Source Code
046989,000001: # Copyright: Public domain.
046990,000002: # Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
046991,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
046992,000004: # It is part of the source code for the Command Module's (CM)
046993,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
046994,000006: # Assembler: yaYUL
046995,000007: # Contact: Ron Burkey <info@sandroid.org>.
046996,000008: # Website: www.ibiblio.org/apollo.
046997,000009: # Pages: 1063-1092
046998,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
046999,000011: # same name, using Comanche055 page images.
047000,000012: # 2009-05-20 RSB Corrections: Removed an extraneous label
047001,000013: # EXDAPIN, added a missing instruction in
047002,000014: # COMPAT.
047003,000015:
047004,000016: # This source code has been transcribed or otherwise adapted from digitized
047005,000017: # images of a hardcopy from the MIT Museum. The digitization was performed
047006,000018: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
047007,000019: # thanks to both. The images (with suitable reduction in storage size and
047008,000020: # consequent reduction in image quality as well) are available online at
047009,000021: # www.ibiblio.org/apollo. If for some reason you find that the images are
047010,000022: # illegible, contact me at info@sandroid.org about getting access to the
047011,000023: # (much) higher-quality images which Paul actually created.
047012,000024:
047013,000025: # Notations on the hardcopy document read, in part:
047014,000026:
047015,000027: # Assemble revision 055 of AGC program Comanche by NASA
047016,000028: # 2021113-051. 10:28 APR. 1, 1969
047017,000029:
047018,000030: # This AGC program shall also be referred to as
047019,000031: # Colossus 2A
047020,000032:
047021,000033: # Page 1063
047022,000034: # SUBROUTINE TO READ GIMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2'S COMPLEMENT, BUT THE
047023,000035: # DIFFERENECES ARE IN 1'S COMP. ENTER AND READ ANGLES EACH .1 SEC.
047024,000036:
047025,000037: # CM/DSTBY = 1 FOR DAP OPERATION
047026,000038: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION
047027,000039:
047028,000040: 15,2434 BANK 15
047029,000041:
047030,000042: 15,2000 SETLOC ETRYDAP
047031,000043: 15,2000 BANK
047032,000044:
047033,000045: 15,2434 COUNT 15/DAPEN
047034,000046:
047035,000047: 15,2434 E6,1661 EBANK= AOG
047036,000048:
047037,000049: 15,2434 34377 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
047038,000050: 15,2435 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
047039,000051:
047040,000052: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
047041,000053: # PHASCHNG PROTECTION IS IN CM/DAPIC.
047042,000054:
047043,000055: 15,2436 35012 CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
047044,000056: 15,2437 71321 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
047045,000057: 15,2440 00006 EXTEND # GIMBAL DIFFERENCES)
047046,000058: 15,2441 12447 BZF READGYM1 # OK
047047,000059:
047048,000060: 15,2442 45017 CS BIT1 # NOT IN FINE ALIGN, SO IDLE
047049,000061: 15,2443 70102 MASK CM/FLAGS # SET GYMDIFSW = 0
047050,000062: 15,2444 54102 TS CM/FLAGS
047051,000063: 15,2445 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
047052,000064: 15,2446 02514 TC CM/GYMIC +2
047053,000065:
047054,000066: 15,2447 30032 READGYM1 CA CDUX
047055,000067: 15,2450 57661 XCH AOG
047056,000068: 15,2451 00006 EXTEND
047057,000069: 15,2452 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
047058,000070: 15,2453 55675 TS -DELAOG
047059,000071:
047060,000072: 15,2454 30033 CA CDUY
047061,000073: 15,2455 57662 XCH AIG
047062,000074: 15,2456 00006 EXTEND
047063,000075: 15,2457 21662 MSU AIG
047064,000076: 15,2460 55676 TS -DELAIG
047065,000077:
047066,000078: 15,2461 30034 CA CDUZ
047067,000079: 15,2462 57663 XCH AMG
047068,000080: 15,2463 00006 EXTEND
047069,000081: 15,2464 21663 MSU AMG
047070,000082: 15,2465 55677 TS -DELAMG
047071,000083:
047072,000084: # Page 1064
047073,000085: 15,2466 40102 DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
047074,000086: 15,2467 76214 MASK THREE
047075,000087: 15,2470 50000 INDEX A
047076,000088: 15,2471 02472 TC +1
047077,000089: 15,2472 02501 TC DOBRATE # OK, GO ON
047078,000090: 15,2473 02512 TC CM/GYMIC # DON'T CALC BODYRATE ON FIRST PASS.
047079,000091: 15,2474 12475 NOOP
047080,000092: 15,2475 06000 TC FLUSHJET # TURN OFF ALL JETS
047081,000093:
047082,000094: 15,2476 05412 TC PHASCHNG
047083,000095: 15,2477 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
047084,000096:
047085,000097: 15,2500 05324 TC TASKOVER
047086,000098:
047087,000099: 15,2501 35017 DOBRATE CA ONE # DO BODYRATE
047088,000100: 15,2502 55720 DOBRATE1 TS JETEM # SKIP BODYRATE
047089,000101:
047090,000102: 15,2503 34377 CA TEN # KEEP CDU READ GOING.
047091,000103: 15,2504 05245 TC WAITLIST
047092,000104: 15,2505 E6,1661 EBANK= AOG
047093,000105: 15,2505 02434 32066 2CADR READGYMB
047094,000106:
047095,000107: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047096,000108:
047097,000109: 15,2507 11720 CCS JETEM
047098,000110: 15,2510 02536 TC BODYRATE
047099,000111: 15,2511 05324 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
047100,000112:
047101,000113: 15,2512 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
047102,000114: 15,2513 35021 CAF ZERO
047103,000115: 15,2514 55711 TS JETAG
047104,000116: 15,2515 55706 TS OLDELP
047105,000117: 15,2516 55707 TS OLDELQ
047106,000118: 15,2517 55710 TS OLDELR
047107,000119: 15,2520 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
047108,000120: 15,2521 02502 TC DOBRATE1
047109,000121:
047110,000122: # Page 1065
047111,000123: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
047112,000124:
047113,000125: 15,2522 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
047114,000126: 15,2523 00002 TC Q # NO OVFL
047115,000127: 15,2524 50000 INDEX A
047116,000128: 15,2525 35000 CAF LIMITS
047117,000129: 15,2526 26001 ADS L
047118,000130: 15,2527 00002 TC Q
047119,000131:
047120,000132: 6000 BLOCK 3
047121,000133:
047122,000134: 6000 COUNT 03/DAPEN
047123,000135:
047124,000136: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
047125,000137: 6001 00006 EXTEND
047126,000138: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
047127,000139: 6003 00006 EXTEND
047128,000140: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
047129,000141: 6005 00002 TC Q
047130,000142:
047131,000143: 15,2530 BANK 15
047132,000144:
047133,000145: 15,2530 COUNT 15/DAPEN
047134,000146:
047135,000147: 15,2000 SETLOC ETRYDAP
047136,000148: 15,2000 BANK
047137,000149:
047138,000150: 15,2530 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
047139,000151: 15,2531 61720 AD JETEM # OF CONSTANT ACCELERATION.
047140,000152: 15,2532 00006 EXTEND
047141,000153: 15,2533 75002 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
047142,000154: 15,2534 61720 AD JETEM
047143,000155: 15,2535 00002 TC Q
047144,000156:
047145,000157: # Page 1066
047146,000158: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
047147,000159:
047148,000160: 20,3612 BANK 20
047149,000161: 20,2000 SETLOC DAPS1
047150,000162: 20,2000 BANK
047151,000163:
047152,000164: 20,3612 COUNT 20/DAPEN
047153,000165: 20,3612 E6,1661 EBANK= AOG
047154,000166:
047155,000167: 20,3612 35057 CM/DAPON CA EBAOG
047156,000168: 20,3613 54003 TS EBANK
047157,000169:
047158,000170: 20,3614 05560 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
047159,000171: 20,3615 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
047160,000172: 20,3616 05560 TC DOWNFLAG # RESET DAPBIT2
047161,000173: 20,3617 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
047162,000174: 20,3620 00006 EXTEND
047163,000175: 20,3621 33737 DCA T5IDLER1 # DISABLE RCS CALCULATION
047164,000176: 20,3622 53313 DXCH T5LOC
047165,000177: 20,3623 00006 EXTEND
047166,000178: 20,3624 33737 DCA T5IDLER1 # DISABLE RCS JET CALLS
047167,000179: 20,3625 53311 DXCH T6LOC
047168,000180:
047169,000181: 20,3626 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
047170,000182:
047171,000183: 20,3627 47707 CS 13,14,15
047172,000184: 20,3630 71466 MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
047173,000185: 20,3631 55466 TS DAPDATR1
047174,000186: 20,3632 03636 TC +4
047175,000187:
047176,000188: 20,3633 35036 NOTYET CA .5SEC
047177,000189: 20,3634 04662 TC BANKCALL
047178,000190: 20,3635 01732 CADR DELAYJOB # (DELAYJOB DOES INHINT)
047179,000191: 20,3636 35005 +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0
047180,000192: 20,3637 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
047181,000193: 20,3640 00006 EXTEND
047182,000194: 20,3641 13633 BZF NOTYET
047183,000195:
047184,000196: 20,3642 45017 CS ONE # ACTIVATE CM/DAP
047185,000197: 20,3643 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
047186,000198: # NEXT PASS.
047187,000199: 20,3644 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
047188,000200: # HEADSUP IS SET IN P62.
047189,000201:
047190,000202: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62
047191,000203:
047192,000204: 20,3645 30007 CA 7
047193,000205: 20,3646 55711 TS JETAG
047194,000206: 20,3647 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
047195,000207: # IN CASE CMDAPMOD IS NOT +1.
047196,000208: # Page 1067
047197,000209: 20,3650 00004 INHINT
047198,000210: 20,3651 00006 EXTEND
047199,000211: 20,3652 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
047200,000212: 20,3653 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
047201,000213: 20,3654 31664 CA ROLL/180
047202,000214: 20,3655 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
047203,000215: 20,3656 00006 EXTEND
047204,000216: 20,3657 75002 MP HALF
047205,000217: 20,3660 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
047206,000218:
047207,000219: 20,3661 40102 CS CM/FLAGS
047208,000220: 20,3662 75004 MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
047209,000221: 20,3663 26102 ADS CM/FLAGS # SET BIT TO 1.
047210,000222:
047211,000223: 20,3664 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
047212,000224: 20,3665 75017 MASK BIT1 # V 37 ENTRIES.
047213,000225: 20,3666 26076 ADS FLAGWRD2
047214,000226:
047215,000227: 20,3667 00003 RELINT
047216,000228:
047217,000229: 20,3670 04701 TC POSTJUMP
047218,000230: 20,3671 54342 CADR P62.1
047219,000231:
047220,000232: # Page 1068
047221,000233: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
047222,000234: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
047223,000235: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
047224,000236: # SET AVEGEXIT TO CONTINUE AT CM/POSE
047225,000237:
047226,000238: 20,3672 35057 CM/DAPIC CA EBAOG
047227,000239: 20,3673 54003 TS EBANK
047228,000240:
047229,000241: 20,3674 00004 INHINT
047230,000242: 20,3675 41205 CM/DAP2C CS PIPTIME +1
047231,000243: # PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1.
047232,000244: 20,3676 55720 TS JETEM
047233,000245:
047234,000246: 20,3677 35002 CA POS1/2
047235,000247: 20,3700 65002 AD POS1/2
047236,000248: 20,3701 60025 AD TIME1 # OVFL GUARANTEED
047237,000249: 20,3702 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
047238,000250:
047239,000251: 20,3703 45022 CS FIVE
047240,000252: 20,3704 61720 AD JETEM
047241,000253: 20,3705 10000 CCS A
047242,000254: 20,3706 63735 AD -CDUT+1
047243,000255: 20,3707 13705 TCF -2
047244,000256: 20,3710 13711 NOOP
047245,000257: 20,3711 65017 AD ONE # SEND NO ZERO TO WTLST
047246,000258: 20,3712 55725 TS CM/GYMDT # FOR RESTART
047247,000259: 20,3713 05245 TC WAITLIST
047248,000260: 20,3714 E6,1661 EBANK= AOG
047249,000261: 20,3714 02434 32066 2CADR READGYMB
047250,000262:
047251,000263: 20,3716 43734 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
047252,000264: 20,3717 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
047253,000265: 20,3720 64377 AD CM/SWIC2 # SET CM/DSTBY, LATSW
047254,000266: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
047255,000267: # CALC. (P62.3) GOES TO ENDEXIT
047256,000268: 20,3721 54102 TS CM/FLAGS
047257,000269:
047258,000270: 20,3722 30007 CA 7
047259,000271: 20,3723 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTIO
047260,000272: 20,3724 35017 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
047261,000273: 20,3725 54305 TS SW/NDX # UPBUFF.
047262,000274:
047263,000275: 20,3726 05372 TC 2PHSCHNG # DOES INHINT/RELINT
047264,000276: 20,3727 40116 OCT 40116 # SAVE TBASE6
047265,000277: 20,3730 05024 OCT 05024
047266,000278: 20,3731 13000 OCT 13000
047267,000279:
047268,000280: 20,3732 04701 TC POSTJUMP
047269,000281: # Page 1069
047270,000282: 20,3733 54326 CADR P62.2
047271,000283:
047272,000284: 20,3734 16017 CM/SWIC1 OCT 16017
047273,000285: 20,3735 4377 CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
047274,000286: 20,3735 77766 -CDUT+1 OCT 77766
047275,000287: 20,3736 1312 EBANK= T5LOC
047276,000288: 20,3736 03153 12062 T5IDLER1 2CADR T5IDLOC
047277,000289:
047278,000290: # Page 1070
047279,000291: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
047280,000292: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQIREMENT: TEMPORARILY ERASE. JETEM, JETEM +1
047281,000293:
047282,000294: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
047283,000295: # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
047284,000296: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER, IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
047285,000297: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
047286,000298: # THIS IS NECESSARY UNDER THE GROUND-RULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
047287,000299:
047288,000300: 20,3740 E6,1661 EBANK= AOG
047289,000301: 15,2536 BANK 15
047290,000302: 15,2000 SETLOC ETRYDAP
047291,000303: 15,2000 BANK
047292,000304:
047293,000305: 15,2536 COUNT 15/DAPEN
047294,000306:
047295,000307: 15,2536 31663 BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
047296,000308: 15,2537 05074 TC SPCOS
047297,000309: 15,2540 55511 TS COSM
047298,000310:
047299,000311: 15,2541 31661 CA AOG # C(AOG) = AOG/180
047300,000312: 15,2542 05075 TC SPSIN # SINO
047301,000313: 15,2543 55512 TS SINO # SINO = SIN(AOG)
047302,000314:
047303,000315: 15,2544 00006 EXTEND
047304,000316: 15,2545 71511 MP COSM
047305,000317: 15,2546 55514 TS SINOCOSM # SO CM
047306,000318:
047307,000319: 15,2547 31661 CA AOG
047308,000320: 15,2550 05074 TC SPCOS # COSO
047309,000321: 15,2551 55513 TS COSO
047310,000322:
047311,000323: 15,2552 00006 EXTEND
047312,000324: 15,2553 71511 MP COSM
047313,000325: 15,2554 55515 TS COSOCOSM # CO CM
047314,000326:
047315,000327: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
047316,000328:
047317,000329: 15,2555 41677 CS -DELAMG
047318,000330: 15,2556 00006 EXTEND
047319,000331: 15,2557 71512 MP SINO
047320,000332: 15,2560 53721 DXCH JETEM # 2 LOCS
047321,000333: 15,2561 41676 CS -DELAIG
047322,000334: 15,2562 00006 EXTEND
047323,000335: 15,2563 71515 MP COSOCOSM
047324,000336: 15,2564 21721 DAS JETEM
047325,000337: 15,2565 31720 CA JETEM
047326,000338: 15,2566 57707 XCH OLDELQ
047327,000339: 15,2567 02530 TC RATEAVG
047328,000340: 15,2570 55702 TS QREL # PITCHDOT = Q TCDU/180
047329,000341:
047330,000342: # Page 1071
047331,000343: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
047332,000344:
047333,000345: 15,2571 41677 CS -DELAMG
047334,000346: 15,2572 00006 EXTEND
047335,000347: 15,2573 71513 MP COSO
047336,000348: 15,2574 53721 DXCH JETEM
047337,000349: 15,2575 31676 CA -DELAIG
047338,000350: 15,2576 00006 EXTEND
047339,000351: 15,2577 71514 MP SINOCOSM
047340,000352: 15,2600 21721 DAS JETEM
047341,000353: 15,2601 31720 CA JETEM
047342,000354: 15,2602 57710 XCH OLDELR
047343,000355: 15,2603 02530 TC RATEAVG
047344,000356: 15,2604 55703 TS RREL # YAWDOT = R TCDU/180
047345,000357:
047346,000358: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
047347,000359:
047348,000360: 15,2605 31663 CA AMG
047349,000361: 15,2606 05075 TC SPSIN
047350,000362: 15,2607 55510 TS SINM
047351,000363:
047352,000364: 15,2610 00006 EXTEND
047353,000365: 15,2611 71676 MP -DELAIG
047354,000366: 15,2612 55720 TS JETEM
047355,000367: 15,2613 35021 CA ZERO
047356,000368: 15,2614 20001 DDOUBL # ROUND L INTO A
047357,000369: 15,2615 61675 AD -DELAOG
047358,000370: 15,2616 61720 AD JETEM
047359,000371: 15,2617 40000 CS A
047360,000372: 15,2620 55720 TS JETEM
047361,000373: 15,2621 57706 XCH OLDELP
047362,000374: 15,2622 02530 TC RATEAVG
047363,000375: 15,2623 55701 TS PREL # ROLLDOT = P TCDU/180
047364,000376:
047365,000377: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
047366,000378:
047367,000379: 15,2624 11723 CCS GAMDOT
047368,000380: 15,2625 02627 TC +2
047369,000381: 15,2626 02651 TC NOGAMDUT
047370,000382: 15,2627 41664 CS ROLL/180
047371,000383: 15,2630 05075 TC SPSIN
047372,000384: 15,2631 00006 EXTEND
047373,000385: 15,2632 71723 MP GAMDOT
047374,000386: 15,2633 55721 TS JETEM +1 # -SR GAMDOT
047375,000387: 15,2634 00006 EXTEND
047376,000388: 15,2635 73177 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
047377,000389: 15,2636 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
047378,000390:
047379,000391: 15,2637 31664 CA ROLL/180
047380,000392: 15,2640 05074 TC SPCOS
047381,000393: # Page 1072
047382,000394: 15,2641 40000 COM
047383,000395: 15,2642 00006 EXTEND
047384,000396: 15,2643 71723 MP GAMDOT
047385,000397: 15,2644 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
047386,000398:
047387,000399: 15,2645 41721 CS JETEM +1 # B( ) = -SR GAMDOT
047388,000400: 15,2646 00006 EXTEND
047389,000401: 15,2647 73200 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
047390,000402: 15,2650 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
047391,000403:
047392,000404: 15,2651 35004 NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
047393,000405: 15,2652 70102 MASK CM/FLAGS
047394,000406: 15,2653 00006 EXTEND
047395,000407: 15,2654 15324 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
047396,000408:
047397,000409: 15,2655 34777 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
047398,000410: 15,2656 54030 TS TIME5
047399,000411:
047400,000412: 15,2657 00006 EXTEND
047401,000413: 15,2660 32664 DCA ATDOTCAD
047402,000414: 15,2661 53313 DXCH T5LOC
047403,000415: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047404,000416:
047405,000417: 15,2662 05324 TC TASKOVER
047406,000418:
047407,000419: 15,2663 E6,1661 EBANK= AOG
047408,000420: 15,2663 02665 32066 ATDOTCAD 2CADR ATTRATES
047409,000421:
047410,000422: # Page 1073
047411,000423: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
047412,000424:
047413,000425: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
047414,000426: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
047415,000427: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
047416,000428:
047417,000429: 15,2665 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
047418,000430: 15,2666 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
047419,000431: 15,2667 22012 QXCH QRUPT
047420,000432: 15,2670 30021 CA SR
047421,000433: 15,2671 60000 DOUBLE
047422,000434: 15,2672 55623 TS CM/SAVE
047423,000435: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047424,000436:
047425,000437: 15,2673 31702 CA QREL
047426,000438: 15,2674 61665 AD ALFA/180
047427,000439: 15,2675 02522 TC ANGOVCOR
047428,000440: 15,2676 55665 TS ALFA/180
047429,000441: 15,2677 05074 TC SPCOS
047430,000442: 15,2700 55506 TS CALFA # CALFA
047431,000443: 15,2701 55705 TS PHIDOT
047432,000444:
047433,000445: 15,2702 00006 EXTEND
047434,000446: 15,2703 71701 MP PREL
047435,000447: 15,2704 57705 XCH PHIDOT # CA PREL
047436,000448: 15,2705 00006 EXTEND
047437,000449: 15,2706 71703 MP RREL # CA RREL
047438,000450: 15,2707 55704 TS BETADOT
047439,000451:
047440,000452: 15,2710 31665 CA ALFA/180
047441,000453: 15,2711 05075 TC SPSIN
047442,000454: 15,2712 55507 TS SALFA # SIN(ALFA)
047443,000455:
047444,000456: 15,2713 00006 EXTEND
047445,000457: 15,2714 71703 MP RREL # SA RREL
047446,000458: 15,2715 27705 ADS PHIDOT # CB PHIDOT, SAVED.
047447,000459:
047448,000460: 15,2716 41507 CS SALFA
047449,000461: 15,2717 00006 EXTEND
047450,000462: 15,2720 71701 MP PREL
047451,000463: 15,2721 27704 ADS BETADOT # SAVE BETADOT TCDU/180
047452,000464: 15,2722 27666 ADS BETA/180 # BETA DONE.
047453,000465:
047454,000466: 15,2723 05075 TC SPSIN
047455,000467: 15,2724 00006 EXTEND
047456,000468: 15,2725 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
047457,000469: 15,2726 61665 AD ALFA/180
047458,000470: 15,2727 02522 TC ANGOVCOR
047459,000471: 15,2730 55665 TS ALFA/180 # ALFA DONE.
047460,000472: # Page 1074
047461,000473: 15,2731 40000 COM
047462,000474: 15,2732 61603 AD ALFACOM
047463,000475: 15,2733 02522 TC ANGOVCOR # JUST IN CASE ...
047464,000476: 15,2734 55477 TS AK1
047465,000477: 15,2735 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
047466,000478:
047467,000479: 15,2736 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
047468,000480: 15,2737 61664 AD ROLL/180
047469,000481: 15,2740 02522 TC ANGOVCOR
047470,000482: 15,2741 55714 TS ROLLTM # ROLL/180 FOR TM.
047471,000483: 15,2742 55664 TS ROLL/180 # ROLL DONE.
047472,000484:
047473,000485: # START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
047474,000486:
047475,000487: 15,2743 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
047476,000488: 15,2744 61604 AD BETACOM
047477,000489: 15,2745 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
047478,000490: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
047479,000491: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
047480,000492: # BE R-AXIS ERROR.
047481,000493:
047482,000494: 15,2746 35015 CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
047483,000495: 15,2747 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
047484,000496: 15,2750 00006 EXTEND
047485,000497: 15,2751 13037 BZF EXDAP # IF G LESS THAN .05
047486,000498: 15,2752 45017 CS ONE # IF G GEQ THAN .05
047487,000499: 15,2753 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
047488,000500:
047489,000501: 15,2754 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
047490,000502: 15,2755 55500 TS AK2 # IN ATM. (MODE =-1)
047491,000503:
047492,000504: 15,2756 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
047493,000505: 15,2757 00006 EXTEND
047494,000506: 15,2760 73177 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
047495,000507: 15,2761 61703 AD RREL
047496,000508: 15,2762 03027 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
047497,000509: 15,2763 50000 INDEX A # +/- 1 IF NOT
047498,000510: 15,2764 33202 CAF YJETCODE
047499,000511:
047500,000512: 15,2765 55720 TS JETEM
047501,000513:
047502,000514: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
047503,000515:
047504,000516: 15,2766 31702 CA QREL
047505,000517: 15,2767 03027 TC 2D/SDZ
047506,000518: 15,2770 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
047507,000519: 15,2771 33205 CAF P/RJCODE
047508,000520: 15,2772 27720 ADS JETEM # COMBINE ALL NEW BITS.
047509,000521:
047510,000522: 15,2773 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
047511,000523: # Page 1075
047512,000524: 15,2774 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
047513,000525:
047514,000526: 15,2775 11711 CCS JETAG
047515,000527: 15,2776 03216 TC CM/RCS
047516,000528: 15,2777 03677 TC CM/FDAI
047517,000529: 15,3000 03704 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
047518,000530:
047519,000531: # Page 1076
047520,000532: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
047521,000533:
047522,000534: 15,3001 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
047523,000535: 15,3002 63175 AD YAWLIM
047524,000536: 15,3003 13033 TCF DZCOM
047525,000537: 15,3004 63175 AD YAWLIM
047526,000538: 15,3005 13034 TCF DZNOCOM
047527,000539:
047528,000540: # BIASED DZ FOR EXT ATM DAP.
047529,000541: 15,3006 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
047530,000542: 15,3007 10000 CCS A # START ERROR DZ.
047531,000543: 15,3010 43174 CS CM/BIAS # = .6/180
047532,000544: 15,3011 13013 TCF +2
047533,000545: 15,3012 33174 CA CM/BIAS
047534,000546: 15,3013 60001 AD L # BIAS THE ERROR.
047535,000547: 15,3014 22002 LXCH Q # SAVE CALLER'S RETURN ADDRES.
047536,000548: 15,3015 03001 TC 3DDZ # GO GENERATE THE ERROR BIT.
047537,000549: 15,3016 52002 DXCH L # BIT TO L, RESTORE CALLER'S Q.
047538,000550: 15,3017 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
047539,000551: 15,3020 63172 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
047540,000552: 15,3021 13023 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
047541,000553: 15,3022 63172 AD 4D/SLIM
047542,000554: 15,3023 54000 TS A
047543,000555: 15,3024 13026 TCF +2 # RATE OK. CONTINUE
047544,000556: 15,3025 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
047545,000557: 15,3026 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
047546,000558:
047547,000559: 15,3027 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
047548,000560: 15,3030 63173 AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
047549,000561: 15,3031 13034 TCF +3
047550,000562: 15,3032 63173 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
047551,000563: 15,3033 40000 DZCOM COM
047552,000564: 15,3034 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
047553,000565: 15,3035 35021 CA ZERO # SET C(A) = +0 INSIDE
047554,000566: 15,3036 00002 TC Q
047555,000567:
047556,000568: # Page 1077
047557,000569: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
047558,000570:
047559,000571: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
047560,000572: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
047561,000573: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
047562,000574: # R-AXIS = CONTROL
047563,000575:
047564,000576: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
047565,000577: # RATE = PREL
047566,000578: # P-AXIS = CONTROL
047567,000579:
047568,000580: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
047569,000581: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
047570,000582: # RATE = BETADOT
047571,000583: # P-AXIS = CONTROL
047572,000584:
047573,000585: # ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY.
047574,000586: # RATE = RREL
047575,000587: # R-AXIS = CONTROL
047576,000588:
047577,000589: # 3. FOR ALL CASES, USE
047578,000590: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
047579,000591: # RATE = QREL
047580,000592: # Q-AXIS = CONTROL
047581,000593:
047582,000594: 15,3037 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
047583,000595: 15,3040 11506 CCS CALFA
047584,000596: 15,3041 63176 AD C45LIM # =1.0-COS(45)
047585,000597: 15,3042 13044 TCF +2
047586,000598: 15,3043 63176 AD C45LIM
047587,000599: 15,3044 54000 TS A
047588,000600: 15,3045 13126 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
047589,000601:
047590,000602: 15,3046 11506 CCS CALFA # |CALFA| > 0.707
047591,000603: 15,3047 13050 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
047592,000604:
047593,000605: 15,3050 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
047594,000606: 15,3051 03064 TC EXDAP4
047595,000607: 15,3052 03054 TC +2
047596,000608: 15,3053 03064 TC EXDAP4
047597,000609: 15,3054 05412 TC PHASCHNG # SINGLE PASS THROUGH HERE.
047598,000610: 15,3055 40334 OCT 40334
047599,000611: 15,3056 45017 CS ONE
047600,000612: 15,3057 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
047601,000613: 15,3060 33171 CA NSEC
047602,000614: 15,3061 05245 TC WAITLIST
047603,000615: 15,3062 E6,1661 EBANK= AOG
047604,000616: 15,3062 02374 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
047605,000617: # Page 1078
047606,000618: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047607,000619: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047608,000620:
047609,000621: 15,3064 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
047610,000622: 15,3065 13073 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
047611,000623: 15,3066 13073 TCF EXDAP3
047612,000624: 15,3067 35021 CA ZERO
047613,000625: 15,3070 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
047614,000626: 15,3071 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
047615,000627: 15,3072 55711 TS JETAG # RESTORE PROPER VALUE +0
047616,000628:
047617,000629: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047618,000630: 15,3073 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
047619,000631: 15,3074 31573 CA RAXERR # C()= BETACOM - BETA/180
047620,000632: 15,3075 13101 TCF EXDAP1
047621,000633: 15,3076 45021 CS ZERO
047622,000634: 15,3077 55700 TS CMDAPMOD # FOR CM/RCS
047623,000635: 15,3100 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
047624,000636: 15,3101 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
047625,000637: 15,3102 55500 TS AK2 # WANT RAXERR FOR TM.
047626,000638: 15,3103 54001 TS L
047627,000639: 15,3104 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
047628,000640: 15,3105 03110 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
047629,000641: 15,3106 35017 CA ONE # USE BETADOT TO COORD IN MODE +0
047630,000642: 15,3107 50000 INDEX A # OTHERWISE USE RREL.
047631,000643: 15,3110 31703 CA RREL
047632,000644: 15,3111 03006 TC BIASEDZ # GO TEST DZ +0 IF IN DX, +-1 OTHERWISE
047633,000645: # IF GEQ 4D/S, SET ERROR BIT IN L=0
047634,000646: 15,3112 00006 EXTEND
047635,000647: 15,3113 04001 ROR LCHAN # L HAS BETA BIT
047636,000648: 15,3114 50000 INDEX A
047637,000649: 15,3115 33202 CAF YJETCODE
047638,000650: 15,3116 55720 TS JETEM
047639,000651:
047640,000652: 15,3117 31572 CA QAXERR # ALFA ERROR.
047641,000653: 15,3120 54001 TS L
047642,000654: 15,3121 31702 CA QREL # FOR ALPHADOT USE QREL
047643,000655: 15,3122 03006 TC BIASEDZ
047644,000656: 15,3123 00006 EXTEND
047645,000657: 15,3124 04001 ROR LCHAN
047646,000658: 15,3125 12770 TCF EXDAPIN # CONTINUE ON IN DAP
047647,000659:
047648,000660: 15,3126 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
047649,000661:
047650,000662: 15,3127 45017 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
047651,000663: 15,3130 55711 TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
047652,000664: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
047653,000665:
047654,000666: 15,3131 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
047655,000667: 15,3132 55727 TS P63FLAG
047656,000668: # Page 1079
047657,000669: 15,3133 13134 NOOP
047658,000670:
047659,000671: 15,3134 11507 CCS SALFA # BETA CONTROL WITH P JETS
047660,000672: 15,3135 41573 CS RAXERR # B()= BETACOM - BETA/180
047661,000673: 15,3136 13140 TCF +2
047662,000674: 15,3137 31573 CA RAXERR
047663,000675: 15,3140 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
047664,000676: 15,3141 00006 EXTEND
047665,000677: 15,3142 75002 MP HALF # CM/FDAI EXPECTS ERROR/360.
047666,000678: 15,3143 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
047667,000679: 15,3144 54001 TS L
047668,000680: 15,3145 11507 CCS SALFA
047669,000681: 15,3146 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
047670,000682: 15,3147 03151 TC +2
047671,000683: 15,3150 31704 CA BETADOT
047672,000684: 15,3151 03006 TC BIASEDZ
047673,000685: 15,3152 00006 EXTEND
047674,000686: 15,3153 04001 ROR LCHAN
047675,000687: 15,3154 50000 INDEX A
047676,000688: 15,3155 33205 CAF P/RJCODE # GET ROLL CODE
047677,000689: 15,3156 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
047678,000690: 15,3157 01006 WRITE ROLLJETS # WE'LL SKIP REGULAR ROLL SYST
047679,000691:
047680,000692: 15,3160 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
047681,000693: 15,3161 00006 EXTEND
047682,000694: 15,3162 21664 MSU ROLL/180 # 1'S COMPL, BUT SO WHAT'S A BIT?
047683,000695: 15,3163 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
047684,000696: 15,3164 11507 CCS SALFA
047685,000697: 15,3165 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
047686,000698: 15,3166 03101 TC EXDAP1
047687,000699: 15,3167 40001 CS L
047688,000700: 15,3170 03101 TC EXDAP1
047689,000701:
047690,000702: 15,3171 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
047691,000703: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047692,000704: 15,3172 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
047693,000705: 15,3173 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
047694,000706: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047695,000707:
047696,000708: 15,3174 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
047697,000709: 15,3175 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
047698,000710: 15,3176 11277 C45LIM DEC .29289 # =1.0-COS(45)
047699,000711:
047700,000712: 15,3177 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
047701,000713: 15,3200 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
047702,000714:
047703,000715: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047704,000716: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
047705,000717: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
047706,000718:
047707,000719: # Page 1080
047708,000720: # JET CODE TABLES FOLLOW
047709,000721:
047710,000722: 15,3201 00120 OCTAL 00120 # POS Y
047711,000723: 15,3202 00000 YJETCODE OCTAL 00000 # RCS JET BITS
047712,000724: 15,3203 00240 OCTAL 00240 # NEG Y
047713,000725: 15,3204 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
047714,000726: 15,3205 00000 P/RJCODE OCTAL 00000
047715,000727: 15,3206 00012 OCTAL 00012 # NEG R ALSO NEG P
047716,000728:
047717,000729: # Page 1081
047718,000730: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
047719,000731: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
047720,000732: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
047721,000733: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
047722,000734: # NEXT UPDATE.
047723,000735:
047724,000736: 15,3207 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
047725,000737: 15,3210 55712 TS TUSED
047726,000738: # THE 5 CS APPEARS IN TIMETST.
047727,000739: 15,3211 35017 CA ONE # RATHER THAN INCR, FOR SAFETY
047728,000740: 15,3212 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
047729,000741: 15,3213 05412 TC PHASCHNG
047730,000742: 15,3214 00001 OCT 00001
047731,000743:
047732,000744: 15,3215 05324 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
047733,000745:
047734,000746: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
047735,000747: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
047736,000748: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
047737,000749: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
047738,000750:
047739,000751: 15,3216 5001 HALFPR EQUALS NEG1/2 +1
047740,000752:
047741,000753: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
047742,000754: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
047743,000755: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
047744,000756: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
047745,000757:
047746,000758: 15,3216 45017 CM/RCS CS ONE
047747,000759: 15,3217 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
047748,000760:
047749,000761: 15,3220 45033 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
047750,000762: 15,3221 00006 EXTEND
047751,000763: 15,3222 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
047752,000764: 15,3223 60001 AD L # -2 RDOT T/180 IN L
047753,000765: 15,3224 55613 TS -VT/180 # SAVE -2VT/180 HERE
047754,000766:
047755,000767: 15,3225 41664 CS ROLL/180
047756,000768: 15,3226 54021 TS SR # SAVE (-R/180) /2
047757,000769:
047758,000770: 15,3227 40102 CS CM/FLAGS
047759,000771: 15,3230 75014 MASK BIT4 # LATSW = 101D BIT4
047760,000772: 15,3231 00006 EXTEND # ROLL OVER TOP $
047761,000773: 15,3232 13240 BZF GETLCX # NO, TAKE SHORTEST PATH
047762,000774: 15,3233 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
047763,000775: 15,3234 31715 CA ROLLC # (ROLLC/180) /2
047764,000776: 15,3235 60021 AD SR # -(R/180) /2
047765,000777: 15,3236 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
047766,000778: 15,3237 13300 TCF COMPAT # POSSIBLE OVFL ABOVE.
047767,000779:
047768,000780: # Page 1082
047769,000781: 15,3240 35002 GETLCX CA POS1/2 # FORM RCOM/360
047770,000782: 15,3241 60000 DOUBLE
047771,000783: 15,3242 61715 AD ROLLC
047772,000784: 15,3243 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
047773,000785:
047774,000786: 15,3244 30021 CA SR # FORM -R/360
047775,000787: 15,3245 65000 AD NEG1/2
047776,000788: 15,3246 65000 AD NEG1/2 # IGNORE OVFL
047777,000789: 15,3247 57614 XCH LCX/360 # -R/360
047778,000790: 15,3250 27614 ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
047779,000791:
047780,000792: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
047781,000793:
047782,000794: 15,3251 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
047783,000795: 15,3252 65017 AD ONE # (BASED ON SINGLE JET ACCELERATION)
047784,000796: 15,3253 13255 TCF +2
047785,000797: 15,3254 65017 AD ONE
047786,000798: 15,3255 00006 EXTEND
047787,000799: 15,3256 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
047788,000800: 15,3257 00006 EXTEND
047789,000801: 15,3260 73750 MP 1/16A1 # = 180/(16 A1 TT)
047790,000802: 15,3261 00006 EXTEND
047791,000803: 15,3262 11506 DV CALFA
047792,000804: 15,3263 54001 TS L
047793,000805: 15,3264 11614 CCS LCX/360
047794,000806: 15,3265 35002 CAF POS1/2
047795,000807: 15,3266 13270 TCF +2
047796,000808: 15,3267 45002 CS POS1/2
047797,000809: 15,3270 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEGS $
047798,000810: 15,3271 60001 AD L
047799,000811: 15,3272 54001 TS L
047800,000812: 15,3273 13300 TCF COMPAT # YES, GO ON.
047801,000813: 15,3274 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
047802,000814: 15,3275 45001 CS HALFPR # +A YIELDS -1/2
047803,000815: 15,3276 60000 DOUBLE
047804,000816: 15,3277 27614 ADS LCX/360
047805,000817:
047806,000818: 15,3300 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
047807,000819: 15,3301 00006 EXTEND
047808,000820: 15,3302 71506 MP CALFA # COS ALFA
047809,000821: 15,3303 55614 TS LCX/360 # SCALED LCX OK HERE.
047810,000822:
047811,000823: 15,3304 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
047812,000824: 15,3305 03675 TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0)
047813,000825: # ALL 3 AXES ALREADY DONE.
047814,000826: 15,3306 03307 TC +1 # G LESS THAN .05. CA POS. CONTINUE
047815,000827: 15,3307 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
047816,000828: 15,3310 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
047817,000829: 15,3311 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
047818,000830: 15,3312 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360)
047819,000831: # Page 1083
047820,000832: 15,3313 31613 CA -VT/180 # GET - 2 VT/180
047821,000833: 15,3314 54021 TS SR
047822,000834: 15,3315 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
047823,000835: 15,3316 55570 TS -VT/180E # DIAGNOSTIC ****
047824,000836: 15,3317 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
047825,000837: 15,3320 00006 EXTEND
047826,000838: 15,3321 71613 MP -VT/180 # B(A) = -ZVT/180
047827,000839: 15,3322 00006 EXTEND
047828,000840: 15,3323 73750 MP 180/8ATT
047829,000841: 15,3324 55616 TS VSQ/4API
047830,000842:
047831,000843: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
047832,000844:
047833,000845: 15,3325 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
047834,000846: 15,3326 40000 COM
047835,000847: 15,3327 63754 AD BUFLIM # =BUFLIM/(2 360)
047836,000848: 15,3330 54001 TS L
047837,000849: 15,3331 11613 CCS -VT/180
047838,000850: 15,3332 40001 CS L
047839,000851: 15,3333 13335 TCF +2
047840,000852: 15,3334 30001 CA L
047841,000853: 15,3335 61614 AD LCX/360
047842,000854: 15,3336 63754 AD BUFLIM
047843,000855: 15,3337 00006 EXTEND
047844,000856: 15,3340 63355 BZMF REFLECT # POINT (X,V) IN LHP.
047845,000857:
047846,000858: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
047847,000859:
047848,000860: 15,3341 40000 COM
047849,000861: 15,3342 63754 AD BUFLIM
047850,000862: 15,3343 63754 AD BUFLIM
047851,000863: 15,3344 00006 EXTEND
047852,000864: 15,3345 63364 BZMF DZ1 # POINT (X,V) IN RHP
047853,000865:
047854,000866: # IS POINT WITHIN VELOCITY DZ?
047855,000867:
047856,000868: 15,3346 43747 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
047857,000869: 15,3347 61616 AD VSQ/4API
047858,000870: 15,3350 00006 EXTEND
047859,000871: 15,3351 63657 BZMF DZCALL # YES.
047860,000872:
047861,000873: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047862,000874:
047863,000875: 15,3352 41617 CS JNDX
047864,000876: 15,3353 55620 TS JNDX1
047865,000877: 15,3354 03437 TC OVRLINE1
047866,000878:
047867,000879: 15,3355 41613 REFLECT CS -VT/180 # RELFECT LHP INTO RHP REL TO TERM CONTR
047868,000880: 15,3356 55613 TS -VT/180
047869,000881: 15,3357 54021 TS SR # -VT/360 SAVED FOR DZ.
047870,000882: # Page 1084
047871,000883: 15,3360 41614 CS LCX/360
047872,000884: 15,3361 55614 TS LCX/360
047873,000885: 15,3362 41617 CS JNDX
047874,000886: 15,3363 55617 TS JNDX
047875,000887:
047876,000888: # IS VSQ/4API - (VSQ/4API) MIN NEG?
047877,000889:
047878,000890: 15,3364 43747 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
047879,000891: 15,3365 61616 AD VSQ/4API
047880,000892: 15,3366 00006 EXTEND
047881,000893: 15,3367 63371 BZMF DZ2 # YES, GO TEST FURTHER.
047882,000894: 15,3370 13376 TCF MAXVTEST # NO
047883,000895:
047884,000896: # IS X/360 - XMIN/360 -VT/360 NEG?
047885,000897:
047886,000898: 15,3371 43752 DZ2 CS XMIN/360 # XMIN/360 = 4/360
047887,000899: 15,3372 61614 AD LCX/360
047888,000900: 15,3373 60021 AD SR # C(SR) = -VT/360
047889,000901: 15,3374 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
047890,000902: 15,3375 63657 BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0.
047891,000903:
047892,000904: # IS XD/360 - VM/360K - XS/360 POS?
047893,000905:
047894,000906: 15,3376 41617 MAXVTEST CS JNDX
047895,000907: 15,3377 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
047896,000908: 15,3400 43754 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
047897,000909: 15,3401 61616 AD VSQ/4API
047898,000910: 15,3402 61614 AD LCX/360
047899,000911: 15,3403 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
047900,000912: # BUT C(XD/360) = (XD - XS) /360
047901,000913: 15,3404 63753 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
047902,000914: 15,3405 40000 COM
047903,000915: 15,3406 00006 EXTEND
047904,000916: 15,3407 63415 BZMF MAXVTIM1 # YES, THRUST TO VM
047905,000917: 15,3410 31615 CA XD/360
047906,000918: 15,3411 00006 EXTEND
047907,000919: 15,3412 75002 MP KTRCS
047908,000920: 15,3413 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
047909,000921:
047910,000922: 15,3414 03420 TC GETON1 # INSURE THAT Q IS POS AS TAG.
047911,000923: 15,3415 00006 MAXVTIM1 EXTEND
047912,000924: 15,3416 22007 ZQ # SET +Q AS TAG
047913,000925: 15,3417 43753 CS -VMT/180
047914,000926: 15,3420 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180
047915,000927: 15,3421 61613 AD -VT/180
047916,000928: 15,3422 60000 DOUBLE
047917,000929: 15,3423 00006 EXTEND
047918,000930: 15,3424 73750 MP 180/8ATT
047919,000931: 15,3425 55621 TS TON1 # TON1 / 4T
047920,000932: # Page 1085
047921,000933: 15,3426 00006 EXTEND
047922,000934: 15,3427 63431 BZMF OVRLINE
047923,000935: 15,3430 03443 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
047924,000936:
047925,000937: 15,3431 10002 OVRLINE CCS Q
047926,000938: 15,3432 13437 TCF OVRLINE1
047927,000939: 15,3433 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
047928,000940: 15,3434 55617 TS JNDX
047929,000941: 15,3435 41621 CS TON1
047930,000942: 15,3436 13442 TCF OVRLINE2 +1
047931,000943:
047932,000944: 15,3437 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
047933,000945: 15,3440 55567 TS VDT/180
047934,000946: 15,3441 35021 OVRLINE2 CA ZERO
047935,000947: 15,3442 55621 TS TON1
047936,000948: 15,3443 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
047937,000949: 15,3444 60000 DOUBLE
047938,000950: 15,3445 00006 EXTEND
047939,000951: 15,3446 73750 MP 180/8ATT
047940,000952: 15,3447 60000 DOUBLE # FOR SECOND BURN, A1
047941,000953: 15,3450 55607 TS TON2 # = TON2 / 4T
047942,000954:
047943,000955: 15,3451 40000 COM
047944,000956: 15,3452 00006 EXTEND
047945,000957: 15,3453 63457 BZMF GETOFF
047946,000958: 15,3454 55607 TS TON2
047947,000959: 15,3455 31617 CA JNDX
047948,000960: 15,3456 55620 TS JNDX1
047949,000961:
047950,000962: 15,3457 41607 GETOFF CS TON2 # TON2 / 4T
047951,000963: 15,3460 00006 EXTEND
047952,000964: 15,3461 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
047953,000965: 15,3462 55615 TS XD/360 # USE AS TEMP
047954,000966: 15,3463 41567 CS VDT/180
047955,000967: 15,3464 00006 EXTEND
047956,000968: 15,3465 13501 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
047957,000969: 15,3466 61613 AD -VT/180
047958,000970: 15,3467 00006 EXTEND
047959,000971: 15,3470 71621 MP TON1 # TON1 /4T
047960,000972: 15,3471 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
047961,000973: 15,3472 61614 AD LCX/360
047962,000974: 15,3473 22007 ZL
047963,000975: 15,3474 56001 XCH L # TEST THE DIVIDE
047964,000976: 15,3475 00006 EXTEND
047965,000977: 15,3476 11567 DV VDT/180
047966,000978: 15,3477 00006 EXTEND
047967,000979: 15,3500 13503 BZF GETOFF2 # DIVIDE OK
047968,000980:
047969,000981: 15,3501 35045 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
047970,000982: 15,3502 13510 TCF TIMSCAL
047971,000983:
047972,000984: # Page 1086
047973,000985: 15,3503 56001 GETOFF2 XCH L # GET NUMERATOR.
047974,000986: 15,3504 00006 EXTEND
047975,000987: 15,3505 11567 DV VDT/180 # C(A) = TOFF / 2T
047976,000988: 15,3506 00006 EXTEND
047977,000989: 15,3507 75045 MP 2JETT
047978,000990: 15,3510 55605 TIMSCAL TS TOFF # IN CS
047979,000991:
047980,000992: 15,3511 33751 CAF 4JETT
047981,000993: 15,3512 00006 EXTEND
047982,000994: 15,3513 71621 MP TON1 # C(TON1) = TON1 / 4T
047983,000995: 15,3514 55621 TS TON1 # IN CS
047984,000996:
047985,000997: 15,3515 33751 CAF 4JETT
047986,000998: 15,3516 00006 EXTEND
047987,000999: 15,3517 71607 MP TON2 # C(TON2) = TON2 / 4T
047988,001000: 15,3520 55607 TS TON2 # IN CS
047989,001001:
047990,001002: 15,3521 35021 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
047991,001003: 15,3522 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
047992,001004:
047993,001005: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047994,001006: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT
047995,001007: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047996,001008:
047997,001009: 15,3523 35017 CA ONE
047998,001010: 15,3524 54305 TS SW/NDX
047999,001011:
048000,001012: # Page 1087
048001,001013: # TIMETEST SECTION FOR RCS
048002,001014:
048003,001015: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASABLE LOCS TON1, TOFF, TON2, JNDX
048004,001016: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
048005,001017: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
048006,001018: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
048007,001019: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
048008,001020: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
048009,001021: # SECTION JETCALL BELOW PROCESSES THIS LIST.
048010,001022:
048011,001023: 15,3525 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
048012,001024: 15,3526 65002 AD POS1/2
048013,001025: 15,3527 65002 AD POS1/2 # OVFL GUARANTEED.
048014,001026: 15,3530 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
048015,001027:
048016,001028: 15,3531 33746 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
048017,001029: # THE +2 REQUIRED FOR PROPER BRANCH.
048018,001030: 15,3532 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
048019,001031:
048020,001032: 15,3533 45016 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
048021,001033: 15,3534 61621 AD TON1
048022,001034: 15,3535 00006 EXTEND
048023,001035: 15,3536 63550 BZMF TIMETST1
048024,001036: 15,3537 51617 INDEX JNDX
048025,001037: 15,3540 33205 CAF P/RJCODE
048026,001038: 15,3541 55622 TS T1BITS
048027,001039:
048028,001040: 15,3542 31621 CA TON1
048029,001041: 15,3543 27712 ADS TUSED
048030,001042: 15,3544 00006 EXTEND
048031,001043: 15,3545 63552 BZMF TOFFTEST
048032,001044: 15,3546 35021 CA ZERO
048033,001045: 15,3547 13603 TCF TIMETST3
048034,001046: 15,3550 45017 TIMETST1 CS ONE
048035,001047: 15,3551 55621 TS TON1
048036,001048: 15,3552 45016 TOFFTEST CS TWO
048037,001049: 15,3553 61605 AD TOFF
048038,001050: 15,3554 00006 EXTEND
048039,001051: 15,3555 63564 BZMF TIMETST2
048040,001052: 15,3556 31605 CA TOFF
048041,001053: 15,3557 27712 ADS TUSED
048042,001054: 15,3560 00006 EXTEND
048043,001055: 15,3561 63566 BZMF TON2TEST
048044,001056: 15,3562 35021 CA ZERO
048045,001057: 15,3563 13605 TCF TIMETST4
048046,001058: 15,3564 45017 TIMETST2 CS ONE
048047,001059: 15,3565 55605 TS TOFF
048048,001060: 15,3566 45016 TON2TEST CS TWO
048049,001061: 15,3567 61607 AD TON2
048050,001062: 15,3570 00006 EXTEND
048051,001063: 15,3571 63606 BZMF TIMETST5
048052,001064: # Page 1088
048053,001065: 15,3572 51620 INDEX JNDX1
048054,001066: 15,3573 33205 CAF P/RJCODE
048055,001067: 15,3574 55610 TS T2BITS
048056,001068: 15,3575 31607 CA TON2
048057,001069: 15,3576 27712 ADS TUSED
048058,001070: 15,3577 00006 EXTEND
048059,001071: 15,3600 63610 BZMF JETCALL1
048060,001072: 15,3601 35021 CA ZERO
048061,001073: 15,3602 13607 TCF TIMETST5 +1
048062,001074: 15,3603 55621 TIMETST3 TS TON1
048063,001075: 15,3604 45017 CS ONE
048064,001076: 15,3605 55605 TIMETST4 TS TOFF
048065,001077: 15,3606 45017 TIMETST5 CS ONE
048066,001078: 15,3607 55607 TS TON2
048067,001079:
048068,001080: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
048069,001081: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
048070,001082: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPOINDING JET BITS ARE TO BE
048071,001083: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
048072,001084: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
048073,001085: # THAN ONE REGISTER.
048074,001086:
048075,001087: 15,3610 35021 JETCALL1 CA ZERO
048076,001088: 15,3611 55611 TS OUTTAG
048077,001089: 15,3612 55612 TS NUJET
048078,001090: 15,3613 55606 TS TBITS
048079,001091: 15,3614 53622 DXCH TON1
048080,001092: 15,3615 10000 CCS A
048081,001093: 15,3616 13633 TCF JETCALL2 # CALL WTLST
048082,001094: 15,3617 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
048083,001095: 15,3620 45017 CS ONE
048084,001096: 15,3621 53606 DXCH TOFF
048085,001097: 15,3622 10000 CCS A
048086,001098: 15,3623 13633 TCF JETCALL2 # CALL WTLST
048087,001099: 15,3624 23612 LXCH NUJET
048088,001100: 15,3625 45017 CS ONE
048089,001101: 15,3626 53610 DXCH TON2
048090,001102: 15,3627 10000 CCS A
048091,001103: 15,3630 13633 TCF JETCALL2 # CALL WTLST
048092,001104: 15,3631 23612 LXCH NUJET
048093,001105: 15,3632 03642 TC JETACTN # C(A) = +0
048094,001106: 15,3633 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
048095,001107: 15,3634 27612 ADS NUJET
048096,001108: 15,3635 56001 XCH L
048097,001109: 15,3636 65017 AD ONE # RESTORE FOR CCS
048098,001110: 15,3637 05245 TC WAITLIST
048099,001111: 15,3640 E6,1661 EBANK= AOG
048100,001112: 15,3640 03650 32066 2CADR JETCALL
048101,001113:
048102,001114: 15,3642 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
048103,001115: # Page 1089
048104,001116: 15,3643 00006 EXTEND # NO NEED TO SAVE OLD CODES
048105,001117: 15,3644 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
048106,001118:
048107,001119: 15,3645 11611 CCS OUTTAG
048108,001120: 15,3646 05324 TC TASKOVER
048109,001121: 15,3647 03705 ROLLDUMP TC CM/FDAIR
048110,001122:
048111,001123: # EDIT DUMP AT ABOVE LOCATION.
048112,001124:
048113,001125: # WAITLIST ENTRIES COME HERE.
048114,001126:
048115,001127: 15,3650 35016 JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
048116,001128: 15,3651 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
048117,001129: 15,3652 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
048118,001130: 15,3653 00006 EXTEND
048119,001131: 15,3654 13643 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
048120,001132: 15,3655 22007 ZL # NO, CONTINUE.
048121,001133: 15,3656 13617 TCF JETCALL3 # C(A) POS, C(L) = +0
048122,001134:
048123,001135: # DEAD ZONE ENTRIES COME HERE.
048124,001136:
048125,001137: 15,3657 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
048126,001138: 15,3660 75017 MASK BIT1
048127,001139: 15,3661 54001 TS L # C(L)=0 FOR -0: C(L)=1 FOR -1 OR +0.
048128,001140: 15,3662 50000 INDEX A # ERASABLE ORDER: ROLLTM, ROLLC, ROLLC +1.
048129,001141: 15,3663 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
048130,001142: 15,3664 50001 INDEX L
048131,001143: 15,3665 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
048132,001144: 15,3666 60001 AD L # (BOTH MUST BE SCALED DEG/180)
048133,001145: 15,3667 02522 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC.
048134,001146: 15,3670 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE.
048135,001147: # OTHERWISE, SAVE ROLL COMMAND.
048136,001148:
048137,001149: 15,3671 35021 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
048138,001150: 15,3672 00006 EXTEND # INHINT NOT NEEDED HERE.
048139,001151: 15,3673 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
048140,001152: 15,3674 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
048141,001153: 15,3675 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
048142,001154: 15,3676 03647 TC ROLLDUMP
048143,001155:
048144,001156: # Page 1090
048145,001157: # CM ENTRY FDAI DISPLAY
048146,001158:
048147,001159: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS:
048148,001160: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
048149,001161: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
048150,001162: # ROLL ROLLC-ROLL
048151,001163: # PITCH ALFAC-ALFA
048152,001164: # YAW BETAC-BETA
048153,001165:
048154,001166: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
048155,001167: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
048156,001168:
048157,001169: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
048158,001170: 15,3677 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
048159,001171: 15,3700 00006 EXTEND
048160,001172: 15,3701 71506 MP CALFA # FOR ASSUMED COORDINATION.
048161,001173: 15,3702 00006 EXTEND
048162,001174: 15,3703 75002 MP HALF
048163,001175: 15,3704 27713 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
048164,001176:
048165,001177: # EDIT DUMP AT ABOVE LOCATION.
048166,001178: 15,3705 35002 CM/FDAIR CA HALF
048167,001179: 15,3706 00006 EXTEND
048168,001180: 15,3707 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
048169,001181: 15,3710 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
048170,001182:
048171,001183: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
048172,001184: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
048173,001185: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
048174,001186: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
048175,001187: # THE SUBSEQUENT PASS.
048176,001188:
048177,001189: 15,3711 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
048178,001190: 15,3712 54305 TS SW/NDX
048179,001191: 15,3713 00006 EXTEND # INDEX
048180,001192: 15,3714 63720 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
048181,001193: # ENDBUF.
048182,001194: # INDEX IS POS FOR NEEDLES.
048183,001195:
048184,001196: 15,3715 04740 TC IBNKCALL
048185,001197: 15,3716 42420 CADR NEEDLER
048186,001198:
048187,001199: 15,3717 03736 TC CM/END
048188,001200:
048189,001201: # INDEX IS NEG FOR TM FILE
048190,001202:
048191,001203: 15,3720 66214 CMTMFILE AD THREE
048192,001204: 15,3721 00006 EXTEND
048193,001205: 15,3722 63726 BZMF SAVENDX
048194,001206:
048195,001207: # Page 1091
048196,001208: 15,3723 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
048197,001209: 15,3724 54304 TS CMTMTIME
048198,001210: 15,3725 45025 CS THIRTEEN # INITIALIZE COUNTER
048199,001211: 15,3726 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
048200,001212: 15,3727 00006 EXTEND
048201,001213: 15,3730 31702 DCA PREL
048202,001214: 15,3731 50305 INDEX SW/NDX
048203,001215: 15,3732 52324 DXCH ENDBUF -1
048204,001216: 15,3733 31703 CA RREL
048205,001217: 15,3734 50305 INDEX SW/NDX
048206,001218: 15,3735 54325 TS ENDBUF +1
048207,001219:
048208,001220: 15,3736 31623 CM/END CA CM/SAVE
048209,001221: 15,3737 54021 TS SR
048210,001222: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
048211,001223:
048212,001224: 15,3740 00006 EXTEND
048213,001225: 15,3741 33745 DCA T5IDLER2
048214,001226: 15,3742 53313 DXCH T5LOC
048215,001227: 15,3743 05333 TC RESUME
048216,001228:
048217,001229: 15,3744 1312 EBANK= T5LOC
048218,001230: 15,3744 03153 12062 T5IDLER2 2CADR T5IDLOC
048219,001231:
048220,001232: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
048221,001233: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
048222,001234: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
048223,001235: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
048224,001236: # EACH 2 SECONDS.
048225,001237:
048226,001238: # THE SEQUENCE IS: SP TIME INITIAL TIME
048227,001239: # SWITCH ALSO INDEX.
048228,001240: # P ROLL RATE
048229,001241: # Q PITCH RATE
048230,001242: # R YAW RATE
048231,001243: # ETC.
048232,001244:
048233,001245: # CMTMTIME = UPBUFF
048234,001246: # SW/NDX = UPBUFF +1
048235,001247: # ENDBUF = UPBUFF +16D
048236,001248:
048237,001249: # Page 1092
048238,001250: # SPACER
048239,001251:
048240,001252: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
048241,001253: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
048242,001254: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
048243,001255: # XBUF = 4DEG
048244,001256:
048245,001257: 15,3746 77464 -T-3 DEC -203 B-14 # CS
048246,001258: 15,3747 00012 VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
048247,001259: 15,3750 5033 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
048248,001260: 15,3750 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
048249,001261: 15,3751 15,3753 -VMT/180 = -VM/360K # = 20 (2) / 180
048250,001262: 15,3751 5045 2JETT = 4SECS # CS 2 (2) 100 INTEGER
048251,001263: 15,3751 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
048252,001264: 15,3752 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
048253,001265: 15,3753 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
048254,001266: 15,3754 15,3750 1/16A1 = 180/8ATT
048255,001267: # 1/16A1 = 180/(16 A1 TT)
048256,001268: # = 180/(16 4.55 4)
048257,001269: 15,3754 00133 XS/360 DEC 91 B-14 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
048258,001270: 15,3755 15,3754 BUFLIM = XS/360 # 4/(2 360)
048259,001271:
048260,001272: 15,3755 5002 KTRCS = HALF # KT = (.25) 2 = .5
048261,001273:
048262,001274: # *** END OF TVCDAPS .011 ***
048263,001275:
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc