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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020345,000002: ## Copyright: Public domain.
020346,000003: ## Filename: P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
020347,000004: ## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
020348,000005: ## It is part of an early development version of the software
020349,000006: ## for Apollo Guidance Computer (AGC) on the unmanned Lunar
020350,000007: ## Module (LM) flight Apollo 5. Sunburst 37 was the program
020351,000008: ## upon which Don Eyles's offline development program Shepatin
020352,000009: ## was based; the listing herein transcribed was actually for
020353,000010: ## the equivalent revision 0 of Shepatin.
020354,000011: ## This file is intended to be a faithful transcription, except
020355,000012: ## that the code format has been changed to conform to the
020356,000013: ## requirements of the yaYUL assembler rather than the
020357,000014: ## original YUL assembler.
020358,000015: ## Reference: pp. 468-490
020359,000016: ## Assembler: yaYUL
020360,000017: ## Contact: Ron Burkey <info@sandroid.org>.
020361,000018: ## Website: www.ibiblio.org/apollo/index.html
020362,000019: ## Mod history: 2017-05-24 MAS Created from Sunburst 120.
020363,000020: ## 2017-06-03 HG Transcribed
020364,000021: ## 2017-06-15 HG Fix operand EDOTP -> EDOT
020365,000022: ## 2017-06-15 MAS Removed a stray 'A' from an EXTEND.
020366,000023: ## 2017-06-22 RSB Proofed comment text with
020367,000024: ## octopus/ProoferComments.
020368,000025:
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Page 468 |
020370,000027: 16,2346 BANK 16
020371,000028: 16,2346 E6,1541 EBANK= DT
020372,000029:
020373,000030: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
020374,000031: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
020375,000032:
020376,000033: 16,2346 33601 PAXIS CAF MS30P # RESET TIMER IMMEDIATELY: DT = 30 MS
020377,000034: 16,2347 54030 TS TIME5
020378,000035:
020379,000036: 16,2350 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
020380,000037: 16,2351 00006 EXTEND
020381,000038: 16,2352 22012 QXCH QRUPT
020382,000039:
020383,000040: # CHECK TO SEE IF DAP IS STILL IN USE:
020384,000041:
020385,000042: 16,2353 02104 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
020386,000043:
020387,000044: # WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE.
020388,000045:
020389,000046: 16,2354 00006 EXTEND # T5ADR IS SET TO EITHER FILTER OR
020390,000047: 16,2355 31572 DCA PFILTADR # DUMMYFIL IN A BLIND MANNER SINCE
020391,000048: 16,2356 53001 DXCH T5ADR # PFILTADR IS SET UP ELSEWHERE
020392,000049:
020393,000050: # DO P AXIS RATE DERIVATION AND CONTROL LAW.
020394,000051: # DERIVE DELTA P.
020395,000052:
020396,000053: 16,2357 37761 CA ZERO
020397,000054: 16,2360 54061 TS ITEMP1
020398,000055: 16,2361 31610 CAE TP
020399,000056: 16,2362 63600 AD NEGCSP1
020400,000057: 16,2363 00006 EXTEND
020401,000058: 16,2364 62370 BZMF DOTORQUE
020402,000059: 16,2365 54061 TS ITEMP1
020403,000060: 16,2366 33615 CA CSPAT1P
020404,000061: 16,2367 12376 TCF SCALEDTP
020405,000062: 16,2370 31610 DOTORQUE CA TP
020406,000063: 16,2371 00006 EXTEND
020407,000064: 16,2372 77751 MP BIT5
020408,000065: 16,2373 30001 CAE L
020409,000066: 16,2374 00006 EXTEND
020410,000067: 16,2375 73603 MP 16/25
020411,000068: 16,2376 55610 SCALEDTP TS TP
020412,000069: 16,2377 00006 EXTEND
020413,000070: 16,2400 71634 MP WFORP
020414,000071: 16,2401 61637 AD (1-K)/8
020415,000072: 16,2402 00006 EXTEND
020416,000073: 16,2403 71610 MP TP
020417,000074: 16,2404 00006 EXTEND
020418,000075: 16,2405 77752 MP BIT4
020419,000076: 16,2406 31612 CA 1JACC
020420,000077:
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020422,000079: 16,2407 00006 EXTEND
020423,000080: 16,2410 70001 MP L
020424,000081: 16,2411 00006 EXTEND
020425,000082: 16,2412 71651 MP NO.PJETS
020426,000083: 16,2413 23603 LXCH JETRATE
020427,000084: 16,2414 30061 CA ITEMP1
020428,000085: 16,2415 55610 TS TP
020429,000086:
020430,000087: 16,2416 30032 CAE CDUX
020431,000088: 16,2417 54001 TS L
020432,000089: 16,2420 00006 EXTEND
020433,000090: 16,2421 21426 MSU OLDXFORP # SCALED AT PI
020434,000091: 16,2422 23426 LXCH OLDXFORP
020435,000092: 16,2423 00006 EXTEND
020436,000093: 16,2424 77747 MP BIT7
020437,000094: 16,2425 22062 LXCH DELTAP # SCALE AT PI/2(6)
020438,000095: 16,2426 30033 CA CDUY
020439,000096: 16,2427 54001 TS L
020440,000097: 16,2430 00006 EXTEND
020441,000098: 16,2431 21427 MSU OLDYFORP # SCALED AT PI
020442,000099: 16,2432 23427 LXCH OLDYFORP
020443,000100: 16,2433 00006 EXTEND
020444,000101: 16,2434 77747 MP BIT7 # INTO L SCALED AT PI/2(6)
020445,000102: 16,2435 31404 CA M11 # M11 SCALED AT 1
020446,000103: 16,2436 00006 EXTEND
020447,000104: 16,2437 70001 MP L # INTO A SCALED AT PI/2(6).
020448,000105: 16,2440 60062 AD DELTAP
020449,000106: 16,2441 00006 EXTEND
020450,000107: 16,2442 71634 MP WFORP # SCALED AT 2(4)=16, RESULT IN A AT PI/4.
020451,000108: 16,2443 57416 XCH OMEGAP # W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A.
020452,000109: 16,2444 00006 EXTEND
020453,000110: 16,2445 71636 MP (1-K) # SCALED AT 1
020454,000111:
020455,000112: 16,2446 61603 AD JETRATE # RATE DUE TO JETS TORQUING.
020456,000113: 16,2447 27416 ADS OMEGAP # PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF
020457,000114: 16,2450 01646 PAXFILT TC PJUMPADR
020458,000115: 16,2451 32342 SKIPPAXS CA VISNORMQ
020459,000116: 16,2452 55646 TS PJUMPADR
020460,000117: 16,2453 15751 TCF RESUME
020461,000118:
020462,000119: 16,2454 05041 CHKVISFZ TC T6JOBCHK # CHECK FOR T6 RUPT.
020463,000120:
020464,000121: 16,2455 37745 CAF VIZPHASE
020465,000122: 16,2456 70077 MASK DAPBOOLS
020466,000123: 16,2457 00006 EXTEND
020467,000124: 16,2460 12462 BZF +2
020468,000125: 16,2461 13056 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
020469,000126:
020470,000127: 16,2462 37744 CAF BIT10 # BIT10=1 FOR RHC MINIMUM IMPULSE MODE
020471,000128: 16,2463 70077 MASK DAPBOOLS
020472,000129: 16,2464 00006 EXTEND
020473,000130:
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020475,000132:
020476,000133: 16,2465 12537 BZF DETENTCK # BRANCH FOR RATE COMMAND
020477,000134:
020478,000135: 16,2466 11007 CCS DELAYCTR # DELAYCTR IS SET TO 3 BY RUPTIO
020479,000136:
020480,000137: 16,2467 12475 TCF WHICHONE # LOOK FOR JET TO TURN ON
020481,000138:
020482,000139: 16,2470 12525 TCF CHEKALL6
020483,000140:
020484,000141: 16,2471 37742 CAF BIT12 # PERMIT NEXT RUPT10.DELAYCTR IS NEG
020485,000142: 16,2472 00006 EXTEND # WHEN PREVIOUS READING OF 31 FOUND
020486,000143: 16,2473 05013 WOR 13 # ALL SWITCHES OPEN.
020487,000144: 16,2474 13051 TCF JETSOFF
020488,000145:
020489,000146: 16,2475 55007 WHICHONE TS DELAYCTR # DECREMENT DELAYCTR
020490,000147:
020491,000148: 16,2476 37753 CAF BIT3
020492,000149: 16,2477 00006 EXTEND
020493,000150: 16,2500 02031 RAND 31
020494,000151: 16,2501 00006 EXTEND
020495,000152: 16,2502 12511 BZF +MINIMP
020496,000153:
020497,000154: 16,2503 37752 CAF BIT4
020498,000155: 16,2504 00006 EXTEND
020499,000156: 16,2505 02031 RAND 31
020500,000157: 16,2506 00006 EXTEND
020501,000158:
020502,000159: 16,2507 12513 BZF -MINIMP
020503,000160:
020504,000161: 16,2510 13051 TCF JETSOFF
020505,000162:
020506,000163: 16,2511 37755 +MINIMP CAF BIT1
020507,000164: 16,2512 12514 TCF +2
020508,000165: 16,2513 47755 -MINIMP CS BIT1
020509,000166: 16,2514 55435 +2 TS TJETSIGN # SAVE SIGN OF P-AXIS ROTATION
020510,000167:
020511,000168: 16,2515 33573 CA PTJMINT6
020512,000169: 16,2516 55007 TS DELAYCTR # AGAIN UNTIL NEXT RUPT
020513,000170:
020514,000171: 16,2517 37737 CAF NEGMAX # RECORD TWO JETS FOR MINIMUM IMPULSE BE-
020515,000172: 16,2520 55461 TS NJET # FORE SELECTING POLICY
020516,000173:
020517,000174: 16,2521 33573 CAF PTJMINT6 # SET UP JET TIMES
020518,000175: 16,2522 55610 TS TP
020519,000176: 16,2523 55475 TS TOFJTCHG
020520,000177: 16,2524 12730 TCF PJETSLEC # AND GO SELECT JET POLICY
020521,000178:
020522,000179: 16,2525 00006 CHEKALL6 EXTEND
020523,000180: 16,2526 00031 READ 31
020524,000181: 16,2527 40000 COM
020525,000182: 16,2530 73612 MASK DAPLOW6
020526,000183: 16,2531 00006 EXTEND
020527,000184:
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020529,000186: 16,2532 12534 BZF +2
020530,000187:
020531,000188: 16,2533 13051 TCF JETSOFF
020532,000189: 16,2534 47755 CS BIT1 # PUTTING NEGATIVE NUMBER IN DELAYCTR
020533,000190: 16,2535 55007 TS DELAYCTR # WILL CAUSE RUPT TO BE ENABLED NEXT TIME
020534,000191: 16,2536 13051 TCF JETSOFF
020535,000192:
020536,000193: 16,2537 37737 DETENTCK CA BIT15
020537,000194: 16,2540 00006 EXTEND
020538,000195: 16,2541 02031 RAND 31 # CHECK OUT-OF-DETENT BIT.INVERTED.
020539,000196: 16,2542 00006 EXTEND
020540,000197: 16,2543 12600 BZF RHCMOVED # BRANCH IF OUT OF DETENT
020541,000198: # ........................................................................
020542,000199: 16,2544 37755 CAF BIT1 # IN DETENT.CHECK THE RATE COMMAND BIT
020543,000200: 16,2545 70077 MASK DAPBOOLS # BIT1 OF DAPBOOLS IS RATE COMMAND BIT
020544,000201: 16,2546 00006 EXTEND
020545,000202: 16,2547 13056 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND
020546,000203: # ........................................................................
020547,000204: 16,2550 37741 CAF BIT13 # CHECK ATTITUDE HOLD BIT
020548,000205:
020549,000206: 16,2551 00006 EXTEND
020550,000207: 16,2552 02031 RAND 31
020551,000208: 16,2553 00006 EXTEND
020552,000209: 16,2554 12651 BZF JOEY # BRANCH IF IN ATTITUDE HOLD
020553,000210: # ........................................................................
020554,000211: 16,2555 11416 CCS OMEGAP # HERE IF IN X-AXIS OVER-RIDE
020555,000212: 16,2556 12562 TCF +4
020556,000213: 16,2557 12566 TCF RATEDONE
020557,000214: 16,2560 12562 TCF +2
020558,000215: 16,2561 12566 TCF RATEDONE
020559,000216: 16,2562 61476 AD -RATEDB
020560,000217: 16,2563 00006 EXTEND
020561,000218: 16,2564 62566 BZMF RATEDONE
020562,000219: 16,2565 12651 TCF JOEY
020563,000220:
020564,000221: 16,2566 47755 RATEDONE CS BIT1
020565,000222: 16,2567 70077 MASK DAPBOOLS
020566,000223: 16,2570 54077 TS DAPBOOLS
020567,000224:
020568,000225: # READ CDUS INTO CDU DESIRED REGISTERS
020569,000226:
020570,000227: 16,2571 30032 CA CDUX
020571,000228: 16,2572 54766 TS CDUXD
020572,000229:
020573,000230: 16,2573 30033 CA CDUY
020574,000231: 16,2574 54767 TS CDUYD
020575,000232: 16,2575 30034 CA CDUZ
020576,000233: 16,2576 54770 TS CDUZD
020577,000234:
020578,000235: 16,2577 13051 TCF JETSOFF
020579,000236:
020580,000237: 16,2600 37755 RHCMOVED CAF BIT1 # CHECKING THE RATE COMMAND BIT
020581,000238: 16,2601 70077 MASK DAPBOOLS
020582,000239:
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020584,000241: 16,2602 00006 EXTEND
020585,000242: 16,2603 12623 BZF JUSTOUT
020586,000243:
020587,000244: # READ,ZERO, AND ENABLE COUNTERS
020588,000245: # SYSTEM HAS BEEN IN RATE COMMAND FOR AT LEAST THE TIME OF A CAP CHARGE
020589,000246:
020590,000247: 16,2604 30043 CAE P-RHCCTR # 1 BIT IN P-RHCCTR WORTH 0.6256 DEG/SEC
020591,000248: 16,2605 00006 EXTEND
020592,000249: 16,2606 77745 MP BIT9
020593,000250: 16,2607 30001 CA L
020594,000251: 16,2610 00006 EXTEND
020595,000252: 16,2611 73602 MP 0.88975
020596,000253: 16,2612 55436 TS PRATECOM # COMMANDED RATE SCALED AT PI/4
020597,000254:
020598,000255: 16,2613 37761 CAF ZERO # ZERO COUNTERS
020599,000256: 16,2614 54043 TS P-RHCCTR
020600,000257: 16,2615 54042 TS Q-RHCCTR
020601,000258: 16,2616 54044 TS R-RHCCTR
020602,000259: 16,2617 33613 CA BITS8,9 # ENABALE COUNTERS, START READING
020603,000260: 16,2620 00006 EXTEND
020604,000261: 16,2621 05013 WOR 13
020605,000262: 16,2622 12653 TCF OBEYRATE
020606,000263: # ........................................................................
020607,000264: 16,2623 24077 JUSTOUT INCR DAPBOOLS # ALWAYS SETS BIT1 ON RATE COMMAND BIT
020608,000265: 16,2624 37754 CAF BIT2
020609,000266: 16,2625 00006 EXTEND
020610,000267:
020611,000268: 16,2626 02030 RAND 30
020612,000269: 16,2627 00006 EXTEND
020613,000270: 16,2630 12635 BZF +5 # BRANCH FOR ASCENT CONSTANTS
020614,000271:
020615,000272: 16,2631 33605 CAF -D2JTLIM # -1.4 DEG/SEC SCALED AT PI/4
020616,000273: 16,2632 55477 TS -2JETLIM
020617,000274: 16,2633 33604 CAF -DRATEDB # -0.4 DEG/SEC SCALED AT PI/4
020618,000275: 16,2634 12640 TCF +4
020619,000276:
020620,000277: 16,2635 33606 +5 CAF -A2JTLIM # -2.0 DEG/SEC SCALED AT PI/4
020621,000278: 16,2636 55477 TS -2JETLIM
020622,000279: 16,2637 33607 CAF -ARATEDB # -1.0 DEG/SEC SCALED AT PI/4
020623,000280: 16,2640 55476 +4 TS -RATEDB
020624,000281:
020625,000282: 16,2641 37761 CAF ZERO # ZERO COUNTERS
020626,000283: 16,2642 54043 TS P-RHCCTR
020627,000284: 16,2643 54042 TS Q-RHCCTR
020628,000285: 16,2644 54044 TS R-RHCCTR
020629,000286: 16,2645 33613 CA BITS8,9
020630,000287: 16,2646 00006 EXTEND
020631,000288: 16,2647 05013 WOR 13
020632,000289: 16,2650 13051 TCF JETSOFF
020633,000290: # ........................................................................
020634,000291:
020635,000292: 16,2651 37761 JOEY CAF ZERO
020636,000293:
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020638,000295: 16,2652 55436 TS PRATECOM
020639,000296:
020640,000297: # IN THIS SECTION P RATE ERROR IS COMPUTED AND T-JET IS CALCULATED
020641,000298:
020642,000299: 16,2653 41416 OBEYRATE CS OMEGAP
020643,000300: 16,2654 61436 AD PRATECOM
020644,000301: 16,2655 10000 CCS A # IF POSITIVE, NON-ZERO, STORE POSITIVE
020645,000302: 16,2656 37755 CAF BIT1 # P-AXIS ROTATION
020646,000303:
020647,000304: 16,2657 12661 TCF +2 # WILL NOT COME HERE DIRECTLY
020648,000305: 16,2660 47755 CS BIT1 # NEGATIVE, NON-ZERO, STORE NEGATIVE
020649,000306: 16,2661 55435 TS TJETSIGN # P-AXIS ROTATION. NO NEG ZERO POSSIBLE
020650,000307:
020651,000308: 16,2662 11466 OBEYRAPE CCS PERROR # GET ABVAL OF RATE P-ERROR
020652,000309: 16,2663 12667 TCF +4
020653,000310: 16,2664 13051 TCF JETSOFF
020654,000311: 16,2665 12667 TCF +2
020655,000312: 16,2666 13051 TCF JETSOFF
020656,000313: 16,2667 67755 AD BIT1
020657,000314: 16,2670 55462 TS PRATEDIF # ABVAL OF RATE ERROR SCALED AT PI/4
020658,000315:
020659,000316: 16,2671 05041 TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED
020660,000317:
020661,000318: 16,2672 31476 CA -RATEDB
020662,000319: 16,2673 61462 AD PRATEDIF
020663,000320: 16,2674 00006 EXTEND
020664,000321: 16,2675 63051 BZMF JETSOFF # RATE ERROR INSIDE DEADBAND
020665,000322:
020666,000323: 16,2676 31462 CAE PRATEDIF # START TJET COMPUTATION
020667,000324: 16,2677 00006 EXTEND
020668,000325: 16,2700 71441 MP 1/2JTSP # 1/2JTACC SCALED AT 2EXP(8)/PI
020669,000326: 16,2701 00006 EXTEND
020670,000327:
020671,000328: 16,2702 77753 MP BIT3 # ENOUGH FOR 4 JETS
020672,000329: 16,2703 30001 CAE L
020673,000330: 16,2704 00006 EXTEND
020674,000331: 16,2705 73610 MP 25/32 # A CONTAINS TJFT SCALED AT 2EXP(4)(16/25)
020675,000332: 16,2706 55610 TS TP
020676,000333: 16,2707 55475 TS TOFJTCHG
020677,000334:
020678,000335: 16,2710 31462 CAE PRATEDIF # TEST WHETHER 2 OR 4 JETS TO BE USED BY
020679,000336: 16,2711 61477 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
020680,000337: 16,2712 00006 EXTEND
020681,000338: 16,2713 62717 BZMF +4 # IF NEGATIVE, 2 JETS ARE ENOUGH
020682,000339:
020683,000340: 16,2714 37735 CAF POSMAX # POSITIVE, NON-ZERO. PUT POSMAX IN NJET
020684,000341: 16,2715 55461 TS NJET
020685,000342: 16,2716 12730 TCF PJETSLEC # AND GO SELECT GOOD POLICY
020686,000343:
020687,000344: 16,2717 37737 CAF NEGMAX # 2 JETS, PUT NEGMAX IN NJET,
020688,000345: 16,2720 55461 TS NJET
020689,000346: 16,2721 31610 CAE TP # DOUBLE TP,
020690,000347:
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020692,000349: 16,2722 60000 DOUBLE
020693,000350: 16,2723 55610 TS TP # AND GO CHECK MINIMUM IMPULSE
020694,000351:
020695,000352: # ........................................................................
020696,000353: # CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE
020697,000354: 16,2724 55475 TS TOFJTCHG
020698,000355: 16,2725 63611 AD -TJMINT6
020699,000356: 16,2726 00006 EXTEND # AS TP. TEST JFT TIME. IS IT GREATER OR
020700,000357: 16,2727 63051 BZMF JETSOFF # LESS THAN A MINIMUM IMPULSE
020701,000358: # ........................................................................
020702,000359:
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020704,000361: # PROGRAM NAME: PJETSLEC DATE: DECEMBER 9, 1966
020705,000362:
020706,000363: # MODIFICATION 0 BY JOHN BLISS(ADAMS ASSOCIATES) ROOM 7-286, X183
020707,000364:
020708,000365: # LOG SECTION: P-AXIS REACTION CONTROL SYSTEM AUTOPILOT -- FIRST PUT INTO SUNBURST(III) REVISION 29
020709,000366:
020710,000367:
020711,000368:
020712,000369: # FUNCTIONAL DESCRIPTION:
020713,000370:
020714,000371: # THE OBJECT OF PJETSLEC IS TO CHOOSE THE BEST JET POLICY WHOSE NECESSARY JETS HAVE NOT BEEN RECORDED AS
020715,000372: # FAILED IN THE CH6MASK REGISTER. THE CONDITIONS ON SELECTION ARE THE NUMBER OF JETS REQUESTED(2 OR 4), THE
020716,000373: # SENSE OF P-AXIS ROTATION REQUIRED(+/-), AND ALTERNATING USE OF DIAGONAL FORCE-COUPLED PAIRS OF JETS.
020717,000374:
020718,000375: # PJETSLEC FIRST READS CHANNEL 6 TO SEE IF THE JETS ARE CURRENTLY FIRING. IF THEY ARE, THE TIME OF JET
020719,000376: # SELECTION COMPUTATION(5 MS.) IS SUBTRACTED FROM TOFJTCHG AND CONTROL GOES DIRECTLY TO TEST THE SENSE OF P-AXIS
020720,000377: # ROTATION. THE DIAGONAL FORCE-COUPLED PAIRS OF JETS ARE NOT SWITCHED, BECAUSE IT WOULD BE INEFFICIENT TO TURN
020721,000378: # ONE OFF AND THE OTHER ON IN RAPID SUCCESSION. IF THE JETS ARE OFF, THE MINIMUM IMPULSE DELAY TIME IS ADDED TO
020722,000379:
020723,000380: # TOFJTCHG AND THE DIAGONAL JETS ARE SWITCHED TO COMPLY WITH THE ALTERNATION CONDITION.
020724,000381:
020725,000382: # IF THE P-AXIS IS +, REL = 7, IF -, REL = 0,. NJET IS TESTED NEXT; IF POSMAX, 4 JETS DESIRED, REL = REL +6,
020726,000383: # CTR = 6. IF NEGMAX, 2 JETS DESIRED, REL = REL + 5, CTR = 5. IF 4 JETS DESIRED, GO TO POLICY TESTING LOOP
020727,000384: # WITHOUT TESTING TO SEE WHICH DIAGONAL PAIR IS PREFERRED THIS TIME.
020728,000385:
020729,000386: # IF 2 JETS ARE DESIRED, SEE WHETHER NO. 2 PAIR IS PREFERRED. IF IT IS, TEST IT FIRST AND USE IT IF IT'S OK.
020730,000387: # IF IT HAS FAILED, GO TO THE TEST LOOP TO TEST THE POLICIES IN ORDER. IF NO. 1 POLICY IS PREFERRED, GO DIRECTLY
020731,000388: # TO THE TEST LOOP.
020732,000389:
020733,000390: # THE TEST LOOP USES REL TO PICK UP THE NEXT POLICY IN PPOLTABL AND CTR TO KEEP TRACK OF THE NUMBER OF
020734,000391: # POLICIES(1-7) TESTED. WHEN A GOOD POLICY IS FOUND, IT IS WRITTEN INTO CHANNEL 6, OTHERWISE THE NEXT POLICY IS
020735,000392: # TRIED. IF NO GOOD POLICIES ARE FOUND, CONTROL GOES TO ABORTJET TO TURN OFF THE JETS AND THE DAP.
020736,000393:
020737,000394: # WHEN A GOOD POLICY IS FOUND, WRITEP IS CALLED TO WRITE THE POLICY INTO CHANNEL 6, +/-2/4 IS STORED IN
020738,000395: # NO.PJETS, AND BIT9 IS PUT INTO JTSATCHG TO CAUSE THE P-AXIS JETS TO BE TURNED OFF ON THE NEXT T6RUPT. CONTROL
020739,000396: # THEN TRANSFERS TO TORKVEC.
020740,000397:
020741,000398: # CALLING SEQUENCES: NONE SUBROUTINES CALLED:
020742,000399:
020743,000400: # WRITEP - WRITES C(A). THE
020744,000401: # SELECTED JET POLICY, INTO
020745,000402: # CHANNEL 6
020746,000403:
020747,000404:
020748,000405: # NORMAL EXIT MODES: ALARM OR ABORT EXIT MODES:
020749,000406:
020750,000407: # TCF TORKVEC EXTEND
020751,000408: # DCA ABORTADR
020752,000409: # DTCB
020753,000410:
020754,000411: # EBANK= JTSONNOW
020755,000412:
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Page 476 |
020757,000414: # ABORTADR 2CADR ABORTJET
020758,000415:
020759,000416: # THIS SEQUENCE IS FOLLOWED
020760,000417: # IF NONE OF THE POLICIES IS
020761,000418: # WITHOUT JET FAILURES
020762,000419:
020763,000420: # ERASABLE INITIALIZATION REQUIRED
020764,000421:
020765,000422: # TP = ) TIME PERIOD OF JET FIRING
020766,000423: # TOFJTCHG = ) AT T6 SCALING, 625 MICROSECONDS PER BIT
020767,000424: # NJET = 37777, 40000, DEPENDING ON WHETHER 4 OR 2 JETS DESIRED
020768,000425: # TJETSIGN = +/-00001, DEPENDING ON DISIRED SENSE OF P-AXIS ROTATION
020769,000426: # CH6MASK = BITS 1-8 INDICATE WHETHER CORRESPONDING JETS HAVE FAILED - BIT ON IS FAILURE, BIT OFF IS OK.
020770,000427: # DAPBOOLS,BIT5(AORBSYST) =0/1, DEPENDING UPON WHETHER DIAGONAL 1 OR DIAGONAL 2 WAS PREFERRED DURING LAST PASS
020771,000428:
020772,000429: # OUTPUT:
020773,000430:
020774,000431: # CHANNEL 6 - CONTAINS SELECTED JET POLICY UNLESS NONE IS AVAILABLE
020775,000432: # NO.PJETS - +/-2/4, SENSE OF P-AXIS ROTATION AND NUMBER OF JETS USED
020776,000433: # BY POLICY ACTUALLY SELECTED(MAY NOT = 4 IF 4 JETS RE-
020777,000434: # QUESTED BUT ONE OR MORE JETS FAILED)
020778,000435: # TOFJTCHG - MODIFIED BY MCOMP OR -14TOMIN DEPENDING ON WHETHER THE
020779,000436: # JETS WERE ON WHEN PJETSLEC WAS CALLED
020780,000437: # DAPBOOLS, BIT5(AORBSYST) = 1/0, IF THE INPUT VALUE WAS 0/1, UNLESS JETS WERE ON WHEN PJETSLEC STARTED.
020781,000438:
020782,000439: # JTSATCHG - = BIT9, UNLESS NO POLICIES AVAILABLE
020783,000440:
020784,000441: # NJET, TP, TJETSIGN, AND CH6MASK NOT CHANGED BY PJETSLEC
020785,000442:
020786,000443: # REL AND CTR ARE LEFT AT THEIR LAST VALUES WHEN THE GOOD POLICY WAS
020787,000444: # FOUND
020788,000445:
020789,000446: # DEBRIS:
020790,000447:
020791,000448: # REL = ITEMP5
020792,000449: # CTR = ITEMP6
020793,000450: # A,L,Q
020794,000451:
020795,000452: 16,2730 00006 PJETSLEC EXTEND # BEGIN JET SELECT ROUTINE BY SEEING WHE-
020796,000453: 16,2731 00006 READ 6 # THER THE JETS ARE TURNED ON(CHANNEL 6
020797,000454: 16,2732 00006 EXTEND # NON-ZERO)
020798,000455: 16,2733 12737 BZF +4 # IF THE JETS AREN'T ON, GET MINIMP DELAY
020799,000456:
020800,000457: 16,2734 33576 CAF MCOMPT # CONTAINS -TIME OF JET SELECTION
020801,000458: 16,2735 27475 ADS TOFJTCHG # ADD IT TO TOFJTCHG(TO REDUCE JET FIRING)
020802,000459: 16,2736 12746 TCF TESTSIGN # SINCE JETS ALREADY ON, DONT SWITCH DIAGS
020803,000460:
020804,000461: 16,2737 33577 CAF 14-TJMIN # PICK UP MINIMUM IMPULSE DELAY TIME
020805,000462: 16,2740 27475 ADS TOFJTCHG # AND ADD TO TOFJTCHG(TO LENGTHEN FIRING)
020806,000463:
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Page 477 |
020808,000465: 16,2741 37751 CAF AORBSYST # IF JETS NOT ON NOW. START BY
020809,000466: 16,2742 22077 LXCH DAPBOOLS # SWITCHING BIT5 IN DAPBOOLS.
020810,000467: 16,2743 00006 EXTEND # BIT5 ON - DIAGONAL JETS 15,7 AND 8, 16
020811,000468: 16,2744 06001 RXOR L
020812,000469: 16,2745 54077 TS DAPBOOLS # BIT5 OFF - DIAGONAL JETS 4,12 AND 3, 11
020813,000470:
020814,000471: 16,2746 37761 TESTSIGN CAF ZERO # COME HERE DIRECTLY IF JETS ALREADY ON
020815,000472: 16,2747 54065 TS REL # INITIALIZE ADDRESSING INDEX AT ZERO
020816,000473:
020817,000474: 16,2750 11435 CCS TJETSIGN # TEST DIRECTION OF P-AXIS ROTATION(ROLL)
020818,000475: 16,2751 37757 CAF SEVEN # IF POSITIVE, GET POLICY FROM LOWER SEVEN
020819,000476: 16,2752 26065 ADS REL # LOCATIONS OF TABLE
020820,000477:
020821,000478: 16,2753 11461 CCS NJET # SET IF 4-JET POLICY IS REQUESTED
020822,000479: 16,2754 36276 CAF SIX # IT IS, PICK UP 6 FOR REL AND CTR
020823,000480: 16,2755 12776 TCF FILCOUNT # AND GO STORE THEM
020824,000481:
020825,000482: 16,2756 37760 CAF FIVE # 2 JETS ONLY REQUESTED, PICK UP 5, STORE
020826,000483: 16,2757 26065 ADS REL # IN REL AND CTR
020827,000484: 16,2760 54066 TS CTR
020828,000485: 16,2761 40077 CS DAPBOOLS # CHECK BIT5 IN DAPBOOLS TO SEE WHICH PAIR
020829,000486: 16,2762 77751 MASK AORBSYST # OF DIAGONAL JETS SHOULD BE USED NEXT
020830,000487: 16,2763 10000 CCS A
020831,000488: 16,2764 13000 TCF TESTPOL # FIRST PAIR, SO GO TO TESTING LOOP NOW
020832,000489:
020833,000490: 16,2765 00006 EXTEND # SECOND PAIR, DECREMENT REL TO 4 OR 11.
020834,000491: 16,2766 26065 DIM REL
020835,000492: 16,2767 50065 INDEX REL # PICK UP SECOND DIAGONAL PAIR FROM POLICY
020836,000493: 16,2770 33033 CAF PPOLTABL
020837,000494: 16,2771 71503 MASK CH6MASK # TABLE AND COMPARE WITH FAILURE BITS
020838,000495: 16,2772 00006 EXTEND
020839,000496: 16,2773 13014 BZF WRITEPOL # THE JETS ARE GOOD, GO WRITE IN CHANNEL
020840,000497:
020841,000498: 16,2774 24065 INCR REL # THE JET(S) HAVE FAILED FOR THIS POLICY,
020842,000499: 16,2775 13000 TCF TESTPOL # RESTORE REL AND DO TEST POLICY LOOP
020843,000500:
020844,000501: 16,2776 26065 FILCOUNT ADS REL # COME HERE TO SET REL AND CTR FOR 4-JET
020845,000502: 16,2777 54066 TS CTR # POLICY REQUESTED. ALSO, SET CTR -1 HERE
020846,000503:
020847,000504: 16,3000 50065 TESTPOL INDEX REL # PICK UP NEXT POLICY AS LOCATED RELATIVE
020848,000505: 16,3001 33033 CAF PPOLTABL # TO PPOLTABL BY REL.
020849,000506: 16,3002 71503 MASK CH6MASK # COMPARE WITH FAILURE BITS
020850,000507: 16,3003 00006 EXTEND
020851,000508: 16,3004 13014 BZF WRITEPOL # THE JETS ARE GOOD, WRITE IN THE CHANNEL
020852,000509:
020853,000510: 16,3005 00006 EXTEND # THE JET(S) HAVE FAILED FOR THIS POLICY
020854,000511: 16,3006 26065 DIM REL # DECREMENT THE INDEX.
020855,000512: 16,3007 10066 CCS CTR # SEE IF ALL POLICIES HAVE BEEN TESTED.
020856,000513: 16,3010 12777 TCF TESTPOL -1 # CTR NOT ZERO, A = CTR -1, DO LOOP AGAIN
020857,000514: 16,3011 00006 EXTEND # CTR ZERO, ALL ALLOWABLE POLICIES FAILED
020858,000515: 16,3012 33032 DCA ABORTADR # PICK UP 2CADR OF ABORTJET
020859,000516:
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020861,000518: 16,3013 52006 DTCB # AND GO THERE
020862,000519:
020863,000520: 16,3014 50065 WRITEPOL INDEX REL # A GOOD POLICY IS FOUND, PICK IT UP AND
020864,000521: 16,3015 33033 CAF PPOLTABL
020865,000522: 16,3016 06012 TC WRITEP # GO WRITE IT IN CHANNEL 6 AND RETURN
020866,000523:
020867,000524: 16,3017 10000 CCS A # THE POLICY IS STILL IN A, TEST NUMBER OF
020868,000525: 16,3020 37754 CAF TWO
020869,000526: 16,3021 13023 TCF +2 # JETS(BIT15 ON FOR 4-JET POLICIES) AND
020870,000527: 16,3022 37753 CAF FOUR
020871,000528: 16,3023 00006 EXTEND # MULTIPLY BY TJETSIGN(+/-1) TO GET +/-2,4
020872,000529: 16,3024 71435 MP TJETSIGN
020873,000530: 16,3025 23651 LXCH NO.PJETS # IN L, WHICH IS THEN STORED IN NO.PJETS
020874,000531:
020875,000532: 16,3026 37745 CAF BIT9 # TURN OFF P-AXIS JETS AFTER T6RUPT
020876,000533: 16,3027 55472 TS JTSATCHG
020877,000534:
020878,000535: 16,3030 13407 TCF TORKVEC # RECONSTRUCT P TORQUE VECTOR, THEN JTLST.
020879,000536:
020880,000537: 16,3031 E6,1471 EBANK= JTSONNOW # WOULD YOU BELIEVE, EBANK = 6
020881,000538: 16,3031 02243 40006 ABORTADR 2CADR ABORTJET # WHERE TO GO WHEN ALL JET POLICIES FAIL
020882,000539: # ................................................................................................................
020883,000540:
020884,000541: # TABLE OF P-AXIS JET POLICIES IS ASSEMBLED HERE TO BE ADDRESSED BY RELATIVE INDEX FROM BASE ADDRESS PPOLTABLE
020885,000542:
020886,000543: # CHANNEL 6 BITS INDEX JETS ON
020887,000544:
020888,000545: 16,3033 00202 PPOLTABL OCTAL 00202 # REL=0 -P NON-FORCE COUPLE 4- 16, 3
020889,000546: 16,3034 00210 OCTAL 00210 # REL=1 -P NON-FORCE COUPLE 3- 11, 16
020890,000547: 16,3035 00050 OCTAL 00050 # REL=2 -P NON-FORCE COUPLE 2- 8, 11
020891,000548: 16,3036 00042 OCTAL 00042 # REL=3 -P NON-FORCE COUPLE 1- 3, 8
020892,000549: 16,3037 00240 OCTAL 00240 # REL=4 NUMBER TWO FORCE COUPLE- 8, 16
020893,000550: 16,3040 00012 OCTAL 00012 # REL=5 -P 2-JET FORCE COUPLE- 3, 11
020894,000551: 16,3041 40252 OCTAL 40252 # REL=6 -P 4-JET POLICY- 3, 8, 11, 16
020895,000552:
020896,000553: 16,3042 00101 OCTAL 00101 # REL=7 +P NON-FORCE COUPLE 4- 7, 4
020897,000554: 16,3043 00021 OCTAL 00021 # REL=8D +P NON-FORCE COUPLE 3- 12, 7
020898,000555:
020899,000556: 16,3044 00024 OCTAL 00024 # REL=9D +P NON-FORCE COUPLE 2- 15, 12
020900,000557: 16,3045 00104 OCTAL 00104 # REL=10D +P NON-FORCE COUPLE 1- 4, 15
020901,000558: 16,3046 00005 OCTAL 00005 # REL=11D NUMBER TWO FORCE COUPLE- 15, 7
020902,000559: 16,3047 00120 OCTAL 00120 # REL=12D +P 2-JET FORCE COUPLE- 4, 12
020903,000560: 16,3050 40125 OCTAL 40125 # REL=13D +P 4-JET POLICY- 4, 15, 12, 7
020904,000561:
020905,000562: # ................................................................................................................
020906,000563:
020907,000564: 16,3051 37761 JETSOFF CAF ZERO
020908,000565: 16,3052 55610 TS TP
020909,000566: 16,3053 55475 TS TOFJTCHG
020910,000567: 16,3054 06012 TC WRITEP # TURN ON P JETS USING T6JOB SUBROUTINE
020911,000568:
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020913,000570:
020914,000571: 16,3055 15751 TCF RESUME
020915,000572: # P-AXIS URGENCY FUNCTION CALCULATION
020916,000573:
020917,000574: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
020918,000575:
020919,000576: 16,3056 30033 PURGENCY CA CDUY # P-ERROR CALCULATION
020920,000577: 16,3057 00006 EXTEND
020921,000578: 16,3060 20767 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
020922,000579: 16,3061 00006 EXTEND
020923,000580: 16,3062 71404 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
020924,000581: 16,3063 57411 XCH E # SAVE FIRST TERM (OF TWO)
020925,000582: 16,3064 30032 CA CDUX # THIRD COMPONENT
020926,000583: 16,3065 00006 EXTEND
020927,000584: 16,3066 20766 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
020928,000585: # EXTEND
020929,000586: # MP M13
020930,000587: 16,3067 27411 ADS E # SAVE SUM OF TERMS, NO OVERFLOW EVR
020931,000588:
020932,000589: 16,3070 55466 TS PERROR # SAVE P ERROR FOR DISPLAY
020933,000590:
020934,000591: 16,3071 30077 CAE DAPBOOLS # BIT15 = 0 FOR SPS BACK-UP
020935,000592: 16,3072 00006 EXTEND
020936,000593: 16,3073 63145 BZMF NOBACKUP # DAPBOOLS IS NEVER +0.
020937,000594: 16,3074 40774 CS OMEGAPD # THIS IS THE P-AXIS RCS BACK-UP CODING
020938,000595: 16,3075 61416 AD OMEGAP
020939,000596: 16,3076 55407 TS EDOT
020940,000597:
020941,000598: 16,3077 37735 CAF SLOPEMP
020942,000599:
020943,000600: 16,3100 00006 EXTEND
020944,000601: 16,3101 71411 MP E
020945,000602: 16,3102 61407 AD EDOT
020946,000603: 16,3103 00006 EXTEND
020947,000604: 16,3104 63131 BZMF PLUSDP
020948,000605:
020949,000606: 16,3105 33143 CAF NEGDP
020950,000607:
020951,000608: 16,3106 54063 GCOMPER TS ITEMP3
020952,000609: 16,3107 31407 CAE EDOT
020953,000610: 16,3110 00006 EXTEND
020954,000611: 16,3111 70000 SQUARE
020955,000612: 16,3112 00006 EXTEND
020956,000613: 16,3113 73144 MP 1/2AP
020957,000614:
020958,000615: 16,3114 61411 AD E
020959,000616: 16,3115 63143 AD NEGDP
020960,000617: 16,3116 00006 EXTEND
020961,000618: 16,3117 63137 BZMF UCOAST
020962,000619:
020963,000620: 16,3120 30063 CAE ITEMP3
020964,000621: 16,3121 00006 EXTEND
020965,000622:
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020967,000624: 16,3122 63127 BZMF NEGPJET
020968,000625:
020969,000626: 16,3123 33142 CAF POSP
020970,000627: 16,3124 00006 JETPON EXTEND
020971,000628: 16,3125 01006 WRITE 6
020972,000629: 16,3126 15751 TCF RESUME
020973,000630:
020974,000631: 16,3127 33141 NEGPJET CAF NEGP
020975,000632: 16,3130 13124 TCF JETPON
020976,000633:
020977,000634: 16,3131 41411 PLUSDP CS E
020978,000635: 16,3132 57411 XCH E
020979,000636: 16,3133 41407 CS EDOT
020980,000637: 16,3134 57407 XCH EDOT
020981,000638: 16,3135 43143 CS NEGDP
020982,000639: 16,3136 13106 TCF GCOMPER
020983,000640: 16,3137 37761 UCOAST CAF ZERO
020984,000641: 16,3140 13124 TCF JETPON
020985,000642: 16,3141 00120 NEGP OCT 00120
020986,000643: 16,3142 00240 POSP OCT 00240
020987,000644: 16,3143 77644 NEGDP DEC -0.00555
020988,000645: 16,3144 7735 SLOPEMP EQUALS POSMAX
020989,000646: 16,3144 06743 1/2AP DEC 0.217
020990,000647: 16,3145 37740 NOBACKUP CAF BIT14
020991,000648: 16,3146 55710 TS SIGNTAG # INDICATES EDOT POSITIVE FOR TIME BEING
020992,000649: 16,3147 40774 CS OMEGAPD
020993,000650:
020994,000651: 16,3150 61416 AD OMEGAP
020995,000652: 16,3151 10000 CCS A
020996,000653: 16,3152 13164 TCF SCALEDOT
020997,000654: 16,3153 13174 TCF PTJETLAW
020998,000655: 16,3154 13156 TCF REFLECT
020999,000656: 16,3155 13174 TCF PTJETLAW
021000,000657: 16,3156 55407 REFLECT TS EDOT
021001,000658: 16,3157 47740 CS BIT14
021002,000659: 16,3160 55710 TS SIGNTAG # INDICATES EDOT REALLY NEGATIVE
021003,000660: 16,3161 41466 CS PERROR
021004,000661: 16,3162 55411 TS E
021005,000662: 16,3163 31407 CAE EDOT
021006,000663: 16,3164 67755 SCALEDOT AD BIT1
021007,000664: 16,3165 00006 EXTEND
021008,000665: 16,3166 77753 MP BIT3
021009,000666: 16,3167 00006 EXTEND
021010,000667: 16,3170 13173 BZF PTJETLAW -1
021011,000668: 16,3171 37735 CAF POSMAX
021012,000669: 16,3172 13174 TCF PTJETLAW
021013,000670: 16,3173 30001 CAE L
021014,000671: 16,3174 55407 PTJETLAW TS EDOT
021015,000672: 16,3175 00006 EXTEND
021016,000673: 16,3176 71407 MP EDOT
021017,000674:
021018,000675: 16,3177 55412 TS EDOT(2)
021019,000676:
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Page 481 |
021021,000678: 16,3200 37763 CAF NEGONE
021022,000679: 16,3201 55435 TS TJETSIGN
021023,000680: 16,3202 37737 CAF NEGMAX
021024,000681: 16,3203 55461 TS NJET # INDICATES 2 JETS ONLY FOR TIME BEING
021025,000682: 16,3204 31412 CAE EDOT(2)
021026,000683: 16,3205 00006 EXTEND
021027,000684: 16,3206 71441 MP 1/2JTSP
021028,000685: 16,3207 00006 EXTEND
021029,000686:
021030,000687: 16,3210 77740 MP BIT14
021031,000688: 16,3211 61411 AD E
021032,000689: 16,3212 00006 EXTEND
021033,000690: 16,3213 61415 SU DB
021034,000691: 16,3214 55445 TS FCT1
021035,000692: 16,3215 00006 EXTEND
021036,000693: 16,3216 63252 BZMF 5,6,7,8
021037,000694: 16,3217 31407 CAE EDOT
021038,000695: 16,3220 00006 EXTEND
021039,000696: 16,3221 71441 MP 1/2JTSP
021040,000697: 16,3222 55512 TS TERMA
021041,000698: 16,3223 40000 COM
021042,000699: 16,3224 67743 AD BIT11 # 1SECOND SCALED AT 16 SECONDS
021043,000700: 16,3225 00006 EXTEND
021044,000701: 16,3226 63247 BZMF MULTIJET
021045,000702: 16,3227 43575 CS +1.5CSP
021046,000703: 16,3230 61512 AD TERMA
021047,000704: 16,3231 00006 EXTEND
021048,000705: 16,3232 63235 BZMF +3
021049,000706: 16,3233 37740 MAXPTJET CAF BIT14
021050,000707: 16,3234 13375 TCF FINDSIGN
021051,000708: 16,3235 41445 CS FCT1
021052,000709: 16,3236 61626 AD MINIMPDB
021053,000710:
021054,000711: 16,3237 00006 EXTEND
021055,000712: 16,3240 63302 BZMF PMBR
021056,000713: 16,3241 31512 CAE TERMA
021057,000714: 16,3242 63567 AD -35AT16
021058,000715: 16,3243 00006 EXTEND
021059,000716: 16,3244 63364 BZMF ZONE4
021060,000717: 16,3245 63571 AD 38.7AT16
021061,000718: 16,3246 13344 TCF SCALTJET
021062,000719: 16,3247 37735 MULTIJET CAF POSMAX
021063,000720: 16,3250 55461 TS NJET
021064,000721: 16,3251 13233 TCF MAXPTJET
021065,000722: 16,3252 31412 5,6,7,8 CAE EDOT(2)
021066,000723: 16,3253 00006 EXTEND
021067,000724: 16,3254 72336 MP .5ACCMIN
021068,000725: 16,3255 61411 AD E
021069,000726: 16,3256 61415 AD DB
021070,000727: 16,3257 61625 AD DBMINIMP
021071,000728: 16,3260 00006 EXTEND
021072,000729: 16,3261 63263 BZMF +2
021073,000730:
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Page 482 |
021075,000732: 16,3262 13051 ZONE5 TCF JETSOFF
021076,000733: 16,3263 43565 +2 CS RATEMAX
021077,000734: 16,3264 61407 AD EDOT
021078,000735: 16,3265 00006 EXTEND
021079,000736: 16,3266 63270 BZMF ZONES6,7
021080,000737: 16,3267 13051 ZONE8 TCF JETSOFF
021081,000738: 16,3270 37755 ZONES6,7 CAF BIT1
021082,000739: 16,3271 55435 TS TJETSIGN
021083,000740: 16,3272 41407 CS EDOT
021084,000741: 16,3273 00006 EXTEND
021085,000742: 16,3274 71441 MP 1/2JTSP
021086,000743: 16,3275 55512 TS TERMA
021087,000744: 16,3276 41445 CS FCT1
021088,000745: 16,3277 61411 AD E
021089,000746:
021090,000747: 16,3300 61411 AD E
021091,000748: 16,3301 61626 AD MINIMPDB
021092,000749: 16,3302 55445 PMBR TS FCT1 # FCT1 NOW HOLDS -FCT5 OR -FCT2
021093,000750: 16,3303 31441 CAE 1/2JTSP
021094,000751: 16,3304 00006 EXTEND
021095,000752: 16,3305 77740 MP BIT14
021096,000753: 16,3306 62336 AD .5ACCMIN
021097,000754: 16,3307 55447 TS DENOM
021098,000755: 16,3310 00006 EXTEND
021099,000756: 16,3311 73566 MP RATEMAX2
021100,000757: 16,3312 61445 AD FCT1
021101,000758: 16,3313 00006 EXTEND
021102,000759: 16,3314 63350 BZMF MISSROOT
021103,000760: 16,3315 31445 CAE FCT1
021104,000761: 16,3316 00006 EXTEND
021105,000762: 16,3317 11447 DV DENOM
021106,000763: 16,3320 00006 EXTEND
021107,000764: 16,3321 71441 MP 1/2JTSP
021108,000765: 16,3322 00006 EXTEND
021109,000766: 16,3323 71441 MP 1/2JTSP
021110,000767: 16,3324 55513 TS TERMB
021111,000768: 16,3325 43575 CS +1.5CSP
021112,000769: 16,3326 61512 AD TERMA
021113,000770:
021114,000771: 16,3327 00006 EXTEND
021115,000772: 16,3330 70000 SQUARE
021116,000773: 16,3331 61513 AD TERMB
021117,000774: 16,3332 00006 EXTEND
021118,000775: 16,3333 63233 BZMF MAXPTJET
021119,000776: 16,3334 43572 CS TMINAT16
021120,000777: 16,3335 61512 AD TERMA
021121,000778: 16,3336 00006 EXTEND
021122,000779: 16,3337 63354 BZMF LASTTEST
021123,000780: 16,3340 05041 ROOTNEXT TC T6JOBCHK
021124,000781: 16,3341 41513 CS TERMB
021125,000782: 16,3342 05435 TC SPROOT
021126,000783: 16,3343 61512 SUMTJ AD TERMA
021127,000784:
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021129,000786: 16,3344 60000 SCALTJET DOUBLE
021130,000787: 16,3345 00006 EXTEND
021131,000788: 16,3346 73610 MP 25/32
021132,000789: 16,3347 13375 TCF FINDSIGN
021133,000790: 16,3350 33564 MISSROOT CAF RATEMAX+ # RATEMAX+ = RATEMAX+0.6DEGREES/SECOND
021134,000791: 16,3351 00006 EXTEND
021135,000792: 16,3352 71441 MP 1/2JTSP
021136,000793: 16,3353 13343 TCF SUMTJ
021137,000794: 16,3354 43572 LASTTEST CS TMINAT16
021138,000795: 16,3355 61512 AD TERMA
021139,000796: 16,3356 00006 EXTEND
021140,000797: 16,3357 70000 SQUARE
021141,000798: 16,3360 61513 AD TERMB
021142,000799: 16,3361 00006 EXTEND
021143,000800: 16,3362 63340 BZMF ROOTNEXT
021144,000801: 16,3363 13051 TCF JETSOFF
021145,000802: 16,3364 31710 ZONE4 CAE SIGNTAG
021146,000803: 16,3365 00006 EXTEND
021147,000804: 16,3366 63371 BZMF +3
021148,000805:
021149,000806: 16,3367 43574 CS .1DPS
021150,000807: 16,3370 13372 TCF +2
021151,000808: 16,3371 33574 CA .1DPS
021152,000809: 16,3372 60774 AD OMEGAPD
021153,000810: 16,3373 55416 TS OMEGAP
021154,000811: 16,3374 33573 CAF PTJMINT6
021155,000812: 16,3375 55610 FINDSIGN TS TP
021156,000813: 16,3376 31710 CAE SIGNTAG # NEVER ZERO
021157,000814: 16,3377 00006 EXTEND
021158,000815: 16,3400 63402 BZMF +2 # EQUIVALENT TO BRANCH ON MINUS
021159,000816: 16,3401 13404 TCF +3
021160,000817: 16,3402 41435 CS TJETSIGN
021161,000818: 16,3403 55435 TS TJETSIGN
021162,000819: 16,3404 31610 CAE TP # LOAD TOFJTCHG
021163,000820: 16,3405 55475 TS TOFJTCHG
021164,000821: 16,3406 12730 TCF PJETSLEC # AND GO SELECT GOOD POLICY
021165,000822:
021166,000823: # TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS
021167,000824:
021168,000825: 16,3407 41475 TORKVEC CS TOFJTCHG
021169,000826: 16,3410 63575 AD +1.5CSP # USE 150 MS. TO TEST FOR A PAXIS SKIP.
021170,000827: 16,3411 00006 EXTEND
021171,000828: 16,3412 65751 BZMF RESUME # TP GREATER THAN 150MS THEN DO NORMAL P.
021172,000829:
021173,000830: 16,3413 33616 CA PSKIPADR # SET UP A P AXIS SKIP.
021174,000831: 16,3414 55646 TS PJUMPADR # GOES TO JTLST FROM HERE
021175,000832:
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021177,000834:
021178,000835: # PROGRAM NAME JTLST
021179,000836:
021180,000837: # WRITTEN BY DICK GRAN ( GAEC - CALL LR-5-1331 AREA CODE 516 )
021181,000838:
021182,000839: # THIS PROGRAM IN CONJUNCTION WITH T6-RUPT PROGRAMS ALLOWS JETS TO BE
021183,000840: # TURNED OFF AT THE COMPUTED OFF TIME. THIS TASK IS ACCOMPLISHED BY USING
021184,000841: # A JET LIST WHICH IS SET UP AS FOLLOWS ....
021185,000842:
021186,000843: # JET OFF TIMES DESIRED JETS AT THIS TIME
021187,000844:
021188,000845: # TIME6 T6NEXTJT
021189,000846: # T6NEXT T6NEXTJT +1
021190,000847: # T6NEXT +1 T6NEXTJT +2
021191,000848:
021192,000849: # THESE LOCATIONS RECEIVE THE JET ON TIMES SCALED AS T6 (.625 MS/BIT). AS
021193,000850: # AN EXAMPLE OF HOW THE PROGRAM WORKS, CONSIDER THE FOLLOWING PROBLEM...
021194,000851: # 50 MS AGO A P AXIS JET COMPUTATION DECIDED JETS 12 AND 15 SHOULD BE
021195,000852: # ON FOR 120 MS. AFTER 120 MS IT WAS FURTHER DECIDED THAT JETS 12,15
021196,000853: # 16 AND 3 SHOULD BE ON UNTIL THE NEXT P AXIS COMPUTATION (WHICH
021197,000854: # OCCURS IN 200 MS AFTER THE LAST P AXIS JET COMPUTATION). AT THE
021198,000855: # CURRENT TIME THE QR AXES COMPUTES THAT JET 2 SHOULD BE ON FOR 65 MS
021199,000856: # AND JET 9 SHOULD BE ON FOR 72.5 MS. AFTER 72.5 MS NO FURTHER QR JETS
021200,000857: # SHOULD BE ON. THIS SEQUENCE OF JETS CORRESPONDS TO A +P ROTATION
021201,000858: # WITH A SIMULTANEOUS +Y AND -Z TRANSLATION AND ALSO A -V (DIAGONAL)
021202,000859: # ROTATION ABOUT THE Y AND Z AXES . NOTE JET 9 IS ON LONGER THAN JET 2
021203,000860: # WHICH WOULD BE THE CASE IF THE Q-R JETS HAD BEEN ON BEFORE. IN THIS
021204,000861:
021205,000862: # CASE, THE FOLLOWING SEQUENCE OF EVENTS OCCURRED AT THE P AXIS
021206,000863: # COMPUTATION .....
021207,000864:
021208,000865: # 1) CHANNEL 6 WAS LOADED WITH OCTAL 24 TO TURN ON JETS 12 AND 15
021209,000866:
021210,000867: # 2) TIME 6 WAS LOADED WITH 120 MS
021211,000868:
021212,000869: # 3) T6NEXT WAS LOADED WITH +0 ( THIS INDICATES THE CONTENTS OF
021213,000870: # T6NEXT ARE NOT TO BE USED IN THE T6JOB PROGRAM)
021214,000871:
021215,000872: # 4) T6NEXTJT WAS LOADED WITH OCTAL 226 TO CAUSE JETS 3,12,15
021216,000873: # AND 16 TO GO ON WHEN T6 HAS BEEN DECREMENTED TO -0.
021217,000874:
021218,000875: # 5) THE T6 CLOCK WAS TURNED ON TO BEGIN COUNTING DOWN TIME 6
021219,000876:
021220,000877: # AT THE QR AXES JET LIST COMPUTATION, THE T6 CLOCK HAS BEEN REDUCED
021221,000878: # TO 70 MS (120-50) THEREFORE THE FOLLOWING OCCURS ....
021222,000879:
021223,000880: # 1) CHANNEL 5 IS LOADED WITH OCTAL 40022 TO TURN ON JETS 2 AND
021224,000881: # 9. ( THIS IS PERFORMED IN THE SECTION CALLED RATE)
021225,000882:
021226,000883: # 2) THE BANK IS SWITCHED FROM THE QR BANK TO THE P BANK (WHERE
021227,000884: # THE JET LIST IS STORED) AS FOLLOWS ....
021228,000885:
021229,000886: # DCA JTLSTADR
021230,000887:
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021232,000889: # DTCB ( IN THE QR AXES ONLY)
021233,000890:
021234,000891: # 3) THE DESIRED JET ON TIME FOR JET 2 IS COMPARED WITH T6.
021235,000892:
021236,000893: # 4) SINCE T6 IS GREATER THAN THE DESIRED JET ON TIME FOR JET 2,
021237,000894: # T6 IS CHANGED TO 65 MS AND T6NEXT IS LOADED WITH 5 MS.
021238,000895: # ( THE DIFFERENCE BETWEEN JET ON TIME AND T6)
021239,000896:
021240,000897: # 5) T6NEXTJT IS CHANGED TO OCTAL 40020 , AND THE FORMER CONTENTS
021241,000898: # OF T6NEXTJT IS PLACED IN T6NEXTJT +1. THIS CAUSES JET 9 TO
021242,000899: # REMAIN ON AND JET 2 TO BE TURNED OFF WHEN T6 IS DECREMENTED
021243,000900: # TO ZERO. IT ALSO ASSIGNS THE P AXIS JET CODE TO THE
021244,000901: # TIME IN T6NEXT.
021245,000902:
021246,000903: # 6) THE CONTENTS OF T6NEXT (5MS) IS COMPARED WITH THE
021247,000904: # DIFFERENCE BETWEEN THE TWO QR AXIS JET ON TIMES. SINCE HERE
021248,000905: # THE DIFFERENCE IS 7.5 MS WHICH IS GREATER THAN THE CONTENTS
021249,000906: # OF T6NEXT (5MS), THE ADDITIONAL QR AXIS RUPT OCCURS AFTER
021250,000907: # THE RUPT STORED IN T6NEXT. THUS 2.5 MS (7.5 - 5) IS STORED
021251,000908: # IN T6NEXT +1
021252,000909:
021253,000910: # 7) T6NEXTJT +2 IS MADE EQUAL TO THE JETS WHICH ARE TO BE ON
021254,000911: # AFTER THE 75 MS HAS ELAPSED (IN THE CASE HERE IT IS ZERO)
021255,000912:
021256,000913: # THUS FOR THE EXAMPLE CONSIDERED THE JET LIST IS ....
021257,000914:
021258,000915: # JET TIMES JET CODES
021259,000916: # TIME6 = 65MS. T6NEXTJT = 40020 SIGN IS NEGATIVE TO
021260,000917: # T6NEXT = 5 MS. T6NEXTJT +1 = 00226 INDICATES Q-R AXIS
021261,000918: # T6NEXT +1 =2.5 MS. T6NEXTJT +2=, 40000 JETS,POSITIVE TO
021262,000919: # INDICATE P JETS.
021263,000920: # CHANNEL 6 = 00024
021264,000921:
021265,000922: # CHANNEL 5 = 00022 SIGN IS LOST ONCE THE JET CODE IS LOADED
021266,000923:
021267,000924: # THIS EXAMPLE AND THE CODING SHOULD ALLOW ONE TO UNDERSTAND THE JET LIST.
021268,000925: # ONE FURTHER COMMENT IS IN ORDER - IF THE JET ON TIMES EXCEED 150 MS,
021269,000926: # THE JETS ARE TURNED ON AND THE JET LIST IS NOT ENTERED. IN 100 MS
021270,000927: # A NEW JET ON TIME IS COMPUTED WHICH WILL RESET THE JETS IF NEEDED.
021271,000928: # WHEN THE JET ON TIME IS LESS THAN 150MS, THE JET LIST IS LOADED AS
021272,000929: # DISCUSSED ABOVE AND THE TJET COMPUTATION IS SKIPPED NEXT TIME, THAT IS
021273,000930: # THE AXIS IS NOT REPEATED AGAIN UNTIL 200 MS HAS ELAPSED. THIS INSURES
021274,000931: # THAT WHEN A NEW JET TIME IS COMPUTED THE JET LIST WILL NOT HAVE
021275,000932: # A TIME STORED WHICH CORRESPONDS TO THE AXIS JUST COMPLETED.
021276,000933:
021277,000934: 16,3415 10031 JTLST CCS TIME6 # TEST CURRENT STATE OF T6.
021278,000935: 16,3416 13441 TCF T6ONNOW # IF T6 IS + THEN CLOCK IS ON.
021279,000936: 16,3417 13423 TCF T6OFFNOW # IF T6 IS + ZERO THEN T6 MUST BE OFF
021280,000937: 16,3420 13441 TCF T6ONNOW # SINCE ALL DINC S LEAD TO MINUS ZERO.
021281,000938: 16,3421 05045 TC T6JOB # WE ARE IN THE UNIQUE STATE WHICH SAYS
021282,000939: 16,3422 13415 TCF JTLST # A T6 INTERRUPT IS WAITING.DO T6 JOB.
021283,000940:
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021285,000942: 16,3423 31475 T6OFFNOW CA TOFJTCHG
021286,000943: 16,3424 54031 TS TIME6 # WE ARE HERE IF T6 CLOCK IS OFF.
021287,000944: 16,3425 37737 CA BIT15
021288,000945: 16,3426 00006 EXTEND # TURN CLOCK PULSE FOR T6 ON AND LOAD T6.
021289,000946: 16,3427 05013 WOR 13
021290,000947: 16,3430 31472 CA JTSATCHG
021291,000948: 16,3431 55004 TS T6NEXTJT
021292,000949: 16,3432 37761 CA ZERO
021293,000950: 16,3433 57474 XCH ADDTLT6 # SET UP NEXT T6 INTERRUPT AFTER THE
021294,000951: 16,3434 55002 TS T6NEXT # CURRENT ONE IS COMPLETE. ADDTLT6 MAY
021295,000952: 16,3435 37761 CA ZERO # BE ZERO IN WHICH CASE NO MORE T6.
021296,000953: 16,3436 57473 XCH ADDT6JTS
021297,000954: 16,3437 55005 TS T6NEXTJT +1
021298,000955: 16,3440 15751 TCF RESUME
021299,000956:
021300,000957: 16,3441 11002 T6ONNOW CCS T6NEXT # HERE IF T6 IS NOW ON. SEE IF T6NEXT IS
021301,000958: 16,3442 13522 TCF T6NXT=+ # ZERO OR NOT.
021302,000959: 16,3443 41475 CS TOFJTCHG # T6NEXT IS NEVER NEGATIVE.
021303,000960: 16,3444 60031 AD TIME6 # A CONTAINS T6 - TJET.
021304,000961: 16,3445 10000 CCS A # TEST SIGN OF A (SAVING THE DIFFERENCE).
021305,000962: 16,3446 67755 AD ONE
021306,000963: 16,3447 13464 TCF JTSFIRST # TJET IS LESS THAN T6.
021307,000964: 16,3450 13451 NOOP # IF DIFFERENCE I SNEGATIVE OR ZERO
021308,000965: 16,3451 67755 AD ONE # WE ADD 1 SO ZERO CAN NEVER BE IN LIST.
021309,000966: 16,3452 55002 TS T6NEXT
021310,000967: 16,3453 31472 CA JTSATCHG
021311,000968: 16,3454 55005 TS T6NEXTJT +1 # BEGIN SETTING UP JETS IN THE JET LIST.
021312,000969: 16,3455 37761 CA ZERO
021313,000970: 16,3456 57474 XCH ADDTLT6
021314,000971: 16,3457 55003 TS T6NEXT +1
021315,000972: 16,3460 37761 CA ZERO
021316,000973: 16,3461 57473 XCH ADDT6JTS
021317,000974: 16,3462 55006 TS T6NEXTJT +2
021318,000975: 16,3463 15751 TCF RESUME
021319,000976: 16,3464 55002 JTSFIRST TS T6NEXT # HERE IF TJET IS LESS THAN T6.
021320,000977: 16,3465 31475 CA TOFJTCHG
021321,000978: 16,3466 54031 TS TIME6 # SWITCH T6 AND TJET)
021322,000979: 16,3467 31472 CA JTSATCHG
021323,000980:
021324,000981: 16,3470 57004 XCH T6NEXTJT # BEGIN SWITCHING JET WORDS IN JET LIST.
021325,000982: 16,3471 55005 TS T6NEXTJT +1
021326,000983: 16,3472 41474 CS ADDTLT6
021327,000984: 16,3473 00006 EXTEND
021328,000985: 16,3474 15751 BZF RESUME # SEE IF AN ADDITIONAL (QR) JET TIME IS
021329,000986: 16,3475 61002 AD T6NEXT # REQUIRED.
021330,000987: 16,3476 10000 CCS A # IF AN ADDITIONAL T6 IS NEEDEN, COMPARE
021331,000988: 16,3477 67755 AD ONE # IT WITH THE CONTENTS OF T6NEXT.
021332,000989: 16,3500 13511 TCF +11
021333,000990: 16,3501 13502 NOOP
021334,000991: 16,3502 67755 AD ONE
021335,000992: 16,3503 55003 TS T6NEXT +1
021336,000993: 16,3504 37761 CA ZERO
021337,000994:
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021339,000996: 16,3505 55474 TS ADDTLT6
021340,000997: 16,3506 57473 XCH ADDT6JTS
021341,000998: 16,3507 55006 TS T6NEXTJT +2
021342,000999: 16,3510 15751 TCF RESUME
021343,001000: 16,3511 55003 +11 TS T6NEXT +1
021344,001001: 16,3512 37761 CA ZERO
021345,001002: 16,3513 57474 XCH ADDTLT6
021346,001003: 16,3514 55002 TS T6NEXT
021347,001004: 16,3515 37761 CA ZERO
021348,001005: 16,3516 57473 XCH ADDT6JTS
021349,001006: 16,3517 57005 XCH T6NEXTJT +1
021350,001007: 16,3520 55006 TS T6NEXTJT +2
021351,001008: 16,3521 15751 TCF RESUME
021352,001009: 16,3522 41475 T6NXT=+ CS TOFJTCHG
021353,001010: 16,3523 60031 AD TIME6
021354,001011: 16,3524 61002 AD T6NEXT
021355,001012: 16,3525 10000 CCS A
021356,001013: 16,3526 67755 AD ONE
021357,001014: 16,3527 13536 TCF +7
021358,001015:
021359,001016: 16,3530 13531 NOOP
021360,001017: 16,3531 67755 AD ONE
021361,001018: 16,3532 55003 TS T6NEXT +1
021362,001019: 16,3533 31472 CA JTSATCHG
021363,001020: 16,3534 55006 TS T6NEXTJT +2
021364,001021: 16,3535 15751 TCF RESUME
021365,001022: 16,3536 54001 +7 TS L
021366,001023: 16,3537 41475 CS TOFJTCHG
021367,001024: 16,3540 60031 AD TIME6
021368,001025: 16,3541 10000 CCS A
021369,001026: 16,3542 67755 AD ONE
021370,001027: 16,3543 13553 TCF JTSB4T6
021371,001028: 16,3544 13545 NOOP
021372,001029: 16,3545 67755 AD ONE
021373,001030: 16,3546 55002 TS T6NEXT
021374,001031: 16,3547 30001 CA L
021375,001032: 16,3550 55003 TS T6NEXT +1
021376,001033: 16,3551 31472 CA JTSATCHG
021377,001034: 16,3552 13561 TCF +7
021378,001035: 16,3553 57002 JTSB4T6 XCH T6NEXT
021379,001036: 16,3554 55003 TS T6NEXT +1
021380,001037: 16,3555 31475 CA TOFJTCHG
021381,001038: 16,3556 54031 TS TIME6
021382,001039:
021383,001040: 16,3557 31472 CA JTSATCHG
021384,001041: 16,3560 57004 XCH T6NEXTJT
021385,001042: 16,3561 57005 +7 XCH T6NEXTJT +1
021386,001043: 16,3562 57006 XCH T6NEXTJT +2
021387,001044: 16,3563 15751 TCF RESUME
021388,001045: # T-JET LAW FIXED CONSTANTS
021389,001046:
021390,001047: 16,3564 36115 RATEMAX+ DEC 0.94222
021391,001048:
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021393,001050: 16,3565 34344 RATEMAX DEC 0.88889
021394,001051: 16,3566 31221 RATEMAX2 DEC 0.79012
021395,001052:
021396,001053: 16,3567 77733 -35AT16 DEC -0.00219
021397,001054: 16,3570 77071 -5DEG+1 DEC -.02772 # -5 DEGREES + CCSBIT SCALED AT PI RADIANS
021398,001055: 16,3571 00050 38.7AT16 DEC 0.00242
021399,001056: 16,3572 00010 TMINAT16 DEC 0.00047
021400,001057: 16,3573 00014 PTJMINT6 DEC 0.00073
021401,001058: 16,3574 00044 .1DPS DEC 0.00222
021402,001059: 16,3575 00360 +1.5CSP DEC +0.01465
021403,001060: 16,3576 77767 MCOMPT DEC -0.00049 # -5MS. SCALED AS T6 (P-AXIS COMP TIME).
021404,001061: 16,3577 00013 14-TJMIN DEC 11 B-14
021405,001062: 16,3600 77537 NEGCSP1 DEC -.00977
021406,001063: 16,3601 37775 MS30P OCTAL 37775
021407,001064: 16,3602 34362 0.88975 DEC 0.88975
021408,001065: 16,3603 24366 16/25 DEC 0.64000
021409,001066: 16,3604 77555 -DRATEDB OCTAL 77555 # -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC
021410,001067: 16,3605 77001 -D2JTLIM OCTAL 77001 # -1.4 DEG/SEC SCALED AT PI/4
021411,001068: 16,3606 76447 -A2JTLIM OCTAL 76447 # -2.0 DEG/SEC SCALED AT PI/4
021412,001069: 16,3607 77223 -ARATEDB OCTAL 77223 # -1.0 DEG/SEC SCALED AT PI/4
021413,001070: 16,3610 31000 25/32 DEC .78125
021414,001071: 16,3611 77762 -TJMINT6 OCTAL 77762 # -(7.5 MS + 1 BIT) SCALED AS TIME6 CLOCK
021415,001072: 16,3612 00077 DAPLOW6 OCT 00077
021416,001073: 16,3613 00600 BITS8,9 OCTAL 00600
021417,001074: 16,3614 71462 UPM DEC -.2 # TEMPORARY ESTIMATE
021418,001075: 16,3615 03146 CSPAT1P DEC 0.10000 # 100 MS AT 1.
021419,001076:
021420,001077: 16,3616 02451 PSKIPADR GENADR SKIPPAXS
021421,001078: 16,3617 37603 JETLWADR CADR TJETLAW
021422,001079:
021423,001080:
021424,001081:
021425,001082: 16,3620 22016 SETIDLE LXCH BANKRUPT # FIRST T5RUPT AFTER FRESH START COMES
021426,001083: 16,3621 32303 CAF IDLERADR # HERE, DAPIDLER IS STARTED IN 1 SECOND.
021427,001084: 16,3622 55000 TS T5ADR
021428,001085: 16,3623 33630 CAF 1SECRUPT
021429,001086: 16,3624 54030 TS TIME5
021430,001087: 16,3625 32076 CAF WIDEDB
021431,001088: 16,3626 55415 TS DB
021432,001089: 16,3627 15753 TCF NOQRSM
021433,001090:
021434,001091: 16,3630 37634 1SECRUPT OCTAL 37634 # 1 SECOND SCALED AS TIME5 (100 PULSES)
021435,001092:
021436,001093: # DUMMY FILTER RUPT AFTER P-AXIS RUPT.
021437,001094: 16,3631 E6,1656 EBANK= AOSQTERM
021438,001095: 16,3631 33710 DUMMYFIL CAF TWENTYMS # RESET TIMER IMEDIATELY. DT=20 MS
021439,001096: 16,3632 54030 TS TIME5
021440,001097: 16,3633 22016 LXCH BANKRUPT # INTERRUPT LEAD-IN (CONTINUED).
021441,001098:
021442,001099: 16,3634 00006 EXTEND # SET UP QRAXIS RUPT.
021443,001100:
021444,001101: 16,3635 33712 DCA DFQRAXIS
021445,001102: 16,3636 53001 DXCH T5ADR
021446,001103:
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021448,001105: # INCREMENT AOSTERM IN DESCENT MODE TO IMPROVE RATE DERIVATION DURING QRAXIS CONTROL.
021449,001106:
021450,001107: 16,3637 37754 CAF BIT2 # STAGE BIT IS ONE FOR DESCENT.
021451,001108: 16,3640 00006 EXTEND
021452,001109: 16,3641 02030 RAND 30 # READ STAGE BIT
021453,001110: 16,3642 00006 EXTEND
021454,001111: 16,3643 15753 BZF NOQRSM # NOT IN DESCENT MODE. RESUME.
021455,001112:
021456,001113:
021457,001114: 16,3644 37740 CAF BIT14 # IS THE ENGINE OFF BIT SET.
021458,001115: 16,3645 00006 EXTEND
021459,001116: 16,3646 02011 RAND 11 # READ ENGINE OFF BIT.
021460,001117: 16,3647 00006 EXTEND
021461,001118: 16,3650 13655 BZF DLOOPBGN # ZERO WHEN ENGINE IS NOT OFF.
021462,001119:
021463,001120: 16,3651 37761 CAF ZERO # YES. ENGINE IS OFF.
021464,001121: 16,3652 55656 TS AOSQTERM
021465,001122: 16,3653 55657 TS AOSRTERM
021466,001123: 16,3654 15753 TCF NOQRSM # RESUME.
021467,001124: 16,3655 37755 DLOOPBGN CAF BIT1 # FIRST THE R-AXIS, THEN THE Q-AXIS.
021468,001125: 16,3656 54061 DLOOP TS ITEMP1
021469,001126: 16,3657 60000 DOUBLE
021470,001127: 16,3660 54062 TS ITEMP2
021471,001128: 16,3661 50061 INDEX ITEMP1
021472,001129: 16,3662 33705 CA PITCHBTS
021473,001130: 16,3663 00006 EXTEND
021474,001131: 16,3664 02012 RAND 12 # IS PITCH(ROLL) GIMBAL MOVING.
021475,001132: 16,3665 00006 EXTEND
021476,001133: 16,3666 13702 BZF DLOOPCHK # ZERO WHEN GIMBAL IS NOT MOVING.
021477,001134:
021478,001135: # FORM ACCDOT*CSP(2)*(1-.5*K) SCALED AT PI/4. THIS IS THE INCREMENT TO BE ADDED TO THE OFFSET ACCELERATION TERM.
021479,001136:
021480,001137: 16,3667 31636 CAE (1-K) # (1-K) IS SCALED AT 1.
021481,001138: 16,3670 00006 EXTEND
021482,001139: 16,3671 77745 MP BIT9 # .5*(1-K) , SCALED AT 2(5).
021483,001140: 16,3672 67745 AD BIT9 # (1.-.5*K) SCALED AT 2(5).
021484,001141: 16,3673 00006 EXTEND
021485,001142: 16,3674 73707 MP CSPSQ # CSP(2)*(1.-.5*K) AT 2(5)
021486,001143: 16,3675 00006 EXTEND
021487,001144: 16,3676 50062 INDEX ITEMP2 # SELECT THE AXIS .
021488,001145: 16,3677 71532 MP QACCDOT # QACCDOT AT PI/2(7).
021489,001146: 16,3700 50061 INDEX ITEMP1
021490,001147: 16,3701 27656 ADS AOSQTERM # ADD INCREMENT SCALED AT PI/4.
021491,001148: 16,3702 10061 DLOOPCHK CCS ITEMP1
021492,001149: 16,3703 13656 TCF DLOOP # R-AXIS DONE. NOW DO THE Q-AXIS.
021493,001150: 16,3704 15753 TCF NOQRSM # RESUME.
021494,001151: 16,3705 01400 PITCHBTS OCT 01400 # PITCH GIMBAL BITS (9,10).
021495,001152: 16,3706 06000 OCT 06000 # ROLL GIMBAL BITS, (11,12).
021496,001153: 16,3707 00243 CSPSQ OCT 00243 # .01 SCALED AT 1, FOR CSP(2).
021497,001154: 16,3710 37776 TWENTYMS OCT 37776 # 20 MS FOR T5.
021498,001155: 16,3711 E6,1467 EBANK= QERROR
021499,001156:
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021501,001158: 16,3711 02002 36006 DFQRAXIS 2CADR QRAXIS
End of include-file P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc. Parent file is MAIN.agc