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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062310,000002: ## Copyright: Public domain.
062311,000003: ## Filename: TJET_LAW.agc
062312,000004: ## Purpose: A section of Luminary revision 173.
062313,000005: ## It is part of the reconstructed source code for the second
062314,000006: ## (unflown) release of the flight software for the Lunar
062315,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
062316,000008: ## The code has been recreated from a reconstructed copy of
062317,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
062318,000010: ## It has been adapted such that the resulting bugger words
062319,000011: ## exactly match those specified for Luminary 173 in NASA
062320,000012: ## drawing 2021152N, which gives relatively high confidence
062321,000013: ## that the reconstruction is correct.
062322,000014: ## Reference: pp. 1448-1457
062323,000015: ## Assembler: yaYUL
062324,000016: ## Contact: Ron Burkey <info@sandroid.org>.
062325,000017: ## Website: www.ibiblio.org/apollo/index.html
062326,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
062327,000019:
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Page 1448
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062329,000021: # PROGRAM DESCRIPTION
062330,000022:
062331,000023: # DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN
062332,000024:
062333,000025: # CODED BY: P. S. WEISSMAN 28 FEBRUARY 1968
062334,000026:
062335,000027: # TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
062336,000028: # ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
062337,000029: # -1 INDICATES THE P-AXIS
062338,000030: # +0 INDICATES THE U-AXIS
062339,000031: # +1 INDICATES THE V-AXIS.
062340,000032: # THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
062341,000033: # UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
062342,000034: # COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
062343,000035: # ACCESSED BY INDEXING.
062344,000036: # THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
062345,000037: # PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU OR TJV). THE NUMBER OF JETS THAT
062346,000038: # TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
062347,000039: # ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
062348,000040: # (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
062349,000041: # IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
062350,000042: # ERROR AND/OR ERROR RATE ARE LARGE.
062351,000043:
062352,000044: # CALLING SEQUENCE:
062353,000045: # TC TJETLAW (MUST BE IN JASK)
062354,000046: # OR
062355,000047: # INHINT (MUST BE IN JASK)
062356,000048: # TC IBNKCALL
062357,000049: # CADR TJETLAW
062358,000050: # RELINT
062359,000051:
062360,000052: # EXIT: RETURN TO Q.
062361,000053:
062362,000054: # INPUT:
062363,000055: # FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP,-U,-V.
062364,000056: # FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU,-V).
062365,000057:
062366,000058: # OUTPUT:
062367,000059: # TJP,-U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
062368,000060:
062369,000061: # DEBRIS:
062370,000062: # A, L, Q, E, EDOT, DAPTEMP1-6, DAPTREG1-4.
062371,000063:
062372,000064: # ALARM: NONE
062373,000065:
062374,000066: 17,3304 BANK 17
062375,000067: 17,2000 SETLOC DAPS2
062376,000068: 17,2000 BANK
062377,000069: 17,3304 E6,1524 EBANK= TJP
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Page 1449
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062379,000071: 17,3304 COUNT* $$/DAPTJ
062380,000072:
062381,000073: 17,3304 00006 TJETLAW EXTEND # SAVE Q FOR RETURN.
062382,000074: 17,3305 23744 QXCH HOLDQ
062383,000075:
062384,000076: # SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
062385,000077:
062386,000078: 17,3306 51505 INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BER P AND U
062387,000079: 17,3307 33755 CAF AXISDIFF # AXISDIFF(0) = 0
062388,000080: 17,3310 55745 TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
062389,000081:
062390,000082: 17,3311 31427 CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
062391,000083: 17,3312 00006 EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
062392,000084: 17,3313 63320 BZMF NEGEDOT # POSITIVE EDOT.
062393,000085: 17,3314 31745 CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
062394,000086: 17,3315 55743 TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
062395,000087: 17,3316 33757 CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
062396,000088: 17,3317 13330 TCF SETSENSE # INITIALIZED POSITIVE.
062397,000089:
062398,000090: 17,3320 41751 NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
062399,000091: 17,3321 55751 TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
062400,000092: 17,3322 41427 CS EDOT # 1.COMPLEMENT E AND EDOT.
062401,000093: 17,3323 55427 TS EDOT # 2.SET SENSE OF ROTATION TO NEGATIVE
062402,000094: 17,3324 34753 CAF BIT1 # (REVERSED LATER IF NECESSARY).
062403,000095: 17,3325 27745 ADS ADRSDIF1 # 3.INCREMENT INDEXERS BY ONE SO THAT
062404,000096: 17,3326 55743 TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
062405,000097: 17,3327 43757 CS SENSOR
062406,000098: 17,3330 55737 SETSENSE TS ROTSENSE
062407,000099:
062408,000100: # TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
062409,000101: # IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
062410,000102: # IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
062411,000103:
062412,000104: 17,3331 31751 CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
062413,000105: 17,3332 00006 EXTEND
062414,000106: 17,3333 74747 MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
062415,000107: 17,3334 10000 CCS A # ZERO, RESCALE AND TEST EDOT.
062416,000108: 17,3335 13717 TCF RUFLAW2
062417,000109: 17,3336 13340 TCF SCALEE
062418,000110: 17,3337 13663 TCF RUFLAW1
062419,000111: 17,3340 34737 SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
062420,000112: 17,3341 00006 EXTEND # IT TO PI/4 AND SAVE IT.
062421,000113: 17,3342 70001 MP L
062422,000114: 17,3343 55751 TS E
062423,000115:
062424,000116: # TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
062425,000117: # IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
062426,000118: # IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
062427,000119:
062428,000120: 17,3344 31427 CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
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Page 1450
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062430,000122: 17,3345 00006 EXTEND # FOR THIS AXIS=
062431,000123: 17,3346 74750 MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
062432,000124: 17,3347 00006 EXTEND # ZERO, THEN RESCALE AND USE FINELAW.
062433,000125: 17,3350 13352 BZF SCALEDOT
062434,000126: 17,3351 13725 TCF RUFLAW3
062435,000127: # *** FINELAW STARTS HERE ***
062436,000128:
062437,000129: 17,3352 23427 SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
062438,000130:
062439,000131: 17,3353 31427 CAE EDOT # COMPUTE (EDOT)(EDOT)
062440,000132: 17,3354 00006 EXTEND
062441,000133: 17,3355 70000 SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
062442,000134: 17,3356 00006 EXTEND
062443,000135: 17,3357 74737 MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
062444,000136: 17,3360 55736 TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
062445,000137:
062446,000138: 17,3361 11751 ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
062447,000139: 17,3362 13365 TCF +3 # DEADBAND) REQUIRE MAXIMUM JETS?
062448,000140: 17,3363 13365 TCF +2
062449,000141: 17,3364 13365 TCF +1
062450,000142: 17,3365 63760 AD -3DEG
062451,000143: 17,3366 00006 EXTEND
062452,000144: 17,3367 51745 INDEX ADRSDIF1
062453,000145: 17,3370 61600 SU FIREDB
062454,000146: 17,3371 00006 EXTEND
062455,000147: 17,3372 63377 BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED|
062456,000148: 17,3373 34752 MAXJETS CAF TWO # IF YES : INCREMENT ADDRESS LOCATOR AND
062457,000149: 17,3374 27743 ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
062458,000150: 17,3375 34751 CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
062459,000151: 17,3376 13402 TCF TJCALC
062460,000152: 17,3377 11500 SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
062461,000153: 17,3400 13402 TCF TJCALC # YES. USE MIN-JET PARAMETERS.
062462,000154: 17,3401 13373 TCF MAXJETS # NO. GET MAX-JET PARAMETERS.
062463,000155: 17,3402 55742 TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
062464,000156:
062465,000157: # BEGINNING OF TJET CALCULATIONS:
062466,000158:
062467,000159: 17,3403 41736 CS EDOTSQ # SCALED AT PI(2)/2(8).
062468,000160: 17,3404 00006 EXTEND
062469,000161: 17,3405 51743 INDEX ADRSDIF2
062470,000162: 17,3406 71566 MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
062471,000163: 17,3407 51745 INDEX ADRSDIF1
062472,000164: 17,3410 61600 AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
062473,000165: 17,3411 00006 EXTEND
062474,000166: 17,3412 61751 SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
062475,000167: 17,3413 55740 TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
062476,000168: 17,3414 00006 EXTEND
062477,000169: 17,3415 63575 BZMF ZON1,2,3
062478,000170:
062479,000171: 17,3416 51745 ZONE4,5 INDEX ADRSDIF1
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Page 1451
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062481,000173: 17,3417 31572 CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
062482,000174: 17,3420 00006 EXTEND # ACC = MAX(AMIN, AOS-).
062483,000175: 17,3421 71736 MP EDOTSQ # SCALED AT PI/2(8).
062484,000176: 17,3422 61751 AD E # SCALED AT PI/4
062485,000177: 17,3423 51745 INDEX ADRSDIF1
062486,000178: 17,3424 61602 AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
062487,000179: 17,3425 00006 EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
062488,000180: 17,3426 63461 BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
062489,000181: # IF FUNCTION POSITIVE, IN ZONE 4.
062490,000182:
062491,000183: # ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
062492,000184: # A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
062493,000185: # B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
062494,000186: # THEN THE THRUSTERS ARE KEPT ON.
062495,000187:
062496,000188: 17,3427 51505 ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
062497,000189: 17,3430 41525 CS TJETU # WITH SENSE OPPOSITE TO EDOT,
062498,000190: 17,3431 00006 EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD
062499,000191: 17,3432 71737 MP ROTSENSE # THE DESIRABLE STATE).
062500,000192: 17,3433 00006 EXTEND
062501,000193: 17,3434 63455 BZMF COASTTJ # NO. COAST.
062502,000194:
062503,000195: 17,3435 11554 JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT|
062504,000196: 17,3436 13447 TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
062505,000197:
062506,000198: 17,3437 41740 CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
062507,000199: 17,3440 51745 INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
062508,000200: 17,3441 61604 AD AXISDIST # PHASE PLANE|
062509,000201: 17,3442 00006 EXTEND
062510,000202: 17,3443 63455 BZMF COASTTJ # NO. SET TJET = 0.
062511,000203: 17,3444 03561 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
062512,000204: 17,3445 31740 CAE FIREFCT # AFTER COMPUTING THE REQUIRED
062513,000205: 17,3446 13615 TCF ZONE1 # PARAMETERS.
062514,000206:
062515,000207: 17,3447 51745 DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
062516,000208: 17,3450 41600 CS FIREDB # THIS POINT IN THE PHASE PLANE|
062517,000209: 17,3451 60000 DOUBLE
062518,000210: 17,3452 61740 AD FIREFCT
062519,000211: 17,3453 00006 EXTEND
062520,000212: 17,3454 63457 BZMF +3
062521,000213: 17,3455 34755 COASTTJ CAF ZERO # NO. SET TJET = 0.
062522,000214: 17,3456 13521 TCF RETURNTJ
062523,000215:
062524,000216: 17,3457 03561 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
062525,000217: 17,3460 13602 TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
062526,000218:
062527,000219: 17,3461 54001 ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
062528,000220: 17,3462 11737 CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
062529,000221: 17,3463 13467 TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
062530,000222: 17,3464 05706 TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
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Page 1452
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062532,000224: 17,3465 44752 CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
062533,000225: 17,3466 27743 ADS ADRSDIF2
062534,000226:
062535,000227: 17,3467 30001 +4 CAE L
062536,000228: 17,3470 00006 EXTEND
062537,000229: 17,3471 51743 INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
062538,000230: 17,3472 71575 MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
062539,000231: 17,3473 20001 DDOUBL # BASED.
062540,000232: 17,3474 20001 DDOUBL
062541,000233: 17,3475 53747 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
062542,000234: 17,3476 51743 INDEX ADRSDIF2
062543,000235: 17,3477 31567 CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
062544,000236: 17,3500 00006 EXTEND
062545,000237: 17,3501 71427 MP EDOT # SCALED AT PI/2(5)
062546,000238: 17,3502 55741 TS TTOAXIS # SCALED AT 4 SEC.
062547,000239:
062548,000240: # TEST WHETHER TJET GREATER THAN 50 MSEC.
062549,000241: 17,3503 00006 EXTEND
062550,000242: 17,3504 73767 MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
062551,000243: 17,3505 61746 AD HH # (SCALED AT 8 SEC(2) ).
062552,000244: 17,3506 67751 AD NEG2
062553,000245: 17,3507 00006 EXTEND
062554,000246: 17,3510 63536 BZMF FORMULA1
062555,000247:
062556,000248: # TEST WHETHER TJET GREATER THAN 150 MSEC.
062557,000249: 17,3511 31741 CAE TTOAXIS
062558,000250: 17,3512 00006 EXTEND
062559,000251: 17,3513 73770 MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
062560,000252: 17,3514 61746 AD HH # (SCALED AT 8 SEC(2) )
062561,000253: 17,3515 63761 AD -.0112A8
062562,000254: 17,3516 00006 EXTEND
062563,000255: 17,3517 63546 BZMF FORMULA2
062564,000256:
062565,000257: # IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
062566,000258: # IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
062567,000259:
062568,000260: 17,3520 34741 FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
062569,000261:
062570,000262: # RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
062571,000263:
062572,000264: 17,3521 00006 RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
062573,000265: 17,3522 71737 MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
062574,000266: 17,3523 51505 INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
062575,000267: 17,3524 55525 TS TJETU
062576,000268: 17,3525 00006 EXTEND
062577,000269: 17,3526 51505 INDEX AXISCTR
062578,000270: 17,3527 71546 MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
062579,000271: 17,3530 30001 CAE L
062580,000272: 17,3531 00006 EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
062581,000273: 17,3532 63535 BZMF +3 # A MAX-JET CALCULATION.
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Page 1453
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062583,000275: 17,3533 34751 CAF FOUR
062584,000276: 17,3534 55742 TS NUMBERT
062585,000277: 17,3535 01744 TC HOLDQ # RETURN VIA SAVED Q.
062586,000278:
062587,000279: # TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
062588,000280:
062589,000281: 17,3536 43766 FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
062590,000282: 17,3537 61741 AD TTOAXIS # SCALED AT 4 SECONDS.
062591,000283: 17,3540 53747 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
062592,000284: 17,3541 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
062593,000285: 17,3542 11746 DV HH # DP H AND DIVIDE BY DENOMINATOR.
062594,000286: 17,3543 00006 EXTEND
062595,000287: 17,3544 74736 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
062596,000288: 17,3545 13656 TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
062597,000289:
062598,000290: # TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
062599,000291:
062600,000292: 17,3546 00006 FORMULA2 EXTEND
062601,000293: 17,3547 33772 DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
062602,000294: 17,3550 21747 DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
062603,000295: # BE PRESERVED.
062604,000296: 17,3551 31741 CAE TTOAXIS # SCALED AT 4 SEC.
062605,000297: 17,3552 63762 AD .1AT4 # 0.1 SEC SCALED AT 4.
062606,000298: 17,3553 53747 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
062607,000299: 17,3554 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
062608,000300: 17,3555 11746 DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
062609,000301: 17,3556 00006 EXTEND
062610,000302: 17,3557 74736 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
062611,000303: 17,3560 13521 TCF RETURNTJ # END SUBROUTINE.
062612,000304:
062613,000305: # SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
062614,000306:
062615,000307: # REACHED BY TC FROM 3 POINTS IN TJETLAW.
062616,000308:
062617,000309: 17,3561 41737 Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
062618,000310: 17,3562 55737 TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
062619,000311: 17,3563 31427 CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
062620,000312: 17,3564 00006 EXTEND
062621,000313: 17,3565 51743 INDEX ADRSDIF2
062622,000314: 17,3566 71566 MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
062623,000315: 17,3567 55741 TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
062624,000316: 17,3570 63773 AD -TJMAX
062625,000317: 17,3571 00006 EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
062626,000318: 17,3572 63574 BZMF +2
062627,000319: 17,3573 13520 TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
062628,000320: 17,3574 00002 RETURN # YES. GO ON TO FIND TJET
062629,000321:
062630,000322: 17,3575 03561 ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
062631,000323:
062632,000324: # IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
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Page 1454
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062634,000326: # LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
062635,000327: # OR ULLAGE, FLAT = 0
062636,000328:
062637,000329: 17,3576 31740 CAE FIREFCT # SCALED AT PI/4 RAD.
062638,000330: 17,3577 61554 AD FLAT
062639,000331: 17,3600 00006 EXTEND
062640,000332: 17,3601 63615 BZMF ZONE1 # NOT IN SPECIAL ZONES.
062641,000333:
062642,000334: # FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
062643,000335:
062644,000336: 17,3602 41555 ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
062645,000337: 17,3603 61741 AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
062646,000338: 17,3604 00006 EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
062647,000339: 17,3605 63610 BZMF ZONE3
062648,000340: 17,3606 31741 ZONE2 CAE TTOAXIS # FIRE TO AXIS.
062649,000341: 17,3607 13521 TCF RETURNTJ
062650,000342: 17,3610 11427 ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
062651,000343: 17,3611 34746 CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
062652,000344: 17,3612 13521 TCF RETURNTJ # TJET = +0.
062653,000345: 17,3613 05706 TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
062654,000346: 17,3614 13521 TCF RETURNTJ # TJET = +0.
062655,000347:
062656,000348: 17,3615 00006 ZONE1 EXTEND
062657,000349: 17,3616 51745 INDEX ADRSDIF1
062658,000350: 17,3617 61604 SU AXISDIST # SCALED AT PI/4 RAD.
062659,000351: 17,3620 00006 EXTEND
062660,000352: 17,3621 51743 INDEX ADRSDIF2
062661,000353: 17,3622 71574 MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
062662,000354: 17,3623 20001 DDOUBL
062663,000355: 17,3624 20001 DDOUBL
062664,000356: 17,3625 53747 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
062665,000357:
062666,000358: # TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
062667,000359: # 2 2
062668,000360: # IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS )
062669,000361:
062670,000362: 17,3626 31741 CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS.
062671,000363: 17,3627 63773 AD -TJMAX # -.150 SECOND SCALED AT 4.
062672,000364: 17,3630 00006 EXTEND
062673,000365: 17,3631 70000 SQUARE
062674,000366: 17,3632 00006 EXTEND
062675,000367: 17,3633 61746 SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
062676,000368: 17,3634 00006 EXTEND
062677,000369: 17,3635 63520 BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
062678,000370:
062679,000371: # TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
062680,000372:
062681,000373: 17,3636 31746 CAE HH
062682,000374: 17,3637 67751 AD NEG2
062683,000375: 17,3640 00006 EXTEND
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Page 1455
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062685,000377: 17,3641 63651 BZMF FORMULA3
062686,000378:
062687,000379: # TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
062688,000380:
062689,000381: 17,3642 33763 CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
062690,000382: 17,3643 53747 DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
062691,000383: 17,3644 00006 EXTEND # PRESERVED.
062692,000384: 17,3645 11746 DV HH # QUOTIENT SCALED AT 4 SECONDS.
062693,000385: 17,3646 61741 AD TTOAXIS # SCALED AT 4 SEC.
062694,000386: 17,3647 63764 AD .0375AT4 # .0375 SEC SCALED AT 4.
062695,000387: 17,3650 13521 TCF RETURNTJ # END COMPUTATION.
062696,000388:
062697,000389: # TJET = H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
062698,000390:
062699,000391: 17,3651 43765 FORMULA3 CS -.025AT2 # STORE +.025 SEC SCALED AT 2 FOR DIVISION
062700,000392: 17,3652 53747 DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
062701,000393: 17,3653 00006 EXTEND # PRESERVED.
062702,000394: 17,3654 11746 DV HH # QUOTIENT SCALED AT 4 SECONDS.
062703,000395: 17,3655 61741 AD TTOAXIS # SCALED AT 4 SEC.
062704,000396:
062705,000397: # IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
062706,000398: # MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
062707,000399:
062708,000400: 17,3656 63775 CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
062709,000401: 17,3657 00006 EXTEND
062710,000402: 17,3660 63455 BZMF COASTTJ # YES, SET TIME TO ZERO.
062711,000403: 17,3661 63774 AD TJMIN # NO, RESTORE COMPUTED TIME.
062712,000404: 17,3662 13521 TCF RETURNTJ # END COMPUTATION.
062713,000405:
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Page 1456
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062715,000407: # *** ROUGHLAW ***
062716,000408:
062717,000409: # BEFORE ENTRY TO RUFLAW:
062718,000410: # 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
062719,000411: # 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
062720,000412: # 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
062721,000413: # (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
062722,000414:
062723,000415: # RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.).
062724,000416: # RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
062725,000417: # RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
062726,000418:
062727,000419: 17,3663 43776 RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
062728,000420: 17,3664 27427 ADS EDOT # WHICH IS THE TARGET RATE
062729,000421: 17,3665 00006 EXTEND
062730,000422: 17,3666 63707 BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
062731,000423: 17,3667 03745 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
062732,000424: 17,3670 31427 CAE EDOT # PICK UP DESIRED RATE CHANGE.
062733,000425:
062734,000426: 17,3671 00006 RUFLAW12 EXTEND # COMPUTE TJET
062735,000427: 17,3672 51743 INDEX ADRSDIF2 # =(DESIRED RATE CHANGE)/(2-JET ACCEL.)
062736,000428: 17,3673 71570 MP 1/ANET1 +2
062737,000429: 17,3674 67744 AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
062738,000430: 17,3675 00006 EXTEND # 4 SECONDS, SET TJET TO TJMAX.
062739,000431: 17,3676 63700 BZMF +2
062740,000432: 17,3677 13520 TCF FULLTIME
062741,000433: 17,3700 00006 EXTEND
062742,000434: 17,3701 13520 BZF FULLTIME
062743,000435: 17,3702 64740 AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR.
062744,000436: 17,3703 20001 DAS A
062745,000437: 17,3704 20001 DAS A
062746,000438: 17,3705 20001 DAS A # RESCALED TJET AT 4 SECONDS.
062747,000439: 17,3706 13656 TCF CHKMINTJ # RETURN AS FROM FINELAW.
062748,000440:
062749,000441: 17,3707 03747 SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
062750,000442: 17,3710 11737 CCS ROTSENSE
062751,000443: 17,3711 34753 CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
062752,000444: 17,3712 13714 TCF +2 # CORRESPONDING TO THE PROPER SENSE.
062753,000445: 17,3713 37752 CAF NEGONE
062754,000446: 17,3714 27743 ADS ADRSDIF2
062755,000447:
062756,000448: 17,3715 41427 CS EDOT # (.144 AT PI/4 - EDOT)=DESIRED RATE CHNG.
062757,000449: 17,3716 13671 TCF RUFLAW12
062758,000450:
062759,000451: 17,3717 03745 RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
062760,000452: 17,3720 33776 CAF RUFRATE
062761,000453: 17,3721 61427 AD EDOT # (.144 AT PI/4 + EDOT)=DESIRED RATE CHNG.
062762,000454: 17,3722 54000 TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
062763,000455: 17,3723 13671 TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
062764,000456: 17,3724 13520 TCF FULLTIME
062765,000457:
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Page 1457
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062767,000459: 17,3725 03745 RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
062768,000460: 17,3726 51745 INDEX ADRSDIF1
062769,000461: 17,3727 41600 CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
062770,000462: 17,3730 61751 AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
062771,000463: 17,3731 00006 EXTEND # SCALED AT 4 PI RADIANS
062772,000464: 17,3732 74741 MP BIT11
062773,000465: 17,3733 57427 XCH EDOT
062774,000466: 17,3734 00006 EXTEND
062775,000467: 17,3735 70000 SQUARE
062776,000468: 17,3736 00006 EXTEND
062777,000469: 17,3737 51745 INDEX ADRSDIF1
062778,000470: 17,3740 71570 MP 1/ANET1 +2
062779,000471: 17,3741 61427 AD EDOT
062780,000472: 17,3742 00006 EXTEND
062781,000473: 17,3743 63455 BZMF COASTTJ # COAST IF BELOW IT.
062782,000474: 17,3744 13520 TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
062783,000475:
062784,000476: # SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
062785,000477:
062786,000478: 17,3745 41737 RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
062787,000479: 17,3746 55737 TS ROTSENSE
062788,000480: 17,3747 34751 +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
062789,000481: 17,3750 55742 TS NUMBERT
062790,000482: 17,3751 34735 CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS.
062791,000483: 17,3752 55740 TS FIREFCT
062792,000484: 17,3753 00002 TC Q
062793,000485:
062794,000486: # CONSTANTS FOR TJETLAW
062795,000487:
062796,000488: 17,3754 77757 DEC -16 B-14 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
062797,000489: 17,3755 00000 AXISDIFF DEC +0 B-14 # BETWEEN STORED 1/ACCS PARAMETERS FOR
062798,000490: 17,3756 00020 DEC 16 B-14 # THE INDEXED AXIS AND THE U-AXIS.
062799,000491: 17,3757 14400 SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
062800,000492: # (4 SEC) TO SCALING FOR T6 (10.24 SEC).
062801,000493: 17,3760 75673 -3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
062802,000494: 17,3761 77750 -.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
062803,000495: 17,3762 00632 .1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
062804,000496: 17,3763 01463 .1AT2 DEC .05 # 0.1 SEC SCALED AT 2.
062805,000497: 17,3764 00232 .0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
062806,000498: 17,3765 77462 -.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
062807,000499: 17,3766 77631 -.025AT4 DEC -.00625
062808,000500: 17,3767 77145 -.05AT2 DEC -.025
062809,000501: 17,3770 75462 -.15AT2 DEC -.075
062810,000502: 17,3771 00007 25605 .00375A8 2DEC .00375 B-3
062811,000503:
062812,000504: 17,3773 76631 -TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
062813,000505: 17,3774 00122 TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
062814,000506: 17,3775 77655 -TJMIN DEC -.005
062815,000507: 17,3776 04476 RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
End of include-file TJET_LAW.agc. Parent file is MAIN.agc