- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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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:
|
056247,000002: ## Copyright: Public domain.
056248,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
056249,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
056250,000005: ## as closely as possible with available information. Sundance
056251,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
056252,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
056253,000008: ## using the mixed-revision SundanceXXX as a starting point, and
056254,000009: ## pulling back features from Luminary 69 believed to have been
056255,000010: ## added based on memos, checklists, observed address changes,
056256,000011: ## or the Sundance GSOPs.
056257,000012: ## Assembler: yaYUL
056258,000013: ## Contact: Ron Burkey <info@sandroid.org>.
056259,000014: ## Website: www.ibiblio.org/apollo/index.html
056260,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
056261,000016: ## 2021-05-30 ABS "--1" -> " -1" to match various scans and for
056262,000017: ## yaYUL compatibility.
056263,000018:
056264,000019:
056265,000020:
056266,000021: 16,2444 BANK 16
056267,000022: 16,2000 SETLOC DAPS1
056268,000023: 16,2000 BANK
056269,000024:
056270,000025: 16,2444 E6,1450 EBANK= PERROR
056271,000026: 16,2444 COUNT* $$/DAPP
056272,000027:
056273,000028: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
056274,000029: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
056275,000030:
056276,000031: 16,2444 37701 PAXIS CA MS100
056277,000032: 16,2445 54030 TS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
056278,000033: # CHRONIZATION WITH OTHER INTERRUPTS ***
056279,000034:
056280,000035: 16,2446 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
056281,000036: 16,2447 00006 EXTEND
056282,000037: 16,2450 22012 QXCH QRUPT
056283,000038:
056284,000039: # CHECK IF DAP PASS IS PERMISSIBLE
056285,000040:
056286,000041: 16,2451 11752 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
056287,000042: 16,2452 05716 TC ABORT # STILL IN PROGRESS AND A RESTART IS
056288,000043: 16,2453 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
056289,000044:
056290,000045: 16,2454 02043 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
056291,000046:
056292,000047: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
056293,000048:
056294,000049: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
056295,000050: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
056296,000051:
056297,000052: 16,2455 31632 CA CDUXD
056298,000053: 16,2456 00006 EXTEND
056299,000054: 16,2457 21635 MSU DELCDUX
056300,000055: 16,2460 02475 TC 1STOTWOS
056301,000056: 16,2461 55632 TS CDUXD
056302,000057: 16,2462 31633 CA CDUYD
056303,000058: 16,2463 00006 EXTEND
056304,000059: 16,2464 21636 MSU DELCDUY
056305,000060: 16,2465 02475 TC 1STOTWOS
056306,000061: 16,2466 55633 TS CDUYD
056307,000062: 16,2467 31634 CA CDUZD
056308,000063: 16,2470 00006 EXTEND
056309,000064: 16,2471 21637 MSU DELCDUZ
056310,000065: 16,2472 02475 TC 1STOTWOS
056311,000066: 16,2473 55634 TS CDUZD
056312,000067: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
056313,000068: # RETURNS TO BACKP.
056314,000069:
056315,000070: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
056316,000071: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
056317,000072: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
056318,000073:
056319,000074: 16,2474 13705 TCF RATELOOP
056320,000075: 16,2475 10000 1STOTWOS CCS A
056321,000076: 16,2476 65026 AD ONE
056322,000077: 16,2477 00002 TC Q
056323,000078: 16,2500 40000 CS A
056324,000079: 16,2501 00002 TC Q
056325,000080: 16,2502 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
056326,000081: 16,2503 71736 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
056327,000082: 16,2504 21425 DAS OMEGAU # OVERFLOW
056328,000083:
056329,000084: 16,2505 11424 +3 CCS OMEGAU
056330,000085: 16,2506 12510 TCF +2
056331,000086: 16,2507 12520 TCF DIVIDER
056332,000087: 16,2510 62531 AD -OCT630
056333,000088: 16,2511 00006 EXTEND
056334,000089: 16,2512 62520 BZMF DIVIDER
056335,000090:
056336,000091: 16,2513 11424 CCS OMEGAU
056337,000092: 16,2514 35006 CA POSMAX # 45 DEG/SEC
056338,000093: 16,2515 00002 TC Q
056339,000094: 16,2516 45006 CS POSMAX
056340,000095: 16,2517 00002 TC Q
056341,000096:
056342,000097: 16,2520 53425 DIVIDER DXCH OMEGAU
056343,000098: 16,2521 00006 EXTEND
056344,000099: 16,2522 10061 DV ITEMP1
056345,000100: 16,2523 00002 TC Q
056346,000101:
056347,000102: 16,2524 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
056348,000103: 16,2525 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
056349,000104: 16,2526 50000 INDEX A
056350,000105: 16,2527 45007 CS BIT15 -1
056351,000106: 16,2530 00002 TC Q
056352,000107:
056353,000108: 16,2531 77147 -OCT630 OCT 77147
056354,000109:
056355,000110: 16,2532 31734 BACKP CA DAPTEMP1
056356,000111: 16,2533 00006 EXTEND
056357,000112: 16,2534 71522 MP 1JACC
056358,000113: 16,2535 55742 TS JETRATE
056359,000114:
056360,000115: # BEGINNING OF THE RATE DERIVATION
056361,000116: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
056362,000117: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
056363,000118: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
056364,000119: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
056365,000120: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
056366,000121: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
056367,000122: # OMEGAU DP-TEMPORARY STORAGE
056368,000123: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
056369,000124:
056370,000125: 16,2536 30032 CAE CDUX
056371,000126: 16,2537 54001 TS L
056372,000127: 16,2540 00006 EXTEND
056373,000128: 16,2541 21436 MSU OLDXFORP # SCALED AT PI
056374,000129: 16,2542 23436 LXCH OLDXFORP
056375,000130: 16,2543 55734 TS DAPTEMP1
056376,000131: 16,2544 33664 CA 1/40
056377,000132: 16,2545 54061 TS ITEMP1
056378,000133: 16,2546 41742 CS JETRATE
056379,000134: 16,2547 00006 EXTEND
056380,000135: 16,2550 75011 MP BIT14
056381,000136: 16,2551 27426 ADS TRAPEDP
056382,000137: 16,2552 31743 CA JETRATEQ
056383,000138: 16,2553 61540 AD AOSQTERM
056384,000139: 16,2554 00006 EXTEND
056385,000140: 16,2555 77707 MP -BIT14
056386,000141: 16,2556 27427 ADS TRAPEDQ
056387,000142: 16,2557 31744 CA JETRATER
056388,000143: 16,2560 61541 AD AOSRTERM
056389,000144: 16,2561 00006 EXTEND
056390,000145: 16,2562 77707 MP -BIT14
056391,000146: 16,2563 27430 ADS TRAPEDR
056392,000147:
056393,000148: 16,2564 30033 CA CDUY
056394,000149: 16,2565 54001 TS L
056395,000150: 16,2566 00006 EXTEND
056396,000151: 16,2567 21437 MSU OLDYFORP # SCALED AT PI
056397,000152: 16,2570 23437 LXCH OLDYFORP
056398,000153: 16,2571 55735 TS DAPTEMP2
056399,000154: 16,2572 00006 EXTEND
056400,000155: 16,2573 71412 MP M11 # M11 SCALED AT 1
056401,000156: 16,2574 61734 AD DAPTEMP1
056402,000157: 16,2575 53425 DXCH OMEGAU
056403,000158:
056404,000159: 16,2576 02505 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
056405,000160:
056406,000161: 16,2577 00006 EXTEND
056407,000162: 16,2600 61417 SU OMEGAP
056408,000163: 16,2601 27426 ADS TRAPEDP
056409,000164: 16,2602 02524 TC OVERSUB
056410,000165: 16,2603 55426 TS TRAPEDP
056411,000166: 16,2604 30034 CA CDUZ
056412,000167: 16,2605 54001 TS L
056413,000168: 16,2606 00006 EXTEND
056414,000169: 16,2607 21440 MSU OLDZFORQ
056415,000170: 16,2610 55736 TS DAPTEMP3
056416,000171: 16,2611 23440 LXCH OLDZFORQ
056417,000172: 16,2612 31413 CA M21
056418,000173: 16,2613 00006 EXTEND
056419,000174: 16,2614 71735 MP DAPTEMP2
056420,000175: 16,2615 53425 DXCH OMEGAU
056421,000176: 16,2616 31415 CA M22
056422,000177: 16,2617 02502 TC SUBDIVDE
056423,000178:
056424,000179: 16,2620 00006 EXTEND
056425,000180: 16,2621 61420 SU OMEGAQ
056426,000181: 16,2622 27427 ADS TRAPEDQ
056427,000182: 16,2623 02524 TC OVERSUB
056428,000183: 16,2624 55427 TS TRAPEDQ
056429,000184: 16,2625 31414 CA M31
056430,000185: 16,2626 00006 EXTEND
056431,000186: 16,2627 71735 MP DAPTEMP2
056432,000187: 16,2630 53425 DXCH OMEGAU
056433,000188: 16,2631 31416 CA M32
056434,000189:
056435,000190: 16,2632 02502 TC SUBDIVDE
056436,000191:
056437,000192: 16,2633 00006 EXTEND
056438,000193: 16,2634 61421 SU OMEGAR
056439,000194: 16,2635 27430 ADS TRAPEDR
056440,000195: 16,2636 02524 TC OVERSUB
056441,000196: 16,2637 55430 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
056442,000197: 16,2640 31102 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
056443,000198: 16,2641 75012 MASK CSMDOCKD
056444,000199: 16,2642 00006 EXTEND
056445,000200: 16,2643 12651 BZF LMONLY
056446,000201: 16,2644 00006 EXTEND # DOCKED
056447,000202: 16,2645 31405 DCA DKOMEGAN
056448,000203: 16,2646 52062 DXCH ITEMP1
056449,000204: 16,2647 31403 CA DKTRAP
056450,000205: 16,2650 12655 TCF +5
056451,000206: 16,2651 00006 LMONLY EXTEND # UNDOCKED
056452,000207: 16,2652 31410 DCA LMOMEGAN
056453,000208: 16,2653 52062 DXCH ITEMP1
056454,000209: 16,2654 31406 CA LMTRAP
056455,000210: 16,2655 54063 +5 TS ITEMP3
056456,000211:
056457,000212: 16,2656 11426 CCS TRAPEDP
056458,000213: 16,2657 12661 TCF +2
056459,000214: 16,2660 12676 TCF SMALPDIF
056460,000215: 16,2661 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
056461,000216: 16,2662 00006 EXTEND
056462,000217: 16,2663 62676 BZMF SMALPDIF
056463,000218: 16,2664 22007 ZL
056464,000219: 16,2665 23426 LXCH TRAPEDP
056465,000220: 16,2666 35030 CA ZERO
056466,000221: 16,2667 00006 EXTEND
056467,000222: 16,2670 11431 DV NPTRAPS
056468,000223: 16,2671 27417 ADS OMEGAP
056469,000224: 16,2672 02524 TC OVERSUB
056470,000225: 16,2673 55417 TS OMEGAP
056471,000226: 16,2674 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
056472,000227: 16,2675 55431 TS NPTRAPS
056473,000228: 16,2676 25431 SMALPDIF INCR NPTRAPS
056474,000229: 16,2677 31742 P-RATE CA JETRATE
056475,000230: 16,2700 27417 ADS OMEGAP
056476,000231: 16,2701 02524 TC OVERSUB
056477,000232: 16,2702 55417 TS OMEGAP
056478,000233:
056479,000234: 16,2703 11427 CCS TRAPEDQ
056480,000235: 16,2704 12706 TCF +2
056481,000236: 16,2705 12735 TCF Q-RATE
056482,000237: 16,2706 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
056483,000238: 16,2707 00006 EXTEND
056484,000239: 16,2710 62735 BZMF Q-RATE
056485,000240: 16,2711 22007 ZL
056486,000241: 16,2712 23427 LXCH TRAPEDQ
056487,000242: 16,2713 35030 CA ZERO
056488,000243: 16,2714 00006 EXTEND
056489,000244: 16,2715 11432 DV NQTRAPS
056490,000245: 16,2716 55734 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
056491,000246: 16,2717 27441 ADS SUMRATEQ
056492,000247: 16,2720 31734 CA DAPTEMP1
056493,000248: 16,2721 27420 ADS OMEGAQ
056494,000249: 16,2722 02524 TC OVERSUB
056495,000250: 16,2723 55420 TS OMEGAQ
056496,000251: 16,2724 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
056497,000252: 16,2725 57432 XCH NQTRAPS
056498,000253: 16,2726 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
056499,000254: 16,2727 57734 XCH DAPTEMP1
056500,000255: 16,2730 00006 EXTEND
056501,000256: 16,2731 75031 MP FIVE
056502,000257: 16,2732 00006 EXTEND
056503,000258: 16,2733 11734 DV DAPTEMP1
056504,000259: 16,2734 27532 ADS AOSQ
056505,000260: 16,2735 25432 Q-RATE INCR NQTRAPS
056506,000261: 16,2736 31743 CA JETRATEQ
056507,000262: 16,2737 61540 AD AOSQTERM
056508,000263: 16,2740 27420 ADS OMEGAQ
056509,000264: 16,2741 02524 TC OVERSUB
056510,000265: 16,2742 55420 TS OMEGAQ
056511,000266:
056512,000267: 16,2743 11430 CCS TRAPEDR
056513,000268: 16,2744 12746 TCF +2
056514,000269: 16,2745 12775 TCF R-RATE
056515,000270: 16,2746 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
056516,000271: 16,2747 00006 EXTEND
056517,000272: 16,2750 62775 BZMF R-RATE
056518,000273: 16,2751 22007 ZL
056519,000274: 16,2752 23430 LXCH TRAPEDR
056520,000275: 16,2753 35030 CA ZERO
056521,000276: 16,2754 00006 EXTEND
056522,000277: 16,2755 11433 DV NRTRAPS
056523,000278: 16,2756 55735 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
056524,000279: 16,2757 27442 ADS SUMRATER
056525,000280: 16,2760 31735 CA DAPTEMP2
056526,000281: 16,2761 27421 ADS OMEGAR
056527,000282: 16,2762 02524 TC OVERSUB
056528,000283: 16,2763 55421 TS OMEGAR
056529,000284: 16,2764 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
056530,000285: 16,2765 57433 XCH NRTRAPS
056531,000286: 16,2766 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
056532,000287: 16,2767 57735 XCH DAPTEMP2
056533,000288: 16,2770 00006 EXTEND
056534,000289: 16,2771 75031 MP FIVE
056535,000290: 16,2772 00006 EXTEND
056536,000291: 16,2773 11735 DV DAPTEMP2
056537,000292: 16,2774 27534 ADS AOSR
056538,000293: 16,2775 25433 R-RATE INCR NRTRAPS
056539,000294: 16,2776 31744 CA JETRATER
056540,000295: 16,2777 61541 AD AOSRTERM
056541,000296: 16,3000 27421 ADS OMEGAR
056542,000297: 16,3001 02524 TC OVERSUB
056543,000298: 16,3002 55421 TS OMEGAR
056544,000299:
056545,000300: # END OF RATE DERIVATION
056546,000301: # BEGIN OFFSET ESTIMATER
056547,000302: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
056548,000303: # AOS = AOS + K*SUMRATE
056549,000304:
056550,000305: 16,3003 41102 CS DAPBOOLS
056551,000306: 16,3004 75017 MASK DRIFTBIT
056552,000307: 16,3005 10000 CCS A
056553,000308: 16,3006 13017 TCF WORKTIME
056554,000309: 16,3007 55422 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
056555,000310: 16,3010 55423 TS ALPHAR
056556,000311: 16,3011 55540 TS AOSQTERM
056557,000312: 16,3012 55541 TS AOSRTERM
056558,000313: 16,3013 55532 TS AOSQ
056559,000314: 16,3014 55534 TS AOSR
056560,000315: 16,3015 13041 TCF PAXFILT
056561,000316: 16,3016 00074 KAOS DEC 60 B-14
056562,000317: 16,3017 31510 WORKTIME CA QACCDOT
056563,000318: 16,3020 00006 EXTEND
056564,000319: 16,3021 75036 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
056565,000320: 16,3022 21533 DAS AOSQ
056566,000321: 16,3023 31532 CA AOSQ
056567,000322: 16,3024 55422 TS ALPHAQ
056568,000323: 16,3025 00006 EXTEND
056569,000324: 16,3026 73662 MP 200MS # .2 AT 1
056570,000325: 16,3027 55540 TS AOSQTERM
056571,000326: 16,3030 31512 CA RACCDOT
056572,000327: 16,3031 00006 EXTEND
056573,000328: 16,3032 75036 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
056574,000329: 16,3033 21535 DAS AOSR
056575,000330: 16,3034 31534 CA AOSR
056576,000331: 16,3035 55423 TS ALPHAR
056577,000332: 16,3036 00006 EXTEND
056578,000333: 16,3037 73662 MP 200MS # .2 AT 1
056579,000334: 16,3040 55541 TS AOSRTERM
056580,000335:
056581,000336: 16,3041 52011 PAXFILT DXCH ARUPT
056582,000337: 16,3042 53747 DXCH DAPARUPT
056583,000338: 16,3043 33054 CA SUPERJOB # SETTING UP THE SUPERJOB
056584,000339: 16,3044 56017 XCH BRUPT
056585,000340: 16,3045 22012 LXCH QRUPT
056586,000341: 16,3046 53751 DXCH DAPBQRPT
056587,000342: 16,3047 33053 CA SUPERADR
056588,000343: 16,3050 52016 DXCH ZRUPT
056589,000344: 16,3051 53753 DXCH DAPZRUPT
056590,000345: 16,3052 15345 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
056591,000346: # FORM OF A JASK, AT SUPERJOB.
056592,000347:
056593,000348: 16,3053 03055 SUPERADR GENADR SUPERJOB +1
056594,000349:
056595,000350: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
056596,000351:
056597,000352: 16,3054 11626 SUPERJOB CCS QGIMTIMR # Q-AXIS GIMBAL DRIVE TIMER
056598,000353: 16,3055 13063 TCF DECQTIMR # POSITIVE- COUNTING DOWN
056599,000354: 16,3056 13067 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
056600,000355: 16,3057 11630 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
056601,000356: 16,3060 13065 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
056602,000357: 16,3061 13077 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
056603,000358:
056604,000359: 16,3062 01527 TC PJUMPADR
056605,000360:
056606,000361: 16,3063 55626 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
056607,000362: 16,3064 13057 TCF CHKRTIMR
056608,000363: 16,3065 55630 DECRTIMR TS RGIMTIMR
056609,000364: 16,3066 13062 TCF CHKRTIMR +3
056610,000365:
056611,000366: 16,3067 55500 TURNOFFQ TS NEGUQ # HALT DRIVES.
056612,000367: 16,3070 55510 TS QACCDOT
056613,000368: 16,3071 45057 CS QGIMBITS
056614,000369: 16,3072 00006 EXTEND
056615,000370: 16,3073 03012 WAND CHAN12
056616,000371: 16,3074 35010 CAF NEGMAX
056617,000372: 16,3075 55626 TS QGIMTIMR
056618,000373: 16,3076 13057 TCF CHKRTIMR
056619,000374: 16,3077 55502 TURNOFFR TS NEGUR
056620,000375: 16,3100 55512 TS RACCDOT
056621,000376: 16,3101 45070 CS RGIMBITS
056622,000377: 16,3102 00006 EXTEND
056623,000378: 16,3103 03012 WAND CHAN12
056624,000379: 16,3104 35010 CAF NEGMAX
056625,000380: 16,3105 55630 TS RGIMTIMR
056626,000381: 16,3106 13062 TCF CHKRTIMR +3
056627,000382: 16,3107 5057 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
056628,000383: 16,3107 5070 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
056629,000384: 16,3107 32234 SKIPPAXS CA CHKVISAD
056630,000385: 16,3110 55527 TS PJUMPADR
056631,000386: 16,3111 13670 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
056632,000387:
056633,000388: # Y-Z TRANSLATION
056634,000389:
056635,000390: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
056636,000391:
056637,000392: # OUTPUT: NEXTP
056638,000393:
056639,000394: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
056640,000395: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
056641,000396: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
056642,000397: # ALARM (IF NO PAIR)
056643,000398: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
056644,000399: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
056645,000400:
056646,000401: 16,3112 00006 CHKVISFZ EXTEND
056647,000402: 16,3113 00031 READ CHAN31
056648,000403: 16,3114 40000 CS A
056649,000404: 16,3115 73655 MASK 07400OCT
056650,000405: 16,3116 00006 EXTEND
056651,000406: 16,3117 13157 BZF TSNEXTP
056652,000407: 16,3120 00006 EXTEND
056653,000408: 16,3121 75020 MP BIT7
056654,000409: 16,3122 50000 INDEX A
056655,000410: 16,3123 33634 CA INDXYZ
056656,000411: 16,3124 55741 TS ROTINDEX
056657,000412: 16,3125 36216 TRYUORV CA SIX
056658,000413: 16,3126 03613 TC SELECTYZ
056659,000414: 16,3127 46216 CS SIX
056660,000415: 16,3130 61740 AD NUMBERT
056661,000416: 16,3131 00006 EXTEND
056662,000417: 16,3132 13156 BZF TSNEXTP -1
056663,000418: 16,3133 45031 CS FIVE
056664,000419: 16,3134 61741 AD ROTINDEX
056665,000420: 16,3135 00006 EXTEND
056666,000421: 16,3136 63150 BZMF ALTERYZ
056667,000422: 16,3137 41740 CS NUMBERT
056668,000423: 16,3140 65024 AD FOUR
056669,000424: 16,3141 00006 EXTEND
056670,000425: 16,3142 63156 BZMF TSNEXTP -1
056671,000426: 16,3143 05651 ABORTYZ TC ALARM
056672,000427: 16,3144 02001 OCT 02001
056673,000428: 16,3145 25465 INCR ZEROOR1
056674,000429: 16,3146 35030 CA ZERO
056675,000430: 16,3147 13157 TCF TSNEXTP
056676,000431: 16,3150 25465 ALTERYZ INCR ZEROOR1
056677,000432: 16,3151 31465 CA ZEROOR1
056678,000433: 16,3152 75026 MASK BIT1
056679,000434: 16,3153 65024 AD FOUR
056680,000435: 16,3154 27741 ADS ROTINDEX
056681,000436: 16,3155 13125 TCF TRYUORV
056682,000437: 16,3156 31736 CA POLYTEMP
056683,000438: 16,3157 55460 TSNEXTP TS NEXTP
056684,000439:
056685,000440: # STATE LOGIC
056686,000441: # CHECK IN ORDER: IF ON
056687,000442: # LPDPHASE GO TO PURGENCY
056688,000443: # PULSES MINIMUM PULSE LOGIC
056689,000444: # DETENT(BIT15 CH31) RATE COMMAND
056690,000445: # GO TO PURGENCY
056691,000446:
056692,000447: 16,3160 35012 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
056693,000448: 16,3161 00006 EXTEND
056694,000449: 16,3162 02031 RAND CHAN31
056695,000450: 16,3163 00006 EXTEND
056696,000451: 16,3164 13172 BZF MANMODE
056697,000452:
056698,000453: 16,3165 31102 CA DAPBOOLS
056699,000454: 16,3166 75016 MASK XOVINHIB
056700,000455: 16,3167 10000 CCS A
056701,000456: 16,3170 13513 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
056702,000457:
056703,000458: 16,3171 13234 TCF DETENTCK
056704,000459: 16,3172 35010 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
056705,000460: 16,3173 71102 MASK DAPBOOLS
056706,000461: 16,3174 00006 EXTEND
056707,000462: 16,3175 13234 BZF DETENTCK # BRANCH FOR RATE COMMAND
056708,000463:
056709,000464: 16,3176 35030 CA ZERO
056710,000465: 16,3177 55450 TS PERROR
056711,000466:
056712,000467: # MINIMUM IMPULSE MODE
056713,000468:
056714,000469: 16,3200 30032 CA CDUX
056715,000470: 16,3201 55632 TS CDUXD
056716,000471:
056717,000472: 16,3202 11443 CCS OLDPMIN
056718,000473: 16,3203 13217 TCF CHECKP
056719,000474:
056720,000475: 16,3204 35024 FIREP CA BIT3
056721,000476: 16,3205 00006 EXTEND
056722,000477: 16,3206 02031 RAND CHAN31
056723,000478: 16,3207 00006 EXTEND
056724,000479: 16,3210 13227 BZF +XMIN
056725,000480:
056726,000481: 16,3211 35023 CA BIT4
056727,000482: 16,3212 00006 EXTEND
056728,000483: 16,3213 02031 RAND CHAN31
056729,000484: 16,3214 00006 EXTEND
056730,000485: 16,3215 13225 BZF -XMIN
056731,000486:
056732,000487: 16,3216 13472 TCF JETSOFF
056733,000488:
056734,000489: 16,3217 00006 CHECKP EXTEND
056735,000490: 16,3220 00031 READ CHAN31
056736,000491: 16,3221 40000 CS A
056737,000492: 16,3222 75746 MASK OCT14
056738,000493: 16,3223 55443 TS OLDPMIN
056739,000494: 16,3224 13472 TCF JETSOFF
056740,000495:
056741,000496: 16,3225 44375 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
056742,000497: 16,3226 13230 TCF +2 # IN JET SELECTION ROUTINE
056743,000498: 16,3227 34375 +XMIN CA TEN
056744,000499: 16,3230 55516 TS TJP
056745,000500: 16,3231 35026 CA ONE
056746,000501: 16,3232 55443 TS OLDPMIN
056747,000502: 16,3233 13401 TCF PJETSLEC -6
056748,000503:
056749,000504: # MANUAL RATE COMMAND MODE
056750,000505: # ========================
056751,000506: # BY ROBERT F. STENGEL
056752,000507:
056753,000508: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
056754,000509: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
056755,000510: # RATE CONTROL AND ATTITUDE HOLD.
056756,000511:
056757,000512: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
056758,000513: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
056759,000514: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
056760,000515: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
056761,000516: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
056762,000517: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
056763,000518:
056764,000519: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
056765,000520: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
056766,000521: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
056767,000522:
056768,000523: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
056769,000524: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
056770,000525: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
056771,000526: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
056772,000527: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
056773,000528: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
056774,000529:
056775,000530: 16,3234 35010 DETENTCK CAF BIT15 # CHECK OUT-OF-DETENT BIT.
056776,000531: 16,3235 00006 EXTEND
056777,000532: 16,3236 02031 RAND CHAN31
056778,000533: 16,3237 00006 EXTEND
056779,000534: 16,3240 13320 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
056780,000535: 16,3241 35013 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
056781,000536: 16,3242 71102 MASK DAPBOOLS
056782,000537: 16,3243 00006 EXTEND
056783,000538: 16,3244 13513 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
056784,000539:
056785,000540: # ........................................................................
056786,000541:
056787,000542: 16,3245 35012 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
056788,000543: 16,3246 00006 EXTEND
056789,000544: 16,3247 02031 RAND CHAN31
056790,000545: 16,3250 00006 EXTEND
056791,000546: 16,3251 13342 BZF JOEY # BRANCH IF IN ATTITUDE HOLD.
056792,000547:
056793,000548: 16,3252 11417 CCS OMEGAP
056794,000549: 16,3253 13257 TCF +4
056795,000550: 16,3254 13264 TCF RATEDONE
056796,000551: 16,3255 13257 TCF +2
056797,000552: 16,3256 13264 TCF RATEDONE
056798,000553: 16,3257 61464 AD -RATEDB
056799,000554: 16,3260 00006 EXTEND # BRANCH IF P-AXIS RATE > RATEDB.
056800,000555: 16,3261 63264 BZMF RATEDONE
056801,000556:
056802,000557: 16,3262 35030 CAF ZERO
056803,000558: 16,3263 13342 TCF JOEY
056804,000559:
056805,000560: 16,3264 45013 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
056806,000561: 16,3265 00004 INHINT # ALL AXES.
056807,000562: 16,3266 71102 MASK DAPBOOLS
056808,000563: 16,3267 55102 TS DAPBOOLS
056809,000564:
056810,000565: # READ CDUS INTO CDU DESIRED REGISTERS
056811,000566:
056812,000567: 16,3270 30032 CA CDUX # (X-AXIS OVERRIDE)
056813,000568: 16,3271 55632 TS CDUXD
056814,000569: 16,3272 13513 TCF PURGENCY
056815,000570:
056816,000571: 16,3273 55450 TS PERROR
056817,000572: 16,3274 35013 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
056818,000573: 16,3275 00004 INHINT
056819,000574: 16,3276 27102 ADS DAPBOOLS
056820,000575: 16,3277 00003 RELINT
056821,000576: 16,3300 35030 CA ZERO
056822,000577: 16,3301 54042 TS Q-RHCCTR
056823,000578: 16,3302 54044 TS R-RHCCTR
056824,000579: 16,3303 03305 TC ZEROENBL
056825,000580: 16,3304 13472 TCF JETSOFF
056826,000581: 16,3305 22044 ZEROENBL LXCH R-RHCCTR
056827,000582: 16,3306 30042 CA Q-RHCCTR
056828,000583: 16,3307 53446 DXCH SAVEHAND
056829,000584: 16,3310 35030 CA ZERO
056830,000585: 16,3311 54043 TS P-RHCCTR
056831,000586: 16,3312 54042 TS Q-RHCCTR
056832,000587: 16,3313 54044 TS R-RHCCTR
056833,000588: 16,3314 33663 CA BITS8,9
056834,000589: 16,3315 00006 EXTEND
056835,000590: 16,3316 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
056836,000591: 16,3317 00002 TC Q
056837,000592:
056838,000593: 16,3320 35020 RHCMOVED CA RHCSCALE
056839,000594: 16,3321 71102 MASK DAPBOOLS
056840,000595: 16,3322 10000 CCS A
056841,000596: 16,3323 33657 CA -1.0D/S
056842,000597: 16,3324 63660 AD -0.4D/S
056843,000598: 16,3325 55464 TS -RATEDB
056844,000599:
056845,000600: 16,3326 35013 CA OURRCBIT # P CONTROL
056846,000601: 16,3327 71102 MASK DAPBOOLS
056847,000602: 16,3330 00006 EXTEND
056848,000603: 16,3331 13273 BZF JUSTOUT -1
056849,000604:
056850,000605: 16,3332 35020 CA RHCSCALE # LINEAR CONTROLLER SCALING
056851,000606: 16,3333 71102 MASK DAPBOOLS
056852,000607: 16,3334 10000 CCS A
056853,000608: 16,3335 35737 CA 143DEC # SCALE P-RHCCTR FOR 20D/S MAX (177D)
056854,000609: 16,3336 64254 AD 34DEC # SCALE P-RHCCTR FOR 4D/S MAX (34D)
056855,000610: 16,3337 00006 EXTEND
056856,000611: 16,3340 70043 MP P-RHCCTR
056857,000612: 16,3341 30001 CA L
056858,000613:
056859,000614: 16,3342 00006 JOEY EXTEND # FORM THE RATE ERROR.
056860,000615: 16,3343 61417 SU OMEGAP
056861,000616: 16,3344 55543 TS EDOTP
056862,000617: 16,3345 11543 CCS EDOTP
056863,000618: 16,3346 13351 TCF +3
056864,000619: 16,3347 13351 TCF +2
056865,000620: 16,3350 13351 TCF +1
056866,000621: 16,3351 55734 TS ABSEDOTP
056867,000622: 16,3352 61464 AD TARGETDB
056868,000623: 16,3353 00006 EXTEND
056869,000624: 16,3354 63303 BZMF ZEROENBL -2
056870,000625: 16,3355 03305 TC ZEROENBL
056871,000626:
056872,000627: 16,3356 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
056873,000628: 16,3357 55632 TS CDUXD
056874,000629: 16,3360 31543 CA EDOTP
056875,000630: 16,3361 00006 EXTEND
056876,000631: 16,3362 71447 MP 1/2JTSP # 1/2JTSP SCALED AT 2EXP(7)/PI
056877,000632: 16,3363 20001 DAS A
056878,000633: 16,3364 20001 DAS A
056879,000634: 16,3365 02524 TC OVERSUB
056880,000635: 16,3366 00006 EXTEND
056881,000636: 16,3367 77670 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
056882,000637: 16,3370 55516 TS TJP # 4.JET TIME
056883,000638: 16,3371 31734 CA ABSEDOTP
056884,000639: 16,3372 61463 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
056885,000640: 16,3373 00006 EXTEND
056886,000641: 16,3374 63377 BZMF +3
056887,000642:
056888,000643: 16,3375 36216 CA SIX
056889,000644: 16,3376 13406 TCF +8D
056890,000645: 16,3377 31516 CA TJP
056891,000646: 16,3400 27516 ADS TJP
056892,000647:
056893,000648: # GOES TO PJETSLEC FOR TWO JETS
056894,000649:
056895,000650: # P-JET-SELECTION-ROUTINE (ROTATION)
056896,000651:
056897,000652: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
056898,000653: # TJP + FOR +P ROTATION
056899,000654:
056900,000655: # OUTPUT: CHANNEL 6
056901,000656: # PJUMPADR FOR P-AXIS SKIP
056902,000657: # (JTLST CALL) (SMALL TJP)
056903,000658:
056904,000659: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
056905,000660: # +P -P
056906,000661: # 7,15 8,16
056907,000662: # 4,12 3,11
056908,000663: # 4,7 8,11
056909,000664: # 7,12 11,16
056910,000665: # 12,15 3,16
056911,000666: # 4,15 3,8
056912,000667: # ALARM ALARM
056913,000668:
056914,000669: 16,3401 35022 CA AORBSYST
056915,000670: 16,3402 71102 MASK DAPBOOLS
056916,000671: 16,3403 10000 CCS A
056917,000672: 16,3404 35026 CA ONE
056918,000673: 16,3405 65024 AD FOUR
056919,000674: 16,3406 55740 TS NUMBERT
056920,000675: 16,3407 35026 PJETSLEC CA ONE
056921,000676: 16,3410 54001 TS L
056922,000677: 16,3411 11516 CCS TJP
056923,000678: 16,3412 13417 TCF +5
056924,000679: 16,3413 13472 TCF JETSOFF
056925,000680: 16,3414 13416 TCF +2
056926,000681: 16,3415 13472 TCF JETSOFF
056927,000682: 16,3416 22007 ZL
056928,000683: 16,3417 65026 AD ONE
056929,000684: 16,3420 55734 TS ABSTJ
056930,000685: 16,3421 23741 LXCH ROTINDEX
056931,000686: 16,3422 03573 TC SELECTP
056932,000687: 16,3423 46216 CS SIX
056933,000688: 16,3424 61740 AD NUMBERT
056934,000689: 16,3425 00006 EXTEND
056935,000690: 16,3426 13430 BZF +2
056936,000691:
056937,000692: 16,3427 45025 CS TWO
056938,000693: 16,3430 65024 AD FOUR
056939,000694: 16,3431 55513 TS NO.PJETS
056940,000695: 16,3432 31736 CA POLYTEMP
056941,000696: 16,3433 05755 TC WRITEP
056942,000697: 16,3434 41734 CS ABSTJ
056943,000698: 16,3435 63654 AD +150MST6
056944,000699: 16,3436 00006 EXTEND
056945,000700: 16,3437 63670 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
056946,000701:
056947,000702: 16,3440 63634 AD -136MST6
056948,000703: 16,3441 00006 EXTEND
056949,000704: 16,3442 63447 BZMF +5
056950,000705:
056951,000706: 16,3443 27734 ADS ABSTJ
056952,000707: 16,3444 51741 INDEX ROTINDEX
056953,000708: 16,3445 33665 CA MINTIMES
056954,000709: 16,3446 55516 TS TJP
056955,000710:
056956,000711: 16,3447 31734 CA ABSTJ
056957,000712: 16,3450 22007 ZL
056958,000713: 16,3451 00004 INHINT
056959,000714: 16,3452 53457 DXCH T6FURTHA
056960,000715: 16,3453 04737 TC IBNKCALL
056961,000716: 16,3454 36674 CADR JTLST
056962,000717: 16,3455 33667 CA PSKIPADR
056963,000718: 16,3456 55527 TS PJUMPADR
056964,000719:
056965,000720: 16,3457 03461 TC ALTSYST
056966,000721: 16,3460 13670 TCF QRAXIS
056967,000722:
056968,000723: 16,3461 31102 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
056969,000724: 16,3462 54001 TS L
056970,000725: 16,3463 35022 CA AORBSYST
056971,000726: 16,3464 00006 EXTEND
056972,000727: 16,3465 06001 RXOR LCHAN
056973,000728: 16,3466 55102 TS DAPBOOLS
056974,000729: 16,3467 00003 RELINT
056975,000730: 16,3470 00002 TC Q
056976,000731:
056977,000732: 16,3471 03461 DKALT TC ALTSYST
056978,000733:
056979,000734: 16,3472 05754 JETSOFF TC WRITEP -1
056980,000735: 16,3473 35030 CA ZERO
056981,000736: 16,3474 55516 TS TJP
056982,000737: 16,3475 13670 TCF QRAXIS
056983,000738:
056984,000739: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
056985,000740:
056986,000741: 16,3476 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
056987,000742: 16,3477 00006 EXTEND
056988,000743: 16,3500 21633 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
056989,000744: 16,3501 00006 EXTEND
056990,000745: 16,3502 71412 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
056991,000746: 16,3503 57542 XCH E # SAVE FIRST TERM (OF TWO)
056992,000747: 16,3504 30032 CA CDUX # THIRD COMPONENT
056993,000748: 16,3505 00006 EXTEND
056994,000749: 16,3506 21632 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
056995,000750: # EXTEND
056996,000751: # MP M13
056997,000752: 16,3507 61301 AD DELPEROR # KALCMANU INERFACE ERROR
056998,000753: 16,3510 27542 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
056999,000754: 16,3511 57450 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
057000,000755: 16,3512 00002 TC Q # RETURN TO CALLER
057001,000756:
057002,000757: # P-AXIS URGENCY FUNCTION CALCULATION.
057003,000758: 16,3513 03476 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
057004,000759: 16,3514 41640 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
057005,000760: 16,3515 61417 AD OMEGAP # SPS-BACKUP MODE.
057006,000761: 16,3516 55543 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
057007,000762:
057008,000763: 16,3517 45026 CS ONE
057009,000764: 16,3520 55471 TS AXISCTR
057010,000765: 16,3521 31102 CA DAPBOOLS
057011,000766: 16,3522 75012 MASK CSMDOCKD
057012,000767: 16,3523 00006 EXTEND
057013,000768: 16,3524 13541 BZF HEADTJET
057014,000769: 16,3525 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
057015,000770: 16,3526 04737 TC IBNKCALL
057016,000771: 16,3527 37526 CADR SPSRCS
057017,000772:
057018,000773: 16,3530 31516 CA TJP
057019,000774: 16,3531 00006 EXTEND
057020,000775: 16,3532 13471 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
057021,000776: 16,3533 00003 RELINT
057022,000777: 16,3534 41740 CS NUMBERT
057023,000778: 16,3535 66216 AD SIX
057024,000779: 16,3536 00006 EXTEND # IF NUMBERT = 6 BYPASS AORBSYST CHECK
057025,000780: 16,3537 13407 BZF PJETSLEC # AND USE FOUR JETS, OTHERWISE,
057026,000781: 16,3540 13401 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
057027,000782: 16,3541 35030 HEADTJET CA ZERO
057028,000783: 16,3542 55472 TS SENSETYP
057029,000784: 16,3543 00004 INHINT
057030,000785: 16,3544 04737 TC IBNKCALL
057031,000786: 16,3545 37035 CADR TJETLAW
057032,000787: 16,3546 00003 RELINT
057033,000788:
057034,000789: 16,3547 41736 CS FIREFCT
057035,000790: 16,3550 63564 AD -FOURDEG
057036,000791: 16,3551 00006 EXTEND
057037,000792: 16,3552 63401 BZMF PJETSLEC -6
057038,000793: 16,3553 11516 CCS TJP
057039,000794: 16,3554 13556 TCF +2
057040,000795: 16,3555 13472 TCF JETSOFF
057041,000796: 16,3556 63563 AD -160MST6
057042,000797: 16,3557 00006 EXTEND
057043,000798: 16,3560 63401 BZMF PJETSLEC -6
057044,000799: 16,3561 36216 CA SIX
057045,000800: 16,3562 13406 TCF PJETSLEC -1
057046,000801: 16,3563 77377 -160MST6 DEC -256 B-14
057047,000802: 16,3564 75117 -FOURDEG DEC -.08888
057048,000803:
057049,000804: 16,3565 33660 LOWSCALE CA -0.4D/S
057050,000805: 16,3566 55464 TS -RATEDB
057051,000806: 16,3567 41542 CS E
057052,000807: 16,3570 00006 EXTEND
057053,000808: 16,3571 61543 SU EDOTP
057054,000809: 16,3572 13345 TCF JOEY +3
057055,000810:
057056,000811: # JET POLICY CONSTRUCTION SUBROUTINE
057057,000812:
057058,000813: # INPUT: ROTINDEX, NUMBERT
057059,000814:
057060,000815: # OUTPUT: POLYTEMP (JET POLICY)
057061,000816:
057062,000817: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
057063,000818:
057064,000819: 16,3573 36216 SELECTP CA SIX
057065,000820: 16,3574 55737 TS TEMPNUM
057066,000821: 16,3575 51740 INDEX NUMBERT
057067,000822: 16,3576 33625 CA TYPEP
057068,000823: 16,3577 51741 INDEX ROTINDEX
057069,000824: 16,3600 73616 MASK JETSALL
057070,000825: 16,3601 55736 TS POLYTEMP
057071,000826: 16,3602 71265 MASK CH6MASK
057072,000827: 16,3603 10000 CCS A
057073,000828: 16,3604 13606 TCF +2
057074,000829: 16,3605 00002 TC Q
057075,000830: 16,3606 11737 CCS TEMPNUM
057076,000831: 16,3607 13613 TCF +4
057077,000832: 16,3610 05651 TC ALARM
057078,000833: 16,3611 02003 OCT 02003
057079,000834: 16,3612 13472 TCF JETSOFF # *****TCF ALARMJET *********************
057080,000835: 16,3613 55740 SELECTYZ TS NUMBERT
057081,000836: 16,3614 13574 TCF SELECTP +1
057082,000837: 16,3615 13145 -1 TCF ABORTYZ +2
057083,000838: 16,3616 00252 JETSALL OCT 00252
057084,000839: 16,3617 00125 OCT 00125 # +P
057085,000840: 16,3620 00140 OCT 00140 # -Y
057086,000841: 16,3621 00006 OCT 00006 # -Z
057087,000842: 16,3622 00220 OCT 00220 # +Y
057088,000843: 16,3623 00011 OCT 00011 # +Z
057089,000844: 16,3624 00151 OCT 00151 # +V
057090,000845: 16,3625 00146 TYPEP OCT 00146 # -U
057091,000846: 16,3626 00226 OCT 00226 # -V
057092,000847: 16,3627 00231 OCT 00231 # +U
057093,000848: 16,3630 00151 OCT 00151 # +V
057094,000849: 16,3631 00132 OCT 00132 # 1-3
057095,000850: 16,3632 00245 OCT 00245 # 2-4
057096,000851: 16,3633 00377 OCT 00377 # ALL
057097,000852: 16,3634 16,3634 INDXYZ = -136MST6
057098,000853: 16,3634 77445 -136MST6 DEC -218 B-14
057099,000854: 16,3635 00004 DEC 4 B-14
057100,000855: 16,3636 00002 DEC 2 B-14
057101,000856: 16,3637 07776 OCT 07776
057102,000857: 16,3640 00005 DEC 5 B-14
057103,000858: 16,3641 00011 DEC 9 B-14
057104,000859: 16,3642 00012 DEC 10 B-14
057105,000860: 16,3643 07776 OCT 07776
057106,000861: 16,3644 00003 DEC 3 B-14
057107,000862: 16,3645 00010 DEC 8 B-14
057108,000863: 16,3646 00007 DEC 7 B-14
057109,000864: 16,3647 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
057110,000865: 16,3650 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
057111,000866: 16,3651 07776 OCT 07776 # TO BE TC JETSALL -1
057112,000867: 16,3652 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
057113,000868: 16,3653 07776 OCT 07776
057114,000869: 16,3654 00360 +150MST6 DEC 240 B-14
057115,000870: 16,3655 07400 07400OCT OCT 07400
057116,000871:
057117,000872: # T-JET LAW FIXED CONSTANTS
057118,000873:
057119,000874: 16,3656 00266 NORMSCL OCT 266
057120,000875: 16,3657 77223 -1.0D/S DEC -364 B-14
057121,000876: 16,3660 77556 -0.4D/S DEC -145 B-14
057122,000877: 16,3661 74631 -100MS DEC -.1
057123,000878: 16,3662 06315 200MS DEC .2
057124,000879: 16,3663 5737 143DEC = OCT217
057125,000880: 16,3663 7670 25/32 = PRIO31 # (DEC .78125)
057126,000881: 16,3663 00600 BITS8,9 OCTAL 00600
057127,000882: 16,3664 00632 1/40 DEC .02500
057128,000883: 16,3665 77751 MINTIMES DEC -22 B-14
057129,000884: 16,3666 00026 DEC 22 B-14
057130,000885: 16,3667 03107 PSKIPADR GENADR SKIPPAXS
057131,000886:
057132,000887: # GOES TO Q,R-AXES RCS AUTOPILOT
057133,000888: 16,3670 41642 QRAXIS CS OMEGARD
057134,000889: 16,3671 61421 AD OMEGAR
057135,000890: 16,3672 02524 TC OVERSUB
057136,000891: 16,3673 55435 TS EDOTR
057137,000892: 16,3674 41641 CS OMEGAQD
057138,000893: 16,3675 61420 AD OMEGAQ
057139,000894: 16,3676 02524 TC OVERSUB
057140,000895: 16,3677 55434 TS EDOTQ
057141,000896: 16,3700 00006 EXTEND
057142,000897: 16,3701 33704 DCA QERRCALL
057143,000898: 16,3702 52006 DTCB
057144,000899:
057145,000900: 16,3703 E6,1532 EBANK= AOSQ
057146,000901: 16,3703 02000 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc