Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 173 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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014689,000002: ## Copyright: Public domain.
014690,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
014691,000004: ## Purpose: A section of Luminary revision 173.
014692,000005: ## It is part of the reconstructed source code for the second
014693,000006: ## (unflown) release of the flight software for the Lunar
014694,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
014695,000008: ## The code has been recreated from a reconstructed copy of
014696,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
014697,000010: ## It has been adapted such that the resulting bugger words
014698,000011: ## exactly match those specified for Luminary 173 in NASA
014699,000012: ## drawing 2021152N, which gives relatively high confidence
014700,000013: ## that the reconstruction is correct.
014701,000014: ## Reference: pp. 347-368
014702,000015: ## Assembler: yaYUL
014703,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014704,000017: ## Website: www.ibiblio.org/apollo/index.html
014705,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
014706,000019:
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Page 347
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014708,000021: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE-KALCMANU
014709,000022:
014710,000023:
014711,000024: # MOD 2 DATE 5/1/67 BY DON KEENE
014712,000025:
014713,000026: # PROGRAM DESCRIPTION
014714,000027:
014715,000028: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014716,000029: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014717,000030: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
014718,000031: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014719,000032: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014720,000033:
014721,000034: # CPHI = COMMANDED OUTER GIMBAL ANGLE
014722,000035: # CTHETA = COMMANDED INNER GIMBAL ANGLE
014723,000036: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014724,000037:
014725,000038: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014726,000039: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
014727,000040: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014728,000041: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014729,000042: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014730,000043: # -
014731,000044: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014732,000045: # -
014733,000046: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014734,000047: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014735,000048: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014736,000049:
014737,000050: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014738,000051: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014739,000052: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014740,000053: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014741,000054: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014742,000055: # -
014743,000056: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014744,000057:
014745,000058: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014746,000059: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014747,000060: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
014748,000061: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014749,000062: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
014750,000063: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014751,000064: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014752,000065: # DESIRED FINAL GIMBAL ANGLES.
014753,000066:
014754,000067:
014755,000068: # PROGRAM LOGIC FLOW
014756,000069:
014757,000070: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
014758,000071: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
014759,000072:
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014761,000074: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014762,000075: # * * *
014763,000076: # MEMBER AXES (MIS, MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
014764,000077: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014765,000078:
014766,000079: # A) AM LESS THAN .25 DEGREES (MINANG)
014767,000080: # B) AM GREATER THAN 170 DEGREES (MAXANG)
014768,000081:
014769,000082: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
014770,000083: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014771,000084:
014772,000085: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014773,000086: # - *
014774,000087: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
014775,000088: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014776,000089: # -
014777,000090: # TO DETERMINE COF.
014778,000091:
014779,000092: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
014780,000093: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
014781,000094: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
014782,000095: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014783,000096: # YAW.
014784,000097:
014785,000098: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014786,000099: # -
014787,000100: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
014788,000101: # DESIRED REFERENCE MATRIX IS THEN,
014789,000102:
014790,000103: # * * *
014791,000104: # MIS = MIS DEL
014792,000105: # N+1 N
014793,000106: # *
014794,000107: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014795,000108: # *
014796,000109: # FROM MIS.
014797,000110:
014798,000111: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014799,000112: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014800,000113: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
014801,000114: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
014802,000115: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
014803,000116: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014804,000117:
014805,000118: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014806,000119: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014807,000120:
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014809,000122: # CALLING SEQUENCE
014810,000123:
014811,000124: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014812,000125: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014813,000126: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
014814,000127: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014815,000128:
014816,000129: # *
014817,000130: # CAF PRIO XX
014818,000131: # --
014819,000132: # INHINT
014820,000133: # TC FINDVAC
014821,000134: # 2CADR KALCMAN3
014822,000135: # RELINT
014823,000136:
014824,000137: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
014825,000138: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014826,000139:
014827,000140: # L TC BANKCALL
014828,000141: # L+1 CADR ATTSTALL
014829,000142: # L+2 (BAD RETURN)
014830,000143: # L+3 (GOOD RETURN)
014831,000144:
014832,000145: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014833,000146: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014834,000147: # WAS IN GIMBAL LOCK.
014835,000148:
014836,000149: # ***NOTA BENE*** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014837,000150: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014838,000151: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
014839,000152: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014840,000153: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014841,000154: # SUBROUTINES
014842,000155:
014843,000156: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
014844,000157: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014845,000158:
014846,000159: # MXM3
014847,000160: # ----
014848,000161:
014849,000162: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014850,000163: # DOWN LIST, I.E.,
014851,000164:
014852,000165: # (M M M )
014853,000166: # ( 0 1 2)
014854,000167: # * ( ) * *
014855,000168: # M = (M M M ) = M1 X M2
014856,000169: # ( 3 4 5)
014857,000170: # ( )
014858,000171: # (M M M )
014859,000172:
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014861,000174: # ( 6 7 8)
014862,000175:
014863,000176: # *
014864,000177: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014865,000178: # *
014866,000179: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014867,000180: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
014868,000181: # 8
014869,000182:
014870,000183: # TRANSPOS
014871,000184: # --------
014872,000185:
014873,000186: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014874,000187:
014875,000188: # * * T
014876,000189: # M = M1
014877,000190:
014878,000191: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
014879,000192: # *
014880,000193: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014881,000194:
014882,000195: # CDU TO DCM
014883,000196: # ----------
014884,000197:
014885,000198: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014886,000199: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
014887,000200:
014888,000201: # M = COSY COSZ
014889,000202: # 0
014890,000203:
014891,000204: # M = -COSY SINZ COSX + SINY SINX
014892,000205: # 1
014893,000206:
014894,000207: # M = COSY SINZ SINX + SINY COSX
014895,000208: # 2
014896,000209:
014897,000210: # M = SINZ
014898,000211: # 3
014899,000212:
014900,000213: # M = COSZ COSX
014901,000214: # 4
014902,000215:
014903,000216: # M = -COSZ SINX
014904,000217: # 5
014905,000218:
014906,000219: # M = -SINY COSZ
014907,000220: # 6
014908,000221:
014909,000222: # M = SINY SINZ COSX + COSY SINX
014910,000223: # 7
014911,000224:
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014913,000226: # M = -SINY SINZ SINX + COSY COSX
014914,000227: # 8
014915,000228:
014916,000229: # WHERE X = OUTER GIMBAL ANGLE
014917,000230: # Y = INNER GIMBAL ANGLE
014918,000231: # Z = MIDDLE GIMBAL ANGLE
014919,000232:
014920,000233: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014921,000234:
014922,000235: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014923,000236: # X Y Z
014924,000237: # STABLE MEMBER AXES (B , B , B ) ARE
014925,000238: # X Y Z
014926,000239:
014927,000240: # (B ) (A )
014928,000241: # ( X) ( X)
014929,000242: # ( ) ( )
014930,000243: # ( ) * ( )
014931,000244: # (B ) = M (A )
014932,000245: # ( Y) ( Y)
014933,000246: # ( ) ( )
014934,000247: # (B ) (A )
014935,000248: # ( Z) ( Z)
014936,000249:
014937,000250: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014938,000251: # *
014939,000252: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014940,000253:
014941,000254: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014942,000255: # REGISTER X2.
014943,000256:
014944,000257:
014945,000258: # DCM TO CDU
014946,000259: # ----------
014947,000260: # *
014948,000261: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014949,000262: # *
014950,000263: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
014951,000264: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
014952,000265: # FOR THIS CONVERSION ARE
014953,000266:
014954,000267: # Z = ARCSIN (M )
014955,000268: # 3
014956,000269:
014957,000270: # Y = ARCSIN (-M /COSZ)
014958,000271: # 6
014959,000272:
014960,000273: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014961,000274: # 0
014962,000275:
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014964,000277: # X = ARCSIN (-M /COSZ)
014965,000278: # 5
014966,000279:
014967,000280: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
014968,000281: # 4
014969,000282:
014970,000283: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014971,000284: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014972,000285: # THE PUSH DOWN LIST.
014973,000286:
014974,000287:
014975,000288: # DELCOMP
014976,000289: # -------
014977,000290:
014978,000291: # *
014979,000292: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014980,000293: # -
014981,000294: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
014982,000295:
014983,000296: # * * --T *
014984,000297: # DEL = I COSA + UU (1-COSA) + V SINA
014985,000298: # X
014986,000299:
014987,000300: # WHERE * (1 0 0)
014988,000301: # I = (0 1 0)
014989,000302: # (0 0 1)
014990,000303:
014991,000304:
014992,000305: # 2
014993,000306: # (U U U U U )
014994,000307: # ( X X Y X Z)
014995,000308: # ( )
014996,000309: # --T ( 2 )
014997,000310: # UU = (U U U U U )
014998,000311: # ( Y X Y Y Z )
014999,000312: # ( )
015000,000313: # ( 2 )
015001,000314: # (U U U U U )
015002,000315: # ( Z X Z Y Z )
015003,000316:
015004,000317:
015005,000318: # (0 -U U )
015006,000319: # ( Z Y )
015007,000320: # * ( )
015008,000321: # V = (U 0 -U )
015009,000322: # X ( Z X)
015010,000323: # ( )
015011,000324: # (-U U 0 )
015012,000325: # ( Y X )
015013,000326:
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015015,000328: # -
015016,000329: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
015017,000330: # A = ROTATION ANGLE
015018,000331:
015019,000332: # *
015020,000333: # THE INTERPRETATION OF DEL IS AS FOLLOWS
015021,000334:
015022,000335: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
015023,000336: # X Y Z
015024,000337: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
015025,000338: # X Y Z
015026,000339:
015027,000340: # (B ) (A )
015028,000341: # ( X) ( X)
015029,000342: # ( ) * ( )
015030,000343: # (B ) = DEL (A )
015031,000344: # ( Y) ( Y)
015032,000345: # ( ) ( )
015033,000346: # (B ) (A )
015034,000347: # ( Z) ( Z)
015035,000348:
015036,000349: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
015037,000350: # -
015038,000351: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
015039,000352: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
015040,000353: # MUST THEN BE LOADED INTO D(MPAC).
015041,000354:
015042,000355: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
015043,000356:
015044,000357:
015045,000358: # READCDUK
015046,000359: # --------
015047,000360:
015048,000361: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
015049,000362:
015050,000363:
015051,000364: # SIGNMPAC
015052,000365: # --------
015053,000366:
015054,000367: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
015055,000368:
015056,000369:
015057,000370: # PROGRAM STORAGE ALLOCATION
015058,000371:
015059,000372: # 1) FIXED MEMORY 1059 WORDS
015060,000373: # 2) ERASABLE MEMORY 98
015061,000374: # 3) STATE SWITCHES 3
015062,000375:
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Page 354
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015064,000377: # 4) FLAGS 1
015065,000378:
015066,000379: # JOB PRIORITIES
015067,000380:
015068,000381: # 1) KALCMANU TBD
015069,000382: # 2) ONE SECOND UPDATE TBD
015070,000383:
015071,000384:
015072,000385: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
015073,000386:
015074,000387:
015075,000388: # STATE FLAGWRD 2 SETTING MEANING
015076,000389: # SWITCH NO. BIT NO.
015077,000390:
015078,000391: # *
015079,000392: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
015080,000393: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
015081,000394:
015082,000395: # *
015083,000396: # 32 13 0 CONTINUE UPDATE PROCESS
015084,000397: # 1 START UPDATE PROCESS
015085,000398:
015086,000399: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
015087,000400: # 1 IGNORE ANY FINAL P-AXIS YAW
015088,000401:
015089,000402: # 34 11 0 SIGNAL END OF KALCMANU
015090,000403: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
015091,000404:
015092,000405:
015093,000406: # * INTERNAL TO KALCMANU
015094,000407:
015095,000408:
015096,000409: # SUGGESTIONS FOR PROGRAM INTEGRATION
015097,000410:
015098,000411: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
015099,000412:
015100,000413: # CPHI
015101,000414: # CTHETA
015102,000415: # CPSI
015103,000416: # POINTVSM +5
015104,000417: # SCAXIS +5
015105,000418: # DELDCDU
015106,000419: # DELDCDU1
015107,000420: # DELDCDU2
015108,000421: # RATEINDX
015109,000422:
015110,000423: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
015111,000424:
015112,000425: # MXM3
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Page 355
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015114,000427: # TRANSPOS
015115,000428: # SIGNMPAC
015116,000429: # READCDUK
015117,000430: # CDUTODCM
015118,000431:
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015120,000433: 15,2050 BANK 15
015121,000434: 22,2000 SETLOC KALCMON1
015122,000435: 22,2000 BANK
015123,000436:
015124,000437: 22,2004 E6,1675 EBANK= BCDU
015125,000438:
015126,000439: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
015127,000440: # LOCATIONS, CPHI, CTHETA, CPSI.
015128,000441:
015129,000442: 22,2004 COUNT* $$/KALC
015130,000443: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
015131,000444: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
015132,000445: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
015133,000446: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
015134,000447: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
015135,000448: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
015136,000449: 22,2012 51025 DSU BPL
015137,000450: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
015138,000451: 22,2014 44724 TOOBADF
015139,000452: 22,2015 72364 AXC,2 TLOAD
015140,000453: 22,2016 03245 MIS
015141,000454: 22,2017 03276 BCDU
015142,000455: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
015143,000456: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
015144,000457: 22,2022 72364 AXC,2 TLOAD
015145,000458: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS
015146,000459: 22,2024 00322 CPHI
015147,000460: 22,2025 77624 CALL
015148,000461: 22,2026 44410 CDUTODCM
015149,000462: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
015150,000463: 22,2030 03245 MIS
015151,000464: 22,2031 44326 TRANSPOS
015152,000465: 22,2032 45575 VLOAD STADR
015153,000466: 22,2033 50460 STOVL TMIS +12D
015154,000467: 22,2034 77626 STADR
015155,000468: 22,2035 50466 STOVL TMIS +6
015156,000469: 22,2036 77626 STADR
015157,000470: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
015158,000471: 22,2040 75160 AXC,1 AXC,2
015159,000472: 22,2041 03302 TMIS
015160,000473: 22,2042 02230 MFS
015161,000474: 22,2043 77624 CALL
015162,000475: 22,2044 44312 MXM3
015163,000476: 22,2045 45575 VLOAD STADR
015164,000477: 22,2046 51532 STOVL MFI +12D
015165,000478: 22,2047 77626 STADR
015166,000479: 22,2050 51540 STOVL MFI +6
015167,000480: 22,2051 77626 STADR
015168,000481: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
015169,000482: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
015170,000483:
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Page 357
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015172,000485: 22,2054 00023 18D
015173,000486: 22,2055 44335 TRNSPSPD
015174,000487: 22,2056 45575 VLOAD STADR
015175,000488: 22,2057 50460 STOVL TMFI +12D
015176,000489: 22,2060 77626 STADR
015177,000490: 22,2061 50466 STOVL TMFI +6
015178,000491: 22,2062 77626 STADR
015179,000492: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
015180,000493:
015181,000494: # CALCULATE COFSKEW AND MFISYM
015182,000495:
015183,000496: 22,2064 45345 DLOAD DSU
015184,000497: 22,2065 03305 TMFI +2
015185,000498: 22,2066 02233 MFI +2
015186,000499: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
015187,000500: 22,2070 02235 MFI +4
015188,000501: 22,2071 03307 TMFI +4
015189,000502: 22,2072 45325 PDDL DSU
015190,000503: 22,2073 03315 TMFI +10D
015191,000504: 22,2074 02243 MFI +10D
015192,000505: 22,2075 77666 VDEF
015193,000506: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
015194,000507:
015195,000508: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015196,000509:
015197,000510: 22,2077 43345 DLOAD DAD
015198,000511: 22,2100 02231 MFI
015199,000512: 22,2101 02251 MFI +16D
015200,000513: 22,2102 43225 DSU DAD
015201,000514: 22,2103 06510 DP1/4TH
015202,000515: 22,2104 02241 MFI +8D
015203,000516: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015204,000517: 22,2106 77726 ARCCOS
015205,000518: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
015206,000519: 22,2110 51025 DSU BPL
015207,000520: 22,2111 04363 MINANG
015208,000521: 22,2112 44117 CHECKMAX
015209,000522: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
015210,000523: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
015211,000524: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
015212,000525: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
015213,000526:
015214,000527: 22,2117 45345 CHECKMAX DLOAD DSU
015215,000528: 22,2120 03335 AM
015216,000529: 22,2121 04365 MAXANG
015217,000530: 22,2122 77244 BPL VLOAD
015218,000531: 22,2123 44131 ALTCALC # UNIT
015219,000532: 22,2124 03325 COFSKEW # COFSKEW
015220,000533: 22,2125 77656 UNIT
015221,000534: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
015222,000535:
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Page 358
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015224,000537: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
015225,000538: 22,2130 44744 LOCSKIRT
015226,000539: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
015227,000540: 22,2132 02231 MFI
015228,000541: 22,2133 03303 TMFI
015229,000542: 22,2134 77762 VSR1
015230,000543: 22,2135 27303 STOVL MFISYM
015231,000544: 22,2136 02237 MFI +6
015232,000545: 22,2137 74455 VAD VSR1
015233,000546: 22,2140 03311 TMFI +6
015234,000547: 22,2141 27311 STOVL MFISYM +6
015235,000548: 22,2142 02245 MFI +12D
015236,000549: 22,2143 74455 VAD VSR1
015237,000550: 22,2144 03317 TMFI +12D
015238,000551: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
015239,000552:
015240,000553:
015241,000554: # CALCULATE COF
015242,000555:
015243,000556:
015244,000557: 22,2146 70545 DLOAD SR1
015245,000558: 22,2147 03333 CAM
015246,000559: 22,2150 45325 PDDL DSU # PDO CAM $4
015247,000560: 22,2151 06516 DPHALF
015248,000561: 22,2152 03333 CAM
015249,000562: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
015250,000563: 22,2154 21713 SIGNMPAC
015251,000564: 22,2155 03323 MFISYM +16D
015252,000565: 22,2156 56225 DSU DDV
015253,000566: 22,2157 00001 0
015254,000567: 22,2160 00003 2
015255,000568: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015256,000569: 22,2162 03313 MFISYM +8D # $ ROOT 2
015257,000570: 22,2163 56225 DSU DDV
015258,000571: 22,2164 00001 0
015259,000572: 22,2165 00003 2
015260,000573: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
015261,000574: 22,2167 03303 MFISYM
015262,000575: 22,2170 56225 DSU DDV
015263,000576: 22,2171 00001 0
015264,000577: 22,2172 00003 2
015265,000578: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
015266,000579: 22,2174 77656 UNIT
015267,000580: 22,2175 03270 STORE COF
015268,000581:
015269,000582: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015270,000583:
015271,000584: 22,2176 45345 COFMAXGO DLOAD DSU
015272,000585: 22,2177 03270 COF
015273,000586: 22,2200 03272 COF +2
015274,000587: 22,2201 71240 BMN DLOAD # COFY G COFX
015275,000588:
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015277,000590: 22,2202 44211 COMP12
015278,000591: 22,2203 03270 COF
015279,000592: 22,2204 50025 DSU BMN
015280,000593: 22,2205 03274 COF +4
015281,000594: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
015282,000595: 22,2207 77650 GOTO
015283,000596: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
015284,000597: 22,2211 45345 COMP12 DLOAD DSU
015285,000598: 22,2212 03272 COF +2
015286,000599: 22,2213 03274 COF +4
015287,000600: 22,2214 77640 BMN
015288,000601: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
015289,000602:
015290,000603: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
015291,000604: 22,2217 03327 COFSKEW +2 # UY
015292,000605: 22,2220 44224 U2POS
015293,000606: 22,2221 57575 VLOAD VCOMP
015294,000607: 22,2222 03270 COF
015295,000608: 22,2223 03270 STORE COF
015296,000609: 22,2224 51145 U2POS DLOAD BPL
015297,000610: 22,2225 03305 MFISYM +2 # UX UY
015298,000611: 22,2226 44232 OKU21
015299,000612: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
015300,000613: 22,2230 03270 COF
015301,000614: 22,2231 03270 STORE COF
015302,000615: 22,2232 51145 OKU21 DLOAD BPL
015303,000616: 22,2233 03315 MFISYM +10D # UY UZ
015304,000617: 22,2234 44744 LOCSKIRT
015305,000618: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015306,000619: 22,2236 03274 COF +4
015307,000620: 22,2237 03274 STORE COF +4
015308,000621: 22,2240 77650 GOTO
015309,000622: 22,2241 44744 LOCSKIRT
015310,000623: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
015311,000624: 22,2243 03325 COFSKEW # UX
015312,000625: 22,2244 44250 U1POS
015313,000626: 22,2245 57575 VLOAD VCOMP
015314,000627: 22,2246 03270 COF
015315,000628: 22,2247 03270 STORE COF
015316,000629: 22,2250 51145 U1POS DLOAD BPL
015317,000630: 22,2251 03305 MFISYM +2 # UX UY
015318,000631: 22,2252 44256 OKU12
015319,000632: 22,2253 57545 DLOAD DCOMP
015320,000633: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
015321,000634: 22,2255 03272 STORE COF +2
015322,000635: 22,2256 51145 OKU12 DLOAD BPL
015323,000636: 22,2257 03307 MFISYM +4 # UX UZ
015324,000637: 22,2260 44744 LOCSKIRT
015325,000638: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015326,000639: 22,2262 03274 COF +4
015327,000640:
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Page 360
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015329,000642: 22,2263 03274 STORE COF +4
015330,000643: 22,2264 77650 GOTO
015331,000644: 22,2265 44744 LOCSKIRT
015332,000645: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
015333,000646: 22,2267 03331 COFSKEW +4 # UZ
015334,000647: 22,2270 44274 U3POS
015335,000648: 22,2271 57575 VLOAD VCOMP
015336,000649: 22,2272 03270 COF
015337,000650: 22,2273 03270 STORE COF
015338,000651: 22,2274 51145 U3POS DLOAD BPL
015339,000652: 22,2275 03307 MFISYM +4 # UX UZ
015340,000653: 22,2276 44302 OKU31
015341,000654: 22,2277 57545 DLOAD DCOMP
015342,000655: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
015343,000656: 22,2301 03270 STORE COF
015344,000657: 22,2302 51145 OKU31 DLOAD BPL
015345,000658: 22,2303 03315 MFISYM +10D # UY UZ
015346,000659: 22,2304 44744 LOCSKIRT
015347,000660: 22,2305 57545 DLOAD DCOMP
015348,000661: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
015349,000662: 22,2307 03272 STORE COF +2
015350,000663: 22,2310 77650 GOTO
015351,000664: 22,2311 44744 LOCSKIRT
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Page 361
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015353,000666: # MATRIX OPERATIONS
015354,000667:
015355,000668: 13,2207 BANK 13
015356,000669: 22,2000 SETLOC KALCMON2
015357,000670: 22,2000 BANK
015358,000671:
015359,000672: 22,2312 E6,1675 EBANK= BCDU
015360,000673:
015361,000674: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
015362,000675: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
015363,000676: 22,2314 00001 0,1 # AND MPAC
015364,000677: 22,2315 62703 VXM* PDVL*
015365,000678: 22,2316 77776 0,2
015366,000679: 22,2317 00007 6,1
015367,000680: 22,2320 62703 VXM* PDVL*
015368,000681: 22,2321 77776 0,2
015369,000682: 22,2322 00015 12D,1
015370,000683: 22,2323 41503 VXM* PUSH
015371,000684: 22,2324 77776 0,2
015372,000685: 22,2325 77616 RVQ
015373,000686:
015374,000687:
015375,000688: # RETURN WITH M1XM2 IN PD LIST
015376,000689:
015377,000690: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
015378,000691: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
015379,000692: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
015380,000693: 22,2331 62713 PDVL* PDVL*
015381,000694: 22,2332 00007 6,1
015382,000695: 22,2333 00015 12D,1
015383,000696: 22,2334 77606 PUSH # MATRIX IN PD
015384,000697: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
015385,000698: 22,2336 50120 INDEX FIXLOC
015386,000699: 22,2337 52013 DXCH 12
015387,000700: 22,2340 50120 INDEX FIXLOC
015388,000701: 22,2341 52017 DXCH 16
015389,000702: 22,2342 50120 INDEX FIXLOC
015390,000703: 22,2343 52013 DXCH 12
015391,000704: 22,2344 50120 INDEX FIXLOC
015392,000705: 22,2345 52015 DXCH 14
015393,000706: 22,2346 50120 INDEX FIXLOC
015394,000707: 22,2347 52005 DXCH 4
015395,000708: 22,2350 50120 INDEX FIXLOC
015396,000709: 22,2351 52015 DXCH 14
015397,000710: 22,2352 50120 INDEX FIXLOC
015398,000711: 22,2353 52003 DXCH 2
015399,000712: 22,2354 50120 INDEX FIXLOC
015400,000713: 22,2355 52007 DXCH 6
015401,000714: 22,2356 50120 INDEX FIXLOC
015402,000715: 22,2357 52003 DXCH 2
015403,000716:
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015405,000718: 22,2360 06042 TC INTPRET
015406,000719: 22,2361 77616 RVQ
015407,000720:
015408,000721: 15,2050 BANK 15
015409,000722: 22,2000 SETLOC KALCMON1
015410,000723: 22,2000 BANK
015411,000724:
015412,000725: 22,2362 E6,1675 EBANK= BCDU
015413,000726:
015414,000727: 22,2362 00013 13563 MINANG 2DEC 0.00069375
015415,000728: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
015416,000729: # GIMBAL LOCK CONSTANTS
015417,000730:
015418,000731: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
015419,000732: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
015420,000733:
015421,000734: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
015422,000735: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
015423,000736: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
015424,000737: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
015425,000738: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
015426,000739: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
015427,000740: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
015428,000741: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
015429,000742:
015430,000743: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
015431,000744: 22,2404 54156 TS MPAC +2
015432,000745: 22,2405 00006 EXTEND
015433,000746: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
015434,000747: 22,2407 16501 TCF TLOAD +6
015435,000748:
015436,000749:
015437,000750: 22,2410 66370 CDUTODCM AXT,1 SSP
015438,000751: 22,2411 00003 OCT 3
015439,000752: 22,2412 00051 S1
015440,000753: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
015441,000754: 22,2414 00010 STORE 7
015442,000755: 22,2415 77601 SETPD
015443,000756: 22,2416 00001 0
015444,000757: 22,2417 47133 LOOPSIN SLOAD* RTB
015445,000758: 22,2420 00013 10D,1
015446,000759: 22,2421 21577 CDULOGIC
015447,000760:
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015449,000762: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
015450,000763: 22,2423 65356 SIN PDDL # 2 COS(PHI)
015451,000764: 22,2424 00013 10D # 4 SIN(THETA)
015452,000765: 22,2425 41546 COS PUSH # 6 COS(THETA)
015453,000766: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
015454,000767: 22,2427 44417 LOOPSIN # 10 COS(PSI)
015455,000768: 22,2430 00007 6
015456,000769: 22,2431 72405 DMP SL1
015457,000770: 22,2432 00013 10D
015458,000771: 22,2433 10001 STORE 0,2 # C0=COS(THETA)COS(PSI)
015459,000772: 22,2434 41345 DLOAD DMP
015460,000773: 22,2435 00005 4
015461,000774: 22,2436 00001 0
015462,000775: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
015463,000776: 22,2440 00007 6
015464,000777: 22,2441 00011 8D
015465,000778: 22,2442 72405 DMP SL1
015466,000779: 22,2443 00003 2
015467,000780: 22,2444 72421 BDSU SL1
015468,000781: 22,2445 00015 12D
015469,000782: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
015470,000783: 22,2447 41345 DLOAD DMP
015471,000784: 22,2450 00003 2
015472,000785: 22,2451 00005 4
015473,000786: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
015474,000787: 22,2453 00007 6
015475,000788: 22,2454 00011 8D
015476,000789: 22,2455 72405 DMP SL1
015477,000790: 22,2456 00001 0
015478,000791: 22,2457 72415 DAD SL1
015479,000792: 22,2460 00017 14D
015480,000793: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
015481,000794: 22,2462 77745 DLOAD
015482,000795: 22,2463 00011 8D
015483,000796: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
015484,000797: 22,2465 77745 DLOAD
015485,000798: 22,2466 00013 10D
015486,000799: 22,2467 72405 DMP SL1
015487,000800: 22,2470 00003 2
015488,000801: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
015489,000802: 22,2472 41345 DLOAD DMP
015490,000803: 22,2473 00013 10D
015491,000804: 22,2474 00001 0
015492,000805: 22,2475 72476 DCOMP SL1
015493,000806: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
015494,000807: 22,2477 41345 DLOAD DMP
015495,000808: 22,2500 00005 4
015496,000809: 22,2501 00013 10D
015497,000810: 22,2502 72476 DCOMP SL1
015498,000811: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
015499,000812:
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015501,000814: 22,2504 77745 DLOAD
015502,000815: 22,2505 72405 DMP SL1 # (PUSH UP 7)
015503,000816: 22,2506 00011 8D
015504,000817: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
015505,000818: 22,2510 00007 6
015506,000819: 22,2511 00001 0
015507,000820: 22,2512 72415 DAD SL1 # (PUSH UP 7)
015508,000821: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
015509,000822: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
015510,000823: 22,2515 77745 DLOAD
015511,000824: 22,2516 72405 DMP SL1 # (PUSH UP 6)
015512,000825: 22,2517 00011 8D
015513,000826: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
015514,000827: 22,2521 00007 6
015515,000828: 22,2522 00003 2
015516,000829: 22,2523 72425 DSU SL1 # (PUSH UP 6)
015517,000830: 22,2524 77626 STADR
015518,000831: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015519,000832: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
015520,000833:
015521,000834: # CALCULATION OF THE MATRIX DEL......
015522,000835:
015523,000836: # * * --T *
015524,000837: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
015525,000838:
015526,000839: # -
015527,000840: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015528,000841: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
015529,000842: # -
015530,000843: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015531,000844:
015532,000845: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
015533,000846: 22,2530 00001 0
015534,000847: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
015535,000848: 22,2532 41546 COS PUSH # PD2 = COS(A)
015536,000849: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
015537,000850: 22,2534 41021 BDSU BOVB
015538,000851: 22,2535 06516 DPHALF
015539,000852: 22,2536 21713 SIGNMPAC
015540,000853: 22,2537 77725 PDDL # PD4 = 1-COS(A)
015541,000854:
015542,000855: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
015543,000856:
015544,000857: 22,2540 03270 COF
015545,000858: 22,2541 41316 DSQ DMP
015546,000859: 22,2542 00005 4
015547,000860: 22,2543 52415 DAD SL3
015548,000861: 22,2544 00003 2
015549,000862: 22,2545 77604 BOVB
015550,000863: 22,2546 21713 SIGNMPAC
015551,000864:
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015553,000866: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
015554,000867: 22,2550 03272 COF +2
015555,000868: 22,2551 41316 DSQ DMP
015556,000869: 22,2552 00005 4
015557,000870: 22,2553 52415 DAD SL3
015558,000871: 22,2554 00003 2
015559,000872: 22,2555 77604 BOVB
015560,000873: 22,2556 21713 SIGNMPAC
015561,000874: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
015562,000875: 22,2560 03274 COF +4
015563,000876: 22,2561 41316 DSQ DMP
015564,000877: 22,2562 00005 4
015565,000878: 22,2563 52415 DAD SL3
015566,000879: 22,2564 00003 2
015567,000880: 22,2565 77604 BOVB
015568,000881: 22,2566 21713 SIGNMPAC
015569,000882: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
015570,000883:
015571,000884: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
015572,000885:
015573,000886: 22,2570 41345 DLOAD DMP
015574,000887: 22,2571 03270 COF
015575,000888: 22,2572 03272 COF +2
015576,000889: 22,2573 72405 DMP SL1
015577,000890: 22,2574 00005 4
015578,000891: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
015579,000892: 22,2576 03274 COF +4
015580,000893: 22,2577 00001 0
015581,000894: 22,2600 43206 PUSH DAD # D8 UZ SIN A $ 4
015582,000895: 22,2601 00007 6
015583,000896: 22,2602 41112 SL2 BOVB
015584,000897: 22,2603 21713 SIGNMPAC
015585,000898: 22,2604 16237 STODL KEL +6
015586,000899: 22,2605 62421 BDSU SL2
015587,000900: 22,2606 77604 BOVB
015588,000901: 22,2607 21713 SIGNMPAC
015589,000902: 22,2610 16233 STODL KEL +2
015590,000903: 22,2611 03270 COF
015591,000904: 22,2612 41205 DMP DMP
015592,000905: 22,2613 03274 COF +4
015593,000906: 22,2614 00005 4
015594,000907: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
015595,000908: 22,2616 03272 COF +2
015596,000909: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
015597,000910: 22,2620 00001 0
015598,000911: 22,2621 62415 DAD SL2
015599,000912: 22,2622 00007 6
015600,000913: 22,2623 77604 BOVB
015601,000914: 22,2624 21713 SIGNMPAC
015602,000915: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
015603,000916:
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015605,000918: 22,2626 62421 BDSU SL2
015606,000919: 22,2627 77604 BOVB
015607,000920: 22,2630 21713 SIGNMPAC
015608,000921: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
015609,000922: 22,2632 03272 COF +2
015610,000923: 22,2633 41205 DMP DMP
015611,000924: 22,2634 03274 COF +4
015612,000925: 22,2635 00005 4
015613,000926: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
015614,000927: 22,2637 03270 COF
015615,000928: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
015616,000929: 22,2641 00001 0
015617,000930: 22,2642 62415 DAD SL2
015618,000931: 22,2643 00007 6
015619,000932: 22,2644 77604 BOVB
015620,000933: 22,2645 21713 SIGNMPAC
015621,000934: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
015622,000935: 22,2647 62421 BDSU SL2
015623,000936: 22,2650 77604 BOVB
015624,000937: 22,2651 21713 SIGNMPAC
015625,000938: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
015626,000939: 22,2653 77616 RVQ
015627,000940:
015628,000941:
015629,000942: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015630,000943: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015631,000944: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015632,000945: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015633,000946:
015634,000947: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015635,000948:
015636,000949: # C =COS(THETA)COS(PSI)
015637,000950: # 0
015638,000951: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
015639,000952: # 1
015640,000953: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
015641,000954: # 2
015642,000955: # C =SIN(PSI)
015643,000956: # 3
015644,000957: # C =COS(PSI)COS(PHI)
015645,000958: # 4
015646,000959: # C =-COS(PSI)SIN(PHI)
015647,000960: # 5
015648,000961: # C =-SIN(THETA)COS(PSI)
015649,000962: # 6
015650,000963: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
015651,000964: # 7
015652,000965: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
015653,000966: # 8
015654,000967:
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015656,000969:
015657,000970: # WHERE PHI = OGA
015658,000971: # THETA = IGA
015659,000972: # PSI = MGA
015660,000973:
015661,000974: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
015662,000975: 22,2655 00007 6,1
015663,000976: 22,2656 71406 PUSH COS # PD +0 PSI
015664,000977: 22,2657 41152 SL1 BOVB
015665,000978: 22,2660 21713 SIGNMPAC
015666,000979: 22,2661 00051 STORE S1
015667,000980: 22,2662 57543 DLOAD* DCOMP
015668,000981: 22,2663 00015 12D,1
015669,000982: 22,2664 67471 DDV ARCSIN
015670,000983: 22,2665 00051 S1
015671,000984: 22,2666 51123 PDDL* BPL # PD +2 THETA
015672,000985: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
015673,000986: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
015674,000987: 22,2671 57545 DLOAD DCOMP
015675,000988: 22,2672 43244 BPL DAD
015676,000989: 22,2673 44677 SUHALFA
015677,000990: 22,2674 06516 DPHALF
015678,000991: 22,2675 77650 GOTO
015679,000992: 22,2676 44701 CALCPHI
015680,000993: 22,2677 77625 SUHALFA DSU
015681,000994: 22,2700 06516 DPHALF
015682,000995: 22,2701 77606 CALCPHI PUSH
015683,000996: 22,2702 57543 OKTHETA DLOAD* DCOMP
015684,000997: 22,2703 00013 10D,1
015685,000998: 22,2704 67471 DDV ARCSIN
015686,000999: 22,2705 00051 S1
015687,001000: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
015688,001001: 22,2707 00011 8D,1
015689,001002: 22,2710 44722 OKPHI
015690,001003: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
015691,001004: 22,2712 43244 BPL DAD
015692,001005: 22,2713 44717 SUHALFAP
015693,001006: 22,2714 06516 DPHALF
015694,001007: 22,2715 77650 GOTO
015695,001008: 22,2716 44723 VECOFANG
015696,001009: 22,2717 52025 SUHALFAP DSU GOTO
015697,001010: 22,2720 06516 DPHALF
015698,001011: 22,2721 44723 VECOFANG
015699,001012: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
015700,001013: 22,2723 43466 VECOFANG VDEF RVQ
015701,001014:
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015703,001016: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015704,001017:
015705,001018: 22,2724 77776 TOOBADF EXIT
015706,001019: 22,2725 05600 TC ALARM
015707,001020: 22,2726 00401 OCT 00401
015708,001021:
015709,001022: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
015710,001023:
015711,001024: 22,2730 04616 TC BANKCALL
015712,001025: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
015713,001026:
015714,001027: 22,2732 04616 NOGO TC BANKCALL
015715,001028: 22,2733 40166 CADR STOPRATE # STOP RATES
015716,001029:
015717,001030: 22,2734 34752 CAF TWO
015718,001031: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
015719,001032: 22,2736 05214 TC WAITLIST
015720,001033: 22,2737 E6,1675 EBANK= BCDU
015721,001034: 22,2737 03234 44066 2CADR GOODMANU
015722,001035:
015723,001036: 22,2741 15155 TCF ENDOFJOB
015724,001037:
015725,001038: 22,2742 77776 TOOBADI EXIT
015726,001039: 22,2743 12732 TCF NOGO
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc