Source Code

042738,000001: # Copyright: Public domain. 042739,000002: # Filename: TVCDAPS.agc 042740,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 042741,000004: # It is part of the source code for the Command Module's (CM) 042742,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 042743,000006: # Assembler: yaYUL 042744,000007: # Contact: Ron Burkey <info@sandroid.org>. 042745,000008: # Website: www.ibiblio.org/apollo. 042746,000009: # Pages: 961-978 042747,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the 042748,000011: # same name, using Comanche055 page images. 042749,000012: # 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND, 042750,000013: # added a missing instruction to PFORWARD. 042751,000014: # 2000-05-21 RSB Wrong opcode was used with DELBRTMP and 042752,000015: # DELBRTMP +1 operands in 4 places. Corrected 042753,000016: # an MP operation in 2CASFLTR. 042754,000017: 042755,000018: # This source code has been transcribed or otherwise adapted from digitized 042756,000019: # images of a hardcopy from the MIT Museum. The digitization was performed 042757,000020: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 042758,000021: # thanks to both. The images (with suitable reduction in storage size and 042759,000022: # consequent reduction in image quality as well) are available online at 042760,000023: # www.ibiblio.org/apollo. If for some reason you find that the images are 042761,000024: # illegible, contact me at info@sandroid.org about getting access to the 042762,000025: # (much) higher-quality images which Paul actually created. 042763,000026: 042764,000027: # Notations on the hardcopy document read, in part: 042765,000028: 042766,000029: # Assemble revision 055 of AGC program Comanche by NASA 042767,000030: # 2021113-051. 10:28 APR. 1, 1969 042768,000031: 042769,000032: # This AGC program shall also be referred to as 042770,000033: # Colossus 2A 042771,000034: 042772,000035: # Page 961 042773,000036: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC. 042774,000037: # LOG SECTION....TVCDAPS SUBROUTINE....DAPCSM 042775,000038: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 042776,000039: 042777,000040: # FUNCTIONAL DESCRIPTION 042778,000041: 042779,000042: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS 042780,000043: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS, 042781,000044: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING 042782,000045: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD 042783,000046: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS). 042784,000047: 042785,000048: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY. 042786,000049: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION, 042787,000050: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR 042788,000051: # INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTERS 042789,000052: # FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER. 042790,000053: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP. 042791,000054: 042792,000055: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE 042793,000056: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE 042794,000057: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH 042795,000058: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU 042796,000059: # MODING. 042797,000060: 042798,000061: # CALLING SEQUENCE.... (TYPICALLY) 042799,000062: 042800,000063: # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40) 042801,000064: # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE) 042802,000065: # T5 CALL OF PITCHDAP BY DAPINIT 042803,000066: # T5 CALL OF YAWDAP BY PITCHDAP 042804,000067: # T5 CALL OF PITCHDAP BY YAWDAP 042805,000068: # ETC. 042806,000069: # (AUTOMATIC SEQUENCING FROM TVCDAPON) 042807,000070: 042808,000071: # NORMAL EXIT MODE....RESUME 042809,000072: 042810,000073: # ALARM OR ABORT EXIT MODES....NONE 042811,000074: 042812,000075: # SUBROUTINES CALLED.... 042813,000076: 042814,000077: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION 042815,000078: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE) 042816,000079: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS 042817,000080: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND 042818,000081: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND 042819,000082: # YAW DAPS 042820,000083: # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER 042821,000084: # OUTPUTS AND STORAGE VALUES 042822,000085: # RESUME 042823,000086: 042824,000087: # Page 962 042825,000088: # OTHER INTERFACES 042826,000089: 042827,000090: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC 042828,000091: # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC 042829,000092: # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS 042830,000093: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION. 042831,000094: 042832,000095: # ERASABLE INITIALIZATION REQUIRED.... 042833,000096: 042834,000097: # PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS) 042835,000098: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03 042836,000099: # ENGINE-ON BIT (11.13) FOR RESTARTS 042837,000100: # TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4) 042838,000101: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS 042839,000102: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4, 042840,000103: # INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN 042841,000104: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY QUICTRIG1 (WITH 042842,000105: # UPDATES EVERY 1/2 SECOND) 042843,000106: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE 042844,000107: # UNLESS BENCH-TESTING. 042845,000108: 042846,000109: # OUTPUT.... 042847,000110: 042848,000111: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL 042849,000112: # COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY- 042850,000113: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS, 042851,000114: # OFFSET-TRACKER-FILTER OUTPUTS, ETC. 042852,000115: 042853,000116: # DEBRIS.... 042854,000117: 042855,000118: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY 042856,000119: 042857,000120: 17,2552 BANK 17 042858,000121: 20,2000 SETLOC DAPS2 042859,000122: 20,2000 BANK 042860,000123: 042861,000124: 20,2530 E6,1702 EBANK= BZERO 042862,000125: 042863,000126: 20,2530 COUNT* $$/DAPS 042864,000127: 042865,000128: # Page 963 042866,000129: # PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN) 042867,000130: 042868,000131: 20,2530 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT 042869,000132: 20,2531 00006 EXTEND 042870,000133: 20,2532 22012 QXCH QRUPT 042871,000134: 042872,000135: 20,2533 33475 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW- 042873,000136: 20,2534 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) 042874,000137: 20,2535 31625 CAE T5TVCDT 042875,000138: 20,2536 54030 TS TIME5 042876,000139: 042877,000140: 20,2537 11574 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST 042878,000141: 20,2540 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS 042879,000142: 20,2541 12543 TCF +2 # NO-TEST 042880,000143: 20,2542 03533 TC HACK # TEST-IN-PROGRESS 042881,000144: 042882,000145: 20,2543 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW) 042883,000146: 20,2544 57645 XCH PCDUYPST 042884,000147: 20,2545 00006 EXTEND 042885,000148: 20,2546 21645 MSU PCDUYPST 042886,000149: 20,2547 02560 TCR RLIMTEST # RATE TEST 042887,000150: 20,2550 55647 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC) 042888,000151: 042889,000152: 20,2551 30034 CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW) 042890,000153: 20,2552 57646 XCH PCDUZPST 042891,000154: 20,2553 00006 EXTEND 042892,000155: 20,2554 21646 MSU PCDUZPST 042893,000156: 20,2555 02560 TCR RLIMTEST # RATE TEST 042894,000157: 20,2556 55650 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC) 042895,000158: 20,2557 12571 TCF PINTEGRL 042896,000159: 042897,000160: 20,2560 55611 RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER 042898,000161: 20,2561 00006 EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD 042899,000162: 20,2562 73476 MP 1/RTLIM 042900,000163: 20,2563 00006 EXTEND 042901,000164: 20,2564 12567 BZF +3 042902,000165: 20,2565 35021 CAF ZERO 042903,000166: 20,2566 55611 TS TTMP1 042904,000167: 20,2567 31611 CAE TTMP1 042905,000168: 20,2570 00002 TC Q 042906,000169: 042907,000170: 20,2571 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE 042908,000171: 20,2572 31576 DCA PERRB # ERROR, SC.AT B-1 REVS 042909,000172: 20,2573 53703 DXCH ERRBTMP 042910,000173: 042911,000174: 20,2574 00006 EXTEND 042912,000175: 20,2575 31530 DCA OMEGAYC 042913,000176: 20,2576 21703 DAS ERRBTMP 042914,000177: 042915,000178: # Page 964 042916,000179: 20,2577 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB 042917,000180: 20,2600 00006 EXTEND 042918,000181: 20,2601 70750 MP COSCDUX 042919,000182: 20,2602 20001 DDOUBL 042920,000183: 20,2603 00006 EXTEND 042921,000184: 20,2604 71647 MP MCDUYDOT 042922,000185: 20,2605 20001 DDOUBL 042923,000186: 20,2606 53536 DXCH OMEGAYB 042924,000187: 042925,000188: 20,2607 41650 CS MCDUZDOT 042926,000189: 20,2610 00006 EXTEND 042927,000190: 20,2611 70742 MP SINCDUX 042928,000191: 20,2612 20001 DDOUBL 042929,000192: 20,2613 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS) 042930,000193: 042931,000194: 20,2614 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE) 042932,000195: 20,2615 41536 DCS OMEGAYB 042933,000196: 20,2616 21703 DAS ERRBTMP 042934,000197: 042935,000198: 20,2617 03124 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER 042936,000199: 042937,000200: 20,2620 00006 PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS 042938,000201: 20,2621 31542 DCA PTMP1 # FOR THE PITCH CHANNEL 042939,000202: 20,2622 53707 DXCH TMP1 042940,000203: 20,2623 00006 EXTEND 042941,000204: 20,2624 31546 DCA PTMP3 042942,000205: 20,2625 53713 DXCH TMP3 042943,000206: 20,2626 00006 EXTEND 042944,000207: 20,2627 31552 DCA PTMP5 042945,000208: 20,2630 53717 DXCH TMP5 042946,000209: 042947,000210: 20,2631 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT 042948,000211: # (INCLUDES VARIABLE GAIN PACKAGE) 042949,000212: 042950,000213: 20,2632 00006 POFFSET EXTEND 042951,000214: 20,2633 31606 DCA PDELOFF 042952,000215: 20,2634 21705 DAS CMDTMP # NO SCALED AT B+0 ASCREV 042953,000216: 042954,000217: 20,2635 03137 PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND 042955,000218: 042956,000219: 20,2636 41623 POUT CS PCMD # INCREMENTAL PITCH COMMAND 042957,000220: 20,2637 61704 AD CMDTMP 042958,000221: 20,2640 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART- 042959,000222: # PROTECT. SINCE ERROR CNTR ZEROED) 042960,000223: 042961,000224: 20,2641 35005 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE 042962,000225: 20,2642 00006 EXTEND 042963,000226: 20,2643 05014 WOR CHAN14 042964,000227: 042965,000228: 20,2644 00006 PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH 042966,000229: # Page 965 042967,000230: 20,2645 31544 DCA PTMP2 042968,000231: 20,2646 53711 DXCH TMP2 042969,000232: 20,2647 00006 EXTEND 042970,000233: 20,2650 31550 DCA PTMP4 042971,000234: 20,2651 53715 DXCH TMP4 042972,000235: 20,2652 00006 EXTEND 042973,000236: 20,2653 31554 DCA PTMP6 042974,000237: 20,2654 53721 DXCH TMP6 042975,000238: 042976,000239: 20,2655 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION 042977,000240: 042978,000241: 20,2656 31602 DELBARP CAE DELPBAR +1 042979,000242: 20,2657 00006 EXTEND 042980,000243: 20,2660 73500 MP E(-AT) 042981,000244: 20,2661 55701 TS DELBRTMP +1 042982,000245: 20,2662 31601 CAE DELPBAR 042983,000246: 20,2663 00006 EXTEND 042984,000247: 20,2664 73500 MP E(-AT) 042985,000248: 20,2665 21701 DAS DELBRTMP 042986,000249: 20,2666 31704 CAE CMDTMP 042987,000250: 20,2667 00006 EXTEND 042988,000251: 20,2670 73477 MP 1-E(-AT) 042989,000252: 20,2671 21701 DAS DELBRTMP 042990,000253: 042991,000254: 20,2672 02674 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE 042992,000255: 042993,000256: 20,2673 15333 PDAPEND TCF RESUME # PITCH DAP COMPLETED 042994,000257: # Page 966 042995,000258: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE) 042996,000259: 042997,000260: 20,2674 25644 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1) 042998,000261: # NOTE POSSIBLE RE-ENTRY FROM RESTART 042999,000262: # PACKAGE, SHOULD A RESTART OCCUR 043000,000263: # DURING PITCH COPYCYCLE. 043001,000264: 043002,000265: 20,2675 00006 EXTEND 043003,000266: 20,2676 31707 DCA TMP1 043004,000267: 20,2677 53542 DXCH PTMP1 043005,000268: 20,2700 00006 EXTEND 043006,000269: 20,2701 31711 DCA TMP2 043007,000270: 20,2702 53544 DXCH PTMP2 043008,000271: 20,2703 00006 EXTEND 043009,000272: 20,2704 31713 DCA TMP3 043010,000273: 20,2705 53546 DXCH PTMP3 043011,000274: 20,2706 00006 EXTEND 043012,000275: 20,2707 31715 DCA TMP4 043013,000276: 20,2710 53550 DXCH PTMP4 043014,000277: 20,2711 00006 EXTEND 043015,000278: 20,2712 31717 DCA TMP5 043016,000279: 20,2713 53552 DXCH PTMP5 043017,000280: 20,2714 00006 EXTEND 043018,000281: 20,2715 31721 DCA TMP6 043019,000282: 20,2716 53554 DXCH PTMP6 043020,000283: 043021,000284: 20,2717 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR 043022,000285: 20,2720 31703 DCA ERRBTMP 043023,000286: 20,2721 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS 043024,000287: 20,2722 53576 DXCH PERRB 043025,000288: 043026,000289: 20,2723 31704 CAE CMDTMP # PITCH ACTUATOR COMMAND 043027,000290: 20,2724 55623 TS PCMD 043028,000291: 043029,000292: 20,2725 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER 043030,000293: 20,2726 31701 DCA DELBRTMP 043031,000294: 20,2727 53602 DXCH DELPBAR 043032,000295: 043033,000296: 20,2730 25644 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2) 043034,000297: 043035,000298: 20,2731 00002 TC Q 043036,000299: 043037,000300: # Page 967 043038,000301: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN) 043039,000302: 043040,000303: 20,2732 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL 043041,000304: 20,2733 00006 EXTEND 043042,000305: 20,2734 22012 QXCH QRUPT 043043,000306: 043044,000307: 20,2735 33473 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW- 043045,000308: 20,2736 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) 043046,000309: 20,2737 31625 CAE T5TVCDT 043047,000310: 20,2740 54030 TS TIME5 043048,000311: 043049,000312: 20,2741 11574 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST 043050,000313: 20,2742 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS 043051,000314: 20,2743 12745 TCF +2 # NO-TEST 043052,000315: 20,2744 03533 TC HACK # TEST-IN-PROGRESS 043053,000316: 043054,000317: # USE BODY RATES FROM PITCHDAP (PCDUDOTS) 043055,000318: 043056,000319: 20,2745 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE 043057,000320: 20,2746 31600 DCA YERRB # ERROR, SC.AT B-1 REVS 043058,000321: 20,2747 53703 DXCH ERRBTMP 043059,000322: 043060,000323: 20,2750 00006 EXTEND 043061,000324: 20,2751 31532 DCA OMEGAZC 043062,000325: 20,2752 21703 DAS ERRBTMP 043063,000326: 043064,000327: 20,2753 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB 043065,000328: 20,2754 00006 EXTEND 043066,000329: 20,2755 70742 MP SINCDUX 043067,000330: 20,2756 20001 DDOUBL 043068,000331: 20,2757 00006 EXTEND 043069,000332: 20,2760 71647 MP MCDUYDOT 043070,000333: 20,2761 20001 DDOUBL 043071,000334: 20,2762 53540 DXCH OMEGAZB 043072,000335: 043073,000336: 20,2763 41650 CS MCDUZDOT 043074,000337: 20,2764 00006 EXTEND 043075,000338: 20,2765 70750 MP COSCDUX 043076,000339: 20,2766 20001 DDOUBL 043077,000340: 20,2767 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS) 043078,000341: 043079,000342: 20,2770 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE) 043080,000343: 20,2771 41540 DCS OMEGAZB 043081,000344: 20,2772 21703 DAS ERRBTMP 043082,000345: 043083,000346: 20,2773 03124 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER 043084,000347: 043085,000348: 20,2774 00006 YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS 043086,000349: 20,2775 31556 DCA YTMP1 # FOR THE YAW CHANNEL 043087,000350: # Page 968 043088,000351: 20,2776 53707 DXCH TMP1 043089,000352: 20,2777 00006 EXTEND 043090,000353: 20,3000 31562 DCA YTMP3 043091,000354: 20,3001 53713 DXCH TMP3 043092,000355: 20,3002 00006 EXTEND 043093,000356: 20,3003 31566 DCA YTMP5 043094,000357: 20,3004 53717 DXCH TMP5 043095,000358: 043096,000359: 20,3005 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT 043097,000360: # (INCLUDES VARIABLE GAIN PACKAGE) 043098,000361: 043099,000362: 20,3006 00006 YOFFSET EXTEND 043100,000363: 20,3007 31610 DCA YDELOFF 043101,000364: 20,3010 21705 DAS CMDTMP # NOW SCALED AT B+0 ASCREV 043102,000365: 043103,000366: 20,3011 03137 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER 043104,000367: 043105,000368: 20,3012 41624 YOUT CS YCMD # INCRMENTAL YAW COMMAND 043106,000369: 20,3013 61704 AD CMDTMP 043107,000370: 20,3014 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART- 043108,000371: # PROTECT, SINCE ERROR CNTR ZEROED) 043109,000372: 043110,000373: 20,3015 35004 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE 043111,000374: 20,3016 00006 EXTEND 043112,000375: 20,3017 05014 WOR CHAN14 043113,000376: 043114,000377: 20,3020 00006 YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW 043115,000378: 20,3021 31560 DCA YTMP2 043116,000379: 20,3022 53711 DXCH TMP2 043117,000380: 20,3023 00006 EXTEND 043118,000381: 20,3024 31564 DCA YTMP4 043119,000382: 20,3025 53715 DXCH TMP4 043120,000383: 20,3026 00006 EXTEND 043121,000384: 20,3027 31570 DCA YTMP6 043122,000385: 20,3030 53721 DXCH TMP6 043123,000386: 043124,000387: 20,3031 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION 043125,000388: 043126,000389: 20,3032 31604 DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER 043127,000390: 20,3033 00006 EXTEND 043128,000391: 20,3034 73500 MP E(-AT) 043129,000392: 20,3035 55701 TS DELBRTMP +1 043130,000393: 20,3036 31603 CAE DELYBAR 043131,000394: 20,3037 00006 EXTEND 043132,000395: 20,3040 73500 MP E(-AT) 043133,000396: 20,3041 21701 DAS DELBRTMP 043134,000397: 20,3042 31704 CAE CMDTMP 043135,000398: 20,3043 00006 EXTEND 043136,000399: 20,3044 73477 MP 1-E(-AT) 043137,000400: 20,3045 21701 DAS DELBRTMP 043138,000401: 043139,000402: # Page 969 043140,000403: 20,3046 03050 YCOPYCYC TCR YCOPY # YAW COPYCYCLE 043141,000404: 043142,000405: 20,3047 15333 YDAPEND TCF RESUME # YAW DAP COMPLETED 043143,000406: 043144,000407: # Page 970 043145,000408: # TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE) 043146,000409: 043147,000410: 20,3050 25644 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3) 043148,000411: # NOTE POSSIBLE RE-ENTRY FROM RESTART 043149,000412: # PACKAGE, SHOULD A RESTART OCCUR 043150,000413: # DURING YAW COPYCYCLE. 043151,000414: 043152,000415: 20,3051 00006 EXTEND 043153,000416: 20,3052 31707 DCA TMP1 043154,000417: 20,3053 53556 DXCH YTMP1 043155,000418: 20,3054 00006 EXTEND 043156,000419: 20,3055 31711 DCA TMP2 043157,000420: 20,3056 53560 DXCH YTMP2 043158,000421: 20,3057 00006 EXTEND 043159,000422: 20,3060 31713 DCA TMP3 043160,000423: 20,3061 53562 DXCH YTMP3 043161,000424: 20,3062 00006 EXTEND 043162,000425: 20,3063 31715 DCA TMP4 043163,000426: 20,3064 53564 DXCH YTMP4 043164,000427: 20,3065 00006 EXTEND 043165,000428: 20,3066 31717 DCA TMP5 043166,000429: 20,3067 53566 DXCH YTMP5 043167,000430: 20,3070 00006 EXTEND 043168,000431: 20,3071 31721 DCA TMP6 043169,000432: 20,3072 53570 DXCH YTMP6 043170,000433: 043171,000434: 20,3073 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR 043172,000435: 20,3074 31703 DCA ERRBTMP 043173,000436: 20,3075 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS 043174,000437: 20,3076 53600 DXCH YERRB 043175,000438: 043176,000439: 20,3077 31704 CAE CMDTMP 043177,000440: 20,3100 55624 TS YCMD 043178,000441: 043179,000442: 20,3101 00006 EXTEND 043180,000443: 20,3102 31701 DCA DELBRTMP 043181,000444: 20,3103 53604 DXCH DELYBAR 043182,000445: 043183,000446: 20,3104 35021 CAF ZERO # YAW COPYCYCLE COMPLETED 043184,000447: 20,3105 55644 TS TVCPHASE # RESET TVCPHASE 043185,000448: 043186,000449: 20,3106 00002 TC Q 043187,000450: 043188,000451: # Page 971 043189,000452: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS.... 043190,000453: 043191,000454: # INITIALIZATION PACKAGE FOR CDURATES.... 043192,000455: 043193,000456: 20,3107 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4) 043194,000457: 043195,000458: 20,3110 37716 CAF NEGONE # SET UP 043196,000459: 20,3111 61625 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS 043197,000460: 20,3112 65001 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1) 043198,000461: 20,3113 61625 AD T5TVCDT 043199,000462: 20,3114 54030 TS TIME5 043200,000463: 20,3115 33473 CAF PITCHT5 # (BBCON ALREADY THERE) 043201,000464: 20,3116 55312 TS T5LOC 043202,000465: 043203,000466: 20,3117 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR 043204,000467: 20,3120 55645 TS PCDUYPST # PAST-VALUES 043205,000468: 20,3121 30034 CAE CDUZ 043206,000469: 20,3122 55646 TS PCDUZPST 043207,000470: 043208,000471: 20,3123 15335 TCF NOQRSM 043209,000472: 043210,000473: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE.... 043211,000474: 043212,000475: 20,3124 31702 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT 043213,000476: 20,3125 00006 EXTEND # CHECKS UPPER WORD ONLY 043214,000477: 20,3126 75015 MP 1/ERRLIM 043215,000478: 20,3127 00006 EXTEND 043216,000479: 20,3130 13136 BZF +6 043217,000480: 20,3131 11702 CCS ERRBTMP 043218,000481: 20,3132 35003 CAF ERRLIM 043219,000482: 20,3133 13135 TCF +2 043220,000483: 20,3134 45003 CS ERRLIM 043221,000484: 20,3135 55702 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY 043222,000485: 043223,000486: 20,3136 00002 TC Q 043224,000487: 043225,000488: # ACTUATOR-COMMAND LIMITER PACKAGE.... 043226,000489: 043227,000490: 20,3137 31705 ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT 043228,000491: 20,3140 60000 DOUBLE 043229,000492: 20,3141 54001 TS L 043230,000493: 20,3142 35021 CAF ZERO 043231,000494: 20,3143 61704 AD CMDTMP 043232,000495: 043233,000496: 20,3144 00006 EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT 043234,000497: 20,3145 73472 MP 1/ACTSAT 043235,000498: 20,3146 00006 EXTEND 043236,000499: # Page 972 043237,000500: 20,3147 13155 BZF +6 043238,000501: 20,3150 11704 CCS CMDTMP # APPLY LIMITS 043239,000502: 20,3151 33471 CAF ACTSAT 043240,000503: 20,3152 13154 TCF +2 043241,000504: 20,3153 43471 CS ACTSAT 043242,000505: 20,3154 55704 TS CMDTMP # LIMITS WRITE OVER CMDTMP 043243,000506: 043244,000507: 20,3155 00002 TC Q 043245,000508: 043246,000509: # FILTER COMPUTATIONS FOR PRESENT OUTPUT................ 043247,000510: 043248,000511: 20,3156 35021 FWDFLTR CAF ZERO 043249,000512: 20,3157 55615 TS DAP1 043250,000513: 20,3160 55617 TS DAP2 043251,000514: 20,3161 55621 TS DAP3 043252,000515: 20,3162 55704 TS CMDTMP 043253,000516: 043254,000517: 20,3163 55700 TS DELBRTMP 043255,000518: 043256,000519: 20,3164 31703 1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE 043257,000520: 20,3165 00006 EXTEND 043258,000521: 20,3166 71723 MP N10 # N10 043259,000522: 20,3167 55616 TS DAP1 +1 043260,000523: 20,3170 31702 CA ERRBTMP 043261,000524: 20,3171 00006 EXTEND 043262,000525: 20,3172 71723 MP N10 # N10 043263,000526: 20,3173 21616 DAS DAP1 043264,000527: 20,3174 53707 DXCH TMP1 043265,000528: 20,3175 21616 DAS DAP1 043266,000529: 043267,000530: 20,3176 31616 2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE 043268,000531: 20,3177 00006 EXTEND 043269,000532: 20,3200 71730 MP N10 +5 # N20 043270,000533: 20,3201 55620 TS DAP2 +1 043271,000534: 20,3202 31615 CA DAP1 043272,000535: 20,3203 00006 EXTEND 043273,000536: 20,3204 71730 MP N10 +5 # N20 043274,000537: 20,3205 21620 DAS DAP2 043275,000538: 20,3206 53713 DXCH TMP3 043276,000539: 20,3207 21620 DAS DAP2 043277,000540: 043278,000541: 20,3210 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF 043279,000542: 20,3211 75002 MASK BIT14 043280,000543: 20,3212 10000 CCS A 043281,000544: 20,3213 13220 TCF 3DAPCAS # LEM ON 043282,000545: 20,3214 00006 EXTEND # LEM OFF 043283,000546: 20,3215 31620 DCA DAP2 043284,000547: 20,3216 53622 DXCH DAP3 043285,000548: 20,3217 13232 TCF OPTVARK 043286,000549: 043287,000550: # Page 973 043288,000551: 20,3220 31620 3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE 043289,000552: 20,3221 00006 EXTEND 043290,000553: 20,3222 71735 MP N10 +10D # N30 043291,000554: 20,3223 55622 TS DAP3 +1 043292,000555: 20,3224 31617 CA DAP2 043293,000556: 20,3225 00006 EXTEND 043294,000557: 20,3226 71735 MP N10 +10D # N30 043295,000558: 20,3227 21622 DAS DAP3 043296,000559: 20,3230 53717 DXCH TMP5 043297,000560: 20,3231 21622 DAS DAP3 043298,000561: 043299,000562: 20,3232 41622 OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE 043300,000563: 20,3233 00006 EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP) 043301,000564: 20,3234 71641 MP VARK # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE 043302,000565: 20,3235 55705 TS CMDTMP +1 043303,000566: 20,3236 41621 CS DAP3 043304,000567: 20,3237 00006 EXTEND 043305,000568: 20,3240 71641 MP VARK 043306,000569: 20,3241 21705 DAS CMDTMP 043307,000570: 043308,000571: 20,3242 53705 DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS 043309,000572: 20,3243 20001 DDOUBL 043310,000573: 20,3244 20001 DDOUBL 043311,000574: 20,3245 53705 DXCH CMDTMP # -- SCALED B+1 ASCREVS 043312,000575: # NOTE -- THERE IS AN INHERENT GAIN OF 043313,000576: # (B+1 ASCREVS) ON THE OUTPUT DACS. 043314,000577: 043315,000578: 20,3246 00002 TC Q 043316,000579: 043317,000580: # FILTER PRECOMPUTATIONS FOR NEXT PASS................ 043318,000581: 043319,000582: 20,3247 35021 PRECOMP CAF ZERO # **** FIRST CASCADE FILTER ********** 043320,000583: 20,3250 55611 TS TTMP1 043321,000584: 20,3251 55613 TS TTMP2 043322,000585: 043323,000586: 20,3252 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY 043324,000587: 20,3253 00006 EXTEND 043325,000588: 20,3254 71724 MP N10 +1 # N11/2 043326,000589: 20,3255 55612 TS TTMP1 +1 043327,000590: 20,3256 31702 CA ERRBTMP 043328,000591: 20,3257 00006 EXTEND 043329,000592: 20,3260 71724 MP N10 +1 # N11/2 043330,000593: 20,3261 21612 DAS TTMP1 043331,000594: 043332,000595: 20,3262 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY 043333,000596: 20,3263 00006 EXTEND 043334,000597: 20,3264 71726 MP N10 +3 # D11/2 043335,000598: 20,3265 55614 TS TTMP2 +1 043336,000599: 20,3266 41615 CS DAP1 043337,000600: 043338,000601: # Page 974 043339,000602: 20,3267 00006 EXTEND 043340,000603: 20,3270 71726 MP N10 +3 # D11/2 043341,000604: 20,3271 21614 DAS TTMP2 043342,000605: 043343,000606: 20,3272 53614 DXCH TTMP2 043344,000607: 20,3273 21612 DAS TTMP1 043345,000608: 20,3274 53612 DXCH TTMP1 043346,000609: 20,3275 20001 DDOUBL 043347,000610: 20,3276 21711 DAS TMP2 043348,000611: 043349,000612: 20,3277 53711 DXCH TMP2 043350,000613: 20,3300 53707 DXCH TMP1 043351,000614: 043352,000615: 20,3301 35021 CAF ZERO 043353,000616: 20,3302 55611 TS TTMP1 043354,000617: 20,3303 55710 TS TMP2 043355,000618: 043356,000619: 20,3304 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY 043357,000620: 20,3305 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF. 043358,000621: 20,3306 71725 MP N10 +2 # N12 043359,000622: 20,3307 55612 TS TTMP1 +1 043360,000623: 20,3310 31702 CA ERRBTMP 043361,000624: 20,3311 00006 EXTEND 043362,000625: 20,3312 71725 MP N10 +2 # N12 043363,000626: 20,3313 21612 DAS TTMP1 043364,000627: 043365,000628: 20,3314 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY 043366,000629: 20,3315 00006 EXTEND 043367,000630: 20,3316 71727 MP N10 +4 # D12 043368,000631: 20,3317 55711 TS TMP2 +1 043369,000632: 20,3320 41615 CS DAP1 043370,000633: 20,3321 00006 EXTEND 043371,000634: 20,3322 71727 MP N10 +4 # D12 043372,000635: 20,3323 21711 DAS TMP2 043373,000636: 043374,000637: 20,3324 53612 DXCH TTMP1 043375,000638: 20,3325 21711 DAS TMP2 043376,000639: 043377,000640: 20,3326 35021 2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER ********** 043378,000641: 20,3327 55611 TS TTMP1 043379,000642: 20,3330 55613 TS TTMP2 043380,000643: 043381,000644: 20,3331 31616 CA DAP1 +1 # MULTIPLY INPUT BY 043382,000645: 20,3332 00006 EXTEND 043383,000646: 20,3333 71731 MP N10 +6 # N21/2 043384,000647: 20,3334 55612 TS TTMP1 +1 043385,000648: 20,3335 31615 CA DAP1 043386,000649: 20,3336 00006 EXTEND 043387,000650: 20,3337 71731 MP N10 +6 # N21/2 043388,000651: # Page 975 043389,000652: 20,3340 21612 DAS TTMP1 043390,000653: 043391,000654: 20,3341 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY 043392,000655: 20,3342 00006 EXTEND 043393,000656: 20,3343 71733 MP N10 +8D # D21/2 043394,000657: 20,3344 55614 TS TTMP2 +1 043395,000658: 20,3345 41617 CS DAP2 043396,000659: 20,3346 00006 EXTEND 043397,000660: 20,3347 71733 MP N10 +8D # D21/2 043398,000661: 20,3350 21614 DAS TTMP2 043399,000662: 043400,000663: 20,3351 53614 DXCH TTMP2 043401,000664: 20,3352 21612 DAS TTMP1 043402,000665: 20,3353 53612 DXCH TTMP1 043403,000666: 20,3354 20001 DDOUBL 043404,000667: 20,3355 21715 DAS TMP4 043405,000668: 043406,000669: 20,3356 53715 DXCH TMP4 043407,000670: 20,3357 53713 DXCH TMP3 043408,000671: 043409,000672: 20,3360 35021 CAF ZERO 043410,000673: 20,3361 55611 TS TTMP1 043411,000674: 20,3362 55714 TS TMP4 043412,000675: 043413,000676: 20,3363 31616 CA DAP1 +1 # MULTIPLY INPUT BY 043414,000677: 20,3364 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF. 043415,000678: 20,3365 71732 MP N10 +7 # N22 043416,000679: 20,3366 55612 TS TTMP1 +1 043417,000680: 20,3367 31615 CA DAP1 043418,000681: 20,3370 00006 EXTEND 043419,000682: 20,3371 71732 MP N10 +7 # N22 043420,000683: 20,3372 21612 DAS TTMP1 043421,000684: 043422,000685: 20,3373 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY 043423,000686: 20,3374 00006 EXTEND 043424,000687: 20,3375 71734 MP N10 +9D # D22 043425,000688: 20,3376 55715 TS TMP4 +1 043426,000689: 20,3377 41617 CS DAP2 043427,000690: 20,3400 00006 EXTEND 043428,000691: 20,3401 71734 MP N10 +9D # D22 043429,000692: 20,3402 21715 DAS TMP4 043430,000693: 043431,000694: 20,3403 53612 DXCH TTMP1 043432,000695: 20,3404 21715 DAS TMP4 043433,000696: 043434,000697: 20,3405 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF 043435,000698: 20,3406 75003 MASK BIT13 043436,000699: 20,3407 10000 CCS A 043437,000700: 20,3410 00002 TC Q # EXIT IF LEM OFF 043438,000701: 043439,000702: # Page 976 043440,000703: 20,3411 35021 3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER ********** 043441,000704: 20,3412 55611 TS TTMP1 043442,000705: 20,3413 55613 TS TTMP2 043443,000706: 043444,000707: 20,3414 31620 CA DAP2 +1 # MULTIPLY INPUT BY (1/2) 043445,000708: 20,3415 00006 EXTEND 043446,000709: 20,3416 71736 MP N10 +11D # N31/2 043447,000710: 20,3417 55612 TS TTMP1 +1 043448,000711: 20,3420 31617 CA DAP2 043449,000712: 20,3421 00006 EXTEND 043450,000713: 20,3422 71736 MP N10 +11D # N31/2 043451,000714: 20,3423 21612 DAS TTMP1 043452,000715: 043453,000716: 20,3424 41622 CS DAP3 +1 043454,000717: 20,3425 00006 EXTEND 043455,000718: 20,3426 71740 MP N10 +13D # D31/2 043456,000719: 20,3427 55614 TS TTMP2 +1 043457,000720: 20,3430 41621 CS DAP3 043458,000721: 20,3431 00006 EXTEND 043459,000722: 20,3432 71740 MP N10 +13D # D31/2 043460,000723: 20,3433 21614 DAS TTMP2 043461,000724: 043462,000725: 20,3434 53614 DXCH TTMP2 043463,000726: 20,3435 21612 DAS TTMP1 043464,000727: 20,3436 53612 DXCH TTMP1 043465,000728: 20,3437 20001 DDOUBL 043466,000729: 20,3440 21721 DAS TMP6 043467,000730: 043468,000731: 20,3441 53721 DXCH TMP6 043469,000732: 20,3442 53717 DXCH TMP5 043470,000733: 043471,000734: 20,3443 35021 CAF ZERO 043472,000735: 20,3444 55611 TS TTMP1 043473,000736: 20,3445 55720 TS TMP6 043474,000737: 043475,000738: 20,3446 31620 CA DAP2 +1 # MULTIPLY INPUT BY 043476,000739: 20,3447 00006 EXTEND 043477,000740: 20,3450 71737 MP N10 +12D # N32 043478,000741: 20,3451 55612 TS TTMP1 +1 043479,000742: 20,3452 31617 CA DAP2 043480,000743: 20,3453 00006 EXTEND 043481,000744: 20,3454 71737 MP N10 +12D # N32 043482,000745: 20,3455 21612 DAS TTMP1 043483,000746: 043484,000747: 20,3456 41622 CS DAP3 +1 043485,000748: 20,3457 00006 EXTEND 043486,000749: 20,3460 71741 MP N10 +14D # D32 043487,000750: 20,3461 55721 TS TMP6 +1 043488,000751: 20,3462 41621 CS DAP3 043489,000752: 20,3463 00006 EXTEND 043490,000753: # Page 977 043491,000754: 20,3464 71741 MP N10 +14D # D32 043492,000755: 20,3465 21721 DAS TMP6 043493,000756: 043494,000757: 20,3466 53612 DXCH TTMP1 043495,000758: 20,3467 21721 DAS TMP6 043496,000759: 043497,000760: 20,3470 00002 TC Q 043498,000761: 043499,000762: # Page 978 043500,000763: # CONSTANTS FOR AUTOPILOTS 043501,000764: 043502,000765: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360) 043503,000766: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS 043504,000767: 043505,000768: 20,3471 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV 043506,000769: 20,3472 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253) 043507,000770: 043508,000771: 20,3473 5003 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG), 043509,000772: 20,3473 5015 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL 043510,000773: 043511,000774: 20,3473 02530 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS 043512,000775: 20,3474 03107 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS 043513,000776: 20,3475 02732 YAWT5 GENADR YAWDAP # REQUIRED. 043514,000777: 043515,000778: 20,3476 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG 043516,000779: 20,3477 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS), 043517,000780: 20,3500 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS) 043518,000781: End of include-file TVCDAPS.agc. Parent file is MAIN.agc