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