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. |
061777,000002: ## Copyright: Public domain. 061778,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc 061779,000004: ## Purpose: A log section of Zerlina 56, the final revision of 061780,000005: ## Don Eyles's offline development program for the variable 061781,000006: ## guidance period servicer. It also includes a new P66 with LPD 061782,000007: ## (Landing Point Designator) capability, based on an idea of John 061783,000008: ## Young's. Neither of these advanced features were actually flown, 061784,000009: ## but Zerlina was also the birthplace of other big improvements to 061785,000010: ## Luminary including the terrain model and new (Luminary 1E) 061786,000011: ## analog display programs. Zerlina was branched off of Luminary 145, 061787,000012: ## and revision 56 includes all changes up to and including Luminary 061788,000013: ## 183. It is therefore quite close to the Apollo 14 program, 061789,000014: ## Luminary 178, where not modified with new features. 061790,000015: ## Reference: pp. 1409-1429 061791,000016: ## Assembler: yaYUL 061792,000017: ## Contact: Ron Burkey <info@sandroid.org>. 061793,000018: ## Website: www.ibiblio.org/apollo/index.html 061794,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210. 061795,000020: ## 2017-08-22 MAS Updated for Zerlina 56. 061796,000021: ## 2021-05-30 ABS +8 -> +8D 061797,000022:
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Page 1409 |
061799,000024: 16,2213 BANK 16 061800,000025: 16,2000 SETLOC DAPS1 061801,000026: 16,2000 BANK 061802,000027: 061803,000028: 16,2213 E6,1464 EBANK= PERROR 061804,000029: 16,2213 COUNT* $$/DAPP 061805,000030: 061806,000031: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS. 061807,000032: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP. 061808,000033: 061809,000034: 16,2213 37741 PAXIS CA MS100 061810,000035: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN- 061811,000036: # CHRONIZATION WITH OTHER INTERRUPTS *** 061812,000037: 061813,000038: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED) 061814,000039: 16,2216 00006 EXTEND 061815,000040: 16,2217 22012 QXCH QRUPT 061816,000041: 061817,000042: # CHECK IF DAP PASS IS PERMISSIBLE 061818,000043: 061819,000044: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS 061820,000045: 16,2221 05635 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS 061821,000046: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO 061822,000047: 061823,000048: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON. 061824,000049: 061825,000050: 16,2224 30032 CA CDUX # READ AND STORE CDU'S 061826,000051: 16,2225 55747 TS DAPTREG4 061827,000052: 16,2226 30033 CA CDUY 061828,000053: 16,2227 55750 TS DAPTREG5 061829,000054: 16,2230 30034 CA CDUZ 061830,000055: 16,2231 55751 TS DAPTREG6 061831,000056: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE ***** 061832,000057: 061833,000058: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM 061834,000059: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION). 061835,000060: 061836,000061: 16,2232 31634 CA CDUXD 061837,000062: 16,2233 00006 EXTEND 061838,000063: 16,2234 21637 MSU DELCDUX 061839,000064: 16,2235 02256 TC 1STOTWOS 061840,000065: 16,2236 55634 TS CDUXD 061841,000066: 16,2237 31635 CA CDUYD 061842,000067: 16,2240 00006 EXTEND 061843,000068: 16,2241 21640 MSU DELCDUY 061844,000069: 16,2242 02256 TC 1STOTWOS 061845,000070: 16,2243 55635 TS CDUYD 061846,000071: 16,2244 31636 CA CDUZD 061847,000072: 16,2245 00006 EXTEND 061848,000073: 16,2246 21641 MSU DELCDUZ 061849,000074:
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Page 1410 |
061851,000076: 16,2247 02256 TC 1STOTWOS 061852,000077: 16,2250 55636 TS CDUZD 061853,000078: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE 061854,000079: 16,2252 27445 DIM TCP # TIME COUNTERS. 061855,000080: 16,2253 00006 EXTEND 061856,000081: 16,2254 27457 DIM TCQR 061857,000082: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1. 061858,000083: # RETURNS TO BACKP. 061859,000084: 061860,000085: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP) 061861,000086: 061862,000087: # JETRATEQ= 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS) 061863,000088: 061864,000089: # JETRATER= 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS) 061865,000090: 061866,000091: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB 061867,000092: 16,2256 10000 1STOTWOS CCS A 061868,000093: 16,2257 64753 AD ONE 061869,000094: 16,2260 00002 TC Q 061870,000095: 16,2261 40000 CS A 061871,000096: 16,2262 00002 TC Q 061872,000097: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE 061873,000098: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD 061874,000099: 16,2265 21427 DAS OMEGAU # OVERFLOW 061875,000100: 061876,000101: 16,2266 00006 +3 EXTEND 061877,000102: 16,2267 31427 DCA OMEGAU 061878,000103: 16,2270 53743 DXCH DAPTEMP5 061879,000104: 16,2271 11426 CCS OMEGAU 061880,000105: 16,2272 12274 TCF +2 061881,000106: 16,2273 12304 TCF DIVIDER 061882,000107: 16,2274 62315 AD -OCT630 061883,000108: 16,2275 00006 EXTEND 061884,000109: 16,2276 62304 BZMF DIVIDER 061885,000110: 061886,000111: 16,2277 11426 CCS OMEGAU 061887,000112: 16,2300 34733 CA POSMAX # 45 DEG/SEC 061888,000113: 16,2301 00002 TC Q 061889,000114: 16,2302 44733 CS POSMAX 061890,000115: 16,2303 00002 TC Q 061891,000116: 061892,000117: 16,2304 53427 DIVIDER DXCH OMEGAU 061893,000118: 16,2305 00006 EXTEND 061894,000119: 16,2306 11747 DV DAPTREG4 061895,000120: 16,2307 00002 TC Q 061896,000121: 061897,000122: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO 061898,000123: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW 061899,000124: 16,2312 50000 INDEX A 061900,000125: 16,2313 44734 CS BIT15 -1 061901,000126:
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061903,000128: 16,2314 00002 TC Q 061904,000129: 061905,000130: 16,2315 77147 -OCT630 OCT 77147 061906,000131: 061907,000132: 16,2316 31736 BACKP CA DAPTEMP1 061908,000133: 16,2317 00006 EXTEND 061909,000134: 16,2320 71530 MP 1JACC 061910,000135: 16,2321 55744 TS JETRATE 061911,000136: # BEGINNING OF THE RATE DERIVATION 061912,000137: # OMEGAP,Q,R BODY RATES SCALED AT PI/4 061913,000138: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40) 061914,000139: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED 061915,000140: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4) 061916,000141: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4) 061917,000142: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP,ECT. 061918,000143: # OMEGAU DP-TEMPORARY STORAGE 061919,000144: 061920,000145: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG) 061921,000146: 061922,000147: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE 061923,000148: 16,2323 54001 TS L 061924,000149: 16,2324 00006 EXTEND 061925,000150: 16,2325 21440 MSU OLDXFORP # SCALED AT PI 061926,000151: 16,2326 23440 LXCH OLDXFORP 061927,000152: 16,2327 55736 TS DAPTEMP1 061928,000153: 16,2330 33623 CA 1/40 061929,000154: 16,2331 55747 TS DAPTREG4 061930,000155: 16,2332 41744 CS JETRATE 061931,000156: 16,2333 00006 EXTEND 061932,000157: 16,2334 74736 MP BIT14 061933,000158: 16,2335 27430 ADS TRAPEDP 061934,000159: 16,2336 31745 CA JETRATEQ 061935,000160: 16,2337 61544 AD AOSQTERM 061936,000161: 16,2340 00006 EXTEND 061937,000162: 16,2341 77750 MP -BIT14 061938,000163: 16,2342 27431 ADS TRAPEDQ 061939,000164: 16,2343 31746 CA JETRATER 061940,000165: 16,2344 61545 AD AOSRTERM 061941,000166: 16,2345 00006 EXTEND 061942,000167: 16,2346 77750 MP -BIT14 061943,000168: 16,2347 27432 ADS TRAPEDR 061944,000169: 061945,000170: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE 061946,000171: 16,2351 54001 TS L 061947,000172: 16,2352 00006 EXTEND 061948,000173: 16,2353 21441 MSU OLDYFORP # SCALED AT PI 061949,000174: 16,2354 23441 LXCH OLDYFORP 061950,000175: 16,2355 55737 TS DAPTEMP2 061951,000176: 16,2356 00006 EXTEND 061952,000177: 16,2357 71414 MP M11 # M11 SCALED AT 1
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061954,000179: 16,2360 61736 AD DAPTEMP1 061955,000180: 16,2361 53427 DXCH OMEGAU 061956,000181: 061957,000182: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4 061958,000183: 061959,000184: 16,2363 00006 EXTEND 061960,000185: 16,2364 61421 SU OMEGAP 061961,000186: 16,2365 27430 ADS TRAPEDP 061962,000187: 16,2366 02310 TC OVERSUB 061963,000188: 16,2367 55430 TS TRAPEDP 061964,000189: 16,2370 00006 EXTEND 061965,000190: 16,2371 31743 DCA DAPTEMP5 061966,000191: 16,2372 21447 DAS DXERROR 061967,000192: 16,2373 41454 CS PLAST 061968,000193: 16,2374 00006 EXTEND 061969,000194: 16,2375 73623 MP 1/40 061970,000195: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP) 061971,000196: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE 061972,000197: 16,2400 54001 TS L 061973,000198: 16,2401 00006 EXTEND 061974,000199: 16,2402 21442 MSU OLDZFORQ 061975,000200: 16,2403 55740 TS DAPTEMP3 061976,000201: 16,2404 23442 LXCH OLDZFORQ 061977,000202: 16,2405 31415 CA M21 061978,000203: 16,2406 00006 EXTEND 061979,000204: 16,2407 71737 MP DAPTEMP2 061980,000205: 16,2410 53427 DXCH OMEGAU 061981,000206: 16,2411 31417 CA M22 061982,000207: 16,2412 02263 TC SUBDIVDE 061983,000208: 061984,000209: 16,2413 00006 EXTEND 061985,000210: 16,2414 61422 SU OMEGAQ 061986,000211: 16,2415 27431 ADS TRAPEDQ 061987,000212: 16,2416 02310 TC OVERSUB 061988,000213: 16,2417 55431 TS TRAPEDQ 061989,000214: 16,2420 00006 EXTEND 061990,000215: 16,2421 31743 DCA DAPTEMP5 061991,000216: 16,2422 21451 DAS DYERROR 061992,000217: 16,2423 41455 CS QLAST 061993,000218: 16,2424 00006 EXTEND 061994,000219: 16,2425 73623 MP 1/40 061995,000220: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP) 061996,000221: 16,2427 31416 CA M31 061997,000222: 16,2430 00006 EXTEND 061998,000223: 16,2431 71737 MP DAPTEMP2 061999,000224: 16,2432 53427 DXCH OMEGAU 062000,000225: 16,2433 31420 CA M32 062001,000226: 062002,000227: 16,2434 02263 TC SUBDIVDE
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062004,000229: 16,2435 00006 EXTEND 062005,000230: 16,2436 61423 SU OMEGAR 062006,000231: 16,2437 27432 ADS TRAPEDR 062007,000232: 16,2440 02310 TC OVERSUB 062008,000233: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED 062009,000234: 062010,000235: 16,2442 00006 EXTEND 062011,000236: 16,2443 31743 DCA DAPTEMP5 062012,000237: 16,2444 21453 DAS DZERROR 062013,000238: 16,2445 41456 CS RLAST 062014,000239: 16,2446 00006 EXTEND 062015,000240: 16,2447 73623 MP 1/40 062016,000241: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP) 062017,000242: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS 062018,000243: 16,2452 74737 MASK CSMDOCKD 062019,000244: 16,2453 00006 EXTEND 062020,000245: 16,2454 12462 BZF LMONLY 062021,000246: 16,2455 00006 EXTEND # DOCKED 062022,000247: 16,2456 31405 DCA DKOMEGAN 062023,000248: 16,2457 53750 DXCH DAPTREG4 062024,000249: 16,2460 31403 CA DKTRAP 062025,000250: 16,2461 12466 TCF +5 062026,000251: 16,2462 00006 LMONLY EXTEND # UNDOCKED 062027,000252: 16,2463 31410 DCA LMOMEGAN 062028,000253: 16,2464 53750 DXCH DAPTREG4 062029,000254: 16,2465 31406 CA LMTRAP 062030,000255: 16,2466 55751 +5 TS DAPTREG6 062031,000256: 16,2467 11430 CCS TRAPEDP 062032,000257: 16,2470 12472 TCF +2 062033,000258: 16,2471 12507 TCF SMALPDIF 062034,000259: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC" 062035,000260: 16,2473 00006 EXTEND 062036,000261: 16,2474 62507 BZMF SMALPDIF 062037,000262: 16,2475 22007 ZL 062038,000263: 16,2476 23430 LXCH TRAPEDP 062039,000264: 16,2477 34755 CA ZERO 062040,000265: 16,2500 00006 EXTEND 062041,000266: 16,2501 11433 DV NPTRAPS 062042,000267: 16,2502 27421 ADS OMEGAP 062043,000268: 16,2503 02310 TC OVERSUB 062044,000269: 16,2504 55421 TS OMEGAP 062045,000270: 16,2505 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED 062046,000271: 16,2506 55433 TS NPTRAPS 062047,000272: 16,2507 25433 SMALPDIF INCR NPTRAPS 062048,000273: 16,2510 31744 P-RATE CA JETRATE 062049,000274: 16,2511 27421 ADS OMEGAP 062050,000275: 16,2512 02310 TC OVERSUB 062051,000276: 16,2513 55421 TS OMEGAP 062052,000277: 062053,000278: 16,2514 11431 CCS TRAPEDQ
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Page 1414 |
062055,000280: 16,2515 12517 TCF +2 062056,000281: 16,2516 12544 TCF Q-RATE 062057,000282: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC" 062058,000283: 16,2520 00006 EXTEND 062059,000284: 16,2521 62544 BZMF Q-RATE 062060,000285: 16,2522 22007 ZL 062061,000286: 16,2523 23431 LXCH TRAPEDQ 062062,000287: 16,2524 34755 CA ZERO 062063,000288: 16,2525 00006 EXTEND 062064,000289: 16,2526 11434 DV NQTRAPS 062065,000290: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE 062066,000291: 16,2530 27422 ADS OMEGAQ 062067,000292: 16,2531 02310 TC OVERSUB 062068,000293: 16,2532 55422 TS OMEGAQ 062069,000294: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED 062070,000295: 16,2534 57434 XCH NQTRAPS 062071,000296: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60" 062072,000297: 16,2536 57736 XCH DAPTEMP1 062073,000298: 16,2537 00006 EXTEND 062074,000299: 16,2540 74756 MP FIVE 062075,000300: 16,2541 00006 EXTEND 062076,000301: 16,2542 11736 DV DAPTEMP1 062077,000302: 16,2543 27536 ADS AOSQ 062078,000303: 16,2544 25434 Q-RATE INCR NQTRAPS 062079,000304: 16,2545 31745 CA JETRATEQ 062080,000305: 16,2546 61544 AD AOSQTERM 062081,000306: 16,2547 27422 ADS OMEGAQ 062082,000307: 16,2550 02310 TC OVERSUB 062083,000308: 16,2551 55422 TS OMEGAQ 062084,000309: 062085,000310: 16,2552 11432 CCS TRAPEDR 062086,000311: 16,2553 12555 TCF +2 062087,000312: 16,2554 12602 TCF R-RATE 062088,000313: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC" 062089,000314: 16,2556 00006 EXTEND 062090,000315: 16,2557 62602 BZMF R-RATE 062091,000316: 16,2560 22007 ZL 062092,000317: 16,2561 23432 LXCH TRAPEDR 062093,000318: 16,2562 34755 CA ZERO 062094,000319: 16,2563 00006 EXTEND 062095,000320: 16,2564 11435 DV NRTRAPS 062096,000321: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE 062097,000322: 16,2566 27423 ADS OMEGAR 062098,000323: 16,2567 02310 TC OVERSUB 062099,000324: 16,2570 55423 TS OMEGAR 062100,000325: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED 062101,000326: 16,2572 57435 XCH NRTRAPS 062102,000327: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60" 062103,000328: 16,2574 57737 XCH DAPTEMP2 062104,000329: 16,2575 00006 EXTEND
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Page 1415 |
062106,000331: 16,2576 74756 MP FIVE 062107,000332: 16,2577 00006 EXTEND 062108,000333: 16,2600 11737 DV DAPTEMP2 062109,000334: 16,2601 27540 ADS AOSR 062110,000335: 16,2602 25435 R-RATE INCR NRTRAPS 062111,000336: 16,2603 31746 CA JETRATER 062112,000337: 16,2604 61545 AD AOSRTERM 062113,000338: 16,2605 27423 ADS OMEGAR 062114,000339: 16,2606 02310 TC OVERSUB 062115,000340: 16,2607 55423 TS OMEGAR 062116,000341: 062117,000342: # END OF RATE DERIVATION 062118,000343: 062119,000344: # BEGIN OFFSET ESTIMATER 062120,000345: 062121,000346: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS. 062122,000347: 062123,000348: # AOS = AOS + K*SUMRATE 062124,000349: 062125,000350: 16,2610 40111 CS DAPBOOLS 062126,000351: 16,2611 74744 MASK DRIFTBIT 062127,000352: 16,2612 10000 CCS A 062128,000353: 16,2613 12624 TCF WORKTIME 062129,000354: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES. 062130,000355: 16,2615 55425 TS ALPHAR 062131,000356: 16,2616 55544 TS AOSQTERM 062132,000357: 16,2617 55545 TS AOSRTERM 062133,000358: 16,2620 55536 TS AOSQ 062134,000359: 16,2621 55540 TS AOSR 062135,000360: 16,2622 12667 TCF PRETIMCK 062136,000361: 16,2623 00074 KAOS DEC 60 B-14 062137,000362: 16,2624 31510 WORKTIME CA QACCDOT 062138,000363: 16,2625 00006 EXTEND 062139,000364: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6). 062140,000365: 16,2627 21537 DAS AOSQ 062141,000366: 16,2630 31536 CA AOSQ 062142,000367: 16,2631 55424 TS ALPHAQ 062143,000368: 16,2632 00006 EXTEND 062144,000369: 16,2633 73621 MP 200MS # .2 AT 1 062145,000370: 16,2634 55544 TS AOSQTERM 062146,000371: 16,2635 31512 CA RACCDOT 062147,000372: 16,2636 00006 EXTEND 062148,000373: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6). 062149,000374: 16,2640 21541 DAS AOSR 062150,000375: 16,2641 31540 CA AOSR 062151,000376: 16,2642 55425 TS ALPHAR 062152,000377: 16,2643 00006 EXTEND 062153,000378: 16,2644 73621 MP 200MS # .2 AT 1 062154,000379: 16,2645 55545 TS AOSRTERM 062155,000380: 16,2646 12667 TCF PRETIMCK 062156,000381:
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Page 1416 |
062158,000383: 062159,000384: 062160,000385: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED. 062161,000386: 16,2650 71262 MASK RCSFLAGS 062162,000387: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS 062163,000388: 16,2652 03741 TC ACDT+C12 # VALID. 062164,000389: 062165,000390: 16,2653 52011 DXCH ARUPT 062166,000391: 16,2654 53753 DXCH DAPARUPT 062167,000392: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB 062168,000393: 16,2656 56017 XCH BRUPT 062169,000394: 16,2657 22012 LXCH QRUPT 062170,000395: 16,2660 53755 DXCH DAPBQRPT 062171,000396: 16,2661 32665 CA SUPERADR 062172,000397: 16,2662 52016 DXCH ZRUPT 062173,000398: 16,2663 53757 DXCH DAPZRUPT 062174,000399: 16,2664 15306 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE 062175,000400: # FORM OF A JASK, AT SUPERJOB. 062176,000401: 062177,000402: 16,2665 02667 SUPERADR GENADR SUPERJOB +1 062178,000403: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED. 062179,000404: 062180,000405: 16,2666 13644 SUPERJOB TCF RATELOOP 062181,000406: 16,2667 11631 PRETIMCK CCS QGIMTIMR 062182,000407: 16,2670 12710 TCF DECQTIMR # POSITIVE- COUNTING DOWN 062183,000408: 16,2671 12714 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED 062184,000409: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE 062185,000410: 16,2673 12712 TCF DECRTIMR # (NEG ZERO- IMPOSSIBLE) 062186,000411: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS. 062187,000412: 062188,000413: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS 062189,000414: 16,2676 27766 DIM PJETCTR 062190,000415: 16,2677 00006 EXTEND 062191,000416: 16,2700 27767 DIM UJETCTR 062192,000417: 16,2701 00006 EXTEND 062193,000418: 16,2702 27770 DIM VJETCTR 062194,000419: 16,2703 34740 CA BIT12 062195,000420: 16,2704 71262 MASK RCSFLAGS 062196,000421: 16,2705 00006 EXTEND 062197,000422: 16,2706 12734 BZF SKIPPAXS 062198,000423: 16,2707 02740 TC CHKVISFZ 062199,000424: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO. 062200,000425: 16,2711 12672 TCF CHKRTIMR 062201,000426: 16,2712 55633 DECRTIMR TS RGIMTIMR 062202,000427: 16,2713 12675 TCF CHKRTIMR +3 062203,000428: 062204,000429: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES. 062205,000430: 16,2715 55510 TS QACCDOT 062206,000431: 16,2716 45007 CS QGIMBITS 062207,000432: 16,2717 00006 EXTEND
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Page 1417 |
062209,000434: 16,2720 03012 WAND CHAN12 062210,000435: 16,2721 34735 CAF NEGMAX 062211,000436: 16,2722 55631 TS QGIMTIMR 062212,000437: 16,2723 12672 TCF CHKRTIMR 062213,000438: 16,2724 55503 TURNOFFR TS NEGUR 062214,000439: 16,2725 55512 TS RACCDOT 062215,000440: 16,2726 45020 CS RGIMBITS 062216,000441: 16,2727 00006 EXTEND 062217,000442: 16,2730 03012 WAND CHAN12 062218,000443: 16,2731 34735 CAF NEGMAX 062219,000444: 16,2732 55633 TS RGIMTIMR 062220,000445: 16,2733 12675 TCF CHKRTIMR +3 062221,000446: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12). 062222,000447: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12). 062223,000448: 062224,000449: 16,2734 41262 SKIPPAXS CS RCSFLAGS 062225,000450: 16,2735 74740 MASK BIT12 062226,000451: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1. 062227,000452: 16,2737 13627 TCF QRAXIS # GO TO QRAXIS OR TO GTS. 062228,000453: 062229,000454: # Y-Z TRANSLATION 062230,000455: 062231,000456: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER) 062232,000457: 062233,000458: # OUTPUT: NEXTP 062234,000459: 062235,000460: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION. 062236,000461: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN 062237,000462: 062238,000463: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR 062239,000464: # ALARM (IF NO PAIR) 062240,000465: 062241,000466: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS 062242,000467: # ALARM (IF DIAGONAL PAIRS ARE FAILED) 062243,000468: 16,2740 00006 CHKVISFZ EXTEND 062244,000469: 16,2741 00031 READ CHAN31 062245,000470: 16,2742 40000 CS A 062246,000471: 16,2743 73616 MASK 07400OCT 062247,000472: 16,2744 00006 EXTEND 062248,000473: 16,2745 13014 BZF TSNEXTP 062249,000474: 16,2746 00006 EXTEND 062250,000475: 16,2747 74745 MP BIT7 062251,000476: 16,2750 50000 INDEX A 062252,000477: 16,2751 33575 CA INDXYZ 062253,000478: 16,2752 55743 TS ROTINDEX 062254,000479: 16,2753 36254 TRYUORV CA SIX 062255,000480: 16,2754 03554 TC SELECTYZ 062256,000481: 16,2755 46254 CS SIX 062257,000482: 16,2756 61742 AD NUMBERT 062258,000483: 16,2757 00006 EXTEND
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Page 1418 |
062260,000485: 16,2760 13013 BZF TSNEXTP -1 062261,000486: 16,2761 44756 CS FIVE 062262,000487: 16,2762 61743 AD ROTINDEX 062263,000488: 16,2763 00006 EXTEND 062264,000489: 16,2764 63002 BZMF ALTERYZ 062265,000490: 16,2765 41742 CS NUMBERT 062266,000491: 16,2766 64751 AD FOUR 062267,000492: 16,2767 00006 EXTEND 062268,000493: 16,2770 63013 BZMF TSNEXTP -1 062269,000494: 16,2771 05600 ABORTYZ TC ALARM 062270,000495: 16,2772 02001 OCT 02001 062271,000496: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS. 062272,000497: 16,2774 23262 LXCH RCSFLAGS 062273,000498: 16,2775 00006 EXTEND 062274,000499: 16,2776 06001 RXOR 1 062275,000500: 16,2777 55262 TS RCSFLAGS 062276,000501: 16,3000 34755 CA ZERO 062277,000502: 16,3001 13014 TCF TSNEXTP 062278,000503: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS. 062279,000504: 16,3003 23262 LXCH RCSFLAGS 062280,000505: 16,3004 00006 EXTEND 062281,000506: 16,3005 06001 RXOR 1 062282,000507: 16,3006 55262 TS RCSFLAGS 062283,000508: 16,3007 74753 MASK BIT1 062284,000509: 16,3010 64751 AD FOUR 062285,000510: 16,3011 27743 ADS ROTINDEX 062286,000511: 16,3012 12753 TCF TRYUORV 062287,000512: 16,3013 31740 CA POLYTEMP 062288,000513: 16,3014 55472 TSNEXTP TS NEXTP 062289,000514: # STATE LOGIC 062290,000515: 062291,000516: # CHECK IN ORDER: IF ON 062292,000517: # LPDPHASE GO TO PURGENCY 062293,000518: # PULSES MINIMUM PULSE LOGIC 062294,000519: # DETENT(BIT15 CH31) RATE COMMAND 062295,000520: # GO TO PURGENCY 062296,000521: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD. 062297,000522: 16,3016 00006 EXTEND 062298,000523: 16,3017 02031 RAND CHAN31 062299,000524: 16,3020 00006 EXTEND 062300,000525: 16,3021 13027 BZF MANMODE 062301,000526: 062302,000527: 16,3022 30111 CA DAPBOOLS 062303,000528: 16,3023 74743 MASK XOVINHIB 062304,000529: 16,3024 10000 CCS A 062305,000530: 16,3025 13466 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE 062306,000531: 062307,000532: 16,3026 13071 TCF DETENTCK 062308,000533: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE 062309,000534: 16,3030 70111 MASK DAPBOOLS
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Page 1419 |
062311,000536: 16,3031 00006 EXTEND 062312,000537: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND 062313,000538: 062314,000539: 16,3033 34755 CA ZERO 062315,000540: 16,3034 55464 TS PERROR 062316,000541: # MINIMUM IMPULSE MODE 062317,000542: 062318,000543: 16,3035 30032 CA CDUX 062319,000544: 16,3036 55634 TS CDUXD 062320,000545: 062321,000546: 16,3037 11460 CCS OLDPMIN 062322,000547: 16,3040 13054 TCF CHECKP 062323,000548: 062324,000549: 16,3041 34751 FIREP CA BIT3 062325,000550: 16,3042 00006 EXTEND 062326,000551: 16,3043 02031 RAND CHAN31 062327,000552: 16,3044 00006 EXTEND 062328,000553: 16,3045 13064 BZF +XMIN 062329,000554: 062330,000555: 16,3046 34750 CA BIT4 062331,000556: 16,3047 00006 EXTEND 062332,000557: 16,3050 02031 RAND CHAN31 062333,000558: 16,3051 00006 EXTEND 062334,000559: 16,3052 13062 BZF -XMIN 062335,000560: 062336,000561: 16,3053 13445 TCF JETSOFF 062337,000562: 062338,000563: 16,3054 00006 CHECKP EXTEND 062339,000564: 16,3055 00031 READ CHAN31 062340,000565: 16,3056 40000 CS A 062341,000566: 16,3057 75752 MASK OCT14 062342,000567: 16,3060 55460 TS OLDPMIN 062343,000568: 16,3061 13445 TCF JETSOFF 062344,000569: 062345,000570: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED 062346,000571: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE 062347,000572: 16,3064 34363 +XMIN CA TEN 062348,000573: 16,3065 55524 TS TJP 062349,000574: 16,3066 34753 CA ONE 062350,000575: 16,3067 55460 TS OLDPMIN 062351,000576: 16,3070 13353 TCF PJETSLEC -6 062352,000577: 062353,000578: # MANUAL RATE COMMAND MODE 062354,000579: # ======================== 062355,000580: # BY ROBERT F. STENGEL 062356,000581: 062357,000582: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO. 062358,000583: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE 062359,000584: # RATE CONTROL AND ATTITUDE HOLD. 062360,000585:
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Page 1420 |
062362,000587: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE. 062363,000588: # 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 062364,000589: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL. 062365,000590: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL. 062366,000591: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC. 062367,000592: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY. 062368,000593: 062369,000594: # 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, 062370,000595: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND 062371,000596: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW. 062372,000597: 062373,000598: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20 062374,000599: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION 062375,000600: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED 062376,000601: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3. 062377,000602: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME 062378,000603: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT) 062379,000604: 062380,000605: 062381,000606: 16,3071 00006 DETENTCK EXTEND 062382,000607: 16,3072 00031 READ CHAN31 062383,000608: 16,3073 55443 TS CH31TEMP 062384,000609: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT. 062385,000610: 16,3075 00006 EXTEND 062386,000611: 16,3076 13222 BZF RHCMOVED # BRANCH IF OUT OF DETENT. 062387,000612: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT. 062388,000613: 16,3100 70111 MASK DAPBOOLS 062389,000614: 16,3101 00006 EXTEND 062390,000615: 16,3102 13466 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS. 062391,000616: # ........................................................................ 062392,000617: 16,3103 34743 CA BIT9 # JUST IN DETENT?? 062393,000618: 16,3104 71262 MASK RCSFLAGS 062394,000619: 16,3105 00006 EXTEND 062395,000620: 16,3106 13120 BZF RUTH 062396,000621: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD. 062397,000622: 16,3110 00006 EXTEND 062398,000623: 16,3111 02031 RAND CHAN31 062399,000624: 16,3112 00006 EXTEND 062400,000625: 16,3113 13217 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD. 062401,000626: 062402,000627: 16,3114 45014 CS BITS9,11 # IN AUTO. 062403,000628: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE) 062404,000629: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9). 062405,000630: 16,3117 13217 TCF RATEDAMP 062406,000631: 062407,000632: 16,3120 31262 RUTH CA RCSFLAGS 062408,000633: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD. 062409,000634: 16,3122 00006 EXTEND 062410,000635: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED. 062411,000636: 16,3124 13217 TCF RATEDAMP
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Page 1421 |
062413,000638: 16,3125 31262 CA RCSFLAGS 062414,000639: 16,3126 74741 MASK QRBIT 062415,000640: 16,3127 00006 EXTEND 062416,000641: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED. 062417,000642: 16,3131 13217 TCF RATEDAMP 062418,000643: # ============================================ 062419,000644: 16,3132 4753 1/10SEC = BIT1 062420,000645: 16,3132 4771 40CYC = OCT50 062421,000646: 16,3132 74777 PQRBIT OCT 74777 062422,000647: 16,3133 5014 BITS9,11 EQUALS EBANK5 062423,000648: 16,3133 00056 LINRATP DEC 46 B-14 062424,000649: # ============================================ 062425,000650: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN 062426,000651: 16,3135 00004 INHINT # ALL AXES. 062427,000652: 16,3136 70111 MASK DAPBOOLS 062428,000653: 16,3137 54111 TS DAPBOOLS 062429,000654: 062430,000655: # READ CDUS INTO CDU DESIRED REGISTERS 062431,000656: 062432,000657: 16,3140 34737 CAF BIT13 062433,000658: 16,3141 00006 EXTEND 062434,000659: 16,3142 02031 RAND CHAN31 062435,000660: 16,3143 00006 EXTEND 062436,000661: 16,3144 13150 BZF +4 062437,000662: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE) 062438,000663: 16,3146 55634 TS CDUXD 062439,000664: 16,3147 03152 TC +3 062440,000665: 16,3150 04674 TC IBNKCALL 062441,000666: 16,3151 40154 FCADR ZATTEROR 062442,000667: 16,3152 00003 RELINT 062443,000668: 16,3153 13466 TCF PURGENCY 062444,000669: 062445,000670: 16,3154 55464 JUSTOUT TS PERROR # INITIALIZATION - FIRST MANUAL PASS (A=0) 062446,000671: 16,3155 55446 TS DXERROR 062447,000672: 16,3156 55447 TS DXERROR +1 062448,000673: 16,3157 55450 TS DYERROR 062449,000674: 16,3160 55451 TS DYERROR +1 062450,000675: 16,3161 55452 TS DZERROR 062451,000676: 16,3162 55453 TS DZERROR +1 062452,000677: 16,3163 55454 TS PLAST 062453,000678: 16,3164 55455 TS QLAST 062454,000679: 16,3165 55456 TS RLAST 062455,000680: 16,3166 54042 TS Q-RHCCTR 062456,000681: 16,3167 54044 TS R-RHCCTR 062457,000682: 16,3170 33132 CA PQRBIT 062458,000683: 16,3171 71262 MASK RCSFLAGS 062459,000684: 16,3172 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0. 062460,000685: 16,3173 03200 TC ZEROENBL 062461,000686: 16,3174 34740 CA OURRCBIT # SET INTERNAL RATE COMMAND FLAG (WHICH 062462,000687: 16,3175 26111 ADS DAPBOOLS # WAS FOUND TO BE ZERO EARLIER)
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Page 1422 |
062464,000689: 16,3176 00003 RELINT 062465,000690: 16,3177 13445 TCF JETSOFF 062466,000691: 16,3200 22044 ZEROENBL LXCH R-RHCCTR 062467,000692: 16,3201 30042 CA Q-RHCCTR 062468,000693: 16,3202 53463 DXCH SAVEHAND 062469,000694: 16,3203 34755 CA ZERO 062470,000695: 16,3204 54043 TS P-RHCCTR 062471,000696: 16,3205 54042 TS Q-RHCCTR 062472,000697: 16,3206 54044 TS R-RHCCTR 062473,000698: 16,3207 00004 INHINT 062474,000699: 16,3210 00006 EXTEND 062475,000700: 16,3211 23265 QXCH C13QSAV 062476,000701: 16,3212 06022 TC C13STALL 062477,000702: 062478,000703: 16,3213 33622 CA BITS8,9 062479,000704: 16,3214 00006 EXTEND 062480,000705: 16,3215 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED 062481,000706: 16,3216 01265 TC C13QSAV 062482,000707: 062483,000708: 16,3217 34755 RATEDAMP CA ZERO 062484,000709: 16,3220 54043 TS P-RHCCTR 062485,000710: 16,3221 13231 TCF RATERROR 062486,000711: 062487,000712: 16,3222 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1 062488,000713: 16,3223 74743 MASK BIT9 062489,000714: 16,3224 27262 ADS RCSFLAGS 062490,000715: 16,3225 34740 CA OURRCBIT # P CONTROL 062491,000716: 16,3226 70111 MASK DAPBOOLS 062492,000717: 16,3227 00006 EXTEND 062493,000718: 16,3230 13154 BZF JUSTOUT 062494,000719: 16,3231 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING 062495,000720: 16,3232 55634 TS CDUXD # X-AXIS OVERRIDE 062496,000721: 16,3233 10043 CCS P-RHCCTR 062497,000722: 16,3234 13237 TCF +3 062498,000723: 16,3235 13237 TCF +2 062499,000724: 16,3236 13237 TCF +1 062500,000725: 16,3237 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING 062501,000726: 16,3240 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS 062502,000727: 16,3241 63133 AD LINRATP # AUTOPILOT) 062503,000728: 16,3242 00006 EXTEND 062504,000729: 16,3243 70043 MP P-RHCCTR 062505,000730: 16,3244 30001 CA L 062506,000731: 16,3245 00006 EXTEND 062507,000732: 16,3246 71444 MP STIKSENS 062508,000733: 16,3247 57454 XCH PLAST 062509,000734: 16,3250 40000 COM 062510,000735: 16,3251 61454 AD PLAST 062511,000736: 16,3252 55736 TS DAPTEMP1 062512,000737: 16,3253 03200 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS. 062513,000738: 16,3254 00003 RELINT
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Page 1423 |
062515,000740: 16,3255 41454 CS PLAST 062516,000741: 16,3256 61421 AD OMEGAP 062517,000742: 16,3257 55427 TS EDOTP 062518,000743: 16,3260 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT 062519,000744: 16,3261 13264 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT 062520,000745: 16,3262 13272 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME. 062521,000746: 16,3263 13264 TCF +1 062522,000747: 16,3264 61476 AD -RATEDB 062523,000748: 16,3265 00006 EXTEND 062524,000749: 16,3266 63272 BZMF +4 062525,000750: 16,3267 34771 CA 40CYC 062526,000751: 16,3270 55445 TS TCP 062527,000752: 16,3271 03303 TC PEGI 062528,000753: 16,3272 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME. 062529,000754: 16,3273 74742 MASK PBIT 062530,000755: 16,3274 00006 EXTEND 062531,000756: 16,3275 13277 BZF +2 062532,000757: 16,3276 03303 TC PEGI # TO PURE RATE COMMAND 062533,000758: 16,3277 31446 CA DXERROR # PSEUDO-AUTO CONTROL. 062534,000759: 16,3300 55751 TS E # X-ATTITUDE ERROR (SP) 062535,000760: 16,3301 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY 062536,000761: 16,3302 03472 TC PURGENCY +4 062537,000762: 16,3303 30032 PEGI CA CDUX # DIRECT RATE CONTROL. 062538,000763: 16,3304 55634 TS CDUXD 062539,000764: 16,3305 34755 CA ZERO 062540,000765: 16,3306 55446 TS DXERROR 062541,000766: 16,3307 55447 TS DXERROR +1 062542,000767: 16,3310 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY 062543,000768: 16,3311 11427 CCS EDOTP 062544,000769: 16,3312 03315 TC +3 062545,000770: 16,3313 03315 TC +2 062546,000771: 16,3314 03315 TC +1 062547,000772: 16,3315 55736 TS ABSEDOTP 062548,000773: 16,3316 61476 AD TARGETDB 062549,000774: 16,3317 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND, 062550,000775: 16,3320 63330 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO. 062551,000776: 16,3321 31445 CA TCP 062552,000777: 16,3322 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC., 062553,000778: 16,3323 63330 BZMF LAST 062554,000779: 16,3324 41262 CS RCSFLAGS 062555,000780: 16,3325 74742 MASK PBIT 062556,000781: 16,3326 27262 ADS RCSFLAGS # BIT 10 IS 1. 062557,000782: 16,3327 13333 TCF +4 062558,000783: 16,3330 44742 LAST CS PBIT 062559,000784: 16,3331 71262 MASK RCSFLAGS 062560,000785: 16,3332 55262 TS RCSFLAGS # BIT 10 IS 0. 062561,000786: 16,3333 41427 CS EDOTP 062562,000787: 16,3334 00006 EXTEND 062563,000788: 16,3335 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI 062564,000789: 16,3336 20001 DAS A
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Page 1424 |
062566,000791: 16,3337 02310 TC OVERSUB 062567,000792: 16,3340 00006 EXTEND 062568,000793: 16,3341 77730 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25) 062569,000794: 16,3342 55524 TS TJP # 4.JET TIME 062570,000795: 16,3343 31736 CA ABSEDOTP 062571,000796: 16,3344 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT 062572,000797: 16,3345 00006 EXTEND 062573,000798: 16,3346 63351 BZMF +3 062574,000799: 062575,000800: 16,3347 36254 CA SIX 062576,000801: 16,3350 13360 TCF +8D 062577,000802: 16,3351 31524 CA TJP 062578,000803: 16,3352 27524 ADS TJP 062579,000804: # GOES TO PJETSLEC FOR TWO JETS 062580,000805: 062581,000806: # P-JET-SELECTION-ROUTINE (ROTATION) 062582,000807: 062583,000808: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS 062584,000809: # TJP + FOR +P ROTATION 062585,000810: 062586,000811: # OUTPUT: CHANNEL 6 062587,000812: # PJUMPADR FOR P-AXIS SKIP 062588,000813: # (JTLST CALL) (SMALL TJP) 062589,000814: 062590,000815: # ORDER OF POLICIES TRIED IN CASE OF FAILURE. 062591,000816: # +P -P 062592,000817: # 7,15 8,16 062593,000818: # 4,12 3,11 062594,000819: # 4,7 8,11 062595,000820: # 7,12 11,16 062596,000821: # 12,15 3,16 062597,000822: # 4,15 3,8 062598,000823: # ALARM ALARM 062599,000824: 16,3353 34747 CA AORBSYST 062600,000825: 16,3354 70101 MASK FLAGWRD5 062601,000826: 16,3355 10000 CCS A 062602,000827: 16,3356 34753 CA ONE 062603,000828: 16,3357 64751 AD FOUR 062604,000829: 16,3360 55742 TS NUMBERT 062605,000830: 16,3361 34753 PJETSLEC CA ONE 062606,000831: 16,3362 54001 TS L 062607,000832: 16,3363 11524 CCS TJP 062608,000833: 16,3364 13371 TCF +5 062609,000834: 16,3365 13445 TCF JETSOFF 062610,000835: 16,3366 13370 TCF +2 062611,000836: 16,3367 13445 TCF JETSOFF 062612,000837: 16,3370 22007 ZL 062613,000838: 16,3371 64753 AD ONE 062614,000839: 16,3372 55736 TS ABSTJ 062615,000840: 16,3373 23743 LXCH ROTINDEX
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Page 1425 |
062617,000842: 16,3374 03534 TC SELECTP 062618,000843: 16,3375 46254 CS SIX 062619,000844: 16,3376 61742 AD NUMBERT 062620,000845: 16,3377 00006 EXTEND 062621,000846: 16,3400 13402 BZF +2 062622,000847: 062623,000848: 16,3401 44752 CS TWO 062624,000849: 16,3402 64751 AD FOUR 062625,000850: 16,3403 55521 TS NO.PJETS 062626,000851: 16,3404 31740 CA POLYTEMP 062627,000852: 16,3405 05755 TC WRITEP 062628,000853: 16,3406 41736 CS ABSTJ 062629,000854: 16,3407 63615 AD +150MST6 062630,000855: 16,3410 00006 EXTEND 062631,000856: 16,3411 63627 BZMF QRAXIS # GO TO QRAXIS OR TO GTS. 062632,000857: 062633,000858: 16,3412 63575 AD -136MST6 062634,000859: 16,3413 00006 EXTEND 062635,000860: 16,3414 63421 BZMF +5 062636,000861: 062637,000862: 16,3415 27736 ADS ABSTJ 062638,000863: 16,3416 51743 INDEX ROTINDEX 062639,000864: 16,3417 33624 CA MINTIMES 062640,000865: 16,3420 55524 TS TJP 062641,000866: 062642,000867: 16,3421 31736 CA ABSTJ 062643,000868: 16,3422 22007 ZL 062644,000869: 16,3423 00004 INHINT 062645,000870: 16,3424 53471 DXCH T6FURTHA 062646,000871: 16,3425 04674 TC IBNKCALL 062647,000872: 16,3426 37143 CADR JTLST 062648,000873: 16,3427 44740 CS BIT12 062649,000874: 16,3430 71262 MASK RCSFLAGS 062650,000875: 16,3431 55262 TS RCSFLAGS # BIT 12 SET TO 0. 062651,000876: 16,3432 03434 TC ALTSYST 062652,000877: 16,3433 13627 TCF QRAXIS 062653,000878: 062654,000879: 16,3434 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS 062655,000880: 16,3435 54001 TS L 062656,000881: 16,3436 34747 CA AORBSYST 062657,000882: 16,3437 00006 EXTEND 062658,000883: 16,3440 06001 RXOR LCHAN 062659,000884: 16,3441 54101 TS FLAGWRD5 062660,000885: 16,3442 00003 RELINT 062661,000886: 16,3443 00002 TC Q 062662,000887: 062663,000888: 16,3444 03434 DKALT TC ALTSYST 062664,000889: 062665,000890: 16,3445 05754 JETSOFF TC WRITEP -1 062666,000891: 16,3446 34755 CA ZERO
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Page 1426 |
062668,000893: 16,3447 55524 TS TJP 062669,000894: 16,3450 13627 TCF QRAXIS 062670,000895: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.) 062671,000896: 062672,000897: 16,3451 30033 CALCPERR CA CDUY # P-ERROR CALCULATION. 062673,000898: 16,3452 00006 EXTEND 062674,000899: 16,3453 21635 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS) 062675,000900: 16,3454 00006 EXTEND 062676,000901: 16,3455 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS 062677,000902: 16,3456 57751 XCH E # SAVE FIRST TERM (OF TWO) 062678,000903: 16,3457 30032 CA CDUX # THIRD COMPONENT 062679,000904: 16,3460 00006 EXTEND 062680,000905: 16,3461 21634 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS) 062681,000906: # EXTEND 062682,000907: # MP M13 062683,000908: 16,3462 61274 AD DELPEROR # KALCMANU INERFACE ERROR 062684,000909: 16,3463 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW. 062685,000910: 16,3464 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY. 062686,000911: 16,3465 00002 TC Q # RETURN TO CALLER 062687,000912: 062688,000913: # P-AXIS URGENCY FUNCTION CALCULATION. 062689,000914: 062690,000915: 16,3466 03451 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS. 062691,000916: 16,3467 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND 062692,000917: 16,3470 61421 AD OMEGAP # SPS-BACKUP MODE. 062693,000918: 16,3471 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC 062694,000919: 062695,000920: 062696,000921: 16,3472 44753 CS ONE 062697,000922: 16,3473 55505 TS AXISCTR 062698,000923: 16,3474 30111 CA DAPBOOLS 062699,000924: 16,3475 74737 MASK CSMDOCKD 062700,000925: 16,3476 00006 EXTEND 062701,000926: 16,3477 13510 BZF HEADTJET 062702,000927: 16,3500 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC 062703,000928: 16,3501 04674 TC IBNKCALL 062704,000929: 16,3502 43641 CADR SPSRCS 062705,000930: 062706,000931: 16,3503 31524 CA TJP 062707,000932: 16,3504 00006 EXTEND 062708,000933: 16,3505 13444 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST. 062709,000934: 16,3506 00003 RELINT 062710,000935: 16,3507 13353 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS 062711,000936: 16,3510 34755 HEADTJET CA ZERO 062712,000937: 16,3511 55500 TS SENSETYP 062713,000938: 16,3512 00004 INHINT 062714,000939: 16,3513 04674 TC IBNKCALL 062715,000940: 16,3514 37304 CADR TJETLAW 062716,000941: 16,3515 00003 RELINT 062717,000942:
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Page 1427 |
062719,000944: 16,3516 41740 CS FIREFCT 062720,000945: 16,3517 63533 AD -FOURDEG 062721,000946: 16,3520 00006 EXTEND 062722,000947: 16,3521 63353 BZMF PJETSLEC -6 062723,000948: 16,3522 11524 CCS TJP 062724,000949: 16,3523 13525 TCF +2 062725,000950: 16,3524 13445 TCF JETSOFF 062726,000951: 16,3525 63532 AD -160MST6 062727,000952: 16,3526 00006 EXTEND 062728,000953: 16,3527 63353 BZMF PJETSLEC -6 062729,000954: 16,3530 36254 CA SIX 062730,000955: 16,3531 13360 TCF PJETSLEC -1 062731,000956: 16,3532 77377 -160MST6 DEC -256 B-14 062732,000957: 16,3533 75117 -FOURDEG DEC -.08888 062733,000958:
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Page 1428 |
062735,000960: # JET POLICY CONSTRUCTION SUBROUTINE 062736,000961: 062737,000962: # INPUT: ROTINDEX, NUMBERT 062738,000963: 062739,000964: # OUTPUT: POLYTEMP (JET POLICY) 062740,000965: 062741,000966: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE 062742,000967: 16,3534 36254 SELECTP CA SIX 062743,000968: 16,3535 55741 TS TEMPNUM 062744,000969: 16,3536 51742 INDEX NUMBERT 062745,000970: 16,3537 33566 CA TYPEP 062746,000971: 16,3540 51743 INDEX ROTINDEX 062747,000972: 16,3541 73557 MASK JETSALL 062748,000973: 16,3542 55740 TS POLYTEMP 062749,000974: 16,3543 71260 MASK CH6MASK 062750,000975: 16,3544 10000 CCS A 062751,000976: 16,3545 13547 TCF +2 062752,000977: 16,3546 00002 TC Q 062753,000978: 16,3547 11741 CCS TEMPNUM 062754,000979: 16,3550 13554 TCF +4 062755,000980: 16,3551 05600 TC ALARM 062756,000981: 16,3552 02003 OCT 02003 062757,000982: 16,3553 13445 TCF JETSOFF # *****TCF ALARMJET ********************* 062758,000983: 16,3554 55742 SELECTYZ TS NUMBERT 062759,000984: 16,3555 13535 TCF SELECTP +1 062760,000985: 16,3556 12773 -1 TCF ABORTYZ +2 062761,000986: 16,3557 00252 JETSALL OCT 00252 062762,000987: 16,3560 00125 OCT 00125 # +P 062763,000988: 16,3561 00140 OCT 00140 # -Y 062764,000989: 16,3562 00006 OCT 00006 # -Z 062765,000990: 16,3563 00220 OCT 00220 # +Y 062766,000991: 16,3564 00011 OCT 00011 # +Z 062767,000992: 16,3565 00151 OCT 00151 # +V 062768,000993: 16,3566 00146 TYPEP OCT 00146 # -U 062769,000994: 16,3567 00226 OCT 00226 # -V 062770,000995: 16,3570 00231 OCT 00231 # +U 062771,000996: 16,3571 00151 OCT 00151 # +V 062772,000997: 16,3572 00132 OCT 00132 # 1-3 062773,000998: 16,3573 00245 OCT 00245 # 2-4 062774,000999: 16,3574 00377 OCT 00377 # ALL 062775,001000: 16,3575 16,3575 INDXYZ = -136MST6 062776,001001: 16,3575 77445 -136MST6 DEC -218 B-14 062777,001002: 16,3576 00004 DEC 4 B-14 062778,001003: 16,3577 00002 DEC 2 B-14 062779,001004: 16,3600 07776 OCT 07776 062780,001005: 16,3601 00005 DEC 5 B-14 062781,001006: 16,3602 00011 DEC 9 B-14 062782,001007: 16,3603 00012 DEC 10 B-14 062783,001008: 16,3604 07776 OCT 07776 062784,001009: 16,3605 00003 DEC 3 B-14
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Page 1429 |
062786,001011: 16,3606 00010 DEC 8 B-14 062787,001012: 16,3607 00007 DEC 7 B-14 062788,001013: 16,3610 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL 062789,001014: 16,3611 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4 062790,001015: 16,3612 07776 OCT 07776 # TO BE TC JETSALL -1 062791,001016: 16,3613 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE 062792,001017: 16,3614 07776 OCT 07776 062793,001018: 16,3615 00360 +150MST6 DEC 240 B-14 062794,001019: 16,3616 07400 07400OCT OCT 07400 062795,001020: # T-JET LAW FIXED CONSTANTS 062796,001021: 062797,001022: 16,3617 00266 NORMSCL OCT 266 062798,001023: 16,3620 74631 -100MS DEC -.1 062799,001024: 16,3621 06315 200MS DEC .2 062800,001025: 16,3622 7730 25/32 = PRIO31 # (DEC .78125) 062801,001026: 16,3622 00600 BITS8,9 OCTAL 00600 062802,001027: 16,3623 00632 1/40 DEC .02500 062803,001028: 16,3624 77751 MINTIMES DEC -22 B-14 062804,001029: 16,3625 00026 DEC 22 B-14 062805,001030: 16,3626 02734 PSKIPADR GENADR SKIPPAXS 062806,001031: 062807,001032: # GOES TO Q,R-AXES RCS AUTOPILOT 062808,001033: 16,3627 41644 QRAXIS CS OMEGARD 062809,001034: 16,3630 61423 AD OMEGAR 062810,001035: 16,3631 02310 TC OVERSUB 062811,001036: 16,3632 55437 TS EDOTR 062812,001037: 16,3633 41643 CS OMEGAQD 062813,001038: 16,3634 61422 AD OMEGAQ 062814,001039: 16,3635 02310 TC OVERSUB 062815,001040: 16,3636 55436 TS EDOTQ 062816,001041: 16,3637 00006 EXTEND 062817,001042: 16,3640 33643 DCA QERRCALL 062818,001043: 16,3641 52006 DTCB 062819,001044: 062820,001045: 16,3642 E6,1536 EBANK= AOSQ 062821,001046: 16,3642 02124 36106 QERRCALL 2CADR CALLQERR 062822,001047: End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc