Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Peter McDermott.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part:
YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
DEC 13, 1966
THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37
OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.
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013765,000002: ## Copyright: Public domain.
013766,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
013767,000004: ## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
013768,000005: ## It is part of an early development version of the software
013769,000006: ## for Apollo Guidance Computer (AGC) on the unmanned Lunar
013770,000007: ## Module (LM) flight Apollo 5. Sunburst 37 was the program
013771,000008: ## upon which Don Eyles's offline development program Shepatin
013772,000009: ## was based; the listing herein transcribed was actually for
013773,000010: ## the equivalent revision 0 of Shepatin.
013774,000011: ## This file is intended to be a faithful transcription, except
013775,000012: ## that the code format has been changed to conform to the
013776,000013: ## requirements of the yaYUL assembler rather than the
013777,000014: ## original YUL assembler.
013778,000015: ## Reference: pp. 322-341
013779,000016: ## Assembler: yaYUL
013780,000017: ## Contact: Ron Burkey <info@sandroid.org>.
013781,000018: ## Website: www.ibiblio.org/apollo/index.html
013782,000019: ## Mod history: 2017-05-24 MAS Created from Sunburst 120.
013783,000020: ## 2017-06-06 HG Transcribed
013784,000021: ## 2017-06-22 RSB Proofed comment text with
013785,000022: ## octopus/ProoferComments.
013786,000023: ## 2021-05-30 ABS Aligned IAW to field boundary.
013787,000024:
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Page 322 |
013789,000026: 15,2472 BANK 15
013790,000027: 15,2472 E5,1400 EBANK= XSM
013791,000028:
013792,000029:
013793,000030: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
013794,000031:
013795,000032: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
013796,000033: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
013797,000034:
013798,000035: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
013799,000036: # MGC, AND OGC RESPECTIVELY. ANGLES ARE SCALED PROPERLY FOR IMUPULSE.
013800,000037:
013801,000038:
013802,000039: 15,2472 71220 CALCGTA ITA DLOAD # PUSHDOWN 00,02,16D,18D,22D-26D,32D-36D
013803,000040: 15,2473 00051 S2 # XDC = (XD1 XD2 XD3)
013804,000041: 15,2474 02423 XDC # YDC = (YD1 YD2 YD3)
013805,000042: 15,2475 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
013806,000043: 15,2476 33152 ZERODP
013807,000044: 15,2477 02427 XDC +4
013808,000045: 15,2500 55476 DCOMP VDEF
013809,000046: 15,2501 77656 UNIT
013810,000047: 15,2502 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
013811,000048: 15,2503 00027 ZPRIME
013812,000049:
013813,000050: 15,2504 77742 SR1
013814,000051: 15,2505 14023 STODL SINTH # SIN(IGC) = ZP1
013815,000052: 15,2506 00033 ZPRIME +4
013816,000053: 15,2507 77742 SR1
013817,000054: 15,2510 34021 STCALL COSTH # COS(IGC) = ZP3
013818,000055: 15,2511 32543 ARCTRIG
013819,000056:
013820,000057: 15,2512 16503 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
013821,000058: 15,2513 02425 XDC +2
013822,000059: 15,2514 77742 SR1
013823,000060: 15,2515 14023 STODL SINTH # SIN(MGC) = XD2
013824,000061: 15,2516 00027 ZPRIME
013825,000062:
013826,000063: 15,2517 65205 DMP PDDL
013827,000064: 15,2520 02427 XDC +4 # PD00 = (ZP1)(XD3)
013828,000065: 15,2521 00033 ZPRIME +4
013829,000066:
013830,000067: 15,2522 45205 DMP DSU
013831,000068: 15,2523 02423 XDC # MPAC = (ZP3)(XD1)
013832,000069: 15,2524 77626 STADR
013833,000070: 15,2525 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
013834,000071: 15,2526 32543 ARCTRIG
013835,000072:
013836,000073: 15,2527 26505 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
013837,000074:
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Page 323 |
013839,000076: 15,2530 00027 ZPRIME
013840,000077: 15,2531 77641 DOT
013841,000078: 15,2532 02437 ZDC
013842,000079: 15,2533 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
013843,000080: 15,2534 00027 ZPRIME
013844,000081: 15,2535 77641 DOT
013845,000082: 15,2536 02431 YDC
013846,000083: 15,2537 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
013847,000084: 15,2540 32543 ARCTRIG
013848,000085:
013849,000086: 15,2541 36501 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
013850,000087: 15,2542 00051 S2
013851,000088:
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Page 324 |
013853,000090: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
013854,000091:
013855,000092: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
013856,000093:
013857,000094: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
013858,000095: # AVAILABLE AT MPAC.
013859,000096:
013860,000097: 15,2543 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D,18D,20D,22D-26D
013861,000098: 15,2544 00023 SINTH
013862,000099: 15,2545 50025 DSU BMN
013863,000100: 15,2546 33140 QTSN45 # ABS(SIN/4) - SIN(45)/4
013864,000101: 15,2547 32556 TRIG1 # IF (-45,45) OR (135,-135)
013865,000102:
013866,000103:
013867,000104:
013868,000105: 15,2550 72545 DLOAD SL1 # (45,135) OR (-135,-45)
013869,000106: 15,2551 00021 COSTH
013870,000107: 15,2552 75326 ACOS SIGN
013871,000108: 15,2553 00023 SINTH
013872,000109: 15,2554 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
013873,000110: 15,2555 77616 RVQ
013874,000111:
013875,000112:
013876,000113:
013877,000114: 15,2556 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
013878,000115: 15,2557 00023 SINTH
013879,000116: 15,2560 77736 ASIN
013880,000117: 15,2561 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
013881,000118: 15,2562 00021 COSTH
013882,000119: 15,2563 77640 BMN
013883,000120: 15,2564 32567 TRIG2 # IF (135,-135)
013884,000121:
013885,000122: 15,2565 43545 DLOAD RVQ
013886,000123: 15,2566 00025 THETA # X = ARCSIN(SIN) (-45,45)
013887,000124:
013888,000125:
013889,000126:
013890,000127: 15,2567 75345 TRIG2 DLOAD SIGN # (135,-135)
013891,000128: 15,2570 33142 HALFDP
013892,000129: 15,2571 00023 SINTH
013893,000130: 15,2572 77625 DSU
013894,000131: 15,2573 00025 THETA
013895,000132: 15,2574 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
013896,000133: 15,2575 77616 RVQ # (+) - (+) OR (-) - (-)
013897,000134:
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Page 325 |
013899,000136: # SMNB TRANSFORMS A STAR DIRECTION FROM STABLE MEMBER TO NAVIGATION BASE COORDINATES.
013900,000137:
013901,000138: # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE
013902,000139: # VAC AREA. 2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE
013903,000140: # USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
013904,000141: # YOUR JOB VAC AREA. 3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF YOUR JOB VAC AREA.
013905,000142:
013906,000143: # THE OUTPUT IS THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT 32D OF THE VAC AREA. THE OUTPUT
013907,000144:
013908,000145: # IS ALSO AVAILABLE AT MPAC.
013909,000146:
013910,000147:
013911,000148:
013912,000149: 15,2576 43020 SMNB ITA CLEAR # PUSHDOWN 00,02,04-10D,30D,32D-36D
013913,000150: 15,2577 00051 S2
013914,000151: 15,2600 00264 NBSMBIT # SET NBSMBIT = 0
013915,000152:
013916,000153: 15,2601 77170 SMNB1 AXT,1 AXT,2 # ROTATE X,Z, ABOUT Y
013917,000154: 15,2602 00004 4
013918,000155: 15,2603 00000 0
013919,000156: 15,2604 77624 CALL
013920,000157: 15,2605 32646 AXISROT
013921,000158:
013922,000159: 15,2606 77170 AXT,1 AXT,2 # ROTATE Y,X ABOUT Z
013923,000160: 15,2607 00002 2
013924,000161: 15,2610 00004 4
013925,000162: 15,2611 77624 CALL
013926,000163: 15,2612 32646 AXISROT
013927,000164:
013928,000165: 15,2613 77170 AXT,1 AXT,2 # ROTATE Z,Y ABOUT X
013929,000166: 15,2614 00000 0
013930,000167: 15,2615 00002 2
013931,000168: 15,2616 77624 CALL
013932,000169: 15,2617 32646 AXISROT
013933,000170:
013934,000171: 15,2620 77650 GOTO
013935,000172: 15,2621 00051 S2
013936,000173:
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Page 326 |
013938,000175:
013939,000176: # NBSM TRANSFORMS A STAR DIRECTION FROM NAVIGATION BASE TO STABLE MEMBER COORDINATES.
013940,000177:
013941,000178: # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT LOCATION 32D OF THE VAC
013942,000179: # AREA. 2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE
013943,000180: # USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
013944,000181: # YOUR JOB VAC AREA. 3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF YOUR JOB VAC AREA.
013945,000182:
013946,000183: # THE OUTPUT IS THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE VAC
013947,000184: # AREA. THE OUTPUT IS ALSO AVAILABLE AT MPAC.
013948,000185:
013949,000186:
013950,000187:
013951,000188: 15,2622 43020 NBSM ITA SET # PUSHDOWN 00,02,04-10D,30D,32D-36D
013952,000189: 15,2623 00051 S2
013953,000190:
013954,000191: 15,2624 00064 NBSMBIT # SET NBSMBIT = 1
013955,000192:
013956,000193: 15,2625 77170 NBSM2 AXT,1 AXT,2 # ROTATE Z,Y ABOUT X
013957,000194: 15,2626 00000 0
013958,000195: 15,2627 00002 2
013959,000196: 15,2630 77624 CALL
013960,000197: 15,2631 32646 AXISROT
013961,000198:
013962,000199: 15,2632 77170 AXT,1 AXT,2 # ROTATE Y,X ABOUT Z
013963,000200: 15,2633 00002 2
013964,000201: 15,2634 00004 4
013965,000202: 15,2635 77624 CALL
013966,000203: 15,2636 32646 AXISROT
013967,000204:
013968,000205: 15,2637 77170 AXT,1 AXT,2 # ROTATE X,Z, ABOUT Y
013969,000206: 15,2640 00004 4
013970,000207: 15,2641 00000 0
013971,000208: 15,2642 77624 CALL
013972,000209: 15,2643 32646 AXISROT
013973,000210:
013974,000211: 15,2644 77650 GOTO
013975,000212: 15,2645 00051 S2
013976,000213:
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Page 327 |
013978,000215:
013979,000216: # AXISROT IS UTILIZED BY THE SMNB AND NBSM ROUTINES. SEE REMARKS ON THESE ROUTINES FOR INPUTS AND OUTPUTS.
013980,000217:
013981,000218:
013982,000219:
013983,000220: 15,2646 66660 AXISROT XSU,1 SLOAD*
013984,000221: 15,2647 00050 S1 # SMNB . NBSM
013985,000222: 15,2650 00005 4,1 # IG MG OG . OG MG IG
013986,000223: 15,2651 56034 RTB XAD,1
013987,000224: 15,2652 33524 CDULOGIC
013988,000225: 15,2653 00050 S1
013989,000226: 15,2654 00037 STORE 30D
013990,000227:
013991,000228: 15,2655 77746 ACCUROT COS
013992,000229: 15,2656 04011 STORE 8D,1 # COS(ANGLE)
013993,000230: 15,2657 73545 DLOAD SIN
013994,000231: 15,2660 00037 30D
013995,000232: 15,2661 04013 STORE 10D,1 # SIN(ANGLE)
013996,000233:
013997,000234: 15,2662 72403 DMP* SL1
013998,000235:
013999,000236: 15,2663 77732 32D +4,2
014000,000237: 15,2664 40723 PDDL* DMP* # PD0
014001,000238: 15,2665 00011 8D,1 # S3SIN S1SIN S2SIN . S2SIN S1SIN S3SIN
014002,000239: 15,2666 77732 32D +4,2
014003,000240:
014004,000241: 15,2667 64752 SL1 PDDL* # PD2
014005,000242: 15,2670 00013 10D,1 # S3COS S1COS S2COS . S2COS S1COS S3COS
014006,000243:
014007,000244: 15,2671 72403 DMP* SL1 # MPAC
014008,000245: 15,2672 00045 32D +4,1 # S1SIN S2SIN S3SIN . S3SIN S2SIN S1SIN
014009,000246:
014010,000247: 15,2673 77614 BOFF
014011,000248: 15,2674 00344 NBSMBIT
014012,000249: 15,2675 32710 AXISROT1
014013,000250:
014014,000251: 15,2676 45421 BDSU STADR # . PD2 - MPAC
014015,000252: 15,2677 67732 STORE 32D +4,2 # . S2 S1 S3
014016,000253: 15,2700 77743 DLOAD*
014017,000254: 15,2701 00011 8D,1
014018,000255:
014019,000256: 15,2702 72403 DMP* SL1 # . MPAC
014020,000257: 15,2703 00045 32D +4,1 # . S3COS S2COS S1COS
014021,000258:
014022,000259: 15,2704 45415 DAD STADR # . PD0 + MPAC
014023,000260: 15,2705 73732 STORE 32D +4,1 # . S3 S2 S1
014024,000261: 15,2706 43575 VLOAD RVQ
014025,000262: 15,2707 00041 32D
014026,000263: 15,2710 45415 AXISROT1 DAD STADR # MPAC + PD2 .
014027,000264: 15,2711 67732 STORE 32D +4,2 # S3 S1 S2
014028,000265: 15,2712 77743 DLOAD*
014029,000266: 15,2713 00011 8D,1
014030,000267:
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Page 328 |
014032,000269: 15,2714 72403 DMP* SL1 # MPAC .
014033,000270: 15,2715 00045 32D +4,1 # S1COS S2COS S3COS .
014034,000271:
014035,000272: 15,2716 45425 DSU STADR # MPAC - PD0 .
014036,000273: 15,2717 73732 STORE 32D +4,1 # S1 S2 S3
014037,000274: 15,2720 43575 VLOAD RVQ
014038,000275: 15,2721 00041 32D
014039,000276: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
014040,000277:
014041,000278: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
014042,000279: # VECTORS ARE STORED AT XNB,YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
014043,000280: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
014044,000281:
014045,000282: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
014046,000283:
014047,000284:
014048,000285: 15,2722 47375 CALCGA VLOAD VXV # PUSHDONW 00-04,16D,18D
014049,000286: 15,2723 02423 XNB # XNB = OGA (OUTER GIMBAL AXIS)
014050,000287: 15,2724 02407 YSM # YSM = IGA (INNER GIMBAL AXIS)
014051,000288: 15,2725 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
014052,000289:
014053,000290: 15,2726 44041 DOT ITA
014054,000291: 15,2727 02437 ZNB
014055,000292: 15,2730 00051 S2
014056,000293: 15,2731 24021 STOVL COSTH # COS(OG) = MGA . ZNB
014057,000294:
014058,000295: 15,2732 00001 0
014059,000296: 15,2733 77641 DOT
014060,000297: 15,2734 02431 YNB
014061,000298: 15,2735 34023 STCALL SINTH # SIN(OG) = MGA . YNB
014062,000299: 15,2736 32543 ARCTRIG
014063,000300: 15,2737 26501 STOVL OGC
014064,000301: 15,2740 00001 0
014065,000302:
014066,000303: 15,2741 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
014067,000304: 15,2742 02423 XNB
014068,000305: 15,2743 02407 YSM
014069,000306: 15,2744 77752 SL1
014070,000307: 15,2745 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
014071,000308: 15,2746 02407 YSM
014072,000309: 15,2747 77641 DOT
014073,000310: 15,2750 02423 XNB
014074,000311: 15,2751 34023 STCALL SINTH # SIN(MG) = IGA . OGA
014075,000312: 15,2752 32543 ARCTRIG
014076,000313: 15,2753 02505 STORE MGC
014077,000314:
014078,000315: 15,2754 45246 ABS DSU
014079,000316: 15,2755 33160 .166...
014080,000317: 15,2756 77644 BPL
014081,000318:
014082,000319: 15,2757 32776 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
014083,000320:
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Page 329 |
014085,000322:
014086,000323: 15,2760 50375 CALCGA1 VLOAD DOT
014087,000324: 15,2761 02415 ZSM
014088,000325: 15,2762 00001 0
014089,000326: 15,2763 24021 STOVL COSTH # COS(IG) = ZSM . MGA
014090,000327: 15,2764 02401 XSM
014091,000328:
014092,000329: 15,2765 45441 DOT STADR
014093,000330: 15,2766 43754 STCALL SINTH # SIN(IG) = XSM . MGA
014094,000331:
014095,000332: 15,2767 32543 ARCTRIG
014096,000333:
014097,000334: 15,2770 26503 STOVL IGC
014098,000335: 15,2771 02501 OGC
014099,000336: 15,2772 77634 RTB
014100,000337: 15,2773 33573 V1STO2S
014101,000338: 15,2774 34401 STCALL THETAD
014102,000339: 15,2775 00051 S2
014103,000340:
014104,000341: 15,2776 77776 GIMLOCK1 EXIT
014105,000342: 15,2777 06020 TC FLAG1UP # SET GIMBAL LOCK FLAG
014106,000343: 15,3000 00200 OCT 200
014107,000344: 15,3001 04744 TC ALARM
014108,000345: 15,3002 00401 OCT 00401
014109,000346: 15,3003 06103 TC INTPRET
014110,000347: 15,3004 77650 GOTO
014111,000348: 15,3005 32760 CALCGA1
014112,000349:
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Page 330 |
014114,000351:
014115,000352: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
014116,000353:
014117,000354: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
014118,000355: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
014119,000356: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
014120,000357: # THE VAC AREA.
014121,000358:
014122,000359: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
014123,000360: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
014124,000361:
014125,000362:
014126,000363: 15,3006 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-22D,24D-28D,30D
014127,000364: 15,3007 02452 STARAD +6
014128,000365:
014129,000366: 15,3010 00051 S1
014130,000367: 15,3011 02436 STARAD -6
014131,000368:
014132,000369: 15,3012 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
014133,000370: 15,3013 02461 STARAD +12D,1 # STARAD +00D UB = S1
014134,000371: 15,3014 02467 STARAD +18D,1
014135,000372: 15,3015 77656 UNIT # 12D VA = UNIT(S1 X S2)
014136,000373: 15,3016 06467 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
014137,000374: 15,3017 77773 VLOAD*
014138,000375: 15,3020 02461 STARAD +12D,1
014139,000376:
014140,000377: 15,3021 76433 VXV* VSL1
014141,000378: 15,3022 02467 STARAD +18D,1 # 18D WA = UA X VA
014142,000379: 15,3023 06475 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
014143,000380:
014144,000381: 15,3024 77700 TIX,1
014145,000382: 15,3025 33012 AXISGEN1
014146,000383:
014147,000384: 15,3026 66160 AXC,1 SXA,1
014148,000385: 15,3027 00006 6
014149,000386: 15,3030 00036 30D
014150,000387:
014151,000388: 15,3031 66370 AXT,1 SSP
014152,000389:
014153,000390: 15,3032 00022 18D
014154,000391: 15,3033 00051 S1
014155,000392: 15,3034 00006 6
014156,000393:
014157,000394: 15,3035 66374 AXT,2 SSP
014158,000395: 15,3036 00006 6
014159,000396: 15,3037 00052 S2
014160,000397: 15,3040 00002 2
014161,000398:
014162,000399: 15,3041 76720 AXISGEN2 XCHX,1 VLOAD*
014163,000400: 15,3042 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
014164,000401: 15,3043 00001 0,1
014165,000402: 15,3044 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
014166,000403:
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|
Page 331 |
014168,000405: 15,3045 75324 STARAD +6,2
014169,000406: 15,3046 00007 6,1
014170,000407: 15,3047 77757 VXSC*
014171,000408: 15,3050 75316 STARAD +12D,2
014172,000409: 15,3051 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
014173,000410: 15,3052 00015 12D,1
014174,000411:
014175,000412: 15,3053 53357 VXSC* VAD
014176,000413: 15,3054 75310 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
014177,000414: 15,3055 76455 VAD VSL1
014178,000415: 15,3056 00031 24D
014179,000416: 15,3057 77720 XCHX,1
014180,000417: 15,3060 00036 30D
014181,000418: 15,3061 06445 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
014182,000419:
014183,000420: 15,3062 77700 TIX,1
014184,000421: 15,3063 33064 AXISGEN3
014185,000422:
014186,000423: 15,3064 77704 AXISGEN3 TIX,2
014187,000424: 15,3065 33041 AXISGEN2
014188,000425:
014189,000426: 15,3066 77775 VLOAD
014190,000427: 15,3067 02423 XDC
014191,000428: 15,3070 26445 STOVL STARAD
014192,000429: 15,3071 02431 YDC
014193,000430: 15,3072 26453 STOVL STARAD +6
014194,000431: 15,3073 02437 ZDC
014195,000432: 15,3074 02461 STORE STARAD +12D
014196,000433:
014197,000434: 15,3075 77616 RVQ
014198,000435:
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|
Page 332 |
014200,000437:
014201,000438: # TRANSPSE COMPUTES THE TRANSPOSE OF A MATRIX (TRANSPOSE = INVERSE OF ORTHOGONAL TRANSFORMATION).
014202,000439:
014203,000440: # THE INPUT IS A MATRIX DEFINING COORDINATE SYSTEM A WITH RESPECT TO COORDINATE SYSTEM B STORED IN STARAD THRU
014204,000441: # STARAD +17D.
014205,000442:
014206,000443: # THE OUTPUT IS A MATRIX DEFINING COORDINATE SYSTEM B WITH RESPECT TO COORDINATE SYSTEM A STORED IN STARAD THRU
014207,000444: # STARAD +17D.
014208,000445:
014209,000446: 15,3076 53447 TRANSPSE DXCH STARAD +2 # PUSHDOWN NONE
014210,000447: 15,3077 53453 DXCH STARAD +6
014211,000448: 15,3100 53447 DXCH STARAD +2
014212,000449:
014213,000450: 15,3101 53451 DXCH STARAD +4
014214,000451: 15,3102 53461 DXCH STARAD +12D
014215,000452: 15,3103 53451 DXCH STARAD +4
014216,000453:
014217,000454: 15,3104 53457 DXCH STARAD +10D
014218,000455: 15,3105 53463 DXCH STARAD +14D
014219,000456: 15,3106 53457 DXCH STARAD +10D
014220,000457: 15,3107 16115 TCF DANZIG
014221,000458:
014222,000459:
014223,000460:
014224,000461: # SMD/EREF TRANSFORMS STABLE MEMBER DESIRED COORDINATES FROM STABLE MEMBER DESIRED (DESIRED = PRESENT HERE) TO
014225,000462: # EARTH REFERENCE COORDINATES TO ALIGN THE STABLE MEMBER TO SPECIFIED GIMBAL ANGLES.
014226,000463:
014227,000464: # THE INPUTS ARE 1) THE MATRIX DEFINING THE EARTH REFERENCE COORDINATE FRAME WITH RESPECT TO THE NAVIGATION BASE
014228,000465: # COORDINATE FRAME. 2) SAME AS 2) AND 3) OF SMNB.
014229,000466:
014230,000467: # THE OUTPUT IS THE DESIRED STABLE MEMBER COORDINATES WITH RESPECT TO THE EARTH REFERENCE COORDINATE FRAME. THE
014231,000468: # THREE UNIT VECTORS ARE STORED AT XSM, YSM, AND ZSM.
014232,000469:
014233,000470: 15,3110 77220 SMD/EREF ITA VLOAD # PUSHDOWN 00,02,04-10D,30D,32D-36D
014234,000471: 15,3111 00014 12D
014235,000472: 15,3112 33150 XUNIT
014236,000473: 15,3113 34041 STCALL 32D
014237,000474: 15,3114 32576 SMNB # STABLE MEMBER TO NAVIGATION BASE
014238,000475: 15,3115 76521 MXV VSL1
014239,000476: 15,3116 02445 STARAD # THEN TO EARTH REFERENCE
014240,000477: 15,3117 26401 STOVL XSM
014241,000478: 15,3120 33146 YUNIT
014242,000479:
014243,000480: 15,3121 34041 STCALL 32D
014244,000481: 15,3122 32576 SMNB # STABLE MEMBER TO NAVIGATION BASE
014245,000482: 15,3123 76521 MXV VSL1
014246,000483: 15,3124 02445 STARAD # THEN TO EARTH REFERENCE
014247,000484: 15,3125 26407 STOVL YSM
014248,000485: 15,3126 33144 ZUNIT
014249,000486:
014250,000487: 15,3127 34041 STCALL 32D
014251,000488:
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|
Page 333 |
014253,000490: 15,3130 32576 SMNB # STABLE MEMBER TO NAVIGATION BASE
014254,000491: 15,3131 76521 MXV VSL1
014255,000492: 15,3132 02445 STARAD # THEN TO EARTH REFERENCE
014256,000493: 15,3133 36415 STCALL ZSM
014257,000494: 15,3134 00014 12D
014258,000495:
014259,000496: 15,3135 67777 77777 270DEG 2DEC -.25
014260,000497:
014261,000498: 15,3137 05520 26075 QTSN45 2DEC .1768
014262,000499:
014263,000500: 15,3141 20000 00000 HALFDP 2DEC .5
014264,000501:
014265,000502: 15,3143 00000 00000 ZUNIT 2DEC 0 B-28
014266,000503:
014267,000504: 15,3145 00000 00000 YUNIT 2DEC 0 B-28
014268,000505:
014269,000506: 15,3147 20000 00000 XUNIT 2DEC 0.5
014270,000507:
014271,000508: 15,3151 00000 00000 ZERODP 2DEC 0 B-28
014272,000509:
014273,000510: 15,3153 00000 00000 2DEC 0 B-28
014274,000511:
014275,000512: 15,3155 00000 00000 2DEC 0 B-28
014276,000513:
014277,000514: 15,3157 05252 25253 .166... 2DEC .1666666667
014278,000515:
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|
Page 334 |
014280,000517:
014281,000518: # AOTNB CONVERTS THE AOT RETICLE ROTATION ANGLE (YROT AND SROT) AND
014282,000519: # THE DETENT SETTING TO A HALF UNIT STAR VECTOR REFERRED TO THE
014283,000520: # NAVIGATION BASE FOR NON-FLIGHT ALIGNMENT MODES
014284,000521:
014285,000522: # THE INPUTS ARE
014286,000523:
014287,000524: # Y RET. LINE RATATION S(YROT) STORED IN LOC 3 OF THE MARK VAC AREA
014288,000525: # SPIRAL ROTATION ANGLE S(SROT) STORED IN LOC 5 OF MARK VAC AREA
014289,000526: # ANGLE OF CENTER OF FIELD OF VIEW S(ELV) STORED IN LOC 9 OF MARK VAC
014290,000527: # AOT ASZIMUTH ANGLE S(DET) STORED IN LOC 8 OF MARK VAC AREA
014291,000528: # THE COMPLEMENT OF BASE ADDRESS OF MARK VAC IS STORED AT X1
014292,000529: # COMPENSATION FOR FIELD OF VIEW TILT IN LOC 10D
014293,000530: # THE ABOVE STORAGE IS DONE BY AOTMARK
014294,000531:
014295,000532:
014296,000533: # THE OUTPUT IS A HALF UNIT STAR VECTOR IN NB COORDINATES STORED
014297,000534: # AT 32D AND AVAILABLE IN VAC ON RETURN TO THE CALLING PROGRAM
014298,000535:
014299,000536: 15,3161 66601 AOTNB SETPD SLOAD*
014300,000537: 15,3162 00001 0
014301,000538: 15,3163 00013 10D,1 # AOT FOV TILT COMPENSATION ANGLE
014302,000539: 15,3164 41542 SR1 PUSH # RESCALE TILT TO 2PI
014303,000540: 15,3165 47133 SLOAD* RTB
014304,000541: 15,3166 00004 3,1
014305,000542: 15,3167 33524 CDULOGIC
014306,000543: 15,3170 00017 STORE 14D # STORE UNCOMPENSATED YROT FOR S COMP
014307,000544: 15,3171 41415 DAD PUSH # YROT NOW CORRECTED FOR TILT
014308,000545: 15,3172 65346 COS PDDL # 1/2 COS(YROT) PD 0-1
014309,000546: 15,3173 41556 SIN PUSH # 1/2 SIN(YROT) PD 2-3
014310,000547: 15,3174 47133 SLOAD* RTB
014311,000548: 15,3175 00006 5,1
014312,000549: 15,3176 33524 CDULOGIC
014313,000550: 15,3177 00021 STORE 16D # STORE S IF S AND Y ARE ZERO, S=0
014314,000551: 15,3200 52054 BZE GOTO # S NOT ZERO
014315,000552: 15,3201 33203 SISZ # S=0
014316,000553: 15,3202 33213 SCOMP
014317,000554: 15,3203 53145 SISZ DLOAD BZE # IS Y ZERO
014318,000555: 15,3204 00017 14D
014319,000556:
014320,000557: 15,3205 33210 YISZ # Y=0
014321,000558: 15,3206 77650 GOTO
014322,000559: 15,3207 33213 SCOMP
014323,000560: 15,3210 52145 YISZ DLOAD GOTO
014324,000561: 15,3211 33152 ZERODP
014325,000562: 15,3212 33220 SGOT
014326,000563: 15,3213 45345 SCOMP DLOAD DSU
014327,000564: 15,3214 00017 14D
014328,000565: 15,3215 00021 16D # Y-S
014329,000566: 15,3216 77621 BDSU
014330,000567: 15,3217 33305 NEARONE # S=360-(Y-S)
014331,000568: 15,3220 41405 SGOT DMP PUSH
014332,000569:
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|
Page 335 |
014334,000571: 15,3221 33303 DP1/12
014335,000572: 15,3222 65346 COS PDDL
014336,000573: 15,3223 41556 SIN PUSH
014337,000574: 15,3224 72405 DMP SL1
014338,000575: 15,3225 00001 0
014339,000576: 15,3226 14001 STODL 0
014340,000577:
014341,000578: 15,3227 00003 2
014342,000579: 15,3230 45405 DMP STADR
014343,000580: 15,3231 77774 STORE 2
014344,000581:
014345,000582: 15,3232 47133 SLOAD* RTB
014346,000583: 15,3233 00012 9D,1
014347,000584: 15,3234 33524 CDULOGIC
014348,000585: 15,3235 73406 PUSH SIN
014349,000586: 15,3236 71525 PDDL COS
014350,000587: 15,3237 41206 PUSH DMP
014351,000588: 15,3240 00001 0
014352,000589: 15,3241 41325 PDDL DMP
014353,000590:
014354,000591: 15,3242 00005 4
014355,000592: 15,3243 00007 6
014356,000593: 15,3244 72415 DAD SL1
014357,000594: 15,3245 77626 STADR
014358,000595: 15,3246 63736 STODL 32D
014359,000596:
014360,000597: 15,3247 77605 DMP
014361,000598: 15,3250 00005 4
014362,000599: 15,3251 14005 STODL 4
014363,000600:
014364,000601: 15,3252 44205 DMP BDSU
014365,000602: 15,3253 00001 0
014366,000603: 15,3254 66606 PUSH SLOAD*
014367,000604: 15,3255 00011 8D,1
014368,000605: 15,3256 41434 RTB PUSH
014369,000606: 15,3257 33524 CDULOGIC
014370,000607: 15,3260 65346 COS PDDL
014371,000608: 15,3261 77756 SIN
014372,000609: 15,3262 00001 STORE 0
014373,000610:
014374,000611: 15,3263 65205 DMP PDDL
014375,000612: 15,3264 00005 4
014376,000613: 15,3265 00007 6
014377,000614:
014378,000615: 15,3266 43205 DMP DAD
014379,000616: 15,3267 00003 2
014380,000617: 15,3270 77712 SL2
014381,000618: 15,3271 14043 STODL 34D
014382,000619:
014383,000620: 15,3272 45405 DMP STADR
014384,000621: 15,3273 63732 STODL 36D
014385,000622:
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Page 336 |
014387,000624: 15,3274 77605 DMP
014388,000625: 15,3275 62421 BDSU SL2
014389,000626:
014390,000627: 15,3276 00045 36D
014391,000628: 15,3277 24045 STOVL 36D
014392,000629: 15,3300 00041 32D
014393,000630: 15,3301 77616 RVQ
014394,000631:
014395,000632: 15,3302 02525 12525 DP1/12 2DEC .0833333333
014396,000633:
014397,000634: 15,3304 37777 37777 NEARONE 2DEC .999999999
014398,000635:
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|
Page 337 |
014400,000637:
014401,000638: # AOTSM CALCULATES A HALF UNIT STAR VECTOR IN STABLE MEMBER COORDINATES
014402,000639: # FROM TWO PLANES CONTAINING THE STAR REFERRED TO NB
014403,000640:
014404,000641: # THE INPUTS ARE
014405,000642:
014406,000643: # AOT AZIMUTH AND ELEVATION STORED IN 8D AND 9D RESP. OF VAC AREA
014407,000644: # CDUY, CDUZ AND CDUX FROM A YMARK STORED AT 3, 5, AND 7 OF VAC AREA
014408,000645: # CDUY, CDUZ AND CDUX FROM A XMARK STORED AT 2, 4, AND 6 OF VAC AREA
014409,000646:
014410,000647: # COMPENSATION FOR FIELD OF VIEW STORED AT 10D OF VAC AREA
014411,000648: # THE BASE ADDRESS OF THE CDUS IS STORED AT LOCATION S1
014412,000649:
014413,000650: # THE OUTPUT IS A STAR VECTOR REFERRED TO STABLE MEMBER AT LOC 32D
014414,000651: # AND AVAILBLE IN MPAC
014415,000652:
014416,000653: 15,3306 40220 AOTSM STQ SETPD
014417,000654: 15,3307 00035 29D # SET UP RETURN
014418,000655: 15,3310 00001 0
014419,000656: 15,3311 66740 LXC,1 SLOAD*
014420,000657: 15,3312 00050 S1 # COMPLEMENT OF CDU ADR FOR XMARK
014421,000658: 15,3313 00011 8D,1 # LOAD APPARENT TILT ANGLE,ONES COMP
014422,000659: 15,3314 77742 SR1 # RESCALE TILT TO 2PI
014423,000660: 15,3315 71406 PUSH COS
014424,000661: 15,3316 73525 PDDL SIN # 1/2 COS(TA) 0-1
014425,000662: 15,3317 66606 PUSH SLOAD* # 1/2 SIN(TA) 2-3
014426,000663: 15,3320 00007 6,1 # LOAD AZIMUTH, 2S COMP
014427,000664: 15,3321 41434 RTB PUSH
014428,000665: 15,3322 33524 CDULOGIC
014429,000666: 15,3323 65346 COS PDDL # 1/2 COS(AZ) 4-5
014430,000667: 15,3324 41556 SIN PUSH # 1/2 SIN(AZ) 6-7
014431,000668: 15,3325 65205 DMP PDDL
014432,000669: 15,3326 00001 0
014433,000670:
014434,000671: 15,3327 65205 DMP PDDL
014435,000672: 15,3330 00003 2
014436,000673: 15,3331 00005 4
014437,000674: 15,3332 65205 DMP PDDL
014438,000675: 15,3333 00001 0
014439,000676: 15,3334 00005 4
014440,000677: 15,3335 41405 DMP PUSH
014441,000678: 15,3336 47133 SLOAD* RTB
014442,000679: 15,3337 00010 7,1 # LOAD ELEVATION, 2S COMP
014443,000680: 15,3340 33524 CDULOGIC
014444,000681: 15,3341 73406 PUSH SIN
014445,000682: 15,3342 71525 PDDL COS # 1/2 SIN(ELV) 14-15
014446,000683: 15,3343 41206 PUSH DMP # 1/2 COS(ELV) 16-17
014447,000684: 15,3344 00001 0
014448,000685: 15,3345 77752 SL1
014449,000686: 15,3346 14041 STODL 32D # X COMPONENT OF X-PLANE VECTOR
014450,000687:
014451,000688: 15,3347 72405 DMP SL1 # UP 16-17
014452,000689: 15,3350 00003 2
014453,000690:
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|
Page 338 |
014455,000692:
014456,000693: 15,3351 65276 DCOMP PDDL # X COMPONENT OF Y-PLANE VECTOR 16-17
014457,000694:
014458,000695: 15,3352 00017 14D
014459,000696: 15,3353 72405 DMP SL1
014460,000697: 15,3354 00007 6
014461,000698: 15,3355 72421 BDSU SL1
014462,000699: 15,3356 00015 12D
014463,000700: 15,3357 14043 STODL 34D # Y COMPONENT OF X-PLANE VEC
014464,000701:
014465,000702: 15,3360 00017 14D
014466,000703: 15,3361 72405 DMP SL1
014467,000704: 15,3362 00013 10D
014468,000705: 15,3363 72415 DAD SL1
014469,000706: 15,3364 00011 8D
014470,000707:
014471,000708: 15,3365 77676 DCOMP
014472,000709: 15,3366 14045 STODL 36D # Z COMPONENT OF X-PLANE VECTOR
014473,000710:
014474,000711: 15,3367 00017 14D
014475,000712: 15,3370 72405 DMP SL1
014476,000713: 15,3371 00011 8D
014477,000714: 15,3372 72415 DAD SL1
014478,000715: 15,3373 00013 10D
014479,000716: 15,3374 41325 PDDL DMP # Y COMPONENT OF Y-PLANE VECTOR 18-19
014480,000717:
014481,000718: 15,3375 00017 14D
014482,000719: 15,3376 00015 12D
014483,000720: 15,3377 72425 DSU SL1
014484,000721: 15,3400 00007 6
014485,000722: 15,3401 34025 STCALL 20D # Z COMPONENT OF Y-PLANE VECTOR 20-21
014486,000723:
014487,000724: 15,3402 32622 NBSM # TRANSFORM TO SM
014488,000725: 15,3403 24013 STOVL 10D # STORE X-PLAVE VECTOR (SM)
014489,000726:
014490,000727: 15,3404 00021 16D # LOAD Y-PLANE VECTOR (NB)
014491,000728: 15,3405 62120 XCHX,1 INCR,1
014492,000729: 15,3406 00050 S1 # INCREMENT CDU BASE ADR TO YMARK CDUS
014493,000730: 15,3407 00001 1
014494,000731:
014495,000732: 15,3410 77720 XCHX,1 # PUT IT BACK IN S1
014496,000733: 15,3411 00050 S1
014497,000734: 15,3412 34041 STCALL 32D
014498,000735: 15,3413 32622 NBSM # GET Y-PLANE IN SM
014499,000736: 15,3414 76435 VXV VSL1 # YP CROSS XP
014500,000737: 15,3415 00013 10D
014501,000738: 15,3416 53476 VCOMP UNIT # UNIT (XP CROSS YP)
014502,000739: 15,3417 00041 STORE 32D # STAR VECTOR IN SM COORDINATES
014503,000740: 15,3420 77650 GOTO
014504,000741: 15,3421 00035 29D # RETURN
014505,000742:
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|
Page 339 |
014507,000744:
014508,000745: # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
014509,000746: # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
014510,000747: # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
014511,000748: # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
014512,000749: # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
014513,000750:
014514,000751: # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
014515,000752:
014516,000753: # S(2) = 180 + S(1)
014517,000754: # T(2) = 180 - T(1)
014518,000755:
014519,000756: 15,3422 57545 RRANGLES DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
014520,000757: 15,3423 00043 34D # ANGLE LATER, WE CAN FIND THE MODE 1
014521,000758: 15,3424 67401 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
014522,000759: 15,3425 00001 0 # THE Y COMPONENT, THE ASIN GIVING AN
014523,000760: 15,3426 44206 PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
014524,000761: 15,3427 33142 HALFDP
014525,000762: 15,3430 14005 STODL 4 # MODE 2 TRUNNION TO 4.
014526,000763:
014527,000764: 15,3431 33152 ZERODP
014528,000765: 15,3432 24043 STOVL 34D # UNIT THE PROJECTION OF THE VECTOR IN THE
014529,000766: 15,3433 00041 32D # X-Z PLANE.
014530,000767: 15,3434 41056 UNIT BOVB # CALL FOR S/C MANEUVER ON GIMBAL LOCK.
014531,000768: 15,3435 20346 DESRETRN +1
014532,000769: 15,3436 14041 STODL 32D # PROJECTION VECTOR.
014533,000770: 15,3437 00041 32D
014534,000771: 15,3440 44142 SR1 STQ
014535,000772: 15,3441 00051 S2
014536,000773: 15,3442 14023 STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB.
014537,000774: 15,3443 00045 36D
014538,000775: 15,3444 77742 SR1
014539,000776: 15,3445 34021 STCALL COSTH
014540,000777: 15,3446 32543 ARCTRIG
014541,000778:
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|
Page 340 |
014543,000780: 15,3447 43206 PUSH DAD # MODE 1 SHAFT TO 2.
014544,000781: 15,3450 33142 HALFDP # (OVERFLOW DOESNT MATTER SINCE SCALED REV
014545,000782:
014546,000783: 15,3451 24007 STOVL 6
014547,000784: 15,3452 00005 4
014548,000785: 15,3453 77634 RTB # FIND MODE 2 CDU ANGLES.
014549,000786: 15,3454 33610 2V1STO2S
014550,000787: 15,3455 24426 STOVL MODEB
014551,000788: 15,3456 00001 0
014552,000789: 15,3457 77634 RTB # MODE 1 ANGLES TO MODE A.
014553,000790: 15,3460 33610 2V1STO2S
014554,000791: 15,3461 00424 STORE MODEA
014555,000792: 15,3462 77776 EXIT
014556,000793:
014557,000794: 15,3463 40413 CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE2.
014558,000795: 15,3464 77742 MASK BIT12
014559,000796: 15,3465 10000 CCS A
014560,000797: 15,3466 13472 TCF +4
014561,000798:
014562,000799: 15,3467 52424 DXCH MODEA
014563,000800: 15,3470 52426 DXCH MODEB
014564,000801: 15,3471 52424 DXCH MODEA
014565,000802:
014566,000803: 15,3472 06103 TC INTPRET
014567,000804: 15,3473 77650 GOTO
014568,000805: 15,3474 00051 S2
014569,000806:
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Page 341 |
014571,000808: # GIVEN RR TRUNION AND SHAFT (T,S) IN TANG,+1, FIND THE ASSOCIATED
014572,000809: # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
014573,000810: # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
014574,000811:
014575,000812: 15,3475 47135 RRNB SLOAD RTB
014576,000813: 15,3476 00424 TANG
014577,000814: 15,3477 33524 CDULOGIC
014578,000815: 15,3500 41401 SETPD PUSH # TRUNNION ANGLE TO 0
014579,000816:
014580,000817: 15,3501 00001 0
014581,000818: 15,3502 57556 SIN DCOMP
014582,000819: 15,3503 14043 STODL 34D # Y COMPONENT
014583,000820:
014584,000821: 15,3504 41546 COS PUSH # .5 COS(T) TO 0
014585,000822: 15,3505 47135 SLOAD RTB
014586,000823: 15,3506 00425 TANG +1
014587,000824: 15,3507 33524 CDULOGIC
014588,000825: 15,3510 71406 PUSH COS # SHAFT ANGLE TO 2
014589,000826: 15,3511 72405 DMP SL1
014590,000827: 15,3512 00001 0
014591,000828: 15,3513 14045 STODL 36D # Z COMPONENT
014592,000829:
014593,000830: 15,3514 41356 SIN DMP
014594,000831: 15,3515 77752 SL1
014595,000832: 15,3516 24041 STOVL 32D
014596,000833: 15,3517 00041 32D
014597,000834: 15,3520 77616 RVQ
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc