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
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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. |
040514,000002: ## Copyright: Public domain.
040515,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
040516,000004: ## Purpose: A log section of Zerlina 56, the final revision of
040517,000005: ## Don Eyles's offline development program for the variable
040518,000006: ## guidance period servicer. It also includes a new P66 with LPD
040519,000007: ## (Landing Point Designator) capability, based on an idea of John
040520,000008: ## Young's. Neither of these advanced features were actually flown,
040521,000009: ## but Zerlina was also the birthplace of other big improvements to
040522,000010: ## Luminary including the terrain model and new (Luminary 1E)
040523,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
040524,000012: ## and revision 56 includes all changes up to and including Luminary
040525,000013: ## 183. It is therefore quite close to the Apollo 14 program,
040526,000014: ## Luminary 178, where not modified with new features.
040527,000015: ## Reference: pp. 899-917
040528,000016: ## Assembler: yaYUL
040529,000017: ## Contact: Ron Burkey <info@sandroid.org>.
040530,000018: ## Website: www.ibiblio.org/apollo/index.html
040531,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
040532,000020: ## 2017-08-26 MAS Updated for Zerlina 56.
040533,000021:
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Page 899 |
040535,000023: # PROGRAM NAME: FINDCDUW
040536,000024:
040537,000025: # MOD NUMBER: 1 68 07 15
040538,000026:
040539,000027: # MOD AUTHOR: KLUMPP
040540,000028:
040541,000029: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
040542,000030: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
040543,000031: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
040544,000032: # FETCHING FOR THE THRUST DIRECTION FILTER THE
040545,000033: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
040546,000034: # MODES.
040547,000035: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
040548,000036: # AUTOPILOT COMMANDS WHENEVER
040549,000037: # 1) NOT IN PNGCS-AUTO, OR
040550,000038: # 2) ENGINE IS OFF.
040551,000039:
040552,000040: # FUNCTIONAL DESCRIPTION:
040553,000041:
040554,000042: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
040555,000043: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
040556,000044: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
040557,000045: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
040558,000046: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
040559,000047: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
040560,000048: # ACCELERATIONS AVAILABLE).
040561,000049:
040562,000050: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
040563,000051: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
040564,000052: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
040565,000053:
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Page 900 |
040567,000055: # SPECIFICATIONS:
040568,000056:
040569,000057: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
040570,000058: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
040571,000059:
040572,000060: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
040573,000061: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
040574,000062: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
040575,000063:
040576,000064: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
040577,000065:
040578,000066: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
040579,000067:
040580,000068: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
040581,000069: # WITHOUT ISSUING AUTOPILOT CMDS.
040582,000070:
040583,000071: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
040584,000072: # ISSUING AUTOPILOT CMDS.
040585,000073:
040586,000074: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
040587,000075: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
040588,000076: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
040589,000077: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
040590,000078: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
040591,000079: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
040592,000080:
040593,000081: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040594,000082: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040595,000083: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
040596,000084: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
040597,000085: # CSMDOCKD FLAG DENOTING CSM DOCKED.
040598,000086: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
040599,000087:
040600,000088: # OUTPUTS: DELCDUX,Y,Z
040601,000089: # OMEGAPD,+1,+2
040602,000090: # DELPEROR,+1,+2
040603,000091: # CPHI,+1,+2 FOR NOUN22
040604,000092:
040605,000093: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
040606,000094: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
040607,000095: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
040608,000096:
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Page 901 |
040610,000098: # INITIALIZATION FOR FINDCDUW
040611,000099:
040612,000100: 30,3064 BANK 30
040613,000101: 30,2000 SETLOC FCDUW
040614,000102: 30,2000 BANK
040615,000103:
040616,000104: 30,3064 E6,1645 EBANK= ECDUW
040617,000105:
040618,000106: 30,3064 COUNT* $$/FCDUW
040619,000107:
040620,000108: 30,3064 77331 INITCDUW SSP VLOAD
040621,000109: 30,3065 03300 OGABIAS
040622,000110: 30,3066 00000 0
040623,000111: 30,3067 06516 UNITX
040624,000112: 30,3070 03267 STORE UNFV/2
040625,000113: 30,3071 03261 STORE UNWC/2
040626,000114: 30,3072 77616 RVQ
040627,000115:
040628,000116: # FINDCDUW PRELIMINARIES
040629,000117:
040630,000118: 30,3073 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
040631,000119: 30,3074 03253 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
040632,000120: 30,3075 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
040633,000121: 30,3076 61075 FINDCDUW # INTERPRETER NOW INITIALIZED
040634,000122: 30,3077 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
040635,000123: 30,3100 77420 STQ EXIT
040636,000124: 30,3101 03246 QCDUWUSR # SAVE RETURN ADDRESS
040637,000125:
040638,000126: # MORE HAUSKEEPING
040639,000127:
040640,000128: 30,3102 33745 CA ECDUWL
040641,000129: 30,3103 56003 XCH EBANK # SET EBANK
040642,000130: 30,3104 55645 TS ECDUWUSR # SAVE USER'S EBANK
040643,000131:
040644,000132: 30,3105 30111 CA DAPBOOLS
040645,000133: 30,3106 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
040646,000134: 30,3107 10000 CCS A
040647,000135: 30,3110 34753 CA ONE # INDEX IF CSM DOCKED
040648,000136: 30,3111 55647 TS NDXCDUW
040649,000137:
040650,000138: 30,3112 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
040651,000139: 30,3113 55651 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
040652,000140:
040653,000141: 30,3114 70111 MASK DAPBOOLS
040654,000142: 30,3115 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
040655,000143:
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Page 902 |
040657,000145: # FETCH BASIC DATA
040658,000146:
040659,000147: 30,3116 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
040660,000148:
040661,000149: 30,3117 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
040662,000150: 30,3120 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
040663,000151: 30,3121 30033 CA CDUY
040664,000152: 30,3122 54765 TS CDUSPOTY
040665,000153: 30,3123 30034 CA CDUZ
040666,000154: 30,3124 54767 TS CDUSPOTZ
040667,000155:
040668,000156: 30,3125 34742 CA BIT10 # PNGCS CONTROL BIT
040669,000157: 30,3126 00006 EXTEND
040670,000158: 30,3127 02030 RAND CHAN30
040671,000159: 30,3130 10000 CCS A
040672,000160: 30,3131 13146 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
040673,000161:
040674,000162: 30,3132 34736 CA BIT14 # AUTO MODE BIT
040675,000163: 30,3133 00006 EXTEND
040676,000164: 30,3134 02031 RAND CHAN31
040677,000165: 30,3135 10000 CCS A
040678,000166: 30,3136 13146 TCF PAUTNO # NOT AUTO (BITS INVERTED)
040679,000167:
040680,000168: 30,3137 55651 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
040681,000169:
040682,000170: 30,3140 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
040683,000171: 30,3141 54771 TS CDUSPOTX
040684,000172: 30,3142 31635 CA CDUYD
040685,000173: 30,3143 54765 TS CDUSPOTY
040686,000174: 30,3144 31636 CA CDUZD
040687,000175: 30,3145 54767 TS CDUSPOTZ
040688,000176:
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Page 903 |
040690,000178: # FETCH INPUTS
040691,000179:
040692,000180: 30,3146 06051 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
040693,000181: 30,3147 77634 RTB
040694,000182: 30,3150 21710 NORMUNIT
040695,000183: 30,3151 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
040696,000184: 30,3152 03261 UNWC/2
040697,000185: 30,3153 47034 RTB RTB
040698,000186: 30,3154 21710 NORMUNIT
040699,000187: 30,3155 47622 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
040700,000188: 30,3156 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
040701,000189: 30,3157 00325 DELV
040702,000190: 30,3160 53404 BOVB UNIT
040703,000191: 30,3161 61734 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
040704,000192: 30,3162 45000 BOV CALL
040705,000193: 30,3163 61177 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
040706,000194: 30,3164 47676 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
040707,000195:
040708,000196: # THRUST DIRECTION FILTER
040709,000197:
040710,000198: 30,3165 77776 EXIT
040711,000199:
040712,000200: 30,3166 31670 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
040713,000201: 30,3167 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
040714,000202: 30,3170 03467 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
040715,000203: 30,3171 55670 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
040716,000204:
040717,000205: 30,3172 31672 CA UNFVZ/2
040718,000206: 30,3173 22161 LXCH MPAC +5
040719,000207: 30,3174 03467 TC FLTRSUB
040720,000208: 30,3175 55672 TS UNFVZ/2
040721,000209:
040722,000210: 30,3176 06051 TC INTPRET # COMPLETES FILTER
040723,000211:
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Page 904 |
040725,000213: # FIND A SUITABLE WINDOW POINTING VECTOR
040726,000214:
040727,000215: 30,3177 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
040728,000216: 30,3200 03251 FLAGOODW
040729,000217: 30,3201 61205 FETCHZNB
040730,000218: 30,3202 45175 VLOAD CALL
040731,000219: 30,3203 00015 UNZ/2
040732,000220: 30,3204 61507 UNWCTEST
040733,000221:
040734,000222: 30,3205 77775 FETCHZNB VLOAD
040735,000223: 30,3206 02153 ZNBPIP
040736,000224: 30,3207 34015 STCALL UNZ/2
040737,000225: 30,3210 61507 UNWCTEST
040738,000226:
040739,000227: 30,3211 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
040740,000228: 30,3212 02137 XNBPIP
040741,000229: 30,3213 00015 STORE UNZ/2
040742,000230:
040743,000231: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
040744,000232:
040745,000233: 30,3214 47375 DCMCL VLOAD VXV
040746,000234: 30,3215 00015 UNZ/2
040747,000235: 30,3216 00001 UNX/2
040748,000236: 30,3217 41456 UNIT PUSH # UNY/2 FIRST ITERATION
040749,000237: 30,3220 76435 VXV VSL1
040750,000238: 30,3221 00001 UNX/2
040751,000239: 30,3222 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
040752,000240: 30,3223 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040753,000241: 30,3224 03273 UNFVZ/2 # MUST BE SMALL
040754,000242: 30,3225 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040755,000243: 30,3226 03271 UNFVY/2 # MUST BE SMALL
040756,000244: 30,3227 53372 VSL1 VAD
040757,000245: 30,3230 00001 UNX/2
040758,000246: 30,3231 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
040759,000247: 30,3232 00001 STORE UNX/2 # UNX/2
040760,000248: 30,3233 76435 VXV VSL1
040761,000249: 30,3234 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
040762,000250: 30,3235 00007 STORE UNY/2 # UNY/2
040763,000251: 30,3236 47276 VCOMP VXV
040764,000252: 30,3237 00001 UNX/2
040765,000253: 30,3240 77772 VSL1
040766,000254: 30,3241 00015 STORE UNZ/2 # UNZ/2
040767,000255:
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Page 905 |
040769,000257: # COMPUTE THE REQUIRED GIMBAL ANGLES
040770,000258:
040771,000259: 30,3242 77624 CALL
040772,000260: 30,3243 61517 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040773,000261: 30,3244 77776 EXIT
040774,000262:
040775,000263: # BIAS OUTER GIMBAL ANGLE
040776,000264:
040777,000265: 30,3245 31677 CA OGABIAS
040778,000266: 30,3246 26154 ADS MPAC
040779,000267:
040780,000268: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040781,000269:
040782,000270: 30,3247 30156 CA MPAC +2 # LIMIT THE MGA
040783,000271: 30,3250 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040784,000272: 30,3251 33757 CA CDUZDLIM
040785,000273: 30,3252 03713 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040786,000274: 30,3253 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
040787,000275: 30,3254 00006 EXTEND
040788,000276: 30,3255 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
040789,000277: 30,3256 00006 EXTEND
040790,000278: 30,3257 13261 BZF +2
040791,000279: 30,3260 13742 TCF ALARMMGA
040792,000280:
040793,000281: 30,3261 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
040794,000282:
040795,000283: 30,3262 22007 ZL
040796,000284: 30,3263 34752 CA TWO
040797,000285: 30,3264 54142 DELGMBLP TS TEM2
040798,000286:
040799,000287: 30,3265 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
040800,000288: 30,3266 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
040801,000289: 30,3267 70000 SQUARE
040802,000290: 30,3270 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
040803,000291: 30,3271 00006 EXTEND
040804,000292: 30,3272 63275 BZMF +3
040805,000293: 30,3273 34755 CA ZERO
040806,000294: 30,3274 55650 TS FLAGOODW
040807,000295:
040808,000296: 30,3275 50142 INDEX TEM2
040809,000297: 30,3276 30154 CA MPAC
040810,000298: 30,3277 50142 INDEX TEM2
040811,000299: 30,3300 54321 TS CPHI # OUTPUTS TO NOUN22
040812,000300: 30,3301 00006 EXTEND
040813,000301: 30,3302 50142 INDEX TEM2
040814,000302: 30,3303 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
040815,000303: 30,3304 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
040816,000304: 30,3305 50142 INDEX TEM2
040817,000305: 30,3306 55674 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040818,000306: 30,3307 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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Page 906 |
040820,000308: 30,3310 10142 CCS TEM2
040821,000309: 30,3311 13264 TCF DELGMBLP
040822,000310:
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Page 907 |
040824,000312: # BRANCHES TO NOATTCNT
040825,000313:
040826,000314: 30,3312 11651 CCS FLPAUTNO
040827,000315: 30,3313 13736 TCF NOATTCNT +2 # NOT PNGCS AUTO
040828,000316:
040829,000317: 30,3314 30101 CA FLAGWRD5
040830,000318: 30,3315 74745 MASK ENGONBIT
040831,000319: 30,3316 00006 EXTEND
040832,000320: 30,3317 13736 BZF NOATTCNT +2 # ENGINE NOT ON
040833,000321:
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Page 908 |
040835,000323: # LIMIT THE ATTITUDE ANGLE CHANGES
040836,000324:
040837,000325: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040838,000326: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
040839,000327: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040840,000328: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040841,000329:
040842,000330: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
040843,000331: # * * * * * *
040844,000332: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
040845,000333: # * * * * * *
040846,000334: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
040847,000335:
040848,000336: 30,3320 23676 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
040849,000337: 30,3321 51647 INDEX NDXCDUW
040850,000338: 30,3322 33753 CA DAZMAX
040851,000339: 30,3323 03713 TC LIMITSUB
040852,000340: 30,3324 55676 TS -DELGMB +2 # -DELGMBZ
040853,000341:
040854,000342: 30,3325 31675 CA -DELGMB +1
040855,000343: 30,3326 00006 EXTEND
040856,000344: 30,3327 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
040857,000345: 30,3330 54001 TS L
040858,000346: 30,3331 51647 INDEX NDXCDUW
040859,000347: 30,3332 33755 CA DAY/2MAX
040860,000348: 30,3333 03713 TC LIMITSUB
040861,000349: 30,3334 00006 EXTEND
040862,000350: 30,3335 10745 DV COSCDUZ
040863,000351: 30,3336 57675 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
040864,000352:
040865,000353: 30,3337 00006 EXTEND
040866,000354: 30,3340 70737 MP SINCDUZ
040867,000355: 30,3341 20001 DDOUBL
040868,000356: 30,3342 40000 COM
040869,000357: 30,3343 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040870,000358: 30,3344 21674 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
040871,000359: 30,3345 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
040872,000360: 30,3346 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
040873,000361: 30,3347 33753 CA DAXMAX
040874,000362: 30,3350 03713 TC LIMITSUB
040875,000363: 30,3351 55674 TS -DELGMB # SAVE LIMITED +DELATTX
040876,000364: 30,3352 11650 CCS FLAGOODW
040877,000365: 30,3353 41674 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040878,000366: 30,3354 55674 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
040879,000367: 30,3355 41675 CS -DELGMB +1
040880,000368: 30,3356 00006 EXTEND
040881,000369: 30,3357 70737 MP SINCDUZ
040882,000370: 30,3360 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040883,000371: 30,3361 27674 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
040884,000372: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040885,000373:
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Page 909 |
040887,000375: # COMPUTE COMMANDED ATTITUDE RATES
040888,000376:
040889,000377: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
040890,000378: # * * * * * *
040891,000379: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
040892,000380: # * * * * * *
040893,000381: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
040894,000382:
040895,000383: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040896,000384: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040897,000385: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040898,000386:
040899,000387: 30,3362 41674 CS -DELGMB
040900,000388: 30,3363 55642 TS OMEGAPD
040901,000389: 30,3364 41675 CS -DELGMB +1
040902,000390: 30,3365 00006 EXTEND
040903,000391: 30,3366 70737 MP SINCDUZ
040904,000392: 30,3367 20001 DDOUBL
040905,000393: 30,3370 27642 ADS OMEGAPD
040906,000394: 30,3371 27642 ADS OMEGAPD
040907,000395:
040908,000396: 30,3372 41675 CS -DELGMB +1
040909,000397: 30,3373 00006 EXTEND
040910,000398: 30,3374 70747 MP COSCDUX
040911,000399: 30,3375 20001 DDOUBL
040912,000400: 30,3376 00006 EXTEND
040913,000401: 30,3377 70745 MP COSCDUZ
040914,000402: 30,3400 55643 TS OMEGAQD
040915,000403: 30,3401 41676 CS -DELGMB +2
040916,000404: 30,3402 00006 EXTEND
040917,000405: 30,3403 70741 MP SINCDUX
040918,000406: 30,3404 27643 ADS OMEGAQD
040919,000407: 30,3405 27643 ADS OMEGAQD
040920,000408: 30,3406 27643 ADS OMEGAQD
040921,000409:
040922,000410: 30,3407 31675 CA -DELGMB +1
040923,000411: 30,3410 00006 EXTEND
040924,000412: 30,3411 70741 MP SINCDUX
040925,000413: 30,3412 20001 DDOUBL
040926,000414: 30,3413 00006 EXTEND
040927,000415: 30,3414 70745 MP COSCDUZ
040928,000416: 30,3415 55644 TS OMEGARD
040929,000417: 30,3416 41676 CS -DELGMB +2
040930,000418: 30,3417 00006 EXTEND
040931,000419: 30,3420 70747 MP COSCDUX
040932,000420: 30,3421 27644 ADS OMEGARD
040933,000421: 30,3422 27644 ADS OMEGARD
040934,000422: 30,3423 27644 ADS OMEGARD
040935,000423:
|
|
Page 910 |
040937,000425: # FINAL TRANSFER
040938,000426:
040939,000427: 30,3424 34752 CA TWO
040940,000428: 30,3425 54142 CDUWXFR TS TEM2
040941,000429: 30,3426 50142 INDEX TEM2
040942,000430: 30,3427 31674 CA -DELGMB
040943,000431: 30,3430 00006 EXTEND
040944,000432: 30,3431 73760 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
040945,000433: 30,3432 03727 TC ONESTO2S
040946,000434: 30,3433 50142 INDEX TEM2
040947,000435: 30,3434 55637 TS DELCDUX # ANGLE INTERFACE
040948,000436:
040949,000437: 30,3435 50142 INDEX TEM2
040950,000438: 30,3436 11642 CCS OMEGAPD
040951,000439: 30,3437 64753 AD ONE
040952,000440: 30,3440 13442 TCF +2
040953,000441: 30,3441 64753 AD ONE
040954,000442: 30,3442 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
040955,000443: 30,3443 50142 INDEX TEM2
040956,000444: 30,3444 71642 MP OMEGAPD
040957,000445: 30,3445 00006 EXTEND
040958,000446: 30,3446 74741 MP BIT11 # 1/16
040959,000447: 30,3447 00006 EXTEND
040960,000448: 30,3450 50142 INDEX TEM2 # 2
040961,000449: 30,3451 11530 DV 1JACC # UNITS PI/4 RAD/SEC
040962,000450: 30,3452 54001 TS L
040963,000451: 30,3453 33755 CA DELERLIM
040964,000452: 30,3454 03713 TC LIMITSUB
040965,000453: 30,3455 50142 INDEX TEM2
040966,000454: 30,3456 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040967,000455: 30,3457 10142 CCS TEM2
040968,000456: 30,3460 13425 TCF CDUWXFR
040969,000457:
040970,000458: # HAUSKEEPING AND RETURN
040971,000459:
040972,000460: 30,3461 31645 TCQCDUW CA ECDUWUSR
040973,000461: 30,3462 54003 TS EBANK # RETURN USER'S EBANK
040974,000462:
040975,000463: 30,3463 06051 TC INTPRET
040976,000464: 30,3464 52001 SETPD GOTO
040977,000465: 30,3465 00001 0
040978,000466: 30,3466 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
040979,000467:
|
|
Page 911 |
040981,000469: # THRUST VECTOR FILTER SUBROUTINE
040982,000470:
040983,000471: 30,3467 00006 FLTRSUB EXTEND
040984,000472: 30,3470 22142 QXCH TEM2
040985,000473: 30,3471 54143 TS TEM3 # SAVE ORIGINAL OFFSET
040986,000474: 30,3472 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040987,000475: 30,3473 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
040988,000476: 30,3474 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
040989,000477: 30,3475 51647 INDEX NDXCDUW
040990,000478: 30,3476 73746 MP GAINFLTR
040991,000479: 30,3477 54001 TS L # INCR TO OFFSET, UNLIMITED
040992,000480: 30,3500 33750 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
040993,000481: 30,3501 03713 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
040994,000482: 30,3502 60143 AD TEM3 # ORIGINAL OFFSET
040995,000483: 30,3503 54001 TS L # TOTAL OFFSET, UNLIMITED
040996,000484: 30,3504 33751 CA UNFVLIM # SAME LIMIT FOR Y AND Z
040997,000485: 30,3505 03713 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
040998,000486: 30,3506 00142 TC TEM2
040999,000487:
041000,000488: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
041001,000489:
041002,000490: 30,3507 63441 UNWCTEST DOT DSQ
041003,000491: 30,3510 00001 UNX/2
041004,000492: 30,3511 50025 DSU BMN
041005,000493: 30,3512 21753 DOTSWFMX
041006,000494: 30,3513 61214 DCMCL
041007,000495: 30,3514 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
041008,000496: 30,3515 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
041009,000497: 30,3516 00000 0
041010,000498:
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|
Page 912 |
041012,000500: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
041013,000501: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
041014,000502:
041015,000503: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
041016,000504:
041017,000505: 30,3517 63545 NB2CDUSP DLOAD DSQ
041018,000506: 30,3520 00003 2
041019,000507: 30,3521 51021 BDSU BPL
041020,000508: 30,3522 06510 DP1/4TH
041021,000509: 30,3523 61526 +3
041022,000510: 30,3524 77745 DLOAD
041023,000511: 30,3525 06520 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
041024,000512: 30,3526 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
041025,000513:
041026,000514: 30,3527 00006 EXTEND
041027,000515: 30,3530 30155 DCA MPAC
041028,000516: 30,3531 20001 DDOUBL
041029,000517: 30,3532 54145 TS TEM5
041030,000518: 30,3533 13536 TCF +3
041031,000519: 30,3534 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
041032,000520: 30,3535 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
041033,000521:
041034,000522: 30,3536 50120 INDEX FIXLOC
041035,000523: 30,3537 30002 CA 2
041036,000524: 30,3540 22154 LXCH MPAC
041037,000525: 30,3541 03606 TC ARCTRGSP
041038,000526: 30,3542 54156 TS MPAC +2 # CDUZ
041039,000527:
041040,000528: 30,3543 34755 CA ZERO
041041,000529: 30,3544 03564 TC DVBYCOSM
041042,000530: 30,3545 34751 CA FOUR
041043,000531: 30,3546 03564 TC DVBYCOSM
041044,000532: 30,3547 40141 CS TEM1
041045,000533: 30,3550 03606 TC ARCTRGSP
041046,000534: 30,3551 54155 TS MPAC +1 # CDUY
041047,000535:
041048,000536: 30,3552 34750 CA BIT4
041049,000537: 30,3553 03564 TC DVBYCOSM
041050,000538: 30,3554 33563 CA 16OCT
041051,000539: 30,3555 03564 TC DVBYCOSM
041052,000540: 30,3556 40141 CS TEM1
041053,000541: 30,3557 03606 TC ARCTRGSP
041054,000542: 30,3560 54154 TS MPAC # CDUX
041055,000543:
041056,000544: 30,3561 06051 TC INTPRET
041057,000545: 30,3562 77616 RVQ
041058,000546:
041059,000547: 30,3563 00016 16OCT OCT 16
041060,000548:
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|
Page 913 |
041062,000550: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
041063,000551: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
041064,000552: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
041065,000553: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
041066,000554: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
041067,000555: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
041068,000556: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
041069,000557:
041070,000558: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
041071,000559: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
041072,000560: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
041073,000561: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
041074,000562:
041075,000563: 30,3564 60120 DVBYCOSM AD FIXLOC
041076,000564: 30,3565 54116 TS ADDRWD # ADRES OF OPERAND
041077,000565:
041078,000566: 30,3566 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
041079,000567: 30,3567 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
041080,000568: 30,3570 00006 EXTEND
041081,000569: 30,3571 63573 BZMF +2
041082,000570: 30,3572 40000 COM
041083,000571: 30,3573 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
041084,000572: 30,3574 00006 EXTEND
041085,000573: 30,3575 63603 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
041086,000574:
041087,000575: 30,3576 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
041088,000576: 30,3577 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
041089,000577: 30,3600 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
041090,000578: 30,3601 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
041091,000579: 30,3602 10145 DV TEM5
041092,000580: 30,3603 54001 TSL&TCQ TS L
041093,000581: 30,3604 22141 LXCH TEM1
041094,000582: 30,3605 00002 TC Q
041095,000583:
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|
Page 914 |
041097,000585: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
041098,000586: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
041099,000587: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
041100,000588:
041101,000589: 30,3606 00006 ARCTRGSP EXTEND
041102,000590: 30,3607 13651 BZF SINZERO # TO AVOID DIVIDING BY ZERO
041103,000591:
041104,000592: 30,3610 00006 EXTEND
041105,000593: 30,3611 22144 QXCH TEM4
041106,000594: 30,3612 54142 TS TEM2
041107,000595: 30,3613 30001 CA L
041108,000596: 30,3614 54143 TS TEM3
041109,000597: 30,3615 34755 CA ZERO
041110,000598: 30,3616 00006 EXTEND
041111,000599: 30,3617 10142 DV TEM2
041112,000600: 30,3620 00006 EXTEND
041113,000601: 30,3621 13640 BZF USECOS
041114,000602:
041115,000603: 30,3622 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
041116,000604: 30,3623 34755 CA ZERO
041117,000605: 30,3624 13630 TCF +4
041118,000606: 30,3625 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
041119,000607: 30,3626 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
041120,000608: 30,3627 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
041121,000609: 30,3630 54143 TS TEM3 # WE NO LONGER NEED COS
041122,000610: 30,3631 30142 CA TEM2
041123,000611: 30,3632 03656 TC SPARCSIN -1
041124,000612: 30,3633 03727 TC ONESTO2S
041125,000613: 30,3634 00006 EXTEND
041126,000614: 30,3635 20143 MSU TEM3
041127,000615: 30,3636 03727 1TO2&TCQ TC ONESTO2S
041128,000616: 30,3637 00144 TC TEM4
041129,000617:
041130,000618: 30,3640 40143 USECOS CS TEM3 # COS IS SMALLER
041131,000619: 30,3641 03656 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
041132,000620: 30,3642 64736 AD HALF
041133,000621: 30,3643 54143 TS TEM3 # WE NO LONGER NEED COS
041134,000622: 30,3644 10142 CCS TEM2
041135,000623: 30,3645 30143 CA TEM3
041136,000624: 30,3646 13636 TCF 1TO2&TCQ
041137,000625: 30,3647 40143 CS TEM3
041138,000626: 30,3650 13636 TCF 1TO2&TCQ
041139,000627:
041140,000628: 30,3651 10001 SINZERO CCS L
041141,000629: 30,3652 34755 CA ZERO
041142,000630: 30,3653 00002 TC Q
041143,000631: 30,3654 34735 CA NEGMAX # PI, 2'S COMP
041144,000632: 30,3655 00002 TC Q
041145,000633:
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|
Page 915 |
041147,000635: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
041148,000636: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+- 70
041149,000637: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
041150,000638: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
041151,000639:
041152,000640: 30,3656 60000 DOUBLE
041153,000641: 30,3657 54021 SPARCSIN TS SR
041154,000642: 30,3660 13664 TCF +4
041155,000643: 30,3661 50000 INDEX A
041156,000644: 30,3662 44734 CS LIMITS
041157,000645: 30,3663 54021 TS SR
041158,000646: 30,3664 00006 EXTEND
041159,000647: 30,3665 70000 MP A
041160,000648: 30,3666 54141 TS TEM1
041161,000649: 30,3667 00006 EXTEND
041162,000650: 30,3670 73712 MP DPL9
041163,000651: 30,3671 63711 AD DPL7
041164,000652: 30,3672 00006 EXTEND
041165,000653: 30,3673 70141 MP TEM1
041166,000654: 30,3674 63710 AD DPL5
041167,000655: 30,3675 00006 EXTEND
041168,000656: 30,3676 70141 MP TEM1
041169,000657: 30,3677 63707 AD DPL3
041170,000658: 30,3700 00006 EXTEND
041171,000659: 30,3701 70141 MP TEM1
041172,000660: 30,3702 63706 AD DPL1
041173,000661: 30,3703 00006 EXTEND
041174,000662: 30,3704 70021 MP SR
041175,000663: 30,3705 00002 TC Q
041176,000664: 30,3706 24406 DPL1 DEC 10502 B-14
041177,000665: 30,3707 00660 DPL3 DEC 432 B-14
041178,000666: 30,3710 16204 DPL5 DEC 7300 B-14
041179,000667: 30,3711 50744 DPL7 DEC -11803 B-14
041180,000668: 30,3712 20315 DPL9 DEC 8397 B-14
041181,000669:
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|
Page 916 |
041183,000671: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
041184,000672: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
041185,000673: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
041186,000674:
041187,000675: # VERSION COURTESY HUGH BLAIR-SMITH
041188,000676:
041189,000677: 30,3713 54141 LIMITSUB TS TEM1
041190,000678: 30,3714 34755 CA ZERO
041191,000679: 30,3715 00006 EXTEND
041192,000680: 30,3716 10141 DV TEM1
041193,000681: 30,3717 10000 CCS A
041194,000682: 30,3720 22141 LXCH TEM1
041195,000683: 30,3721 13723 TCF +2
041196,000684: 30,3722 13725 TCF +3
041197,000685: 30,3723 30001 CA L
041198,000686: 30,3724 00002 TC Q
041199,000687: 30,3725 40141 CS TEM1
041200,000688: 30,3726 00002 TC Q
041201,000689:
041202,000690: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
041203,000691:
041204,000692: 30,3727 10000 ONESTO2S CCS A
041205,000693: 30,3730 64753 AD ONE
041206,000694: 30,3731 00002 TC Q
041207,000695: 30,3732 40000 CS A
041208,000696: 30,3733 00002 TC Q
041209,000697:
041210,000698: # NO ATTITUDE CONTROL
041211,000699:
041212,000700: 30,3734 05600 NOATTCNT TC ALARM
041213,000701: 30,3735 00402 OCT 00402 # NO ATTITUDE CONTROL
041214,000702:
041215,000703: 30,3736 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
041216,000704: 30,3737 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
041217,000705: 30,3740 40166 FCADR STOPRATE
041218,000706: 30,3741 13461 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
041219,000707:
041220,000708: # MIDDLE GIMBAL ANGLE ALARM
041221,000709:
041222,000710: 30,3742 05600 ALARMMGA TC ALARM
041223,000711: 30,3743 00401 OCT 00401
041224,000712: 30,3744 13261 TCF MGARET
041225,000713:
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|
Page 917 |
041227,000715: # ************************************************************************
041228,000716: # CONSTANTS
041229,000717: # ************************************************************************
041230,000718:
041231,000719: # ADDRESS CONSTANTS
041232,000720:
041233,000721: 30,3745 03245 ECDUWL ECADR ECDUW
041234,000722:
041235,000723: # THRUST DIRECTION FILTER CONSTANTS
041236,000724:
041237,000725: 30,3746 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
041238,000726: 30,3747 03146 DEC .1 # GAIN FILTER WITH CSM
041239,000727:
041240,000728: 30,3750 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
041241,000729: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
041242,000730:
041243,000731: 30,3751 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
041244,000732: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
041245,000733:
041246,000734: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
041247,000735:
041248,000736: 30,3752 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
041249,000737: # LOWER PART COMES FROM NEXT CONSTANT
041250,000738:
041251,000739: 30,3753 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
041252,000740: 30,3754 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
041253,000741:
041254,000742: 30,3755 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
041255,000743: 30,3756 00133 DEC .0055555555
041256,000744:
041257,000745: 30,3757 30,3753 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
041258,000746:
041259,000747: 30,3757 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
041260,000748:
041261,000749: # CONSTANTS FOR DATA TRANSFER
041262,000750:
041263,000751: 30,3760 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
041264,000752: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
041265,000753:
041266,000754: 30,3761 30,3755 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
041267,000755:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc