- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
|
|
These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
|
036027,000002: ## Copyright: Public domain.
036028,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
036029,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
036030,000005: ## as closely as possible with available information. Sundance
036031,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
036032,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
036033,000008: ## using the mixed-revision SundanceXXX as a starting point, and
036034,000009: ## pulling back features from Luminary 69 believed to have been
036035,000010: ## added based on memos, checklists, observed address changes,
036036,000011: ## or the Sundance GSOPs.
036037,000012: ## Assembler: yaYUL
036038,000013: ## Contact: Ron Burkey <info@sandroid.org>.
036039,000014: ## Website: www.ibiblio.org/apollo/index.html
036040,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
036041,000016:
036042,000017:
036043,000018:
036044,000019: # PROGRAM NAME: FINDCDUW
036045,000020:
036046,000021: # MOD NUMBER: 1 68 07 15
036047,000022:
036048,000023: # MOD AUTHOR: KLUMPP
036049,000024:
036050,000025: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
036051,000026: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
036052,000027: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
036053,000028: # FETCHING FOR THE THRUST DIRECTION FILTER THE
036054,000029: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
036055,000030: # MODES.
036056,000031: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
036057,000032: # AUTOPILOT COMMANDS WHENEVER
036058,000033: # 1) NOT IN PNGCS-AUTO, OR
036059,000034: # 2) ENGINE IS OFF.
036060,000035:
036061,000036: # FUNCTIONAL DESCRIPTION:
036062,000037:
036063,000038: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
036064,000039: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
036065,000040: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
036066,000041: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
036067,000042: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
036068,000043: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
036069,000044: # ACCELERATIONS AVAILABLE).
036070,000045:
036071,000046: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
036072,000047: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
036073,000048: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
036074,000049:
036075,000050: # SPECIFICATIONS:
036076,000051:
036077,000052: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
036078,000053: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
036079,000054:
036080,000055: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
036081,000056: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
036082,000057: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
036083,000058:
036084,000059: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
036085,000060:
036086,000061: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
036087,000062:
036088,000063: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
036089,000064: # WITHOUT ISSUING AUTOPILOT CMDS.
036090,000065:
036091,000066: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
036092,000067: # ISSUING AUTOPILOT CMDS.
036093,000068:
036094,000069: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
036095,000070: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
036096,000071: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
036097,000072: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
036098,000073: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
036099,000074: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
036100,000075:
036101,000076: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
036102,000077: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
036103,000078: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
036104,000079: # CSMDOCKD FLAG DENOTING CSM DOCKED.
036105,000080: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
036106,000081:
036107,000082: # OUTPUTS: DELCDUX,Y,Z
036108,000083: # OMEGAPD,+1,+2
036109,000084: # DELPEROR,+1,+2
036110,000085: # CPHI,+1,+2 FOR NOUN22
036111,000086:
036112,000087: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
036113,000088: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
036114,000089: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
036115,000090:
036116,000091: # INITIALIZATION FOR FINDCDUW
036117,000092:
036118,000093: 30,3213 BANK 30
036119,000094: 30,2000 SETLOC FCDUW
036120,000095: 30,2000 BANK
036121,000096:
036122,000097: 30,3213 E6,1643 EBANK= ECDUW
036123,000098:
036124,000099: 30,3213 COUNT* $$/FCDUW
036125,000100:
036126,000101: 30,3213 77775 INITCDUW VLOAD
036127,000102: 30,3214 06231 UNITX
036128,000103: 30,3215 03264 STORE UNFV/2
036129,000104: 30,3216 03256 STORE UNWC/2
036130,000105: 30,3217 77616 RVQ
036131,000106:
036132,000107: # FINDCDUW PRELIMINARIES
036133,000108:
036134,000109: 30,3220 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
036135,000110: 30,3221 03250 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
036136,000111: 30,3222 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
036137,000112: 30,3223 61222 FINDCDUW # INTERPRETER NOW INITIALIZED
036138,000113: 30,3224 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
036139,000114: 30,3225 77420 STQ EXIT
036140,000115: 30,3226 03244 QCDUWUSR # SAVE RETURN ADDRESS
036141,000116:
036142,000117: # MORE HAUSKEEPING
036143,000118: 30,3227 33632 CA ECDUWL
036144,000119: 30,3230 56003 XCH EBANK # SET EBANK
036145,000120: 30,3231 55643 TS ECDUWUSR # SAVE USER'S EBANK
036146,000121:
036147,000122: 30,3232 31102 CA DAPBOOLS
036148,000123: 30,3233 75012 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
036149,000124: 30,3234 10000 CCS A
036150,000125: 30,3235 35026 CA ONE # INDEX IF CSM DOCKED
036151,000126: 30,3236 55645 TS NDXCDUW
036152,000127:
036153,000128: 30,3237 31102 CA DAPBOOLS
036154,000129: 30,3240 75016 MASK XOVINHIB # XOVINHIB MUST NOT BE BIT15
036155,000130: 30,3241 55646 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
036156,000131:
036157,000132: # FETCH BASIC DATA
036158,000133:
036159,000134: 30,3242 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
036160,000135:
036161,000136: 30,3243 31632 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
036162,000137: 30,3244 54772 TS CDUSPOTX
036163,000138: 30,3245 31633 CA CDUYD
036164,000139: 30,3246 54766 TS CDUSPOTY
036165,000140: 30,3247 31634 CA CDUZD
036166,000141: 30,3250 54770 TS CDUSPOTZ
036167,000142:
036168,000143: 30,3251 00003 RELINT
036169,000144:
036170,000145: # FETCH INPUTS
036171,000146:
036172,000147: 30,3252 06014 TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
036173,000148: 30,3253 77634 RTB
036174,000149: 30,3254 21672 NORMUNIT
036175,000150: 30,3255 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
036176,000151: 30,3256 03256 UNWC/2
036177,000152: 30,3257 77634 RTB
036178,000153: 30,3260 21672 NORMUNIT
036179,000154: 30,3261 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
036180,000155: 30,3262 01212 DELV
036181,000156: 30,3263 45004 BOVB CALL
036182,000157: 30,3264 61622 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
036183,000158: 30,3265 47457 TRG*SMNB
036184,000159: 30,3266 53414 BOFF UNIT # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
036185,000160: 30,3267 01344 STEERSW
036186,000161: 30,3270 61303 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
036187,000162:
036188,000163: # THRUST DIRECTION FILTER
036189,000164:
036190,000165: 30,3271 77776 EXIT
036191,000166:
036192,000167: 30,3272 31665 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
036193,000168: 30,3273 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
036194,000169: 30,3274 03527 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
036195,000170: 30,3275 55665 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
036196,000171:
036197,000172: 30,3276 31667 CA UNFVZ/2
036198,000173: 30,3277 22161 LXCH MPAC +5
036199,000174: 30,3300 03527 TC FLTRSUB
036200,000175: 30,3301 55667 TS UNFVZ/2
036201,000176:
036202,000177: 30,3302 06014 TC INTPRET # COMPLETES FILTER
036203,000178:
036204,000179: # FIND A SUITABLE WINDOW POINTING VECTOR
036205,000180:
036206,000181: 30,3303 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
036207,000182: 30,3304 03247 FLAGOODW
036208,000183: 30,3305 61311 FETCHZNB
036209,000184: 30,3306 45175 VLOAD CALL
036210,000185: 30,3307 00015 UNZ/2
036211,000186: 30,3310 61546 UNWCTEST
036212,000187:
036213,000188: 30,3311 77775 FETCHZNB VLOAD
036214,000189: 30,3312 02164 ZNBPIP
036215,000190: 30,3313 34015 STCALL UNZ/2
036216,000191: 30,3314 61546 UNWCTEST
036217,000192:
036218,000193: 30,3315 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
036219,000194: 30,3316 02150 XNBPIP
036220,000195: 30,3317 00015 STORE UNZ/2
036221,000196:
036222,000197: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
036223,000198:
036224,000199: 30,3320 45175 DCMCL VLOAD CALL
036225,000200: 30,3321 00001 UNX/2
036226,000201: 30,3322 61570 DCMCL1
036227,000202: 30,3323 77624 CALL
036228,000203: 30,3324 61556 DCMCL2
036229,000204: 30,3325 77624 CALL
036230,000205: 30,3326 44331 TRNSPSPD
036231,000206: 30,3327 45160 AXC,1 CALL
036232,000207: 30,3330 00000 0
036233,000208: 30,3331 44650 DCMTOCDU
036234,000209: 30,3332 77434 RTB EXIT
036235,000210: 30,3333 21516 V1STO2S
036236,000211:
036237,000212: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
036238,000213:
036239,000214: 30,3334 30156 CA MPAC +2 # LIMIT THE MGA
036240,000215: 30,3335 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
036241,000216: 30,3336 33643 CA CDUZDLIM
036242,000217: 30,3337 03601 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
036243,000218: 30,3340 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
036244,000219: 30,3341 00006 EXTEND
036245,000220: 30,3342 60156 SU MPAC +2 # THIS BETTER YIELD ZERO
036246,000221: 30,3343 10000 CCS A
036247,000222: 30,3344 13627 TCF ALARMMGA
036248,000223: 30,3345 13347 TCF +2
036249,000224: 30,3346 13627 TCF ALARMMGA
036250,000225:
036251,000226: 30,3347 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
036252,000227:
036253,000228: 30,3350 35025 CA TWO
036254,000229: 30,3351 54142 DELGMBLP TS TEM2
036255,000230:
036256,000231: 30,3352 50142 INDEX TEM2
036257,000232: 30,3353 31632 CA CDUXD
036258,000233: 30,3354 00006 EXTEND
036259,000234: 30,3355 50142 INDEX TEM2
036260,000235: 30,3356 20154 MSU MPAC
036261,000236: 30,3357 50142 INDEX TEM2
036262,000237: 30,3360 55671 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
036263,000238: 30,3361 10142 CCS TEM2
036264,000239: 30,3362 13351 TCF DELGMBLP
036265,000240:
036266,000241: # LIMIT THE ATTITUDE ANGLE CHANGES
036267,000242:
036268,000243: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
036269,000244: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
036270,000245: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
036271,000246: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
036272,000247:
036273,000248: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
036274,000249: # * * * * * *
036275,000250: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
036276,000251: # * * * * * *
036277,000252: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
036278,000253:
036279,000254: 30,3363 23673 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
036280,000255: 30,3364 51645 INDEX NDXCDUW
036281,000256: 30,3365 33637 CA DAZMAX
036282,000257: 30,3366 03601 TC LIMITSUB
036283,000258: 30,3367 55673 TS -DELGMB +2 # -DELGMBZ
036284,000259:
036285,000260: 30,3370 31672 CA -DELGMB +1
036286,000261: 30,3371 00006 EXTEND
036287,000262: 30,3372 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
036288,000263: 30,3373 54001 TS L
036289,000264: 30,3374 51645 INDEX NDXCDUW
036290,000265: 30,3375 33641 CA DAY/2MAX
036291,000266: 30,3376 03601 TC LIMITSUB
036292,000267: 30,3377 00006 EXTEND
036293,000268: 30,3400 10746 DV COSCDUZ
036294,000269: 30,3401 57672 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
036295,000270:
036296,000271: 30,3402 00006 EXTEND
036297,000272: 30,3403 70740 MP SINCDUZ
036298,000273: 30,3404 20001 DDOUBL
036299,000274: 30,3405 54142 TS TEM2 # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
036300,000275: 30,3406 61671 AD -DELGMB # BASED ON UNLIMITED DELGMBY.
036301,000276: 30,3407 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
036302,000277: 30,3410 51645 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
036303,000278: 30,3411 33637 CA DAXMAX
036304,000279: 30,3412 03601 TC LIMITSUB
036305,000280: 30,3413 54143 TS TEM3 # SAVE LIMITED +DELATTX
036306,000281: 30,3414 11646 CCS FLAGOODW
036307,000282: 30,3415 30143 CA TEM3 # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
036308,000283: 30,3416 00006 EXTEND
036309,000284: 30,3417 60142 SU TEM2
036310,000285: 30,3420 55671 TS -DELGMB
036311,000286:
036312,000287: # COMPUTE COMMANDED ATTITUDE RATES
036313,000288:
036314,000289: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
036315,000290: # * * * * * *
036316,000291: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
036317,000292: # * * * * * *
036318,000293: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
036319,000294:
036320,000295: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
036321,000296: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
036322,000297: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
036323,000298:
036324,000299: 30,3421 41671 CS -DELGMB
036325,000300: 30,3422 55640 TS OMEGAPD
036326,000301: 30,3423 41672 CS -DELGMB +1
036327,000302: 30,3424 00006 EXTEND
036328,000303: 30,3425 70740 MP SINCDUZ
036329,000304: 30,3426 20001 DDOUBL
036330,000305: 30,3427 27640 ADS OMEGAPD
036331,000306: 30,3430 27640 ADS OMEGAPD
036332,000307:
036333,000308: 30,3431 41672 CS -DELGMB +1
036334,000309: 30,3432 00006 EXTEND
036335,000310: 30,3433 70750 MP COSCDUX
036336,000311: 30,3434 20001 DDOUBL
036337,000312: 30,3435 00006 EXTEND
036338,000313: 30,3436 70746 MP COSCDUZ
036339,000314: 30,3437 55641 TS OMEGAQD
036340,000315: 30,3440 41673 CS -DELGMB +2
036341,000316: 30,3441 00006 EXTEND
036342,000317: 30,3442 70742 MP SINCDUX
036343,000318: 30,3443 27641 ADS OMEGAQD
036344,000319: 30,3444 27641 ADS OMEGAQD
036345,000320: 30,3445 27641 ADS OMEGAQD
036346,000321:
036347,000322: 30,3446 31672 CA -DELGMB +1
036348,000323: 30,3447 00006 EXTEND
036349,000324: 30,3450 70742 MP SINCDUX
036350,000325: 30,3451 20001 DDOUBL
036351,000326: 30,3452 00006 EXTEND
036352,000327: 30,3453 70746 MP COSCDUZ
036353,000328: 30,3454 55642 TS OMEGARD
036354,000329: 30,3455 41673 CS -DELGMB +2
036355,000330: 30,3456 00006 EXTEND
036356,000331: 30,3457 70750 MP COSCDUX
036357,000332: 30,3460 27642 ADS OMEGARD
036358,000333: 30,3461 27642 ADS OMEGARD
036359,000334: 30,3462 27642 ADS OMEGARD
036360,000335:
036361,000336: # FINAL TRANSFER
036362,000337:
036363,000338: 30,3463 35025 CA TWO
036364,000339: 30,3464 54142 CDUWXFR TS TEM2
036365,000340: 30,3465 50142 INDEX TEM2
036366,000341: 30,3466 31671 CA -DELGMB
036367,000342: 30,3467 00006 EXTEND
036368,000343: 30,3470 73644 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
036369,000344: 30,3471 03615 TC ONESTO2S
036370,000345: 30,3472 50142 INDEX TEM2
036371,000346: 30,3473 55635 TS DELCDUX # ANGLE INTERFACE
036372,000347:
036373,000348: 30,3474 50142 INDEX TEM2
036374,000349: 30,3475 11640 CCS OMEGAPD
036375,000350: 30,3476 65026 AD ONE
036376,000351: 30,3477 13501 TCF +2
036377,000352: 30,3500 65026 AD ONE
036378,000353: 30,3501 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
036379,000354: 30,3502 50142 INDEX TEM2
036380,000355: 30,3503 71640 MP OMEGAPD
036381,000356: 30,3504 00006 EXTEND
036382,000357: 30,3505 75014 MP BIT11 # 1/16
036383,000358: 30,3506 00006 EXTEND
036384,000359: 30,3507 50142 INDEX TEM2 # 2
036385,000360: 30,3510 11522 DV 1JACC # UNITS PI/4 RAD/SEC
036386,000361: 30,3511 54001 TS L
036387,000362: 30,3512 33641 CA DELERLIM
036388,000363: 30,3513 03601 TC LIMITSUB
036389,000364: 30,3514 50142 INDEX TEM2
036390,000365: 30,3515 55301 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
036391,000366: 30,3516 10142 CCS TEM2
036392,000367: 30,3517 13464 TCF CDUWXFR
036393,000368: 30,3520 00003 RELINT
036394,000369:
036395,000370: # HAUSKEEPING AND RETURN
036396,000371:
036397,000372: 30,3521 31643 TCQCDUW CA ECDUWUSR
036398,000373: 30,3522 54003 TS EBANK # RETURN USER'S EBANK
036399,000374:
036400,000375: 30,3523 06014 TC INTPRET
036401,000376: 30,3524 52001 SETPD GOTO
036402,000377: 30,3525 00001 0
036403,000378: 30,3526 03244 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
036404,000379:
036405,000380: # THRUST VECTOR FILTER SUBROUTINE
036406,000381:
036407,000382: 30,3527 00006 FLTRSUB EXTEND
036408,000383: 30,3530 22142 QXCH TEM2
036409,000384: 30,3531 54143 TS TEM3 # SAVE ORIGINAL OFFSET
036410,000385: 30,3532 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
036411,000386: 30,3533 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
036412,000387: 30,3534 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
036413,000388: 30,3535 73633 MP GAINFLTR
036414,000389: 30,3536 54001 TS L # INCR TO OFFSET, UNLIMITED
036415,000390: 30,3537 33634 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
036416,000391: 30,3540 03601 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
036417,000392: 30,3541 60143 AD TEM3 # ORIGINAL OFFSET
036418,000393: 30,3542 54001 TS L # TOTAL OFFSET, UNLIMITED
036419,000394: 30,3543 33635 CA UNFVLIM # SAME LIMIT FOR Y AND Z
036420,000395: 30,3544 03601 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
036421,000396: 30,3545 00142 TC TEM2
036422,000397:
036423,000398: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
036424,000399:
036425,000400: 30,3546 63441 UNWCTEST DOT DSQ
036426,000401: 30,3547 00001 UNX/2
036427,000402: 30,3550 50025 DSU BMN
036428,000403: 30,3551 21637 DOTSWFMX
036429,000404: 30,3552 61320 DCMCL
036430,000405: 30,3553 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
036431,000406: 30,3554 03247 FLAGOODW # ZEROING WINDOW GOOD FLAG
036432,000407: 30,3555 00000 0
036433,000408:
036434,000409: 30,3556 74345 DCMCL2 DLOAD VXSC
036435,000410: 30,3557 03270 UNFVZ/2 # MUST BE SMALL
036436,000411: 30,3560 00015 UNZ/2 # -UNZ/2 FIRST ITERATION
036437,000412: 30,3561 74325 PDDL VXSC # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNFVY/2
036438,000413: 30,3562 03266 UNFVY/2 # MUST BE SMALL
036439,000414: 30,3563 00007 UNY/2
036440,000415: 30,3564 76455 VAD VSL1
036441,000416: 30,3565 53445 BVSU UNIT # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
036442,000417: 30,3566 00001 UNX/2
036443,000418: 30,3567 00001 STORE UNX/2
036444,000419:
036445,000420: 30,3570 47276 DCMCL1 VCOMP VXV
036446,000421: 30,3571 00015 UNZ/2
036447,000422: 30,3572 77656 UNIT
036448,000423: 30,3573 00007 STORE UNY/2 # UNY/2 FIRST ITERATION
036449,000424: 30,3574 47276 VCOMP VXV
036450,000425: 30,3575 00001 UNX/2
036451,000426: 30,3576 77772 VSL1
036452,000427: 30,3577 00015 STORE UNZ/2
036453,000428: 30,3600 77616 RVQ
036454,000429:
036455,000430: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
036456,000431: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
036457,000432: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
036458,000433:
036459,000434: # VERSION COURTESY HUGH BLAIR-SMITH
036460,000435:
036461,000436: 30,3601 54141 LIMITSUB TS TEM1
036462,000437: 30,3602 35030 CA ZERO
036463,000438: 30,3603 00006 EXTEND
036464,000439: 30,3604 10141 DV TEM1
036465,000440: 30,3605 10000 CCS A
036466,000441: 30,3606 22141 LXCH TEM1
036467,000442: 30,3607 13611 TCF +2
036468,000443: 30,3610 13613 TCF +3
036469,000444: 30,3611 30001 CA L
036470,000445: 30,3612 00002 TC Q
036471,000446: 30,3613 40141 CS TEM1
036472,000447: 30,3614 00002 TC Q
036473,000448:
036474,000449: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
036475,000450:
036476,000451: 30,3615 10000 ONESTO2S CCS A
036477,000452: 30,3616 65026 AD ONE
036478,000453: 30,3617 00002 TC Q
036479,000454: 30,3620 40000 CS A
036480,000455: 30,3621 00002 TC Q
036481,000456:
036482,000457: # NO ATTITUDE CONTROL
036483,000458:
036484,000459: 30,3622 05651 NOATTCNT TC ALARM
036485,000460: 30,3623 00402 OCT 00402 # NO ATTITUDE CONTROL
036486,000461:
036487,000462: 30,3624 04655 +2 TC BANKCALL
036488,000463: 30,3625 40244 FCADR STOPRATE
036489,000464: 30,3626 13521 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
036490,000465:
036491,000466: # MIDDLE GIMBAL ANGLE ALARM
036492,000467:
036493,000468: 30,3627 05651 ALARMMGA TC ALARM
036494,000469: 30,3630 00401 OCT 00401
036495,000470: 30,3631 13347 TCF MGARET
036496,000471:
036497,000472: # ************************************************************************
036498,000473: # CONSTANTS
036499,000474: # ************************************************************************
036500,000475:
036501,000476: # ADDRESS CONSTANTS
036502,000477:
036503,000478: 30,3632 03243 ECDUWL ECADR ECDUW
036504,000479:
036505,000480: # THRUST DIRECTION FILTER CONSTANTS
036506,000481:
036507,000482: 30,3633 06315 GAINFLTR DEC .2 # GAIN FILTER
036508,000483:
036509,000484: 30,3634 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
036510,000485: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
036511,000486:
036512,000487: 30,3635 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
036513,000488: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
036514,000489:
036515,000490: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
036516,000491:
036517,000492: 30,3636 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
036518,000493: # LOWER PART COMES FROM NEXT CONSTANT
036519,000494:
036520,000495: 30,3637 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
036521,000496: 30,3640 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
036522,000497:
036523,000498: 30,3641 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
036524,000499: 30,3642 00133 DEC .0055555555
036525,000500:
036526,000501: 30,3643 30,3637 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
036527,000502:
036528,000503: 30,3643 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
036529,000504:
036530,000505: # CONSTANTS FOR DATA TRANSFER
036531,000506:
036532,000507: 30,3644 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
036533,000508: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
036534,000509:
036535,000510: 30,3645 30,3641 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
036536,000511:
036537,000512:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc