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. |
055984,000002: ## Copyright: Public domain.
055985,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
055986,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
055987,000005: ## It is part of the reconstructed source code for the Lunar
055988,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
055989,000007: ## No original listings of this program are available;
055990,000008: ## instead, this file was created via disassembly of dumps
055991,000009: ## of various revisions of Sundance core rope modules.
055992,000010: ## Assembler: yaYUL
055993,000011: ## Contact: Ron Burkey <info@sandroid.org>.
055994,000012: ## Website: www.ibiblio.org/apollo/index.html
055995,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
055996,000014: ## 2021-05-30 ABS "--1" -> " -1" to match various scans and for
055997,000015: ## yaYUL compatibility.
055998,000016:
055999,000017: ## Sundance 302
056000,000018:
056001,000019: 16,2444 BANK 16
056002,000020: 16,2000 SETLOC DAPS1
056003,000021: 16,2000 BANK
056004,000022:
056005,000023: 16,2444 E6,1450 EBANK= PERROR
056006,000024: 16,2444 COUNT* $$/DAPP
056007,000025:
056008,000026: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
056009,000027: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
056010,000028:
056011,000029: 16,2444 37701 PAXIS CA MS100
056012,000030: 16,2445 54030 TS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
056013,000031: # CHRONIZATION WITH OTHER INTERRUPTS ***
056014,000032:
056015,000033: 16,2446 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
056016,000034: 16,2447 00006 EXTEND
056017,000035: 16,2450 22012 QXCH QRUPT
056018,000036:
056019,000037: # CHECK IF DAP PASS IS PERMISSIBLE
056020,000038:
056021,000039: 16,2451 11752 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
056022,000040: 16,2452 05713 TC ABORT # STILL IN PROGRESS AND A RESTART IS
056023,000041: 16,2453 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
056024,000042:
056025,000043: 16,2454 02043 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
056026,000044:
056027,000045: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
056028,000046:
056029,000047: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
056030,000048: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
056031,000049:
056032,000050: 16,2455 31632 CA CDUXD
056033,000051: 16,2456 00006 EXTEND
056034,000052: 16,2457 21635 MSU DELCDUX
056035,000053: 16,2460 02475 TC 1STOTWOS
056036,000054: 16,2461 55632 TS CDUXD
056037,000055: 16,2462 31633 CA CDUYD
056038,000056: 16,2463 00006 EXTEND
056039,000057: 16,2464 21636 MSU DELCDUY
056040,000058: 16,2465 02475 TC 1STOTWOS
056041,000059: 16,2466 55633 TS CDUYD
056042,000060: 16,2467 31634 CA CDUZD
056043,000061: 16,2470 00006 EXTEND
056044,000062: 16,2471 21637 MSU DELCDUZ
056045,000063: 16,2472 02475 TC 1STOTWOS
056046,000064: 16,2473 55634 TS CDUZD
056047,000065: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
056048,000066: # RETURNS TO BACKP.
056049,000067:
056050,000068: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
056051,000069: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
056052,000070: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
056053,000071:
056054,000072: 16,2474 13705 TCF RATELOOP
056055,000073: 16,2475 10000 1STOTWOS CCS A
056056,000074: 16,2476 65026 AD ONE
056057,000075: 16,2477 00002 TC Q
056058,000076: 16,2500 40000 CS A
056059,000077: 16,2501 00002 TC Q
056060,000078: 16,2502 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
056061,000079: 16,2503 71736 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
056062,000080: 16,2504 21425 DAS OMEGAU # OVERFLOW
056063,000081:
056064,000082: 16,2505 11424 +3 CCS OMEGAU
056065,000083: 16,2506 12510 TCF +2
056066,000084: 16,2507 12520 TCF DIVIDER
056067,000085: 16,2510 62531 AD -OCT630
056068,000086: 16,2511 00006 EXTEND
056069,000087: 16,2512 62520 BZMF DIVIDER
056070,000088:
056071,000089: 16,2513 11424 CCS OMEGAU
056072,000090: 16,2514 35006 CA POSMAX # 45 DEG/SEC
056073,000091: 16,2515 00002 TC Q
056074,000092: 16,2516 45006 CS POSMAX
056075,000093: 16,2517 00002 TC Q
056076,000094:
056077,000095: 16,2520 53425 DIVIDER DXCH OMEGAU
056078,000096: 16,2521 00006 EXTEND
056079,000097: 16,2522 10061 DV ITEMP1
056080,000098: 16,2523 00002 TC Q
056081,000099:
056082,000100: 16,2524 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
056083,000101: 16,2525 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
056084,000102: 16,2526 50000 INDEX A
056085,000103: 16,2527 45007 CS BIT15 -1
056086,000104: 16,2530 00002 TC Q
056087,000105:
056088,000106: 16,2531 77147 -OCT630 OCT 77147
056089,000107:
056090,000108: 16,2532 31734 BACKP CA DAPTEMP1
056091,000109: 16,2533 00006 EXTEND
056092,000110: 16,2534 71522 MP 1JACC
056093,000111: 16,2535 55742 TS JETRATE
056094,000112:
056095,000113: # BEGINNING OF THE RATE DERIVATION
056096,000114: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
056097,000115: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
056098,000116: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
056099,000117: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
056100,000118: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
056101,000119: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
056102,000120: # OMEGAU DP-TEMPORARY STORAGE
056103,000121: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
056104,000122:
056105,000123: 16,2536 30032 CAE CDUX
056106,000124: 16,2537 54001 TS L
056107,000125: 16,2540 00006 EXTEND
056108,000126: 16,2541 21436 MSU OLDXFORP # SCALED AT PI
056109,000127: 16,2542 23436 LXCH OLDXFORP
056110,000128: 16,2543 55734 TS DAPTEMP1
056111,000129: 16,2544 33664 CA 1/40
056112,000130: 16,2545 54061 TS ITEMP1
056113,000131: 16,2546 41742 CS JETRATE
056114,000132: 16,2547 00006 EXTEND
056115,000133: 16,2550 75011 MP BIT14
056116,000134: 16,2551 27426 ADS TRAPEDP
056117,000135: 16,2552 31743 CA JETRATEQ
056118,000136: 16,2553 61540 AD AOSQTERM
056119,000137: 16,2554 00006 EXTEND
056120,000138: 16,2555 77707 MP -BIT14
056121,000139: 16,2556 27427 ADS TRAPEDQ
056122,000140: 16,2557 31744 CA JETRATER
056123,000141: 16,2560 61541 AD AOSRTERM
056124,000142: 16,2561 00006 EXTEND
056125,000143: 16,2562 77707 MP -BIT14
056126,000144: 16,2563 27430 ADS TRAPEDR
056127,000145:
056128,000146: 16,2564 30033 CA CDUY
056129,000147: 16,2565 54001 TS L
056130,000148: 16,2566 00006 EXTEND
056131,000149: 16,2567 21437 MSU OLDYFORP # SCALED AT PI
056132,000150: 16,2570 23437 LXCH OLDYFORP
056133,000151: 16,2571 55735 TS DAPTEMP2
056134,000152: 16,2572 00006 EXTEND
056135,000153: 16,2573 71412 MP M11 # M11 SCALED AT 1
056136,000154: 16,2574 61734 AD DAPTEMP1
056137,000155: 16,2575 53425 DXCH OMEGAU
056138,000156:
056139,000157: 16,2576 02505 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
056140,000158:
056141,000159: 16,2577 00006 EXTEND
056142,000160: 16,2600 61417 SU OMEGAP
056143,000161: 16,2601 27426 ADS TRAPEDP
056144,000162: 16,2602 02524 TC OVERSUB
056145,000163: 16,2603 55426 TS TRAPEDP
056146,000164: 16,2604 30034 CA CDUZ
056147,000165: 16,2605 54001 TS L
056148,000166: 16,2606 00006 EXTEND
056149,000167: 16,2607 21440 MSU OLDZFORQ
056150,000168: 16,2610 55736 TS DAPTEMP3
056151,000169: 16,2611 23440 LXCH OLDZFORQ
056152,000170: 16,2612 31413 CA M21
056153,000171: 16,2613 00006 EXTEND
056154,000172: 16,2614 71735 MP DAPTEMP2
056155,000173: 16,2615 53425 DXCH OMEGAU
056156,000174: 16,2616 31415 CA M22
056157,000175: 16,2617 02502 TC SUBDIVDE
056158,000176:
056159,000177: 16,2620 00006 EXTEND
056160,000178: 16,2621 61420 SU OMEGAQ
056161,000179: 16,2622 27427 ADS TRAPEDQ
056162,000180: 16,2623 02524 TC OVERSUB
056163,000181: 16,2624 55427 TS TRAPEDQ
056164,000182: 16,2625 31414 CA M31
056165,000183: 16,2626 00006 EXTEND
056166,000184: 16,2627 71735 MP DAPTEMP2
056167,000185: 16,2630 53425 DXCH OMEGAU
056168,000186: 16,2631 31416 CA M32
056169,000187:
056170,000188: 16,2632 02502 TC SUBDIVDE
056171,000189:
056172,000190: 16,2633 00006 EXTEND
056173,000191: 16,2634 61421 SU OMEGAR
056174,000192: 16,2635 27430 ADS TRAPEDR
056175,000193: 16,2636 02524 TC OVERSUB
056176,000194: 16,2637 55430 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
056177,000195: 16,2640 31102 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
056178,000196: 16,2641 75012 MASK CSMDOCKD
056179,000197: 16,2642 00006 EXTEND
056180,000198: 16,2643 12651 BZF LMONLY
056181,000199: 16,2644 00006 EXTEND # DOCKED
056182,000200: 16,2645 31405 DCA DKOMEGAN
056183,000201: 16,2646 52062 DXCH ITEMP1
056184,000202: 16,2647 31403 CA DKTRAP
056185,000203: 16,2650 12655 TCF +5
056186,000204: 16,2651 00006 LMONLY EXTEND # UNDOCKED
056187,000205: 16,2652 31410 DCA LMOMEGAN
056188,000206: 16,2653 52062 DXCH ITEMP1
056189,000207: 16,2654 31406 CA LMTRAP
056190,000208: 16,2655 54063 +5 TS ITEMP3
056191,000209:
056192,000210: 16,2656 11426 CCS TRAPEDP
056193,000211: 16,2657 12661 TCF +2
056194,000212: 16,2660 12676 TCF SMALPDIF
056195,000213: 16,2661 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
056196,000214: 16,2662 00006 EXTEND
056197,000215: 16,2663 62676 BZMF SMALPDIF
056198,000216: 16,2664 22007 ZL
056199,000217: 16,2665 23426 LXCH TRAPEDP
056200,000218: 16,2666 35030 CA ZERO
056201,000219: 16,2667 00006 EXTEND
056202,000220: 16,2670 11431 DV NPTRAPS
056203,000221: 16,2671 27417 ADS OMEGAP
056204,000222: 16,2672 02524 TC OVERSUB
056205,000223: 16,2673 55417 TS OMEGAP
056206,000224: 16,2674 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
056207,000225: 16,2675 55431 TS NPTRAPS
056208,000226: 16,2676 25431 SMALPDIF INCR NPTRAPS
056209,000227: 16,2677 31742 P-RATE CA JETRATE
056210,000228: 16,2700 27417 ADS OMEGAP
056211,000229: 16,2701 02524 TC OVERSUB
056212,000230: 16,2702 55417 TS OMEGAP
056213,000231:
056214,000232: 16,2703 11427 CCS TRAPEDQ
056215,000233: 16,2704 12706 TCF +2
056216,000234: 16,2705 12735 TCF Q-RATE
056217,000235: 16,2706 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
056218,000236: 16,2707 00006 EXTEND
056219,000237: 16,2710 62735 BZMF Q-RATE
056220,000238: 16,2711 22007 ZL
056221,000239: 16,2712 23427 LXCH TRAPEDQ
056222,000240: 16,2713 35030 CA ZERO
056223,000241: 16,2714 00006 EXTEND
056224,000242: 16,2715 11432 DV NQTRAPS
056225,000243: 16,2716 55734 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
056226,000244: 16,2717 27441 ADS SUMRATEQ
056227,000245: 16,2720 31734 CA DAPTEMP1
056228,000246: 16,2721 27420 ADS OMEGAQ
056229,000247: 16,2722 02524 TC OVERSUB
056230,000248: 16,2723 55420 TS OMEGAQ
056231,000249: 16,2724 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
056232,000250: 16,2725 57432 XCH NQTRAPS
056233,000251: 16,2726 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
056234,000252: 16,2727 57734 XCH DAPTEMP1
056235,000253: 16,2730 00006 EXTEND
056236,000254: 16,2731 75031 MP FIVE
056237,000255: 16,2732 00006 EXTEND
056238,000256: 16,2733 11734 DV DAPTEMP1
056239,000257: 16,2734 27532 ADS AOSQ
056240,000258: 16,2735 25432 Q-RATE INCR NQTRAPS
056241,000259: 16,2736 31743 CA JETRATEQ
056242,000260: 16,2737 61540 AD AOSQTERM
056243,000261: 16,2740 27420 ADS OMEGAQ
056244,000262: 16,2741 02524 TC OVERSUB
056245,000263: 16,2742 55420 TS OMEGAQ
056246,000264:
056247,000265: 16,2743 11430 CCS TRAPEDR
056248,000266: 16,2744 12746 TCF +2
056249,000267: 16,2745 12775 TCF R-RATE
056250,000268: 16,2746 60063 AD ITEMP3 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
056251,000269: 16,2747 00006 EXTEND
056252,000270: 16,2750 62775 BZMF R-RATE
056253,000271: 16,2751 22007 ZL
056254,000272: 16,2752 23430 LXCH TRAPEDR
056255,000273: 16,2753 35030 CA ZERO
056256,000274: 16,2754 00006 EXTEND
056257,000275: 16,2755 11433 DV NRTRAPS
056258,000276: 16,2756 55735 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
056259,000277: 16,2757 27442 ADS SUMRATER
056260,000278: 16,2760 31735 CA DAPTEMP2
056261,000279: 16,2761 27421 ADS OMEGAR
056262,000280: 16,2762 02524 TC OVERSUB
056263,000281: 16,2763 55421 TS OMEGAR
056264,000282: 16,2764 30061 CA ITEMP1 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
056265,000283: 16,2765 57433 XCH NRTRAPS
056266,000284: 16,2766 60062 AD ITEMP2 # KAOS > ABOUT 60D %N/N_60"
056267,000285: 16,2767 57735 XCH DAPTEMP2
056268,000286: 16,2770 00006 EXTEND
056269,000287: 16,2771 75031 MP FIVE
056270,000288: 16,2772 00006 EXTEND
056271,000289: 16,2773 11735 DV DAPTEMP2
056272,000290: 16,2774 27534 ADS AOSR
056273,000291: 16,2775 25433 R-RATE INCR NRTRAPS
056274,000292: 16,2776 31744 CA JETRATER
056275,000293: 16,2777 61541 AD AOSRTERM
056276,000294: 16,3000 27421 ADS OMEGAR
056277,000295: 16,3001 02524 TC OVERSUB
056278,000296: 16,3002 55421 TS OMEGAR
056279,000297:
056280,000298: # END OF RATE DERIVATION
056281,000299: # BEGIN OFFSET ESTIMATER
056282,000300: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
056283,000301: # AOS = AOS + K*SUMRATE
056284,000302:
056285,000303: 16,3003 41102 CS DAPBOOLS
056286,000304: 16,3004 75017 MASK DRIFTBIT
056287,000305: 16,3005 10000 CCS A
056288,000306: 16,3006 13017 TCF WORKTIME
056289,000307: 16,3007 55422 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
056290,000308: 16,3010 55423 TS ALPHAR
056291,000309: 16,3011 55540 TS AOSQTERM
056292,000310: 16,3012 55541 TS AOSRTERM
056293,000311: 16,3013 55532 TS AOSQ
056294,000312: 16,3014 55534 TS AOSR
056295,000313: 16,3015 13041 TCF PAXFILT
056296,000314: 16,3016 00074 KAOS DEC 60 B-14
056297,000315: 16,3017 31510 WORKTIME CA QACCDOT
056298,000316: 16,3020 00006 EXTEND
056299,000317: 16,3021 75036 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
056300,000318: 16,3022 21533 DAS AOSQ
056301,000319: 16,3023 31532 CA AOSQ
056302,000320: 16,3024 55422 TS ALPHAQ
056303,000321: 16,3025 00006 EXTEND
056304,000322: 16,3026 73662 MP 200MS # .2 AT 1
056305,000323: 16,3027 55540 TS AOSQTERM
056306,000324: 16,3030 31512 CA RACCDOT
056307,000325: 16,3031 00006 EXTEND
056308,000326: 16,3032 75036 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
056309,000327: 16,3033 21535 DAS AOSR
056310,000328: 16,3034 31534 CA AOSR
056311,000329: 16,3035 55423 TS ALPHAR
056312,000330: 16,3036 00006 EXTEND
056313,000331: 16,3037 73662 MP 200MS # .2 AT 1
056314,000332: 16,3040 55541 TS AOSRTERM
056315,000333:
056316,000334: 16,3041 52011 PAXFILT DXCH ARUPT
056317,000335: 16,3042 53747 DXCH DAPARUPT
056318,000336: 16,3043 33054 CA SUPERJOB # SETTING UP THE SUPERJOB
056319,000337: 16,3044 56017 XCH BRUPT
056320,000338: 16,3045 22012 LXCH QRUPT
056321,000339: 16,3046 53751 DXCH DAPBQRPT
056322,000340: 16,3047 33053 CA SUPERADR
056323,000341: 16,3050 52016 DXCH ZRUPT
056324,000342: 16,3051 53753 DXCH DAPZRUPT
056325,000343: 16,3052 15335 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
056326,000344: # FORM OF A JASK, AT SUPERJOB.
056327,000345:
056328,000346: 16,3053 03055 SUPERADR GENADR SUPERJOB +1
056329,000347:
056330,000348: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
056331,000349:
056332,000350: 16,3054 11626 SUPERJOB CCS QGIMTIMR # Q-AXIS GIMBAL DRIVE TIMER
056333,000351: 16,3055 13063 TCF DECQTIMR # POSITIVE- COUNTING DOWN
056334,000352: 16,3056 13067 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
056335,000353: 16,3057 11630 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
056336,000354: 16,3060 13065 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
056337,000355: 16,3061 13077 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
056338,000356:
056339,000357: 16,3062 01527 TC PJUMPADR
056340,000358:
056341,000359: 16,3063 55626 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
056342,000360: 16,3064 13057 TCF CHKRTIMR
056343,000361: 16,3065 55630 DECRTIMR TS RGIMTIMR
056344,000362: 16,3066 13062 TCF CHKRTIMR +3
056345,000363:
056346,000364: 16,3067 55500 TURNOFFQ TS NEGUQ # HALT DRIVES.
056347,000365: 16,3070 55510 TS QACCDOT
056348,000366: 16,3071 45057 CS QGIMBITS
056349,000367: 16,3072 00006 EXTEND
056350,000368: 16,3073 03012 WAND CHAN12
056351,000369: 16,3074 35010 CAF NEGMAX
056352,000370: 16,3075 55626 TS QGIMTIMR
056353,000371: 16,3076 13057 TCF CHKRTIMR
056354,000372: 16,3077 55502 TURNOFFR TS NEGUR
056355,000373: 16,3100 55512 TS RACCDOT
056356,000374: 16,3101 45070 CS RGIMBITS
056357,000375: 16,3102 00006 EXTEND
056358,000376: 16,3103 03012 WAND CHAN12
056359,000377: 16,3104 35010 CAF NEGMAX
056360,000378: 16,3105 55630 TS RGIMTIMR
056361,000379: 16,3106 13062 TCF CHKRTIMR +3
056362,000380: 16,3107 5057 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
056363,000381: 16,3107 5070 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
056364,000382: 16,3107 32234 SKIPPAXS CA CHKVISAD
056365,000383: 16,3110 55527 TS PJUMPADR
056366,000384: 16,3111 13670 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
056367,000385:
056368,000386: # Y-Z TRANSLATION
056369,000387:
056370,000388: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
056371,000389:
056372,000390: # OUTPUT: NEXTP
056373,000391:
056374,000392: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
056375,000393: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
056376,000394: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
056377,000395: # ALARM (IF NO PAIR)
056378,000396: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
056379,000397: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
056380,000398:
056381,000399: 16,3112 00006 CHKVISFZ EXTEND
056382,000400: 16,3113 00031 READ CHAN31
056383,000401: 16,3114 40000 CS A
056384,000402: 16,3115 73655 MASK 07400OCT
056385,000403: 16,3116 00006 EXTEND
056386,000404: 16,3117 13157 BZF TSNEXTP
056387,000405: 16,3120 00006 EXTEND
056388,000406: 16,3121 75020 MP BIT7
056389,000407: 16,3122 50000 INDEX A
056390,000408: 16,3123 33634 CA INDXYZ
056391,000409: 16,3124 55741 TS ROTINDEX
056392,000410: 16,3125 36216 TRYUORV CA SIX
056393,000411: 16,3126 03613 TC SELECTYZ
056394,000412: 16,3127 46216 CS SIX
056395,000413: 16,3130 61740 AD NUMBERT
056396,000414: 16,3131 00006 EXTEND
056397,000415: 16,3132 13156 BZF TSNEXTP -1
056398,000416: 16,3133 45031 CS FIVE
056399,000417: 16,3134 61741 AD ROTINDEX
056400,000418: 16,3135 00006 EXTEND
056401,000419: 16,3136 63150 BZMF ALTERYZ
056402,000420: 16,3137 41740 CS NUMBERT
056403,000421: 16,3140 65024 AD FOUR
056404,000422: 16,3141 00006 EXTEND
056405,000423: 16,3142 63156 BZMF TSNEXTP -1
056406,000424: 16,3143 05646 ABORTYZ TC ALARM
056407,000425: 16,3144 02001 OCT 02001
056408,000426: 16,3145 25465 INCR ZEROOR1
056409,000427: 16,3146 35030 CA ZERO
056410,000428: 16,3147 13157 TCF TSNEXTP
056411,000429: 16,3150 25465 ALTERYZ INCR ZEROOR1
056412,000430: 16,3151 31465 CA ZEROOR1
056413,000431: 16,3152 75026 MASK BIT1
056414,000432: 16,3153 65024 AD FOUR
056415,000433: 16,3154 27741 ADS ROTINDEX
056416,000434: 16,3155 13125 TCF TRYUORV
056417,000435: 16,3156 31736 CA POLYTEMP
056418,000436: 16,3157 55460 TSNEXTP TS NEXTP
056419,000437:
056420,000438: # STATE LOGIC
056421,000439: # CHECK IN ORDER: IF ON
056422,000440: # LPDPHASE GO TO PURGENCY
056423,000441: # PULSES MINIMUM PULSE LOGIC
056424,000442: # DETENT(BIT15 CH31) RATE COMMAND
056425,000443: # GO TO PURGENCY
056426,000444:
056427,000445: 16,3160 35012 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
056428,000446: 16,3161 00006 EXTEND
056429,000447: 16,3162 02031 RAND CHAN31
056430,000448: 16,3163 00006 EXTEND
056431,000449: 16,3164 13172 BZF MANMODE
056432,000450:
056433,000451: 16,3165 31102 CA DAPBOOLS
056434,000452: 16,3166 75016 MASK XOVINHIB
056435,000453: 16,3167 10000 CCS A
056436,000454: 16,3170 13513 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
056437,000455:
056438,000456: 16,3171 13234 TCF DETENTCK
056439,000457: 16,3172 35010 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
056440,000458: 16,3173 71102 MASK DAPBOOLS
056441,000459: 16,3174 00006 EXTEND
056442,000460: 16,3175 13234 BZF DETENTCK # BRANCH FOR RATE COMMAND
056443,000461:
056444,000462: 16,3176 35030 CA ZERO
056445,000463: 16,3177 55450 TS PERROR
056446,000464:
056447,000465: # MINIMUM IMPULSE MODE
056448,000466:
056449,000467: 16,3200 30032 CA CDUX
056450,000468: 16,3201 55632 TS CDUXD
056451,000469:
056452,000470: 16,3202 11443 CCS OLDPMIN
056453,000471: 16,3203 13217 TCF CHECKP
056454,000472:
056455,000473: 16,3204 35024 FIREP CA BIT3
056456,000474: 16,3205 00006 EXTEND
056457,000475: 16,3206 02031 RAND CHAN31
056458,000476: 16,3207 00006 EXTEND
056459,000477: 16,3210 13227 BZF +XMIN
056460,000478:
056461,000479: 16,3211 35023 CA BIT4
056462,000480: 16,3212 00006 EXTEND
056463,000481: 16,3213 02031 RAND CHAN31
056464,000482: 16,3214 00006 EXTEND
056465,000483: 16,3215 13225 BZF -XMIN
056466,000484:
056467,000485: 16,3216 13472 TCF JETSOFF
056468,000486:
056469,000487: 16,3217 00006 CHECKP EXTEND
056470,000488: 16,3220 00031 READ CHAN31
056471,000489: 16,3221 40000 CS A
056472,000490: 16,3222 75743 MASK OCT14
056473,000491: 16,3223 55443 TS OLDPMIN
056474,000492: 16,3224 13472 TCF JETSOFF
056475,000493:
056476,000494: 16,3225 44375 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
056477,000495: 16,3226 13230 TCF +2 # IN JET SELECTION ROUTINE
056478,000496: 16,3227 34375 +XMIN CA TEN
056479,000497: 16,3230 55516 TS TJP
056480,000498: 16,3231 35026 CA ONE
056481,000499: 16,3232 55443 TS OLDPMIN
056482,000500: 16,3233 13401 TCF PJETSLEC -6
056483,000501:
056484,000502: # MANUAL RATE COMMAND MODE
056485,000503: # ========================
056486,000504: # BY ROBERT F. STENGEL
056487,000505:
056488,000506: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
056489,000507: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
056490,000508: # RATE CONTROL AND ATTITUDE HOLD.
056491,000509:
056492,000510: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
056493,000511: # 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
056494,000512: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
056495,000513: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
056496,000514: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
056497,000515: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
056498,000516:
056499,000517: # 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,
056500,000518: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
056501,000519: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
056502,000520:
056503,000521: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
056504,000522: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
056505,000523: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
056506,000524: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
056507,000525: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
056508,000526: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
056509,000527:
056510,000528: 16,3234 35010 DETENTCK CAF BIT15 # CHECK OUT-OF-DETENT BIT.
056511,000529: 16,3235 00006 EXTEND
056512,000530: 16,3236 02031 RAND CHAN31
056513,000531: 16,3237 00006 EXTEND
056514,000532: 16,3240 13320 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
056515,000533: 16,3241 35013 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
056516,000534: 16,3242 71102 MASK DAPBOOLS
056517,000535: 16,3243 00006 EXTEND
056518,000536: 16,3244 13513 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
056519,000537:
056520,000538: # ........................................................................
056521,000539:
056522,000540: 16,3245 35012 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
056523,000541: 16,3246 00006 EXTEND
056524,000542: 16,3247 02031 RAND CHAN31
056525,000543: 16,3250 00006 EXTEND
056526,000544: 16,3251 13342 BZF JOEY # BRANCH IF IN ATTITUDE HOLD.
056527,000545:
056528,000546: 16,3252 11417 CCS OMEGAP
056529,000547: 16,3253 13257 TCF +4
056530,000548: 16,3254 13264 TCF RATEDONE
056531,000549: 16,3255 13257 TCF +2
056532,000550: 16,3256 13264 TCF RATEDONE
056533,000551: 16,3257 61464 AD -RATEDB
056534,000552: 16,3260 00006 EXTEND # BRANCH IF P-AXIS RATE > RATEDB.
056535,000553: 16,3261 63264 BZMF RATEDONE
056536,000554:
056537,000555: 16,3262 35030 CAF ZERO
056538,000556: 16,3263 13342 TCF JOEY
056539,000557:
056540,000558: 16,3264 45013 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
056541,000559: 16,3265 00004 INHINT # ALL AXES.
056542,000560: 16,3266 71102 MASK DAPBOOLS
056543,000561: 16,3267 55102 TS DAPBOOLS
056544,000562:
056545,000563: # READ CDUS INTO CDU DESIRED REGISTERS
056546,000564:
056547,000565: 16,3270 30032 CA CDUX # (X-AXIS OVERRIDE)
056548,000566: 16,3271 55632 TS CDUXD
056549,000567: 16,3272 13513 TCF PURGENCY
056550,000568:
056551,000569: 16,3273 55450 TS PERROR
056552,000570: 16,3274 35013 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
056553,000571: 16,3275 00004 INHINT
056554,000572: 16,3276 27102 ADS DAPBOOLS
056555,000573: 16,3277 00003 RELINT
056556,000574: 16,3300 35030 CA ZERO
056557,000575: 16,3301 54042 TS Q-RHCCTR
056558,000576: 16,3302 54044 TS R-RHCCTR
056559,000577: 16,3303 03305 TC ZEROENBL
056560,000578: 16,3304 13472 TCF JETSOFF
056561,000579: 16,3305 22044 ZEROENBL LXCH R-RHCCTR
056562,000580: 16,3306 30042 CA Q-RHCCTR
056563,000581: 16,3307 53446 DXCH SAVEHAND
056564,000582: 16,3310 35030 CA ZERO
056565,000583: 16,3311 54043 TS P-RHCCTR
056566,000584: 16,3312 54042 TS Q-RHCCTR
056567,000585: 16,3313 54044 TS R-RHCCTR
056568,000586: 16,3314 33663 CA BITS8,9
056569,000587: 16,3315 00006 EXTEND
056570,000588: 16,3316 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
056571,000589: 16,3317 00002 TC Q
056572,000590:
056573,000591: 16,3320 35020 RHCMOVED CA RHCSCALE
056574,000592: 16,3321 71102 MASK DAPBOOLS
056575,000593: 16,3322 10000 CCS A
056576,000594: 16,3323 33657 CA -1.0D/S
056577,000595: 16,3324 63660 AD -0.4D/S
056578,000596: 16,3325 55464 TS -RATEDB
056579,000597:
056580,000598: 16,3326 35013 CA OURRCBIT # P CONTROL
056581,000599: 16,3327 71102 MASK DAPBOOLS
056582,000600: 16,3330 00006 EXTEND
056583,000601: 16,3331 13273 BZF JUSTOUT -1
056584,000602:
056585,000603: 16,3332 35020 CA RHCSCALE # LINEAR CONTROLLER SCALING
056586,000604: 16,3333 71102 MASK DAPBOOLS
056587,000605: 16,3334 10000 CCS A
056588,000606: 16,3335 35734 CA 143DEC # SCALE P-RHCCTR FOR 20D/S MAX (177D)
056589,000607: 16,3336 64254 AD 34DEC # SCALE P-RHCCTR FOR 4D/S MAX (34D)
056590,000608: 16,3337 00006 EXTEND
056591,000609: 16,3340 70043 MP P-RHCCTR
056592,000610: 16,3341 30001 CA L
056593,000611:
056594,000612: 16,3342 00006 JOEY EXTEND # FORM THE RATE ERROR.
056595,000613: 16,3343 61417 SU OMEGAP
056596,000614: 16,3344 55543 TS EDOTP
056597,000615: 16,3345 11543 CCS EDOTP
056598,000616: 16,3346 13351 TCF +3
056599,000617: 16,3347 13351 TCF +2
056600,000618: 16,3350 13351 TCF +1
056601,000619: 16,3351 55734 TS ABSEDOTP
056602,000620: 16,3352 61464 AD TARGETDB
056603,000621: 16,3353 00006 EXTEND
056604,000622: 16,3354 63303 BZMF ZEROENBL -2
056605,000623: 16,3355 03305 TC ZEROENBL
056606,000624:
056607,000625: 16,3356 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
056608,000626: 16,3357 55632 TS CDUXD
056609,000627: 16,3360 31543 CA EDOTP
056610,000628: 16,3361 00006 EXTEND
056611,000629: 16,3362 71447 MP 1/2JTSP # 1/2JTSP SCALED AT 2EXP(7)/PI
056612,000630: 16,3363 20001 DAS A
056613,000631: 16,3364 20001 DAS A
056614,000632: 16,3365 02524 TC OVERSUB
056615,000633: 16,3366 00006 EXTEND
056616,000634: 16,3367 77670 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
056617,000635: 16,3370 55516 TS TJP # 4.JET TIME
056618,000636: 16,3371 31734 CA ABSEDOTP
056619,000637: 16,3372 61463 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
056620,000638: 16,3373 00006 EXTEND
056621,000639: 16,3374 63377 BZMF +3
056622,000640:
056623,000641: 16,3375 36216 CA SIX
056624,000642: 16,3376 13406 TCF +8D
056625,000643: 16,3377 31516 CA TJP
056626,000644: 16,3400 27516 ADS TJP
056627,000645:
056628,000646: # GOES TO PJETSLEC FOR TWO JETS
056629,000647:
056630,000648: # P-JET-SELECTION-ROUTINE (ROTATION)
056631,000649:
056632,000650: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
056633,000651: # TJP + FOR +P ROTATION
056634,000652:
056635,000653: # OUTPUT: CHANNEL 6
056636,000654: # PJUMPADR FOR P-AXIS SKIP
056637,000655: # (JTLST CALL) (SMALL TJP)
056638,000656:
056639,000657: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
056640,000658: # +P -P
056641,000659: # 7,15 8,16
056642,000660: # 4,12 3,11
056643,000661: # 4,7 8,11
056644,000662: # 7,12 11,16
056645,000663: # 12,15 3,16
056646,000664: # 4,15 3,8
056647,000665: # ALARM ALARM
056648,000666:
056649,000667: 16,3401 35022 CA AORBSYST
056650,000668: 16,3402 71102 MASK DAPBOOLS
056651,000669: 16,3403 10000 CCS A
056652,000670: 16,3404 35026 CA ONE
056653,000671: 16,3405 65024 AD FOUR
056654,000672: 16,3406 55740 TS NUMBERT
056655,000673: 16,3407 35026 PJETSLEC CA ONE
056656,000674: 16,3410 54001 TS L
056657,000675: 16,3411 11516 CCS TJP
056658,000676: 16,3412 13417 TCF +5
056659,000677: 16,3413 13472 TCF JETSOFF
056660,000678: 16,3414 13416 TCF +2
056661,000679: 16,3415 13472 TCF JETSOFF
056662,000680: 16,3416 22007 ZL
056663,000681: 16,3417 65026 AD ONE
056664,000682: 16,3420 55734 TS ABSTJ
056665,000683: 16,3421 23741 LXCH ROTINDEX
056666,000684: 16,3422 03573 TC SELECTP
056667,000685: 16,3423 46216 CS SIX
056668,000686: 16,3424 61740 AD NUMBERT
056669,000687: 16,3425 00006 EXTEND
056670,000688: 16,3426 13430 BZF +2
056671,000689:
056672,000690: 16,3427 45025 CS TWO
056673,000691: 16,3430 65024 AD FOUR
056674,000692: 16,3431 55513 TS NO.PJETS
056675,000693: 16,3432 31736 CA POLYTEMP
056676,000694: 16,3433 05752 TC WRITEP
056677,000695: 16,3434 41734 CS ABSTJ
056678,000696: 16,3435 63654 AD +150MST6
056679,000697: 16,3436 00006 EXTEND
056680,000698: 16,3437 63670 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
056681,000699:
056682,000700: 16,3440 63634 AD -136MST6
056683,000701: 16,3441 00006 EXTEND
056684,000702: 16,3442 63447 BZMF +5
056685,000703:
056686,000704: 16,3443 27734 ADS ABSTJ
056687,000705: 16,3444 51741 INDEX ROTINDEX
056688,000706: 16,3445 33665 CA MINTIMES
056689,000707: 16,3446 55516 TS TJP
056690,000708:
056691,000709: 16,3447 31734 CA ABSTJ
056692,000710: 16,3450 22007 ZL
056693,000711: 16,3451 00004 INHINT
056694,000712: 16,3452 53457 DXCH T6FURTHA
056695,000713: 16,3453 04737 TC IBNKCALL
056696,000714: 16,3454 36674 CADR JTLST
056697,000715: 16,3455 33667 CA PSKIPADR
056698,000716: 16,3456 55527 TS PJUMPADR
056699,000717:
056700,000718: 16,3457 03461 TC ALTSYST
056701,000719: 16,3460 13670 TCF QRAXIS
056702,000720:
056703,000721: 16,3461 31102 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
056704,000722: 16,3462 54001 TS L
056705,000723: 16,3463 35022 CA AORBSYST
056706,000724: 16,3464 00006 EXTEND
056707,000725: 16,3465 06001 RXOR LCHAN
056708,000726: 16,3466 55102 TS DAPBOOLS
056709,000727: 16,3467 00003 RELINT
056710,000728: 16,3470 00002 TC Q
056711,000729:
056712,000730: 16,3471 03461 DKALT TC ALTSYST
056713,000731:
056714,000732: 16,3472 05751 JETSOFF TC WRITEP -1
056715,000733: 16,3473 35030 CA ZERO
056716,000734: 16,3474 55516 TS TJP
056717,000735: 16,3475 13670 TCF QRAXIS
056718,000736:
056719,000737: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
056720,000738:
056721,000739: 16,3476 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
056722,000740: 16,3477 00006 EXTEND
056723,000741: 16,3500 21633 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
056724,000742: 16,3501 00006 EXTEND
056725,000743: 16,3502 71412 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
056726,000744: 16,3503 57542 XCH E # SAVE FIRST TERM (OF TWO)
056727,000745: 16,3504 30032 CA CDUX # THIRD COMPONENT
056728,000746: 16,3505 00006 EXTEND
056729,000747: 16,3506 21632 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
056730,000748: # EXTEND
056731,000749: # MP M13
056732,000750: 16,3507 61301 AD DELPEROR # KALCMANU INERFACE ERROR
056733,000751: 16,3510 27542 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
056734,000752: 16,3511 57450 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
056735,000753: 16,3512 00002 TC Q # RETURN TO CALLER
056736,000754:
056737,000755: # P-AXIS URGENCY FUNCTION CALCULATION.
056738,000756: 16,3513 03476 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
056739,000757: 16,3514 41640 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
056740,000758: 16,3515 61417 AD OMEGAP # SPS-BACKUP MODE.
056741,000759: 16,3516 55543 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
056742,000760:
056743,000761: 16,3517 45026 CS ONE
056744,000762: 16,3520 55471 TS AXISCTR
056745,000763: 16,3521 31102 CA DAPBOOLS
056746,000764: 16,3522 75012 MASK CSMDOCKD
056747,000765: 16,3523 00006 EXTEND
056748,000766: 16,3524 13541 BZF HEADTJET
056749,000767: 16,3525 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
056750,000768: 16,3526 04737 TC IBNKCALL
056751,000769: 16,3527 37526 CADR SPSRCS
056752,000770:
056753,000771: 16,3530 31516 CA TJP
056754,000772: 16,3531 00006 EXTEND
056755,000773: 16,3532 13471 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
056756,000774: 16,3533 00003 RELINT
056757,000775: 16,3534 41740 CS NUMBERT
056758,000776: 16,3535 66216 AD SIX
056759,000777: 16,3536 00006 EXTEND # IF NUMBERT = 6 BYPASS AORBSYST CHECK
056760,000778: 16,3537 13407 BZF PJETSLEC # AND USE FOUR JETS, OTHERWISE,
056761,000779: 16,3540 13401 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
056762,000780: 16,3541 35030 HEADTJET CA ZERO
056763,000781: 16,3542 55472 TS SENSETYP
056764,000782: 16,3543 00004 INHINT
056765,000783: 16,3544 04737 TC IBNKCALL
056766,000784: 16,3545 37035 CADR TJETLAW
056767,000785: 16,3546 00003 RELINT
056768,000786:
056769,000787: 16,3547 41736 CS FIREFCT
056770,000788: 16,3550 63564 AD -FOURDEG
056771,000789: 16,3551 00006 EXTEND
056772,000790: 16,3552 63401 BZMF PJETSLEC -6
056773,000791: 16,3553 11516 CCS TJP
056774,000792: 16,3554 13556 TCF +2
056775,000793: 16,3555 13472 TCF JETSOFF
056776,000794: 16,3556 63563 AD -160MST6
056777,000795: 16,3557 00006 EXTEND
056778,000796: 16,3560 63401 BZMF PJETSLEC -6
056779,000797: 16,3561 36216 CA SIX
056780,000798: 16,3562 13406 TCF PJETSLEC -1
056781,000799: 16,3563 77377 -160MST6 DEC -256 B-14
056782,000800: 16,3564 75117 -FOURDEG DEC -.08888
056783,000801:
056784,000802: 16,3565 33660 LOWSCALE CA -0.4D/S
056785,000803: 16,3566 55464 TS -RATEDB
056786,000804: 16,3567 41542 CS E
056787,000805: 16,3570 00006 EXTEND
056788,000806: 16,3571 61543 SU EDOTP
056789,000807: 16,3572 13345 TCF JOEY +3
056790,000808:
056791,000809: # JET POLICY CONSTRUCTION SUBROUTINE
056792,000810:
056793,000811: # INPUT: ROTINDEX, NUMBERT
056794,000812:
056795,000813: # OUTPUT: POLYTEMP (JET POLICY)
056796,000814:
056797,000815: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
056798,000816:
056799,000817: 16,3573 36216 SELECTP CA SIX
056800,000818: 16,3574 55737 TS TEMPNUM
056801,000819: 16,3575 51740 INDEX NUMBERT
056802,000820: 16,3576 33625 CA TYPEP
056803,000821: 16,3577 51741 INDEX ROTINDEX
056804,000822: 16,3600 73616 MASK JETSALL
056805,000823: 16,3601 55736 TS POLYTEMP
056806,000824: 16,3602 71265 MASK CH6MASK
056807,000825: 16,3603 10000 CCS A
056808,000826: 16,3604 13606 TCF +2
056809,000827: 16,3605 00002 TC Q
056810,000828: 16,3606 11737 CCS TEMPNUM
056811,000829: 16,3607 13613 TCF +4
056812,000830: 16,3610 05646 TC ALARM
056813,000831: 16,3611 02003 OCT 02003
056814,000832: 16,3612 13472 TCF JETSOFF # *****TCF ALARMJET *********************
056815,000833: 16,3613 55740 SELECTYZ TS NUMBERT
056816,000834: 16,3614 13574 TCF SELECTP +1
056817,000835: 16,3615 13145 -1 TCF ABORTYZ +2
056818,000836: 16,3616 00252 JETSALL OCT 00252
056819,000837: 16,3617 00125 OCT 00125 # +P
056820,000838: 16,3620 00140 OCT 00140 # -Y
056821,000839: 16,3621 00006 OCT 00006 # -Z
056822,000840: 16,3622 00220 OCT 00220 # +Y
056823,000841: 16,3623 00011 OCT 00011 # +Z
056824,000842: 16,3624 00151 OCT 00151 # +V
056825,000843: 16,3625 00146 TYPEP OCT 00146 # -U
056826,000844: 16,3626 00226 OCT 00226 # -V
056827,000845: 16,3627 00231 OCT 00231 # +U
056828,000846: 16,3630 00151 OCT 00151 # +V
056829,000847: 16,3631 00132 OCT 00132 # 1-3
056830,000848: 16,3632 00245 OCT 00245 # 2-4
056831,000849: 16,3633 00377 OCT 00377 # ALL
056832,000850: 16,3634 16,3634 INDXYZ = -136MST6
056833,000851: 16,3634 77445 -136MST6 DEC -218 B-14
056834,000852: 16,3635 00004 DEC 4 B-14
056835,000853: 16,3636 00002 DEC 2 B-14
056836,000854: 16,3637 07776 OCT 07776
056837,000855: 16,3640 00005 DEC 5 B-14
056838,000856: 16,3641 00011 DEC 9 B-14
056839,000857: 16,3642 00012 DEC 10 B-14
056840,000858: 16,3643 07776 OCT 07776
056841,000859: 16,3644 00003 DEC 3 B-14
056842,000860: 16,3645 00010 DEC 8 B-14
056843,000861: 16,3646 00007 DEC 7 B-14
056844,000862: 16,3647 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
056845,000863: 16,3650 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
056846,000864: 16,3651 07776 OCT 07776 # TO BE TC JETSALL -1
056847,000865: 16,3652 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
056848,000866: 16,3653 07776 OCT 07776
056849,000867: 16,3654 00360 +150MST6 DEC 240 B-14
056850,000868: 16,3655 07400 07400OCT OCT 07400
056851,000869:
056852,000870: # T-JET LAW FIXED CONSTANTS
056853,000871:
056854,000872: 16,3656 00266 NORMSCL OCT 266
056855,000873: 16,3657 77223 -1.0D/S DEC -364 B-14
056856,000874: 16,3660 77556 -0.4D/S DEC -145 B-14
056857,000875: 16,3661 74631 -100MS DEC -.1
056858,000876: 16,3662 06315 200MS DEC .2
056859,000877: 16,3663 5734 143DEC = OCT217
056860,000878: 16,3663 7670 25/32 = PRIO31 # (DEC .78125)
056861,000879: 16,3663 00600 BITS8,9 OCTAL 00600
056862,000880: 16,3664 00632 1/40 DEC .02500
056863,000881: 16,3665 77751 MINTIMES DEC -22 B-14
056864,000882: 16,3666 00026 DEC 22 B-14
056865,000883: 16,3667 03107 PSKIPADR GENADR SKIPPAXS
056866,000884:
056867,000885: # GOES TO Q,R-AXES RCS AUTOPILOT
056868,000886: 16,3670 41642 QRAXIS CS OMEGARD
056869,000887: 16,3671 61421 AD OMEGAR
056870,000888: 16,3672 02524 TC OVERSUB
056871,000889: 16,3673 55435 TS EDOTR
056872,000890: 16,3674 41641 CS OMEGAQD
056873,000891: 16,3675 61420 AD OMEGAQ
056874,000892: 16,3676 02524 TC OVERSUB
056875,000893: 16,3677 55434 TS EDOTQ
056876,000894: 16,3700 00006 EXTEND
056877,000895: 16,3701 33704 DCA QERRCALL
056878,000896: 16,3702 52006 DTCB
056879,000897:
056880,000898: 16,3703 E6,1532 EBANK= AOSQ
056881,000899: 16,3703 02000 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc