Source Code
|
These source-code files are part of a reconstructed copy of Comanche 45/2 (AKA Manche45 revision 2),
the final, flown mission release of the Apollo 10 Command Module (CM) Apollo Guidance
Computer (AGC) software. Comanche 45/2 was preceded by Comanche 44 and Comanche 45. The
reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 45/2, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 45 (itself previously accurately
reconstructed). Comanche 45 source code was then modified by incorporating changes
known from contemporary documentation to have been made between revisions 45 and 45/2.
The now-reconstructed Comanche 45/2 source code was
verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the
most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy;
the source code would likely have different page numbers in a contemporary
Comanche 45 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced
in those annotations:
Comments expected to have been present in 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.
|
043638,000002: ## Copyright: Public domain.
043639,000003: ## Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
043640,000004: ## Purpose: A section of Manche45 revision 2.
043641,000005: ## It is part of the reconstructed source code for the
043642,000006: ## final, flown release of the flight software for the Command
043643,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
043644,000008: ## The code has been recreated from a copy of Comanche 055. It
043645,000009: ## has been adapted such that the resulting bugger words
043646,000010: ## exactly match those specified for Manche 45/2 in NASA drawing
043647,000011: ## 2021153D, which gives relatively high confidence that the
043648,000012: ## reconstruction is correct.
043649,000013: ## Assembler: yaYUL
043650,000014: ## Contact: Ron Burkey <info@sandroid.org>.
043651,000015: ## Website: www.ibiblio.org/apollo/index.html
043652,000016: ## Mod history: 2020-12-24 MAS Created from Comanche 45.
043653,000017:
|
|
Page 1002
|
043655,000019: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
043656,000020:
043657,000021: # START OF T5 INTERRUPT PROGRAM
043658,000022:
043659,000023: 20,3612 BANK 20
043660,000024: 21,2000 SETLOC DAPS3
043661,000025: 21,2000 BANK
043662,000026:
043663,000027: 21,2105 COUNT 21/DAPRC
043664,000028:
043665,000029: 21,2105 E6,1510 EBANK= KMPAC
043666,000030: 21,2105 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
043667,000031: 21,2106 31465 CA T5PHASE # ON A T5 RUPT.
043668,000032: 21,2107 00006 EXTEND
043669,000033: 21,2110 62112 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
043670,000034: 21,2111 12114 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
043671,000035: 21,2112 45017 CS ONE
043672,000036: 21,2113 55465 TS T5PHASE
043673,000037: 21,2114 00006 EXTEND
043674,000038: 21,2115 32121 DCA RCSLOC
043675,000039: 21,2116 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
043676,000040: 21,2117 12123 TCF RCSATT +1
043677,000041: 21,2120 E6,1510 EBANK= KMPAC
043678,000042: 21,2120 02122 42066 RCSLOC 2CADR RCSATT
043679,000043:
043680,000044: 21,2122 22016 RCSATT LXCH BANKRUPT # SAVE BB
043681,000045: 21,2123 00006 EXTEND # SAVE Q
043682,000046: 21,2124 22012 QXCH QRUPT
043683,000047: 21,2125 35001 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
043684,000048: 21,2126 00006 EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
043685,000049: 21,2127 02031 RAND CHAN31 # PILOT IS FULLY ENABLED)
043686,000050: 21,2130 00006 EXTEND
043687,000051: 21,2131 12160 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
043688,000052: # GO TO SETT5
043689,000053:
043690,000054: 21,2132 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
043691,000055: 21,2133 75002 MASK BIT14
043692,000056: 21,2134 27501 ADS RCSFLAGS # SET NORATE FLAG,
043693,000057: 21,2135 34777 CAF POSMAX
043694,000058: 21,2136 55332 TS HOLDFLAG # SET HOLDFLAG +,
043695,000059: 21,2137 35021 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
043696,000060: 21,2140 55567 TS ERRORX
043697,000061: 21,2141 55570 TS ERRORY
043698,000062: 21,2142 55571 TS ERRORZ
043699,000063: 21,2143 35002 CAF BIT14
043700,000064: 21,2144 00006 EXTEND
043701,000065: 21,2145 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
043702,000066: 21,2146 00006 EXTEND
|
|
Page 1003
|
043704,000068: 21,2147 12160 BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
043705,000069:
043706,000070: 21,2150 55465 TS T5PHASE # IF NOT IN FREE MODE,
043707,000071: 21,2151 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
043708,000072: 21,2152 54030 TS TIME5 # IN 100 MS VIA T5RUPT
043709,000073:
043710,000074: 21,2153 02632 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
043711,000075:
043712,000076: 21,2154 12350 TCF KMATRIX
043713,000077: 21,2155 37770 DELTATT OCT 37770 # 80MS (TIME5)
043714,000078: 21,2156 37776 DELTATT2 OCT 37776 # 20MS (TIME5)
043715,000079: 21,2157 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5)
043716,000080: 21,2160 CHAN5 EQUALS 5
043717,000081: 21,2160 CHAN6 EQUALS 6
043718,000082: 21,2160 7671 PRIO34A = PRIO34
043719,000083:
043720,000084: # CHECK PHASE OF T5 PROGRAM
043721,000085:
043722,000086: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
043723,000087: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
043724,000088: # TO ALLOW FOR THE EXECUTION OF OTHER
043725,000089: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
043726,000090: # VARIABLES AT TURN ON.
043727,000091:
043728,000092: # THE CODING OF T5PHASE IS...
043729,000093:
043730,000094: # + = INITIALIZE T5 RCS-CSM AUTOPILOT
043731,000095: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
043732,000096: # - = RESTART DAP
043733,000097: # -0 = PHASE1 OF THE T5 PROGRAM
043734,000098:
043735,000099: 21,2160 11465 SETT5 CCS T5PHASE
043736,000100: 21,2161 12544 TCF FRESHDAP # TURN ON AUTOPILOT
043737,000101: 21,2162 12661 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
043738,000102: 21,2163 12546 TCF REDAP # RESTART AUTOPILOT
043739,000103:
043740,000104: 21,2164 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2
043741,000105: 21,2165 30030 CA TIME5
043742,000106: 21,2166 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
043743,000107: 21,2167 32156 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
043744,000108: 21,2170 54030 TS TIME5 # OF PROGRAM
043745,000109:
|
|
Page 1004
|
043747,000111: # IMU STATUS CHECK
043748,000112:
043749,000113: 21,2171 41321 CS IMODES33 # CHECK IMU STATUS
043750,000114: 21,2172 75012 MASK BIT6 # BIT6 = 0 IMU OK
043751,000115: 21,2173 10000 CCS A # BIT6 = 1 NO IMU
043752,000116: 21,2174 12210 TCF RATEFILT
043753,000117: 21,2175 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
043754,000118: 21,2176 75002 MASK BIT14 # INITIALIZED
043755,000119: 21,2177 27501 ADS RCSFLAGS
043756,000120: 21,2200 35002 CAF BIT14 # NO ATTITUDE REFERENCE
043757,000121: 21,2201 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
043758,000122: # TO PICK UP CDU ANGLES UPON RESUMPTION OF
043759,000123: # ATTITUDE HOLD
043760,000124: 21,2202 00006 EXTEND
043761,000125: 21,2203 02031 RAND CHAN31 # CHECK FOR FREE MODE
043762,000126: 21,2204 00006 EXTEND
043763,000127: 21,2205 12417 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
043764,000128: 21,2206 12534 TCF REINIT # .....TILT...............................
043765,000129: 21,2207 00030 BITS4,5 OCT 30
043766,000130:
043767,000131: 21,2210 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
043768,000132: 21,2211 75002 MASK BIT14
043769,000133: 21,2212 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION
043770,000134: 21,2213 12215 BZF +2
043771,000135: 21,2214 12350 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
043772,000136:
043773,000137: # RATE FILTER TIMING = 7.72 MS
043774,000138:
043775,000139: # RATE FILTER EQUATIONS
043776,000140:
043777,000141:
043778,000142: # DRHO = DELRHO - (.1)ADOT + (1 - GAIN1)DRHO
043779,000143: # -1
043780,000144:
043781,000145: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT
043782,000146: # -1
043783,000147: # - * - -
043784,000148: # WHERE DELRHO = AMGB (CDU - CDU )
043785,000149: # -1
043786,000150:
043787,000151: 21,2215 35016 CAF TWO
043788,000152: 21,2216 55506 DRHOLOOP TS SPNDX
043789,000153: 21,2217 60000 DOUBLE
043790,000154: 21,2220 55507 TS DPNDX
043791,000155: 21,2221 51507 INDEX DPNDX
043792,000156: 21,2222 41552 CS DRHO # DRHO SCALED 180 DEGS
043793,000157: 21,2223 00006 EXTEND
043794,000158: 21,2224 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
043795,000159: 21,2225 73077 MP GAIN1
043796,000160: 21,2226 51507 INDEX DPNDX
043797,000161: 21,2227 21553 DAS DRHO # (1 -.064) DRHO
043798,000162: 21,2230 00006 EXTEND
|
|
Page 1005
|
043800,000164: 21,2231 51507 INDEX DPNDX
043801,000165: 21,2232 41534 DCS ADOT
043802,000166: 21,2233 53511 DXCH KMPAC # -(.1)ADOT
043803,000167: 21,2234 35003 CA QUARTER
043804,000168: 21,2235 02042 TC SMALLMP
043805,000169: 21,2236 53511 DXCH KMPAC
043806,000170: 21,2237 51507 INDEX DPNDX
043807,000171: 21,2240 21553 DAS DRHO
043808,000172: 21,2241 11506 CCS SPNDX
043809,000173: 21,2242 12216 TCF DRHOLOOP
043810,000174:
043811,000175: 21,2243 30032 CA CDUX # MEASURED BODY RATES--
043812,000176: 21,2244 57635 XCH RHO
043813,000177: 21,2245 00006 EXTEND
043814,000178: 21,2246 21635 MSU RHO # - * - -
043815,000179: 21,2247 40000 COM # DELRHO = AMGB (CDU - CDU )
043816,000180: # -1
043817,000181: 21,2250 22007 ZL
043818,000182: 21,2251 53516 DXCH DELTEMPX
043819,000183: 21,2252 30033 CA CDUY
043820,000184: 21,2253 57636 XCH RHO1
043821,000185: 21,2254 00006 EXTEND
043822,000186: 21,2255 21636 MSU RHO1
043823,000187: 21,2256 40000 COM
043824,000188: 21,2257 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
043825,000189: 21,2260 00006 EXTEND
043826,000190: 21,2261 71640 MP AMGB1
043827,000191: 21,2262 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
043828,000192: # MUST BE DOUBLE PRECISION OR WILL LOSE
043829,000193: # PULSES
043830,000194: 21,2263 31641 CA AMGB4
043831,000195: 21,2264 00006 EXTEND
043832,000196: 21,2265 71502 MP T5TEMP
043833,000197: 21,2266 53520 DXCH DELTEMPY
043834,000198: 21,2267 31643 CA AMGB7
043835,000199: 21,2270 00006 EXTEND
043836,000200: 21,2271 71502 MP T5TEMP
043837,000201: 21,2272 53522 DXCH DELTEMPZ
043838,000202: 21,2273 30034 CA CDUZ
043839,000203: 21,2274 57637 XCH RHO2
043840,000204: 21,2275 00006 EXTEND
043841,000205: 21,2276 21637 MSU RHO2
043842,000206: 21,2277 40000 COM
043843,000207: 21,2300 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
043844,000208: 21,2301 00006 EXTEND
043845,000209: 21,2302 71642 MP AMGB5
043846,000210: 21,2303 21520 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
043847,000211: # + AMGB5(CDUZ-RHO2)
043848,000212: 21,2304 31644 CA AMGB8
043849,000213: 21,2305 00006 EXTEND
043850,000214:
|
|
Page 1006
|
043852,000216: 21,2306 71502 MP T5TEMP
043853,000217: 21,2307 21522 DAS DELTEMPZ # DELTEMPZ = AMGB7(CDUY-RHO1)
043854,000218: # + AMGB8(CDUZ-RHO2)
043855,000219: 21,2310 35016 CAF TWO
043856,000220: 21,2311 55506 ADOTLOOP TS SPNDX
043857,000221: 21,2312 60000 DOUBLE
043858,000222: 21,2313 55507 TS DPNDX
043859,000223: 21,2314 00006 EXTEND
043860,000224: 21,2315 51507 INDEX DPNDX
043861,000225: 21,2316 31516 DCA DELTEMPX
043862,000226: 21,2317 51507 INDEX DPNDX
043863,000227: 21,2320 21553 DAS DRHO
043864,000228: 21,2321 00006 EXTEND
043865,000229: 21,2322 51507 INDEX DPNDX
043866,000230: 21,2323 31516 DCA DELTEMPX
043867,000231: 21,2324 51507 INDEX DPNDX
043868,000232: 21,2325 21542 DAS MERRORX
043869,000233: 21,2326 51507 INDEX DPNDX
043870,000234: 21,2327 31552 CA DRHO
043871,000235: 21,2330 60000 DOUBLE # N.B.
043872,000236: 21,2331 60000 DOUBLE # N.B.
043873,000237: 21,2332 00006 EXTEND
043874,000238: 21,2333 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
043875,000239: 21,2334 73115 MP GAIN2
043876,000240: 21,2335 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO
043877,000241: 21,2336 21534 DAS ADOT # -1
043878,000242: 21,2337 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
043879,000243: 21,2340 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
043880,000244: 21,2341 00006 EXTEND
043881,000245: 21,2342 51506 INDEX SPNDX
043882,000246: 21,2343 71547 MP DFT
043883,000247: 21,2344 51507 INDEX DPNDX
043884,000248: 21,2345 21534 DAS ADOT # KMJ(DFT)
043885,000249: 21,2346 11506 CCS SPNDX
043886,000250: 21,2347 12311 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
043887,000251: 21,2350 31560 KMATRIX CA ATTSEC
043888,000252: 21,2351 75026 MASK LOW4
043889,000253: 21,2352 10000 CCS A
043890,000254: 21,2353 12361 TCF TENTHSEK
043891,000255: 21,2354 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
043892,000256: 21,2355 05134 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
043893,000257: 21,2356 E6,1510 EBANK= KMPAC
043894,000258: 21,2356 03447 44066 2CADR AMBGUPDT
043895,000259:
043896,000260: 21,2360 34334 CAF NINE
043897,000261:
043898,000262: 21,2361 55560 TENTHSEK TS ATTSEC
043899,000263:
|
|
Page 1007
|
043901,000265: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
043902,000266: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
043903,000267:
043904,000268: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
043905,000269: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
043906,000270: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
043907,000271:
043908,000272: # THE STEERING PROGRAMS-
043909,000273: # 1) ATTITUDE MANEUVER ROUTINE
043910,000274: # 2) LEM TRACKING
043911,000275:
043912,000276: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
043913,000277: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
043914,000278:
043915,000279: # HOLDFLAG CODING-
043916,000280:
043917,000281: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
043918,000282: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
043919,000283: # ALSO IGNORE AUTOMATIC STEERING
043920,000284: # SET = + BY
043921,000285: # 1) INITIALIZATION PHASE OF AUTOPILOT
043922,000286: # 2) OCCURANCE OF RHC COMMANDS
043923,000287: # 3) FREE MODE
043924,000288: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
043925,000289: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE
043926,000290: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
043927,000291: # FUNCTIONS AS IF IT WERE.)
043928,000292: # 5) S/C CONTROL SWITCH IN SCS
043929,000293: # 6) IMU POWER OFF
043930,000294: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
043931,000295: # - = PERFORMING AUTOMATIC MANEUVER
043932,000296: # -0 = NOT USED AT PRESENT
043933,000297:
043934,000298: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
043935,000299: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
043936,000300: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE APPROPRIATE ACTION.
043937,000301:
043938,000302: 21,2362 41332 CS HOLDFLAG
043939,000303: 21,2363 00006 EXTEND
043940,000304: 21,2364 62411 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
043941,000305: # COMMANDS
043942,000306: 21,2365 35016 DCDUINCR CAF TWO
043943,000307: 21,2366 55506 DELOOP TS SPNDX
043944,000308: 21,2367 60000 DOUBLE
043945,000309: 21,2370 55507 TS DPNDX
043946,000310: 21,2371 00006 EXTEND
043947,000311: 21,2372 50000 INDEX A
043948,000312: 21,2373 31647 DCA CDUXD
|
|
Page 1008
|
043950,000314: 21,2374 53511 DXCH KMPAC
043951,000315: 21,2375 00006 EXTEND
043952,000316: 21,2376 51507 INDEX DPNDX
043953,000317: 21,2377 31576 DCA DELCDUX
043954,000318: 21,2400 02054 TC DPADD
043955,000319: 21,2401 00006 EXTEND
043956,000320: 21,2402 31511 DCA KMPAC
043957,000321: 21,2403 51506 INDEX SPNDX
043958,000322: 21,2404 55572 TS THETADX
043959,000323: 21,2405 51507 INDEX DPNDX
043960,000324: 21,2406 53647 DXCH CDUXD
043961,000325: 21,2407 11506 CCS SPNDX
043962,000326: 21,2410 12366 TCF DELOOP
043963,000327:
|
|
Page 1009
|
043965,000329: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
043966,000330:
043967,000331: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
043968,000332:
043969,000333: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
043970,000334: # GENERATED INTERNALLY BY THE AUTOPILOT
043971,000335:
043972,000336: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
043973,000337: # WITH RESPECT TO THE CONTENTS OF N22
043974,000338:
043975,000339: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
043976,000340: # WITH RESPECT TO THE CONTENTS OF N17
043977,000341:
043978,000342: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
043979,000343: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
043980,000344:
043981,000345: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
043982,000346: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
043983,000347: # AS A FLY-TO INDICATOR.
043984,000348:
043985,000349: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
043986,000350: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
043987,000351: # AS A FLY-TO INDICATOR.
043988,000352:
043989,000353: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
043990,000354: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
043991,000355:
043992,000356: # THESE DISPLAYS WILL BE AVAILIABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
043993,000357: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
043994,000358: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
043995,000359:
043996,000360: 21,2411 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
043997,000361: 21,2412 75014 MASK BIT4
043998,000362: 21,2413 00006 EXTEND
043999,000363: 21,2414 13160 BZF FDAIDSP2
044000,000364:
044001,000365: 21,2415 27501 FDAIDSP1 ADS RCSFLAGS
044002,000366: 21,2416 02420 TC NEEDLER
044003,000367: 21,2417 15333 KRESUME1 TCF RESUME # END PHASE 1
044004,000368:
|
|
Page 1010
|
044006,000370: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
044007,000371:
044008,000372: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
044009,000373:
044010,000374: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
044011,000375: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
044012,000376: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
044013,000377: # THE DACS.
044014,000378:
044015,000379: # CALLING SEQUENCE:
044016,000380:
044017,000381: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
044018,000382: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
044019,000383:
044020,000384: # CS RCSFLAGS IN EBANK6
044021,000385: # MASK BIT3
044022,000386: # ADS RCSFLAGS
044023,000387:
044024,000388: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
044025,000389:
044026,000390: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
044027,000391: # AK1 SCALED 180 DEGREES TO CHANGE
044028,000392: # AK2 SCALED 180 DEGREES
044029,000393:
044030,000394: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
044031,000395: # (= 384 BITS IN IMU ERROR COUNTER)
044032,000396:
044033,000397: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
044034,000398:
044035,000399: # INHINT
044036,000400: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
044037,000401: # CADR NEEDLER
044038,000402: # RELINT
044039,000403:
044040,000404: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
044041,000405: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
044042,000406: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
044043,000407:
044044,000408: # ERASABLE USED:
044045,000409: # AK CDUXCMD
044046,000410: # AK1 CDUYCMD
044047,000411: # AK2 CDUZCMD
044048,000412: # EDRIVEX A,L,Q
044049,000413: # EDRIVEY T5TEMP
044050,000414: # EDRIVEZ SPNDX
044051,000415:
044052,000416: # SWITCHES: RCSFLAGS BITS 3,2
044053,000417:
044054,000418: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
|
|
Page 1011
|
044056,000420: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
044057,000421: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
044058,000422:
044059,000423: # SIGN CONVENTION< AK = THETAC - THETA
044060,000424: # WHERE THETAC = COMMAND ANGLE
044061,000425: # THETA = PRESENT ANGLE
044062,000426:
044063,000427: 21,2420 35014 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
044064,000428: 21,2421 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
044065,000429: 21,2422 02012 RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
044066,000430: 21,2423 00006 EXTEND
044067,000431: 21,2424 12431 BZF NEEDLER1
044068,000432: 21,2425 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
044069,000433: 21,2426 75015 MASK BIT3
044070,000434: 21,2427 27501 ADS RCSFLAGS
044071,000435: 21,2430 00002 TC Q
044072,000436:
044073,000437: 21,2431 31501 NEEDLER1 CA RCSFLAGS
044074,000438: 21,2432 76211 MASK SIX
044075,000439: 21,2433 00006 EXTEND
044076,000440: 21,2434 12471 BZF NEEDLES3
044077,000441: 21,2435 75015 MASK BIT3
044078,000442: 21,2436 00006 EXTEND
044079,000443: 21,2437 12462 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
044080,000444:
044081,000445: 21,2440 45012 CS BIT6 # FIRST PASS BIT3 = 1
044082,000446: 21,2441 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
044083,000447: 21,2442 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
044084,000448: 21,2443 45021 NEEDLE11 CS ZERO # ENABLING COUNTERS.
044085,000449: 21,2444 55476 TS AK # ZERO THE INPUTS ON FIRST PASS
044086,000450: 21,2445 55477 TS AK1
044087,000451: 21,2446 55500 TS AK2
044088,000452: 21,2447 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
044089,000453: 21,2450 55504 TS EDRIVEY
044090,000454: 21,2451 55505 TS EDRIVEZ
044091,000455: 21,2452 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
044092,000456: 21,2453 54051 TS CDUYCMD
044093,000457: 21,2454 54052 TS CDUZCMD
044094,000458: 21,2455 46211 CS SIX # RESET RCSFLAGS FOR PASS2
044095,000459: 21,2456 71501 MASK RCSFLAGS
044096,000460: 21,2457 65016 AD BIT2
044097,000461: 21,2460 55501 TS RCSFLAGS
044098,000462: 21,2461 00002 TC Q # END PASS1
044099,000463:
044100,000464: 21,2462 35012 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
044101,000465: 21,2463 00006 EXTEND
044102,000466: 21,2464 05012 WOR CHAN12
044103,000467: 21,2465 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
|
|
Page 1012
|
044105,000469: 21,2466 71501 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
044106,000470: 21,2467 55501 TS RCSFLAGS # RELAY CLOSURE
044107,000471: 21,2470 00002 TC Q
044108,000472:
044109,000473: 21,2471 35012 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
044110,000474: 21,2472 00006 EXTEND # IS ENABLED
044111,000475: 21,2473 02012 RAND CHAN12
044112,000476: 21,2474 00006 EXTEND # IF NOT RECYCLE NEEDLES
044113,000477: 21,2475 12425 BZF NEEDLER +5
044114,000478:
044115,000479: 21,2476 35016 NEEDLES CAF TWO
044116,000480: 21,2477 55506 DACLOOP TS SPNDX
044117,000481: 21,2500 45003 CS QUARTER
044118,000482: 21,2501 00006 EXTEND
044119,000483: 21,2502 51506 INDEX SPNDX
044120,000484: 21,2503 71476 MP AK
044121,000485: 21,2504 54001 TS L
044122,000486: 21,2505 10000 CCS A
044123,000487: 21,2506 32542 CA DACLIMIT
044124,000488: 21,2507 12511 TCF +2
044125,000489: 21,2510 42542 CS DACLIMIT
044126,000490: 21,2511 60001 AD L
044127,000491: 21,2512 55502 TS T5TEMP # OVFLO CHK
044128,000492: 21,2513 12517 TCF +4
044129,000493: 21,2514 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
044130,000494: 21,2515 32542 CAF DACLIMIT
044131,000495: 21,2516 54001 TS L
044132,000496: 21,2517 51506 INDEX SPNDX
044133,000497: 21,2520 41503 CS EDRIVEX # CURRENT VALUE OF DAC
044134,000498: 21,2521 60001 AD L
044135,000499: 21,2522 51506 INDEX SPNDX
044136,000500: 21,2523 26050 ADS CDUXCMD
044137,000501: 21,2524 51506 INDEX SPNDX
044138,000502: 21,2525 23503 LXCH EDRIVEX
044139,000503: 21,2526 11506 CCS SPNDX
044140,000504: 21,2527 12477 TCF DACLOOP
044141,000505: 21,2530 37707 CAF 13,14,15
044142,000506: 21,2531 00006 EXTEND
044143,000507: 21,2532 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
044144,000508: 21,2533 00002 TC Q
044145,000509:
044146,000510: 21,2534 32540 REINIT CAF DELAY200 # ........TILT LOGIC
044147,000511: 21,2535 54030 TS TIME5 # REINITIALIZE DAP IN 200MS
044148,000512: 21,2536 55465 TS T5PHASE
044149,000513: 21,2537 15333 TCF RESUME
044150,000514: 21,2540 37754 DELAY200 DEC 16364 B-14 # 200MS
044151,000515:
044152,000516: 21,2541 77177 DEC -384 B-14
044153,000517:
|
|
Page 1013
|
044155,000519: 21,2542 37200 DACLIMIT DEC 16000 B-14
044156,000520: 21,2543 00600 DEC 384 B-14
044157,000521:
|
|
Page 1014
|
044159,000523: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
044160,000524:
044161,000525: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
044162,000526:
044163,000527: # WBODY (+1) DFT TAU2
044164,000528: # WBODY1 (+1) DFT1 BIAS
044165,000529: # WBODY2 (+1) DFT2 BIAS1
044166,000530: # ADOT (+1) DRHO (+1) BIAS2
044167,000531: # ADOT1 (+1) DRHO1 (+1) ERRORX
044168,000532: # ADOT2 (+1) DRHO2 (+1) ERRORY
044169,000533: # MERRORX (+1) ATTSEC ERRORZ
044170,000534: # MERRORY (+1) TAU
044171,000535: # MERRORZ (+1) TAU1
044172,000536:
044173,000537: 21,2544 35017 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
044174,000538: 21,2545 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
044175,000539: # ATTITUDE HOLD REFERENCE
044176,000540:
044177,000541: 21,2546 04740 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
044178,000542: 21,2547 40347 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
044179,000543:
044180,000544: 21,2550 04740 TC IBNKCALL # DECODE IXX, IAVG AND CONVERT
044181,000545: 21,2551 40500 CADR S40.14 # TO AUTOPILOT GAINS
044182,000546:
044183,000547: 21,2552 32623 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
044184,000548: 21,2553 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
044185,000549: 21,2554 35021 CAF ZERO
044186,000550: 21,2555 51506 INDEX SPNDX
044187,000551: 21,2556 55525 TS WBODY
044188,000552: 21,2557 11506 CCS SPNDX
044189,000553: 21,2560 12553 TCF ZEROT5
044190,000554: 21,2561 02632 TCR ZEROJET
044191,000555:
044192,000556: 21,2562 45021 CS ZERO
044193,000557: 21,2563 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
044194,000558:
044195,000559: 21,2564 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
044196,000560: # MANUAL RATE MODES
044197,000561:
044198,000562: 21,2565 32624 CAF =.24
044199,000563: 21,2566 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
044200,000564:
044201,000565: 21,2567 35015 CAF FOUR
044202,000566: 21,2570 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
044203,000567: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
044204,000568: # IN (80MS - T5TIME(40MS)). THEREFORE
044205,000569: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
044206,000570: # MS FROM NOW AND EVERY 100MS THEREAFTER
044207,000571:
044208,000572: 21,2571 35024 CAF ELEVEN
044209,000573: 21,2572 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
044210,000574: # TO INITIALIZE THE S/C ANGULAR RATES
|
|
Page 1015
|
044212,000576: 21,2573 30032 CA CDUX
044213,000577: 21,2574 55635 TS RHO
044214,000578: 21,2575 30033 CA CDUY
044215,000579: 21,2576 55636 TS RHO1
044216,000580: 21,2577 30034 CA CDUZ
044217,000581: 21,2600 55637 TS RHO2
044218,000582: 21,2601 35021 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
044219,000583: 21,2602 55465 TS T5PHASE # PHASE2 OF PROGRAM
044220,000584:
044221,000585: 21,2603 41321 CS IMODES33 # CHECK IMU STATUS
044222,000586: 21,2604 75012 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
044223,000587: 21,2605 10000 CCS A # IF BIT6 = 1 IMU NOT READY
044224,000588: 21,2606 12612 TCF IMUAOK
044225,000589: 21,2607 55617 TS ATTKALMN # CANNOT USE IMU
044226,000590: 21,2610 32626 CAF RCSINITB # PROVIDE FREE CONTROL ONLY
044227,000591: 21,2611 12617 TCF RCSSWIT # DONT START UP RATE FILTER
044228,000592: # SIGNAL NO RATE FILTER
044229,000593:
044230,000594: 21,2612 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
044231,000595: 21,2613 05134 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
044232,000596: 21,2614 E6,1510 EBANK= KMPAC
044233,000597: 21,2614 03447 44066 2CADR AMBGUPDT
044234,000598:
044235,000599: 21,2616 32625 CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
044236,000600: 21,2617 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
044237,000601: # SET BIT3 -INITIALIZE NEEDLES
044238,000602: # CLEAR BIT4 -RESET FOR FDAIDSP1
044239,000603: 21,2620 32627 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
044240,000604: # ERROR COUNTER TO ZERO.
044241,000605: # (MINIMUM DELAY = 15 MS)
044242,000606: 21,2621 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
044243,000607: 21,2622 05333 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
044244,000608: # FILTER WILL BEGIN OPERATING ZOOMS FROM
044245,000609: # NOW
044246,000610:
044247,000611: # CONSTANTS USED IN INITIALIZATION PROGRAM
044248,000612:
044249,000613: 21,2623 00044 NO.T5VAR DEC 36 B-14
044250,000614: 21,2624 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC
044251,000615: 21,2625 00004 RCSINIT OCT 00004
044252,000616: 21,2626 20004 RCSINITB OCT 20004
044253,000617: 21,2627 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS
044254,000618: 21,2630 E6,1510 EBANK= KMPAC
044255,000619: 21,2630 03617 36066 T6ADDR 2CADR T6START
044256,000620:
044257,000621: 21,2632 35024 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
044258,000622: 21,2633 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
044259,000623: 21,2634 35021 CAF ZERO # AND RWORD1.
044260,000624:
|
|
Page 1016
|
044262,000626: 21,2635 51506 INDEX SPNDX
044263,000627: 21,2636 55451 TS RWORD1
044264,000628: 21,2637 11506 CCS SPNDX
044265,000629: 21,2640 12633 TCF ZEROJET +1
044266,000630:
044267,000631: 21,2641 35015 CAF FOUR
044268,000632: 21,2642 55462 TS BLAST1 +1
044269,000633: 21,2643 35024 CAF ELEVEN
044270,000634: 21,2644 55464 TS BLAST2 +1
044271,000635:
044272,000636: 21,2645 45017 CS BIT1
044273,000637: 21,2646 71501 MASK RCSFLAGS
044274,000638: 21,2647 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
044275,000639:
044276,000640: 21,2650 00006 EXTEND
044277,000641: 21,2651 32631 DCA T6ADDR
044278,000642: 21,2652 53311 DXCH T6LOC
044279,000643: 21,2653 33050 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
044280,000644: 21,2654 54031 TS TIME6
044281,000645: 21,2655 35001 CAF BIT15
044282,000646: 21,2656 00006 EXTEND
044283,000647: 21,2657 05013 WOR CHAN13
044284,000648:
044285,000649: 21,2660 00002 TC Q
044286,000650:
044287,000651: 21,2661 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
044288,000652: 21,2662 13146 TCF KALUPDT
044289,000653:
044290,000654: 21,2663 12665 TCF +2 # ONLY IF ATTKALMN POSITIVE
044291,000655: 21,2664 12665 TCF +1
044292,000656: 21,2665 32156 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
044293,000657: 21,2666 56030 XCH TIME5 # (JET SELECTION LOGIC)
044294,000658: 21,2667 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
044295,000659:
044296,000660: 21,2670 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
044297,000661: 21,2671 75001 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
044298,000662: 21,2672 00006 EXTEND # ATTKALMN TO -1
044299,000663: 21,2673 12675 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
044300,000664: 21,2674 45017 CS ONE
044301,000665: 21,2675 55617 NOHIAUTO TS ATTKALMN
044302,000666:
|
|
Page 1017
|
044304,000668: # MANUAL ROTATION COMMANDS
044305,000669:
044306,000670: 21,2676 43032 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
044307,000671: 21,2677 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
044308,000672: 21,2700 55501 TS RCSFLAGS
044309,000673:
044310,000674: 21,2701 00006 EXTEND
044311,000675: 21,2702 00031 READ CHAN31
044312,000676: 21,2703 54001 TS L
044313,000677: 21,2704 31632 CA CH31TEMP
044314,000678: 21,2705 00006 EXTEND
044315,000679: 21,2706 06001 RXOR LCHAN
044316,000680: 21,2707 73036 MASK MANROT # = OCT00077
044317,000681: 21,2710 00006 EXTEND
044318,000682: 21,2711 62724 BZMF NOCHANGE
044319,000683:
044320,000684: 21,2712 22000 LXCH A
044321,000685: 21,2713 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
044322,000686:
044323,000687: 21,2714 30001 CA L
044324,000688: 21,2715 00006 EXTEND
044325,000689: 21,2716 75013 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
044326,000690: 21,2717 30001 CA L
044327,000691: 21,2720 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
044328,000692: # WITH CHANGES IN COMMAND. BITS 10,9 FOR
044329,000693: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
044330,000694: # PITCH
044331,000695:
044332,000696: 21,2721 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND
044333,000697: 21,2722 73037 MASK OCT16000 # 11 OF RCSFLAGS)
044334,000698: 21,2723 27501 ADS RCSFLAGS
044335,000699:
044336,000700: 21,2724 41632 NOCHANGE CS CH31TEMP
044337,000701: 21,2725 73036 MASK MANROT
044338,000702: 21,2726 00006 EXTEND
044339,000703: 21,2727 63250 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
044340,000704:
044341,000705: 21,2730 55332 TS HOLDFLAG # SET HOLDFLAG +
044342,000706:
044343,000707: 21,2731 03130 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
044344,000708: # YMANNDX, AND RMANNDX ARE ALL SET, BY
044345,000709: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
044346,000710: # +, OR - ROTATION RESPECTIVELY AS
044347,000711: # COMMANDED BY THE RHC.
044348,000712:
044349,000713: # HOWEVER, IT IS WELL TO NOTE THAT AFTER
044350,000714: # THE RHC IS RETURNED TO DETENT, THE
044351,000715: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
044352,000716: # STICKCHK SO PMANNDX, YMANNDX, AND
044353,000717: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
044354,000718: # LEFT SET TO THEIR LAST OUT OF DETENT
|
|
Page 1018
|
044356,000720: # VALUES.
044357,000721:
044358,000722: 21,2732 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
044359,000723: 21,2733 75002 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
044360,000724: 21,2734 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
044361,000725:
044362,000726: 21,2735 35002 CAF BIT14
044363,000727: 21,2736 00006 EXTEND
044364,000728: 21,2737 02031 RAND CHAN31
044365,000729: 21,2740 00006 EXTEND
044366,000730: 21,2741 63051 BZMF FREEFUNC
044367,000731:
044368,000732: 21,2742 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
044369,000733: 21,2743 75002 MASK BIT14 # HAS BEEN INITIALIZED
044370,000734: 21,2744 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
044371,000735: 21,2745 12534 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
044372,000736:
044373,000737: 21,2746 45022 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RATE, SET
044374,000738: 21,2747 61130 AD RATEINDX # ATTKALMN TO -1.
044375,000739: 21,2750 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
044376,000740: 21,2751 62754 BZMF +3
044377,000741: 21,2752 45017 CS ONE
044378,000742: 21,2753 55617 TS ATTKALMN
044379,000743:
044380,000744: 21,2754 35016 CAF TWO # AUTO-HOLD MANUAL ROTATION
044381,000745: 21,2755 55506 SETWBODY TS SPNDX
044382,000746: 21,2756 60000 DOUBLE
044383,000747: 21,2757 55507 TS DPNDX
044384,000748: 21,2760 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION
044385,000749: 21,2761 31656 CA RMANNDX # = 1 + ROTATION
044386,000750: 21,2762 00006 EXTEND # = 2 - ROTATION
044387,000751: 21,2763 13005 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
044388,000752: # GO TO NORATE.
044389,000753:
044390,000754: 21,2764 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
044391,000755: 21,2765 54002 TS Q # = 2 0.2 DEG/SEC
044392,000756: 21,2766 50002 INDEX Q # = 4 0.5 DEG/SEC
044393,000757: 21,2767 33037 CA MANTABLE -1 # = 6 4.0 DEG/SEC
044394,000758: 21,2770 00006 EXTEND
044395,000759: 21,2771 75007 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
044396,000760: 21,2772 51507 INDEX DPNDX # TO GET COMMANDED RATE.
044397,000761: 21,2773 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE.
044398,000762:
044399,000763: 21,2774 31501 CA RCSFLAGS
044400,000764: 21,2775 73037 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
044401,000765: 21,2776 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
044402,000766: 21,2777 13015 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
044403,000767: # ERROR.
044404,000768:
|
|
Page 1019
|
044406,000770: 21,3000 35021 ZEROER CA ZERO # ZEROER ZEROS MERRORS
044407,000771: 21,3001 22007 ZL
044408,000772: 21,3002 51507 INDEX DPNDX
044409,000773: 21,3003 53542 DXCH MERRORX
044410,000774: 21,3004 13023 TCF SPNDXCHK
044411,000775:
044412,000776: 21,3005 22007 NORATE ZL
044413,000777: 21,3006 51507 INDEX DPNDX
044414,000778: 21,3007 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS
044415,000779: 21,3010 31501 CA RCSFLAGS
044416,000780: 21,3011 73037 MASK OCT16000
044417,000781: 21,3012 00006 EXTEND # IS RATE DAMPING COMPLETED
044418,000782: 21,3013 13023 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
044419,000783: 21,3014 13000 TCF ZEROER # NO, GO TO ZEROER
044420,000784:
044421,000785: 21,3015 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
044422,000786: 21,3016 43037 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
044423,000787: 21,3017 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
044424,000788: 21,3020 75011 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
044425,000789: 21,3021 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
044426,000790: 21,3022 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
044427,000791:
044428,000792: 21,3023 51507 SPNDXCHK INDEX DPNDX
044429,000793: 21,3024 31541 CA MERRORX
044430,000794: 21,3025 51506 INDEX SPNDX
044431,000795: 21,3026 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
044432,000796: 21,3027 11506 CCS SPNDX
044433,000797: 21,3030 12755 TCF SETWBODY
044434,000798: 21,3031 13441 TCF JETS
044435,000799:
044436,000800: 21,3032 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK
044437,000801:
044438,000802: 21,3033 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
044439,000803: 21,3034 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
044440,000804: 21,3035 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
044441,000805: # PRESERVED
044442,000806: # FOR INDEXING
044443,000807: 21,3036 00077 MANROT OCT 77
044444,000808: 21,3037 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
044445,000809: 21,3040 00165 MANTABLE DEC .0071111
044446,000810: 21,3041 77612 DEC -.0071111
044447,000811: 21,3042 00722 DEC .028444
044448,000812: 21,3043 77055 DEC -0.028444
044449,000813: 21,3044 02215 DEC .071111
044450,000814: 21,3045 75562 DEC -.071111
044451,000815: 21,3046 22151 DEC .568889
044452,000816: 21,3047 55626 DEC -.568889
044453,000817: 21,3050 00027 =+14MS DEC 23 B-14
044454,000818: 21,3051 51656 FREEFUNC INDEX RMANNDX # ACCELERATION
|
|
Page 1020
|
044456,000820: 21,3052 33063 CA FREETAU # COMMANDS
044457,000821: 21,3053 55561 TS TAU
044458,000822: 21,3054 51657 INDEX PMANNDX
044459,000823: 21,3055 33063 CA FREETAU # FREETAU 0 SEC
044460,000824: 21,3056 55562 TS TAU1 # +1 +0.10 SEC
044461,000825: 21,3057 51660 INDEX YMANNDX # +2 -0.10 SEC
044462,000826: 21,3060 33063 CA FREETAU # (+3) 0 SEC
044463,000827: 21,3061 55563 TS TAU2
044464,000828: 21,3062 13067 TCF T6PROGM
044465,000829:
044466,000830: 21,3063 00000 FREETAU DEC 0 B-14
044467,000831: 21,3064 00740 DEC 480 B-14
044468,000832: 21,3065 77037 DEC -480 B-14
044469,000833: 21,3066 00000 DEC 0 B-14
044470,000834:
044471,000835: 21,3067 35021 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
044472,000836: 21,3070 55567 TS ERRORX
044473,000837: 21,3071 55570 TS ERRORY
044474,000838: 21,3072 55571 TS ERRORZ
044475,000839: 21,3073 13757 TCF T6PROG
044476,000840:
|
|
Page 1021
|
044478,000842: 21,3074 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
044479,000843: 21,3075 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
044480,000844: 21,3076 06604 DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
044481,000845: 21,3077 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
044482,000846: 21,3100 12132 DEC .3180 # OF ATTITUDE RATES
044483,000847: 21,3101 13030 DEC .3452
044484,000848: 21,3102 14047 DEC .3774
044485,000849: 21,3103 15241 DEC .4161
044486,000850: 21,3104 16650 DEC .4634
044487,000851: 21,3105 20555 DEC .5223
044488,000852: 21,3106 23065 DEC .5970
044489,000853: 21,3107 26137 DEC .6933
044490,000854: 21,3110 32053 DEC .8151
044491,000855: 21,3111 35712 DEC .9342
044492,000856:
044493,000857: 21,3112 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
044494,000858: 21,3113 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
044495,000859: 21,3114 00435 DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
044496,000860: 21,3115 00032 GAIN2 DEC .0016 # SCALED 10
044497,000861: 21,3116 01350 DEC .0454
044498,000862: 21,3117 01575 DEC .0545
044499,000863: 21,3120 02103 DEC .0666
044500,000864: 21,3121 02523 DEC .0832
044501,000865: 21,3122 03327 DEC .1069
044502,000866: 21,3123 04432 DEC .1422
044503,000867: 21,3124 06264 DEC .1985
044504,000868: 21,3125 11351 DEC .2955
044505,000869: 21,3126 17324 DEC .4817
044506,000870: 21,3127 33622 DEC .8683
044507,000871: 21,3130 55502 STICKCHK TS T5TEMP
044508,000872: 21,3131 76214 MASK THREE # INDECES FOR MANUAL ROTATION
044509,000873: 21,3132 55657 TS PMANNDX
044510,000874: 21,3133 31502 CA T5TEMP
044511,000875: 21,3134 00006 EXTEND # MAN RATE 0 0 RATE (DP)
044512,000876: 21,3135 75003 MP QUARTER # +1 + RATE (DP)
044513,000877: 21,3136 55502 TS T5TEMP # +2 - RATE (DP)
044514,000878: 21,3137 76214 MASK THREE # (+3) 0 RATE (DP)
044515,000879: 21,3140 55660 TS YMANNDX
044516,000880: 21,3141 31502 CA T5TEMP
044517,000881: 21,3142 00006 EXTEND
044518,000882: 21,3143 75003 MP QUARTER
044519,000883: 21,3144 55656 TS RMANNDX
044520,000884: 21,3145 00002 TC Q
044521,000885: 21,3146 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
044522,000886: # KALMAN FILTER TAKES 1.1 SEC
044523,000887:
044524,000888: 21,3147 32155 CA DELTATT # =1SEC - 80MS
044525,000889: 21,3150 61634 AD T5TIME # + DELAYS
|
|
Page 1022
|
044527,000891: 21,3151 54030 TS TIME5
044528,000892: 21,3152 13155 TCF +3
044529,000893: 21,3153 32156 CAF DELTATT2 # SAFETY PLAY TO ASSURE
044530,000894: 21,3154 54030 TS TIME5 # A T5RUPT
044531,000895:
044532,000896: 21,3155 45021 KRESUME2 CS ZERO # RESET FOR PHASE1
044533,000897: 21,3156 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM
044534,000898: 21,3157 15333 TCF RESUME
044535,000899:
044536,000900: 21,3160 45014 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
044537,000901: 21,3161 71501 MASK RCSFLAGS
044538,000902: 21,3162 55501 TS RCSFLAGS
044539,000903:
044540,000904: 21,3163 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
044541,000905: 21,3164 75007 MASK BIT9 # ERRORS
044542,000906: 21,3165 00006 EXTEND
044543,000907: 21,3166 13175 BZF FDAITOTL
044544,000908: 21,3167 00006 EXTEND
044545,000909: 21,3170 41570 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
044546,000910: 21,3171 53477 DXCH AK
044547,000911: 21,3172 41571 CS ERRORZ
044548,000912: 21,3173 55500 TS AK2
044549,000913: 21,3174 15333 TCF RESUME # END PHASE 1
044550,000914:
044551,000915: 21,3175 30105 FDAITOTL CA FLAGWRD9
044552,000916: 21,3176 75012 MASK BIT6
044553,000917: 21,3177 00006 EXTEND
044554,000918: 21,3200 13243 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
044555,000919: # IF SO, GO TO WRTN17
044556,000920: 21,3201 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
044557,000921: 21,3202 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
044558,000922: 21,3203 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
044559,000923: 21,3204 31155 CA CPHI # COMPONENTS OF N22
044560,000924:
044561,000925: 21,3205 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
044562,000926: 21,3206 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
044563,000927: 21,3207 55476 TS AK
044564,000928: 21,3210 31513 CA WTEMP
044565,000929: 21,3211 00006 EXTEND
044566,000930: 21,3212 20033 MSU CDUY
044567,000931: 21,3213 55502 TS T5TEMP
044568,000932: 21,3214 00006 EXTEND
044569,000933: 21,3215 71640 MP AMGB1
044570,000934: 21,3216 27476 ADS AK
044571,000935: 21,3217 31502 CA T5TEMP
044572,000936: 21,3220 00006 EXTEND
044573,000937: 21,3221 71641 MP AMGB4
|
|
Page 1023
|
044575,000939: 21,3222 55477 TS AK1
044576,000940: 21,3223 31502 CA T5TEMP
044577,000941: 21,3224 00006 EXTEND
044578,000942: 21,3225 71643 MP AMGB7
044579,000943: 21,3226 55500 TS AK2
044580,000944: 21,3227 31514 CA WTEMP +1
044581,000945: 21,3230 00006 EXTEND
044582,000946: 21,3231 20034 MSU CDUZ
044583,000947: 21,3232 55502 TS T5TEMP
044584,000948: 21,3233 00006 EXTEND
044585,000949: 21,3234 71642 MP AMGB5
044586,000950: 21,3235 27477 ADS AK1
044587,000951: 21,3236 31502 CA T5TEMP
044588,000952: 21,3237 00006 EXTEND
044589,000953: 21,3240 71644 MP AMGB8
044590,000954: 21,3241 27500 ADS AK2
044591,000955: 21,3242 15333 TCF RESUME # END PHASE1 OF RCS DAP
044592,000956:
044593,000957: 21,3243 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
044594,000958: 21,3244 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
044595,000959: 21,3245 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17
044596,000960: 21,3246 31333 CA CPHIX
044597,000961: 21,3247 13205 TCF GETAKS
044598,000962:
|
|
Page 1024
This page is empty.
|
044601,000965:
044602,000966:
End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc