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. |
061762,000002: ## Copyright: Public domain.
061763,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
061764,000004: ## Purpose: A log section of Zerlina 56, the final revision of
061765,000005: ## Don Eyles's offline development program for the variable
061766,000006: ## guidance period servicer. It also includes a new P66 with LPD
061767,000007: ## (Landing Point Designator) capability, based on an idea of John
061768,000008: ## Young's. Neither of these advanced features were actually flown,
061769,000009: ## but Zerlina was also the birthplace of other big improvements to
061770,000010: ## Luminary including the terrain model and new (Luminary 1E)
061771,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
061772,000012: ## and revision 56 includes all changes up to and including Luminary
061773,000013: ## 183. It is therefore quite close to the Apollo 14 program,
061774,000014: ## Luminary 178, where not modified with new features.
061775,000015: ## Reference: pp. 1409-1429
061776,000016: ## Assembler: yaYUL
061777,000017: ## Contact: Ron Burkey <info@sandroid.org>.
061778,000018: ## Website: www.ibiblio.org/apollo/index.html
061779,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
061780,000020: ## 2017-08-22 MAS Updated for Zerlina 56.
061781,000021:
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Page 1409 |
061783,000023: 16,2213 BANK 16
061784,000024: 16,2000 SETLOC DAPS1
061785,000025: 16,2000 BANK
061786,000026:
061787,000027: 16,2213 E6,1464 EBANK= PERROR
061788,000028: 16,2213 COUNT* $$/DAPP
061789,000029:
061790,000030: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
061791,000031: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
061792,000032:
061793,000033: 16,2213 37741 PAXIS CA MS100
061794,000034: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
061795,000035: # CHRONIZATION WITH OTHER INTERRUPTS ***
061796,000036:
061797,000037: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
061798,000038: 16,2216 00006 EXTEND
061799,000039: 16,2217 22012 QXCH QRUPT
061800,000040:
061801,000041: # CHECK IF DAP PASS IS PERMISSIBLE
061802,000042:
061803,000043: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
061804,000044: 16,2221 05635 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
061805,000045: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO
061806,000046:
061807,000047: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
061808,000048:
061809,000049: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
061810,000050: 16,2225 55747 TS DAPTREG4
061811,000051: 16,2226 30033 CA CDUY
061812,000052: 16,2227 55750 TS DAPTREG5
061813,000053: 16,2230 30034 CA CDUZ
061814,000054: 16,2231 55751 TS DAPTREG6
061815,000055: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
061816,000056:
061817,000057: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
061818,000058: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
061819,000059:
061820,000060: 16,2232 31634 CA CDUXD
061821,000061: 16,2233 00006 EXTEND
061822,000062: 16,2234 21637 MSU DELCDUX
061823,000063: 16,2235 02256 TC 1STOTWOS
061824,000064: 16,2236 55634 TS CDUXD
061825,000065: 16,2237 31635 CA CDUYD
061826,000066: 16,2240 00006 EXTEND
061827,000067: 16,2241 21640 MSU DELCDUY
061828,000068: 16,2242 02256 TC 1STOTWOS
061829,000069: 16,2243 55635 TS CDUYD
061830,000070: 16,2244 31636 CA CDUZD
061831,000071: 16,2245 00006 EXTEND
061832,000072: 16,2246 21641 MSU DELCDUZ
061833,000073:
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Page 1410 |
061835,000075: 16,2247 02256 TC 1STOTWOS
061836,000076: 16,2250 55636 TS CDUZD
061837,000077: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
061838,000078: 16,2252 27445 DIM TCP # TIME COUNTERS.
061839,000079: 16,2253 00006 EXTEND
061840,000080: 16,2254 27457 DIM TCQR
061841,000081: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
061842,000082: # RETURNS TO BACKP.
061843,000083:
061844,000084: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
061845,000085:
061846,000086: # JETRATEQ= 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
061847,000087:
061848,000088: # JETRATER= 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
061849,000089:
061850,000090: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
061851,000091: 16,2256 10000 1STOTWOS CCS A
061852,000092: 16,2257 64753 AD ONE
061853,000093: 16,2260 00002 TC Q
061854,000094: 16,2261 40000 CS A
061855,000095: 16,2262 00002 TC Q
061856,000096: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
061857,000097: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
061858,000098: 16,2265 21427 DAS OMEGAU # OVERFLOW
061859,000099:
061860,000100: 16,2266 00006 +3 EXTEND
061861,000101: 16,2267 31427 DCA OMEGAU
061862,000102: 16,2270 53743 DXCH DAPTEMP5
061863,000103: 16,2271 11426 CCS OMEGAU
061864,000104: 16,2272 12274 TCF +2
061865,000105: 16,2273 12304 TCF DIVIDER
061866,000106: 16,2274 62315 AD -OCT630
061867,000107: 16,2275 00006 EXTEND
061868,000108: 16,2276 62304 BZMF DIVIDER
061869,000109:
061870,000110: 16,2277 11426 CCS OMEGAU
061871,000111: 16,2300 34733 CA POSMAX # 45 DEG/SEC
061872,000112: 16,2301 00002 TC Q
061873,000113: 16,2302 44733 CS POSMAX
061874,000114: 16,2303 00002 TC Q
061875,000115:
061876,000116: 16,2304 53427 DIVIDER DXCH OMEGAU
061877,000117: 16,2305 00006 EXTEND
061878,000118: 16,2306 11747 DV DAPTREG4
061879,000119: 16,2307 00002 TC Q
061880,000120:
061881,000121: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061882,000122: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061883,000123: 16,2312 50000 INDEX A
061884,000124: 16,2313 44734 CS BIT15 -1
061885,000125:
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Page 1411 |
061887,000127: 16,2314 00002 TC Q
061888,000128:
061889,000129: 16,2315 77147 -OCT630 OCT 77147
061890,000130:
061891,000131: 16,2316 31736 BACKP CA DAPTEMP1
061892,000132: 16,2317 00006 EXTEND
061893,000133: 16,2320 71530 MP 1JACC
061894,000134: 16,2321 55744 TS JETRATE
061895,000135: # BEGINNING OF THE RATE DERIVATION
061896,000136: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
061897,000137: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
061898,000138: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
061899,000139: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
061900,000140: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
061901,000141: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP,ECT.
061902,000142: # OMEGAU DP-TEMPORARY STORAGE
061903,000143:
061904,000144: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
061905,000145:
061906,000146: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE
061907,000147: 16,2323 54001 TS L
061908,000148: 16,2324 00006 EXTEND
061909,000149: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
061910,000150: 16,2326 23440 LXCH OLDXFORP
061911,000151: 16,2327 55736 TS DAPTEMP1
061912,000152: 16,2330 33623 CA 1/40
061913,000153: 16,2331 55747 TS DAPTREG4
061914,000154: 16,2332 41744 CS JETRATE
061915,000155: 16,2333 00006 EXTEND
061916,000156: 16,2334 74736 MP BIT14
061917,000157: 16,2335 27430 ADS TRAPEDP
061918,000158: 16,2336 31745 CA JETRATEQ
061919,000159: 16,2337 61544 AD AOSQTERM
061920,000160: 16,2340 00006 EXTEND
061921,000161: 16,2341 77750 MP -BIT14
061922,000162: 16,2342 27431 ADS TRAPEDQ
061923,000163: 16,2343 31746 CA JETRATER
061924,000164: 16,2344 61545 AD AOSRTERM
061925,000165: 16,2345 00006 EXTEND
061926,000166: 16,2346 77750 MP -BIT14
061927,000167: 16,2347 27432 ADS TRAPEDR
061928,000168:
061929,000169: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE
061930,000170: 16,2351 54001 TS L
061931,000171: 16,2352 00006 EXTEND
061932,000172: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
061933,000173: 16,2354 23441 LXCH OLDYFORP
061934,000174: 16,2355 55737 TS DAPTEMP2
061935,000175: 16,2356 00006 EXTEND
061936,000176: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1412 |
061938,000178: 16,2360 61736 AD DAPTEMP1
061939,000179: 16,2361 53427 DXCH OMEGAU
061940,000180:
061941,000181: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
061942,000182:
061943,000183: 16,2363 00006 EXTEND
061944,000184: 16,2364 61421 SU OMEGAP
061945,000185: 16,2365 27430 ADS TRAPEDP
061946,000186: 16,2366 02310 TC OVERSUB
061947,000187: 16,2367 55430 TS TRAPEDP
061948,000188: 16,2370 00006 EXTEND
061949,000189: 16,2371 31743 DCA DAPTEMP5
061950,000190: 16,2372 21447 DAS DXERROR
061951,000191: 16,2373 41454 CS PLAST
061952,000192: 16,2374 00006 EXTEND
061953,000193: 16,2375 73623 MP 1/40
061954,000194: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
061955,000195: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE
061956,000196: 16,2400 54001 TS L
061957,000197: 16,2401 00006 EXTEND
061958,000198: 16,2402 21442 MSU OLDZFORQ
061959,000199: 16,2403 55740 TS DAPTEMP3
061960,000200: 16,2404 23442 LXCH OLDZFORQ
061961,000201: 16,2405 31415 CA M21
061962,000202: 16,2406 00006 EXTEND
061963,000203: 16,2407 71737 MP DAPTEMP2
061964,000204: 16,2410 53427 DXCH OMEGAU
061965,000205: 16,2411 31417 CA M22
061966,000206: 16,2412 02263 TC SUBDIVDE
061967,000207:
061968,000208: 16,2413 00006 EXTEND
061969,000209: 16,2414 61422 SU OMEGAQ
061970,000210: 16,2415 27431 ADS TRAPEDQ
061971,000211: 16,2416 02310 TC OVERSUB
061972,000212: 16,2417 55431 TS TRAPEDQ
061973,000213: 16,2420 00006 EXTEND
061974,000214: 16,2421 31743 DCA DAPTEMP5
061975,000215: 16,2422 21451 DAS DYERROR
061976,000216: 16,2423 41455 CS QLAST
061977,000217: 16,2424 00006 EXTEND
061978,000218: 16,2425 73623 MP 1/40
061979,000219: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
061980,000220: 16,2427 31416 CA M31
061981,000221: 16,2430 00006 EXTEND
061982,000222: 16,2431 71737 MP DAPTEMP2
061983,000223: 16,2432 53427 DXCH OMEGAU
061984,000224: 16,2433 31420 CA M32
061985,000225:
061986,000226: 16,2434 02263 TC SUBDIVDE
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Page 1413 |
061988,000228: 16,2435 00006 EXTEND
061989,000229: 16,2436 61423 SU OMEGAR
061990,000230: 16,2437 27432 ADS TRAPEDR
061991,000231: 16,2440 02310 TC OVERSUB
061992,000232: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
061993,000233:
061994,000234: 16,2442 00006 EXTEND
061995,000235: 16,2443 31743 DCA DAPTEMP5
061996,000236: 16,2444 21453 DAS DZERROR
061997,000237: 16,2445 41456 CS RLAST
061998,000238: 16,2446 00006 EXTEND
061999,000239: 16,2447 73623 MP 1/40
062000,000240: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
062001,000241: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
062002,000242: 16,2452 74737 MASK CSMDOCKD
062003,000243: 16,2453 00006 EXTEND
062004,000244: 16,2454 12462 BZF LMONLY
062005,000245: 16,2455 00006 EXTEND # DOCKED
062006,000246: 16,2456 31405 DCA DKOMEGAN
062007,000247: 16,2457 53750 DXCH DAPTREG4
062008,000248: 16,2460 31403 CA DKTRAP
062009,000249: 16,2461 12466 TCF +5
062010,000250: 16,2462 00006 LMONLY EXTEND # UNDOCKED
062011,000251: 16,2463 31410 DCA LMOMEGAN
062012,000252: 16,2464 53750 DXCH DAPTREG4
062013,000253: 16,2465 31406 CA LMTRAP
062014,000254: 16,2466 55751 +5 TS DAPTREG6
062015,000255: 16,2467 11430 CCS TRAPEDP
062016,000256: 16,2470 12472 TCF +2
062017,000257: 16,2471 12507 TCF SMALPDIF
062018,000258: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
062019,000259: 16,2473 00006 EXTEND
062020,000260: 16,2474 62507 BZMF SMALPDIF
062021,000261: 16,2475 22007 ZL
062022,000262: 16,2476 23430 LXCH TRAPEDP
062023,000263: 16,2477 34755 CA ZERO
062024,000264: 16,2500 00006 EXTEND
062025,000265: 16,2501 11433 DV NPTRAPS
062026,000266: 16,2502 27421 ADS OMEGAP
062027,000267: 16,2503 02310 TC OVERSUB
062028,000268: 16,2504 55421 TS OMEGAP
062029,000269: 16,2505 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
062030,000270: 16,2506 55433 TS NPTRAPS
062031,000271: 16,2507 25433 SMALPDIF INCR NPTRAPS
062032,000272: 16,2510 31744 P-RATE CA JETRATE
062033,000273: 16,2511 27421 ADS OMEGAP
062034,000274: 16,2512 02310 TC OVERSUB
062035,000275: 16,2513 55421 TS OMEGAP
062036,000276:
062037,000277: 16,2514 11431 CCS TRAPEDQ
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Page 1414 |
062039,000279: 16,2515 12517 TCF +2
062040,000280: 16,2516 12544 TCF Q-RATE
062041,000281: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
062042,000282: 16,2520 00006 EXTEND
062043,000283: 16,2521 62544 BZMF Q-RATE
062044,000284: 16,2522 22007 ZL
062045,000285: 16,2523 23431 LXCH TRAPEDQ
062046,000286: 16,2524 34755 CA ZERO
062047,000287: 16,2525 00006 EXTEND
062048,000288: 16,2526 11434 DV NQTRAPS
062049,000289: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
062050,000290: 16,2530 27422 ADS OMEGAQ
062051,000291: 16,2531 02310 TC OVERSUB
062052,000292: 16,2532 55422 TS OMEGAQ
062053,000293: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
062054,000294: 16,2534 57434 XCH NQTRAPS
062055,000295: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
062056,000296: 16,2536 57736 XCH DAPTEMP1
062057,000297: 16,2537 00006 EXTEND
062058,000298: 16,2540 74756 MP FIVE
062059,000299: 16,2541 00006 EXTEND
062060,000300: 16,2542 11736 DV DAPTEMP1
062061,000301: 16,2543 27536 ADS AOSQ
062062,000302: 16,2544 25434 Q-RATE INCR NQTRAPS
062063,000303: 16,2545 31745 CA JETRATEQ
062064,000304: 16,2546 61544 AD AOSQTERM
062065,000305: 16,2547 27422 ADS OMEGAQ
062066,000306: 16,2550 02310 TC OVERSUB
062067,000307: 16,2551 55422 TS OMEGAQ
062068,000308:
062069,000309: 16,2552 11432 CCS TRAPEDR
062070,000310: 16,2553 12555 TCF +2
062071,000311: 16,2554 12602 TCF R-RATE
062072,000312: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
062073,000313: 16,2556 00006 EXTEND
062074,000314: 16,2557 62602 BZMF R-RATE
062075,000315: 16,2560 22007 ZL
062076,000316: 16,2561 23432 LXCH TRAPEDR
062077,000317: 16,2562 34755 CA ZERO
062078,000318: 16,2563 00006 EXTEND
062079,000319: 16,2564 11435 DV NRTRAPS
062080,000320: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
062081,000321: 16,2566 27423 ADS OMEGAR
062082,000322: 16,2567 02310 TC OVERSUB
062083,000323: 16,2570 55423 TS OMEGAR
062084,000324: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
062085,000325: 16,2572 57435 XCH NRTRAPS
062086,000326: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
062087,000327: 16,2574 57737 XCH DAPTEMP2
062088,000328: 16,2575 00006 EXTEND
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Page 1415 |
062090,000330: 16,2576 74756 MP FIVE
062091,000331: 16,2577 00006 EXTEND
062092,000332: 16,2600 11737 DV DAPTEMP2
062093,000333: 16,2601 27540 ADS AOSR
062094,000334: 16,2602 25435 R-RATE INCR NRTRAPS
062095,000335: 16,2603 31746 CA JETRATER
062096,000336: 16,2604 61545 AD AOSRTERM
062097,000337: 16,2605 27423 ADS OMEGAR
062098,000338: 16,2606 02310 TC OVERSUB
062099,000339: 16,2607 55423 TS OMEGAR
062100,000340:
062101,000341: # END OF RATE DERIVATION
062102,000342:
062103,000343: # BEGIN OFFSET ESTIMATER
062104,000344:
062105,000345: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
062106,000346:
062107,000347: # AOS = AOS + K*SUMRATE
062108,000348:
062109,000349: 16,2610 40111 CS DAPBOOLS
062110,000350: 16,2611 74744 MASK DRIFTBIT
062111,000351: 16,2612 10000 CCS A
062112,000352: 16,2613 12624 TCF WORKTIME
062113,000353: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
062114,000354: 16,2615 55425 TS ALPHAR
062115,000355: 16,2616 55544 TS AOSQTERM
062116,000356: 16,2617 55545 TS AOSRTERM
062117,000357: 16,2620 55536 TS AOSQ
062118,000358: 16,2621 55540 TS AOSR
062119,000359: 16,2622 12667 TCF PRETIMCK
062120,000360: 16,2623 00074 KAOS DEC 60 B-14
062121,000361: 16,2624 31510 WORKTIME CA QACCDOT
062122,000362: 16,2625 00006 EXTEND
062123,000363: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
062124,000364: 16,2627 21537 DAS AOSQ
062125,000365: 16,2630 31536 CA AOSQ
062126,000366: 16,2631 55424 TS ALPHAQ
062127,000367: 16,2632 00006 EXTEND
062128,000368: 16,2633 73621 MP 200MS # .2 AT 1
062129,000369: 16,2634 55544 TS AOSQTERM
062130,000370: 16,2635 31512 CA RACCDOT
062131,000371: 16,2636 00006 EXTEND
062132,000372: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
062133,000373: 16,2640 21541 DAS AOSR
062134,000374: 16,2641 31540 CA AOSR
062135,000375: 16,2642 55425 TS ALPHAR
062136,000376: 16,2643 00006 EXTEND
062137,000377: 16,2644 73621 MP 200MS # .2 AT 1
062138,000378: 16,2645 55545 TS AOSRTERM
062139,000379: 16,2646 12667 TCF PRETIMCK
062140,000380:
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Page 1416 |
062142,000382:
062143,000383:
062144,000384: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
062145,000385: 16,2650 71262 MASK RCSFLAGS
062146,000386: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
062147,000387: 16,2652 03741 TC ACDT+C12 # VALID.
062148,000388:
062149,000389: 16,2653 52011 DXCH ARUPT
062150,000390: 16,2654 53753 DXCH DAPARUPT
062151,000391: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
062152,000392: 16,2656 56017 XCH BRUPT
062153,000393: 16,2657 22012 LXCH QRUPT
062154,000394: 16,2660 53755 DXCH DAPBQRPT
062155,000395: 16,2661 32665 CA SUPERADR
062156,000396: 16,2662 52016 DXCH ZRUPT
062157,000397: 16,2663 53757 DXCH DAPZRUPT
062158,000398: 16,2664 15306 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
062159,000399: # FORM OF A JASK, AT SUPERJOB.
062160,000400:
062161,000401: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
062162,000402: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
062163,000403:
062164,000404: 16,2666 13644 SUPERJOB TCF RATELOOP
062165,000405: 16,2667 11631 PRETIMCK CCS QGIMTIMR
062166,000406: 16,2670 12710 TCF DECQTIMR # POSITIVE- COUNTING DOWN
062167,000407: 16,2671 12714 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
062168,000408: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
062169,000409: 16,2673 12712 TCF DECRTIMR # (NEG ZERO- IMPOSSIBLE)
062170,000410: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
062171,000411:
062172,000412: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
062173,000413: 16,2676 27766 DIM PJETCTR
062174,000414: 16,2677 00006 EXTEND
062175,000415: 16,2700 27767 DIM UJETCTR
062176,000416: 16,2701 00006 EXTEND
062177,000417: 16,2702 27770 DIM VJETCTR
062178,000418: 16,2703 34740 CA BIT12
062179,000419: 16,2704 71262 MASK RCSFLAGS
062180,000420: 16,2705 00006 EXTEND
062181,000421: 16,2706 12734 BZF SKIPPAXS
062182,000422: 16,2707 02740 TC CHKVISFZ
062183,000423: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
062184,000424: 16,2711 12672 TCF CHKRTIMR
062185,000425: 16,2712 55633 DECRTIMR TS RGIMTIMR
062186,000426: 16,2713 12675 TCF CHKRTIMR +3
062187,000427:
062188,000428: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
062189,000429: 16,2715 55510 TS QACCDOT
062190,000430: 16,2716 45007 CS QGIMBITS
062191,000431: 16,2717 00006 EXTEND
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Page 1417 |
062193,000433: 16,2720 03012 WAND CHAN12
062194,000434: 16,2721 34735 CAF NEGMAX
062195,000435: 16,2722 55631 TS QGIMTIMR
062196,000436: 16,2723 12672 TCF CHKRTIMR
062197,000437: 16,2724 55503 TURNOFFR TS NEGUR
062198,000438: 16,2725 55512 TS RACCDOT
062199,000439: 16,2726 45020 CS RGIMBITS
062200,000440: 16,2727 00006 EXTEND
062201,000441: 16,2730 03012 WAND CHAN12
062202,000442: 16,2731 34735 CAF NEGMAX
062203,000443: 16,2732 55633 TS RGIMTIMR
062204,000444: 16,2733 12675 TCF CHKRTIMR +3
062205,000445: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
062206,000446: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
062207,000447:
062208,000448: 16,2734 41262 SKIPPAXS CS RCSFLAGS
062209,000449: 16,2735 74740 MASK BIT12
062210,000450: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
062211,000451: 16,2737 13627 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
062212,000452:
062213,000453: # Y-Z TRANSLATION
062214,000454:
062215,000455: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
062216,000456:
062217,000457: # OUTPUT: NEXTP
062218,000458:
062219,000459: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
062220,000460: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
062221,000461:
062222,000462: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
062223,000463: # ALARM (IF NO PAIR)
062224,000464:
062225,000465: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
062226,000466: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
062227,000467: 16,2740 00006 CHKVISFZ EXTEND
062228,000468: 16,2741 00031 READ CHAN31
062229,000469: 16,2742 40000 CS A
062230,000470: 16,2743 73616 MASK 07400OCT
062231,000471: 16,2744 00006 EXTEND
062232,000472: 16,2745 13014 BZF TSNEXTP
062233,000473: 16,2746 00006 EXTEND
062234,000474: 16,2747 74745 MP BIT7
062235,000475: 16,2750 50000 INDEX A
062236,000476: 16,2751 33575 CA INDXYZ
062237,000477: 16,2752 55743 TS ROTINDEX
062238,000478: 16,2753 36254 TRYUORV CA SIX
062239,000479: 16,2754 03554 TC SELECTYZ
062240,000480: 16,2755 46254 CS SIX
062241,000481: 16,2756 61742 AD NUMBERT
062242,000482: 16,2757 00006 EXTEND
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|
Page 1418 |
062244,000484: 16,2760 13013 BZF TSNEXTP -1
062245,000485: 16,2761 44756 CS FIVE
062246,000486: 16,2762 61743 AD ROTINDEX
062247,000487: 16,2763 00006 EXTEND
062248,000488: 16,2764 63002 BZMF ALTERYZ
062249,000489: 16,2765 41742 CS NUMBERT
062250,000490: 16,2766 64751 AD FOUR
062251,000491: 16,2767 00006 EXTEND
062252,000492: 16,2770 63013 BZMF TSNEXTP -1
062253,000493: 16,2771 05600 ABORTYZ TC ALARM
062254,000494: 16,2772 02001 OCT 02001
062255,000495: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
062256,000496: 16,2774 23262 LXCH RCSFLAGS
062257,000497: 16,2775 00006 EXTEND
062258,000498: 16,2776 06001 RXOR 1
062259,000499: 16,2777 55262 TS RCSFLAGS
062260,000500: 16,3000 34755 CA ZERO
062261,000501: 16,3001 13014 TCF TSNEXTP
062262,000502: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
062263,000503: 16,3003 23262 LXCH RCSFLAGS
062264,000504: 16,3004 00006 EXTEND
062265,000505: 16,3005 06001 RXOR 1
062266,000506: 16,3006 55262 TS RCSFLAGS
062267,000507: 16,3007 74753 MASK BIT1
062268,000508: 16,3010 64751 AD FOUR
062269,000509: 16,3011 27743 ADS ROTINDEX
062270,000510: 16,3012 12753 TCF TRYUORV
062271,000511: 16,3013 31740 CA POLYTEMP
062272,000512: 16,3014 55472 TSNEXTP TS NEXTP
062273,000513: # STATE LOGIC
062274,000514:
062275,000515: # CHECK IN ORDER: IF ON
062276,000516: # LPDPHASE GO TO PURGENCY
062277,000517: # PULSES MINIMUM PULSE LOGIC
062278,000518: # DETENT(BIT15 CH31) RATE COMMAND
062279,000519: # GO TO PURGENCY
062280,000520: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
062281,000521: 16,3016 00006 EXTEND
062282,000522: 16,3017 02031 RAND CHAN31
062283,000523: 16,3020 00006 EXTEND
062284,000524: 16,3021 13027 BZF MANMODE
062285,000525:
062286,000526: 16,3022 30111 CA DAPBOOLS
062287,000527: 16,3023 74743 MASK XOVINHIB
062288,000528: 16,3024 10000 CCS A
062289,000529: 16,3025 13466 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
062290,000530:
062291,000531: 16,3026 13071 TCF DETENTCK
062292,000532: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
062293,000533: 16,3030 70111 MASK DAPBOOLS
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|
Page 1419 |
062295,000535: 16,3031 00006 EXTEND
062296,000536: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
062297,000537:
062298,000538: 16,3033 34755 CA ZERO
062299,000539: 16,3034 55464 TS PERROR
062300,000540: # MINIMUM IMPULSE MODE
062301,000541:
062302,000542: 16,3035 30032 CA CDUX
062303,000543: 16,3036 55634 TS CDUXD
062304,000544:
062305,000545: 16,3037 11460 CCS OLDPMIN
062306,000546: 16,3040 13054 TCF CHECKP
062307,000547:
062308,000548: 16,3041 34751 FIREP CA BIT3
062309,000549: 16,3042 00006 EXTEND
062310,000550: 16,3043 02031 RAND CHAN31
062311,000551: 16,3044 00006 EXTEND
062312,000552: 16,3045 13064 BZF +XMIN
062313,000553:
062314,000554: 16,3046 34750 CA BIT4
062315,000555: 16,3047 00006 EXTEND
062316,000556: 16,3050 02031 RAND CHAN31
062317,000557: 16,3051 00006 EXTEND
062318,000558: 16,3052 13062 BZF -XMIN
062319,000559:
062320,000560: 16,3053 13445 TCF JETSOFF
062321,000561:
062322,000562: 16,3054 00006 CHECKP EXTEND
062323,000563: 16,3055 00031 READ CHAN31
062324,000564: 16,3056 40000 CS A
062325,000565: 16,3057 75752 MASK OCT14
062326,000566: 16,3060 55460 TS OLDPMIN
062327,000567: 16,3061 13445 TCF JETSOFF
062328,000568:
062329,000569: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
062330,000570: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
062331,000571: 16,3064 34363 +XMIN CA TEN
062332,000572: 16,3065 55524 TS TJP
062333,000573: 16,3066 34753 CA ONE
062334,000574: 16,3067 55460 TS OLDPMIN
062335,000575: 16,3070 13353 TCF PJETSLEC -6
062336,000576:
062337,000577: # MANUAL RATE COMMAND MODE
062338,000578: # ========================
062339,000579: # BY ROBERT F. STENGEL
062340,000580:
062341,000581: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
062342,000582: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
062343,000583: # RATE CONTROL AND ATTITUDE HOLD.
062344,000584:
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|
Page 1420 |
062346,000586: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
062347,000587: # 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
062348,000588: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
062349,000589: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
062350,000590: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
062351,000591: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
062352,000592:
062353,000593: # 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,
062354,000594: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
062355,000595: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
062356,000596:
062357,000597: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
062358,000598: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
062359,000599: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
062360,000600: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
062361,000601: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
062362,000602: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
062363,000603:
062364,000604:
062365,000605: 16,3071 00006 DETENTCK EXTEND
062366,000606: 16,3072 00031 READ CHAN31
062367,000607: 16,3073 55443 TS CH31TEMP
062368,000608: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
062369,000609: 16,3075 00006 EXTEND
062370,000610: 16,3076 13222 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
062371,000611: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
062372,000612: 16,3100 70111 MASK DAPBOOLS
062373,000613: 16,3101 00006 EXTEND
062374,000614: 16,3102 13466 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
062375,000615: # ........................................................................
062376,000616: 16,3103 34743 CA BIT9 # JUST IN DETENT??
062377,000617: 16,3104 71262 MASK RCSFLAGS
062378,000618: 16,3105 00006 EXTEND
062379,000619: 16,3106 13120 BZF RUTH
062380,000620: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
062381,000621: 16,3110 00006 EXTEND
062382,000622: 16,3111 02031 RAND CHAN31
062383,000623: 16,3112 00006 EXTEND
062384,000624: 16,3113 13217 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
062385,000625:
062386,000626: 16,3114 45014 CS BITS9,11 # IN AUTO.
062387,000627: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE)
062388,000628: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
062389,000629: 16,3117 13217 TCF RATEDAMP
062390,000630:
062391,000631: 16,3120 31262 RUTH CA RCSFLAGS
062392,000632: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
062393,000633: 16,3122 00006 EXTEND
062394,000634: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
062395,000635: 16,3124 13217 TCF RATEDAMP
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|
Page 1421 |
062397,000637: 16,3125 31262 CA RCSFLAGS
062398,000638: 16,3126 74741 MASK QRBIT
062399,000639: 16,3127 00006 EXTEND
062400,000640: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
062401,000641: 16,3131 13217 TCF RATEDAMP
062402,000642: # ============================================
062403,000643: 16,3132 4753 1/10SEC = BIT1
062404,000644: 16,3132 4771 40CYC = OCT50
062405,000645: 16,3132 74777 PQRBIT OCT 74777
062406,000646: 16,3133 5014 BITS9,11 EQUALS EBANK5
062407,000647: 16,3133 00056 LINRATP DEC 46 B-14
062408,000648: # ============================================
062409,000649: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
062410,000650: 16,3135 00004 INHINT # ALL AXES.
062411,000651: 16,3136 70111 MASK DAPBOOLS
062412,000652: 16,3137 54111 TS DAPBOOLS
062413,000653:
062414,000654: # READ CDUS INTO CDU DESIRED REGISTERS
062415,000655:
062416,000656: 16,3140 34737 CAF BIT13
062417,000657: 16,3141 00006 EXTEND
062418,000658: 16,3142 02031 RAND CHAN31
062419,000659: 16,3143 00006 EXTEND
062420,000660: 16,3144 13150 BZF +4
062421,000661: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE)
062422,000662: 16,3146 55634 TS CDUXD
062423,000663: 16,3147 03152 TC +3
062424,000664: 16,3150 04674 TC IBNKCALL
062425,000665: 16,3151 40154 FCADR ZATTEROR
062426,000666: 16,3152 00003 RELINT
062427,000667: 16,3153 13466 TCF PURGENCY
062428,000668:
062429,000669: 16,3154 55464 JUSTOUT TS PERROR # INITIALIZATION - FIRST MANUAL PASS (A=0)
062430,000670: 16,3155 55446 TS DXERROR
062431,000671: 16,3156 55447 TS DXERROR +1
062432,000672: 16,3157 55450 TS DYERROR
062433,000673: 16,3160 55451 TS DYERROR +1
062434,000674: 16,3161 55452 TS DZERROR
062435,000675: 16,3162 55453 TS DZERROR +1
062436,000676: 16,3163 55454 TS PLAST
062437,000677: 16,3164 55455 TS QLAST
062438,000678: 16,3165 55456 TS RLAST
062439,000679: 16,3166 54042 TS Q-RHCCTR
062440,000680: 16,3167 54044 TS R-RHCCTR
062441,000681: 16,3170 33132 CA PQRBIT
062442,000682: 16,3171 71262 MASK RCSFLAGS
062443,000683: 16,3172 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
062444,000684: 16,3173 03200 TC ZEROENBL
062445,000685: 16,3174 34740 CA OURRCBIT # SET INTERNAL RATE COMMAND FLAG (WHICH
062446,000686: 16,3175 26111 ADS DAPBOOLS # WAS FOUND TO BE ZERO EARLIER)
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|
Page 1422 |
062448,000688: 16,3176 00003 RELINT
062449,000689: 16,3177 13445 TCF JETSOFF
062450,000690: 16,3200 22044 ZEROENBL LXCH R-RHCCTR
062451,000691: 16,3201 30042 CA Q-RHCCTR
062452,000692: 16,3202 53463 DXCH SAVEHAND
062453,000693: 16,3203 34755 CA ZERO
062454,000694: 16,3204 54043 TS P-RHCCTR
062455,000695: 16,3205 54042 TS Q-RHCCTR
062456,000696: 16,3206 54044 TS R-RHCCTR
062457,000697: 16,3207 00004 INHINT
062458,000698: 16,3210 00006 EXTEND
062459,000699: 16,3211 23265 QXCH C13QSAV
062460,000700: 16,3212 06022 TC C13STALL
062461,000701:
062462,000702: 16,3213 33622 CA BITS8,9
062463,000703: 16,3214 00006 EXTEND
062464,000704: 16,3215 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
062465,000705: 16,3216 01265 TC C13QSAV
062466,000706:
062467,000707: 16,3217 34755 RATEDAMP CA ZERO
062468,000708: 16,3220 54043 TS P-RHCCTR
062469,000709: 16,3221 13231 TCF RATERROR
062470,000710:
062471,000711: 16,3222 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1
062472,000712: 16,3223 74743 MASK BIT9
062473,000713: 16,3224 27262 ADS RCSFLAGS
062474,000714: 16,3225 34740 CA OURRCBIT # P CONTROL
062475,000715: 16,3226 70111 MASK DAPBOOLS
062476,000716: 16,3227 00006 EXTEND
062477,000717: 16,3230 13154 BZF JUSTOUT
062478,000718: 16,3231 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
062479,000719: 16,3232 55634 TS CDUXD # X-AXIS OVERRIDE
062480,000720: 16,3233 10043 CCS P-RHCCTR
062481,000721: 16,3234 13237 TCF +3
062482,000722: 16,3235 13237 TCF +2
062483,000723: 16,3236 13237 TCF +1
062484,000724: 16,3237 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
062485,000725: 16,3240 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
062486,000726: 16,3241 63133 AD LINRATP # AUTOPILOT)
062487,000727: 16,3242 00006 EXTEND
062488,000728: 16,3243 70043 MP P-RHCCTR
062489,000729: 16,3244 30001 CA L
062490,000730: 16,3245 00006 EXTEND
062491,000731: 16,3246 71444 MP STIKSENS
062492,000732: 16,3247 57454 XCH PLAST
062493,000733: 16,3250 40000 COM
062494,000734: 16,3251 61454 AD PLAST
062495,000735: 16,3252 55736 TS DAPTEMP1
062496,000736: 16,3253 03200 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
062497,000737: 16,3254 00003 RELINT
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|
Page 1423 |
062499,000739: 16,3255 41454 CS PLAST
062500,000740: 16,3256 61421 AD OMEGAP
062501,000741: 16,3257 55427 TS EDOTP
062502,000742: 16,3260 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
062503,000743: 16,3261 13264 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
062504,000744: 16,3262 13272 TCF +8 # CHECK FOR DIRECT RATE CONTROL LAST TIME.
062505,000745: 16,3263 13264 TCF +1
062506,000746: 16,3264 61476 AD -RATEDB
062507,000747: 16,3265 00006 EXTEND
062508,000748: 16,3266 63272 BZMF +4
062509,000749: 16,3267 34771 CA 40CYC
062510,000750: 16,3270 55445 TS TCP
062511,000751: 16,3271 03303 TC PEGI
062512,000752: 16,3272 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
062513,000753: 16,3273 74742 MASK PBIT
062514,000754: 16,3274 00006 EXTEND
062515,000755: 16,3275 13277 BZF +2
062516,000756: 16,3276 03303 TC PEGI # TO PURE RATE COMMAND
062517,000757: 16,3277 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
062518,000758: 16,3300 55751 TS E # X-ATTITUDE ERROR (SP)
062519,000759: 16,3301 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
062520,000760: 16,3302 03472 TC PURGENCY +4
062521,000761: 16,3303 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
062522,000762: 16,3304 55634 TS CDUXD
062523,000763: 16,3305 34755 CA ZERO
062524,000764: 16,3306 55446 TS DXERROR
062525,000765: 16,3307 55447 TS DXERROR +1
062526,000766: 16,3310 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
062527,000767: 16,3311 11427 CCS EDOTP
062528,000768: 16,3312 03315 TC +3
062529,000769: 16,3313 03315 TC +2
062530,000770: 16,3314 03315 TC +1
062531,000771: 16,3315 55736 TS ABSEDOTP
062532,000772: 16,3316 61476 AD TARGETDB
062533,000773: 16,3317 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
062534,000774: 16,3320 63330 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
062535,000775: 16,3321 31445 CA TCP
062536,000776: 16,3322 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
062537,000777: 16,3323 63330 BZMF LAST
062538,000778: 16,3324 41262 CS RCSFLAGS
062539,000779: 16,3325 74742 MASK PBIT
062540,000780: 16,3326 27262 ADS RCSFLAGS # BIT 10 IS 1.
062541,000781: 16,3327 13333 TCF +4
062542,000782: 16,3330 44742 LAST CS PBIT
062543,000783: 16,3331 71262 MASK RCSFLAGS
062544,000784: 16,3332 55262 TS RCSFLAGS # BIT 10 IS 0.
062545,000785: 16,3333 41427 CS EDOTP
062546,000786: 16,3334 00006 EXTEND
062547,000787: 16,3335 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
062548,000788: 16,3336 20001 DAS A
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|
Page 1424 |
062550,000790: 16,3337 02310 TC OVERSUB
062551,000791: 16,3340 00006 EXTEND
062552,000792: 16,3341 77730 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
062553,000793: 16,3342 55524 TS TJP # 4.JET TIME
062554,000794: 16,3343 31736 CA ABSEDOTP
062555,000795: 16,3344 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
062556,000796: 16,3345 00006 EXTEND
062557,000797: 16,3346 63351 BZMF +3
062558,000798:
062559,000799: 16,3347 36254 CA SIX
062560,000800: 16,3350 13360 TCF +8D
062561,000801: 16,3351 31524 CA TJP
062562,000802: 16,3352 27524 ADS TJP
062563,000803: # GOES TO PJETSLEC FOR TWO JETS
062564,000804:
062565,000805: # P-JET-SELECTION-ROUTINE (ROTATION)
062566,000806:
062567,000807: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
062568,000808: # TJP + FOR +P ROTATION
062569,000809:
062570,000810: # OUTPUT: CHANNEL 6
062571,000811: # PJUMPADR FOR P-AXIS SKIP
062572,000812: # (JTLST CALL) (SMALL TJP)
062573,000813:
062574,000814: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
062575,000815: # +P -P
062576,000816: # 7,15 8,16
062577,000817: # 4,12 3,11
062578,000818: # 4,7 8,11
062579,000819: # 7,12 11,16
062580,000820: # 12,15 3,16
062581,000821: # 4,15 3,8
062582,000822: # ALARM ALARM
062583,000823: 16,3353 34747 CA AORBSYST
062584,000824: 16,3354 70101 MASK FLAGWRD5
062585,000825: 16,3355 10000 CCS A
062586,000826: 16,3356 34753 CA ONE
062587,000827: 16,3357 64751 AD FOUR
062588,000828: 16,3360 55742 TS NUMBERT
062589,000829: 16,3361 34753 PJETSLEC CA ONE
062590,000830: 16,3362 54001 TS L
062591,000831: 16,3363 11524 CCS TJP
062592,000832: 16,3364 13371 TCF +5
062593,000833: 16,3365 13445 TCF JETSOFF
062594,000834: 16,3366 13370 TCF +2
062595,000835: 16,3367 13445 TCF JETSOFF
062596,000836: 16,3370 22007 ZL
062597,000837: 16,3371 64753 AD ONE
062598,000838: 16,3372 55736 TS ABSTJ
062599,000839: 16,3373 23743 LXCH ROTINDEX
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|
Page 1425 |
062601,000841: 16,3374 03534 TC SELECTP
062602,000842: 16,3375 46254 CS SIX
062603,000843: 16,3376 61742 AD NUMBERT
062604,000844: 16,3377 00006 EXTEND
062605,000845: 16,3400 13402 BZF +2
062606,000846:
062607,000847: 16,3401 44752 CS TWO
062608,000848: 16,3402 64751 AD FOUR
062609,000849: 16,3403 55521 TS NO.PJETS
062610,000850: 16,3404 31740 CA POLYTEMP
062611,000851: 16,3405 05755 TC WRITEP
062612,000852: 16,3406 41736 CS ABSTJ
062613,000853: 16,3407 63615 AD +150MST6
062614,000854: 16,3410 00006 EXTEND
062615,000855: 16,3411 63627 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
062616,000856:
062617,000857: 16,3412 63575 AD -136MST6
062618,000858: 16,3413 00006 EXTEND
062619,000859: 16,3414 63421 BZMF +5
062620,000860:
062621,000861: 16,3415 27736 ADS ABSTJ
062622,000862: 16,3416 51743 INDEX ROTINDEX
062623,000863: 16,3417 33624 CA MINTIMES
062624,000864: 16,3420 55524 TS TJP
062625,000865:
062626,000866: 16,3421 31736 CA ABSTJ
062627,000867: 16,3422 22007 ZL
062628,000868: 16,3423 00004 INHINT
062629,000869: 16,3424 53471 DXCH T6FURTHA
062630,000870: 16,3425 04674 TC IBNKCALL
062631,000871: 16,3426 37143 CADR JTLST
062632,000872: 16,3427 44740 CS BIT12
062633,000873: 16,3430 71262 MASK RCSFLAGS
062634,000874: 16,3431 55262 TS RCSFLAGS # BIT 12 SET TO 0.
062635,000875: 16,3432 03434 TC ALTSYST
062636,000876: 16,3433 13627 TCF QRAXIS
062637,000877:
062638,000878: 16,3434 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS
062639,000879: 16,3435 54001 TS L
062640,000880: 16,3436 34747 CA AORBSYST
062641,000881: 16,3437 00006 EXTEND
062642,000882: 16,3440 06001 RXOR LCHAN
062643,000883: 16,3441 54101 TS FLAGWRD5
062644,000884: 16,3442 00003 RELINT
062645,000885: 16,3443 00002 TC Q
062646,000886:
062647,000887: 16,3444 03434 DKALT TC ALTSYST
062648,000888:
062649,000889: 16,3445 05754 JETSOFF TC WRITEP -1
062650,000890: 16,3446 34755 CA ZERO
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Page 1426 |
062652,000892: 16,3447 55524 TS TJP
062653,000893: 16,3450 13627 TCF QRAXIS
062654,000894: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
062655,000895:
062656,000896: 16,3451 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
062657,000897: 16,3452 00006 EXTEND
062658,000898: 16,3453 21635 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
062659,000899: 16,3454 00006 EXTEND
062660,000900: 16,3455 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
062661,000901: 16,3456 57751 XCH E # SAVE FIRST TERM (OF TWO)
062662,000902: 16,3457 30032 CA CDUX # THIRD COMPONENT
062663,000903: 16,3460 00006 EXTEND
062664,000904: 16,3461 21634 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
062665,000905: # EXTEND
062666,000906: # MP M13
062667,000907: 16,3462 61274 AD DELPEROR # KALCMANU INERFACE ERROR
062668,000908: 16,3463 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
062669,000909: 16,3464 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
062670,000910: 16,3465 00002 TC Q # RETURN TO CALLER
062671,000911:
062672,000912: # P-AXIS URGENCY FUNCTION CALCULATION.
062673,000913:
062674,000914: 16,3466 03451 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
062675,000915: 16,3467 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
062676,000916: 16,3470 61421 AD OMEGAP # SPS-BACKUP MODE.
062677,000917: 16,3471 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
062678,000918:
062679,000919:
062680,000920: 16,3472 44753 CS ONE
062681,000921: 16,3473 55505 TS AXISCTR
062682,000922: 16,3474 30111 CA DAPBOOLS
062683,000923: 16,3475 74737 MASK CSMDOCKD
062684,000924: 16,3476 00006 EXTEND
062685,000925: 16,3477 13510 BZF HEADTJET
062686,000926: 16,3500 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
062687,000927: 16,3501 04674 TC IBNKCALL
062688,000928: 16,3502 43641 CADR SPSRCS
062689,000929:
062690,000930: 16,3503 31524 CA TJP
062691,000931: 16,3504 00006 EXTEND
062692,000932: 16,3505 13444 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
062693,000933: 16,3506 00003 RELINT
062694,000934: 16,3507 13353 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
062695,000935: 16,3510 34755 HEADTJET CA ZERO
062696,000936: 16,3511 55500 TS SENSETYP
062697,000937: 16,3512 00004 INHINT
062698,000938: 16,3513 04674 TC IBNKCALL
062699,000939: 16,3514 37304 CADR TJETLAW
062700,000940: 16,3515 00003 RELINT
062701,000941:
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Page 1427 |
062703,000943: 16,3516 41740 CS FIREFCT
062704,000944: 16,3517 63533 AD -FOURDEG
062705,000945: 16,3520 00006 EXTEND
062706,000946: 16,3521 63353 BZMF PJETSLEC -6
062707,000947: 16,3522 11524 CCS TJP
062708,000948: 16,3523 13525 TCF +2
062709,000949: 16,3524 13445 TCF JETSOFF
062710,000950: 16,3525 63532 AD -160MST6
062711,000951: 16,3526 00006 EXTEND
062712,000952: 16,3527 63353 BZMF PJETSLEC -6
062713,000953: 16,3530 36254 CA SIX
062714,000954: 16,3531 13360 TCF PJETSLEC -1
062715,000955: 16,3532 77377 -160MST6 DEC -256 B-14
062716,000956: 16,3533 75117 -FOURDEG DEC -.08888
062717,000957:
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Page 1428 |
062719,000959: # JET POLICY CONSTRUCTION SUBROUTINE
062720,000960:
062721,000961: # INPUT: ROTINDEX, NUMBERT
062722,000962:
062723,000963: # OUTPUT: POLYTEMP (JET POLICY)
062724,000964:
062725,000965: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
062726,000966: 16,3534 36254 SELECTP CA SIX
062727,000967: 16,3535 55741 TS TEMPNUM
062728,000968: 16,3536 51742 INDEX NUMBERT
062729,000969: 16,3537 33566 CA TYPEP
062730,000970: 16,3540 51743 INDEX ROTINDEX
062731,000971: 16,3541 73557 MASK JETSALL
062732,000972: 16,3542 55740 TS POLYTEMP
062733,000973: 16,3543 71260 MASK CH6MASK
062734,000974: 16,3544 10000 CCS A
062735,000975: 16,3545 13547 TCF +2
062736,000976: 16,3546 00002 TC Q
062737,000977: 16,3547 11741 CCS TEMPNUM
062738,000978: 16,3550 13554 TCF +4
062739,000979: 16,3551 05600 TC ALARM
062740,000980: 16,3552 02003 OCT 02003
062741,000981: 16,3553 13445 TCF JETSOFF # *****TCF ALARMJET *********************
062742,000982: 16,3554 55742 SELECTYZ TS NUMBERT
062743,000983: 16,3555 13535 TCF SELECTP +1
062744,000984: 16,3556 12773 -1 TCF ABORTYZ +2
062745,000985: 16,3557 00252 JETSALL OCT 00252
062746,000986: 16,3560 00125 OCT 00125 # +P
062747,000987: 16,3561 00140 OCT 00140 # -Y
062748,000988: 16,3562 00006 OCT 00006 # -Z
062749,000989: 16,3563 00220 OCT 00220 # +Y
062750,000990: 16,3564 00011 OCT 00011 # +Z
062751,000991: 16,3565 00151 OCT 00151 # +V
062752,000992: 16,3566 00146 TYPEP OCT 00146 # -U
062753,000993: 16,3567 00226 OCT 00226 # -V
062754,000994: 16,3570 00231 OCT 00231 # +U
062755,000995: 16,3571 00151 OCT 00151 # +V
062756,000996: 16,3572 00132 OCT 00132 # 1-3
062757,000997: 16,3573 00245 OCT 00245 # 2-4
062758,000998: 16,3574 00377 OCT 00377 # ALL
062759,000999: 16,3575 16,3575 INDXYZ = -136MST6
062760,001000: 16,3575 77445 -136MST6 DEC -218 B-14
062761,001001: 16,3576 00004 DEC 4 B-14
062762,001002: 16,3577 00002 DEC 2 B-14
062763,001003: 16,3600 07776 OCT 07776
062764,001004: 16,3601 00005 DEC 5 B-14
062765,001005: 16,3602 00011 DEC 9 B-14
062766,001006: 16,3603 00012 DEC 10 B-14
062767,001007: 16,3604 07776 OCT 07776
062768,001008: 16,3605 00003 DEC 3 B-14
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Page 1429 |
062770,001010: 16,3606 00010 DEC 8 B-14
062771,001011: 16,3607 00007 DEC 7 B-14
062772,001012: 16,3610 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
062773,001013: 16,3611 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
062774,001014: 16,3612 07776 OCT 07776 # TO BE TC JETSALL -1
062775,001015: 16,3613 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
062776,001016: 16,3614 07776 OCT 07776
062777,001017: 16,3615 00360 +150MST6 DEC 240 B-14
062778,001018: 16,3616 07400 07400OCT OCT 07400
062779,001019: # T-JET LAW FIXED CONSTANTS
062780,001020:
062781,001021: 16,3617 00266 NORMSCL OCT 266
062782,001022: 16,3620 74631 -100MS DEC -.1
062783,001023: 16,3621 06315 200MS DEC .2
062784,001024: 16,3622 7730 25/32 = PRIO31 # (DEC .78125)
062785,001025: 16,3622 00600 BITS8,9 OCTAL 00600
062786,001026: 16,3623 00632 1/40 DEC .02500
062787,001027: 16,3624 77751 MINTIMES DEC -22 B-14
062788,001028: 16,3625 00026 DEC 22 B-14
062789,001029: 16,3626 02734 PSKIPADR GENADR SKIPPAXS
062790,001030:
062791,001031: # GOES TO Q,R-AXES RCS AUTOPILOT
062792,001032: 16,3627 41644 QRAXIS CS OMEGARD
062793,001033: 16,3630 61423 AD OMEGAR
062794,001034: 16,3631 02310 TC OVERSUB
062795,001035: 16,3632 55437 TS EDOTR
062796,001036: 16,3633 41643 CS OMEGAQD
062797,001037: 16,3634 61422 AD OMEGAQ
062798,001038: 16,3635 02310 TC OVERSUB
062799,001039: 16,3636 55436 TS EDOTQ
062800,001040: 16,3637 00006 EXTEND
062801,001041: 16,3640 33643 DCA QERRCALL
062802,001042: 16,3641 52006 DTCB
062803,001043:
062804,001044: 16,3642 E6,1536 EBANK= AOSQ
062805,001045: 16,3642 02124 36106 QERRCALL 2CADR CALLQERR
062806,001046:
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc