Source Code
|
These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3),
the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72
source code was then modified by incorporating changes known from contemporary documentation to have
been made between revisions 72 and 72/3. The resulting code assembles to have identical
memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably
high confidence that the changes that have been made are correct. In places where
ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.
Since no contemporary listings of Comanche 72/3 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
|
044466,000002: ## Copyright: Public domain.
044467,000003: ## Filename: JET_SELECTION_LOGIC.agc
044468,000004: ## Purpose: A section of Manche72 revision 3.
044469,000005: ## It is part of the reconstructed source code for the final, flown
044470,000006: ## release of the software for the Command Module's (CM) Apollo
044471,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
044472,000008: ## of this program are available; instead, this file was recreated
044473,000009: ## from a reconstructed copy of Comanche 072. It has been adapted
044474,000010: ## such that the resulting bugger words exactly match those
044475,000011: ## specified for Manche72 revision 3 in NASA drawing 2021153G,
044476,000012: ## which gives relatively high confidence that the reconstruction
044477,000013: ## is correct.
044478,000014: ## Assembler: yaYUL
044479,000015: ## Contact: Ron Burkey <info@sandroid.org>.
044480,000016: ## Website: www.ibiblio.org/apollo/index.html
044481,000017: ## Mod history: 2024-05-19 MAS Created from Comanche 072.
044482,000018:
044483,000019: 21,3777 BANK 21
044484,000020: 17,2000 SETLOC DAPS4
044485,000021: 17,2000 BANK
044486,000022:
044487,000023: 17,2610 COUNT 17/DAPJS
044488,000024:
044489,000025: 17,2610 E6,1510 EBANK= KMPAC
044490,000026:
044491,000027: # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
044492,000028:
044493,000029: 17,2610 22016 JETSLECT LXCH BANKRUPT
044494,000030: 17,2611 32672 CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1
044495,000031: 17,2612 61634 AD T5TIME
044496,000032: 17,2613 54030 TS TIME5
044497,000033: 17,2614 12617 TCF +3
044498,000034: 17,2615 32673 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT
044499,000035: 17,2616 54030 TS TIME5
044500,000036: 17,2617 33351 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS
044501,000037: 17,2620 54031 TS TIME6 # IN 14 MS
044502,000038: 17,2621 35015 CAF NEGMAX
044503,000039: 17,2622 00006 EXTEND
044504,000040: 17,2623 05013 WOR CHAN13
044505,000041: 17,2624 00006 EXTEND
044506,000042: 17,2625 22012 QXCH QRUPT
044507,000043: 17,2626 32671 CAF XLNMASK # = 7700 OCT
044508,000044: 17,2627 00006 EXTEND # EXAMINE THE TRANSLATION
044509,000045: 17,2630 06031 RXOR CHAN31 # HAND CONTROLLER
044510,000046: 17,2631 72671 MASK XLNMASK
044511,000047: 17,2632 00006 EXTEND
044512,000048: 17,2633 12674 BZF NOXLNCMD
044513,000049: 17,2634 55502 TS T5TEMP
044514,000050: 17,2635 00006 EXTEND
044515,000051: 17,2636 75023 MP BIT9
044516,000052: 17,2637 76214 MASK THREE
044517,000053: 17,2640 55513 TS XNDX1 # AC QUAD X-TRANSLATION INDEX
044518,000054: 17,2641 55514 TS XNDX2 # BD QUAD X-TRANSLATION INDEX
044519,000055: 17,2642 31502 CA T5TEMP
044520,000056: 17,2643 00006 EXTEND # 1 = + XLN
044521,000057: 17,2644 75025 MP BIT7 # 2 = - XLN
044522,000058: 17,2645 76214 MASK THREE # 3 = NO XLN
044523,000059: 17,2646 55515 TS YNDX # Y-TRANSLATION INDEX
044524,000060:
044525,000061: 17,2647 31502 CA T5TEMP
044526,000062: 17,2650 00006 EXTEND
044527,000063: 17,2651 75027 MP BIT5
044528,000064: 17,2652 76214 MASK THREE
044529,000065: 17,2653 55516 TS ZNDX # Z-TRANSLATION INDEX
044530,000066:
044531,000067: 17,2654 31466 CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
044532,000068: 17,2655 75016 MASK BIT14 # TRANSLATIONS.
044533,000069: 17,2656 00006 EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
044534,000070: 17,2657 12662 BZF NOLEM
044535,000071: 17,2660 46214 CS THREE # IF LEM IS ON, SET ATTKALMN = -3
044536,000072: 17,2661 12663 TCF +2
044537,000073: 17,2662 45032 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2.
044538,000074: 17,2663 55617 TS ATTKALMN
044539,000075: 17,2664 11631 CCS XTRANS # (+, -1, 0)
044540,000076: 17,2665 55513 TS XNDX1 # USING BD-X ZERO XNDX1
044541,000077: 17,2666 12700 TCF PWORD
044542,000078: 17,2667 55514 TS XNDX2 # USING AC-X ZERO XNDX2
044543,000079: 17,2670 12700 TCF PWORD
044544,000080: 17,2671 07700 XLNMASK OCT 7700
044545,000081:
044546,000082: 17,2672 37772 DELTATT3 DEC 16378 B-14 # = 60 MS
044547,000083: 17,2673 37776 DELATT20 DEC 16382 B-14 # = 20 MS
044548,000084:
044549,000085: 17,2674 55513 NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
044550,000086: 17,2675 55514 TS XNDX2
044551,000087: 17,2676 55515 TS YNDX
044552,000088: 17,2677 55516 TS ZNDX
044553,000089:
044554,000090: # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
044555,000091:
044556,000092: 17,2700 11562 PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
044557,000093: 17,2701 35033 CAF ONE
044558,000094: 17,2702 12704 TCF +2 # 0 = NO PITCH
044559,000095: 17,2703 35032 CAF TWO # +1 = + PITCH
044560,000096: 17,2704 55520 TS PINDEX # +2 = - PITCH
044561,000097:
044562,000098: 17,2705 11626 CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
044563,000099: 17,2706 12712 TCF AFAILP
044564,000100: 17,2707 12722 TCF TABPCOM # 0 = NO REAL AC FAILURES
044565,000101: 17,2710 12714 TCF CFAILP # + = A QUAD FAILED
044566,000102: 17,2711 12722 TCF TABPCOM # - = C QUAD FAILED
044567,000103: # IF FAILURES ARE PRESENT IGNORE
044568,000104: # X-TRANSLATIONS ON THIS AXIS
044569,000105:
044570,000106: 17,2712 34334 AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
044571,000107: 17,2713 12724 TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
044572,000108: 17,2714 35775 CFAILP CAF TWELVE
044573,000109: 17,2715 12724 TCF TABPCOM +2
044574,000110:
044575,000111: 17,2716 00000 XLNNDX DEC 0 B-14 # INDECES FOR TRANSLATION COMMANDS
044576,000112: 17,2717 00003 DEC 3 B-14 # FOR USE IN TABLE LOOK UP
044577,000113: 17,2720 00006 DEC 6 B-14
044578,000114: 17,2721 00000 DEC 0 B-14
044579,000115:
044580,000116: 17,2722 5775 TWELVE = OCT14
044581,000117:
044582,000118: # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
044583,000119: # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
044584,000120:
044585,000121: 17,2722 51513 TABPCOM INDEX XNDX1
044586,000122: 17,2723 32716 CA XLNNDX
044587,000123: 17,2724 61520 AD PINDEX
044588,000124: 17,2725 50000 INDEX A
044589,000125: 17,2726 32752 CA PYTABLE
044590,000126: 17,2727 72771 MASK PJETS # =1417 OCT
044591,000127: 17,2730 55453 TS PWORD1
044592,000128: 17,2731 00006 EXTEND
044593,000129: 17,2732 75025 MP BIT7
044594,000130: 17,2733 55523 TS NPJETS # = NO. OF PITCH JETS
044595,000131:
044596,000132: # YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT
044597,000133:
044598,000134: 17,2734 11563 YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
044599,000135: 17,2735 35033 CAF ONE
044600,000136: 17,2736 12740 TCF +2
044601,000137: 17,2737 35032 CAF TWO
044602,000138: 17,2740 55521 TS YINDEX # YAW ROTATION INDEX
044603,000139:
044604,000140: 17,2741 11627 CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
044605,000141: 17,2742 12746 TCF BFAILY # 0 = NO BD FAILURE
044606,000142: 17,2743 12773 TCF TABYCOM # + = B QUAD FAILED
044607,000143: 17,2744 12750 TCF DFAILY # - = D QUAD FAILED
044608,000144: 17,2745 12773 TCF TABYCOM
044609,000145:
044610,000146: 17,2746 34334 BFAILY CAF NINE
044611,000147: 17,2747 12775 TCF TABYCOM +2
044612,000148: 17,2750 35775 DFAILY CAF TWELVE
044613,000149: 17,2751 12775 TCF TABYCOM +2
044614,000150:
044615,000151: # TABLE FOR PITCH(YAW) COMMANDS
044616,000152: # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
044617,000153: # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
044618,000154: # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
044619,000155: # BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
044620,000156:
044621,000157: # ROT TRANS QUAD BIAS
044622,000158: 17,2752 00000 PYTABLE OCT 0 # 0 0 0
044623,000159: 17,2753 05125 OCT 5125 # + 0 0
044624,000160: 17,2754 05252 OCT 5252 # - 0 0
044625,000161: 17,2755 00231 OCT 0231 # 0 + 3
044626,000162: 17,2756 02421 OCT 2421 # + + 3
044627,000163: 17,2757 02610 OCT 2610 # - + 3
044628,000164: 17,2760 00146 OCT 0146 # 0 - 6
044629,000165: 17,2761 02504 OCT 2504 # + - 6
044630,000166: 17,2762 02442 OCT 2442 # - - 6
044631,000167: 17,2763 00000 OCT 0 # 0 A(B) 9
044632,000168: 17,2764 02421 OCT 2421 # + A(B) 9
044633,000169: 17,2765 02442 OCT 2442 # - A(B) 9
044634,000170: 17,2766 00000 OCT 0 # 0 C(D) 12
044635,000171: 17,2767 02504 OCT 2504 # + C(D) 12
044636,000172: 17,2770 02610 OCT 2610 # - C(D) 12
044637,000173:
044638,000174: # MASKS FOR PITCH AND YAW COMMANDS
044639,000175:
044640,000176: 17,2771 01417 PJETS OCT 1417
044641,000177: 17,2772 06360 YJETS OCT 6360
044642,000178:
044643,000179: # TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
044644,000180: # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
044645,000181:
044646,000182: 17,2773 51514 TABYCOM INDEX XNDX2
044647,000183: 17,2774 32716 CA XLNNDX
044648,000184: 17,2775 61521 AD YINDEX
044649,000185: 17,2776 50000 INDEX A
044650,000186: 17,2777 32752 CA PYTABLE
044651,000187: 17,3000 72772 MASK YJETS # = 6360 OCT
044652,000188: 17,3001 55455 TS YWORD1
044653,000189: 17,3002 00006 EXTEND
044654,000190: 17,3003 75027 MP BIT5
044655,000191: 17,3004 55524 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
044656,000192:
044657,000193: # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
044658,000194:
044659,000195: 17,3005 11561 RWORD CCS TAU # CHECK FOR ROLL COMMANDS
044660,000196: 17,3006 35033 CAF ONE
044661,000197: 17,3007 13011 TCF +2
044662,000198: 17,3010 35032 CAF TWO
044663,000199: 17,3011 55517 TS RINDEX
044664,000200:
044665,000201: 17,3012 11630 CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
044666,000202: 17,3013 13104 TCF BDROLL # ROLL COMMANDS
044667,000203: 17,3014 13104 TCF BDROLL # +, +0 = BD ROLL
044668,000204: 17,3015 13016 TCF +1 # -, -0 = AC ROLL
044669,000205:
044670,000206: 17,3016 11626 ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
044671,000207: 17,3017 13023 TCF RAFAIL # ON AC QUADS
044672,000208: 17,3020 13033 TCF RXLNS
044673,000209: 17,3021 13025 TCF RCFAIL
044674,000210: 17,3022 13033 TCF RXLNS
044675,000211:
044676,000212: 17,3023 34334 RAFAIL CAF NINE # QUAD FAILURE WILL GET
044677,000213: 17,3024 13035 TCF TABRCOM # 1-JET OPERATION
044678,000214: 17,3025 35775 RCFAIL CAF TWELVE
044679,000215: 17,3026 13035 TCF TABRCOM
044680,000216:
044681,000217: 17,3027 00000 XLN1NDX DEC 0 B-14
044682,000218: 17,3030 00001 DEC 1 B-14 # INDECES FOR TRANSLATION
044683,000219: 17,3031 00002 DEC 2 B-14
044684,000220: 17,3032 00000 DEC 0 B-14
044685,000221:
044686,000222: # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
044687,000223: # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
044688,000224:
044689,000225: 17,3033 51515 RXLNS INDEX YNDX # NO AC QUAD FAILURES
044690,000226: 17,3034 32716 CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
044691,000227: 17,3035 61517 TABRCOM AD RINDEX
044692,000228: 17,3036 50000 INDEX A
044693,000229: 17,3037 33166 CA RTABLE
044694,000230: 17,3040 73205 MASK ACRJETS # = 3760 OCT
044695,000231: 17,3041 55451 TS RWORD1
044696,000232:
044697,000233: # CHECK FOR Z-TRANSLATIONS ON BD
044698,000234:
044699,000235: 17,3042 31516 BDZCHECK CA ZNDX
044700,000236: 17,3043 00006 EXTEND
044701,000237: 17,3044 63076 BZMF NOBDZ # NO Z-TRANSLATION
044702,000238:
044703,000239: # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
044704,000240: # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL
044705,000241: # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
044706,000242: # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
044707,000243:
044708,000244: 17,3045 11627 CCS RBDFAIL
044709,000245: 17,3046 36214 CAF THREE
044710,000246: 17,3047 13051 TCF +2
044711,000247: 17,3050 36211 CAF SIX
044712,000248: 17,3051 51516 INDEX ZNDX
044713,000249: 17,3052 63027 AD XLN1NDX
044714,000250: 17,3053 50000 INDEX A
044715,000251: 17,3054 33207 CA YZTABLE
044716,000252: 17,3055 73220 MASK BDZJETS # = 3417 OCT
044717,000253: 17,3056 61451 AD RWORD1 # ADD TO ROLL COMMANDS
044718,000254: 17,3057 55502 TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
044719,000255:
044720,000256: 17,3060 00006 EXTEND
044721,000257: 17,3061 75025 MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
044722,000258: 17,3062 66061 AD =-4 # Z-TRANSLATION ADDED ON
044723,000259: 17,3063 55522 TS NRJETS # NET NO. OF +,- ROLL JETS ON
044724,000260: 17,3064 00006 EXTEND
044725,000261: 17,3065 13071 BZF TAUCHECK
044726,000262:
044727,000263: 17,3066 31502 ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
044728,000264: 17,3067 55451 TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL
044729,000265: 17,3070 13332 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
044730,000266:
044731,000267: 17,3071 11561 TAUCHECK CCS TAU
044732,000268: 17,3072 13076 TCF NOBDZ
044733,000269: 17,3073 13066 TCF ACRBDZ
044734,000270: 17,3074 13076 TCF NOBDZ
044735,000271: 17,3075 13066 TCF ACRBDZ
044736,000272:
044737,000273: 17,3076 31451 NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
044738,000274: 17,3077 00006 EXTEND
044739,000275: 17,3100 75025 MP BIT7
044740,000276: 17,3101 67715 AD =-2
044741,000277: 17,3102 55522 TS NRJETS
044742,000278: 17,3103 13332 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
044743,000279:
044744,000280: # BD QUAD SELECTION FOR ROLL COMMANDS
044745,000281:
044746,000282: 17,3104 11627 BDROLL CCS RBDFAIL
044747,000283: 17,3105 13111 TCF RBFAIL
044748,000284: 17,3106 13115 TCF RZXLNS
044749,000285: 17,3107 13113 TCF RDFAIL
044750,000286: 17,3110 13115 TCF RZXLNS
044751,000287: 17,3111 34334 RBFAIL CAF NINE
044752,000288: 17,3112 13117 TCF TABRZCMD
044753,000289: 17,3113 35775 RDFAIL CAF TWELVE
044754,000290: 17,3114 13117 TCF TABRZCMD
044755,000291:
044756,000292: 17,3115 51516 RZXLNS INDEX ZNDX # NO BD FAILURES
044757,000293: 17,3116 32716 CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
044758,000294: 17,3117 61517 TABRZCMD AD RINDEX
044759,000295: 17,3120 50000 INDEX A
044760,000296: 17,3121 33166 CA RTABLE
044761,000297: 17,3122 73206 MASK BDRJETS # = 34017 OCT
044762,000298: 17,3123 55451 TS RWORD1
044763,000299:
044764,000300: 17,3124 31515 ACYCHECK CA YNDX # ANY Y-TRANSLATION
044765,000301: 17,3125 00006 EXTEND
044766,000302: 17,3126 13160 BZF NOACY # NO Y-TRANSLATION
044767,000303: 17,3127 11626 CCS RACFAIL
044768,000304: 17,3130 36214 CAF THREE
044769,000305: 17,3131 13133 TCF +2
044770,000306: 17,3132 36211 CAF SIX
044771,000307: 17,3133 51515 INDEX YNDX
044772,000308: 17,3134 63027 AD XLN1NDX
044773,000309: 17,3135 50000 INDEX A
044774,000310: 17,3136 33207 CA YZTABLE
044775,000311: 17,3137 73221 MASK ACYJETS # = 34360 OCT
044776,000312: 17,3140 61451 AD RWORD1
044777,000313: 17,3141 55502 TS T5TEMP
044778,000314: 17,3142 00006 EXTEND # FOR EXPLANATION SEE CODING ON RTABLE
044779,000315: 17,3143 75030 MP BIT4
044780,000316: 17,3144 66061 AD =-4
044781,000317: 17,3145 55522 TS NRJETS # NO. OF NET ROLL JETS
044782,000318: 17,3146 00006 EXTEND
044783,000319: 17,3147 13153 BZF TAUCHCK # IF NRJETS = 0
044784,000320:
044785,000321: 17,3150 31502 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
044786,000322: 17,3151 55451 TS RWORD1
044787,000323: 17,3152 13332 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
044788,000324:
044789,000325: 17,3153 11561 TAUCHCK CCS TAU
044790,000326: 17,3154 13160 TCF NOACY
044791,000327: 17,3155 13150 TCF BDRACZ
044792,000328: 17,3156 13160 TCF NOACY
044793,000329: 17,3157 13150 TCF BDRACZ
044794,000330:
044795,000331: 17,3160 31451 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
044796,000332: 17,3161 00006 EXTEND
044797,000333: 17,3162 75030 MP BIT4
044798,000334: 17,3163 67715 AD =-2
044799,000335: 17,3164 55522 TS NRJETS
044800,000336: 17,3165 13332 TCF ROLLTIME
044801,000337:
044802,000338: # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
044803,000339:
044804,000340: # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
044805,000341: # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
044806,000342: # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
044807,000343:
044808,000344: # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
044809,000345: # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
044810,000346: # SWITCH TO AC ROLL.
044811,000347:
044812,000348: # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
044813,000349: # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
044814,000350:
044815,000351: # WORD MAKE UP....RTABLE
044816,000352:
044817,000353: # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND-
044818,000354: # ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
044819,000355:
044820,000356: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
044821,000357:
044822,000358: # BIT NO. 11 10 9 NO. OF ROLL JETS
044823,000359:
044824,000360: # 0 0 0 -2
044825,000361: # 0 0 1 -1
044826,000362: # 0 1 0 0
044827,000363: # 0 1 1 +1
044828,000364: # 1 0 0 +2
044829,000365:
044830,000366: # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
044831,000367: # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
044832,000368:
044833,000369: # THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
044834,000370: # (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
044835,000371:
044836,000372: # ROLL TRANS QUADFAIL BIAS
044837,000373:
044838,000374: 17,3166 11000 RTABLE OCT 11000 # 0 0
044839,000375: 17,3167 22125 OCT 22125 # + 0
044840,000376: 17,3170 00252 OCT 00252 # - 0
044841,000377: 17,3171 11231 OCT 11231 # 0 +Y(+Z) 3
044842,000378: 17,3172 15421 OCT 15421 # + +Y(+Z) 3
044843,000379: 17,3173 04610 OCT 04610 # - +Y(+Z) 3
044844,000380: 17,3174 11146 OCT 11146 # 0 -Y(-Z) 6
044845,000381: 17,3175 15504 OCT 15504 # + -Y(-Z) 6
044846,000382: 17,3176 04442 OCT 04442 # - -Y(-Z) 6
044847,000383: 17,3177 11000 OCT 11000 # 0 A(B) 9
044848,000384: 17,3200 15504 OCT 15504 # + A(B) 9
044849,000385: 17,3201 04610 OCT 04610 # - A(B) 9
044850,000386: 17,3202 11000 OCT 11000 # 0 C(D) 12
044851,000387: 17,3203 15421 OCT 15421 # + C(D) 12
044852,000388: 17,3204 04442 OCT 04442 # - C(D) 12
044853,000389:
044854,000390: # RTABLE MASKS-
044855,000391:
044856,000392: 17,3205 03760 ACRJETS OCT 03760
044857,000393: 17,3206 34017 BDRJETS OCT 34017
044858,000394:
044859,000395: # Y, Z TRANSLATION TABLE
044860,000396:
044861,000397: # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
044862,000398: # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
044863,000399: # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
044864,000400: # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
044865,000401: # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
044866,000402: # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
044867,000403: # ABOVE.
044868,000404: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
044869,000405: # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS
044870,000406: # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
044871,000407:
044872,000408: # TRANSLATION QUADFAIL BIAS
044873,000409:
044874,000410: 17,3207 11000 YZTABLE OCT 11000 # 0 0
044875,000411: 17,3210 11231 OCT 11231 # +Z(+Y) 0
044876,000412: 17,3211 11146 OCT 11146 # -Z(-Y) 0
044877,000413: 17,3212 11000 OCT 11000 # 0 B(A) 3
044878,000414: 17,3213 04610 OCT 04610 # +Z(+Y) B(A) 3
044879,000415: 17,3214 15504 OCT 15504 # -Z(-Y) B(A) 3
044880,000416: 17,3215 11000 OCT 11000 # 0 D(C) 6
044881,000417: 17,3216 15421 OCT 15421 # +Z(+Y) D(C) 6
044882,000418: 17,3217 04442 OCT 04442 # -Z(-Y) D(C) 6
044883,000419:
044884,000420: # YZ-TABLE MASKS-
044885,000421:
044886,000422: 17,3220 03417 BDZJETS OCT 03417
044887,000423: 17,3221 34360 ACYJETS OCT 34360
044888,000424:
044889,000425: # ADDITIONAL CONSTANTS
044890,000426:
044891,000427: 17,3222 7715 =-2 = NEG2
044892,000428: 17,3222 6061 =-4 = NEG4
044893,000429:
044894,000430: # CALCULATION OF JET ON-TIMES
044895,000431:
044896,000432: # THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
044897,000433: # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
044898,000434: # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
044899,000435: # ERVAL.
044900,000436: # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
044901,000437: # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
044902,000438: # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
044903,000439: # UPDATE DFT.
044904,000440: # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
044905,000441: # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
044906,000442: # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
044907,000443: # AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
044908,000444: # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
044909,000445: # ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
044910,000446:
044911,000447: # PITCH JET ON-TIME CALCULATION
044912,000448:
044913,000449: 17,3222 11562 PITCHTIM CCS TAU1
044914,000450: 17,3223 13232 TCF PTAUPOS
044915,000451: 17,3224 13226 TCF +2
044916,000452: 17,3225 13230 TCF PTAUNEG
044917,000453: 17,3226 55550 TS DFT1 # NO PITCH ROTATION
044918,000454: 17,3227 13430 TCF PBYPASS # COMMANDS
044919,000455:
044920,000456: 17,3230 41523 PTAUNEG CS NPJETS
044921,000457: 17,3231 55523 TS NPJETS
044922,000458: 17,3232 31562 PTAUPOS CA TAU1
044923,000459: 17,3233 00006 EXTEND
044924,000460: 17,3234 51523 INDEX NPJETS
044925,000461: 17,3235 73411 MP NJET
044926,000462: 17,3236 55461 TS BLAST1
044927,000463: 17,3237 63344 AD =-.1SEC
044928,000464: 17,3240 00006 EXTEND
044929,000465: 17,3241 63252 BZMF AD14MSP
044930,000466: 17,3242 51523 INDEX NPJETS
044931,000467: 17,3243 33345 CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC
044932,000468: 17,3244 55550 TS DFT1
044933,000469: 17,3245 40000 COM
044934,000470: 17,3246 27562 ADS TAU1 # UPDATE TAU1
044935,000471: 17,3247 33346 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION
044936,000472: 17,3250 55461 TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY
044937,000473: 17,3251 13415 TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH
044938,000474: # OVER TO TVC
044939,000475: 17,3252 41461 AD14MSP CS BLAST1 # SEE IF JET ON TIME LESS THAN
044940,000476: 17,3253 63351 AD =14MS # MINIMUM IMPULSE TIME
044941,000477: 17,3254 00006 EXTEND
044942,000478: 17,3255 63260 BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS
044943,000479: 17,3256 33351 CAF =14MS
044944,000480: 17,3257 55461 TS BLAST1
044945,000481: 17,3260 31461 PBLASTOK CA BLAST1
044946,000482: 17,3261 00006 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED
044947,000483: 17,3262 71523 MP NPJETS # WITHIN THE TS-CYCLE TIME
044948,000484: 17,3263 23550 LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
044949,000485: 17,3264 55562 TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
044950,000486: 17,3265 13415 TCF ASMBLWP
044951,000487:
044952,000488: # YAW JET ON-TIME CALCULATION
044953,000489:
044954,000490: 17,3266 11563 YAWTIME CCS TAU2
044955,000491: 17,3267 13276 TCF YTAUPOS
044956,000492: 17,3270 13272 TCF +2
044957,000493: 17,3271 13274 TCF YTAUNEG
044958,000494: 17,3272 55551 TS DFT2 # NO YAW ROTATION COMMANDS
044959,000495: 17,3273 13574 TCF YBYPASS
044960,000496:
044961,000497: 17,3274 41524 YTAUNEG CS NYJETS
044962,000498: 17,3275 55524 TS NYJETS
044963,000499: 17,3276 31563 YTAUPOS CA TAU2
044964,000500: 17,3277 00006 EXTEND
044965,000501: 17,3300 51524 INDEX NYJETS
044966,000502: 17,3301 73411 MP NJET
044967,000503: 17,3302 55463 TS BLAST2
044968,000504: 17,3303 63344 AD =-.1SEC
044969,000505: 17,3304 00006 EXTEND
044970,000506: 17,3305 63316 BZMF AD14MSY
044971,000507: 17,3306 51524 INDEX NYJETS
044972,000508: 17,3307 33345 CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC
044973,000509: 17,3310 55551 TS DFT2
044974,000510: 17,3311 40000 COM
044975,000511: 17,3312 27563 ADS TAU2 # DECREMENT TAU2
044976,000512: 17,3313 33346 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
044977,000513: 17,3314 55463 TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
044978,000514: 17,3315 13561 TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
044979,000515:
044980,000516: 17,3316 41463 AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
044981,000517: 17,3317 63351 AD =14MS # MINIMUM IMPULSE TIME
044982,000518: 17,3320 00006 EXTEND
044983,000519: 17,3321 63324 BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
044984,000520: 17,3322 33351 CAF =14MS
044985,000521: 17,3323 55463 TS BLAST2
044986,000522: 17,3324 31463 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
044987,000523: 17,3325 00006 EXTEND # THE T5CYCLE TIME
044988,000524: 17,3326 71524 MP NYJETS
044989,000525: 17,3327 23551 LXCH DFT2
044990,000526: 17,3330 55563 TS TAU2 # ZERO TAU2
044991,000527: 17,3331 13561 TCF ASMBLWY
044992,000528:
044993,000529: # ROLL ON-TIME CALCULATION-
044994,000530:
044995,000531: 17,3332 11561 ROLLTIME CCS TAU
044996,000532: 17,3333 13352 TCF RBLAST
044997,000533: 17,3334 13336 TCF +2
044998,000534: 17,3335 13352 TCF RBLAST
044999,000535: 17,3336 51522 INDEX NRJETS
045000,000536: 17,3337 33345 CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
045001,000537: 17,3340 55547 TS DFT # PRESENT
045002,000538: 17,3341 13554 TCF RBYPASS
045003,000539:
045004,000540: 17,3342 77037 DEC -480 B-14 # =-.3SEC
045005,000541: 17,3343 77277 DEC -320 B-14 # =-.2SEC
045006,000542: 17,3344 77537 =-.1SEC DEC -160 B-14 # =-.1SEC
045007,000543: 17,3345 00000 DFTMAX DEC 0 B-14 # 0
045008,000544: 17,3346 00240 =+.1SEC DEC 160 B-14 # =+.1SEC
045009,000545: 17,3347 00500 DEC 320 B-14 # =+.2SEC
045010,000546: 17,3350 00740 DEC 480 B-14 # =+.3SEC
045011,000547: 17,3351 00027 =14MS DEC 23 B-14 # =14MS
045012,000548:
045013,000549: 17,3352 31561 RBLAST CA TAU
045014,000550: 17,3353 00006 EXTEND
045015,000551: 17,3354 51522 INDEX NRJETS
045016,000552: 17,3355 73411 MP NJET
045017,000553: 17,3356 55457 TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE
045018,000554: # USED IN DETERMINING THE JET ON-TIMES
045019,000555: 17,3357 63344 AD =-.1SEC
045020,000556: 17,3360 00006 EXTEND
045021,000557: 17,3361 63372 BZMF AD14MSR
045022,000558: 17,3362 51522 INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER
045023,000559: 17,3363 33345 CA DFTMAX # THAN THE T5 CYCLE TIME
045024,000560: 17,3364 55547 TS DFT
045025,000561: 17,3365 40000 COM
045026,000562: 17,3366 27561 ADS TAU
045027,000563: 17,3367 33346 CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
045028,000564: 17,3370 55457 TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
045029,000565: 17,3371 13435 TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
045030,000566:
045031,000567: 17,3372 41457 AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
045032,000568: 17,3373 63351 AD =14MS # MINIMUM IMPULSE TIME
045033,000569: 17,3374 00006 EXTEND
045034,000570: 17,3375 63400 BZMF RBLASTOK
045035,000571: 17,3376 33351 CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045036,000572: 17,3377 55457 TS BLAST
045037,000573: 17,3400 31457 RBLASTOK CA BLAST
045038,000574: 17,3401 00006 EXTEND
045039,000575: 17,3402 71522 MP NRJETS
045040,000576: 17,3403 23547 LXCH DFT
045041,000577: 17,3404 55561 TS TAU # ZERO TAU
045042,000578: 17,3405 13435 TCF ASMBLWR
045043,000579:
045044,000580: 17,3406 65252 DEC -.333333 # = -1/3
045045,000581: 17,3407 57777 DEC -.500000 # = -1/2
045046,000582: 17,3410 40000 DEC -.999999 # = -1 (NEGMAX)
045047,000583: 17,3411 00000 NJET DEC 0 B-14
045048,000584: 17,3412 37777 DEC .999999 # = +1 (POSMAX)
045049,000585: 17,3413 20000 DEC .500000 # = +1/2
045050,000586: 17,3414 12525 DEC .333333 # = +1/3
045051,000587:
045052,000588: # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
045053,000589: # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
045054,000590:
045055,000591: # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
045056,000592: # CORRESPONDING ROTATIONS ARE COMPLETED.
045057,000593:
045058,000594: # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
045059,000595:
045060,000596: 17,3415 11626 ASMBLWP CCS RACFAIL
045061,000597: 17,3416 13424 TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION
045062,000598: 17,3417 13421 TCF +2
045063,000599: 17,3420 13424 TCF FPX2
045064,000600: 17,3421 51513 INDEX XNDX1
045065,000601: 17,3422 32716 CA XLNNDX
045066,000602: 17,3423 50000 INDEX A
045067,000603: 17,3424 32752 FPX2 CA PYTABLE
045068,000604: 17,3425 72771 MASK PJETS
045069,000605: 17,3426 55454 TS PWORD2
045070,000606: 17,3427 13266 TCF YAWTIME
045071,000607:
045072,000608: 17,3430 31453 PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
045073,000609: 17,3431 55454 TS PWORD2 # UPON ENTRY
045074,000610: 17,3432 35035 CAF ZERO
045075,000611: 17,3433 55461 TS BLAST1 # THERE IS NO PWORD2
045076,000612: 17,3434 13266 TCF YAWTIME
045077,000613:
045078,000614: # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
045079,000615:
045080,000616: 17,3435 11515 ASMBLWR CCS YNDX # CHECK FOR Y-TRANS
045081,000617: 17,3436 13446 TCF ACBD2Y
045082,000618: 17,3437 35035 NO2Y CAF ZERO
045083,000619: 17,3440 55452 TS RWORD2
045084,000620: 17,3441 11516 CCS ZNDX # CHECK FOR Z-TRANS
045085,000621: 17,3442 13511 TCF ACBD2Z
045086,000622: 17,3443 35035 NO2Z CAF ZERO
045087,000623: 17,3444 27452 ADS RWORD2
045088,000624: 17,3445 13222 TCF PITCHTIM # RWORD2 ASSEMBLED
045089,000625:
045090,000626: 17,3446 11630 ACBD2Y CCS ACORBD
045091,000627: 17,3447 13464 TCF AC2Y # CAN DO Y-TRANS
045092,000628: 17,3450 13464 TCF AC2Y
045093,000629: 17,3451 13452 TCF +1 # USING AC FOR ROLL
045094,000630: 17,3452 11626 CCS RACFAIL
045095,000631: 17,3453 13437 TCF NO2Y # USING AC AND AC HAS FAILED
045096,000632: 17,3454 13456 TCF +2
045097,000633: 17,3455 13437 TCF NO2Y # DITTO
045098,000634:
045099,000635: 17,3456 51515 INDEX YNDX # NO FAILURES, CAN DO Y
045100,000636: 17,3457 32716 CA XLNNDX
045101,000637: 17,3460 50000 INDEX A
045102,000638: 17,3461 33166 CA RTABLE
045103,000639: 17,3462 73205 MASK ACRJETS
045104,000640: 17,3463 13440 TCF NO2Y +1
045105,000641:
045106,000642: 17,3464 11626 AC2Y CCS RACFAIL
045107,000643: 17,3465 36214 CAF THREE
045108,000644: 17,3466 13470 TCF +2
045109,000645: 17,3467 36211 CAF SIX
045110,000646: 17,3470 51515 INDEX YNDX
045111,000647: 17,3471 63027 AD XLN1NDX
045112,000648: 17,3472 50000 INDEX A
045113,000649: 17,3473 33207 CA YZTABLE
045114,000650: 17,3474 73221 MASK ACYJETS
045115,000651: 17,3475 55452 TS RWORD2
045116,000652: 17,3476 00006 EXTEND
045117,000653: 17,3477 75030 MP BIT4
045118,000654: 17,3500 67715 AD =-2
045119,000655: 17,3501 55522 TS NRJETS
045120,000656: 17,3502 41457 CS BLAST
045121,000657: 17,3503 63346 AD =+.1SEC
045122,000658: 17,3504 00006 EXTEND
045123,000659: 17,3505 71522 MP NRJETS
045124,000660: 17,3506 30001 CA L
045125,000661: 17,3507 27547 ADS DFT
045126,000662: 17,3510 13441 TCF NO2Y +2
045127,000663: 17,3511 11630 ACBD2Z CCS ACORBD
045128,000664: 17,3512 13542 TCF BDF2Z # USING BD-ROLL
045129,000665: 17,3513 13542 TCF BDF2Z # MUST CHECK FOR BD FAILURES
045130,000666: 17,3514 13515 TCF +1
045131,000667: 17,3515 11627 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS
045132,000668: 17,3516 36214 CAF THREE
045133,000669: 17,3517 13521 TCF +2
045134,000670: 17,3520 36211 CAF SIX
045135,000671: 17,3521 51516 INDEX ZNDX
045136,000672: 17,3522 63027 AD XLN1NDX
045137,000673: 17,3523 50000 INDEX A
045138,000674: 17,3524 33207 CA YZTABLE
045139,000675: 17,3525 73220 MASK BDZJETS
045140,000676: 17,3526 27452 ADS RWORD2
045141,000677: 17,3527 00006 EXTEND
045142,000678: 17,3530 75025 MP BIT7
045143,000679: 17,3531 67715 AD =-2
045144,000680: 17,3532 55522 TS NRJETS
045145,000681: 17,3533 41457 CS BLAST
045146,000682: 17,3534 63346 AD =+.1SEC
045147,000683: 17,3535 00006 EXTEND
045148,000684: 17,3536 71522 MP NRJETS
045149,000685: 17,3537 30001 CA L
045150,000686: 17,3540 27547 ADS DFT
045151,000687: 17,3541 13222 TCF PITCHTIM
045152,000688:
045153,000689: 17,3542 11627 BDF2Z CCS RBDFAIL
045154,000690: 17,3543 13443 TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
045155,000691: 17,3544 13546 TCF +2
045156,000692: 17,3545 13443 TCF NO2Z # DITTO
045157,000693: 17,3546 51516 INDEX ZNDX
045158,000694: 17,3547 32716 CA XLNNDX
045159,000695: 17,3550 50000 INDEX A
045160,000696: 17,3551 33166 CA RTABLE
045161,000697: 17,3552 73206 MASK BDRJETS
045162,000698: 17,3553 13444 TCF NO2Z +1
045163,000699:
045164,000700: 17,3554 31451 RBYPASS CA RWORD1
045165,000701: 17,3555 55452 TS RWORD2
045166,000702: 17,3556 35035 CAF ZERO
045167,000703: 17,3557 55457 TS BLAST
045168,000704: 17,3560 13222 TCF PITCHTIM
045169,000705:
045170,000706: # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
045171,000707:
045172,000708: 17,3561 11627 ASMBLWY CCS RBDFAIL
045173,000709: 17,3562 13570 TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION
045174,000710: 17,3563 13565 TCF +2
045175,000711: 17,3564 13570 TCF FYX2
045176,000712: 17,3565 51514 INDEX XNDX2
045177,000713: 17,3566 32716 CA XLNNDX
045178,000714: 17,3567 50000 INDEX A
045179,000715: 17,3570 32752 FYX2 CA PYTABLE
045180,000716: 17,3571 72772 MASK YJETS
045181,000717: 17,3572 55456 TS YWORD2
045182,000718: 17,3573 13600 TCF T6SETUP
045183,000719:
045184,000720: 17,3574 31455 YBYPASS CA YWORD1
045185,000721: 17,3575 55456 TS YWORD2
045186,000722: 17,3576 35035 CAF ZERO
045187,000723: 17,3577 55463 TS BLAST2
045188,000724:
045189,000725: # SORT THE JET ON-TIMES
045190,000726:
045191,000727: # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
045192,000728:
045193,000729: # RWORD1
045194,000730: # RWORD2 BLAST
045195,000731:
045196,000732: # PWORD1
045197,000733: # PWORD2 BLAST1
045198,000734:
045199,000735: # YWORD1
045200,000736: # YWORD2 BLAST2
045201,000737:
045202,000738: # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
045203,000739: # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
045204,000740: # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
045205,000741: # ORDER WORD.
045206,000742:
045207,000743: 17,3600 35035 T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
045208,000744: 17,3601 55460 TS BLAST +1
045209,000745: 17,3602 35031 CAF FOUR # BRANCH INDEX FOR PITCH
045210,000746: 17,3603 55462 TS BLAST1 +1
045211,000747: 17,3604 35040 CAF ELEVEN # BRANCH INDEX FOR YAW
045212,000748: 17,3605 55464 TS BLAST2 +1
045213,000749:
045214,000750: 17,3606 41457 CS BLAST
045215,000751: 17,3607 61461 AD BLAST1
045216,000752: 17,3610 00006 EXTEND
045217,000753: 17,3611 63635 BZMF DXCHT12 # T1 GR T2
045218,000754: 17,3612 41461 CHECKT23 CS BLAST1
045219,000755: 17,3613 61463 AD BLAST2
045220,000756: 17,3614 00006 EXTEND
045221,000757: 17,3615 63641 BZMF DXCHT23
045222,000758: 17,3616 41461 CALCDT6 CS BLAST1
045223,000759: 17,3617 27463 ADS BLAST2
045224,000760: 17,3620 41457 CS BLAST
045225,000761: 17,3621 27461 ADS BLAST1 # END OF SORTING PROCEDURE
045226,000762: 17,3622 00006 EXTEND # RESET T5LOC TO BEGIN PHASE1
045227,000763: 17,3623 33634 DCA RCS2CADR
045228,000764: 17,3624 53313 DXCH T5LOC
045229,000765: 17,3625 45033 ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
045230,000766: 17,3626 71501 MASK RCSFLAGS # T6 PROGRAM
045231,000767: 17,3627 55501 TS RCSFLAGS
045232,000768: 17,3630 45035 CS ZERO # RESET T5PHASE FOR PHASE1
045233,000769: 17,3631 55465 TS T5PHASE
045234,000770: 17,3632 15347 TCF RESUME # RESUME INTERRUPTED PROGRAM
045235,000771:
045236,000772: 17,3633 E6,1510 EBANK= KMPAC
045237,000773: 17,3633 02134 42066 RCS2CADR 2CADR RCSATT
045238,000774:
045239,000775: 17,3635 53460 DXCHT12 DXCH BLAST
045240,000776: 17,3636 53462 DXCH BLAST1
045241,000777: 17,3637 53460 DXCH BLAST
045242,000778: 17,3640 13612 TCF CHECKT23
045243,000779:
045244,000780: 17,3641 53462 DXCHT23 DXCH BLAST1
045245,000781: 17,3642 53464 DXCH BLAST2
045246,000782: 17,3643 53462 DXCH BLAST1
045247,000783: 17,3644 41457 CS BLAST
045248,000784: 17,3645 61461 AD BLAST1
045249,000785: 17,3646 00006 EXTEND
045250,000786: 17,3647 63651 BZMF +2
045251,000787: 17,3650 13616 TCF CALCDT6
045252,000788: 17,3651 53460 DXCH BLAST
045253,000789: 17,3652 53462 DXCH BLAST1
045254,000790: 17,3653 53460 DXCH BLAST
045255,000791: 17,3654 13616 TCF CALCDT6
045256,000792:
045257,000793: # T6 PROGRAM AND CHANNEL SETUP
045258,000794:
045259,000795: 21,3777 BANK 21
045260,000796: 17,2000 SETLOC DAPS5
045261,000797: 17,2000 BANK
045262,000798:
045263,000799: 17,3655 22016 T6START LXCH BANKRUPT
045264,000800: 17,3656 00006 EXTEND
045265,000801: 17,3657 22012 QXCH QRUPT
045266,000802: 17,3660 10031 CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET
045267,000803: 17,3661 15347 TCF RESUME # AFTER T6RUPT OCCURED (IN T5RUPT)
045268,000804: 17,3662 13664 TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
045269,000805: 17,3663 15347 TCF RESUME # TAKING ACTION
045270,000806:
045271,000807: 17,3664 41501 CS RCSFLAGS
045272,000808: 17,3665 75033 MASK BIT1 # IF BIT1 IS 0 RESET TO 1
045273,000809: 17,3666 00006 EXTEND # AND INITIALIZE CHANNEL
045274,000810: 17,3667 13700 BZF T6RUPTOR
045275,000811: 17,3670 27501 ADS RCSFLAGS
045276,000812: 17,3671 31451 CA RWORD1
045277,000813: 17,3672 00006 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1
045278,000814: 17,3673 01006 WRITE CHAN6
045279,000815: 17,3674 31453 CA PWORD1
045280,000816: 17,3675 61455 AD YWORD1
045281,000817: 17,3676 00006 EXTEND
045282,000818: 17,3677 01005 WRITE CHAN5
045283,000819:
045284,000820: 17,3700 11457 T6RUPTOR CCS BLAST
045285,000821: 17,3701 13760 TCF ZBLAST # ZERO BLAST1
045286,000822: 17,3702 13717 TCF REPLACE # REPLACE WORD1
045287,000823: 17,3703 13705 TCF +2
045288,000824: 17,3704 13717 TCF REPLACE
045289,000825: 17,3705 11461 T6L1 CCS BLAST1
045290,000826: 17,3706 13763 TCF ZBLAST1
045291,000827: 17,3707 13724 TCF REPLACE1
045292,000828: 17,3710 13712 TCF +2
045293,000829: 17,3711 13724 TCF REPLACE1
045294,000830: 17,3712 11463 T6L2 CCS BLAST2
045295,000831: 17,3713 13766 TCF ZBLAST2
045296,000832: 17,3714 13731 TCF REPLACE2
045297,000833: 17,3715 15347 TCF RESUME
045298,000834: 17,3716 13731 TCF REPLACE2
045299,000835:
045300,000836: 17,3717 51460 REPLACE INDEX BLAST +1
045301,000837: 17,3720 03736 TC REPLACER
045302,000838: 17,3721 45033 CS ONE
045303,000839: 17,3722 55457 TS BLAST
045304,000840: 17,3723 13705 TCF T6L1
045305,000841:
045306,000842: 17,3724 51462 REPLACE1 INDEX BLAST1 +1
045307,000843: 17,3725 03736 TC REPLACER
045308,000844: 17,3726 45033 CS ONE
045309,000845: 17,3727 55461 TS BLAST1
045310,000846: 17,3730 13712 TCF T6L2
045311,000847:
045312,000848: 17,3731 51464 REPLACE2 INDEX BLAST2 +1
045313,000849: 17,3732 03736 TC REPLACER
045314,000850: 17,3733 45033 CS ONE
045315,000851: 17,3734 55463 TS BLAST2
045316,000852: 17,3735 15347 TCF RESUME
045317,000853:
045318,000854: 17,3736 31452 REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2
045319,000855: 17,3737 00006 EXTEND
045320,000856: 17,3740 01006 WRITE CHAN6
045321,000857: 17,3741 00002 TC Q
045322,000858:
045323,000859: 17,3742 32772 REPLACEP CA YJETS
045324,000860: 17,3743 00006 EXTEND
045325,000861: 17,3744 02005 RAND CHAN5
045326,000862: 17,3745 61454 AD PWORD2
045327,000863: 17,3746 00006 EXTEND
045328,000864: 17,3747 01005 WRITE CHAN5
045329,000865: 17,3750 00002 TC Q
045330,000866:
045331,000867: 17,3751 32771 REPLACEY CA PJETS
045332,000868: 17,3752 00006 EXTEND
045333,000869: 17,3753 02005 RAND CHAN5
045334,000870: 17,3754 61456 AD YWORD2
045335,000871: 17,3755 00006 EXTEND
045336,000872: 17,3756 01005 WRITE CHAN5
045337,000873: 17,3757 00002 TC Q
045338,000874:
045339,000875: 17,3760 35035 ZBLAST CAF ZERO
045340,000876: 17,3761 57457 XCH BLAST
045341,000877: 17,3762 13770 TCF ENABT6
045342,000878: 17,3763 35035 ZBLAST1 CAF ZERO
045343,000879: 17,3764 57461 XCH BLAST1
045344,000880: 17,3765 13770 TCF ENABT6
045345,000881: 17,3766 35035 ZBLAST2 CAF ZERO
045346,000882: 17,3767 57463 XCH BLAST2
045347,000883: 17,3770 54031 ENABT6 TS TIME6
045348,000884: 17,3771 35015 CAF NEGMAX
045349,000885: 17,3772 00006 EXTEND
045350,000886: 17,3773 05013 WOR CHAN13 # ENABLE T6RUPT
045351,000887: 17,3774 15347 TCF RESUME
045352,000888:
045353,000889: # END OF T6 INTERRUPT
045354,000890:
045355,000891: 17,3775 ENDSLECT EQUALS
045356,000892:
End of include-file JET_SELECTION_LOGIC.agc. Parent file is MAIN.agc