.pdf.
061131,000023: ## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
061132,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
061133,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
061134,000026: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
061135,000027: ## comment text error found while transcribing Zerlina 56.
061136,000028: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
061137,000029:
|
|
Page 1434
|
061139,000031: 17,2124 BANK 17
061140,000032: 17,2000 SETLOC DAPS2
061141,000033: 17,2000 BANK
061142,000034:
061143,000035: 17,2124 E6,1634 EBANK= CDUXD
061144,000036:
061145,000037: 17,2124 COUNT* $$/DAPQR
061146,000038:
061147,000039: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
061148,000040: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
061149,000041: 17,2126 02031 RAND CHAN31
061150,000042: 17,2127 10000 CCS A
061151,000043: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
061152,000044: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
061153,000045: 17,2132 74740 MASK OURRCBIT
061154,000046: 17,2133 00006 EXTEND
061155,000047: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
061156,000048: 17,2135 02655 TC QERRCALC
061157,000049:
061158,000050: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061159,000051: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
061160,000052: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
061161,000053: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
061162,000054: 17,2142 55630 TS COTROLER
061163,000055:
061164,000056: 17,2143 53437 DXCH EDOTQ
061165,000057: 17,2144 03200 TC ROT-TOUV
061166,000058: 17,2145 53427 DXCH OMEGAU
061167,000059:
061168,000060: # X - TRANSLATION:
061169,000061:
061170,000062: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061171,000063: # ULLAGER
061172,000064: # APSFLAG, DRIFTBIT
061173,000065: # ACC40R2X, ACRBTRAN
061174,000066:
061175,000067: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
061176,000068: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
061177,000069:
061178,000070: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
061179,000071: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061180,000072:
061181,000073: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
061182,000074: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
061183,000075: 17,2150 02031 RAND CHAN31
061184,000076: 17,2151 00006 EXTEND
061185,000077: 17,2152 12200 BZF +XORULGE
|
|
Page 1435
|
061187,000079: 17,2153 34744 CA BIT8
061188,000080: 17,2154 00006 EXTEND
061189,000081: 17,2155 02031 RAND CHAN31
061190,000082: 17,2156 00006 EXTEND
061191,000083: 17,2157 12201 BZF -XTRANS
061192,000084:
061193,000085: 17,2160 34746 CA ULLAGER
061194,000086: 17,2161 70111 MASK DAPBOOLS
061195,000087: 17,2162 10000 CCS A
061196,000088: 17,2163 12200 TCF +XORULGE
061197,000089:
061198,000090: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
061199,000091: 17,2165 55474 TS NEXTV
061200,000092: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
061201,000093: 17,2167 74744 MASK DRIFTBIT
061202,000094: 17,2170 00006 EXTEND
061203,000095: 17,2171 12176 BZF TSENSE
061204,000096: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061205,000097: 17,2173 74737 MASK APSFLBIT
061206,000098: 17,2174 10000 CCS A
061207,000099: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061208,000100: 17,2176 55500 TSENSE TS SENSETYP
061209,000101: 17,2177 12232 TCF QRCONTRL
061210,000102:
061211,000103: 17,2200 34753 +XORULGE CAF ONE
061212,000104: 17,2201 64751 -XTRANS AD FOUR
061213,000105: 17,2202 55743 TS ROTINDEX
061214,000106: 17,2203 67750 AD NEG3
061215,000107: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061216,000108: 17,2205 30111 CA DAPBOOLS
061217,000109: 17,2206 74741 MASK ACC4OR2X
061218,000110: 17,2207 10000 CCS A
061219,000111: 17,2210 12352 TCF TRANS4
061220,000112:
061221,000113: 17,2211 30111 CA DAPBOOLS
061222,000114: 17,2212 74742 MASK AORBTRAN
061223,000115: 17,2213 10000 CCS A
061224,000116: 17,2214 34753 CA ONE # THREE FOR B
061225,000117: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061226,000118: 17,2216 55742 TSNUMBRT TS NUMBERT
061227,000119:
061228,000120: 17,2217 03225 TC SELCTSUB
061229,000121:
061230,000122: 17,2220 11740 CCS POLYTEMP
061231,000123: 17,2221 12224 TCF +3
061232,000124: 17,2222 05567 TC ALARM
061233,000125: 17,2223 02002 OCT 02002
061234,000126: 17,2224 35764 CA 00314OCT
061235,000127: 17,2225 71740 MASK POLYTEMP
061236,000128: 17,2226 55473 TSNEXTS TS NEXTU
|
|
Page 1436
|
061238,000130: 17,2227 45764 CS 00314OCT
061239,000131: 17,2230 71740 MASK POLYTEMP
061240,000132: 17,2231 55474 TS NEXTV
061241,000133:
061242,000134: # Q,R-AXES RCS CONTROL MODE SELECTION
061243,000135: # SWITCHES INDICATION WHEN SET
061244,000136: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061245,000137: # PULSES MINIMUM IMPULSE MODE
061246,000138: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061247,000139:
061248,000140: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061249,000141: 17,2233 00006 EXTEND
061250,000142: 17,2234 02031 RAND CHAN31 # BITS INVERTED
061251,000143: 17,2235 10000 CCS A
061252,000144: 17,2236 12710 TCF ATTSTEER
061253,000145: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061254,000146: 17,2240 70111 MASK DAPBOOLS
061255,000147: 17,2241 00006 EXTEND
061256,000148: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061257,000149:
061258,000150: # MINIMUM IMPULSE MODE
061259,000151:
061260,000152: 17,2243 00004 INHINT
061261,000153: 17,2244 04674 TC IBNKCALL
061262,000154: 17,2245 40154 CADR ZATTEROR
061263,000155: 17,2246 34755 CA ZERO
061264,000156: 17,2247 55450 TS QERROR
061265,000157: 17,2250 55452 TS RERROR # FOR DISPLAYS
061266,000158: 17,2251 00003 RELINT
061267,000159:
061268,000160: 17,2252 00006 EXTEND
061269,000161: 17,2253 00031 READ CHAN31
061270,000162: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
061271,000163: 17,2255 11461 CCS OLDQRMIN
061272,000164: 17,2256 12300 TCF CHECKIN
061273,000165:
061274,000166: 17,2257 31736 FIREQR CA TEMP31
061275,000167: 17,2260 74753 MASK BIT1
061276,000168: 17,2261 00006 EXTEND
061277,000169: 17,2262 12304 BZF +QMIN
061278,000170:
061279,000171: 17,2263 31736 CA TEMP31
061280,000172: 17,2264 74752 MASK BIT2
061281,000173: 17,2265 00006 EXTEND
061282,000174: 17,2266 12310 BZF -QMIN
061283,000175:
061284,000176: 17,2267 31736 CA TEMP31
061285,000177: 17,2270 74747 MASK BIT5
|
|
Page 1437
|
061287,000179: 17,2271 00006 EXTEND
061288,000180: 17,2272 12314 BZF +RMIN
061289,000181:
061290,000182: 17,2273 31736 CA TEMP31
061291,000183: 17,2274 74746 MASK BIT6
061292,000184: 17,2275 00006 EXTEND
061293,000185: 17,2276 12316 BZF -RMIN
061294,000186:
061295,000187: 17,2277 13112 TCF XTRANS
061296,000188:
061297,000189: 17,2300 41736 CHECKIN CS TEMP31
061298,000190: 17,2301 72351 MASK OCT63
061299,000191: 17,2302 55461 TS OLDQRMIN
061300,000192: 17,2303 13112 TCF XTRANS
061301,000193:
061302,000194: 17,2304 33136 +QMIN CA 14MS
061303,000195: 17,2305 55525 TS TJU
061304,000196: 17,2306 43136 CS 14MS
061305,000197: 17,2307 12320 TCF MINQR
061306,000198: 17,2310 43136 -QMIN CS 14MS
061307,000199: 17,2311 55525 TS TJU
061308,000200: 17,2312 33136 CA 14MS
061309,000201: 17,2313 12320 TCF MINQR
061310,000202: 17,2314 33136 +RMIN CA 14MS
061311,000203: 17,2315 12317 TCF +2
061312,000204: 17,2316 43136 -RMIN CS 14MS
061313,000205: 17,2317 55525 TS TJU
061314,000206: 17,2320 55526 MINQR TS TJV
061315,000207: 17,2321 32350 CA MINADR
061316,000208: 17,2322 55477 TS RETJADR
061317,000209: 17,2323 34753 CA ONE
061318,000210: 17,2324 55461 TS OLDQRMIN
061319,000211: 17,2325 55505 MINRTN TS AXISCTR
061320,000212: 17,2326 30111 CA DAPBOOLS
061321,000213: 17,2327 74737 MASK CSMDOCKD
061322,000214: 17,2330 00006 EXTEND
061323,000215: 17,2331 12341 BZF MIMRET
061324,000216: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
061325,000217: 17,2333 11525 CCS TJU
061326,000218: 17,2334 34776 CA 60MS
061327,000219: 17,2335 12337 TCF +2
061328,000220: 17,2336 44776 CS 60MS
061329,000221: 17,2337 51505 INDEX AXISCTR
061330,000222: 17,2340 55525 TS TJU
061331,000223: 17,2341 30111 MIMRET CA DAPBOOLS
061332,000224: 17,2342 74742 MASK AORBTRAN
061333,000225: 17,2343 10000 CCS A
061334,000226: 17,2344 34753 CA ONE
061335,000227: 17,2345 64752 AD TWO
061336,000228: 17,2346 55742 TS NUMBERT
|
|
Page 1438
|
061338,000230: 17,2347 12756 TCF AFTERTJ
061339,000231:
061340,000232: 17,2350 4776 60MS = OCT140
061341,000233: 17,2350 02325 MINADR GENADR MINRTN
061342,000234: 17,2351 00063 OCT63 OCT 63
061343,000235: 17,2352 17,3136 14MS = +TJMINT6
061344,000236:
061345,000237: 17,2352 34751 TRANS4 CA FOUR
061346,000238: 17,2353 12216 TCF TSNUMBRT
061347,000239:
061348,000240: # RATE COMMAND MODE:
061349,000241:
061350,000242: # DESCRIPTION (SAME AS P-AXIS)
061351,000243:
061352,000244: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061353,000245: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061354,000246: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
061355,000247: 17,2357 34735 CA BIT15
061356,000248: 17,2360 71443 MASK CH31TEMP
061357,000249: 17,2361 00006 EXTEND
061358,000250: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061359,000251: 17,2363 34740 CA OURRCBIT # ***********
061360,000252: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061361,000253: 17,2365 00006 EXTEND # *********** LAST TIME.
061362,000254: 17,2366 12710 BZF STILLRCS
061363,000255: 17,2367 44743 CS BIT9
061364,000256: 17,2370 71262 MASK RCSFLAGS
061365,000257: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
061366,000258: 17,2372 12374 TCF DAMPING
061367,000259: 17,2373 4771 40CYCL = OCT50
061368,000260: 17,2373 4753 1/10S = BIT1
061369,000261: 17,2373 00056 LINRAT DEC 46 B-14
061370,000262:
061371,000263: # ================================
061372,000264:
061373,000265: 17,2374 34755 DAMPING CA ZERO
061374,000266: 17,2375 55462 TS SAVEHAND
061375,000267: 17,2376 55463 TS SAVEHAND +1
061376,000268: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
061377,000269: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061378,000270: 17,2401 12403 TCF +2 # *******************
061379,000271: 17,2402 12403 TCF +1
061380,000272: 17,2403 60000 DOUBLE # WHERE
061381,000273: 17,2404 60000 DOUBLE
061382,000274: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061383,000275: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061384,000276: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061385,000277: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061386,000278: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061387,000279: 17,2412 71444 MP STIKSENS
061388,000280: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061389,000281: 17,2414 40000 COM
|
|
Page 1439
|
061391,000283: 17,2415 61455 AD QLAST
061392,000284: 17,2416 55740 TS DAPTEMP3
061393,000285: 17,2417 11463 CCS SAVEHAND +1
061394,000286: 17,2420 12423 TCF +3
061395,000287: 17,2421 12423 TCF +2
061396,000288: 17,2422 12423 TCF +1
061397,000289: 17,2423 60000 DOUBLE
061398,000290: 17,2424 60000 DOUBLE
061399,000291: 17,2425 62373 AD LINRAT
061400,000292: 17,2426 00006 EXTEND
061401,000293: 17,2427 71463 MP SAVEHAND +1
061402,000294: 17,2430 30001 CA L
061403,000295: 17,2431 00006 EXTEND
061404,000296: 17,2432 71444 MP STIKSENS
061405,000297: 17,2433 57456 XCH RLAST
061406,000298: 17,2434 40000 COM
061407,000299: 17,2435 61456 AD RLAST
061408,000300: 17,2436 55741 TS DAPTEMP4
061409,000301: 17,2437 41455 CS QLAST # INTERVAL.
061410,000302: 17,2440 61422 AD OMEGAQ
061411,000303: 17,2441 55436 TS QRATEDIF
061412,000304: 17,2442 41456 CS RLAST
061413,000305: 17,2443 61423 AD OMEGAR
061414,000306: 17,2444 55437 TS RRATEDIF
061415,000307: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061416,000308: 17,2446 03200 TC ROT-TOUV
061417,000309: 17,2447 53427 DXCH URATEDIF
061418,000310: 17,2450 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061419,000311: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061420,000312: 17,2452 02454 TC +2
061421,000313: 17,2453 02454 TC +1
061422,000314: 17,2454 61476 AD -RATEDB
061423,000315: 17,2455 00006 EXTEND
061424,000316: 17,2456 62460 BZMF +2
061425,000317: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061426,000318: 17,2460 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061427,000319: 17,2461 02464 TC +3
061428,000320: 17,2462 02464 TC +2
061429,000321: 17,2463 02464 TC +1
061430,000322: 17,2464 61476 AD -RATEDB
061431,000323: 17,2465 00006 EXTEND
061432,000324: 17,2466 62470 BZMF +2
061433,000325: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061434,000326: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061435,000327: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061436,000328: 17,2472 00006 EXTEND
061437,000329: 17,2473 12475 BZF +2
061438,000330: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061439,000331: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061440,000332: 17,2476 34771 CA 40CYCL
|
|
Page 1440
|
061442,000334: 17,2477 55457 TS TCQR
061443,000335: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061444,000336: 17,2501 04674 TC IBNKCALL
061445,000337: 17,2502 40154 FCADR ZATTEROR
061446,000338: 17,2503 00003 RELINT
061447,000339: 17,2504 34755 CA ZERO
061448,000340: 17,2505 55450 TS DYERROR
061449,000341: 17,2506 55451 TS DYERROR +1
061450,000342: 17,2507 55452 TS DZERROR
061451,000343: 17,2510 55453 TS DZERROR +1
061452,000344: 17,2511 11426 CCS URATEDIF
061453,000345: 17,2512 12515 TCF +3
061454,000346: 17,2513 12515 TCF +2
061455,000347: 17,2514 12515 TCF +1
061456,000348: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061457,000349: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
061458,000350: 17,2517 62533 BZMF VDB
061459,000351: 17,2520 11427 CCS VRATEDIF
061460,000352: 17,2521 12524 TCF +3
061461,000353: 17,2522 12524 TCF +2
061462,000354: 17,2523 12524 TCF +1
061463,000355: 17,2524 61476 AD TARGETDB
061464,000356: 17,2525 00006 EXTEND
061465,000357: 17,2526 62530 BZMF +2
061466,000358: 17,2527 12544 TCF QRTIME
061467,000359: 17,2530 34755 CA ZERO
061468,000360: 17,2531 55427 TS VRATEDIF
061469,000361: 17,2532 12544 TCF QRTIME
061470,000362: 17,2533 11427 VDB CCS VRATEDIF
061471,000363: 17,2534 02537 TC +3
061472,000364: 17,2535 02537 TC +2
061473,000365: 17,2536 02537 TC +1
061474,000366: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061475,000367: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061476,000368: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061477,000369: 17,2542 34755 CA ZERO # PASS.
061478,000370: 17,2543 55426 TS URATEDIF
061479,000371: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061480,000372: 17,2545 00006 EXTEND
061481,000373: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061482,000374: 17,2547 41262 CS RCSFLAGS
061483,000375: 17,2550 74741 MASK QRBIT
061484,000376: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
061485,000377: 17,2552 02556 TC +4
061486,000378: 17,2553 44741 TOPSEUDO CS QRBIT
061487,000379: 17,2554 71262 MASK RCSFLAGS
061488,000380: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
061489,000381: 17,2556 32622 CA HANDADR
061490,000382: 17,2557 55477 TS RETJADR
061491,000383: 17,2560 34753 CA ONE
061492,000384:
|
|
Page 1441
|
061494,000386: 17,2561 55505 BACKHAND TS AXISCTR
061495,000387:
061496,000388: 17,2562 34751 CA FOUR
061497,000389: 17,2563 55742 TS NUMBERT
061498,000390:
061499,000391: 17,2564 51505 INDEX AXISCTR
061500,000392: 17,2565 51534 INDEX SKIPU
061501,000393: 17,2566 12567 TCF +1
061502,000394: 17,2567 34751 CA FOUR
061503,000395: 17,2570 51505 INDEX AXISCTR
061504,000396: 17,2571 55534 TS SKIPU
061505,000397: 17,2572 13034 TCF LOOPER
061506,000398:
061507,000399: 17,2573 51505 INDEX AXISCTR
061508,000400: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
061509,000401: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061510,000402: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
061511,000403: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
061512,000404: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061513,000405: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061514,000406:
061515,000407: 17,2602 50000 INDEX A
061516,000408: 17,2603 41570 CS 1/ANET2 +1
061517,000409: 17,2604 00006 EXTEND
061518,000410: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061519,000411: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061520,000412: 17,2607 54002 TS Q
061521,000413: 17,2610 20001 DAS A
061522,000414: 17,2611 60002 AD Q
061523,000415: 17,2612 54000 TS A # OVERFLOW SKIP
061524,000416: 17,2613 12615 TCF +2
061525,000417: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061526,000418: 17,2615 51505 SETTIME INDEX AXISCTR
061527,000419: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061528,000420: 17,2617 12756 TCF AFTERTJ
061529,000421:
061530,000422: 17,2620 34755 ZEROTJ CA ZERO
061531,000423: 17,2621 12615 TCF SETTIME
061532,000424:
061533,000425: 17,2622 02561 HANDADR GENADR BACKHAND
061534,000426:
061535,000427: # GTS WILL BE TRIED IF
061536,000428: # 1. USEQRJTS = 0,
061537,000429: # 2. ALLOWGTS POS,
061538,000430: # 3. JETS ARE OFF (Q,R-AXES)
061539,000431:
061540,000432: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061541,000433: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061542,000434: 17,2625 10000 CCS A
061543,000435: 17,2626 12141 TCF RCS
061544,000436: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
|
|
Page 1442
|
061546,000438: 17,2630 12632 TCF +2
061547,000439: 17,2631 12141 TCF RCS
061548,000440: 17,2632 00006 EXTEND
061549,000441: 17,2633 00005 READ CHAN5
061550,000442: 17,2634 10000 CCS A
061551,000443: 17,2635 12641 TCF CHKINGTS
061552,000444: 17,2636 00006 GOTOGTS EXTEND
061553,000445: 17,2637 32654 DCA GTSCADR
061554,000446: 17,2640 52006 DTCB
061555,000447:
061556,000448: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061557,000449: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061558,000450: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061559,000451: 17,2644 00004 INHINT
061560,000452: 17,2645 04674 TC IBNKCALL
061561,000453: 17,2646 43327 CADR TIMEGMBL
061562,000454: 17,2647 00003 RELINT
061563,000455: 17,2650 34755 CAF ZERO
061564,000456: 17,2651 55632 TS INGTS
061565,000457: 17,2652 12141 TCF RCS
061566,000458:
061567,000459: 17,2653 E6,1634 EBANK= CDUXD
061568,000460: 17,2653 03076 42106 GTSCADR 2CADR GTS
061569,000461:
|
|
Page 1443
|
061571,000463: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061572,000464:
061573,000465: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061574,000466: 17,2656 00006 EXTEND
061575,000467: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061576,000468: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
061577,000469: 17,2661 00006 EXTEND
061578,000470: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061579,000471: 17,2663 55751 TS E
061580,000472: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
061581,000473: 17,2665 00006 EXTEND
061582,000474: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061583,000475: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
061584,000476: 17,2670 00006 EXTEND
061585,000477: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061586,000478: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
061587,000479: 17,2673 61751 AD E
061588,000480: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061589,000481:
061590,000482: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061591,000483: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061592,000484: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061593,000485: 17,2700 55751 TS E
061594,000486: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061595,000487: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061596,000488: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061597,000489: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
061598,000490: 17,2705 61751 AD E
061599,000491: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061600,000492: 17,2707 00002 TC Q
061601,000493:
|
|
Page 1444
|
061603,000495: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061604,000496:
061605,000497: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061606,000498:
061607,000499: 17,2710 31452 STILLRCS CA RERROR
061608,000500: 17,2711 22000 LXCH A
061609,000501: 17,2712 31450 CA QERROR
061610,000502: 17,2713 03200 TC ROT-TOUV
061611,000503: 17,2714 53751 DXCH UERROR
061612,000504:
061613,000505: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061614,000506: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061615,000507:
061616,000508: 17,2715 33142 TJLAW CA TJLAWADR
061617,000509: 17,2716 55477 TS RETJADR
061618,000510: 17,2717 34753 CA ONE
061619,000511: 17,2720 55505 TS AXISCTR
061620,000512: 17,2721 51505 INDEX AXISCTR
061621,000513: 17,2722 51534 INDEX SKIPU
061622,000514: 17,2723 12724 TCF +1
061623,000515: 17,2724 34751 CA FOUR
061624,000516: 17,2725 51505 INDEX AXISCTR
061625,000517: 17,2726 55534 TS SKIPU
061626,000518: 17,2727 13034 TCF LOOPER
061627,000519: 17,2730 51505 INDEX AXISCTR
061628,000520: 17,2731 31750 CA UERROR
061629,000521: 17,2732 55751 TS E
061630,000522: 17,2733 51505 INDEX AXISCTR
061631,000523: 17,2734 31426 CA OMEGAU
061632,000524: 17,2735 55427 TS EDOT
061633,000525: 17,2736 30111 CA DAPBOOLS
061634,000526: 17,2737 74737 MASK CSMDOCKD
061635,000527: 17,2740 10000 CCS A
061636,000528: 17,2741 12744 TCF +3
061637,000529: 17,2742 03304 TC TJETLAW
061638,000530: 17,2743 12756 TCF AFTERTJ
061639,000531: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061640,000532: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
061641,000533: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061642,000534: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061643,000535: 17,2750 00004 INHINT
061644,000536: 17,2751 04674 TC IBNKCALL
061645,000537: 17,2752 43736 CADR SPSRCS # DETERMINE RCS CONTROL
061646,000538: 17,2753 00003 RELINT
061647,000539: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061648,000540: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061649,000541:
061650,000542: # Q,R-JET-SELECTION-LOGIC
061651,000543:
061652,000544: # INPUT: AXISCTR 0,1 FOR U,V
061653,000545: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
|
|
Page 1445
|
061655,000547: # TJU,TJV JET TIME SCALED 10.24 SEC.
061656,000548: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061657,000549: # RETJADR WHERE TO RETURN TO
061658,000550:
061659,000551: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061660,000552: # CHANNEL 5
061661,000553: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061662,000554:
061663,000555: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061664,000556: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061665,000557: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061666,000558: # IF NONE CAN BE FOUND.
061667,000559:
061668,000560: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061669,000561: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061670,000562:
061671,000563: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061672,000564: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061673,000565: 17,2760 00006 EXTEND
061674,000566: 17,2761 12772 BZF DOROTAT
061675,000567: 17,2762 40106 CS FLGWRD10
061676,000568: 17,2763 74737 MASK APSFLBIT
061677,000569: 17,2764 00006 EXTEND
061678,000570: 17,2765 12772 BZF DOROTAT
061679,000571: 17,2766 30111 CA DAPBOOLS
061680,000572: 17,2767 74744 MASK DRIFTBIT
061681,000573: 17,2770 00006 EXTEND
061682,000574: 17,2771 13112 BZF XTRANS
061683,000575:
061684,000576: 17,2772 34752 DOROTAT CAF TWO
061685,000577: 17,2773 54001 TS L
061686,000578: 17,2774 51505 INDEX AXISCTR
061687,000579: 17,2775 11525 CCS TJU
061688,000580: 17,2776 13003 TCF +5
061689,000581: 17,2777 13026 TCF NOROTAT
061690,000582: 17,3000 13002 TCF +2
061691,000583: 17,3001 13026 TCF NOROTAT
061692,000584: 17,3002 22007 ZL
061693,000585: 17,3003 64753 AD ONE
061694,000586: 17,3004 55736 TS ABSTJ
061695,000587:
061696,000588: 17,3005 31505 CA AXISCTR
061697,000589: 17,3006 60001 AD L
061698,000590: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061699,000591:
061700,000592: 17,3010 31736 CA ABSTJ
061701,000593: 17,3011 63137 AD -150MS
061702,000594: 17,3012 00006 EXTEND
061703,000595: 17,3013 63037 BZMF DOSKIP
|
|
Page 1446
|
061705,000597: 17,3014 03225 TC SELCTSUB
061706,000598:
061707,000599: 17,3015 51505 INDEX AXISCTR
061708,000600: 17,3016 33134 CA INDEXES
061709,000601: 17,3017 54001 TS L
061710,000602:
061711,000603: 17,3020 31740 CA POLYTEMP
061712,000604: 17,3021 00004 INHINT
061713,000605: 17,3022 50001 INDEX L
061714,000606: 17,3023 05744 TC WRITEP
061715,000607:
061716,000608: 17,3024 00003 RELINT
061717,000609: 17,3025 13100 TCF FEEDBACK
061718,000610:
061719,000611: 17,3026 51505 NOROTAT INDEX AXISCTR
061720,000612: 17,3027 33134 CA INDEXES
061721,000613: 17,3030 00004 INHINT
061722,000614: 17,3031 50000 INDEX A
061723,000615: 17,3032 05743 TC WRITEP -1
061724,000616:
061725,000617: 17,3033 00003 RELINT
061726,000618: 17,3034 11505 LOOPER CCS AXISCTR
061727,000619: 17,3035 01477 TC RETJADR
061728,000620: 17,3036 13270 TCF CLOSEOUT
061729,000621: 17,3037 41736 DOSKIP CS ABSTJ
061730,000622: 17,3040 63136 AD +TJMINT6 # 14MS
061731,000623: 17,3041 00006 EXTEND
061732,000624: 17,3042 63061 BZMF NOTMIN
061733,000625:
061734,000626: 17,3043 27736 ADS ABSTJ
061735,000627: 17,3044 51505 INDEX AXISCTR
061736,000628: 17,3045 11525 CCS TJU
061737,000629: 17,3046 33136 CA +TJMINT6
061738,000630: 17,3047 13051 TCF +2
061739,000631: 17,3050 43136 CS +TJMINT6
061740,000632: 17,3051 51505 INDEX AXISCTR
061741,000633: 17,3052 55525 TS TJU
061742,000634:
061743,000635: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061744,000636: 17,3054 13060 TCF NOTMIN -1
061745,000637: 17,3055 00006 EXTEND
061746,000638: 17,3056 00004 READ LOSCALAR
061747,000639: 17,3057 74753 MASK ONE
061748,000640: 17,3060 55742 TS NUMBERT
061749,000641:
061750,000642: 17,3061 03225 NOTMIN TC SELCTSUB
061751,000643:
061752,000644: 17,3062 51505 INDEX AXISCTR
061753,000645: 17,3063 33134 CA INDEXES
061754,000646: 17,3064 00004 INHINT
|
|
Page 1447
|
061756,000648: 17,3065 55471 TS T6FURTHA +1
061757,000649: 17,3066 31740 CA POLYTEMP
061758,000650: 17,3067 51471 INDEX T6FURTHA +1
061759,000651: 17,3070 05744 TC WRITEP
061760,000652:
061761,000653: 17,3071 31736 CA ABSTJ
061762,000654: 17,3072 55470 TS T6FURTHA
061763,000655: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
061764,000656:
061765,000657: 17,3074 00003 RELINT
061766,000658:
061767,000659: 17,3075 34755 CA ZERO
061768,000660: 17,3076 51505 INDEX AXISCTR
061769,000661: 17,3077 55534 TS SKIPU
061770,000662:
061771,000663: 17,3100 46250 FEEDBACK CS THREE
061772,000664: 17,3101 61742 AD NUMBERT
061773,000665: 17,3102 00006 EXTEND
061774,000666: 17,3103 63106 BZMF +3
061775,000667:
061776,000668: 17,3104 34752 CA TWO
061777,000669: 17,3105 13107 TCF +2
061778,000670: 17,3106 34753 CA ONE
061779,000671: 17,3107 51505 INDEX AXISCTR
061780,000672: 17,3110 55522 TS NO.UJETS
061781,000673: 17,3111 13034 TCF LOOPER
061782,000674:
061783,000675: 17,3112 34755 XTRANS CA ZERO
061784,000676: 17,3113 55525 TS TJU
061785,000677: 17,3114 55526 TS TJV
061786,000678: 17,3115 34751 CA FOUR
061787,000679: 17,3116 00004 INHINT
061788,000680: 17,3117 57534 XCH SKIPU
061789,000681: 17,3120 00006 EXTEND
061790,000682: 17,3121 13123 BZF +2
061791,000683: 17,3122 05747 TC WRITEU -1
061792,000684: 17,3123 34751 CA FOUR
061793,000685: 17,3124 57535 XCH SKIPV
061794,000686: 17,3125 00003 RELINT
061795,000687:
061796,000688: 17,3126 00006 EXTEND
061797,000689: 17,3127 13270 BZF CLOSEOUT
061798,000690: 17,3130 00004 INHINT
061799,000691: 17,3131 05760 TC WRITEV -1
061800,000692: 17,3132 00003 RELINT
061801,000693:
061802,000694: 17,3133 13270 TCF CLOSEOUT
061803,000695: 17,3134 00004 INDEXES DEC 4 B-14
061804,000696: 17,3135 00015 DEC 13 B-14
061805,000697: 17,3136 00026 +TJMINT6 DEC 22 B-14
|
|
Page 1448
|
061807,000699: 17,3137 77417 -150MS DEC -240 B-14
061808,000700: 17,3140 00600 BIT8,9 OCT 00600
061809,000701: 17,3141 00266 SCLNORM OCT 266
061810,000702: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061811,000703:
061812,000704: # THE JET LIST:
061813,000705: # THIS IS A WAITLIST FOR T6RUPTS.
061814,000706:
061815,000707: # CALLED BY:
061816,000708: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061817,000709: # TS T6FURTHA
061818,000710: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061819,000711: # TS T6FURTHA +1
061820,000712: # TC JTLST
061821,000713:
061822,000714: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061823,000715: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061824,000716: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061825,000717: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061826,000718: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061827,000719:
061828,000720: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061829,000721: # THE INPUT IS THE LAST MEMBER OF THE LIST
061830,000722:
061831,000723: # RETURNS BY:
061832,000724: # + TC Q
061833,000725:
061834,000726: # DEFINITIONS: (OUTPUT)
061835,000727: # TIME6 TIME OF NEXT RUPT
061836,000728: # T6NEXT DELTA TIME TO NEXT RUPT
061837,000729: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061838,000730: # NXT6ADR AXIS INDEX Q - P-AXIS
061839,000731: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061840,000732: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061841,000733:
061842,000734: 17,3143 41470 JTLST CS T6FURTHA
061843,000735: 17,3144 60031 AD TIME6
061844,000736: 17,3145 00006 EXTEND
061845,000737: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
061846,000738:
061847,000739: 17,3147 23465 LXCH NXT6ADR
061848,000740: 17,3150 53467 DXCH T6NEXT
061849,000741: 17,3151 53471 DXCH T6FURTHA
061850,000742: 17,3152 54031 TS TIME6
061851,000743: 17,3153 23465 LXCH NXT6ADR
061852,000744:
061853,000745: 17,3154 00006 TURNON EXTEND
061854,000746: 17,3155 23265 QXCH C13QSAV
061855,000747: 17,3156 06022 TC C13STALL
061856,000748:
061857,000749: 17,3157 34735 CA BIT15
|
|
Page 1449
|
061859,000751: 17,3160 00006 EXTEND
061860,000752: 17,3161 05013 WOR CHAN13
061861,000753: 17,3162 01265 TC C13QSAV
061862,000754:
061863,000755: 17,3163 61466 MIDORLST AD T6NEXT
061864,000756: 17,3164 00006 EXTEND
061865,000757: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061866,000758:
061867,000759: 17,3166 23467 LXCH T6NEXT +1
061868,000760: 17,3167 53471 DXCH T6FURTHA
061869,000761: 17,3170 00006 EXTEND
061870,000762: 17,3171 60031 SU TIME6
061871,000763: 17,3172 53467 DXCH T6NEXT
061872,000764:
061873,000765: 17,3173 00002 TC Q
061874,000766:
061875,000767: 17,3174 40000 LASTCHG CS A
061876,000768: 17,3175 64754 AD NEG0
061877,000769: 17,3176 55470 TS T6FURTHA
061878,000770:
061879,000771: 17,3177 00002 TC Q
061880,000772:
061881,000773: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061882,000774: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061883,000775: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061884,000776: # A AND THE V-COMPONENT IS IN L.
061885,000777:
061886,000778: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061887,000779: 17,3201 00006 EXTEND
061888,000780: 17,3202 71626 MP COEFFQ
061889,000781: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061890,000782: 17,3204 00006 EXTEND
061891,000783: 17,3205 71627 MP COEFFR
061892,000784: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
061893,000785: 17,3207 61737 AD ROTEMP2
061894,000786: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061895,000787: 17,3211 13215 TCF +4
061896,000788: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061897,000789: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061898,000790: 17,3214 55736 TS ROTEMP1
061899,000791: 17,3215 41737 CS ROTEMP2
061900,000792: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061901,000793: 17,3217 54007 TS 7
061902,000794: 17,3220 13223 TCF +3
061903,000795: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061904,000796: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061905,000797: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061906,000798: 17,3224 00002 TC Q
061907,000799: 17,3225 51743 SELCTSUB INDEX ROTINDEX
|
|
Page 1450
|
061909,000801: 17,3226 33257 CA ALLJETS
061910,000802: 17,3227 51742 INDEX NUMBERT
061911,000803: 17,3230 73263 MASK TYPEPOLY
061912,000804: 17,3231 55740 TS POLYTEMP
061913,000805:
061914,000806: 17,3232 71257 MASK CH5MASK
061915,000807: 17,3233 10000 CCS A
061916,000808: 17,3234 13236 TCF +2
061917,000809:
061918,000810: 17,3235 00002 TC Q
061919,000811:
061920,000812: 17,3236 36250 CA THREE
061921,000813: 17,3237 55742 FAILOOP TS NUMBERT
061922,000814: 17,3240 51743 INDEX ROTINDEX
061923,000815: 17,3241 33257 CA ALLJETS
061924,000816: 17,3242 51742 INDEX NUMBERT
061925,000817: 17,3243 73263 MASK TYPEPOLY
061926,000818: 17,3244 55740 TS POLYTEMP
061927,000819: 17,3245 71257 MASK CH5MASK
061928,000820: 17,3246 00006 EXTEND
061929,000821: 17,3247 13235 BZF FAILOOP -2
061930,000822: 17,3250 11742 CCS NUMBERT
061931,000823: 17,3251 13237 TCF FAILOOP
061932,000824: 17,3252 51505 INDEX AXISCTR
061933,000825: 17,3253 55525 TS TJU
061934,000826: 17,3254 05567 TC ALARM
061935,000827: 17,3255 02004 OCT 02004
061936,000828: 17,3256 13026 TCF NOROTAT
061937,000829: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
061938,000830: 17,3260 00022 OCT 00022 # -V 2 9
061939,000831: 17,3261 00204 OCT 00204 # +U 5 14
061940,000832:
061941,000833: 17,3262 00041 OCT 00041 # +V 1 10
061942,000834: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061943,000835: 17,3264 00252 OCT 00252 # +X 2 6 10 14
061944,000836: 17,3265 00146 OCT 00146 # A 2 5 10 13
061945,000837: 17,3266 00231 OCT 00231 # B 1 6 9 14
061946,000838: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061947,000839:
061948,000840: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061949,000841:
061950,000842: 17,3270 33272 CLOSEOUT CA ADRRUPT
061951,000843: 17,3271 07757 TC MAKERUPT
061952,000844:
061953,000845: 17,3272 03273 ADRRUPT ADRES ENDJASK
061954,000846:
061955,000847: 17,3273 53753 ENDJASK DXCH DAPARUPT
061956,000848: 17,3274 52011 DXCH ARUPT
061957,000849: 17,3275 53755 DXCH DAPBQRPT
061958,000850: 17,3276 56017 XCH BRUPT
|
|
Page 1451
|
061960,000852: 17,3277 22002 LXCH Q
061961,000853: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061962,000854: 17,3301 53757 DXCH DAPZRUPT
061963,000855: 17,3302 52016 DXCH ZRUPT
061964,000856: 17,3303 15272 TCF NOQRSM
061965,000857: 7757 BLOCK 3
061966,000858: 6000 SETLOC FFTAG6
061967,000859: 6000 BANK
061968,000860:
061969,000861: 7757 COUNT* $$/DAP
061970,000862:
061971,000863: 7757 00006 MAKERUPT EXTEND
061972,000864: 7760 07757 EDRUPT MAKERUPT
061973,000865:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc