GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.
Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
014164,000002: ## Copyright: Public domain.
014165,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014166,000004: ## Purpose: A section of Luminary 1C, revision 131.
014167,000005: ## It is part of the source code for the Lunar Module's (LM)
014168,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
014169,000007: ## This file is intended to be a faithful transcription, except
014170,000008: ## that the code format has been changed to conform to the
014171,000009: ## requirements of the yaYUL assembler rather than the
014172,000010: ## original YUL assembler.
014173,000011: ## Reference: pp. 344-365
014174,000012: ## Contact: Ron Burkey <info@sandroid.org>.
014175,000013: ## Website: www.ibiblio.org/apollo/index.html
014176,000014: ## Mod history: 05/10/03 RSB. Began transcribing.
014177,000015: ## 05/14/05 RSB Corrected website reference above.
014178,000016: ## 2010-08-24 JL Added missing page number comments.
014179,000017: ## 2017-01-06 RSB Page numbers now agree with those on the
014180,000018: ## original harcopy, as opposed to the PDF page
014181,000019: ## numbers in 1701.pdf.
014182,000020: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
014183,000021: ## 2017-02-28 RSB Fixed lingering typos.
014184,000022: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
014185,000023: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
014186,000024: ## side-by-side diff of Luminary 69/99/116/131/210.
014187,000025:
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Page 344 |
014189,000027: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU
014190,000028:
014191,000029: # MOD 2 DATE 5/1/67 BY DON KEENE
014192,000030:
014193,000031: # PROGRAM DESCRIPTION
014194,000032:
014195,000033: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014196,000034: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014197,000035: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014198,000036: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014199,000037: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014200,000038:
014201,000039: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014202,000040: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014203,000041: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014204,000042:
014205,000043: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014206,000044: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014207,000045:
014208,000046: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014209,000047: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014210,000048: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014211,000049: # -
014212,000050: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014213,000051: # -
014214,000052: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014215,000053: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014216,000054: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014217,000055:
014218,000056: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014219,000057: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014220,000058: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014221,000059: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014222,000060: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014223,000061: # -
014224,000062: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014225,000063:
014226,000064: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014227,000065: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014228,000066: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014229,000067: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014230,000068: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014231,000069: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014232,000070: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014233,000071: # DESIRED FINAL GIMBAL ANGLES.
014234,000072:
014235,000073: # PROGRAM LOGIC FLOW
014236,000074:
014237,000075: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014238,000076: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
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014240,000078: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014241,000079: # * * *
014242,000080: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014243,000081: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014244,000082:
014245,000083: # A) AM LESS THAN .25 DEGREES (MINANG)
014246,000084: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014247,000085:
014248,000086: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014249,000087: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014250,000088:
014251,000089: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014252,000090: # - *
014253,000091: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014254,000092: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014255,000093: # -
014256,000094: # TO DETERMINE COF.
014257,000095:
014258,000096: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014259,000097: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014260,000098: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014261,000099: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014262,000100: # YAW.
014263,000101:
014264,000102: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014265,000103: # -
014266,000104: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014267,000105: # DESIRED REFERENCE MATRIX IS THEN,
014268,000106: # * * *
014269,000107: # MIS = MIS DEL
014270,000108: # N+1 N
014271,000109: # *
014272,000110: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014273,000111: # *
014274,000112: # FROM MIS.
014275,000113:
014276,000114: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014277,000115: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014278,000116: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014279,000117: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014280,000118: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014281,000119: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014282,000120:
014283,000121: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014284,000122: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014285,000123:
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014287,000125: # CALLING SEQUENCE
014288,000126:
014289,000127: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014290,000128: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014291,000129: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014292,000130: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014293,000131: # *
014294,000132: # CAF PRIO XX
014295,000133: # --
014296,000134: # INHINT
014297,000135: # TC FINDVAC
014298,000136: # 2CADR KALCMAN3
014299,000137: # RELINT
014300,000138:
014301,000139: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014302,000140: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014303,000141:
014304,000142: # L TC BANKCALL
014305,000143: # L+1 CADR ATTSTALL
014306,000144: # L+2 (BAD RETURN)
014307,000145: # L+3 (GOOD RETURN)
014308,000146:
014309,000147: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014310,000148: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014311,000149: # WAS IN GIMBAL LOCK.
014312,000150:
014313,000151: # *** NOTA BENE *** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014314,000152: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014315,000153:
014316,000154: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014317,000155: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014318,000156: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014319,000157: # SUBROUTINES
014320,000158:
014321,000159: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014322,000160: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014323,000161:
014324,000162: # MXM3
014325,000163: # ----
014326,000164:
014327,000165: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014328,000166: # DOWN LIST, I.E.,
014329,000167: # ( M M M )
014330,000168: # ( 0 1 2 )
014331,000169: # * ( ) * *
014332,000170: # M = ( M M M ) = M1 X M2
014333,000171: # ( 3 4 5 )
014334,000172: # ( )
014335,000173: # ( M M M )
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014337,000175: # ( 6 7 8 )
014338,000176: # *
014339,000177: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014340,000178: # *
014341,000179: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014342,000180: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014343,000181: # 8
014344,000182: # TRANSPOS
014345,000183: # --------
014346,000184:
014347,000185: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014348,000186: #
014349,000187: # * * T
014350,000188: # M = M1
014351,000189:
014352,000190: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014353,000191: # *
014354,000192: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014355,000193:
014356,000194: # CDU TO DCM
014357,000195: # ----------
014358,000196:
014359,000197: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014360,000198: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014361,000199:
014362,000200: # M = COSY COSZ
014363,000201: # 0
014364,000202:
014365,000203: # M = -COSY SINZ COSX + SINY SINX
014366,000204: # 1
014367,000205:
014368,000206: # M = COSY SINZ SINX + SINY COSX
014369,000207: # 2
014370,000208:
014371,000209: # M = SINZ
014372,000210: # 3
014373,000211:
014374,000212: # M = COSZ COSX
014375,000213: # 4
014376,000214:
014377,000215: # M = -COSZ SINX
014378,000216: # 5
014379,000217:
014380,000218: # M = -SINY COSZ
014381,000219: # 6
014382,000220: #
014383,000221: # M = SINY SINZ COSX + COSY SINX
014384,000222: # 7
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Page 348 |
014386,000224: # M = -SINY SINZ SINX + COSY COSX
014387,000225: # 8
014388,000226:
014389,000227: # WHERE X = OUTER GIMBAL ANGLE
014390,000228: # Y = INNER GIMBAL ANGLE
014391,000229: # Z = MIDDLE GIMBAL ANGLE
014392,000230:
014393,000231: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014394,000232:
014395,000233: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014396,000234: # X Y Z
014397,000235: # STABLE MEMBER AXES (B , B , B ) ARE
014398,000236: # X Y Z
014399,000237:
014400,000238: # ( B ) ( A )
014401,000239: # ( X ) ( X )
014402,000240: # ( ) ( )
014403,000241: # ( ) * ( )
014404,000242: # ( B ) = M ( A )
014405,000243: # ( Y ) ( Y )
014406,000244: # ( ) ( )
014407,000245: # ( B ) ( A )
014408,000246: # ( Z ) ( Z )
014409,000247:
014410,000248: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014411,000249: # *
014412,000250: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014413,000251:
014414,000252: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014415,000253: # REGISTER X2.
014416,000254:
014417,000255: # DCM TO CDU
014418,000256: # ----------
014419,000257: # *
014420,000258: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROMA DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014421,000259: # *
014422,000260: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014423,000261: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014424,000262: # FOR THIS CONVERSION ARE
014425,000263:
014426,000264: # Z = ARCSIN (M )
014427,000265: # 3
014428,000266:
014429,000267: # Y = ARCSIN (-M /COSZ)
014430,000268: # 6
014431,000269:
014432,000270: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014433,000271: # 0
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014435,000273: # X = ARCSIN (-M /COSZ)
014436,000274: # 5
014437,000275:
014438,000276: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014439,000277: # 4
014440,000278:
014441,000279: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014442,000280: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014443,000281: # THE PUSH DOWN LIST.
014444,000282:
014445,000283: # DELCOMP
014446,000284: # -------
014447,000285: # *
014448,000286: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014449,000287: # -
014450,000288: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014451,000289:
014452,000290: # * * - -T *
014453,000291: # DEL = I COSA + U U (1 - COSA) + V SINA
014454,000292: # X
014455,000293:
014456,000294: # WHERE * ( 1 0 0 )
014457,000295: # I = ( 0 1 0 )
014458,000296: # ( 0 0 1 )
014459,000297:
014460,000298: # 2
014461,000299: # ( U U U U U )
014462,000300: # ( X X Y X Z )
014463,000301: # ( )
014464,000302: # - -T ( 2 )
014465,000303: # U U = ( U U U U U )
014466,000304: # ( Y X Y Y Z )
014467,000305: # ( )
014468,000306: # ( 2 )
014469,000307: # ( U U U U U )
014470,000308: # ( Z X Z Y Z )
014471,000309:
014472,000310:
014473,000311: # ( 0 -U U )
014474,000312: # ( Z Y )
014475,000313: # * ( )
014476,000314: # V = ( U 0 -U )
014477,000315: # X ( Z X )
014478,000316: # ( )
014479,000317: # ( -U U 0 )
014480,000318: # ( Y X )
014481,000319:
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014483,000321: # -
014484,000322: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
014485,000323: # A = ROTATION ANGLE
014486,000324:
014487,000325: # *
014488,000326: # THE INTERPRETATION OF DEL IS AS FOLLOWS
014489,000327:
014490,000328: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
014491,000329: # X Y Z
014492,000330: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
014493,000331: # X Y Z
014494,000332:
014495,000333: # ( B ) ( A )
014496,000334: # ( X ) ( X )
014497,000335: # ( ) * ( )
014498,000336: # ( B ) = DEL ( A )
014499,000337: # ( Y ) ( Y )
014500,000338: # ( ) ( )
014501,000339: # ( B ) ( A )
014502,000340: # ( Z ) ( Z )
014503,000341:
014504,000342: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
014505,000343: # -
014506,000344: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
014507,000345: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
014508,000346: # MUST THEN BE LOADED INTO D(MPAC).
014509,000347: #
014510,000348: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
014511,000349:
014512,000350: # READCDUK
014513,000351: # --------
014514,000352:
014515,000353: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
014516,000354:
014517,000355: # SIGNMPAC
014518,000356: # --------
014519,000357:
014520,000358: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
014521,000359:
014522,000360: # PROGRAM STORAGE ALLOCATION
014523,000361:
014524,000362: # 1) FIXED MEMORY 1059 WORDS
014525,000363: # 2) ERASABLE MEMORY 98
014526,000364: # 3) STATE SWITCHES 3
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Page 351 |
014528,000366: # 4) FLAGS 1
014529,000367:
014530,000368: # JOB PRIORITIES
014531,000369:
014532,000370: # 1) KALCMANU TBD
014533,000371: # 2) ONE SECOND UPDATE TBD
014534,000372:
014535,000373: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
014536,000374:
014537,000375: # STATE FLAGWRD 2 SETTING MEANING
014538,000376: # SWITCH NO. BIT NO.
014539,000377:
014540,000378: # *
014541,000379: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
014542,000380: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
014543,000381: # *
014544,000382: # 32 13 0 CONTINUE UPDATE PROCESS
014545,000383: # 1 START UPDATE PROCESS
014546,000384:
014547,000385: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
014548,000386: # 1 IGNORE ANY FINAL P-AXIS YAW
014549,000387:
014550,000388: # 34 11 0 SIGNAL END OF KALCMANU
014551,000389: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
014552,000390:
014553,000391: # * INTERNAL TO KALCMANU
014554,000392:
014555,000393: # SUGGESTIONS FOR PROGRAM INTEGRATION
014556,000394:
014557,000395: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
014558,000396:
014559,000397: # CPHI
014560,000398: # CTHETA
014561,000399: # CPSI
014562,000400: # POINTVSM +5
014563,000401: # SCAXIS +5
014564,000402: # DELDCDU
014565,000403: # DELDCDU1
014566,000404: # DELDCDU2
014567,000405: # RATEINDX
014568,000406:
014569,000407: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
014570,000408:
014571,000409: # MXM3
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Page 352 |
014573,000411: # TRANSPOS
014574,000412: # SIGNMPAC
014575,000413: # READCDUK
014576,000414: # CDUTODCM
014577,000415:
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Page 353 |
014579,000417: 15,2050 BANK 15
014580,000418: 22,2000 SETLOC KALCMON1
014581,000419: 22,2000 BANK
014582,000420:
014583,000421: 22,2004 E6,1675 EBANK= BCDU
014584,000422:
014585,000423: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
014586,000424: # LOCATIONS, CPHI, CTHETA, CPSI.
014587,000425:
014588,000426: 22,2004 COUNT* $$/KALC
014589,000427: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
014590,000428: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
014591,000429: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
014592,000430: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
014593,000431: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
014594,000432: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
014595,000433: 22,2012 51025 DSU BPL
014596,000434: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
014597,000435: 22,2014 44724 TOOBADF
014598,000436: 22,2015 72364 AXC,2 TLOAD
014599,000437: 22,2016 03245 MIS
014600,000438: 22,2017 03276 BCDU
014601,000439: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
014602,000440: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
014603,000441: 22,2022 72364 AXC,2 TLOAD
014604,000442: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
014605,000443: 22,2024 00322 CPHI
014606,000444: 22,2025 77624 CALL
014607,000445: 22,2026 44410 CDUTODCM
014608,000446: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
014609,000447: 22,2030 03245 MIS
014610,000448: 22,2031 44326 TRANSPOS
014611,000449: 22,2032 45575 VLOAD STADR
014612,000450: 22,2033 50460 STOVL TMIS +12D
014613,000451: 22,2034 77626 STADR
014614,000452: 22,2035 50466 STOVL TMIS +6
014615,000453: 22,2036 77626 STADR
014616,000454: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
014617,000455: 22,2040 75160 AXC,1 AXC,2
014618,000456: 22,2041 03302 TMIS
014619,000457: 22,2042 02230 MFS
014620,000458: 22,2043 77624 CALL
014621,000459: 22,2044 44312 MXM3
014622,000460: 22,2045 45575 VLOAD STADR
014623,000461: 22,2046 51532 STOVL MFI +12D
014624,000462: 22,2047 77626 STADR
014625,000463: 22,2050 51540 STOVL MFI +6
014626,000464: 22,2051 77626 STADR
014627,000465: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
014628,000466: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
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Page 354 |
014630,000468: 22,2054 00023 18D
014631,000469: 22,2055 44335 TRNSPSPD
014632,000470: 22,2056 45575 VLOAD STADR
014633,000471: 22,2057 50460 STOVL TMFI +12D
014634,000472: 22,2060 77626 STADR
014635,000473: 22,2061 50466 STOVL TMFI +6
014636,000474: 22,2062 77626 STADR
014637,000475: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
014638,000476:
014639,000477: # CALCULATE COFSKEW AND MFISYM
014640,000478:
014641,000479: 22,2064 45345 DLOAD DSU
014642,000480: 22,2065 03305 TMFI +2
014643,000481: 22,2066 02233 MFI +2
014644,000482: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
014645,000483: 22,2070 02235 MFI +4
014646,000484: 22,2071 03307 TMFI +4
014647,000485: 22,2072 45325 PDDL DSU
014648,000486: 22,2073 03315 TMFI +10D
014649,000487: 22,2074 02243 MFI +10D
014650,000488: 22,2075 77666 VDEF
014651,000489: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
014652,000490:
014653,000491: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
014654,000492:
014655,000493: 22,2077 43345 DLOAD DAD
014656,000494: 22,2100 02231 MFI
014657,000495: 22,2101 02251 MFI +16D
014658,000496: 22,2102 43225 DSU DAD
014659,000497: 22,2103 06514 DP1/4TH
014660,000498: 22,2104 02241 MFI +8D
014661,000499: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
014662,000500: 22,2106 77726 ARCCOS
014663,000501: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
014664,000502: 22,2110 51025 DSU BPL
014665,000503: 22,2111 04363 MINANG
014666,000504: 22,2112 44117 CHECKMAX
014667,000505: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
014668,000506: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
014669,000507: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
014670,000508: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
014671,000509:
014672,000510: 22,2117 45345 CHECKMAX DLOAD DSU
014673,000511: 22,2120 03335 AM
014674,000512: 22,2121 04365 MAXANG
014675,000513: 22,2122 77244 BPL VLOAD
014676,000514: 22,2123 44131 ALTCALC # UNIT
014677,000515: 22,2124 03325 COFSKEW # COFSKEW
014678,000516: 22,2125 77656 UNIT
014679,000517: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
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Page 355 |
014681,000519: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
014682,000520: 22,2130 44744 LOCSKIRT
014683,000521: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
014684,000522: 22,2132 02231 MFI
014685,000523: 22,2133 03303 TMFI
014686,000524: 22,2134 77762 VSR1
014687,000525: 22,2135 27303 STOVL MFISYM
014688,000526: 22,2136 02237 MFI +6
014689,000527: 22,2137 74455 VAD VSR1
014690,000528: 22,2140 03311 TMFI +6
014691,000529: 22,2141 27311 STOVL MFISYM +6
014692,000530: 22,2142 02245 MFI +12D
014693,000531: 22,2143 74455 VAD VSR1
014694,000532: 22,2144 03317 TMFI +12D
014695,000533: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
014696,000534:
014697,000535: # CALCULATE COF
014698,000536:
014699,000537: 22,2146 70545 DLOAD SR1
014700,000538: 22,2147 03333 CAM
014701,000539: 22,2150 45325 PDDL DSU # PDO CAM $4
014702,000540: 22,2151 06522 DPHALF
014703,000541: 22,2152 03333 CAM
014704,000542: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
014705,000543: 22,2154 21713 SIGNMPAC
014706,000544: 22,2155 03323 MFISYM +16D
014707,000545: 22,2156 56225 DSU DDV
014708,000546: 22,2157 00001 0
014709,000547: 22,2160 00003 2
014710,000548: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
014711,000549: 22,2162 03313 MFISYM +8D # $ ROOT 2
014712,000550: 22,2163 56225 DSU DDV
014713,000551: 22,2164 00001 0
014714,000552: 22,2165 00003 2
014715,000553: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
014716,000554: 22,2167 03303 MFISYM
014717,000555: 22,2170 56225 DSU DDV
014718,000556: 22,2171 00001 0
014719,000557: 22,2172 00003 2
014720,000558: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
014721,000559: 22,2174 77656 UNIT
014722,000560: 22,2175 03270 STORE COF
014723,000561:
014724,000562: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
014725,000563:
014726,000564: 22,2176 45345 COFMAXGO DLOAD DSU
014727,000565: 22,2177 03270 COF
014728,000566: 22,2200 03272 COF +2
014729,000567: 22,2201 71240 BMN DLOAD # COFY G COFX
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Page 356 |
014731,000569: 22,2202 44211 COMP12
014732,000570: 22,2203 03270 COF
014733,000571: 22,2204 50025 DSU BMN
014734,000572: 22,2205 03274 COF +4
014735,000573: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
014736,000574: 22,2207 77650 GOTO
014737,000575: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
014738,000576: 22,2211 45345 COMP12 DLOAD DSU
014739,000577: 22,2212 03272 COF +2
014740,000578: 22,2213 03274 COF +4
014741,000579: 22,2214 77640 BMN
014742,000580: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
014743,000581:
014744,000582: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
014745,000583: 22,2217 03327 COFSKEW +2 # UY
014746,000584: 22,2220 44224 U2POS
014747,000585: 22,2221 57575 VLOAD VCOMP
014748,000586: 22,2222 03270 COF
014749,000587: 22,2223 03270 STORE COF
014750,000588: 22,2224 51145 U2POS DLOAD BPL
014751,000589: 22,2225 03305 MFISYM +2 # UX UY
014752,000590: 22,2226 44232 OKU21
014753,000591: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
014754,000592: 22,2230 03270 COF
014755,000593: 22,2231 03270 STORE COF
014756,000594: 22,2232 51145 OKU21 DLOAD BPL
014757,000595: 22,2233 03315 MFISYM +10D # UY UZ
014758,000596: 22,2234 44744 LOCSKIRT
014759,000597: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014760,000598: 22,2236 03274 COF +4
014761,000599: 22,2237 03274 STORE COF +4
014762,000600: 22,2240 77650 GOTO
014763,000601: 22,2241 44744 LOCSKIRT
014764,000602: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
014765,000603: 22,2243 03325 COFSKEW # UX
014766,000604: 22,2244 44250 U1POS
014767,000605: 22,2245 57575 VLOAD VCOMP
014768,000606: 22,2246 03270 COF
014769,000607: 22,2247 03270 STORE COF
014770,000608: 22,2250 51145 U1POS DLOAD BPL
014771,000609: 22,2251 03305 MFISYM +2 # UX UY
014772,000610: 22,2252 44256 OKU12
014773,000611: 22,2253 57545 DLOAD DCOMP
014774,000612: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
014775,000613: 22,2255 03272 STORE COF +2
014776,000614: 22,2256 51145 OKU12 DLOAD BPL
014777,000615: 22,2257 03307 MFISYM +4 # UX UZ
014778,000616: 22,2260 44744 LOCSKIRT
014779,000617: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
014780,000618: 22,2262 03274 COF +4
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Page 357 |
014782,000620: 22,2263 03274 STORE COF +4
014783,000621: 22,2264 77650 GOTO
014784,000622: 22,2265 44744 LOCSKIRT
014785,000623: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
014786,000624: 22,2267 03331 COFSKEW +4 # UZ
014787,000625: 22,2270 44274 U3POS
014788,000626: 22,2271 57575 VLOAD VCOMP
014789,000627: 22,2272 03270 COF
014790,000628: 22,2273 03270 STORE COF
014791,000629: 22,2274 51145 U3POS DLOAD BPL
014792,000630: 22,2275 03307 MFISYM +4 # UX UZ
014793,000631: 22,2276 44302 OKU31
014794,000632: 22,2277 57545 DLOAD DCOMP
014795,000633: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
014796,000634: 22,2301 03270 STORE COF
014797,000635: 22,2302 51145 OKU31 DLOAD BPL
014798,000636: 22,2303 03315 MFISYM +10D # UY UZ
014799,000637: 22,2304 44744 LOCSKIRT
014800,000638: 22,2305 57545 DLOAD DCOMP
014801,000639: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
014802,000640: 22,2307 03272 STORE COF +2
014803,000641: 22,2310 77650 GOTO
014804,000642: 22,2311 44744 LOCSKIRT
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Page 358 |
014806,000644: # MATRIX OPERATIONS
014807,000645:
014808,000646: 13,2207 BANK 13
014809,000647: 22,2000 SETLOC KALCMON2
014810,000648: 22,2000 BANK
014811,000649:
014812,000650: 22,2312 E6,1675 EBANK= BCDU
014813,000651:
014814,000652: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
014815,000653: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
014816,000654: 22,2314 00001 0,1 # AND MPAC
014817,000655: 22,2315 62703 VXM* PDVL*
014818,000656: 22,2316 77776 0,2
014819,000657: 22,2317 00007 6,1
014820,000658: 22,2320 62703 VXM* PDVL*
014821,000659: 22,2321 77776 0,2
014822,000660: 22,2322 00015 12D,1
014823,000661: 22,2323 41503 VXM* PUSH
014824,000662: 22,2324 77776 0,2
014825,000663: 22,2325 77616 RVQ
014826,000664:
014827,000665: # RETURN WITH M1XM2 IN PD LIST
014828,000666:
014829,000667: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
014830,000668: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
014831,000669: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
014832,000670: 22,2331 62713 PDVL* PDVL*
014833,000671: 22,2332 00007 6,1
014834,000672: 22,2333 00015 12D,1
014835,000673: 22,2334 77606 PUSH # MATRIX IN PD
014836,000674: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
014837,000675: 22,2336 50120 INDEX FIXLOC
014838,000676: 22,2337 52013 DXCH 12
014839,000677: 22,2340 50120 INDEX FIXLOC
014840,000678: 22,2341 52017 DXCH 16
014841,000679: 22,2342 50120 INDEX FIXLOC
014842,000680: 22,2343 52013 DXCH 12
014843,000681: 22,2344 50120 INDEX FIXLOC
014844,000682: 22,2345 52015 DXCH 14
014845,000683: 22,2346 50120 INDEX FIXLOC
014846,000684: 22,2347 52005 DXCH 4
014847,000685: 22,2350 50120 INDEX FIXLOC
014848,000686: 22,2351 52015 DXCH 14
014849,000687: 22,2352 50120 INDEX FIXLOC
014850,000688: 22,2353 52003 DXCH 2
014851,000689: 22,2354 50120 INDEX FIXLOC
014852,000690: 22,2355 52007 DXCH 6
014853,000691: 22,2356 50120 INDEX FIXLOC
014854,000692: 22,2357 52003 DXCH 2
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Page 359 |
014856,000694: 22,2360 06042 TC INTPRET
014857,000695: 22,2361 77616 RVQ
014858,000696:
014859,000697: 15,2050 BANK 15
014860,000698: 22,2000 SETLOC KALCMON1
014861,000699: 22,2000 BANK
014862,000700:
014863,000701: 22,2362 E6,1675 EBANK= BCDU
014864,000702:
014865,000703: 22,2362 00013 13563 MINANG 2DEC 0.00069375
014866,000704: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
014867,000705:
014868,000706: # GIMBAL LOCK CONSTANTS
014869,000707:
014870,000708: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
014871,000709: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
014872,000710:
014873,000711: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
014874,000712: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
014875,000713: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
014876,000714: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
014877,000715: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
014878,000716: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
014879,000717: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
014880,000718:
014881,000719: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
014882,000720:
014883,000721: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
014884,000722: 22,2404 54156 TS MPAC +2
014885,000723: 22,2405 00006 EXTEND
014886,000724: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
014887,000725: 22,2407 16501 TCF TLOAD +6
014888,000726:
014889,000727: 22,2410 66370 CDUTODCM AXT,1 SSP
014890,000728: 22,2411 00003 OCT 3
014891,000729: 22,2412 00051 S1
014892,000730: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
014893,000731: 22,2414 00010 STORE 7
014894,000732: 22,2415 77601 SETPD
014895,000733: 22,2416 00001 0
014896,000734: 22,2417 47133 LOOPSIN SLOAD* RTB
014897,000735: 22,2420 00013 10D,1
014898,000736: 22,2421 21577 CDULOGIC
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Page 360 |
014900,000738: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
014901,000739: 22,2423 65356 SIN PDDL # 2 COS(PHI)
014902,000740: 22,2424 00013 10D # 4 SIN(THETA)
014903,000741: 22,2425 41546 COS PUSH # 6 COS(THETA)
014904,000742: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
014905,000743: 22,2427 44417 LOOPSIN # 10 COS(PSI)
014906,000744: 22,2430 00007 6
014907,000745: 22,2431 72405 DMP SL1
014908,000746: 22,2432 00013 10D
014909,000747: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI)
014910,000748: 22,2434 41345 DLOAD DMP
014911,000749: 22,2435 00005 4
014912,000750: 22,2436 00001 0
014913,000751: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
014914,000752: 22,2440 00007 6
014915,000753: 22,2441 00011 8D
014916,000754: 22,2442 72405 DMP SL1
014917,000755: 22,2443 00003 2
014918,000756: 22,2444 72421 BDSU SL1
014919,000757: 22,2445 00015 12D
014920,000758: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
014921,000759: 22,2447 41345 DLOAD DMP
014922,000760: 22,2450 00003 2
014923,000761: 22,2451 00005 4
014924,000762: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
014925,000763: 22,2453 00007 6
014926,000764: 22,2454 00011 8D
014927,000765: 22,2455 72405 DMP SL1
014928,000766: 22,2456 00001 0
014929,000767: 22,2457 72415 DAD SL1
014930,000768: 22,2460 00017 14D
014931,000769: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
014932,000770: 22,2462 77745 DLOAD
014933,000771: 22,2463 00011 8D
014934,000772: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
014935,000773: 22,2465 77745 DLOAD
014936,000774: 22,2466 00013 10D
014937,000775: 22,2467 72405 DMP SL1
014938,000776: 22,2470 00003 2
014939,000777: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
014940,000778: 22,2472 41345 DLOAD DMP
014941,000779: 22,2473 00013 10D
014942,000780: 22,2474 00001 0
014943,000781: 22,2475 72476 DCOMP SL1
014944,000782: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
014945,000783: 22,2477 41345 DLOAD DMP
014946,000784: 22,2500 00005 4
014947,000785: 22,2501 00013 10D
014948,000786: 22,2502 72476 DCOMP SL1
014949,000787: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
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Page 361 |
014951,000789: 22,2504 77745 DLOAD
014952,000790: 22,2505 72405 DMP SL1 # (PUSH UP 7)
014953,000791: 22,2506 00011 8D
014954,000792: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
014955,000793: 22,2510 00007 6
014956,000794: 22,2511 00001 0
014957,000795: 22,2512 72415 DAD SL1 # (PUSH UP 7)
014958,000796: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
014959,000797: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
014960,000798: 22,2515 77745 DLOAD
014961,000799: 22,2516 72405 DMP SL1 # (PUSH UP 6)
014962,000800: 22,2517 00011 8D
014963,000801: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
014964,000802: 22,2521 00007 6
014965,000803: 22,2522 00003 2
014966,000804: 22,2523 72425 DSU SL1 # (PUSH UP 6)
014967,000805: 22,2524 77626 STADR
014968,000806: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
014969,000807: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
014970,000808:
014971,000809: # CALCULATION OF THE MATRIX DEL......
014972,000810:
014973,000811: # * * --T *
014974,000812: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
014975,000813: # -
014976,000814: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
014977,000815: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
014978,000816: # -
014979,000817: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
014980,000818:
014981,000819: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
014982,000820: 22,2530 00001 0
014983,000821: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
014984,000822: 22,2532 41546 COS PUSH # PD2 = COS(A)
014985,000823: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
014986,000824: 22,2534 41021 BDSU BOVB
014987,000825: 22,2535 06522 DPHALF
014988,000826: 22,2536 21713 SIGNMPAC
014989,000827: 22,2537 77725 PDDL # PD4 = 1-COS(A)
014990,000828:
014991,000829: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
014992,000830:
014993,000831: 22,2540 03270 COF
014994,000832: 22,2541 41316 DSQ DMP
014995,000833: 22,2542 00005 4
014996,000834: 22,2543 52415 DAD SL3
014997,000835: 22,2544 00003 2
014998,000836: 22,2545 77604 BOVB
014999,000837: 22,2546 21713 SIGNMPAC
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Page 362 |
015001,000839: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015002,000840: 22,2550 03272 COF +2
015003,000841: 22,2551 41316 DSQ DMP
015004,000842: 22,2552 00005 4
015005,000843: 22,2553 52415 DAD SL3
015006,000844: 22,2554 00003 2
015007,000845: 22,2555 77604 BOVB
015008,000846: 22,2556 21713 SIGNMPAC
015009,000847: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015010,000848: 22,2560 03274 COF +4
015011,000849: 22,2561 41316 DSQ DMP
015012,000850: 22,2562 00005 4
015013,000851: 22,2563 52415 DAD SL3
015014,000852: 22,2564 00003 2
015015,000853: 22,2565 77604 BOVB
015016,000854: 22,2566 21713 SIGNMPAC
015017,000855: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015018,000856:
015019,000857: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015020,000858:
015021,000859: 22,2570 41345 DLOAD DMP
015022,000860: 22,2571 03270 COF
015023,000861: 22,2572 03272 COF +2
015024,000862: 22,2573 72405 DMP SL1
015025,000863: 22,2574 00005 4
015026,000864: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4
015027,000865: 22,2576 03274 COF +4
015028,000866: 22,2577 00001 0
015029,000867: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4
015030,000868: 22,2601 00007 6
015031,000869: 22,2602 41112 SL2 BOVB
015032,000870: 22,2603 21713 SIGNMPAC
015033,000871: 22,2604 16237 STODL KEL +6
015034,000872: 22,2605 62421 BDSU SL2
015035,000873: 22,2606 77604 BOVB
015036,000874: 22,2607 21713 SIGNMPAC
015037,000875: 22,2610 16233 STODL KEL +2
015038,000876: 22,2611 03270 COF
015039,000877: 22,2612 41205 DMP DMP
015040,000878: 22,2613 03274 COF +4
015041,000879: 22,2614 00005 4
015042,000880: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4
015043,000881: 22,2616 03272 COF +2
015044,000882: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015045,000883: 22,2620 00001 0
015046,000884: 22,2621 62415 DAD SL2
015047,000885: 22,2622 00007 6
015048,000886: 22,2623 77604 BOVB
015049,000887: 22,2624 21713 SIGNMPAC
015050,000888: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
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Page 363 |
015052,000890: 22,2626 62421 BDSU SL2
015053,000891: 22,2627 77604 BOVB
015054,000892: 22,2630 21713 SIGNMPAC
015055,000893: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015056,000894: 22,2632 03272 COF +2
015057,000895: 22,2633 41205 DMP DMP
015058,000896: 22,2634 03274 COF +4
015059,000897: 22,2635 00005 4
015060,000898: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $4
015061,000899: 22,2637 03270 COF
015062,000900: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015063,000901: 22,2641 00001 0
015064,000902: 22,2642 62415 DAD SL2
015065,000903: 22,2643 00007 6
015066,000904: 22,2644 77604 BOVB
015067,000905: 22,2645 21713 SIGNMPAC
015068,000906: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015069,000907: 22,2647 62421 BDSU SL2
015070,000908: 22,2650 77604 BOVB
015071,000909: 22,2651 21713 SIGNMPAC
015072,000910: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015073,000911: 22,2653 77616 RVQ
015074,000912:
015075,000913: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015076,000914:
015077,000915: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015078,000916: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015079,000917: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015080,000918: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015081,000919:
015082,000920: # C =COS(THETA)COS(PSI)
015083,000921: # 0
015084,000922:
015085,000923: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
015086,000924: # 1
015087,000925:
015088,000926: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
015089,000927: # 2
015090,000928:
015091,000929: # C =SIN(PSI)
015092,000930: # 3
015093,000931:
015094,000932: # C =COS(PSI)COS(PHI)
015095,000933: # 4
015096,000934:
015097,000935: # C =-COS(PSI)SIN(PHI)
015098,000936: # 5
015099,000937:
015100,000938: # C =-SIN(THETA)COS(PSI)
015101,000939: # 6
015102,000940:
015103,000941: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
015104,000942: # 7
015105,000943:
015106,000944: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
015107,000945: # 8
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Page 364 |
015109,000947:
015110,000948: # WHERE PHI = OGA
015111,000949: # THETA = IGA
015112,000950: # PSI = MGA
015113,000951:
015114,000952: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015115,000953: 22,2655 00007 6,1
015116,000954: 22,2656 71406 PUSH COS # PD +0 PSI
015117,000955: 22,2657 41152 SL1 BOVB
015118,000956: 22,2660 21713 SIGNMPAC
015119,000957: 22,2661 00051 STORE S1
015120,000958: 22,2662 57543 DLOAD* DCOMP
015121,000959: 22,2663 00015 12D,1
015122,000960: 22,2664 67471 DDV ARCSIN
015123,000961: 22,2665 00051 S1
015124,000962: 22,2666 51123 PDDL* BPL # PD +2 THETA
015125,000963: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015126,000964: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015127,000965: 22,2671 57545 DLOAD DCOMP
015128,000966: 22,2672 43244 BPL DAD
015129,000967: 22,2673 44677 SUHALFA
015130,000968: 22,2674 06522 DPHALF
015131,000969: 22,2675 77650 GOTO
015132,000970: 22,2676 44701 CALCPHI
015133,000971: 22,2677 77625 SUHALFA DSU
015134,000972: 22,2700 06522 DPHALF
015135,000973: 22,2701 77606 CALCPHI PUSH
015136,000974: 22,2702 57543 OKTHETA DLOAD* DCOMP
015137,000975: 22,2703 00013 10D,1
015138,000976: 22,2704 67471 DDV ARCSIN
015139,000977: 22,2705 00051 S1
015140,000978: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015141,000979: 22,2707 00011 8D,1
015142,000980: 22,2710 44722 OKPHI
015143,000981: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015144,000982: 22,2712 43244 BPL DAD
015145,000983: 22,2713 44717 SUHALFAP
015146,000984: 22,2714 06522 DPHALF
015147,000985: 22,2715 77650 GOTO
015148,000986: 22,2716 44723 VECOFANG
015149,000987: 22,2717 52025 SUHALFAP DSU GOTO
015150,000988: 22,2720 06522 DPHALF
015151,000989: 22,2721 44723 VECOFANG
015152,000990: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015153,000991: 22,2723 43466 VECOFANG VDEF RVQ
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Page 365 |
015155,000993: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015156,000994:
015157,000995: 22,2724 77776 TOOBADF EXIT
015158,000996: 22,2725 05567 TC ALARM
015159,000997: 22,2726 00401 OCT 00401
015160,000998:
015161,000999: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015162,001000:
015163,001001: 22,2730 04616 TC BANKCALL
015164,001002: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015165,001003:
015166,001004: 22,2732 04616 NOGO TC BANKCALL
015167,001005: 22,2733 40166 CADR STOPRATE # STOP RATES
015168,001006:
015169,001007: 22,2734 34752 CAF TWO
015170,001008: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015171,001009: 22,2736 05203 TC WAITLIST
015172,001010: 22,2737 E6,1675 EBANK= BCDU
015173,001011: 22,2737 03234 44066 2CADR GOODMANU
015174,001012:
015175,001013: 22,2741 15155 TCF ENDOFJOB
015176,001014:
015177,001015: 22,2742 77776 TOOBADI EXIT
015178,001016: 22,2743 12732 TCF NOGO
015179,001017:
015180,001018:
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc