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. |
038801,000002: ## Copyright: Public domain.
038802,000003: ## Filename: FINDCDUW--GUIDAP_INTERFACE.agc
038803,000004: ## Purpose: A section of Luminary 1C, revision 131.
038804,000005: ## It is part of the source code for the Lunar Module's (LM)
038805,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
038806,000007: ## This file is intended to be a faithful transcription, except
038807,000008: ## that the code format has been changed to conform to the
038808,000009: ## requirements of the yaYUL assembler rather than the
038809,000010: ## original YUL assembler.
038810,000011: ## Reference: pp. 902-920
038811,000012: ## Contact: Ron Burkey <info@sandroid.org>.
038812,000013: ## Website: www.ibiblio.org/apollo/index.html
038813,000014: ## Mod history: 05/28/03 RSB. Began transcribing.
038814,000015: ## 05/14/05 RSB Corrected website reference above.
038815,000016: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
038816,000017: ## 2017-03-01 RSB Fixed lingering typos.
038817,000018: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
038818,000019: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
038819,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
038820,000021:
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Page 902 |
038822,000023: # PROGRAM NAME: FINDCDUW
038823,000024: # MOD NUMBER: 1 68 07 15
038824,000025: # MOD AUTHOR: KLUMPP
038825,000026:
038826,000027: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
038827,000028: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
038828,000029: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
038829,000030: # FETCHING FOR THE THRUST DIRECTION FILTER THE
038830,000031: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
038831,000032: # MODES.
038832,000033: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
038833,000034: # AUTOPILOT COMMANDS WHENEVER
038834,000035: # 1) NOT IN PNGCS-AUTO, OR
038835,000036: # 2) ENGINE IS OFF.
038836,000037:
038837,000038: # FUNCTIONAL DESCRIPTION:
038838,000039:
038839,000040: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
038840,000041: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
038841,000042: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
038842,000043: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
038843,000044: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
038844,000045: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
038845,000046: # ACCELERATIONS AVAILABLE).
038846,000047:
038847,000048: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
038848,000049: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
038849,000050: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
038850,000051:
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Page 903 |
038852,000053: # SPECIFICATIONS:
038853,000054:
038854,000055: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
038855,000056: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
038856,000057:
038857,000058: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
038858,000059: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
038859,000060: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
038860,000061:
038861,000062: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
038862,000063: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
038863,000064: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
038864,000065: # WITHOUT ISSUING AUTOPILOT CMDS.
038865,000066: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
038866,000067: # ISSUING AUTOPILOT CMDS.
038867,000068:
038868,000069: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
038869,000070: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
038870,000071: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
038871,000072:
038872,000073: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
038873,000074: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
038874,000075: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
038875,000076:
038876,000077: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038877,000078: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038878,000079: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
038879,000080: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
038880,000081: # CSMDOCKD FLAG DENOTING CSM DOCKED.
038881,000082: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
038882,000083:
038883,000084: # OUTPUTS: DELCDUX,Y,Z
038884,000085: # OMEGAPD,+1,+2
038885,000086: # DELPEROR,+1,+2
038886,000087: # CPHI,+1,+2 FOR NOUN22
038887,000088:
038888,000089: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
038889,000090: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
038890,000091: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
038891,000092:
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Page 904 |
038893,000094: # INITIALIZATION FOR FINDCDUW
038894,000095:
038895,000096: 30,3071 BANK 30
038896,000097: 30,2000 SETLOC FCDUW
038897,000098: 30,2000 BANK
038898,000099:
038899,000100: 30,3071 E6,1645 EBANK= ECDUW
038900,000101: 30,3071 COUNT* $$/FCDUW
038901,000102:
038902,000103: 30,3071 77331 INITCDUW SSP VLOAD
038903,000104: 30,3072 03300 OGABIAS
038904,000105: 30,3073 00000 0
038905,000106: 30,3074 06522 UNITX
038906,000107: 30,3075 03267 STORE UNFV/2
038907,000108: 30,3076 03261 STORE UNWC/2
038908,000109: 30,3077 77616 RVQ
038909,000110:
038910,000111: # FINDCDUW PRELIMINARIES
038911,000112:
038912,000113: 30,3100 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
038913,000114: 30,3101 03253 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
038914,000115: 30,3102 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
038915,000116: 30,3103 61102 FINDCDUW # INTERPRETER NOW INITIALIZED
038916,000117: 30,3104 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
038917,000118: 30,3105 77420 STQ EXIT
038918,000119: 30,3106 03246 QCDUWUSR # SAVE RETURN ADDRESS
038919,000120:
038920,000121: # MORE HAUSKEEPING
038921,000122: 30,3107 33752 CA ECDUWL
038922,000123: 30,3110 56003 XCH EBANK # SET EBANK
038923,000124: 30,3111 55645 TS ECDUWUSR # SAVE USER'S EBANK
038924,000125:
038925,000126: 30,3112 30111 CA DAPBOOLS
038926,000127: 30,3113 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
038927,000128: 30,3114 10000 CCS A
038928,000129: 30,3115 34753 CA ONE # INDEX IF CSM DOCKED
038929,000130: 30,3116 55647 TS NDXCDUW
038930,000131:
038931,000132: 30,3117 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
038932,000133: 30,3120 55651 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
038933,000134:
038934,000135: 30,3121 70111 MASK DAPBOOLS
038935,000136: 30,3122 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
038936,000137:
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Page 905 |
038938,000139: # FETCH BASIC DATA
038939,000140: 30,3123 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
038940,000141:
038941,000142: 30,3124 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
038942,000143: 30,3125 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
038943,000144: 30,3126 30033 CA CDUY
038944,000145: 30,3127 54765 TS CDUSPOTY
038945,000146: 30,3130 30034 CA CDUZ
038946,000147: 30,3131 54767 TS CDUSPOTZ
038947,000148:
038948,000149: 30,3132 34742 CA BIT10 # PNGCS CONTROL BIT
038949,000150: 30,3133 00006 EXTEND
038950,000151: 30,3134 02030 RAND CHAN30
038951,000152: 30,3135 10000 CCS A
038952,000153: 30,3136 13153 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
038953,000154:
038954,000155: 30,3137 34736 CA BIT14 # AUTO MODE BIT
038955,000156: 30,3140 00006 EXTEND
038956,000157: 30,3141 02031 RAND CHAN31
038957,000158: 30,3142 10000 CCS A
038958,000159: 30,3143 13153 TCF PAUTNO # NOT AUTO (BITS INVERTED)
038959,000160:
038960,000161: 30,3144 55651 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
038961,000162:
038962,000163: 30,3145 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
038963,000164: 30,3146 54771 TS CDUSPOTX
038964,000165: 30,3147 31635 CA CDUYD
038965,000166: 30,3150 54765 TS CDUSPOTY
038966,000167: 30,3151 31636 CA CDUZD
038967,000168: 30,3152 54767 TS CDUSPOTZ
038968,000169:
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Page 906 |
038970,000171: # FETCH INPUTS
038971,000172: 30,3153 06042 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
038972,000173: 30,3154 77634 RTB
038973,000174: 30,3155 21727 NORMUNIT
038974,000175: 30,3156 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
038975,000176: 30,3157 03261 UNWC/2
038976,000177: 30,3160 47034 RTB RTB
038977,000178: 30,3161 21727 NORMUNIT
038978,000179: 30,3162 47617 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
038979,000180: 30,3163 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
038980,000181: 30,3164 00325 DELV
038981,000182: 30,3165 53404 BOVB UNIT
038982,000183: 30,3166 61741 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
038983,000184: 30,3167 45000 BOV CALL
038984,000185: 30,3170 61204 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
038985,000186: 30,3171 47673 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
038986,000187:
038987,000188: # THRUST DIRECTION FILTER
038988,000189:
038989,000190: 30,3172 77776 EXIT
038990,000191:
038991,000192: 30,3173 31670 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
038992,000193: 30,3174 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
038993,000194: 30,3175 03474 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
038994,000195: 30,3176 55670 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
038995,000196:
038996,000197: 30,3177 31672 CA UNFVZ/2
038997,000198: 30,3200 22161 LXCH MPAC +5
038998,000199: 30,3201 03474 TC FLTRSUB
038999,000200: 30,3202 55672 TS UNFVZ/2
039000,000201:
039001,000202: 30,3203 06042 TC INTPRET # COMPLETES FILTER
039002,000203:
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Page 907 |
039004,000205: # FIND A SUITABLE WINDOW POINTING VECTOR
039005,000206:
039006,000207: 30,3204 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039007,000208: 30,3205 03251 FLAGOODW
039008,000209: 30,3206 61212 FETCHZNB
039009,000210: 30,3207 45175 VLOAD CALL
039010,000211: 30,3210 00015 UNZ/2
039011,000212: 30,3211 61514 UNWCTEST
039012,000213:
039013,000214: 30,3212 77775 FETCHZNB VLOAD
039014,000215: 30,3213 02162 ZNBPIP
039015,000216: 30,3214 34015 STCALL UNZ/2
039016,000217: 30,3215 61514 UNWCTEST
039017,000218:
039018,000219: 30,3216 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039019,000220: 30,3217 02146 XNBPIP
039020,000221: 30,3220 00015 STORE UNZ/2
039021,000222:
039022,000223: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039023,000224:
039024,000225: 30,3221 47375 DCMCL VLOAD VXV
039025,000226: 30,3222 00015 UNZ/2
039026,000227: 30,3223 00001 UNX/2
039027,000228: 30,3224 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039028,000229: 30,3225 76435 VXV VSL1
039029,000230: 30,3226 00001 UNX/2
039030,000231: 30,3227 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039031,000232: 30,3230 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039032,000233: 30,3231 03273 UNFVZ/2 # MUST BE SMALL
039033,000234: 30,3232 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039034,000235: 30,3233 03271 UNFVY/2 # MUST BE SMALL
039035,000236: 30,3234 53372 VSL1 VAD
039036,000237: 30,3235 00001 UNX/2
039037,000238: 30,3236 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039038,000239: 30,3237 00001 STORE UNX/2 # UNX/2
039039,000240: 30,3240 76435 VXV VSL1
039040,000241: 30,3241 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039041,000242: 30,3242 00007 STORE UNY/2 # UNY/2
039042,000243: 30,3243 47276 VCOMP VXV
039043,000244: 30,3244 00001 UNX/2
039044,000245: 30,3245 77772 VSL1
039045,000246: 30,3246 00015 STORE UNZ/2 # UNZ/2
039046,000247:
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Page 908 |
039048,000249: # COMPUTE THE REQUIRED GIMBAL ANGLES
039049,000250:
039050,000251: 30,3247 77624 CALL
039051,000252: 30,3250 61524 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039052,000253: 30,3251 77776 EXIT
039053,000254:
039054,000255: # BIAS OUTER GIMBAL ANGLE
039055,000256:
039056,000257: 30,3252 31677 CA OGABIAS
039057,000258: 30,3253 26154 ADS MPAC
039058,000259:
039059,000260: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039060,000261:
039061,000262: 30,3254 30156 CA MPAC +2 # LIMIT THE MGA
039062,000263: 30,3255 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039063,000264: 30,3256 33764 CA CDUZDLIM
039064,000265: 30,3257 03720 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039065,000266: 30,3260 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039066,000267: 30,3261 00006 EXTEND
039067,000268: 30,3262 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039068,000269: 30,3263 00006 EXTEND
039069,000270: 30,3264 13266 BZF +2
039070,000271: 30,3265 13747 TCF ALARMMGA
039071,000272:
039072,000273: 30,3266 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039073,000274:
039074,000275: 30,3267 22007 ZL
039075,000276: 30,3270 34752 CA TWO
039076,000277: 30,3271 54142 DELGMBLP TS TEM2
039077,000278:
039078,000279: 30,3272 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039079,000280: 30,3273 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039080,000281: 30,3274 70000 SQUARE
039081,000282: 30,3275 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039082,000283: 30,3276 00006 EXTEND
039083,000284: 30,3277 63302 BZMF +3
039084,000285: 30,3300 34755 CA ZERO
039085,000286: 30,3301 55650 TS FLAGOODW
039086,000287:
039087,000288: 30,3302 50142 INDEX TEM2
039088,000289: 30,3303 30154 CA MPAC
039089,000290: 30,3304 50142 INDEX TEM2
039090,000291: 30,3305 54321 TS CPHI # OUTPUTS TO NOUN22
039091,000292: 30,3306 00006 EXTEND
039092,000293: 30,3307 50142 INDEX TEM2
039093,000294: 30,3310 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039094,000295: 30,3311 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039095,000296: 30,3312 50142 INDEX TEM2
039096,000297: 30,3313 55674 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039097,000298: 30,3314 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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Page 909 |
039099,000300: 30,3315 10142 CCS TEM2
039100,000301: 30,3316 13271 TCF DELGMBLP
039101,000302:
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Page 910 |
039103,000304: # BRANCHES TO NOATTCNT
039104,000305: 30,3317 11651 CCS FLPAUTNO
039105,000306: 30,3320 13743 TCF NOATTCNT +2 # NOT PNGCS AUTO
039106,000307:
039107,000308: 30,3321 30101 CA FLAGWRD5
039108,000309: 30,3322 74745 MASK ENGONBIT
039109,000310: 30,3323 00006 EXTEND
039110,000311: 30,3324 13743 BZF NOATTCNT +2 # ENGINE NOT ON
039111,000312:
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Page 911 |
039113,000314: # LIMIT THE ATTITUDE ANGLE CHANGES
039114,000315:
039115,000316: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039116,000317: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039117,000318: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039118,000319: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039119,000320:
039120,000321: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039121,000322: # * * * * * *
039122,000323: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039123,000324: # * * * * * *
039124,000325: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039125,000326:
039126,000327: 30,3325 23676 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039127,000328: 30,3326 51647 INDEX NDXCDUW
039128,000329: 30,3327 33760 CA DAZMAX
039129,000330: 30,3330 03720 TC LIMITSUB
039130,000331: 30,3331 55676 TS -DELGMB +2 # -DELGMBZ
039131,000332:
039132,000333: 30,3332 31675 CA -DELGMB +1
039133,000334: 30,3333 00006 EXTEND
039134,000335: 30,3334 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039135,000336: 30,3335 54001 TS L
039136,000337: 30,3336 51647 INDEX NDXCDUW
039137,000338: 30,3337 33762 CA DAY/2MAX
039138,000339: 30,3340 03720 TC LIMITSUB
039139,000340: 30,3341 00006 EXTEND
039140,000341: 30,3342 10745 DV COSCDUZ
039141,000342: 30,3343 57675 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039142,000343:
039143,000344: 30,3344 00006 EXTEND
039144,000345: 30,3345 70737 MP SINCDUZ
039145,000346: 30,3346 20001 DDOUBL
039146,000347: 30,3347 40000 COM
039147,000348: 30,3350 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039148,000349: 30,3351 21674 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039149,000350: 30,3352 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039150,000351: 30,3353 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039151,000352: 30,3354 33760 CA DAXMAX
039152,000353: 30,3355 03720 TC LIMITSUB
039153,000354: 30,3356 55674 TS -DELGMB # SAVE LIMITED +DELATTX
039154,000355: 30,3357 11650 CCS FLAGOODW
039155,000356: 30,3360 41674 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039156,000357: 30,3361 55674 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039157,000358: 30,3362 41675 CS -DELGMB +1
039158,000359: 30,3363 00006 EXTEND
039159,000360: 30,3364 70737 MP SINCDUZ
039160,000361: 30,3365 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039161,000362: 30,3366 27674 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039162,000363: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039163,000364:
|
|
Page 912 |
039165,000366: # COMPUTE COMMANDED ATTITUDE RATES
039166,000367:
039167,000368: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039168,000369: # * * * * * *
039169,000370: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039170,000371: # * * * * * *
039171,000372: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039172,000373:
039173,000374: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039174,000375: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039175,000376: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039176,000377:
039177,000378: 30,3367 41674 CS -DELGMB
039178,000379: 30,3370 55642 TS OMEGAPD
039179,000380: 30,3371 41675 CS -DELGMB +1
039180,000381: 30,3372 00006 EXTEND
039181,000382: 30,3373 70737 MP SINCDUZ
039182,000383: 30,3374 20001 DDOUBL
039183,000384: 30,3375 27642 ADS OMEGAPD
039184,000385: 30,3376 27642 ADS OMEGAPD
039185,000386:
039186,000387: 30,3377 41675 CS -DELGMB +1
039187,000388: 30,3400 00006 EXTEND
039188,000389: 30,3401 70747 MP COSCDUX
039189,000390: 30,3402 20001 DDOUBL
039190,000391: 30,3403 00006 EXTEND
039191,000392: 30,3404 70745 MP COSCDUZ
039192,000393: 30,3405 55643 TS OMEGAQD
039193,000394: 30,3406 41676 CS -DELGMB +2
039194,000395: 30,3407 00006 EXTEND
039195,000396: 30,3410 70741 MP SINCDUX
039196,000397: 30,3411 27643 ADS OMEGAQD
039197,000398: 30,3412 27643 ADS OMEGAQD
039198,000399: 30,3413 27643 ADS OMEGAQD
039199,000400:
039200,000401: 30,3414 31675 CA -DELGMB +1
039201,000402: 30,3415 00006 EXTEND
039202,000403: 30,3416 70741 MP SINCDUX
039203,000404: 30,3417 20001 DDOUBL
039204,000405: 30,3420 00006 EXTEND
039205,000406: 30,3421 70745 MP COSCDUZ
039206,000407: 30,3422 55644 TS OMEGARD
039207,000408: 30,3423 41676 CS -DELGMB +2
039208,000409: 30,3424 00006 EXTEND
039209,000410: 30,3425 70747 MP COSCDUX
039210,000411: 30,3426 27644 ADS OMEGARD
039211,000412: 30,3427 27644 ADS OMEGARD
039212,000413: 30,3430 27644 ADS OMEGARD
039213,000414:
|
|
Page 913 |
039215,000416: # FINAL TRANSFER
039216,000417:
039217,000418: 30,3431 34752 CA TWO
039218,000419: 30,3432 54142 CDUWXFR TS TEM2
039219,000420: 30,3433 50142 INDEX TEM2
039220,000421: 30,3434 31674 CA -DELGMB
039221,000422: 30,3435 00006 EXTEND
039222,000423: 30,3436 73765 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039223,000424: 30,3437 03734 TC ONESTO2S
039224,000425: 30,3440 50142 INDEX TEM2
039225,000426: 30,3441 55637 TS DELCDUX # ANGLE INTERFACE
039226,000427:
039227,000428: 30,3442 50142 INDEX TEM2
039228,000429: 30,3443 11642 CCS OMEGAPD
039229,000430: 30,3444 64753 AD ONE
039230,000431: 30,3445 13447 TCF +2
039231,000432: 30,3446 64753 AD ONE
039232,000433: 30,3447 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039233,000434: 30,3450 50142 INDEX TEM2
039234,000435: 30,3451 71642 MP OMEGAPD
039235,000436: 30,3452 00006 EXTEND
039236,000437: 30,3453 74741 MP BIT11 # 1/16
039237,000438: 30,3454 00006 EXTEND
039238,000439: 30,3455 50142 INDEX TEM2 # 2
039239,000440: 30,3456 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039240,000441: 30,3457 54001 TS L
039241,000442: 30,3460 33762 CA DELERLIM
039242,000443: 30,3461 03720 TC LIMITSUB
039243,000444: 30,3462 50142 INDEX TEM2
039244,000445: 30,3463 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039245,000446: 30,3464 10142 CCS TEM2
039246,000447: 30,3465 13432 TCF CDUWXFR
039247,000448:
039248,000449: # HAUSKEEPING AND RETURN
039249,000450:
039250,000451: 30,3466 31645 TCQCDUW CA ECDUWUSR
039251,000452: 30,3467 54003 TS EBANK # RETURN USER'S EBANK
039252,000453:
039253,000454: 30,3470 06042 TC INTPRET
039254,000455: 30,3471 52001 SETPD GOTO
039255,000456: 30,3472 00001 0
039256,000457: 30,3473 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039257,000458:
|
|
Page 914 |
039259,000460: # THRUST VECTOR FILTER SUBROUTINE
039260,000461:
039261,000462: 30,3474 00006 FLTRSUB EXTEND
039262,000463: 30,3475 22142 QXCH TEM2
039263,000464: 30,3476 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039264,000465: 30,3477 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039265,000466: 30,3500 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039266,000467: 30,3501 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039267,000468: 30,3502 51647 INDEX NDXCDUW
039268,000469: 30,3503 73753 MP GAINFLTR
039269,000470: 30,3504 54001 TS L # INCR TO OFFSET, UNLIMITED
039270,000471: 30,3505 33755 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039271,000472: 30,3506 03720 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039272,000473: 30,3507 60143 AD TEM3 # ORIGINAL OFFSET
039273,000474: 30,3510 54001 TS L # TOTAL OFFSET, UNLIMITED
039274,000475: 30,3511 33756 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039275,000476: 30,3512 03720 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039276,000477: 30,3513 00142 TC TEM2
039277,000478:
039278,000479: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039279,000480:
039280,000481: 30,3514 63441 UNWCTEST DOT DSQ
039281,000482: 30,3515 00001 UNX/2
039282,000483: 30,3516 50025 DSU BMN
039283,000484: 30,3517 21760 DOTSWFMX
039284,000485: 30,3520 61221 DCMCL
039285,000486: 30,3521 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039286,000487: 30,3522 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
039287,000488: 30,3523 00000 0
039288,000489:
|
|
Page 915 |
039290,000491: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039291,000492: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039292,000493:
039293,000494: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039294,000495:
039295,000496: 30,3524 63545 NB2CDUSP DLOAD DSQ
039296,000497: 30,3525 00003 2
039297,000498: 30,3526 51021 BDSU BPL
039298,000499: 30,3527 06514 DP1/4TH
039299,000500: 30,3530 61533 +3
039300,000501: 30,3531 77745 DLOAD
039301,000502: 30,3532 06524 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039302,000503: 30,3533 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039303,000504:
039304,000505: 30,3534 00006 EXTEND
039305,000506: 30,3535 30155 DCA MPAC
039306,000507: 30,3536 20001 DDOUBL
039307,000508: 30,3537 54145 TS TEM5
039308,000509: 30,3540 13543 TCF +3
039309,000510: 30,3541 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039310,000511: 30,3542 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039311,000512:
039312,000513: 30,3543 50120 INDEX FIXLOC
039313,000514: 30,3544 30002 CA 2
039314,000515: 30,3545 22154 LXCH MPAC
039315,000516: 30,3546 03613 TC ARCTRGSP
039316,000517: 30,3547 54156 TS MPAC +2 # CDUZ
039317,000518:
039318,000519: 30,3550 34755 CA ZERO
039319,000520: 30,3551 03571 TC DVBYCOSM
039320,000521: 30,3552 34751 CA FOUR
039321,000522: 30,3553 03571 TC DVBYCOSM
039322,000523: 30,3554 40141 CS TEM1
039323,000524: 30,3555 03613 TC ARCTRGSP
039324,000525: 30,3556 54155 TS MPAC +1 # CDUY
039325,000526:
039326,000527: 30,3557 34750 CA BIT4
039327,000528: 30,3560 03571 TC DVBYCOSM
039328,000529: 30,3561 33570 CA 16OCT
039329,000530: 30,3562 03571 TC DVBYCOSM
039330,000531: 30,3563 40141 CS TEM1
039331,000532: 30,3564 03613 TC ARCTRGSP
039332,000533: 30,3565 54154 TS MPAC # CDUX
039333,000534:
039334,000535: 30,3566 06042 TC INTPRET
039335,000536: 30,3567 77616 RVQ
039336,000537:
039337,000538: 30,3570 00016 16OCT OCT 16
039338,000539:
|
|
Page 916 |
039340,000541: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039341,000542: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039342,000543: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039343,000544: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039344,000545: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039345,000546: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039346,000547: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039347,000548:
039348,000549: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039349,000550: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039350,000551: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039351,000552: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039352,000553:
039353,000554: 30,3571 60120 DVBYCOSM AD FIXLOC
039354,000555: 30,3572 54116 TS ADDRWD # ADRES OF OPERAND
039355,000556:
039356,000557: 30,3573 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039357,000558: 30,3574 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039358,000559: 30,3575 00006 EXTEND
039359,000560: 30,3576 63600 BZMF +2
039360,000561: 30,3577 40000 COM
039361,000562: 30,3600 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039362,000563: 30,3601 00006 EXTEND
039363,000564: 30,3602 63610 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039364,000565:
039365,000566: 30,3603 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039366,000567: 30,3604 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039367,000568: 30,3605 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039368,000569: 30,3606 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039369,000570: 30,3607 10145 DV TEM5
039370,000571: 30,3610 54001 TSL&TCQ TS L
039371,000572: 30,3611 22141 LXCH TEM1
039372,000573: 30,3612 00002 TC Q
039373,000574:
|
|
Page 917 |
039375,000576: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039376,000577: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039377,000578: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039378,000579:
039379,000580: 30,3613 00006 ARCTRGSP EXTEND
039380,000581: 30,3614 13656 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039381,000582:
039382,000583: 30,3615 00006 EXTEND
039383,000584: 30,3616 22144 QXCH TEM4
039384,000585: 30,3617 54142 TS TEM2
039385,000586: 30,3620 30001 CA L
039386,000587: 30,3621 54143 TS TEM3
039387,000588: 30,3622 34755 CA ZERO
039388,000589: 30,3623 00006 EXTEND
039389,000590: 30,3624 10142 DV TEM2
039390,000591: 30,3625 00006 EXTEND
039391,000592: 30,3626 13645 BZF USECOS
039392,000593:
039393,000594: 30,3627 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039394,000595: 30,3630 34755 CA ZERO
039395,000596: 30,3631 13635 TCF +4
039396,000597: 30,3632 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039397,000598: 30,3633 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039398,000599: 30,3634 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039399,000600: 30,3635 54143 TS TEM3 # WE NO LONGER NEED COS
039400,000601: 30,3636 30142 CA TEM2
039401,000602: 30,3637 03663 TC SPARCSIN -1
039402,000603: 30,3640 03734 TC ONESTO2S
039403,000604: 30,3641 00006 EXTEND
039404,000605: 30,3642 20143 MSU TEM3
039405,000606: 30,3643 03734 1TO2&TCQ TC ONESTO2S
039406,000607: 30,3644 00144 TC TEM4
039407,000608:
039408,000609: 30,3645 40143 USECOS CS TEM3 # COS IS SMALLER
039409,000610: 30,3646 03663 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039410,000611: 30,3647 64736 AD HALF
039411,000612: 30,3650 54143 TS TEM3 # WE NO LONGER NEED COS
039412,000613: 30,3651 10142 CCS TEM2
039413,000614: 30,3652 30143 CA TEM3
039414,000615: 30,3653 13643 TCF 1TO2&TCQ
039415,000616: 30,3654 40143 CS TEM3
039416,000617: 30,3655 13643 TCF 1TO2&TCQ
039417,000618:
039418,000619: 30,3656 10001 SINZERO CCS L
039419,000620: 30,3657 34755 CA ZERO
039420,000621: 30,3660 00002 TC Q
039421,000622: 30,3661 34735 CA NEGMAX # PI, 2'S COMP
039422,000623: 30,3662 00002 TC Q
039423,000624:
|
|
Page 918 |
039425,000626: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039426,000627: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039427,000628: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039428,000629: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039429,000630:
039430,000631: 30,3663 60000 DOUBLE
039431,000632: 30,3664 54021 SPARCSIN TS SR
039432,000633: 30,3665 13671 TCF +4
039433,000634: 30,3666 50000 INDEX A
039434,000635: 30,3667 44734 CS LIMITS
039435,000636: 30,3670 54021 TS SR
039436,000637: 30,3671 00006 EXTEND
039437,000638: 30,3672 70000 MP A
039438,000639: 30,3673 54141 TS TEM1
039439,000640: 30,3674 00006 EXTEND
039440,000641: 30,3675 73717 MP DPL9
039441,000642: 30,3676 63716 AD DPL7
039442,000643: 30,3677 00006 EXTEND
039443,000644: 30,3700 70141 MP TEM1
039444,000645: 30,3701 63715 AD DPL5
039445,000646: 30,3702 00006 EXTEND
039446,000647: 30,3703 70141 MP TEM1
039447,000648: 30,3704 63714 AD DPL3
039448,000649: 30,3705 00006 EXTEND
039449,000650: 30,3706 70141 MP TEM1
039450,000651: 30,3707 63713 AD DPL1
039451,000652: 30,3710 00006 EXTEND
039452,000653: 30,3711 70021 MP SR
039453,000654: 30,3712 00002 TC Q
039454,000655: 30,3713 24406 DPL1 DEC 10502 B-14
039455,000656: 30,3714 00660 DPL3 DEC 432 B-14
039456,000657: 30,3715 16204 DPL5 DEC 7300 B-14
039457,000658: 30,3716 50744 DPL7 DEC -11803 B-14
039458,000659: 30,3717 20315 DPL9 DEC 8397 B-14
039459,000660:
|
|
Page 919 |
039461,000662: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039462,000663: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039463,000664: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039464,000665:
039465,000666: # VERSION COURTESY HUGH BLAIR-SMITH
039466,000667:
039467,000668: 30,3720 54141 LIMITSUB TS TEM1
039468,000669: 30,3721 34755 CA ZERO
039469,000670: 30,3722 00006 EXTEND
039470,000671: 30,3723 10141 DV TEM1
039471,000672: 30,3724 10000 CCS A
039472,000673: 30,3725 22141 LXCH TEM1
039473,000674: 30,3726 13730 TCF +2
039474,000675: 30,3727 13732 TCF +3
039475,000676: 30,3730 30001 CA L
039476,000677: 30,3731 00002 TC Q
039477,000678: 30,3732 40141 CS TEM1
039478,000679: 30,3733 00002 TC Q
039479,000680:
039480,000681: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039481,000682:
039482,000683: 30,3734 10000 ONESTO2S CCS A
039483,000684: 30,3735 64753 AD ONE
039484,000685: 30,3736 00002 TC Q
039485,000686: 30,3737 40000 CS A
039486,000687: 30,3740 00002 TC Q
039487,000688:
039488,000689: # NO ATTITUDE CONTROL
039489,000690:
039490,000691: 30,3741 05567 NOATTCNT TC ALARM
039491,000692: 30,3742 00402 OCT 00402 # NO ATTITUDE CONTROL
039492,000693:
039493,000694: 30,3743 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039494,000695: 30,3744 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039495,000696: 30,3745 40166 FCADR STOPRATE
039496,000697: 30,3746 13466 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039497,000698:
039498,000699: # MIDDLE GIMBAL ANGLE ALARM
039499,000700:
039500,000701: 30,3747 05567 ALARMMGA TC ALARM
039501,000702: 30,3750 00401 OCT 00401
039502,000703: 30,3751 13266 TCF MGARET
039503,000704:
|
|
Page 920 |
039505,000706: # ************************************************************************
039506,000707: # CONSTANTS
039507,000708: # ************************************************************************
039508,000709:
039509,000710: # ADDRESS CONSTANTS
039510,000711:
039511,000712: 30,3752 03245 ECDUWL ECADR ECDUW
039512,000713:
039513,000714: # THRUST DIRECTION FILTER CONSTANTS
039514,000715:
039515,000716: 30,3753 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039516,000717: 30,3754 03146 DEC .1 # GAIN FILTER WITH CSM
039517,000718:
039518,000719: 30,3755 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039519,000720: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039520,000721:
039521,000722: 30,3756 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039522,000723: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039523,000724:
039524,000725: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039525,000726:
039526,000727: 30,3757 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039527,000728: # LOWER PART COMES FROM NEXT CONSTANT
039528,000729:
039529,000730: 30,3760 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039530,000731: 30,3761 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039531,000732:
039532,000733: 30,3762 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039533,000734: 30,3763 00133 DEC .0055555555
039534,000735:
039535,000736: 30,3764 30,3760 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039536,000737:
039537,000738: 30,3764 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039538,000739:
039539,000740: # CONSTANTS FOR DATA TRANSFER
039540,000741:
039541,000742: 30,3765 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039542,000743: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039543,000744:
039544,000745: 30,3766 30,3762 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039545,000746:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc