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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020836,000002: ## Copyright: Public domain.
020837,000003: ## Filename: R60,R62.agc
020838,000004: ## Purpose: A section of Luminary revision 173.
020839,000005: ## It is part of the reconstructed source code for the second
020840,000006: ## (unflown) release of the flight software for the Lunar
020841,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
020842,000008: ## The code has been recreated from a reconstructed copy of
020843,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
020844,000010: ## It has been adapted such that the resulting bugger words
020845,000011: ## exactly match those specified for Luminary 173 in NASA
020846,000012: ## drawing 2021152N, which gives relatively high confidence
020847,000013: ## that the reconstruction is correct.
020848,000014: ## Reference: pp. 480-493
020849,000015: ## Assembler: yaYUL
020850,000016: ## Contact: Ron Burkey <info@sandroid.org>.
020851,000017: ## Website: www.ibiblio.org/apollo/index.html
020852,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
020853,000019:
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020855,000021: # MOD NO: 0 DATE: 1 MAY 1968
020856,000022:
020857,000023: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
020858,000024:
020859,000025: # FUNCTIONAL DESCRIPTION:
020860,000026:
020861,000027: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020862,000028: # ATTITUDE.
020863,000029:
020864,000030: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020865,000031: # CALCULATED (VECPOINT).
020866,000032:
020867,000033: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020868,000034:
020869,000035: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020870,000036:
020871,000037: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020872,000038: # ASTRONAUT RESPONSE.
020873,000039:
020874,000040: # 5. DISPLAY RESPONSE RETURNS:
020875,000041:
020876,000042: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020877,000043:
020878,000044: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020879,000045: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020880,000046: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020881,000047:
020882,000048: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020883,000049:
020884,000050: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020885,000051: # (VECPOINT).
020886,000052:
020887,000053: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020888,000054:
020889,000055: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020890,000056:
020891,000057: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020892,000058:
020893,000059: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020894,000060:
020895,000061: # 11. DO A PHASECHANGE.
020896,000062:
020897,000063: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020898,000064:
020899,000065: # GIMBAL ANGLES (GOMANUR).
020900,000066: # 13. AT END OF MANEUVER GO TO STEP 3.
020901,000067:
020902,000068: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020903,000069: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020904,000070: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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020906,000072: # STEP 5C.
020907,000073:
020908,000074: # CALLING SEQUENCE: TC BANKCALL
020909,000075: # CADR R60LEM
020910,000076:
020911,000077: # ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT)
020912,000078: # 3AXISFLG.
020913,000079:
020914,000080: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020915,000081: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020916,000082:
020917,000083: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
020918,000084: # TC BANKJUMP
020919,000085:
020920,000086: # ALARMS: NONE
020921,000087:
020922,000088: # OUTPUT: NONE
020923,000089:
020924,000090: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020925,000091:
020926,000092:
020927,000093: 34,2000 BANK 34
020928,000094: 26,2000 SETLOC MANUVER
020929,000095: 26,2000 BANK
020930,000096:
020931,000097: 26,2125 1163 EBANK= TEMPR60
020932,000098:
020933,000099: 26,2125 COUNT* $$/R06
020934,000100: 26,2125 04645 R60LEM TC MAKECADR
020935,000101: 26,2126 55163 TS TEMPR60
020936,000102:
020937,000103: 26,2127 34746 REDOMANN CAF 3AXISBIT
020938,000104: 26,2130 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020939,000105: 26,2131 10000 CCS A
020940,000106: 26,2132 12140 TCF TOBALL # YES
020941,000107: 26,2133 06042 TC INTPRET
020942,000108: 26,2134 77624 CALL
020943,000109: 26,2135 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020944,000110: 26,2136 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
020945,000111: 26,2137 77776 EXIT
020946,000112:
020947,000113: 26,2140 05515 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
020948,000114: 26,2141 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES
020949,000115: 26,2142 05527 TC DOWNFLAG
020950,000116: 26,2143 00000 ADRES NEED2FLG
020951,000117: 26,2144 04616 TC BANKCALL
020952,000118: 26,2145 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020953,000119: 26,2146 32262 TOBALLA CAF V06N18
020954,000120: 26,2147 04616 TC BANKCALL
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020956,000122: 26,2150 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
020957,000123: 26,2151 02250 TC R61TEST
020958,000124: 26,2152 02156 TC REDOMANC # PROCEED
020959,000125: 26,2153 02203 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
020960,000126: 26,2154 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020961,000127: 26,2155 05155 TC ENDOFJOB
020962,000128:
020963,000129: 26,2156 34746 REDOMANC CAF 3AXISBIT
020964,000130: 26,2157 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
020965,000131: 26,2160 10000 CCS A
020966,000132: 26,2161 12167 TCF TOBALLC # YES
020967,000133: 26,2162 06042 TC INTPRET
020968,000134: 26,2163 77624 CALL
020969,000135: 26,2164 56040 VECPOINT # TO COMPUTE FINAL ANGLES
020970,000136: 26,2165 00322 STORE CPHI # STORE ANGLES
020971,000137: 26,2166 77776 EXIT
020972,000138:
020973,000139: 26,2167 04616 TOBALLC TC BANKCALL
020974,000140: 26,2170 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
020975,000141: 26,2171 02263 TC G+N,AUTO # CHECK AUTO MODE
020976,000142: 26,2172 10000 CCS A
020977,000143: 26,2173 12146 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
020978,000144:
020979,000145: 26,2174 32262 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
020980,000146: 26,2175 04616 TC BANKCALL # -
020981,000147: 26,2176 20452 CADR GODSPR # -
020982,000148: 26,2177 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
020983,000149:
020984,000150: 26,2200 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
020985,000151: 26,2201 17754 CADR GOMANUR
020986,000152:
020987,000153: 26,2202 12146 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
020988,000154: 26,2203 05527 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
020989,000155: 26,2204 00124 ADRES 3AXISFLG
020990,000156: 26,2205 31163 CAE TEMPR60 # -
020991,000157: 26,2206 04640 TC BANKJUMP # -
020992,000158:
020993,000159: 26,2207 40100 CHKLINUS CS FLAGWRD4
020994,000160: 26,2210 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
020995,000161: 26,2211 10000 CCS A # -
020996,000162: 26,2212 00002 TC Q # NO - EXIT
020997,000163: 26,2213 30002 CA Q
020998,000164: 26,2214 54156 TS MPAC +2 # SAVE RETURN
020999,000165: 26,2215 46250 CS THREE # OBTAIN LOCATION FOR RESTART
021000,000166: 26,2216 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
021001,000167: 26,2217 55054 TS TBASE2
021002,000168:
021003,000169: 26,2220 05364 TC PHASCHNG
021004,000170: 26,2221 00132 OCT 00132
021005,000171:
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021007,000173: 26,2222 34745 CAF BIT7
021008,000174: 26,2223 05475 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
021009,000175: 26,2224 00156 TC MPAC +2
021010,000176:
021011,000177: 26,2225 37717 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
021012,000178: 26,2226 05146 TC PRIOCHNG
021013,000179:
021014,000180: 26,2227 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021015,000181: 26,2230 70075 MASK FLAGWRD1
021016,000182: 26,2231 10000 CCS A
021017,000183: 26,2232 12245 TCF RER60
021018,000184:
021019,000185: 26,2233 34745 CAF RNDVZBIT # IS IT P20?
021020,000186: 26,2234 70074 MASK FLAGWRD0
021021,000187: 26,2235 10000 CCS A
021022,000188: 26,2236 02242 TC +4 # YES
021023,000189: 26,2237 05364 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
021024,000190: 26,2240 40112 OCT 40112
021025,000191:
021026,000192: 26,2241 05155 TC ENDOFJOB
021027,000193:
021028,000194: 26,2242 05364 TC PHASCHNG # SET 2.7 SPOT FOR P20
021029,000195: 26,2243 40072 OCT 40072
021030,000196:
021031,000197: 26,2244 05155 TC ENDOFJOB
021032,000198:
021033,000199: 26,2245 05515 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
021034,000200: 26,2246 00077 ADRES PDSPFLAG
021035,000201:
021036,000202: 26,2247 01054 TC TBASE2
021037,000203:
021038,000204: 26,2250 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
021039,000205: 26,2251 00006 EXTEND
021040,000206: 26,2252 12203 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
021041,000207:
021042,000208: 26,2253 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
021043,000209: 26,2254 74740 MASK PDSPFBIT
021044,000210: 26,2255 00006 EXTEND
021045,000211: 26,2256 16001 BZF GOTOPOOH # NO
021046,000212: 26,2257 06025 TC GOTOV56 # YES
021047,000213:
021048,000214: 26,2260 20100 BIT14+7 OCT 20100 # -
021049,000215: 26,2261 00203 OCT203 OCT 203
021050,000216: 26,2262 01422 V06N18 VN 0618
021051,000217: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021052,000218:
021053,000219: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
021054,000220: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021055,000221:
021056,000222: 26,2263 00006 G+N,AUTO EXTEND
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021058,000224: 26,2264 00030 READ CHAN30
021059,000225: 26,2265 74742 MASK BIT10
021060,000226: 26,2266 10000 CCS A
021061,000227: 26,2267 00002 TC Q # NOT IN G+N C(A) = +
021062,000228: 26,2270 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
021063,000229: 26,2271 00031 READ CHAN31
021064,000230: 26,2272 74736 MASK BIT14
021065,000231: 26,2273 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
021066,000232:
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021068,000234: # PROGRAM DESCRIPTION BALLANGS
021069,000235: # MOD NO. LOG SECTION R60,R62
021070,000236:
021071,000237: # WRITTEN BY RAMA M.AIYAWAR
021072,000238: # FUNCTIONAL DESCRIPTION
021073,000239:
021074,000240: # COMPUTES LM FDAI BALL DISPLAY ANGLES
021075,000241: # CALLING SEQUENCE
021076,000242:
021077,000243: # TC BALLANGS
021078,000244: # NORMAL EXIT MODE
021079,000245:
021080,000246: # TC BALLEXIT (SAVED Q)
021081,000247:
021082,000248: # ALARM OR EXIT MODE NIL
021083,000249: # SUBROUTINES CALLED
021084,000250: # CD*TR*G
021085,000251: # ARCTAN
021086,000252:
021087,000253: # INPUT
021088,000254:
021089,000255: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021090,000256: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021091,000257: # OUTPUT
021092,000258:
021093,000259: # FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021094,000260: # SP,2S COMPLIMENT.
021095,000261: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021096,000262:
021097,000263: # ERASABLE INITIALIZATION REQUIRED
021098,000264:
021099,000265: # CPHI,CTHETA,CPSI EACH A SP REGISTER
021100,000266: # DEBRIS
021101,000267:
021102,000268: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021103,000269:
021104,000270:
021105,000271: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021106,000272: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021107,000273:
021108,000274: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021109,000275:
021110,000276: 26,2000 SETLOC BAWLANGS
021111,000277: 26,2000 BANK
021112,000278:
021113,000279: 26,2274 COUNT* $$/BALL
021114,000280: 26,2274 04645 BALLANGS TC MAKECADR
021115,000281: 26,2275 55337 TS BALLEXIT
021116,000282: 26,2276 30321 CA CPHI
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021118,000284: 26,2277 54771 TS CDUSPOT +4
021119,000285: 26,2300 30322 CA CTHETA
021120,000286: 26,2301 54765 TS CDUSPOT
021121,000287: 26,2302 30323 CA CPSI
021122,000288: 26,2303 54767 TS CDUSPOT +2
021123,000289:
021124,000290: 26,2304 06042 TC INTPRET
021125,000291: 26,2305 45001 SETPD CALL
021126,000292: 26,2306 00001 0D
021127,000293: 26,2307 47541 CD*TR*G
021128,000294:
021129,000295: 26,2310 41345 DLOAD DMP
021130,000296: 26,2311 00742 SINCDUX # SIN (OGA)
021131,000297: 26,2312 00746 COSCDUZ # COS (MGA)
021132,000298:
021133,000299: 26,2313 57552 SL1 DCOMP # SCALE
021134,000300: 26,2314 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
021135,000301: 26,2315 00740 SINCDUZ
021136,000302: 26,2316 14023 STODL SINTH # (SINTH = 18D IN PD)
021137,000303: 26,2317 00746 COSCDUZ
021138,000304: 26,2320 72405 DMP SL1 # RESCALE
021139,000305: 26,2321 00750 COSCDUX
021140,000306: 26,2322 34021 STCALL COSTH # (COSTH = 16D IN PD)
021141,000307: 26,2323 26506 ARCTAN
021142,000308: 26,2324 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021143,000309: 26,2325 00740 SINCDUZ
021144,000310: 26,2326 00742 SINCDUX
021145,000311: 26,2327 41512 SL2 PUSH # SXSZ INTO 4 PD
021146,000312: 26,2330 65205 DMP PDDL # SXSZCY INTO 4 PD
021147,000313: 26,2331 00744 COSCDUY
021148,000314: 26,2332 65205 DMP PDDL # SXSZSY INTO 6 PD
021149,000315: 26,2333 00736 SINCDUY
021150,000316: 26,2334 00750 COSCDUX
021151,000317: 26,2335 72405 DMP SL1 # CXCY
021152,000318: 26,2336 00744 COSCDUY
021153,000319: 26,2337 45425 DSU STADR # PULL UP FROM 6 PD
021154,000320: 26,2340 63756 STODL COSTH # COSTH = CXCY - SXSZSY
021155,000321: 26,2341 00736 SINCDUY
021156,000322: 26,2342 72405 DMP SL1
021157,000323: 26,2343 00750 COSCDUX # CXSY
021158,000324: 26,2344 45415 DAD STADR # PULL UP FROM 4 PD
021159,000325: 26,2345 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
021160,000326: 26,2346 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH
021161,000327: 26,2347 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
021162,000328: 26,2350 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021163,000329: 26,2351 21621 V1STO2S
021164,000330: 26,2352 02345 STORE FDAIX # MODE IS TP
021165,000331: 26,2353 77776 EXIT
021166,000332:
021167,000333: 26,2354 31337 ENDBALL CA BALLEXIT
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021169,000335: 26,2355 04640 TC BANKJUMP
021170,000336:
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021172,000338: # PROGRAM DESCRIPTION - VECPOINT
021173,000339:
021174,000340:
021175,000341: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
021176,000342: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021177,000343: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021178,000344: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021179,000345: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
021180,000346: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021181,000347: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
021182,000348: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021183,000349: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021184,000350: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021185,000351: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021186,000352: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR-X) AXIS,
021187,000353: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021188,000354: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021189,000355: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021190,000356: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021191,000357: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021192,000358: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021193,000359: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021194,000360:
021195,000361: # CALLING SEQUENCE -
021196,000362: # 1) LOAD SCAXIS, POINTVSM
021197,000363: # 2) CALL
021198,000364: # VECPOINT
021199,000365:
021200,000366: # RETURNS WITH
021201,000367:
021202,000368: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
021203,000369: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
021204,000370: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021205,000371:
021206,000372:
021207,000373: # ERASABLES USED -
021208,000374:
021209,000375: # 1) SCAXIS 6
021210,000376: # 2) POINTVSM 6
021211,000377: # 3) MIS 18
021212,000378: # 4) DEL 18
021213,000379: # 5) COF 6
021214,000380: # 6) VECQTEMP 1
021215,000381: # 7) ALL OF VAC AREA 43
021216,000382:
021217,000383: # TOTAL 99
021218,000384:
021219,000385: 27,2000 SETLOC VECPT
021220,000386: 27,2000 BANK
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Page 489
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021222,000388: 27,2032 COUNT* $$/VECPT
021223,000389:
021224,000390: 27,2032 E6,1675 EBANK= BCDU
021225,000391:
021226,000392: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
021227,000393: 27,2033 03324 VECQTEMP # NOT PRESENT-ENTER WITH CDUD'S IN MPAC
021228,000394: 27,2034 56035 VECPNT2
021229,000395: 27,2035 52164 VECPNT2 AXC,2 GOTO
021230,000396: 27,2036 03245 MIS
021231,000397: 27,2037 56046 STORANG
021232,000398: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
021233,000399: 27,2041 03324 VECQTEMP
021234,000400: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
021235,000401: 27,2043 47164 VECLEAR AXC,2 RTB
021236,000402: 27,2044 03245 MIS # READ THE PRESENT CDU ANGLES AND
021237,000403: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
021238,000404: 27,2046 34032 STORANG STCALL 25D
021239,000405: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
021240,000406: 27,2050 61375 VLOAD VXM
021241,000407: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
021242,000408: 27,2052 03246 MIS # INITIAL S/C AXES ( VF = POINTVSM)
021243,000409: 27,2053 77656 UNIT
021244,000410: 27,2054 00035 STORE 28D
021245,000411: # PD 28 29 30 31 32 33
021246,000412: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
021247,000413: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
021248,000414: 27,2057 57400 BOV VCOMP
021249,000415: 27,2060 56170 PICKAXIS
021250,000416: 27,2061 17270 STODL COF # CHECK MAGNITUDE
021251,000417: 27,2062 00045 36D # OF CROSS PRODUCT
021252,000418: 27,2063 50025 DSU BMN # VECTOR, IF LESS
021253,000419: 27,2064 14417 DPB-14 # THAN B-14 ASSUME
021254,000420: 27,2065 56170 PICKAXIS # UNIT OPERATION
021255,000421: 27,2066 50375 VLOAD DOT # INVALID.
021256,000422: 27,2067 03765 SCAXIS
021257,000423: 27,2070 00035 28D
021258,000424: 27,2071 65552 SL1 ARCCOS
021259,000425: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
021260,000426: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
021261,000427: 27,2074 75160 AXC,1 AXC,2
021262,000428: 27,2075 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
021263,000429: 27,2076 02230 KEL # S/C AXES TO STABLE MEMBER AXES
021264,000430: 27,2077 77624 CALL # MFS = MIS MFI
021265,000431: 27,2100 44312 MXM3 # (IN PD LIST)
021266,000432:
021267,000433: 27,2101 51545 DLOAD ABS
021268,000434: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
021269,000435: 27,2103 50025 DSU BMN
021270,000436: 27,2104 14404 SINGIMLC # = SIN(59 DEGS) $2
021271,000437: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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Page 490
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021273,000439: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021274,000440:
021275,000441: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
021276,000442: 27,2107 03765 SCAXIS # THE THRUST AXIS
021277,000443: 27,2110 51025 DSU BPL
021278,000444: 27,2111 14406 SINVEC1 # SIN 49.4 DEGS $2
021279,000445: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
021280,000446: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
021281,000447: 27,2114 77626 STADR
021282,000448: 27,2115 50515 STOVL MIS +12D
021283,000449: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
021284,000450: 27,2117 50523 STOVL MIS +6
021285,000451: 27,2120 77626 STADR
021286,000452: 27,2121 50531 STOVL MIS
021287,000453: 27,2122 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
021288,000454: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
021289,000455: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
021290,000456:
021291,000457: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
021292,000458: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
021293,000459: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
021294,000460: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021295,000461: # OTHERWISE U = -SCAXIS
021296,000462:
021297,000463: 27,2130 57575 VLOAD VCOMP
021298,000464: 27,2131 03765 SCAXIS
021299,000465: 27,2132 37270 STCALL COF # ROTATE ABOUT -SCAXIS
021300,000466: 27,2133 56137 CHEKAXIS
021301,000467: 27,2134 77775 U=SCAXIS VLOAD
021302,000468: 27,2135 03765 SCAXIS
021303,000469: 27,2136 03270 STORE COF # ROTATE ABOUT + SCAXIS
021304,000470: 27,2137 51545 CHEKAXIS DLOAD ABS
021305,000471: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
021306,000472: 27,2141 51025 DSU BPL
021307,000473: 27,2142 14410 SINVEC2 # SIN 29.5 DEGS $2
021308,000474: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021309,000475: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
021310,000476: 27,2145 14414 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
021311,000477: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
021312,000478: # OF GIMBAL LOCK (VECANG2 $360)
021313,000479: 27,2147 77745 PICKANG1 DLOAD
021314,000480: 27,2150 14412 VECANG1 # = 50 DEGS $ 360
021315,000481: 27,2151 77624 COMPMFSN CALL
021316,000482: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
021317,000483: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
021318,000484: 27,2154 03245 MIS
021319,000485: 27,2155 02230 KEL
021320,000486: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
021321,000487: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
021322,000488: # WHICH WILL ALIGN VI WITH VF AND AVOID
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Page 491
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021324,000490: # GIMBAL LOCK
021325,000491: 27,2160 45160 FINDGIMB AXC,1 CALL
021326,000492: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
021327,000493: 27,2162 44654 DCMTOCDU # THIS MATRIX
021328,000494: 27,2163 40234 RTB SETPD
021329,000495: 27,2164 21621 V1STO2S # CONVERT TO 2:S COMPLEMENT
021330,000496: 27,2165 00001 0
021331,000497: 27,2166 77650 GOTO
021332,000498: 27,2167 03324 VECQTEMP # RETURN TO CALLER
021333,000499:
021334,000500: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
021335,000501: 27,2171 00035 28D
021336,000502: 27,2172 03765 SCAXIS
021337,000503: 27,2173 72240 BMN TLOAD
021338,000504: 27,2174 54356 ROT180
021339,000505: 27,2175 00032 25D
021340,000506: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
021341,000507: 27,2177 03324 VECQTEMP # PRESENT CDU ANGLES
021342,000508:
021343,000509: 35,2000 BANK 35
021344,000510: 26,2000 SETLOC MANUVER1
021345,000511: 26,2000 BANK
021346,000512: 26,2356 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
021347,000513: 26,2357 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
021348,000514: 26,2360 06516 HIDPHALF # INITIAL S/C AXES.
021349,000515: 26,2361 47256 UNIT VXV # FIND Y(SM) X X(I)
021350,000516: 26,2362 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
021351,000517: 26,2363 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
021352,000518: 26,2364 54400 PICKX # Y(SM) PERPENDICULAR TO VI
021353,000519: 26,2365 17270 STODL COF
021354,000520: 26,2366 00045 36D # CHECK MAGNITUDE
021355,000521: 26,2367 50025 DSU BMN # OF THIS VECTOR.
021356,000522: 26,2370 14417 DPB-14 # IF LESS THAN B-14,
021357,000523: 26,2371 54400 PICKX # PICK X-AXIS.
021358,000524: 26,2372 77775 VLOAD
021359,000525: 26,2373 03270 COF
021360,000526: 26,2374 17270 XROT STODL COF
021361,000527: 26,2375 06516 HIDPHALF
021362,000528: 26,2376 77650 GOTO
021363,000529: 26,2377 56072 COMPMATX
021364,000530: 26,2400 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
021365,000531: 26,2401 06516 HIDPHALF
021366,000532: 26,2402 54374 XROT
021367,000533: 26,2403 15555 35172 SINGIMLC 2DEC .4285836003 # =SIN(59) $2
021368,000534:
021369,000535: 26,2405 14113 36326 SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
021370,000536:
021371,000537: 26,2407 07701 35703 SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
021372,000538:
021373,000539: 26,2411 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
021374,000540:
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Page 492
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021376,000542: 26,2413 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
021377,000543:
021378,000544: 26,2415 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
021379,000545: 26,2416 00001 DPB-14 OCT 00001
021380,000546: 26,2417 00000 OCT 00000
021381,000547:
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Page 493
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021383,000549: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
021384,000550:
021385,000551:
021386,000552: 34,2000 BANK 34
021387,000553: 23,2000 SETLOC R62
021388,000554: 23,2000 BANK
021389,000555: 23,2103 E6,1675 EBANK= BCDU
021390,000556:
021391,000557: 23,2103 COUNT* $$/R62
021392,000558:
021393,000559: 23,2103 23,2103 R62DISP EQUALS R62FLASH
021394,000560:
021395,000561: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
021396,000562: 23,2104 04616 TC BANKCALL # ICDU ANGLES
021397,000563: 23,2105 20477 CADR GOFLASH
021398,000564: 23,2106 15503 TCF ENDEXT # TERMINATE
021399,000565: 23,2107 12111 TCF GOMOVE # PROCEED
021400,000566: 23,2110 12103 TCF R62FLASH # ENTER
021401,000567:
021402,000568: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
021403,000569: # POINT
021404,000570: 23,2111 05515 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
021405,000571: 23,2112 00124 ADRES 3AXISFLG
021406,000572:
021407,000573: 23,2113 04616 TC BANKCALL
021408,000574: 23,2114 54125 CADR R60LEM
021409,000575: 23,2115 15503 TCF ENDEXT # END R62
021410,000576:
End of include-file R60,R62.agc. Parent file is MAIN.agc