Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
040083,000002: ## Copyright: Public domain.
040084,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
040085,000004: ## Purpose: A section of Luminary revision 210.
040086,000005: ## It is part of the source code for the Lunar Module's (LM)
040087,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
040088,000007: ## This file is intended to be a faithful transcription, except
040089,000008: ## that the code format has been changed to conform to the
040090,000009: ## requirements of the yaYUL assembler rather than the
040091,000010: ## original YUL assembler.
040092,000011: ## Reference: pp. 905-922
040093,000012: ## Assembler: yaYUL
040094,000013: ## Contact: Ron Burkey <info@sandroid.org>.
040095,000014: ## Website: www.ibiblio.org/apollo/index.html
040096,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
040097,000016: ## 2016-12-09 HG Transcribed
040098,000017: ## 2016-12-12 MAS Pushed in a +1 relative label.
040099,000018: ## 2016-12-25 RSB Comment-text proofed using ProoferComments
040100,000019: ## and corrected errors found.
040101,000020: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
040102,000021:
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Page 905 |
040104,000023: # PROGRAM NAME: FINDCDUW
040105,000024:
040106,000025: # MOD NUMBER: 1 68 07 15
040107,000026:
040108,000027: # MOD AUTHOR: KLUMPP
040109,000028:
040110,000029: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
040111,000030: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
040112,000031: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
040113,000032: # FETCHING FOR THE THRUST DIRECTION FILTER THE
040114,000033: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
040115,000034: # MODES.
040116,000035: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
040117,000036: # AUTOPILOT COMMANDS WHENEVER
040118,000037: # 1) NOT IN PNGCS-AUTO, OR
040119,000038: # 2) ENGINE IS OFF.
040120,000039:
040121,000040: # MOD NUMBER: 2 10 DECEMBER 1970
040122,000041:
040123,000042: # MOD AUTHOR: P. S. WEISSMAN
040124,000043:
040125,000044: # OBJECTIVE OF MOD: TO ISSUE STEERING COMMANDS TO THE DAP EVEN WHEN AGS IS INDICATED (IN CASE THE INDICA-
040126,000045: # TION IS FALSE).
040127,000046:
040128,000047:
040129,000048: # FUNCTIONAL DESCRIPTION:
040130,000049:
040131,000050: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
040132,000051: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
040133,000052: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
040134,000053: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
040135,000054: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
040136,000055: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
040137,000056: # ACCELERATIONS AVAILABLE).
040138,000057:
040139,000058: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
040140,000059: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
040141,000060: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
040142,000061:
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Page 906 |
040144,000063: # SPECIFICATIONS:
040145,000064:
040146,000065: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
040147,000066: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
040148,000067:
040149,000068: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
040150,000069: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
040151,000070: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
040152,000071:
040153,000072: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
040154,000073:
040155,000074: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
040156,000075:
040157,000076: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
040158,000077: # WITHOUT ISSUING AUTOPILOT CMDS.
040159,000078:
040160,000079: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
040161,000080: # ISSUING AUTOPILOT CMDS.
040162,000081:
040163,000082: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
040164,000083: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
040165,000084: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
040166,000085: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
040167,000086: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
040168,000087: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
040169,000088:
040170,000089: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040171,000090: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040172,000091: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
040173,000092: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
040174,000093: # CSMDOCKD FLAG DENOTING CSM DOCKED.
040175,000094:
040176,000095: # OUTPUTS: DELCDUX,Y,Z
040177,000096: # OMEGAPD,+1,+2
040178,000097: # DELPEROR,+1,+2
040179,000098: # CPHI,+1,+2 FOR NOUN22
040180,000099:
040181,000100: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
040182,000101: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
040183,000102: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
040184,000103:
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Page 907 |
040186,000105: # INITIALIZATION FOR FINDCDUW
040187,000106:
040188,000107: 30,3063 BANK 30
040189,000108: 30,2000 SETLOC FCDUW
040190,000109: 30,2000 BANK
040191,000110:
040192,000111: 30,3063 E6,1645 EBANK= ECDUW
040193,000112:
040194,000113: 30,3063 COUNT* $$/FCDUW
040195,000114:
040196,000115: 30,3063 77331 INITCDUW SSP VLOAD
040197,000116: 30,3064 03277 OGABIAS
040198,000117: 30,3065 00000 0
040199,000118: 30,3066 06503 UNITX
040200,000119: 30,3067 03266 STORE UNFV/2
040201,000120: 30,3070 03260 STORE UNWC/2
040202,000121: 30,3071 77616 RVQ
040203,000122:
040204,000123: # FINDCDUW PRELIMINARIES
040205,000124:
040206,000125: 30,3072 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
040207,000126: 30,3073 03252 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
040208,000127: 30,3074 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
040209,000128: 30,3075 61074 FINDCDUW # INTERPRETER NOW INITIALIZED
040210,000129: 30,3076 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
040211,000130: 30,3077 77420 STQ EXIT
040212,000131: 30,3100 03246 QCDUWUSR # SAVE RETURN ADDRESS
040213,000132:
040214,000133: # MORE HAUSKEEPING
040215,000134:
040216,000135: 30,3101 33745 CA ECDUWL
040217,000136: 30,3102 56003 XCH EBANK # SET EBANK
040218,000137: 30,3103 55645 TS ECDUWUSR # SAVE USER'S EBANK
040219,000138:
040220,000139: 30,3104 30111 CA DAPBOOLS
040221,000140: 30,3105 74730 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
040222,000141: 30,3106 10000 CCS A
040223,000142: 30,3107 34744 CA ONE # INDEX IF CSM DOCKED
040224,000143: 30,3110 55647 TS NDXCDUW
040225,000144:
040226,000145: 30,3111 34734 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
040227,000146: 30,3112 70111 MASK DAPBOOLS
040228,000147: 30,3113 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
040229,000148:
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Page 908 |
040231,000150: # FETCH BASIC DATA
040232,000151:
040233,000152: 30,3114 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
040234,000153:
040235,000154: 30,3115 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
040236,000155: 30,3116 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
040237,000156: 30,3117 30033 CA CDUY
040238,000157: 30,3120 54765 TS CDUSPOTY
040239,000158: 30,3121 30034 CA CDUZ
040240,000159: 30,3122 54767 TS CDUSPOTZ
040241,000160:
040242,000161: 30,3123 34733 CA BIT10 # PNGCS CONTROL BIT
040243,000162: 30,3124 00006 EXTEND
040244,000163: 30,3125 02030 RAND CHAN30
040245,000164: 30,3126 10000 CCS A
040246,000165: 30,3127 13143 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
040247,000166:
040248,000167: 30,3130 34727 CA BIT14 # AUTO MODE BIT
040249,000168: 30,3131 00006 EXTEND
040250,000169: 30,3132 02031 RAND CHAN31
040251,000170: 30,3133 10000 CCS A
040252,000171: 30,3134 13143 TCF PAUTNO # NOT AUTO (BITS INVERTED)
040253,000172:
040254,000173: 30,3135 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
040255,000174: 30,3136 54771 TS CDUSPOTX
040256,000175: 30,3137 31635 CA CDUYD
040257,000176: 30,3140 54765 TS CDUSPOTY
040258,000177: 30,3141 31636 CA CDUZD
040259,000178: 30,3142 54767 TS CDUSPOTZ
040260,000179:
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Page 909 |
040262,000181: # FETCH INPUTS
040263,000182: 30,3143 06060 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
040264,000183: 30,3144 77634 RTB
040265,000184: 30,3145 21724 NORMUNIT
040266,000185: 30,3146 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
040267,000186: 30,3147 03260 UNWC/2
040268,000187: 30,3150 47034 RTB RTB
040269,000188: 30,3151 21724 NORMUNIT
040270,000189: 30,3152 47607 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
040271,000190: 30,3153 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
040272,000191: 30,3154 00325 DELV
040273,000192: 30,3155 53404 BOVB UNIT
040274,000193: 30,3156 61734 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
040275,000194: 30,3157 45000 BOV CALL
040276,000195: 30,3160 61174 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
040277,000196: 30,3161 47663 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
040278,000197:
040279,000198: # THRUST DIRECTION FILTER
040280,000199:
040281,000200: 30,3162 77776 EXIT
040282,000201:
040283,000202: 30,3163 31667 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
040284,000203: 30,3164 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
040285,000204: 30,3165 03467 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
040286,000205: 30,3166 55667 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
040287,000206:
040288,000207: 30,3167 31671 CA UNFVZ/2
040289,000208: 30,3170 22161 LXCH MPAC +5
040290,000209: 30,3171 03467 TC FLTRSUB
040291,000210: 30,3172 55671 TS UNFVZ/2
040292,000211:
040293,000212: 30,3173 06060 TC INTPRET # COMPLETES FILTER
040294,000213:
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Page 910 |
040296,000215: # FIND A SUITABLE WINDOW POINTING VECTOR
040297,000216:
040298,000217: 30,3174 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
040299,000218: 30,3175 03251 FLAGOODW
040300,000219: 30,3176 61202 FETCHZNB
040301,000220: 30,3177 45175 VLOAD CALL
040302,000221: 30,3200 00015 UNZ/2
040303,000222: 30,3201 61507 UNWCTEST
040304,000223:
040305,000224: 30,3202 77775 FETCHZNB VLOAD
040306,000225: 30,3203 02153 ZNBPIP
040307,000226: 30,3204 34015 STCALL UNZ/2
040308,000227: 30,3205 61507 UNWCTEST
040309,000228:
040310,000229: 30,3206 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
040311,000230: 30,3207 02137 XNBPIP
040312,000231: 30,3210 00015 STORE UNZ/2
040313,000232:
040314,000233: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
040315,000234:
040316,000235: 30,3211 47375 DCMCL VLOAD VXV
040317,000236: 30,3212 00015 UNZ/2
040318,000237: 30,3213 00001 UNX/2
040319,000238: 30,3214 41456 UNIT PUSH # UNY/2 FIRST ITERATION
040320,000239: 30,3215 76435 VXV VSL1
040321,000240: 30,3216 00001 UNX/2
040322,000241: 30,3217 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
040323,000242: 30,3220 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040324,000243: 30,3221 03272 UNFVZ/2 # MUST BE SMALL
040325,000244: 30,3222 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040326,000245: 30,3223 03270 UNFVY/2 # MUST BE SMALL
040327,000246: 30,3224 53372 VSL1 VAD
040328,000247: 30,3225 00001 UNX/2
040329,000248: 30,3226 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
040330,000249: 30,3227 00001 STORE UNX/2 # UNX/2
040331,000250: 30,3230 76435 VXV VSL1
040332,000251: 30,3231 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
040333,000252: 30,3232 00007 STORE UNY/2 # UNY/2
040334,000253: 30,3233 47276 VCOMP VXV
040335,000254: 30,3234 00001 UNX/2
040336,000255: 30,3235 77772 VSL1
040337,000256: 30,3236 00015 STORE UNZ/2 # UNZ/2
040338,000257:
040339,000258: # COMPUTE THE REQUIRED GIMBAL ANGLES
040340,000259:
040341,000260: 30,3237 77624 CALL
040342,000261: 30,3240 61517 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040343,000262: 30,3241 77776 EXIT
040344,000263:
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Page 911 |
040346,000265: # BIAS OUTER GIMBAL ANGLE
040347,000266:
040348,000267: 30,3242 31676 CA OGABIAS
040349,000268: 30,3243 26154 ADS MPAC
040350,000269:
040351,000270: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040352,000271:
040353,000272: 30,3244 30156 CA MPAC +2 # LIMIT THE MGA
040354,000273: 30,3245 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040355,000274: 30,3246 33757 CA CDUZDLIM
040356,000275: 30,3247 03713 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040357,000276: 30,3250 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
040358,000277: 30,3251 00006 EXTEND
040359,000278: 30,3252 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
040360,000279: 30,3253 00006 EXTEND
040361,000280: 30,3254 13256 BZF +2
040362,000281: 30,3255 13742 TCF ALARMMGA
040363,000282:
040364,000283: 30,3256 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
040365,000284:
040366,000285: 30,3257 22007 ZL
040367,000286: 30,3260 34743 CA TWO
040368,000287: 30,3261 54142 DELGMBLP TS TEM2
040369,000288:
040370,000289: 30,3262 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
040371,000290: 30,3263 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
040372,000291: 30,3264 70000 SQUARE
040373,000292: 30,3265 64341 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
040374,000293: 30,3266 00006 EXTEND
040375,000294: 30,3267 63272 BZMF +3
040376,000295: 30,3270 34746 CA ZERO
040377,000296: 30,3271 55650 TS FLAGOODW
040378,000297:
040379,000298: 30,3272 50142 INDEX TEM2
040380,000299: 30,3273 30154 CA MPAC
040381,000300: 30,3274 50142 INDEX TEM2
040382,000301: 30,3275 54321 TS CPHI # OUTPUTS TO NOUN22
040383,000302: 30,3276 00006 EXTEND
040384,000303: 30,3277 50142 INDEX TEM2
040385,000304: 30,3300 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
040386,000305: 30,3301 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
040387,000306: 30,3302 50142 INDEX TEM2
040388,000307: 30,3303 55673 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040389,000308: 30,3304 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
040390,000309: 30,3305 10142 CCS TEM2
040391,000310: 30,3306 13261 TCF DELGMBLP
040392,000311:
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Page 912 |
040394,000313: # BRANCHES TO NOATTCNT
040395,000314:
040396,000315: 30,3307 34727 CA BIT14 # AUTO MODE BIT
040397,000316: 30,3310 00006 EXTEND
040398,000317: 30,3311 02031 RAND CHAN31
040399,000318: 30,3312 10000 CCS A
040400,000319: 30,3313 13736 TCF NOATTCNT +2 # NOT AUTO
040401,000320:
040402,000321: 30,3314 30101 CA FLAGWRD5
040403,000322: 30,3315 74736 MASK ENGONBIT
040404,000323: 30,3316 00006 EXTEND
040405,000324: 30,3317 13736 BZF NOATTCNT +2 # ENGINE NOT ON
040406,000325:
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Page 913 |
040408,000327: # LIMIT THE ATTITUDE ANGLE CHANGES
040409,000328:
040410,000329: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040411,000330: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
040412,000331: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040413,000332: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040414,000333:
040415,000334: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
040416,000335: # * * * * * *
040417,000336: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
040418,000337: # * * * * * *
040419,000338: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
040420,000339:
040421,000340: 30,3320 23675 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
040422,000341: 30,3321 51647 INDEX NDXCDUW
040423,000342: 30,3322 33753 CA DAZMAX
040424,000343: 30,3323 03713 TC LIMITSUB
040425,000344: 30,3324 55675 TS -DELGMB +2 # -DELGMBZ
040426,000345:
040427,000346: 30,3325 31674 CA -DELGMB +1
040428,000347: 30,3326 00006 EXTEND
040429,000348: 30,3327 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
040430,000349: 30,3330 54001 TS L
040431,000350: 30,3331 51647 INDEX NDXCDUW
040432,000351: 30,3332 33755 CA DAY/2MAX
040433,000352: 30,3333 03713 TC LIMITSUB
040434,000353: 30,3334 00006 EXTEND
040435,000354: 30,3335 10745 DV COSCDUZ
040436,000355: 30,3336 57674 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
040437,000356:
040438,000357: 30,3337 00006 EXTEND
040439,000358: 30,3340 70737 MP SINCDUZ
040440,000359: 30,3341 20001 DDOUBL
040441,000360: 30,3342 40000 COM
040442,000361: 30,3343 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040443,000362: 30,3344 21673 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
040444,000363: 30,3345 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
040445,000364: 30,3346 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
040446,000365: 30,3347 33753 CA DAXMAX
040447,000366: 30,3350 03713 TC LIMITSUB
040448,000367: 30,3351 55673 TS -DELGMB # SAVE LIMITED +DELATTX
040449,000368: 30,3352 11650 CCS FLAGOODW
040450,000369: 30,3353 41673 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040451,000370: 30,3354 55673 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
040452,000371: 30,3355 41674 CS -DELGMB +1
040453,000372: 30,3356 00006 EXTEND
040454,000373: 30,3357 70737 MP SINCDUZ
040455,000374: 30,3360 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040456,000375: 30,3361 27673 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
040457,000376: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040458,000377:
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Page 914 |
040460,000379: # COMPUTE COMMANDED ATTITUDE RATES
040461,000380:
040462,000381: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
040463,000382: # * * * * * *
040464,000383: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
040465,000384: # * * * * * *
040466,000385: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
040467,000386:
040468,000387: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040469,000388: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040470,000389: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040471,000390:
040472,000391: 30,3362 41673 CS -DELGMB
040473,000392: 30,3363 55642 TS OMEGAPD
040474,000393: 30,3364 41674 CS -DELGMB +1
040475,000394: 30,3365 00006 EXTEND
040476,000395: 30,3366 70737 MP SINCDUZ
040477,000396: 30,3367 20001 DDOUBL
040478,000397: 30,3370 27642 ADS OMEGAPD
040479,000398: 30,3371 27642 ADS OMEGAPD
040480,000399:
040481,000400: 30,3372 41674 CS -DELGMB +1
040482,000401: 30,3373 00006 EXTEND
040483,000402: 30,3374 70747 MP COSCDUX
040484,000403: 30,3375 20001 DDOUBL
040485,000404: 30,3376 00006 EXTEND
040486,000405: 30,3377 70745 MP COSCDUZ
040487,000406: 30,3400 55643 TS OMEGAQD
040488,000407: 30,3401 41675 CS -DELGMB +2
040489,000408: 30,3402 00006 EXTEND
040490,000409: 30,3403 70741 MP SINCDUX
040491,000410: 30,3404 27643 ADS OMEGAQD
040492,000411: 30,3405 27643 ADS OMEGAQD
040493,000412: 30,3406 27643 ADS OMEGAQD
040494,000413:
040495,000414: 30,3407 31674 CA -DELGMB +1
040496,000415: 30,3410 00006 EXTEND
040497,000416: 30,3411 70741 MP SINCDUX
040498,000417: 30,3412 20001 DDOUBL
040499,000418: 30,3413 00006 EXTEND
040500,000419: 30,3414 70745 MP COSCDUZ
040501,000420: 30,3415 55644 TS OMEGARD
040502,000421: 30,3416 41675 CS -DELGMB +2
040503,000422: 30,3417 00006 EXTEND
040504,000423: 30,3420 70747 MP COSCDUX
040505,000424: 30,3421 27644 ADS OMEGARD
040506,000425: 30,3422 27644 ADS OMEGARD
040507,000426: 30,3423 27644 ADS OMEGARD
040508,000427:
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|
Page 915 |
040510,000429: # FINAL TRANSFER
040511,000430:
040512,000431: 30,3424 34743 CA TWO
040513,000432: 30,3425 54142 CDUWXFR TS TEM2
040514,000433: 30,3426 50142 INDEX TEM2
040515,000434: 30,3427 31673 CA -DELGMB
040516,000435: 30,3430 00006 EXTEND
040517,000436: 30,3431 73760 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
040518,000437: 30,3432 03727 TC ONESTO2S
040519,000438: 30,3433 50142 INDEX TEM2
040520,000439: 30,3434 55637 TS DELCDUX # ANGLE INTERFACE
040521,000440:
040522,000441: 30,3435 50142 INDEX TEM2
040523,000442: 30,3436 11642 CCS OMEGAPD
040524,000443: 30,3437 64744 AD ONE
040525,000444: 30,3440 13442 TCF +2
040526,000445: 30,3441 64744 AD ONE
040527,000446: 30,3442 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
040528,000447: 30,3443 50142 INDEX TEM2
040529,000448: 30,3444 71642 MP OMEGAPD
040530,000449: 30,3445 00006 EXTEND
040531,000450: 30,3446 74732 MP BIT11 # 1/16
040532,000451: 30,3447 00006 EXTEND
040533,000452: 30,3450 50142 INDEX TEM2 # 2
040534,000453: 30,3451 11530 DV 1JACC # UNITS PI/4 RAD/SEC
040535,000454: 30,3452 54001 TS L
040536,000455: 30,3453 33755 CA DELERLIM
040537,000456: 30,3454 03713 TC LIMITSUB
040538,000457: 30,3455 50142 INDEX TEM2
040539,000458: 30,3456 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040540,000459: 30,3457 10142 CCS TEM2
040541,000460: 30,3460 13425 TCF CDUWXFR
040542,000461:
040543,000462: # HAUSKEEPING AND RETURN
040544,000463:
040545,000464: 30,3461 31645 TCQCDUW CA ECDUWUSR
040546,000465: 30,3462 54003 TS EBANK # RETURN USER'S EBANK
040547,000466:
040548,000467: 30,3463 06060 TC INTPRET
040549,000468: 30,3464 52001 SETPD GOTO
040550,000469: 30,3465 00001 0
040551,000470: 30,3466 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
040552,000471:
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|
Page 916 |
040554,000473: # THRUST VECTOR FILTER SUBROUTINE
040555,000474:
040556,000475: 30,3467 00006 FLTRSUB EXTEND
040557,000476: 30,3470 22142 QXCH TEM2
040558,000477: 30,3471 54143 TS TEM3 # SAVE ORIGINAL OFFSET
040559,000478: 30,3472 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040560,000479: 30,3473 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
040561,000480: 30,3474 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
040562,000481: 30,3475 51647 INDEX NDXCDUW
040563,000482: 30,3476 73746 MP GAINFLTR
040564,000483: 30,3477 54001 TS L # INCR TO OFFSET, UNLIMITED
040565,000484: 30,3500 33750 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
040566,000485: 30,3501 03713 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
040567,000486: 30,3502 60143 AD TEM3 # ORIGINAL OFFSET
040568,000487: 30,3503 54001 TS L # TOTAL OFFSET, UNLIMITED
040569,000488: 30,3504 33751 CA UNFVLIM # SAME LIMIT FOR Y AND Z
040570,000489: 30,3505 03713 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
040571,000490: 30,3506 00142 TC TEM2
040572,000491:
040573,000492: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040574,000493:
040575,000494: 30,3507 63441 UNWCTEST DOT DSQ
040576,000495: 30,3510 00001 UNX/2
040577,000496: 30,3511 50025 DSU BMN
040578,000497: 30,3512 21753 DOTSWFMX
040579,000498: 30,3513 61211 DCMCL
040580,000499: 30,3514 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040581,000500: 30,3515 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
040582,000501: 30,3516 00000 0
040583,000502:
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Page 917 |
040585,000504: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
040586,000505: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
040587,000506:
040588,000507: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
040589,000508:
040590,000509: 30,3517 63545 NB2CDUSP DLOAD DSQ
040591,000510: 30,3520 00003 2
040592,000511: 30,3521 51021 BDSU BPL
040593,000512: 30,3522 06475 DP1/4TH
040594,000513: 30,3523 61526 +3
040595,000514: 30,3524 77745 DLOAD
040596,000515: 30,3525 06505 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
040597,000516: 30,3526 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
040598,000517:
040599,000518: 30,3527 00006 EXTEND
040600,000519: 30,3530 30155 DCA MPAC
040601,000520: 30,3531 20001 DDOUBL
040602,000521: 30,3532 54145 TS TEM5
040603,000522: 30,3533 13536 TCF +3
040604,000523: 30,3534 34724 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
040605,000524: 30,3535 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
040606,000525:
040607,000526: 30,3536 50120 INDEX FIXLOC
040608,000527: 30,3537 30002 CA 2
040609,000528: 30,3540 22154 LXCH MPAC
040610,000529: 30,3541 03606 TC ARCTRGSP
040611,000530: 30,3542 54156 TS MPAC +2 # CDUZ
040612,000531:
040613,000532: 30,3543 34746 CA ZERO
040614,000533: 30,3544 03564 TC DVBYCOSM
040615,000534: 30,3545 34742 CA FOUR
040616,000535: 30,3546 03564 TC DVBYCOSM
040617,000536: 30,3547 40141 CS TEM1
040618,000537: 30,3550 03606 TC ARCTRGSP
040619,000538: 30,3551 54155 TS MPAC +1 # CDUY
040620,000539:
040621,000540: 30,3552 34741 CA BIT4
040622,000541: 30,3553 03564 TC DVBYCOSM
040623,000542: 30,3554 33563 CA 16OCT
040624,000543: 30,3555 03564 TC DVBYCOSM
040625,000544: 30,3556 40141 CS TEM1
040626,000545: 30,3557 03606 TC ARCTRGSP
040627,000546: 30,3560 54154 TS MPAC # CDUX
040628,000547:
040629,000548: 30,3561 06060 TC INTPRET
040630,000549: 30,3562 77616 RVQ
040631,000550:
040632,000551: 30,3563 00016 16OCT OCT 16
040633,000552:
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|
Page 918 |
040635,000554: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040636,000555: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040637,000556: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
040638,000557: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040639,000558: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040640,000559: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040641,000560: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040642,000561:
040643,000562: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040644,000563: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040645,000564: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
040646,000565: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040647,000566:
040648,000567: 30,3564 60120 DVBYCOSM AD FIXLOC
040649,000568: 30,3565 54116 TS ADDRWD # ADRES OF OPERAND
040650,000569:
040651,000570: 30,3566 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
040652,000571: 30,3567 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
040653,000572: 30,3570 00006 EXTEND
040654,000573: 30,3571 63573 BZMF +2
040655,000574: 30,3572 40000 COM
040656,000575: 30,3573 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040657,000576: 30,3574 00006 EXTEND
040658,000577: 30,3575 63603 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
040659,000578:
040660,000579: 30,3576 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
040661,000580: 30,3577 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
040662,000581: 30,3600 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
040663,000582: 30,3601 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
040664,000583: 30,3602 10145 DV TEM5
040665,000584: 30,3603 54001 TSL&TCQ TS L
040666,000585: 30,3604 22141 LXCH TEM1
040667,000586: 30,3605 00002 TC Q
040668,000587:
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Page 919 |
040670,000589: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040671,000590: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040672,000591: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040673,000592:
040674,000593: 30,3606 00006 ARCTRGSP EXTEND
040675,000594: 30,3607 13651 BZF SINZERO # TO AVOID DIVIDING BY ZERO
040676,000595:
040677,000596: 30,3610 00006 EXTEND
040678,000597: 30,3611 22144 QXCH TEM4
040679,000598: 30,3612 54142 TS TEM2
040680,000599: 30,3613 30001 CA L
040681,000600: 30,3614 54143 TS TEM3
040682,000601: 30,3615 34746 CA ZERO
040683,000602: 30,3616 00006 EXTEND
040684,000603: 30,3617 10142 DV TEM2
040685,000604: 30,3620 00006 EXTEND
040686,000605: 30,3621 13640 BZF USECOS
040687,000606:
040688,000607: 30,3622 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
040689,000608: 30,3623 34746 CA ZERO
040690,000609: 30,3624 13630 TCF +4
040691,000610: 30,3625 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
040692,000611: 30,3626 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
040693,000612: 30,3627 34726 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
040694,000613: 30,3630 54143 TS TEM3 # WE NO LONGER NEED COS
040695,000614: 30,3631 30142 CA TEM2
040696,000615: 30,3632 03656 TC SPARCSIN -1
040697,000616: 30,3633 03727 TC ONESTO2S
040698,000617: 30,3634 00006 EXTEND
040699,000618: 30,3635 20143 MSU TEM3
040700,000619: 30,3636 03727 1TO2&TCQ TC ONESTO2S
040701,000620: 30,3637 00144 TC TEM4
040702,000621:
040703,000622: 30,3640 40143 USECOS CS TEM3 # COS IS SMALLER
040704,000623: 30,3641 03656 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
040705,000624: 30,3642 64727 AD HALF
040706,000625: 30,3643 54143 TS TEM3 # WE NO LONGER NEED COS
040707,000626: 30,3644 10142 CCS TEM2
040708,000627: 30,3645 30143 CA TEM3
040709,000628: 30,3646 13636 TCF 1TO2&TCQ
040710,000629: 30,3647 40143 CS TEM3
040711,000630: 30,3650 13636 TCF 1TO2&TCQ
040712,000631:
040713,000632: 30,3651 10001 SINZERO CCS L
040714,000633: 30,3652 34746 CA ZERO
040715,000634: 30,3653 00002 TC Q
040716,000635: 30,3654 34726 CA NEGMAX # PI, 2'S COMP
040717,000636: 30,3655 00002 TC Q
040718,000637:
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Page 920 |
040720,000639: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040721,000640: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+- 70
040722,000641: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040723,000642: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
040724,000643:
040725,000644: 30,3656 60000 DOUBLE
040726,000645: 30,3657 54021 SPARCSIN TS SR
040727,000646: 30,3660 13664 TCF +4
040728,000647: 30,3661 50000 INDEX A
040729,000648: 30,3662 44725 CS LIMITS
040730,000649: 30,3663 54021 TS SR
040731,000650: 30,3664 00006 EXTEND
040732,000651: 30,3665 70000 MP A
040733,000652: 30,3666 54141 TS TEM1
040734,000653: 30,3667 00006 EXTEND
040735,000654: 30,3670 73712 MP DPL9
040736,000655: 30,3671 63711 AD DPL7
040737,000656: 30,3672 00006 EXTEND
040738,000657: 30,3673 70141 MP TEM1
040739,000658: 30,3674 63710 AD DPL5
040740,000659: 30,3675 00006 EXTEND
040741,000660: 30,3676 70141 MP TEM1
040742,000661: 30,3677 63707 AD DPL3
040743,000662: 30,3700 00006 EXTEND
040744,000663: 30,3701 70141 MP TEM1
040745,000664: 30,3702 63706 AD DPL1
040746,000665: 30,3703 00006 EXTEND
040747,000666: 30,3704 70021 MP SR
040748,000667: 30,3705 00002 TC Q
040749,000668: 30,3706 24406 DPL1 DEC 10502 B-14
040750,000669: 30,3707 00660 DPL3 DEC 432 B-14
040751,000670: 30,3710 16204 DPL5 DEC 7300 B-14
040752,000671: 30,3711 50744 DPL7 DEC -11803 B-14
040753,000672: 30,3712 20315 DPL9 DEC 8397 B-14
040754,000673:
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Page 921 |
040756,000675: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040757,000676: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040758,000677: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040759,000678:
040760,000679: # VERSION COURTESY HUGH BLAIR-SMITH
040761,000680:
040762,000681: 30,3713 54141 LIMITSUB TS TEM1
040763,000682: 30,3714 34746 CA ZERO
040764,000683: 30,3715 00006 EXTEND
040765,000684: 30,3716 10141 DV TEM1
040766,000685: 30,3717 10000 CCS A
040767,000686: 30,3720 22141 LXCH TEM1
040768,000687: 30,3721 13723 TCF +2
040769,000688: 30,3722 13725 TCF +3
040770,000689: 30,3723 30001 CA L
040771,000690: 30,3724 00002 TC Q
040772,000691: 30,3725 40141 CS TEM1
040773,000692: 30,3726 00002 TC Q
040774,000693:
040775,000694: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040776,000695:
040777,000696: 30,3727 10000 ONESTO2S CCS A
040778,000697: 30,3730 64744 AD ONE
040779,000698: 30,3731 00002 TC Q
040780,000699: 30,3732 40000 CS A
040781,000700: 30,3733 00002 TC Q
040782,000701:
040783,000702: # NO ATTITUDE CONTROL
040784,000703:
040785,000704: 30,3734 05571 NOATTCNT TC ALARM
040786,000705: 30,3735 00402 OCT 00402 # NO ATTITUDE CONTROL
040787,000706:
040788,000707: 30,3736 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
040789,000708: 30,3737 04665 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
040790,000709: 30,3740 40166 FCADR STOPRATE
040791,000710: 30,3741 13461 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
040792,000711:
040793,000712: # MIDDLE GIMBAL ANGLE ALARM
040794,000713:
040795,000714: 30,3742 05571 ALARMMGA TC ALARM
040796,000715: 30,3743 00401 OCT 00401
040797,000716: 30,3744 13256 TCF MGARET
040798,000717:
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Page 922 The ':' at the end of the 2nd divider below is a workaround for our proof-reading system, but was simply another '=' in the original printout. |
040802,000721: # ================================================================================================================
040803,000722: # CONSTANTS
040804,000723: # ===============================================================================================================:
040805,000724:
040806,000725: # ADDRESS CONSTANTS
040807,000726:
040808,000727: 30,3745 03245 ECDUWL ECADR ECDUW
040809,000728:
040810,000729: # THRUST DIRECTION FILTER CONSTANTS
040811,000730:
040812,000731: 30,3746 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
040813,000732: 30,3747 03146 DEC .1 # GAIN FILTER WITH CSM
040814,000733:
040815,000734: 30,3750 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040816,000735: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
040817,000736:
040818,000737: 30,3751 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
040819,000738: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040820,000739:
040821,000740: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
040822,000741:
040823,000742: 30,3752 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
040824,000743: # LOWER PART COMES FROM NEXT CONSTANT
040825,000744:
040826,000745: 30,3753 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
040827,000746: 30,3754 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
040828,000747:
040829,000748: 30,3755 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
040830,000749: 30,3756 00133 DEC .0055555555
040831,000750:
040832,000751: 30,3757 30,3753 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
040833,000752:
040834,000753: 30,3757 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
040835,000754:
040836,000755: # CONSTANTS FOR DATA TRANSFER
040837,000756:
040838,000757: 30,3760 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
040839,000758: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
040840,000759:
040841,000760: 30,3761 30,3755 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
040842,000761:
040843,000762:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc