Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
015320,000002: ## Copyright: Public domain.
015321,000003: ## Filename: ATTITUDE_MANEUVER_ROUTINE.agc
015322,000004: ## Purpose: A log section of Zerlina 56, the final revision of
015323,000005: ## Don Eyles's offline development program for the variable
015324,000006: ## guidance period servicer. It also includes a new P66 with LPD
015325,000007: ## (Landing Point Designator) capability, based on an idea of John
015326,000008: ## Young's. Neither of these advanced features were actually flown,
015327,000009: ## but Zerlina was also the birthplace of other big improvements to
015328,000010: ## Luminary including the terrain model and new (Luminary 1E)
015329,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
015330,000012: ## and revision 56 includes all changes up to and including Luminary
015331,000013: ## 183. It is therefore quite close to the Apollo 14 program,
015332,000014: ## Luminary 178, where not modified with new features.
015333,000015: ## Reference: pp. 347-368
015334,000016: ## Assembler: yaYUL
015335,000017: ## Contact: Ron Burkey <info@sandroid.org>.
015336,000018: ## Website: www.ibiblio.org/apollo/index.html
015337,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
015338,000020: ## 2017-08-22 RSB Transcribed.
015339,000021:
|
|
Page 347 |
015341,000023: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE-KALCMANU
015342,000024:
015343,000025:
015344,000026: # MOD 2 DATE 5/1/67 BY DON KEENE
015345,000027:
015346,000028: # PROGRAM DESCRIPTION
015347,000029:
015348,000030: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
015349,000031: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
015350,000032: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
015351,000033: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
015352,000034: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
015353,000035:
015354,000036: # CPHI = COMMANDED OUTER GIMBAL ANGLE
015355,000037: # CTHETA = COMMANDED INNER GIMBAL ANGLE
015356,000038: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE
015357,000039:
015358,000040: # WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
015359,000041: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) -
015360,000042: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
015361,000043: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
015362,000044: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
015363,000045: # -
015364,000046: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
015365,000047: # -
015366,000048: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
015367,000049: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
015368,000050: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
015369,000051:
015370,000052: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
015371,000053: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
015372,000054: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
015373,000055: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
015374,000056: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
015375,000057: # -
015376,000058: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
015377,000059:
015378,000060: # AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
015379,000061: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
015380,000062: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
015381,000063: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
015382,000064: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
015383,000065: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
015384,000066: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
015385,000067: # DESIRED FINAL GIMBAL ANGLES.
015386,000068:
015387,000069:
015388,000070: # PROGRAM LOGIC FLOW
015389,000071:
015390,000072: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
015391,000073: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
015392,000074:
|
|
Page 348 |
015394,000076: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
015395,000077: # * * *
015396,000078: # MEMBER AXES (MIS, MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
015397,000079: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
015398,000080:
015399,000081: # A) AM LESS THAN .25 DEGREES (MINANG)
015400,000082: # B) AM GREATER THAN 170 DEGREES (MAXANG)
015401,000083:
015402,000084: # IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE WE CAN SIMPLY
015403,000085: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
015404,000086:
015405,000087: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
015406,000088: # - *
015407,000089: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. * *
015408,000090: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
015409,000091: # -
015410,000092: # TO DETERMINE COF.
015411,000093:
015412,000094: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
015413,000095: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
015414,000096: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
015415,000097: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
015416,000098: # YAW.
015417,000099:
015418,000100: # AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
015419,000101: # -
015420,000102: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
015421,000103: # DESIRED REFERENCE MATRIX IS THEN,
015422,000104:
015423,000105: # * * *
015424,000106: # MIS = MIS DEL
015425,000107: # N+1 N
015426,000108: # *
015427,000109: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
015428,000110: # *
015429,000111: # FROM MIS.
015430,000112:
015431,000113: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
015432,000114: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
015433,000115: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
015434,000116: # (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
015435,000117: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
015436,000118: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
015437,000119:
015438,000120: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
015439,000121: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
015440,000122:
|
|
Page 349 |
015442,000124: # CALLING SEQUENCE
015443,000125:
015444,000126: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
015445,000127: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
015446,000128: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
015447,000129: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
015448,000130:
015449,000131: # *
015450,000132: # CAF PRIO XX
015451,000133: # --
015452,000134: # INHINT
015453,000135: # TC FINDVAC
015454,000136: # 2CADR KALCMAN3
015455,000137: # RELINT
015456,000138:
015457,000139: # THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
015458,000140: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
015459,000141:
015460,000142: # L TC BANKCALL
015461,000143: # L+1 CADR ATTSTALL
015462,000144: # L+2 (BAD RETURN)
015463,000145: # L+3 (GOOD RETURN)
015464,000146:
015465,000147: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
015466,000148: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
015467,000149: # WAS IN GIMBAL LOCK.
015468,000150:
015469,000151: # ***NOTA BENE*** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
015470,000152: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
015471,000153: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
015472,000154: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
015473,000155: # THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
015474,000156: # SUBROUTINES
015475,000157:
015476,000158: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
015477,000159: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
015478,000160:
015479,000161: # MXM3
015480,000162: # ----
015481,000163:
015482,000164: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
015483,000165: # DOWN LIST, I.E.,
015484,000166:
015485,000167: # (M M M )
015486,000168: # ( 0 1 2)
015487,000169: # * ( ) * *
015488,000170: # M = (M M M ) = M1 X M2
015489,000171: # ( 3 4 5)
015490,000172: # ( )
015491,000173: # (M M M )
015492,000174:
|
|
Page 350 |
015494,000176: # ( 6 7 8)
015495,000177:
015496,000178: # *
015497,000179: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
015498,000180: # *
015499,000181: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
015500,000182: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
015501,000183: # 8
015502,000184:
015503,000185: # TRANSPOS
015504,000186: # --------
015505,000187:
015506,000188: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
015507,000189:
015508,000190: # * * T
015509,000191: # M = M1
015510,000192:
015511,000193: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
015512,000194: # *
015513,000195: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
015514,000196:
015515,000197: # CDU TO DCM
015516,000198: # ----------
015517,000199:
015518,000200: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
015519,000201: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
015520,000202:
015521,000203: # M = COSY COSZ
015522,000204: # 0
015523,000205:
015524,000206: # M = -COSY SINZ COSX + SINY SINX
015525,000207: # 1
015526,000208:
015527,000209: # M = COSY SINZ SINX + SINY COSX
015528,000210: # 2
015529,000211:
015530,000212: # M = SINZ
015531,000213: # 3
015532,000214:
015533,000215: # M = COSZ COSX
015534,000216: # 4
015535,000217:
015536,000218: # M = -COSZ SINX
015537,000219: # 5
015538,000220:
015539,000221: # M = -SINY COSZ
015540,000222: # 6
015541,000223:
015542,000224: # M = SINY SINZ COSX + COSY SINX
015543,000225: # 7
015544,000226:
|
|
Page 351 |
015546,000228: # M = -SINY SINZ SINX + COSY COSX
015547,000229: # 8
015548,000230:
015549,000231: # WHERE X = OUTER GIMBAL ANGLE
015550,000232: # Y = INNER GIMBAL ANGLE
015551,000233: # Z = MIDDLE GIMBAL ANGLE
015552,000234:
015553,000235: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
015554,000236:
015555,000237: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
015556,000238: # X Y Z
015557,000239: # STABLE MEMBER AXES (B , B , B ) ARE
015558,000240: # X Y Z
015559,000241:
015560,000242: # (B ) (A )
015561,000243: # ( X) ( X)
015562,000244: # ( ) ( )
015563,000245: # ( ) * ( )
015564,000246: # (B ) = M (A )
015565,000247: # ( Y) ( Y)
015566,000248: # ( ) ( )
015567,000249: # (B ) (A )
015568,000250: # ( Z) ( Z)
015569,000251:
015570,000252: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
015571,000253: # *
015572,000254: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
015573,000255:
015574,000256: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
015575,000257: # REGISTER X2.
015576,000258:
015577,000259:
015578,000260: # DCM TO CDU
015579,000261: # ----------
015580,000262: # *
015581,000263: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
015582,000264: # *
015583,000265: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
015584,000266: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS
015585,000267: # FOR THIS CONVERSION ARE
015586,000268:
015587,000269: # Z = ARCSIN (M )
015588,000270: # 3
015589,000271:
015590,000272: # Y = ARCSIN (-M /COSZ)
015591,000273: # 6
015592,000274:
015593,000275: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
015594,000276: # 0
015595,000277:
|
|
Page 352 |
015597,000279: # X = ARCSIN (-M /COSZ)
015598,000280: # 5
015599,000281:
015600,000282: # IF M IS NEGATIVE X IS REPLACED BY PI SGN X - X
015601,000283: # 4
015602,000284:
015603,000285: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
015604,000286: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
015605,000287: # THE PUSH DOWN LIST.
015606,000288:
015607,000289:
015608,000290: # DELCOMP
015609,000291: # -------
015610,000292:
015611,000293: # *
015612,000294: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
015613,000295: # -
015614,000296: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U. THE FORMULA FOR THIS MATRIX IS
015615,000297:
015616,000298: # * * --T *
015617,000299: # DEL = I COSA + UU (1-COSA) + V SINA
015618,000300: # X
015619,000301:
015620,000302: # WHERE * (1 0 0)
015621,000303: # I = (0 1 0)
015622,000304: # (0 0 1)
015623,000305:
015624,000306:
015625,000307: # 2
015626,000308: # (U U U U U )
015627,000309: # ( X X Y X Z)
015628,000310: # ( )
015629,000311: # --T ( 2 )
015630,000312: # UU = (U U U U U )
015631,000313: # ( Y X Y Y Z )
015632,000314: # ( )
015633,000315: # ( 2 )
015634,000316: # (U U U U U )
015635,000317: # ( Z X Z Y Z )
015636,000318:
015637,000319:
015638,000320: # (0 -U U )
015639,000321: # ( Z Y )
015640,000322: # * ( )
015641,000323: # V = (U 0 -U )
015642,000324: # X ( Z X)
015643,000325: # ( )
015644,000326: # (-U U 0 )
015645,000327: # ( Y X )
015646,000328:
|
|
Page 353 |
015648,000330: # -
015649,000331: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
015650,000332: # A = ROTATION ANGLE
015651,000333:
015652,000334: # *
015653,000335: # THE INTERPRETATION OF DEL IS AS FOLLOWS
015654,000336:
015655,000337: # IF A , A , A REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
015656,000338: # X Y Z
015657,000339: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
015658,000340: # X Y Z
015659,000341:
015660,000342: # (B ) (A )
015661,000343: # ( X) ( X)
015662,000344: # ( ) * ( )
015663,000345: # (B ) = DEL (A )
015664,000346: # ( Y) ( Y)
015665,000347: # ( ) ( )
015666,000348: # (B ) (A )
015667,000349: # ( Z) ( Z)
015668,000350:
015669,000351: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
015670,000352: # -
015671,000353: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
015672,000354: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
015673,000355: # MUST THEN BE LOADED INTO D(MPAC).
015674,000356:
015675,000357: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
015676,000358:
015677,000359:
015678,000360: # READCDUK
015679,000361: # --------
015680,000362:
015681,000363: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
015682,000364:
015683,000365:
015684,000366: # SIGNMPAC
015685,000367: # --------
015686,000368:
015687,000369: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
015688,000370:
015689,000371:
015690,000372: # PROGRAM STORAGE ALLOCATION
015691,000373:
015692,000374: # 1) FIXED MEMORY 1059 WORDS
015693,000375: # 2) ERASABLE MEMORY 98
015694,000376: # 3) STATE SWITCHES 3
015695,000377:
|
|
Page 354 |
015697,000379: # 4) FLAGS 1
015698,000380:
015699,000381: # JOB PRIORITIES
015700,000382:
015701,000383: # 1) KALCMANU TBD
015702,000384: # 2) ONE SECOND UPDATE TBD
015703,000385:
015704,000386:
015705,000387: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
015706,000388:
015707,000389:
015708,000390: # STATE FLAGWRD 2 SETTING MEANING
015709,000391: # SWITCH NO. BIT NO.
015710,000392:
015711,000393: # *
015712,000394: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
015713,000395: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
015714,000396:
015715,000397: # *
015716,000398: # 32 13 0 CONTINUE UPDATE PROCESS
015717,000399: # 1 START UPDATE PROCESS
015718,000400:
015719,000401: # 33 12 0 PERFORM FINAL P-AXIS YAW IF REQUIRED
015720,000402: # 1 IGNORE ANY FINAL P-AXIS YAW
015721,000403:
015722,000404: # 34 11 0 SIGNAL END OF KALCMANU
015723,000405: # 1 KALCMANU IN PROCESS USER MUST SET SWITCH BEFORE INITIATING
015724,000406:
015725,000407:
015726,000408: # * INTERNAL TO KALCMANU
015727,000409:
015728,000410:
015729,000411: # SUGGESTIONS FOR PROGRAM INTEGRATION
015730,000412:
015731,000413: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
015732,000414:
015733,000415: # CPHI
015734,000416: # CTHETA
015735,000417: # CPSI
015736,000418: # POINTVSM +5
015737,000419: # SCAXIS +5
015738,000420: # DELDCDU
015739,000421: # DELDCDU1
015740,000422: # DELDCDU2
015741,000423: # RATEINDX
015742,000424:
015743,000425: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
015744,000426:
015745,000427: # MXM3
|
|
Page 355 |
015747,000429: # TRANSPOS
015748,000430: # SIGNMPAC
015749,000431: # READCDUK
015750,000432: # CDUTODCM
015751,000433:
|
|
Page 356 |
015753,000435: 15,2050 BANK 15
015754,000436: 22,2000 SETLOC KALCMON1
015755,000437: 22,2000 BANK
015756,000438:
015757,000439: 22,2004 E6,1675 EBANK= BCDU
015758,000440:
015759,000441: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
015760,000442: # LOCATIONS, CPHI, CTHETA, CPSI.
015761,000443:
015762,000444: 22,2004 COUNT* $$/KALC
015763,000445: 22,2004 06051 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
015764,000446: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C
015765,000447: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES
015766,000448: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES
015767,000449: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
015768,000450: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE
015769,000451: 22,2012 51025 DSU BPL
015770,000452: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
015771,000453: 22,2014 44724 TOOBADF
015772,000454: 22,2015 72364 AXC,2 TLOAD
015773,000455: 22,2016 03245 MIS
015774,000456: 22,2017 03276 BCDU
015775,000457: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
015776,000458: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES
015777,000459: 22,2022 72364 AXC,2 TLOAD
015778,000460: 22,2023 02221 MFS # PREPARE TO CALCULATE ARRAY MFS
015779,000461: 22,2024 00322 CPHI
015780,000462: 22,2025 77624 CALL
015781,000463: 22,2026 44410 CDUTODCM
015782,000464: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
015783,000465: 22,2030 03245 MIS
015784,000466: 22,2031 44326 TRANSPOS
015785,000467: 22,2032 45575 VLOAD STADR
015786,000468: 22,2033 50460 STOVL TMIS +12D
015787,000469: 22,2034 77626 STADR
015788,000470: 22,2035 50466 STOVL TMIS +6
015789,000471: 22,2036 77626 STADR
015790,000472: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
015791,000473: 22,2040 75160 AXC,1 AXC,2
015792,000474: 22,2041 03302 TMIS
015793,000475: 22,2042 02221 MFS
015794,000476: 22,2043 77624 CALL
015795,000477: 22,2044 44312 MXM3
015796,000478: 22,2045 45575 VLOAD STADR
015797,000479: 22,2046 51541 STOVL MFI +12D
015798,000480: 22,2047 77626 STADR
015799,000481: 22,2050 51547 STOVL MFI +6
015800,000482: 22,2051 77626 STADR
015801,000483: 22,2052 75555 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
015802,000484: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
015803,000485:
|
|
Page 357 |
015805,000487: 22,2054 00023 18D
015806,000488: 22,2055 44335 TRNSPSPD
015807,000489: 22,2056 45575 VLOAD STADR
015808,000490: 22,2057 50460 STOVL TMFI +12D
015809,000491: 22,2060 77626 STADR
015810,000492: 22,2061 50466 STOVL TMFI +6
015811,000493: 22,2062 77626 STADR
015812,000494: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
015813,000495:
015814,000496: # CALCULATE COFSKEW AND MFISYM
015815,000497:
015816,000498: 22,2064 45345 DLOAD DSU
015817,000499: 22,2065 03305 TMFI +2
015818,000500: 22,2066 02224 MFI +2
015819,000501: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
015820,000502: 22,2070 02226 MFI +4
015821,000503: 22,2071 03307 TMFI +4
015822,000504: 22,2072 45325 PDDL DSU
015823,000505: 22,2073 03315 TMFI +10D
015824,000506: 22,2074 02234 MFI +10D
015825,000507: 22,2075 77666 VDEF
015826,000508: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW
015827,000509:
015828,000510: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015829,000511:
015830,000512: 22,2077 43345 DLOAD DAD
015831,000513: 22,2100 02222 MFI
015832,000514: 22,2101 02242 MFI +16D
015833,000515: 22,2102 43225 DSU DAD
015834,000516: 22,2103 06510 DP1/4TH
015835,000517: 22,2104 02232 MFI +8D
015836,000518: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015837,000519: 22,2106 77726 ARCCOS
015838,000520: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
015839,000521: 22,2110 51025 DSU BPL
015840,000522: 22,2111 04363 MINANG
015841,000523: 22,2112 44117 CHECKMAX
015842,000524: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES
015843,000525: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD
015844,000526: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES
015845,000527: 22,2116 44742 TOOBADI # STOP RATE AND EXIT
015846,000528:
015847,000529: 22,2117 45345 CHECKMAX DLOAD DSU
015848,000530: 22,2120 03335 AM
015849,000531: 22,2121 04365 MAXANG
015850,000532: 22,2122 77244 BPL VLOAD
015851,000533: 22,2123 44131 ALTCALC # UNIT
015852,000534: 22,2124 03325 COFSKEW # COFSKEW
015853,000535: 22,2125 77656 UNIT
015854,000536: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS
015855,000537:
|
|
Page 358 |
015857,000539: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
015858,000540: 22,2130 44744 LOCSKIRT
015859,000541: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
015860,000542: 22,2132 02222 MFI
015861,000543: 22,2133 03303 TMFI
015862,000544: 22,2134 77762 VSR1
015863,000545: 22,2135 27303 STOVL MFISYM
015864,000546: 22,2136 02230 MFI +6
015865,000547: 22,2137 74455 VAD VSR1
015866,000548: 22,2140 03311 TMFI +6
015867,000549: 22,2141 27311 STOVL MFISYM +6
015868,000550: 22,2142 02236 MFI +12D
015869,000551: 22,2143 74455 VAD VSR1
015870,000552: 22,2144 03317 TMFI +12D
015871,000553: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
015872,000554:
015873,000555:
015874,000556: # CALCULATE COF
015875,000557:
015876,000558:
015877,000559: 22,2146 70545 DLOAD SR1
015878,000560: 22,2147 03333 CAM
015879,000561: 22,2150 45325 PDDL DSU # PDO CAM $4
015880,000562: 22,2151 06516 DPHALF
015881,000563: 22,2152 03333 CAM
015882,000564: 22,2153 65204 BOVB PDDL # PD2 1 - CAM $2
015883,000565: 22,2154 21674 SIGNMPAC
015884,000566: 22,2155 03323 MFISYM +16D
015885,000567: 22,2156 56225 DSU DDV
015886,000568: 22,2157 00001 0
015887,000569: 22,2160 00003 2
015888,000570: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015889,000571: 22,2162 03313 MFISYM +8D # $ ROOT 2
015890,000572: 22,2163 56225 DSU DDV
015891,000573: 22,2164 00001 0
015892,000574: 22,2165 00003 2
015893,000575: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
015894,000576: 22,2167 03303 MFISYM
015895,000577: 22,2170 56225 DSU DDV
015896,000578: 22,2171 00001 0
015897,000579: 22,2172 00003 2
015898,000580: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
015899,000581: 22,2174 77656 UNIT
015900,000582: 22,2175 03270 STORE COF
015901,000583:
015902,000584: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015903,000585:
015904,000586: 22,2176 45345 COFMAXGO DLOAD DSU
015905,000587: 22,2177 03270 COF
015906,000588: 22,2200 03272 COF +2
015907,000589: 22,2201 71240 BMN DLOAD # COFY G COFX
015908,000590:
|
|
Page 359 |
015910,000592: 22,2202 44211 COMP12
015911,000593: 22,2203 03270 COF
015912,000594: 22,2204 50025 DSU BMN
015913,000595: 22,2205 03274 COF +4
015914,000596: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY
015915,000597: 22,2207 77650 GOTO
015916,000598: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ
015917,000599: 22,2211 45345 COMP12 DLOAD DSU
015918,000600: 22,2212 03272 COF +2
015919,000601: 22,2213 03274 COF +4
015920,000602: 22,2214 77640 BMN
015921,000603: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX
015922,000604:
015923,000605: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX
015924,000606: 22,2217 03327 COFSKEW +2 # UY
015925,000607: 22,2220 44224 U2POS
015926,000608: 22,2221 57575 VLOAD VCOMP
015927,000609: 22,2222 03270 COF
015928,000610: 22,2223 03270 STORE COF
015929,000611: 22,2224 51145 U2POS DLOAD BPL
015930,000612: 22,2225 03305 MFISYM +2 # UX UY
015931,000613: 22,2226 44232 OKU21
015932,000614: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
015933,000615: 22,2230 03270 COF
015934,000616: 22,2231 03270 STORE COF
015935,000617: 22,2232 51145 OKU21 DLOAD BPL
015936,000618: 22,2233 03315 MFISYM +10D # UY UZ
015937,000619: 22,2234 44744 LOCSKIRT
015938,000620: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015939,000621: 22,2236 03274 COF +4
015940,000622: 22,2237 03274 STORE COF +4
015941,000623: 22,2240 77650 GOTO
015942,000624: 22,2241 44744 LOCSKIRT
015943,000625: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX
015944,000626: 22,2243 03325 COFSKEW # UX
015945,000627: 22,2244 44250 U1POS
015946,000628: 22,2245 57575 VLOAD VCOMP
015947,000629: 22,2246 03270 COF
015948,000630: 22,2247 03270 STORE COF
015949,000631: 22,2250 51145 U1POS DLOAD BPL
015950,000632: 22,2251 03305 MFISYM +2 # UX UY
015951,000633: 22,2252 44256 OKU12
015952,000634: 22,2253 57545 DLOAD DCOMP
015953,000635: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX
015954,000636: 22,2255 03272 STORE COF +2
015955,000637: 22,2256 51145 OKU12 DLOAD BPL
015956,000638: 22,2257 03307 MFISYM +4 # UX UZ
015957,000639: 22,2260 44744 LOCSKIRT
015958,000640: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
015959,000641: 22,2262 03274 COF +4
015960,000642:
|
|
Page 360 |
015962,000644: 22,2263 03274 STORE COF +4
015963,000645: 22,2264 77650 GOTO
015964,000646: 22,2265 44744 LOCSKIRT
015965,000647: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX
015966,000648: 22,2267 03331 COFSKEW +4 # UZ
015967,000649: 22,2270 44274 U3POS
015968,000650: 22,2271 57575 VLOAD VCOMP
015969,000651: 22,2272 03270 COF
015970,000652: 22,2273 03270 STORE COF
015971,000653: 22,2274 51145 U3POS DLOAD BPL
015972,000654: 22,2275 03307 MFISYM +4 # UX UZ
015973,000655: 22,2276 44302 OKU31
015974,000656: 22,2277 57545 DLOAD DCOMP
015975,000657: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ
015976,000658: 22,2301 03270 STORE COF
015977,000659: 22,2302 51145 OKU31 DLOAD BPL
015978,000660: 22,2303 03315 MFISYM +10D # UY UZ
015979,000661: 22,2304 44744 LOCSKIRT
015980,000662: 22,2305 57545 DLOAD DCOMP
015981,000663: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ
015982,000664: 22,2307 03272 STORE COF +2
015983,000665: 22,2310 77650 GOTO
015984,000666: 22,2311 44744 LOCSKIRT
|
|
Page 361 |
015986,000668: # MATRIX OPERATIONS
015987,000669:
015988,000670: 13,2207 BANK 13
015989,000671: 22,2000 SETLOC KALCMON2
015990,000672: 22,2000 BANK
015991,000673:
015992,000674: 22,2312 E6,1675 EBANK= BCDU
015993,000675:
015994,000676: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
015995,000677: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST
015996,000678: 22,2314 00001 0,1 # AND MPAC
015997,000679: 22,2315 62703 VXM* PDVL*
015998,000680: 22,2316 77776 0,2
015999,000681: 22,2317 00007 6,1
016000,000682: 22,2320 62703 VXM* PDVL*
016001,000683: 22,2321 77776 0,2
016002,000684: 22,2322 00015 12D,1
016003,000685: 22,2323 41503 VXM* PUSH
016004,000686: 22,2324 77776 0,2
016005,000687: 22,2325 77616 RVQ
016006,000688:
016007,000689:
016008,000690: # RETURN WITH M1XM2 IN PD LIST
016009,000691:
016010,000692: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
016011,000693: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST
016012,000694: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1
016013,000695: 22,2331 62713 PDVL* PDVL*
016014,000696: 22,2332 00007 6,1
016015,000697: 22,2333 00015 12D,1
016016,000698: 22,2334 77606 PUSH # MATRIX IN PD
016017,000699: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
016018,000700: 22,2336 50120 INDEX FIXLOC
016019,000701: 22,2337 52013 DXCH 12
016020,000702: 22,2340 50120 INDEX FIXLOC
016021,000703: 22,2341 52017 DXCH 16
016022,000704: 22,2342 50120 INDEX FIXLOC
016023,000705: 22,2343 52013 DXCH 12
016024,000706: 22,2344 50120 INDEX FIXLOC
016025,000707: 22,2345 52015 DXCH 14
016026,000708: 22,2346 50120 INDEX FIXLOC
016027,000709: 22,2347 52005 DXCH 4
016028,000710: 22,2350 50120 INDEX FIXLOC
016029,000711: 22,2351 52015 DXCH 14
016030,000712: 22,2352 50120 INDEX FIXLOC
016031,000713: 22,2353 52003 DXCH 2
016032,000714: 22,2354 50120 INDEX FIXLOC
016033,000715: 22,2355 52007 DXCH 6
016034,000716: 22,2356 50120 INDEX FIXLOC
016035,000717: 22,2357 52003 DXCH 2
016036,000718:
|
|
Page 362 |
016038,000720: 22,2360 06051 TC INTPRET
016039,000721: 22,2361 77616 RVQ
016040,000722:
016041,000723: 15,2050 BANK 15
016042,000724: 22,2000 SETLOC KALCMON1
016043,000725: 22,2000 BANK
016044,000726:
016045,000727: 22,2362 E6,1675 EBANK= BCDU
016046,000728:
016047,000729: 22,2362 00013 13563 MINANG 2DEC 0.00069375
016048,000730: 22,2364 17070 34343 MAXANG 2DEC 0.472222222
016049,000731: # GIMBAL LOCK CONSTANTS
016050,000732:
016051,000733: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
016052,000734: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
016053,000735:
016054,000736: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2
016055,000737: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1
016056,000738: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2
016057,000739: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2
016058,000740: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
016059,000741: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2
016060,000742: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES
016061,000743: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
016062,000744:
016063,000745: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
016064,000746: 22,2404 54156 TS MPAC +2
016065,000747: 22,2405 00006 EXTEND
016066,000748: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
016067,000749: 22,2407 16510 TCF TLOAD +6
016068,000750:
016069,000751:
016070,000752: 22,2410 66370 CDUTODCM AXT,1 SSP
016071,000753: 22,2411 00003 OCT 3
016072,000754: 22,2412 00051 S1
016073,000755: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
016074,000756: 22,2414 00010 STORE 7
016075,000757: 22,2415 77601 SETPD
016076,000758: 22,2416 00001 0
016077,000759: 22,2417 47133 LOOPSIN SLOAD* RTB
016078,000760: 22,2420 00013 10D,1
016079,000761: 22,2421 21560 CDULOGIC
016080,000762:
|
|
Page 363 |
016082,000764: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
016083,000765: 22,2423 65356 SIN PDDL # 2 COS(PHI)
016084,000766: 22,2424 00013 10D # 4 SIN(THETA)
016085,000767: 22,2425 41546 COS PUSH # 6 COS(THETA)
016086,000768: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI)
016087,000769: 22,2427 44417 LOOPSIN # 10 COS(PSI)
016088,000770: 22,2430 00007 6
016089,000771: 22,2431 72405 DMP SL1
016090,000772: 22,2432 00013 10D
016091,000773: 22,2433 10001 STORE 0,2 # C0=COS(THETA)COS(PSI)
016092,000774: 22,2434 41345 DLOAD DMP
016093,000775: 22,2435 00005 4
016094,000776: 22,2436 00001 0
016095,000777: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
016096,000778: 22,2440 00007 6
016097,000779: 22,2441 00011 8D
016098,000780: 22,2442 72405 DMP SL1
016099,000781: 22,2443 00003 2
016100,000782: 22,2444 72421 BDSU SL1
016101,000783: 22,2445 00015 12D
016102,000784: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
016103,000785: 22,2447 41345 DLOAD DMP
016104,000786: 22,2450 00003 2
016105,000787: 22,2451 00005 4
016106,000788: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
016107,000789: 22,2453 00007 6
016108,000790: 22,2454 00011 8D
016109,000791: 22,2455 72405 DMP SL1
016110,000792: 22,2456 00001 0
016111,000793: 22,2457 72415 DAD SL1
016112,000794: 22,2460 00017 14D
016113,000795: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
016114,000796: 22,2462 77745 DLOAD
016115,000797: 22,2463 00011 8D
016116,000798: 22,2464 10007 STORE 6,2 # C3=SIN(PSI)
016117,000799: 22,2465 77745 DLOAD
016118,000800: 22,2466 00013 10D
016119,000801: 22,2467 72405 DMP SL1
016120,000802: 22,2470 00003 2
016121,000803: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI)
016122,000804: 22,2472 41345 DLOAD DMP
016123,000805: 22,2473 00013 10D
016124,000806: 22,2474 00001 0
016125,000807: 22,2475 72476 DCOMP SL1
016126,000808: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
016127,000809: 22,2477 41345 DLOAD DMP
016128,000810: 22,2500 00005 4
016129,000811: 22,2501 00013 10D
016130,000812: 22,2502 72476 DCOMP SL1
016131,000813: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
016132,000814:
|
|
Page 364 |
016134,000816: 22,2504 77745 DLOAD
016135,000817: 22,2505 72405 DMP SL1 # (PUSH UP 7)
016136,000818: 22,2506 00011 8D
016137,000819: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
016138,000820: 22,2510 00007 6
016139,000821: 22,2511 00001 0
016140,000822: 22,2512 72415 DAD SL1 # (PUSH UP 7)
016141,000823: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
016142,000824: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI)
016143,000825: 22,2515 77745 DLOAD
016144,000826: 22,2516 72405 DMP SL1 # (PUSH UP 6)
016145,000827: 22,2517 00011 8D
016146,000828: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
016147,000829: 22,2521 00007 6
016148,000830: 22,2522 00003 2
016149,000831: 22,2523 72425 DSU SL1 # (PUSH UP 6)
016150,000832: 22,2524 77626 STADR
016151,000833: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
016152,000834: 22,2526 77616 RVQ # +COS(THETA)COS(PHI)
016153,000835:
016154,000836: # CALCULATION OF THE MATRIX DEL......
016155,000837:
016156,000838: # * * --T *
016157,000839: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
016158,000840:
016159,000841: # -
016160,000842: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
016161,000843: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
016162,000844: # -
016163,000845: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
016164,000846:
016165,000847: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
016166,000848: 22,2530 00001 0
016167,000849: 22,2531 65356 SIN PDDL # PD0 = SIN(A)
016168,000850: 22,2532 41546 COS PUSH # PD2 = COS(A)
016169,000851: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8
016170,000852: 22,2534 41021 BDSU BOVB
016171,000853: 22,2535 06516 DPHALF
016172,000854: 22,2536 21674 SIGNMPAC
016173,000855: 22,2537 77725 PDDL # PD4 = 1-COS(A)
016174,000856:
016175,000857: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
016176,000858:
016177,000859: 22,2540 03270 COF
016178,000860: 22,2541 41316 DSQ DMP
016179,000861: 22,2542 00005 4
016180,000862: 22,2543 52415 DAD SL3
016181,000863: 22,2544 00003 2
016182,000864: 22,2545 77604 BOVB
016183,000865: 22,2546 21674 SIGNMPAC
016184,000866:
|
|
Page 365 |
016186,000868: 22,2547 16222 STODL KEL # UX UX(1-COS(A)) +COS(A) $1
016187,000869: 22,2550 03272 COF +2
016188,000870: 22,2551 41316 DSQ DMP
016189,000871: 22,2552 00005 4
016190,000872: 22,2553 52415 DAD SL3
016191,000873: 22,2554 00003 2
016192,000874: 22,2555 77604 BOVB
016193,000875: 22,2556 21674 SIGNMPAC
016194,000876: 22,2557 16232 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
016195,000877: 22,2560 03274 COF +4
016196,000878: 22,2561 41316 DSQ DMP
016197,000879: 22,2562 00005 4
016198,000880: 22,2563 52415 DAD SL3
016199,000881: 22,2564 00003 2
016200,000882: 22,2565 77604 BOVB
016201,000883: 22,2566 21674 SIGNMPAC
016202,000884: 22,2567 02242 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
016203,000885:
016204,000886: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
016205,000887:
016206,000888: 22,2570 41345 DLOAD DMP
016207,000889: 22,2571 03270 COF
016208,000890: 22,2572 03272 COF +2
016209,000891: 22,2573 72405 DMP SL1
016210,000892: 22,2574 00005 4
016211,000893: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
016212,000894: 22,2576 03274 COF +4
016213,000895: 22,2577 00001 0
016214,000896: 22,2600 43206 PUSH DAD # D8 UZ SIN A $ 4
016215,000897: 22,2601 00007 6
016216,000898: 22,2602 41112 SL2 BOVB
016217,000899: 22,2603 21674 SIGNMPAC
016218,000900: 22,2604 16230 STODL KEL +6
016219,000901: 22,2605 62421 BDSU SL2
016220,000902: 22,2606 77604 BOVB
016221,000903: 22,2607 21674 SIGNMPAC
016222,000904: 22,2610 16224 STODL KEL +2
016223,000905: 22,2611 03270 COF
016224,000906: 22,2612 41205 DMP DMP
016225,000907: 22,2613 03274 COF +4
016226,000908: 22,2614 00005 4
016227,000909: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
016228,000910: 22,2616 03272 COF +2
016229,000911: 22,2617 41405 DMP PUSH # D8 UY SIN(A)
016230,000912: 22,2620 00001 0
016231,000913: 22,2621 62415 DAD SL2
016232,000914: 22,2622 00007 6
016233,000915: 22,2623 77604 BOVB
016234,000916: 22,2624 21674 SIGNMPAC
016235,000917: 22,2625 16226 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
016236,000918:
|
|
Page 366 |
016238,000920: 22,2626 62421 BDSU SL2
016239,000921: 22,2627 77604 BOVB
016240,000922: 22,2630 21674 SIGNMPAC
016241,000923: 22,2631 16236 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
016242,000924: 22,2632 03272 COF +2
016243,000925: 22,2633 41205 DMP DMP
016244,000926: 22,2634 03274 COF +4
016245,000927: 22,2635 00005 4
016246,000928: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
016247,000929: 22,2637 03270 COF
016248,000930: 22,2640 41405 DMP PUSH # D8 UX SIN(A)
016249,000931: 22,2641 00001 0
016250,000932: 22,2642 62415 DAD SL2
016251,000933: 22,2643 00007 6
016252,000934: 22,2644 77604 BOVB
016253,000935: 22,2645 21674 SIGNMPAC
016254,000936: 22,2646 16240 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
016255,000937: 22,2647 62421 BDSU SL2
016256,000938: 22,2650 77604 BOVB
016257,000939: 22,2651 21674 SIGNMPAC
016258,000940: 22,2652 02234 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
016259,000941: 22,2653 77616 RVQ
016260,000942:
016261,000943:
016262,000944: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
016263,000945: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
016264,000946: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
016265,000947: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
016266,000948:
016267,000949: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
016268,000950:
016269,000951: # C =COS(THETA)COS(PSI)
016270,000952: # 0
016271,000953: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
016272,000954: # 1
016273,000955: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
016274,000956: # 2
016275,000957: # C =SIN(PSI)
016276,000958: # 3
016277,000959: # C =COS(PSI)COS(PHI)
016278,000960: # 4
016279,000961: # C =-COS(PSI)SIN(PHI)
016280,000962: # 5
016281,000963: # C =-SIN(THETA)COS(PSI)
016282,000964: # 6
016283,000965: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
016284,000966: # 7
016285,000967: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
016286,000968: # 8
016287,000969:
|
|
Page 367 |
016289,000971:
016290,000972: # WHERE PHI = OGA
016291,000973: # THETA = IGA
016292,000974: # PSI = MGA
016293,000975:
016294,000976: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN
016295,000977: 22,2655 00007 6,1
016296,000978: 22,2656 71406 PUSH COS # PD +0 PSI
016297,000979: 22,2657 41152 SL1 BOVB
016298,000980: 22,2660 21674 SIGNMPAC
016299,000981: 22,2661 00051 STORE S1
016300,000982: 22,2662 57543 DLOAD* DCOMP
016301,000983: 22,2663 00015 12D,1
016302,000984: 22,2664 67471 DDV ARCSIN
016303,000985: 22,2665 00051 S1
016304,000986: 22,2666 51123 PDDL* BPL # PD +2 THETA
016305,000987: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
016306,000988: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT
016307,000989: 22,2671 57545 DLOAD DCOMP
016308,000990: 22,2672 43244 BPL DAD
016309,000991: 22,2673 44677 SUHALFA
016310,000992: 22,2674 06516 DPHALF
016311,000993: 22,2675 77650 GOTO
016312,000994: 22,2676 44701 CALCPHI
016313,000995: 22,2677 77625 SUHALFA DSU
016314,000996: 22,2700 06516 DPHALF
016315,000997: 22,2701 77606 CALCPHI PUSH
016316,000998: 22,2702 57543 OKTHETA DLOAD* DCOMP
016317,000999: 22,2703 00013 10D,1
016318,001000: 22,2704 67471 DDV ARCSIN
016319,001001: 22,2705 00051 S1
016320,001002: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI
016321,001003: 22,2707 00011 8D,1
016322,001004: 22,2710 44722 OKPHI
016323,001005: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI
016324,001006: 22,2712 43244 BPL DAD
016325,001007: 22,2713 44717 SUHALFAP
016326,001008: 22,2714 06516 DPHALF
016327,001009: 22,2715 77650 GOTO
016328,001010: 22,2716 44723 VECOFANG
016329,001011: 22,2717 52025 SUHALFAP DSU GOTO
016330,001012: 22,2720 06516 DPHALF
016331,001013: 22,2721 44723 VECOFANG
016332,001014: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI
016333,001015: 22,2723 43466 VECOFANG VDEF RVQ
016334,001016:
|
|
Page 368 |
016336,001018: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
016337,001019:
016338,001020: 22,2724 77776 TOOBADF EXIT
016339,001021: 22,2725 05600 TC ALARM
016340,001022: 22,2726 00401 OCT 00401
016341,001023:
016342,001024: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
016343,001025:
016344,001026: 22,2730 04616 TC BANKCALL
016345,001027: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
016346,001028:
016347,001029: 22,2732 04616 NOGO TC BANKCALL
016348,001030: 22,2733 40166 CADR STOPRATE # STOP RATES
016349,001031:
016350,001032: 22,2734 34752 CAF TWO
016351,001033: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
016352,001034: 22,2736 05214 TC WAITLIST
016353,001035: 22,2737 E6,1675 EBANK= BCDU
016354,001036: 22,2737 03234 44066 2CADR GOODMANU
016355,001037:
016356,001038: 22,2741 15155 TCF ENDOFJOB
016357,001039:
016358,001040: 22,2742 77776 TOOBADI EXIT
016359,001041: 22,2743 12732 TCF NOGO
End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc