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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062818,000002: ## Copyright: Public domain.
062819,000003: ## Filename: KALMAN_FILTER.agc
062820,000004: ## Purpose: A section of Luminary revision 173.
062821,000005: ## It is part of the reconstructed source code for the second
062822,000006: ## (unflown) release of the flight software for the Lunar
062823,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
062824,000008: ## The code has been recreated from a reconstructed copy of
062825,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
062826,000010: ## It has been adapted such that the resulting bugger words
062827,000011: ## exactly match those specified for Luminary 173 in NASA
062828,000012: ## drawing 2021152N, which gives relatively high confidence
062829,000013: ## that the reconstruction is correct.
062830,000014: ## Reference: pp. 1458-1459
062831,000015: ## Assembler: yaYUL
062832,000016: ## Contact: Ron Burkey <info@sandroid.org>.
062833,000017: ## Website: www.ibiblio.org/apollo/index.html
062834,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
062835,000019:
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Page 1458
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062837,000021: 17,3777 E6,1522 EBANK= NO.UJETS
062838,000022: 16,3644 BANK 16
062839,000023: 16,2000 SETLOC DAPS1
062840,000024: 16,2000 BANK
062841,000025:
062842,000026: 16,3644 COUNT* $$/DAP
062843,000027:
062844,000028: 16,3644 34752 RATELOOP CA TWO
062845,000029: 16,3645 55743 TS DAPTEMP6
062846,000030: 16,3646 60000 DOUBLE
062847,000031: 16,3647 54002 TS Q
062848,000032: 16,3650 51743 INDEX DAPTEMP6
062849,000033: 16,3651 11524 CCS TJP
062850,000034: 16,3652 13654 TCF +2
062851,000035: 16,3653 13673 TCF LOOPRATE
062852,000036: 16,3654 63734 AD -100MST6
062853,000037: 16,3655 00006 EXTEND
062854,000038: 16,3656 63712 BZMF SMALLTJU
062855,000039: 16,3657 51743 INDEX DAPTEMP6
062856,000040: 16,3660 11524 CCS TJP
062857,000041: 16,3661 33734 CA -100MST6
062858,000042: 16,3662 13664 TCF +2
062859,000043: 16,3663 43734 CS -100MST6
062860,000044: 16,3664 51743 INDEX DAPTEMP6
062861,000045: 16,3665 27524 ADS TJP
062862,000046: 16,3666 51743 INDEX DAPTEMP6
062863,000047: 16,3667 11524 CCS TJP
062864,000048: 16,3670 43620 CS -100MS # 0.1 AT 1
062865,000049: 16,3671 13673 TCF +2
062866,000050: 16,3672 33620 CA -100MS
062867,000051: 16,3673 00006 LOOPRATE EXTEND
062868,000052: 16,3674 51743 INDEX DAPTEMP6
062869,000053: 16,3675 71521 MP NO.PJETS
062870,000054: 16,3676 30001 CA L
062871,000055: 16,3677 51743 INDEX DAPTEMP6
062872,000056: 16,3700 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062873,000057: 16,3701 00006 EXTEND
062874,000058: 16,3702 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062875,000059: 16,3703 00006 EXTEND
062876,000060: 16,3704 63735 BZMF NEGTORK
062877,000061: 16,3705 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
062878,000062: 16,3706 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
062879,000063:
062880,000064: 16,3707 11743 CCS DAPTEMP6
062881,000065: 16,3710 13645 TCF RATELOOP +1
062882,000066: 16,3711 13721 TCF ROTORQUE
062883,000067: 16,3712 34755 SMALLTJU CA ZERO
062884,000068: 16,3713 51743 INDEX DAPTEMP6
062885,000069: 16,3714 57524 XCH TJP
062886,000070: 16,3715 00006 EXTEND
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Page 1459
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062888,000072: 16,3716 74760 MP ELEVEN # 10.24 PLUS
062889,000073: 16,3717 30001 CA L
062890,000074: 16,3720 13673 TCF LOOPRATE
062891,000075: 16,3721 31737 ROTORQUE CA DAPTEMP2
062892,000076: 16,3722 61740 AD DAPTEMP3
062893,000077: 16,3723 00006 EXTEND
062894,000078: 16,3724 71532 MP 1JACCR
062895,000079: 16,3725 55746 TS JETRATER
062896,000080: 16,3726 41740 CS DAPTEMP3
062897,000081: 16,3727 61737 AD DAPTEMP2
062898,000082: 16,3730 00006 EXTEND
062899,000083: 16,3731 71531 MP 1JACCQ
062900,000084: 16,3732 55745 TS JETRATEQ
062901,000085: 16,3733 12316 TCF BACKP
062902,000086: 16,3734 77537 -100MST6 DEC -160 B-14
062903,000087:
062904,000088: 16,3735 40000 NEGTORK COM
062905,000089: 16,3736 24002 INCR Q
062906,000090: 16,3737 13705 TCF STORTORK
062907,000091:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc