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. |
021493,000002: ## Copyright: Public domain.
021494,000003: ## Filename: R60,R62.agc
021495,000004: ## Purpose: A log section of Zerlina 56, the final revision of
021496,000005: ## Don Eyles's offline development program for the variable
021497,000006: ## guidance period servicer. It also includes a new P66 with LPD
021498,000007: ## (Landing Point Designator) capability, based on an idea of John
021499,000008: ## Young's. Neither of these advanced features were actually flown,
021500,000009: ## but Zerlina was also the birthplace of other big improvements to
021501,000010: ## Luminary including the terrain model and new (Luminary 1E)
021502,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
021503,000012: ## and revision 56 includes all changes up to and including Luminary
021504,000013: ## 183. It is therefore quite close to the Apollo 14 program,
021505,000014: ## Luminary 178, where not modified with new features.
021506,000015: ## Reference: pp. 480-493
021507,000016: ## Assembler: yaYUL
021508,000017: ## Contact: Ron Burkey <info@sandroid.org>.
021509,000018: ## Website: www.ibiblio.org/apollo/index.html
021510,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
021511,000020: ## 2017-08-22 MAS Updated for Zerlina 56.
021512,000021:
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021514,000023: # MOD NO: 0 DATE: 1 MAY 1968
021515,000024:
021516,000025: # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
021517,000026:
021518,000027: # FUNCTIONAL DESCRIPTION:
021519,000028:
021520,000029: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
021521,000030: # ATTITUDE.
021522,000031:
021523,000032: # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
021524,000033: # CALCULATED (VECPOINT).
021525,000034:
021526,000035: # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021527,000036:
021528,000037: # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
021529,000038:
021530,000039: # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
021531,000040: # ASTRONAUT RESPONSE.
021532,000041:
021533,000042: # 5. DISPLAY RESPONSE RETURNS:
021534,000043:
021535,000044: # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
021536,000045:
021537,000046: # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
021538,000047: # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
021539,000048: # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
021540,000049:
021541,000050: # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
021542,000051:
021543,000052: # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
021544,000053: # (VECPOINT).
021545,000054:
021546,000055: # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
021547,000056:
021548,000057: # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
021549,000058:
021550,000059: # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
021551,000060:
021552,000061: # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
021553,000062:
021554,000063: # 11. DO A PHASECHANGE.
021555,000064:
021556,000065: # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
021557,000066:
021558,000067: # GIMBAL ANGLES (GOMANUR).
021559,000068: # 13. AT END OF MANEUVER GO TO STEP 3.
021560,000069:
021561,000070: # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
021562,000071: # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
021563,000072: # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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021565,000074: # STEP 5C.
021566,000075:
021567,000076: # CALLING SEQUENCE: TC BANKCALL
021568,000077: # CADR R60LEM
021569,000078:
021570,000079: # ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT)
021571,000080: # 3AXISFLG.
021572,000081:
021573,000082: # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
021574,000083: # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
021575,000084:
021576,000085: # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
021577,000086: # TC BANKJUMP
021578,000087:
021579,000088: # ALARMS: NONE
021580,000089:
021581,000090: # OUTPUT: NONE
021582,000091:
021583,000092: # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
021584,000093:
021585,000094:
021586,000095: 34,2060 BANK 34
021587,000096: 26,2000 SETLOC MANUVER
021588,000097: 26,2000 BANK
021589,000098:
021590,000099: 26,2125 1163 EBANK= TEMPR60
021591,000100:
021592,000101: 26,2125 COUNT* $$/R06
021593,000102: 26,2125 04645 R60LEM TC MAKECADR
021594,000103: 26,2126 55163 TS TEMPR60
021595,000104:
021596,000105: 26,2127 34746 REDOMANN CAF 3AXISBIT
021597,000106: 26,2130 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021598,000107: 26,2131 10000 CCS A
021599,000108: 26,2132 12140 TCF TOBALL # YES
021600,000109: 26,2133 06051 TC INTPRET
021601,000110: 26,2134 77624 CALL
021602,000111: 26,2135 56040 VECPOINT # TO COMPUTE FINAL ANGLES
021603,000112: 26,2136 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
021604,000113: 26,2137 77776 EXIT
021605,000114:
021606,000115: 26,2140 05515 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE
021607,000116: 26,2141 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES
021608,000117: 26,2142 05527 TC DOWNFLAG
021609,000118: 26,2143 00000 ADRES NEED2FLG
021610,000119: 26,2144 04616 TC BANKCALL
021611,000120: 26,2145 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021612,000121: 26,2146 32262 TOBALLA CAF V06N18
021613,000122: 26,2147 04616 TC BANKCALL
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021615,000124: 26,2150 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
021616,000125: 26,2151 02250 TC R61TEST
021617,000126: 26,2152 02156 TC REDOMANC # PROCEED
021618,000127: 26,2153 02203 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
021619,000128: 26,2154 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021620,000129: 26,2155 05155 TC ENDOFJOB
021621,000130:
021622,000131: 26,2156 34746 REDOMANC CAF 3AXISBIT
021623,000132: 26,2157 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET
021624,000133: 26,2160 10000 CCS A
021625,000134: 26,2161 12167 TCF TOBALLC # YES
021626,000135: 26,2162 06051 TC INTPRET
021627,000136: 26,2163 77624 CALL
021628,000137: 26,2164 56040 VECPOINT # TO COMPUTE FINAL ANGLES
021629,000138: 26,2165 00322 STORE CPHI # STORE ANGLES
021630,000139: 26,2166 77776 EXIT
021631,000140:
021632,000141: 26,2167 04616 TOBALLC TC BANKCALL
021633,000142: 26,2170 54274 CADR BALLANGS # TO CONVERT ANGLES TO FDAI
021634,000143: 26,2171 02263 TC G+N,AUTO # CHECK AUTO MODE
021635,000144: 26,2172 10000 CCS A
021636,000145: 26,2173 12146 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
021637,000146:
021638,000147: 26,2174 32262 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
021639,000148: 26,2175 04616 TC BANKCALL # -
021640,000149: 26,2176 20452 CADR GODSPR # -
021641,000150: 26,2177 02207 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
021642,000151:
021643,000152: 26,2200 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
021644,000153: 26,2201 17747 CADR GOMANUR
021645,000154:
021646,000155: 26,2202 12146 ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
021647,000156: 26,2203 05527 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
021648,000157: 26,2204 00124 ADRES 3AXISFLG
021649,000158: 26,2205 31163 CAE TEMPR60 # -
021650,000159: 26,2206 04640 TC BANKJUMP # -
021651,000160:
021652,000161: 26,2207 40100 CHKLINUS CS FLAGWRD4
021653,000162: 26,2210 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
021654,000163: 26,2211 10000 CCS A # -
021655,000164: 26,2212 00002 TC Q # NO - EXIT
021656,000165: 26,2213 30002 CA Q
021657,000166: 26,2214 54156 TS MPAC +2 # SAVE RETURN
021658,000167: 26,2215 46257 CS THREE # OBTAIN LOCATION FOR RESTART
021659,000168: 26,2216 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY
021660,000169: 26,2217 55054 TS TBASE2
021661,000170:
021662,000171: 26,2220 05364 TC PHASCHNG
021663,000172: 26,2221 00132 OCT 00132
021664,000173:
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021666,000175: 26,2222 34745 CAF BIT7
021667,000176: 26,2223 05475 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY -
021668,000177: 26,2224 00156 TC MPAC +2
021669,000178:
021670,000179: 26,2225 37726 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
021671,000180: 26,2226 05146 TC PRIOCHNG
021672,000181:
021673,000182: 26,2227 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021674,000183: 26,2230 70075 MASK FLAGWRD1
021675,000184: 26,2231 10000 CCS A
021676,000185: 26,2232 12245 TCF RER60
021677,000186:
021678,000187: 26,2233 34745 CAF RNDVZBIT # IS IT P20?
021679,000188: 26,2234 70074 MASK FLAGWRD0
021680,000189: 26,2235 10000 CCS A
021681,000190: 26,2236 02242 TC +4 # YES
021682,000191: 26,2237 05364 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
021683,000192: 26,2240 40112 OCT 40112
021684,000193:
021685,000194: 26,2241 05155 TC ENDOFJOB
021686,000195:
021687,000196: 26,2242 05364 TC PHASCHNG # SET 2.7 SPOT FOR P20
021688,000197: 26,2243 40072 OCT 40072
021689,000198:
021690,000199: 26,2244 05155 TC ENDOFJOB
021691,000200:
021692,000201: 26,2245 05515 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
021693,000202: 26,2246 00077 ADRES PDSPFLAG
021694,000203:
021695,000204: 26,2247 01054 TC TBASE2
021696,000205:
021697,000206: 26,2250 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
021698,000207: 26,2251 00006 EXTEND
021699,000208: 26,2252 12203 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
021700,000209:
021701,000210: 26,2253 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
021702,000211: 26,2254 74740 MASK PDSPFBIT
021703,000212: 26,2255 00006 EXTEND
021704,000213: 26,2256 16001 BZF GOTOPOOH # NO
021705,000214: 26,2257 06025 TC GOTOV56 # YES
021706,000215:
021707,000216: 26,2260 20100 BIT14+7 OCT 20100 # -
021708,000217: 26,2261 00203 OCT203 OCT 203
021709,000218: 26,2262 01422 V06N18 VN 0618
021710,000219: # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021711,000220:
021712,000221: # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
021713,000222: # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021714,000223:
021715,000224: 26,2263 00006 G+N,AUTO EXTEND
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021717,000226: 26,2264 00030 READ CHAN30
021718,000227: 26,2265 74742 MASK BIT10
021719,000228: 26,2266 10000 CCS A
021720,000229: 26,2267 00002 TC Q # NOT IN G+N C(A) = +
021721,000230: 26,2270 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE
021722,000231: 26,2271 00031 READ CHAN31
021723,000232: 26,2272 74736 MASK BIT14
021724,000233: 26,2273 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK
021725,000234:
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021727,000236: # PROGRAM DESCRIPTION BALLANGS
021728,000237: # MOD NO. LOG SECTION R60,R62
021729,000238:
021730,000239: # WRITTEN BY RAMA M.AIYAWAR
021731,000240: # FUNCTIONAL DESCRIPTION
021732,000241:
021733,000242: # COMPUTES LM FDAI BALL DISPLAY ANGLES
021734,000243: # CALLING SEQUENCE
021735,000244:
021736,000245: # TC BALLANGS
021737,000246: # NORMAL EXIT MODE
021738,000247:
021739,000248: # TC BALLEXIT (SAVED Q)
021740,000249:
021741,000250: # ALARM OR EXIT MODE NIL
021742,000251: # SUBROUTINES CALLED
021743,000252: # CD*TR*G
021744,000253: # ARCTAN
021745,000254:
021746,000255: # INPUT
021747,000256:
021748,000257: # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021749,000258: # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021750,000259: # OUTPUT
021751,000260:
021752,000261: # FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021753,000262: # SP,2S COMPLIMENT.
021754,000263: # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021755,000264:
021756,000265: # ERASABLE INITIALIZATION REQUIRED
021757,000266:
021758,000267: # CPHI,CTHETA,CPSI EACH A SP REGISTER
021759,000268: # DEBRIS
021760,000269:
021761,000270: # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021762,000271:
021763,000272:
021764,000273: # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021765,000274: # EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021766,000275:
021767,000276: # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021768,000277:
021769,000278: 26,2000 SETLOC BAWLANGS
021770,000279: 26,2000 BANK
021771,000280:
021772,000281: 26,2274 COUNT* $$/BALL
021773,000282: 26,2274 04645 BALLANGS TC MAKECADR
021774,000283: 26,2275 55337 TS BALLEXIT
021775,000284: 26,2276 30321 CA CPHI
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021777,000286: 26,2277 54771 TS CDUSPOT +4
021778,000287: 26,2300 30322 CA CTHETA
021779,000288: 26,2301 54765 TS CDUSPOT
021780,000289: 26,2302 30323 CA CPSI
021781,000290: 26,2303 54767 TS CDUSPOT +2
021782,000291:
021783,000292: 26,2304 06051 TC INTPRET
021784,000293: 26,2305 45001 SETPD CALL
021785,000294: 26,2306 00001 0D
021786,000295: 26,2307 47541 CD*TR*G
021787,000296:
021788,000297: 26,2310 41345 DLOAD DMP
021789,000298: 26,2311 00742 SINCDUX # SIN (OGA)
021790,000299: 26,2312 00746 COSCDUZ # COS (MGA)
021791,000300:
021792,000301: 26,2313 57552 SL1 DCOMP # SCALE
021793,000302: 26,2314 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
021794,000303: 26,2315 00740 SINCDUZ
021795,000304: 26,2316 14023 STODL SINTH # (SINTH = 18D IN PD)
021796,000305: 26,2317 00746 COSCDUZ
021797,000306: 26,2320 72405 DMP SL1 # RESCALE
021798,000307: 26,2321 00750 COSCDUX
021799,000308: 26,2322 34021 STCALL COSTH # (COSTH = 16D IN PD)
021800,000309: 26,2323 26506 ARCTAN
021801,000310: 26,2324 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021802,000311: 26,2325 00740 SINCDUZ
021803,000312: 26,2326 00742 SINCDUX
021804,000313: 26,2327 41512 SL2 PUSH # SXSZ INTO 4 PD
021805,000314: 26,2330 65205 DMP PDDL # SXSZCY INTO 4 PD
021806,000315: 26,2331 00744 COSCDUY
021807,000316: 26,2332 65205 DMP PDDL # SXSZSY INTO 6 PD
021808,000317: 26,2333 00736 SINCDUY
021809,000318: 26,2334 00750 COSCDUX
021810,000319: 26,2335 72405 DMP SL1 # CXCY
021811,000320: 26,2336 00744 COSCDUY
021812,000321: 26,2337 45425 DSU STADR # PULL UP FROM 6 PD
021813,000322: 26,2340 63756 STODL COSTH # COSTH = CXCY - SXSZSY
021814,000323: 26,2341 00736 SINCDUY
021815,000324: 26,2342 72405 DMP SL1
021816,000325: 26,2343 00750 COSCDUX # CXSY
021817,000326: 26,2344 45415 DAD STADR # PULL UP FROM 4 PD
021818,000327: 26,2345 43754 STCALL SINTH # SINTH = CXSY + SXSZCY
021819,000328: 26,2346 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH
021820,000329: 26,2347 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
021821,000330: 26,2350 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021822,000331: 26,2351 21602 V1STO2S
021823,000332: 26,2352 02336 STORE FDAIX # MODE IS TP
021824,000333: 26,2353 77776 EXIT
021825,000334:
021826,000335: 26,2354 31337 ENDBALL CA BALLEXIT
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021828,000337: 26,2355 04640 TC BANKJUMP
021829,000338:
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021831,000340: # PROGRAM DESCRIPTION - VECPOINT
021832,000341:
021833,000342:
021834,000343: # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
021835,000344: # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021836,000345: # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021837,000346: # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021838,000347: # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
021839,000348: # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021840,000349: # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
021841,000350: # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021842,000351: # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021843,000352: # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021844,000353: # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021845,000354: # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR-X) AXIS,
021846,000355: # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021847,000356: # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021848,000357: # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021849,000358: # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021850,000359: # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021851,000360: # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021852,000361: # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021853,000362:
021854,000363: # CALLING SEQUENCE -
021855,000364: # 1) LOAD SCAXIS, POINTVSM
021856,000365: # 2) CALL
021857,000366: # VECPOINT
021858,000367:
021859,000368: # RETURNS WITH
021860,000369:
021861,000370: # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
021862,000371: # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
021863,000372: # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021864,000373:
021865,000374:
021866,000375: # ERASABLES USED -
021867,000376:
021868,000377: # 1) SCAXIS 6
021869,000378: # 2) POINTVSM 6
021870,000379: # 3) MIS 18
021871,000380: # 4) DEL 18
021872,000381: # 5) COF 6
021873,000382: # 6) VECQTEMP 1
021874,000383: # 7) ALL OF VAC AREA 43
021875,000384:
021876,000385: # TOTAL 99
021877,000386:
021878,000387: 27,2000 SETLOC VECPT
021879,000388: 27,2000 BANK
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Page 489 |
021881,000390: 27,2032 COUNT* $$/VECPT
021882,000391:
021883,000392: 27,2032 E6,1675 EBANK= BCDU
021884,000393:
021885,000394: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
021886,000395: 27,2033 03324 VECQTEMP # NOT PRESENT-ENTER WITH CDUD'S IN MPAC
021887,000396: 27,2034 56035 VECPNT2
021888,000397: 27,2035 52164 VECPNT2 AXC,2 GOTO
021889,000398: 27,2036 03245 MIS
021890,000399: 27,2037 56046 STORANG
021891,000400: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS
021892,000401: 27,2041 03324 VECQTEMP
021893,000402: 27,2042 56043 VECLEAR # AND CLEAR OVFIND
021894,000403: 27,2043 47164 VECLEAR AXC,2 RTB
021895,000404: 27,2044 03245 MIS # READ THE PRESENT CDU ANGLES AND
021896,000405: 27,2045 44403 READCDUK # STORE THEM IN PD25, 26, 27
021897,000406: 27,2046 34032 STORANG STCALL 25D
021898,000407: 27,2047 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
021899,000408: 27,2050 61375 VLOAD VXM
021900,000409: 27,2051 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
021901,000410: 27,2052 03246 MIS # INITIAL S/C AXES ( VF = POINTVSM)
021902,000411: 27,2053 77656 UNIT
021903,000412: 27,2054 00035 STORE 28D
021904,000413: # PD 28 29 30 31 32 33
021905,000414: 27,2055 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
021906,000415: 27,2056 03765 SCAXIS # WHERE VI = SCAXIS
021907,000416: 27,2057 57400 BOV VCOMP
021908,000417: 27,2060 56170 PICKAXIS
021909,000418: 27,2061 17270 STODL COF # CHECK MAGNITUDE
021910,000419: 27,2062 00045 36D # OF CROSS PRODUCT
021911,000420: 27,2063 50025 DSU BMN # VECTOR, IF LESS
021912,000421: 27,2064 14417 DPB-14 # THAN B-14 ASSUME
021913,000422: 27,2065 56170 PICKAXIS # UNIT OPERATION
021914,000423: 27,2066 50375 VLOAD DOT # INVALID.
021915,000424: 27,2067 03765 SCAXIS
021916,000425: 27,2070 00035 28D
021917,000426: 27,2071 65552 SL1 ARCCOS
021918,000427: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
021919,000428: 27,2073 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
021920,000429: 27,2074 75160 AXC,1 AXC,2
021921,000430: 27,2075 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL
021922,000431: 27,2076 02221 KEL # S/C AXES TO STABLE MEMBER AXES
021923,000432: 27,2077 77624 CALL # MFS = MIS MFI
021924,000433: 27,2100 44312 MXM3 # (IN PD LIST)
021925,000434:
021926,000435: 27,2101 51545 DLOAD ABS
021927,000436: 27,2102 00007 6 # MFS6 = SIN(CPSI) $2
021928,000437: 27,2103 50025 DSU BMN
021929,000438: 27,2104 14404 SINGIMLC # = SIN(59 DEGS) $2
021930,000439: 27,2105 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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021932,000441: # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021933,000442:
021934,000443: 27,2106 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
021935,000444: 27,2107 03765 SCAXIS # THE THRUST AXIS
021936,000445: 27,2110 51025 DSU BPL
021937,000446: 27,2111 14406 SINVEC1 # SIN 49.4 DEGS $2
021938,000447: 27,2112 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
021939,000448: 27,2113 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
021940,000449: 27,2114 77626 STADR
021941,000450: 27,2115 50515 STOVL MIS +12D
021942,000451: 27,2116 77626 STADR # STORE MFS (IN PD LIST) IN MIS
021943,000452: 27,2117 50523 STOVL MIS +6
021944,000453: 27,2120 77626 STADR
021945,000454: 27,2121 50531 STOVL MIS
021946,000455: 27,2122 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
021947,000456: 27,2123 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
021948,000457: 27,2124 56125 IGSAMEX # FINAL X S/C AXIS
021949,000458:
021950,000459: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
021951,000460: 27,2126 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
021952,000461: 27,2127 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
021953,000462: # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021954,000463: # OTHERWISE U = -SCAXIS
021955,000464:
021956,000465: 27,2130 57575 VLOAD VCOMP
021957,000466: 27,2131 03765 SCAXIS
021958,000467: 27,2132 37270 STCALL COF # ROTATE ABOUT -SCAXIS
021959,000468: 27,2133 56137 CHEKAXIS
021960,000469: 27,2134 77775 U=SCAXIS VLOAD
021961,000470: 27,2135 03765 SCAXIS
021962,000471: 27,2136 03270 STORE COF # ROTATE ABOUT + SCAXIS
021963,000472: 27,2137 51545 CHEKAXIS DLOAD ABS
021964,000473: 27,2140 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT
021965,000474: 27,2141 51025 DSU BPL
021966,000475: 27,2142 14410 SINVEC2 # SIN 29.5 DEGS $2
021967,000476: 27,2143 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021968,000477: 27,2144 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
021969,000478: 27,2145 14414 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
021970,000479: 27,2146 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
021971,000480: # OF GIMBAL LOCK (VECANG2 $360)
021972,000481: 27,2147 77745 PICKANG1 DLOAD
021973,000482: 27,2150 14412 VECANG1 # = 50 DEGS $ 360
021974,000483: 27,2151 77624 COMPMFSN CALL
021975,000484: 27,2152 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
021976,000485: 27,2153 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
021977,000486: 27,2154 03245 MIS
021978,000487: 27,2155 02221 KEL
021979,000488: 27,2156 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM
021980,000489: 27,2157 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
021981,000490: # WHICH WILL ALIGN VI WITH VF AND AVOID
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021983,000492: # GIMBAL LOCK
021984,000493: 27,2160 45160 FINDGIMB AXC,1 CALL
021985,000494: 27,2161 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
021986,000495: 27,2162 44654 DCMTOCDU # THIS MATRIX
021987,000496: 27,2163 40234 RTB SETPD
021988,000497: 27,2164 21602 V1STO2S # CONVERT TO 2:S COMPLEMENT
021989,000498: 27,2165 00001 0
021990,000499: 27,2166 77650 GOTO
021991,000500: 27,2167 03324 VECQTEMP # RETURN TO CALLER
021992,000501:
021993,000502: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
021994,000503: 27,2171 00035 28D
021995,000504: 27,2172 03765 SCAXIS
021996,000505: 27,2173 72240 BMN TLOAD
021997,000506: 27,2174 54356 ROT180
021998,000507: 27,2175 00032 25D
021999,000508: 27,2176 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
022000,000509: 27,2177 03324 VECQTEMP # PRESENT CDU ANGLES
022001,000510:
022002,000511: 35,2000 BANK 35
022003,000512: 26,2000 SETLOC MANUVER1
022004,000513: 26,2000 BANK
022005,000514: 26,2356 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
022006,000515: 26,2357 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
022007,000516: 26,2360 06516 HIDPHALF # INITIAL S/C AXES.
022008,000517: 26,2361 47256 UNIT VXV # FIND Y(SM) X X(I)
022009,000518: 26,2362 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
022010,000519: 26,2363 40056 UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
022011,000520: 26,2364 54400 PICKX # Y(SM) PERPENDICULAR TO VI
022012,000521: 26,2365 17270 STODL COF
022013,000522: 26,2366 00045 36D # CHECK MAGNITUDE
022014,000523: 26,2367 50025 DSU BMN # OF THIS VECTOR.
022015,000524: 26,2370 14417 DPB-14 # IF LESS THAN B-14,
022016,000525: 26,2371 54400 PICKX # PICK X-AXIS.
022017,000526: 26,2372 77775 VLOAD
022018,000527: 26,2373 03270 COF
022019,000528: 26,2374 17270 XROT STODL COF
022020,000529: 26,2375 06516 HIDPHALF
022021,000530: 26,2376 77650 GOTO
022022,000531: 26,2377 56072 COMPMATX
022023,000532: 26,2400 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
022024,000533: 26,2401 06516 HIDPHALF
022025,000534: 26,2402 54374 XROT
022026,000535: 26,2403 15555 35172 SINGIMLC 2DEC .4285836003 # =SIN(59) $2
022027,000536:
022028,000537: 26,2405 14113 36326 SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
022029,000538:
022030,000539: 26,2407 07701 35703 SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
022031,000540:
022032,000541: 26,2411 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
022033,000542:
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022035,000544: 26,2413 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
022036,000545:
022037,000546: 26,2415 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
022038,000547: 26,2416 00001 DPB-14 OCT 00001
022039,000548: 26,2417 00000 OCT 00000
022040,000549:
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Page 493 |
022042,000551: # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
022043,000552:
022044,000553:
022045,000554: 34,2060 BANK 34
022046,000555: 23,2000 SETLOC R62
022047,000556: 23,2000 BANK
022048,000557: 23,2103 E6,1675 EBANK= BCDU
022049,000558:
022050,000559: 23,2103 COUNT* $$/R62
022051,000560:
022052,000561: 23,2103 23,2103 R62DISP EQUALS R62FLASH
022053,000562:
022054,000563: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND
022055,000564: 23,2104 04616 TC BANKCALL # ICDU ANGLES
022056,000565: 23,2105 20477 CADR GOFLASH
022057,000566: 23,2106 15503 TCF ENDEXT # TERMINATE
022058,000567: 23,2107 12111 TCF GOMOVE # PROCEED
022059,000568: 23,2110 12103 TCF R62FLASH # ENTER
022060,000569:
022061,000570: # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
022062,000571: # POINT
022063,000572: 23,2111 05515 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
022064,000573: 23,2112 00124 ADRES 3AXISFLG
022065,000574:
022066,000575: 23,2113 04616 TC BANKCALL
022067,000576: 23,2114 54125 CADR R60LEM
022068,000577: 23,2115 15503 TCF ENDEXT # END R62
022069,000578:
End of include-file R60,R62.agc. Parent file is MAIN.agc