Source Code
|
These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
035879,000002: ## Copyright: Public domain.
035880,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
035881,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
035882,000005: ## It is part of the reconstructed source code for the Lunar
035883,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
035884,000007: ## No original listings of this program are available;
035885,000008: ## instead, this file was created via disassembly of dumps
035886,000009: ## of various revisions of Sundance core rope modules.
035887,000010: ## Assembler: yaYUL
035888,000011: ## Contact: Ron Burkey <info@sandroid.org>.
035889,000012: ## Website: www.ibiblio.org/apollo/index.html
035890,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
035891,000014:
035892,000015: ## Sundance 292
035893,000016:
035894,000017: # PROGRAM NAME: FINDCDUW
035895,000018:
035896,000019: # MOD NUMBER: 1 68 07 15
035897,000020:
035898,000021: # MOD AUTHOR: KLUMPP
035899,000022:
035900,000023: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
035901,000024: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
035902,000025: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
035903,000026: # FETCHING FOR THE THRUST DIRECTION FILTER THE
035904,000027: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
035905,000028: # MODES.
035906,000029: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
035907,000030: # AUTOPILOT COMMANDS WHENEVER
035908,000031: # 1) NOT IN PNGCS-AUTO, OR
035909,000032: # 2) ENGINE IS OFF.
035910,000033:
035911,000034: # FUNCTIONAL DESCRIPTION:
035912,000035:
035913,000036: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
035914,000037: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
035915,000038: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
035916,000039: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
035917,000040: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
035918,000041: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
035919,000042: # ACCELERATIONS AVAILABLE).
035920,000043:
035921,000044: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
035922,000045: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
035923,000046: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
035924,000047:
035925,000048: # SPECIFICATIONS:
035926,000049:
035927,000050: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
035928,000051: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
035929,000052:
035930,000053: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
035931,000054: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
035932,000055: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
035933,000056:
035934,000057: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
035935,000058:
035936,000059: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
035937,000060:
035938,000061: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
035939,000062: # WITHOUT ISSUING AUTOPILOT CMDS.
035940,000063:
035941,000064: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
035942,000065: # ISSUING AUTOPILOT CMDS.
035943,000066:
035944,000067: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
035945,000068: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
035946,000069: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
035947,000070: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
035948,000071: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
035949,000072: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
035950,000073:
035951,000074: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
035952,000075: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
035953,000076: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
035954,000077: # CSMDOCKD FLAG DENOTING CSM DOCKED.
035955,000078: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
035956,000079:
035957,000080: # OUTPUTS: DELCDUX,Y,Z
035958,000081: # OMEGAPD,+1,+2
035959,000082: # DELPEROR,+1,+2
035960,000083: # CPHI,+1,+2 FOR NOUN22
035961,000084:
035962,000085: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
035963,000086: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
035964,000087: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
035965,000088:
035966,000089: # INITIALIZATION FOR FINDCDUW
035967,000090:
035968,000091: 30,3213 BANK 30
035969,000092: 30,2000 SETLOC FCDUW
035970,000093: 30,2000 BANK
035971,000094:
035972,000095: 30,3213 E6,1643 EBANK= ECDUW
035973,000096:
035974,000097: 30,3213 COUNT* $$/FCDUW
035975,000098:
035976,000099: 30,3213 77775 INITCDUW VLOAD
035977,000100: 30,3214 06231 UNITX
035978,000101: 30,3215 03264 STORE UNFV/2
035979,000102: 30,3216 03256 STORE UNWC/2
035980,000103: 30,3217 77616 RVQ
035981,000104:
035982,000105: # FINDCDUW PRELIMINARIES
035983,000106:
035984,000107: 30,3220 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
035985,000108: 30,3221 03250 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
035986,000109: 30,3222 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
035987,000110: 30,3223 61222 FINDCDUW # INTERPRETER NOW INITIALIZED
035988,000111: 30,3224 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
035989,000112: 30,3225 77420 STQ EXIT
035990,000113: 30,3226 03244 QCDUWUSR # SAVE RETURN ADDRESS
035991,000114:
035992,000115: # MORE HAUSKEEPING
035993,000116: 30,3227 33632 CA ECDUWL
035994,000117: 30,3230 56003 XCH EBANK # SET EBANK
035995,000118: 30,3231 55643 TS ECDUWUSR # SAVE USER'S EBANK
035996,000119:
035997,000120: 30,3232 31102 CA DAPBOOLS
035998,000121: 30,3233 75012 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
035999,000122: 30,3234 10000 CCS A
036000,000123: 30,3235 35026 CA ONE # INDEX IF CSM DOCKED
036001,000124: 30,3236 55645 TS NDXCDUW
036002,000125:
036003,000126: 30,3237 31102 CA DAPBOOLS
036004,000127: 30,3240 75016 MASK XOVINHIB # XOVINHIB MUST NOT BE BIT15
036005,000128: 30,3241 55646 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
036006,000129:
036007,000130: # FETCH BASIC DATA
036008,000131:
036009,000132: 30,3242 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
036010,000133:
036011,000134: 30,3243 31632 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
036012,000135: 30,3244 54772 TS CDUSPOTX
036013,000136: 30,3245 31633 CA CDUYD
036014,000137: 30,3246 54766 TS CDUSPOTY
036015,000138: 30,3247 31634 CA CDUZD
036016,000139: 30,3250 54770 TS CDUSPOTZ
036017,000140:
036018,000141: 30,3251 00003 RELINT
036019,000142:
036020,000143: # FETCH INPUTS
036021,000144:
036022,000145: 30,3252 06014 TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
036023,000146: 30,3253 77634 RTB
036024,000147: 30,3254 21672 NORMUNIT
036025,000148: 30,3255 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
036026,000149: 30,3256 03256 UNWC/2
036027,000150: 30,3257 77634 RTB
036028,000151: 30,3260 21672 NORMUNIT
036029,000152: 30,3261 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
036030,000153: 30,3262 01212 DELV
036031,000154: 30,3263 45004 BOVB CALL
036032,000155: 30,3264 61622 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
036033,000156: 30,3265 47373 TRG*SMNB
036034,000157: 30,3266 53414 BOFF UNIT # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
036035,000158: 30,3267 01344 STEERSW
036036,000159: 30,3270 61303 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
036037,000160:
036038,000161: # THRUST DIRECTION FILTER
036039,000162:
036040,000163: 30,3271 77776 EXIT
036041,000164:
036042,000165: 30,3272 31665 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
036043,000166: 30,3273 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
036044,000167: 30,3274 03527 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
036045,000168: 30,3275 55665 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
036046,000169:
036047,000170: 30,3276 31667 CA UNFVZ/2
036048,000171: 30,3277 22161 LXCH MPAC +5
036049,000172: 30,3300 03527 TC FLTRSUB
036050,000173: 30,3301 55667 TS UNFVZ/2
036051,000174:
036052,000175: 30,3302 06014 TC INTPRET # COMPLETES FILTER
036053,000176:
036054,000177: # FIND A SUITABLE WINDOW POINTING VECTOR
036055,000178:
036056,000179: 30,3303 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
036057,000180: 30,3304 03247 FLAGOODW
036058,000181: 30,3305 61311 FETCHZNB
036059,000182: 30,3306 45175 VLOAD CALL
036060,000183: 30,3307 00015 UNZ/2
036061,000184: 30,3310 61546 UNWCTEST
036062,000185:
036063,000186: 30,3311 77775 FETCHZNB VLOAD
036064,000187: 30,3312 02164 ZNBPIP
036065,000188: 30,3313 34015 STCALL UNZ/2
036066,000189: 30,3314 61546 UNWCTEST
036067,000190:
036068,000191: 30,3315 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
036069,000192: 30,3316 02150 XNBPIP
036070,000193: 30,3317 00015 STORE UNZ/2
036071,000194:
036072,000195: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
036073,000196:
036074,000197: 30,3320 45175 DCMCL VLOAD CALL
036075,000198: 30,3321 00001 UNX/2
036076,000199: 30,3322 61570 DCMCL1
036077,000200: 30,3323 77624 CALL
036078,000201: 30,3324 61556 DCMCL2
036079,000202: 30,3325 77624 CALL
036080,000203: 30,3326 44331 TRNSPSPD
036081,000204: 30,3327 45160 AXC,1 CALL
036082,000205: 30,3330 00000 0
036083,000206: 30,3331 44650 DCMTOCDU
036084,000207: 30,3332 77434 RTB EXIT
036085,000208: 30,3333 21516 V1STO2S
036086,000209:
036087,000210: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
036088,000211:
036089,000212: 30,3334 30156 CA MPAC +2 # LIMIT THE MGA
036090,000213: 30,3335 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
036091,000214: 30,3336 33643 CA CDUZDLIM
036092,000215: 30,3337 03601 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
036093,000216: 30,3340 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
036094,000217: 30,3341 00006 EXTEND
036095,000218: 30,3342 60156 SU MPAC +2 # THIS BETTER YIELD ZERO
036096,000219: 30,3343 10000 CCS A
036097,000220: 30,3344 13627 TCF ALARMMGA
036098,000221: 30,3345 13347 TCF +2
036099,000222: 30,3346 13627 TCF ALARMMGA
036100,000223:
036101,000224: 30,3347 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
036102,000225:
036103,000226: 30,3350 35025 CA TWO
036104,000227: 30,3351 54142 DELGMBLP TS TEM2
036105,000228:
036106,000229: 30,3352 50142 INDEX TEM2
036107,000230: 30,3353 31632 CA CDUXD
036108,000231: 30,3354 00006 EXTEND
036109,000232: 30,3355 50142 INDEX TEM2
036110,000233: 30,3356 20154 MSU MPAC
036111,000234: 30,3357 50142 INDEX TEM2
036112,000235: 30,3360 55671 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
036113,000236: 30,3361 10142 CCS TEM2
036114,000237: 30,3362 13351 TCF DELGMBLP
036115,000238:
036116,000239: # LIMIT THE ATTITUDE ANGLE CHANGES
036117,000240:
036118,000241: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
036119,000242: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
036120,000243: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
036121,000244: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
036122,000245:
036123,000246: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
036124,000247: # * * * * * *
036125,000248: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
036126,000249: # * * * * * *
036127,000250: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
036128,000251:
036129,000252: 30,3363 23673 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
036130,000253: 30,3364 51645 INDEX NDXCDUW
036131,000254: 30,3365 33637 CA DAZMAX
036132,000255: 30,3366 03601 TC LIMITSUB
036133,000256: 30,3367 55673 TS -DELGMB +2 # -DELGMBZ
036134,000257:
036135,000258: 30,3370 31672 CA -DELGMB +1
036136,000259: 30,3371 00006 EXTEND
036137,000260: 30,3372 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
036138,000261: 30,3373 54001 TS L
036139,000262: 30,3374 51645 INDEX NDXCDUW
036140,000263: 30,3375 33641 CA DAY/2MAX
036141,000264: 30,3376 03601 TC LIMITSUB
036142,000265: 30,3377 00006 EXTEND
036143,000266: 30,3400 10746 DV COSCDUZ
036144,000267: 30,3401 57672 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
036145,000268:
036146,000269: 30,3402 00006 EXTEND
036147,000270: 30,3403 70740 MP SINCDUZ
036148,000271: 30,3404 20001 DDOUBL
036149,000272: 30,3405 54142 TS TEM2 # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
036150,000273: 30,3406 61671 AD -DELGMB # BASED ON UNLIMITED DELGMBY.
036151,000274: 30,3407 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
036152,000275: 30,3410 51645 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
036153,000276: 30,3411 33637 CA DAXMAX
036154,000277: 30,3412 03601 TC LIMITSUB
036155,000278: 30,3413 54143 TS TEM3 # SAVE LIMITED +DELATTX
036156,000279: 30,3414 11646 CCS FLAGOODW
036157,000280: 30,3415 30143 CA TEM3 # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
036158,000281: 30,3416 00006 EXTEND
036159,000282: 30,3417 60142 SU TEM2
036160,000283: 30,3420 55671 TS -DELGMB
036161,000284:
036162,000285: # COMPUTE COMMANDED ATTITUDE RATES
036163,000286:
036164,000287: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
036165,000288: # * * * * * *
036166,000289: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
036167,000290: # * * * * * *
036168,000291: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
036169,000292:
036170,000293: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
036171,000294: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
036172,000295: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
036173,000296:
036174,000297: 30,3421 41671 CS -DELGMB
036175,000298: 30,3422 55640 TS OMEGAPD
036176,000299: 30,3423 41672 CS -DELGMB +1
036177,000300: 30,3424 00006 EXTEND
036178,000301: 30,3425 70740 MP SINCDUZ
036179,000302: 30,3426 20001 DDOUBL
036180,000303: 30,3427 27640 ADS OMEGAPD
036181,000304: 30,3430 27640 ADS OMEGAPD
036182,000305:
036183,000306: 30,3431 41672 CS -DELGMB +1
036184,000307: 30,3432 00006 EXTEND
036185,000308: 30,3433 70750 MP COSCDUX
036186,000309: 30,3434 20001 DDOUBL
036187,000310: 30,3435 00006 EXTEND
036188,000311: 30,3436 70746 MP COSCDUZ
036189,000312: 30,3437 55641 TS OMEGAQD
036190,000313: 30,3440 41673 CS -DELGMB +2
036191,000314: 30,3441 00006 EXTEND
036192,000315: 30,3442 70742 MP SINCDUX
036193,000316: 30,3443 27641 ADS OMEGAQD
036194,000317: 30,3444 27641 ADS OMEGAQD
036195,000318: 30,3445 27641 ADS OMEGAQD
036196,000319:
036197,000320: 30,3446 31672 CA -DELGMB +1
036198,000321: 30,3447 00006 EXTEND
036199,000322: 30,3450 70742 MP SINCDUX
036200,000323: 30,3451 20001 DDOUBL
036201,000324: 30,3452 00006 EXTEND
036202,000325: 30,3453 70746 MP COSCDUZ
036203,000326: 30,3454 55642 TS OMEGARD
036204,000327: 30,3455 41673 CS -DELGMB +2
036205,000328: 30,3456 00006 EXTEND
036206,000329: 30,3457 70750 MP COSCDUX
036207,000330: 30,3460 27642 ADS OMEGARD
036208,000331: 30,3461 27642 ADS OMEGARD
036209,000332: 30,3462 27642 ADS OMEGARD
036210,000333:
036211,000334: # FINAL TRANSFER
036212,000335:
036213,000336: 30,3463 35025 CA TWO
036214,000337: 30,3464 54142 CDUWXFR TS TEM2
036215,000338: 30,3465 50142 INDEX TEM2
036216,000339: 30,3466 31671 CA -DELGMB
036217,000340: 30,3467 00006 EXTEND
036218,000341: 30,3470 73644 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
036219,000342: 30,3471 03615 TC ONESTO2S
036220,000343: 30,3472 50142 INDEX TEM2
036221,000344: 30,3473 55635 TS DELCDUX # ANGLE INTERFACE
036222,000345:
036223,000346: 30,3474 50142 INDEX TEM2
036224,000347: 30,3475 11640 CCS OMEGAPD
036225,000348: 30,3476 65026 AD ONE
036226,000349: 30,3477 13501 TCF +2
036227,000350: 30,3500 65026 AD ONE
036228,000351: 30,3501 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
036229,000352: 30,3502 50142 INDEX TEM2
036230,000353: 30,3503 71640 MP OMEGAPD
036231,000354: 30,3504 00006 EXTEND
036232,000355: 30,3505 75014 MP BIT11 # 1/16
036233,000356: 30,3506 00006 EXTEND
036234,000357: 30,3507 50142 INDEX TEM2 # 2
036235,000358: 30,3510 11522 DV 1JACC # UNITS PI/4 RAD/SEC
036236,000359: 30,3511 54001 TS L
036237,000360: 30,3512 33641 CA DELERLIM
036238,000361: 30,3513 03601 TC LIMITSUB
036239,000362: 30,3514 50142 INDEX TEM2
036240,000363: 30,3515 55301 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
036241,000364: 30,3516 10142 CCS TEM2
036242,000365: 30,3517 13464 TCF CDUWXFR
036243,000366: 30,3520 00003 RELINT
036244,000367:
036245,000368: # HAUSKEEPING AND RETURN
036246,000369:
036247,000370: 30,3521 31643 TCQCDUW CA ECDUWUSR
036248,000371: 30,3522 54003 TS EBANK # RETURN USER'S EBANK
036249,000372:
036250,000373: 30,3523 06014 TC INTPRET
036251,000374: 30,3524 52001 SETPD GOTO
036252,000375: 30,3525 00001 0
036253,000376: 30,3526 03244 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
036254,000377:
036255,000378: # THRUST VECTOR FILTER SUBROUTINE
036256,000379:
036257,000380: 30,3527 00006 FLTRSUB EXTEND
036258,000381: 30,3530 22142 QXCH TEM2
036259,000382: 30,3531 54143 TS TEM3 # SAVE ORIGINAL OFFSET
036260,000383: 30,3532 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
036261,000384: 30,3533 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
036262,000385: 30,3534 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
036263,000386: 30,3535 73633 MP GAINFLTR
036264,000387: 30,3536 54001 TS L # INCR TO OFFSET, UNLIMITED
036265,000388: 30,3537 33634 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
036266,000389: 30,3540 03601 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
036267,000390: 30,3541 60143 AD TEM3 # ORIGINAL OFFSET
036268,000391: 30,3542 54001 TS L # TOTAL OFFSET, UNLIMITED
036269,000392: 30,3543 33635 CA UNFVLIM # SAME LIMIT FOR Y AND Z
036270,000393: 30,3544 03601 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
036271,000394: 30,3545 00142 TC TEM2
036272,000395:
036273,000396: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
036274,000397:
036275,000398: 30,3546 63441 UNWCTEST DOT DSQ
036276,000399: 30,3547 00001 UNX/2
036277,000400: 30,3550 50025 DSU BMN
036278,000401: 30,3551 21637 DOTSWFMX
036279,000402: 30,3552 61320 DCMCL
036280,000403: 30,3553 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
036281,000404: 30,3554 03247 FLAGOODW # ZEROING WINDOW GOOD FLAG
036282,000405: 30,3555 00000 0
036283,000406:
036284,000407: 30,3556 74345 DCMCL2 DLOAD VXSC
036285,000408: 30,3557 03270 UNFVZ/2 # MUST BE SMALL
036286,000409: 30,3560 00015 UNZ/2 # -UNZ/2 FIRST ITERATION
036287,000410: 30,3561 74325 PDDL VXSC # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNFVY/2
036288,000411: 30,3562 03266 UNFVY/2 # MUST BE SMALL
036289,000412: 30,3563 00007 UNY/2
036290,000413: 30,3564 76455 VAD VSL1
036291,000414: 30,3565 53445 BVSU UNIT # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
036292,000415: 30,3566 00001 UNX/2
036293,000416: 30,3567 00001 STORE UNX/2
036294,000417:
036295,000418: 30,3570 47276 DCMCL1 VCOMP VXV
036296,000419: 30,3571 00015 UNZ/2
036297,000420: 30,3572 77656 UNIT
036298,000421: 30,3573 00007 STORE UNY/2 # UNY/2 FIRST ITERATION
036299,000422: 30,3574 47276 VCOMP VXV
036300,000423: 30,3575 00001 UNX/2
036301,000424: 30,3576 77772 VSL1
036302,000425: 30,3577 00015 STORE UNZ/2
036303,000426: 30,3600 77616 RVQ
036304,000427:
036305,000428: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
036306,000429: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
036307,000430: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
036308,000431:
036309,000432: # VERSION COURTESY HUGH BLAIR-SMITH
036310,000433:
036311,000434: 30,3601 54141 LIMITSUB TS TEM1
036312,000435: 30,3602 35030 CA ZERO
036313,000436: 30,3603 00006 EXTEND
036314,000437: 30,3604 10141 DV TEM1
036315,000438: 30,3605 10000 CCS A
036316,000439: 30,3606 22141 LXCH TEM1
036317,000440: 30,3607 13611 TCF +2
036318,000441: 30,3610 13613 TCF +3
036319,000442: 30,3611 30001 CA L
036320,000443: 30,3612 00002 TC Q
036321,000444: 30,3613 40141 CS TEM1
036322,000445: 30,3614 00002 TC Q
036323,000446:
036324,000447: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
036325,000448:
036326,000449: 30,3615 10000 ONESTO2S CCS A
036327,000450: 30,3616 65026 AD ONE
036328,000451: 30,3617 00002 TC Q
036329,000452: 30,3620 40000 CS A
036330,000453: 30,3621 00002 TC Q
036331,000454:
036332,000455: # NO ATTITUDE CONTROL
036333,000456:
036334,000457: 30,3622 05646 NOATTCNT TC ALARM
036335,000458: 30,3623 00402 OCT 00402 # NO ATTITUDE CONTROL
036336,000459:
036337,000460: 30,3624 04655 +2 TC BANKCALL
036338,000461: 30,3625 40244 FCADR STOPRATE
036339,000462: 30,3626 13521 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
036340,000463:
036341,000464: # MIDDLE GIMBAL ANGLE ALARM
036342,000465:
036343,000466: 30,3627 05646 ALARMMGA TC ALARM
036344,000467: 30,3630 00401 OCT 00401
036345,000468: 30,3631 13347 TCF MGARET
036346,000469:
036347,000470: # ************************************************************************
036348,000471: # CONSTANTS
036349,000472: # ************************************************************************
036350,000473:
036351,000474: # ADDRESS CONSTANTS
036352,000475:
036353,000476: 30,3632 03243 ECDUWL ECADR ECDUW
036354,000477:
036355,000478: # THRUST DIRECTION FILTER CONSTANTS
036356,000479:
036357,000480: 30,3633 06315 GAINFLTR DEC .2 # GAIN FILTER
036358,000481:
036359,000482: 30,3634 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
036360,000483: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
036361,000484:
036362,000485: 30,3635 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
036363,000486: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
036364,000487:
036365,000488: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
036366,000489:
036367,000490: 30,3636 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
036368,000491: # LOWER PART COMES FROM NEXT CONSTANT
036369,000492:
036370,000493: 30,3637 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
036371,000494: 30,3640 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
036372,000495:
036373,000496: 30,3641 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
036374,000497: 30,3642 00133 DEC .0055555555
036375,000498:
036376,000499: 30,3643 30,3637 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
036377,000500:
036378,000501: 30,3643 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
036379,000502:
036380,000503: # CONSTANTS FOR DATA TRANSFER
036381,000504:
036382,000505: 30,3644 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
036383,000506: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
036384,000507:
036385,000508: 30,3645 30,3641 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
036386,000509:
036387,000510:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc