Source Code

044493,000001: # Copyright: Public domain. 044494,000002: # Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc 044495,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 044496,000004: # It is part of the source code for the Command Module's (CM) 044497,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 044498,000006: # Assembler: yaYUL 044499,000007: # Contact: Ron Burkey <info@sandroid.org>. 044500,000008: # Website: www.ibiblio.org/apollo. 044501,000009: # Pages: 1002-1024 044502,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the 044503,000011: # same name, using Comanche055 page images. 044504,000012: 044505,000013: # This source code has been transcribed or otherwise adapted from digitized 044506,000014: # images of a hardcopy from the MIT Museum. The digitization was performed 044507,000015: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 044508,000016: # thanks to both. The images (with suitable reduction in storage size and 044509,000017: # consequent reduction in image quality as well) are available online at 044510,000018: # www.ibiblio.org/apollo. If for some reason you find that the images are 044511,000019: # illegible, contact me at info@sandroid.org about getting access to the 044512,000020: # (much) higher-quality images which Paul actually created. 044513,000021: 044514,000022: # Notations on the hardcopy document read, in part: 044515,000023: 044516,000024: # Assemble revision 055 of AGC program Comanche by NASA 044517,000025: # 2021113-051. 10:28 APR. 1, 1969 044518,000026: 044519,000027: # This AGC program shall also be referred to as 044520,000028: # Colossus 2A 044521,000029: 044522,000030: # Page 1002 044523,000031: # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT 044524,000032: 044525,000033: # START OF T5 INTERRUPT PROGRAM 044526,000034: 044527,000035: 20,3612 BANK 20 044528,000036: 21,2000 SETLOC DAPS3 044529,000037: 21,2000 BANK 044530,000038: 044531,000039: 21,2105 COUNT 21/DAPRC 044532,000040: 044533,000041: 21,2105 E6,1510 EBANK= KMPAC 044534,000042: 21,2105 22016 REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE 044535,000043: 21,2106 31465 CA T5PHASE # ON A T5 RUPT 044536,000044: 21,2107 00006 EXTEND 044537,000045: 21,2110 62112 BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO - 044538,000046: 21,2111 12114 TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP 044539,000047: 21,2112 45017 CS ONE 044540,000048: 21,2113 55465 TS T5PHASE 044541,000049: 21,2114 00006 EXTEND 044542,000050: 21,2115 32121 DCA RCSLOC 044543,000051: 21,2116 53313 DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT 044544,000052: 21,2117 12123 TCF RCSATT +1 044545,000053: 21,2120 E6,1510 EBANK= KMPAC 044546,000054: 21,2120 02122 42066 RCSLOC 2CADR RCSATT 044547,000055: 044548,000056: 21,2122 22016 RCSATT LXCH BANKRUPT # SAVE BB 044549,000057: 21,2123 00006 EXTEND # SAVE Q 044550,000058: 21,2124 22012 QXCH QRUPT 044551,000059: 21,2125 35001 CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND 044552,000060: 21,2126 00006 EXTEND # S/C CONT SW IS IN CMC (I.E., IF G/C AUTO 044553,000061: 21,2127 02031 RAND CHAN31 # PILOT IS FULLY ENABLED) 044554,000062: 21,2130 00006 EXTEND 044555,000063: 21,2131 12160 BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED, 044556,000064: # GO TO SETT5 044557,000065: 044558,000066: 21,2132 41501 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED, 044559,000067: 21,2133 75002 MASK BIT14 044560,000068: 21,2134 27501 ADS RCSFLAGS # SET NORATE FLAG, 044561,000069: 21,2135 34777 CAF POSMAX 044562,000070: 21,2136 55332 TS HOLDFLAG # SET HOLDFLAG +, 044563,000071: 21,2137 35021 CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ, 044564,000072: 21,2140 55567 TS ERRORX 044565,000073: 21,2141 55570 TS ERRORY 044566,000074: 21,2142 55571 TS ERRORZ 044567,000075: 21,2143 35002 CAF BIT14 044568,000076: 21,2144 00006 EXTEND 044569,000077: 21,2145 02031 RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31). 044570,000078: 21,2146 00006 EXTEND 044571,000079: # Page 1003 044572,000080: 21,2147 12160 BZF SETT5 # IF IN FREE MODE, GO TO SETT5. 044573,000081: 044574,000082: 21,2150 55465 TS T5PHASE # IF NOT IN FREE MODE, 044575,000083: 21,2151 37676 CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP) 044576,000084: 21,2152 54030 TS TIME5 # IN 100 MS VIA T5RUPT 044577,000085: 044578,000086: 21,2153 02632 TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET 044579,000087: 044580,000088: 21,2154 12350 TCF KMATRIX 044581,000089: 21,2155 37770 DELTATT OCT 37770 # 80MS (TIME5) 044582,000090: 21,2156 37776 DELTATT2 OCT 37776 # 20MS (TIME5) 044583,000091: 21,2157 37634 ONESEK DEC 16284 B-14 # 1 SEC(TIME5) 044584,000092: 21,2160 CHAN5 EQUALS 5 044585,000093: 21,2160 CHAN6 EQUALS 6 044586,000094: 21,2160 7671 PRIO34A = PRIO34 044587,000095: 044588,000096: # CHECK PHASE OF T5 PROGRAM 044589,000097: 044590,000098: # BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO 044591,000099: # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC, 044592,000100: # TO ALLOW FOR THE EXECUTION OF OTHER 044593,000101: # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT 044594,000102: # VARIABLES AT TURN ON. 044595,000103: 044596,000104: # THE CODING OF T5PHASE IS... 044597,000105: 044598,000106: # + = INITIALIZE T5 RCS-CSM AUTOPILOT 044599,000107: # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM 044600,000108: # - = RESTART DAP 044601,000109: # -0 = PHASE1 OF THE T5 PROGRAM 044602,000110: 044603,000111: 21,2160 11465 SETT5 CCS T5PHASE 044604,000112: 21,2161 12544 TCF FRESHDAP # TURN ON AUTOPILOT 044605,000113: 21,2162 12661 TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM 044606,000114: 21,2163 12546 TCF REDAP # RESTART AUTOPILOT 044607,000115: 044608,000116: 21,2164 55465 TS T5PHASE # PHASE 1 RESET FOR PHASE 2 044609,000117: 21,2165 30030 CA TIME5 044610,000118: 21,2166 55634 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5 044611,000119: 21,2167 32156 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2 044612,000120: 21,2170 54030 TS TIME5 # OF PROGRAM 044613,000121: 044614,000122: # Page 1004 044615,000123: # IMU STATUS CHECK 044616,000124: 044617,000125: 21,2171 41321 CS IMODES33 # CHECK IMU STATUS 044618,000126: 21,2172 75012 MASK BIT6 # BIT6 = 0 IMU OK 044619,000127: 21,2173 10000 CCS A # BIT6 = 1 NO IMU 044620,000128: 21,2174 12210 TCF RATEFILT 044621,000129: 21,2175 41501 FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN 044622,000130: 21,2176 75002 MASK BIT14 # INITIALIZED 044623,000131: 21,2177 27501 ADS RCSFLAGS 044624,000132: 21,2200 35002 CAF BIT14 # NO ATTITUDE REFERENCE 044625,000133: 21,2201 55332 TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE 044626,000134: # TO PICK UP CDU ANGLES UPON RESUMPTION OF 044627,000135: # ATTITUDE HOLD 044628,000136: 21,2202 00006 EXTEND 044629,000137: 21,2203 02031 RAND CHAN31 # CHECK FOR FREE MODE 044630,000138: 21,2204 00006 EXTEND 044631,000139: 21,2205 12417 BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY 044632,000140: 21,2206 12534 TCF REINIT # .....TILT............................... 044633,000141: 21,2207 00030 BITS4,5 OCT 30 044634,000142: 044635,000143: 21,2210 31501 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED 044636,000144: 21,2211 75002 MASK BIT14 044637,000145: 21,2212 00006 EXTEND # IF SO, PROCEED WITH RATE DERIVATION 044638,000146: 21,2213 12215 BZF +2 044639,000147: 21,2214 12350 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION 044640,000148: 044641,000149: # RATE FILTER TIMING = 7.72 MS 044642,000150: 044643,000151: # RATE FILTER EQUATIONS 044644,000152: 044645,000153: 044646,000154: # DRHO = DELRHO - (.1)ADOT + (1 = GAIN1)DRHO 044647,000155: # -1 044648,000156: 044649,000157: # ADOT = ADOT + GAIN2 DRHO + KMJ DFT 044650,000158: # -1 044651,000159: # _ * _ _ 044652,000160: # WHERE DELRHO = AMGB (CDU - CDU ) 044653,000161: # -1 044654,000162: 044655,000163: 21,2215 35016 CAF TWO 044656,000164: 21,2216 55506 DRHOLOOP TS SPNDX 044657,000165: 21,2217 60000 DOUBLE 044658,000166: 21,2220 55507 TS DPNDX 044659,000167: 21,2221 51507 INDEX DPNDX 044660,000168: 21,2222 41552 CS DRHO # DRHO SCALED 180 DEGS 044661,000169: 21,2223 00006 EXTEND 044662,000170: 21,2224 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN 044663,000171: 21,2225 73077 MP GAIN1 044664,000172: 21,2226 51507 INDEX DPNDX 044665,000173: 21,2227 21553 DAS DRHO # (1 -.064) DRHO 044666,000174: 21,2230 00006 EXTEND 044667,000175: # Page 1005 044668,000176: 21,2231 51507 INDEX DPNDX 044669,000177: 21,2232 41534 DCS ADOT 044670,000178: 21,2233 53511 DXCH KMPAC # -(.1)ADOT 044671,000179: 21,2234 35003 CA QUARTER 044672,000180: 21,2235 02042 TC SMALLMP 044673,000181: 21,2236 53511 DXCH KMPAC 044674,000182: 21,2237 51507 INDEX DPNDX 044675,000183: 21,2240 21553 DAS DRHO 044676,000184: 21,2241 11506 CCS SPNDX 044677,000185: 21,2242 12216 TCF DRHOLOOP 044678,000186: 044679,000187: 21,2243 30032 CA CDUX # MEASURED BODY RATES-- 044680,000188: 21,2244 57635 XCH RHO 044681,000189: 21,2245 00006 EXTEND 044682,000190: 21,2246 21635 MSU RHO # _ * _ _ 044683,000191: 21,2247 40000 COM # DELRHO = AMGB (CDU - CDU ) 044684,000192: # -1 044685,000193: 21,2250 22007 ZL 044686,000194: 21,2251 53516 DXCH DELTEMPX 044687,000195: 21,2252 30033 CA CDUY 044688,000196: 21,2253 57636 XCH RHO1 044689,000197: 21,2254 00006 EXTEND 044690,000198: 21,2255 21636 MSU RHO1 044691,000199: 21,2256 40000 COM 044692,000200: 21,2257 55502 TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS 044693,000201: 21,2260 00006 EXTEND 044694,000202: 21,2261 71640 MP AMGB1 044695,000203: 21,2262 21516 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1) 044696,000204: # MUST BE DOUBLE PRECISION OR WILL LOSE 044697,000205: # PULSES 044698,000206: 21,2263 31641 CA AMGB4 044699,000207: 21,2264 00006 EXTEND 044700,000208: 21,2265 71502 MP T5TEMP 044701,000209: 21,2266 53520 DXCH DELTEMPY 044702,000210: 21,2267 31643 CA AMGB7 044703,000211: 21,2270 00006 EXTEND 044704,000212: 21,2271 71502 MP T5TEMP 044705,000213: 21,2272 53522 DXCH DELTEMPZ 044706,000214: 21,2273 30034 CA CDUZ 044707,000215: 21,2274 57637 XCH RHO2 044708,000216: 21,2275 00006 EXTEND 044709,000217: 21,2276 21637 MSU RHO2 044710,000218: 21,2277 40000 COM 044711,000219: 21,2300 55502 TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS 044712,000220: 21,2301 00006 EXTEND 044713,000221: 21,2302 71642 MP AMGB5 044714,000222: 21,2303 21520 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1) 044715,000223: # + AMGB5(CDUZ-RHO2) 044716,000224: 21,2304 31644 CA AMGB8 044717,000225: 21,2305 00006 EXTEND 044718,000226: 044719,000227: # Page 1006 044720,000228: 21,2306 71502 MP T5TEMP 044721,000229: 21,2307 21522 DAS DELTEMPZ # DELTEMPZ = AMBG7(CDUY-RHO1) 044722,000230: # + AMGB8(CDUZ-RHO2) 044723,000231: 21,2310 35016 CAF TWO 044724,000232: 21,2311 55506 ADOTLOOP TS SPNDX 044725,000233: 21,2312 60000 DOUBLE 044726,000234: 21,2313 55507 TS DPNDX 044727,000235: 21,2314 00006 EXTEND 044728,000236: 21,2315 51507 INDEX DPNDX 044729,000237: 21,2316 31516 DCA DELTEMPX 044730,000238: 21,2317 51507 INDEX DPNDX 044731,000239: 21,2320 21553 DAS DRHO 044732,000240: 21,2321 00006 EXTEND 044733,000241: 21,2322 51507 INDEX DPNDX 044734,000242: 21,2323 31516 DCA DELTEMPX 044735,000243: 21,2324 51507 INDEX DPNDX 044736,000244: 21,2325 21542 DAS MERRORX 044737,000245: 21,2326 51507 INDEX DPNDX 044738,000246: 21,2327 31552 CA DRHO 044739,000247: 21,2330 60000 DOUBLE # N.B. 044740,000248: 21,2331 60000 DOUBLE # N.B. 044741,000249: 21,2332 00006 EXTEND 044742,000250: 21,2333 51617 INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS 044743,000251: 21,2334 73115 MP GAIN2 044744,000252: 21,2335 51507 INDEX DPNDX # ADOT + (.16)(.1)DRHO 044745,000253: 21,2336 21534 DAS ADOT # -1 044746,000254: 21,2337 51506 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO 044747,000255: 21,2340 31620 CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3 044748,000256: 21,2341 00006 EXTEND 044749,000257: 21,2342 51506 INDEX SPNDX 044750,000258: 21,2343 71547 MP DFT 044751,000259: 21,2344 51507 INDEX DPNDX 044752,000260: 21,2345 21534 DAS ADOT # KMJ(DFT) 044753,000261: 21,2346 11506 CCS SPNDX 044754,000262: 21,2347 12311 TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES 044755,000263: 21,2350 31560 KMATRIX CA ATTSEC 044756,000264: 21,2351 75026 MASK LOW4 044757,000265: 21,2352 10000 CCS A 044758,000266: 21,2353 12361 TCF TENTHSEK 044759,000267: 21,2354 37671 CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION 044760,000268: 21,2355 05134 TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES 044761,000269: 21,2356 E6,1510 EBANK= KMPAC 044762,000270: 21,2356 03447 44066 2CADR AMBGUPDT 044763,000271: 044764,000272: 21,2360 34334 CAF NINE 044765,000273: 044766,000274: 21,2361 55560 TENTHSEK TS ATTSEC 044767,000275: 044768,000276: # Page 1007 044769,000277: # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH 044770,000278: # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT-- 044771,000279: 044772,000280: # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION) 044773,000281: # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION) 044774,000282: # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION) 044775,000283: 044776,000284: # THE STEERING PROGRAMS: 044777,000285: # 1) ATTITUDE MANEUVER ROUTINE 044778,000286: # 2) LEM TRACKING 044779,000287: 044780,000288: # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY, 044781,000289: # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES. 044782,000290: 044783,000291: # HOLDFLAG CODING: 044784,000292: 044785,000293: # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ 044786,000294: # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES 044787,000295: # ALSO IGNORE AUTOMATIC STEERING 044788,000296: # SET = + BY 044789,000297: # 1) INITIALIZATION PHASE OF AUTOPILOT 044790,000298: # 2) OCCURANCE OF RHC COMMANDS 044791,000299: # 3) FREE MODE 044792,000300: # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO 044793,000301: # WHILE DOING AUTOMATIC STEERING (IN THIS CASE 044794,000302: # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC 044795,000303: # FUNCTIONS AS IF IT WERE.) 044796,000304: # 5) S/C CONTROL SWITCH IS SCS 044797,000305: # 6) IMU POWER OFF 044798,000306: # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE 044799,000307: # - = PERFORMING AUTOMATIC MANEUVER 044800,000308: # -0 = NOT USED AT PRESENT 044801,000309: 044802,000310: # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT. 044803,000311: # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO 044804,000312: # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE THE APPROPRIATE ACTION. 044805,000313: 044806,000314: 21,2362 41332 CS HOLDFLAG 044807,000315: 21,2363 00006 EXTEND 044808,000316: 21,2364 62411 BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC 044809,000317: # COMMANDS. 044810,000318: 21,2365 35016 DCDUINCR CAF TWO 044811,000319: 21,2366 55506 DELOOP TS SPNDX 044812,000320: 21,2367 60000 DOUBLE 044813,000321: 21,2370 55507 TS DPNDX 044814,000322: 21,2371 00006 EXTEND 044815,000323: 21,2372 50000 INDEX A 044816,000324: 21,2373 31647 DCA CDUXD 044817,000325: # Page 1008 044818,000326: 21,2374 53511 DXCH KMPAC 044819,000327: 21,2375 00006 EXTEND 044820,000328: 21,2376 51507 INDEX DPNDX 044821,000329: 21,2377 31576 DCA DELCDUX 044822,000330: 21,2400 02054 TC DPADD 044823,000331: 21,2401 00006 EXTEND 044824,000332: 21,2402 31511 DCA KMPAC 044825,000333: 21,2403 51506 INDEX SPNDX 044826,000334: 21,2404 55572 TS THETADX 044827,000335: 21,2405 51507 INDEX DPNDX 044828,000336: 21,2406 53647 DXCH CDUXD 044829,000337: 21,2407 11506 CCS SPNDX 044830,000338: 21,2410 12366 TCF DELOOP 044831,000339: 044832,000340: # Page 1009 044833,000341: # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY 044834,000342: 044835,000343: # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI: 044836,000344: 044837,000345: # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E 044838,000346: # GENERATED INTERNALLY BY THE AUTOPILOT 044839,000347: 044840,000348: # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E 044841,000349: # WITH RESPECT TO THE CONTENTS OF N22 044842,000350: 044843,000351: # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E 044844,000352: # WITH RESPECT TO THE CONTENTS OF N17 044845,000353: 044846,000354: # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS 044847,000355: # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE. 044848,000356: 044849,000357: # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED 044850,000358: # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES 044851,000359: # AS A FLY-TO INDICATOR. 044852,000360: 044853,000361: # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED 044854,000362: # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES 044855,000363: # AS A FLY-TO INDICATOR. 044856,000364: 044857,000365: # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY 044858,000366: # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME. 044859,000367: 044860,000368: # THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN 044861,000369: # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA 044862,000370: # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME. 044863,000371: 044864,000372: 21,2411 41501 DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2 044865,000373: 21,2412 75014 MASK BIT4 044866,000374: 21,2413 00006 EXTEND 044867,000375: 21,2414 13160 BZF FDAIDSP2 044868,000376: 044869,000377: 21,2415 27501 FDAIDSP1 ADS RCSFLAGS 044870,000378: 21,2416 02420 TC NEEDLER 044871,000379: 21,2417 15333 KRESUME1 TCF RESUME # END PHASE 1 044872,000380: 044873,000381: # Page 1010 044874,000382: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE 044875,000383: 044876,000384: # PROGRAM DESCRIPTION: D. KEENE 5/24/67 044877,000385: 044878,000386: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) 044879,000387: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT 044880,000388: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES 044881,000389: # THE DACS. 044882,000390: 044883,000391: # CALLING SEQUENCE: 044884,000392: 044885,000393: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE 044886,000394: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM: 044887,000395: 044888,000396: # CS RCSFLAGS # IN EBANK6 044889,000397: # MASK BIT3 044890,000398: # ADS RCSFLAGS 044891,000399: 044892,000400: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANFERRED TO THE FOLLOWING LOCATIONS IN EBANK6: 044893,000401: 044894,000402: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT 044895,000403: # AK1 SCALED 180 DEGREES TO CHANGE 044896,000404: # AK2 SCALED 180 DEGREES 044897,000405: 044898,000406: # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR 044899,000407: # (= 384 BITS IN IMU ERROR COUNTER) 044900,000408: 044901,000409: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY: 044902,000410: 044903,000411: # INHINT 044904,000412: # TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6 044905,000413: # CADR NEEDLER 044906,000414: # RELINT 044907,000415: 044908,000416: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PRORAM ARE 044909,000417: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS. 044910,000418: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING. 044911,000419: 044912,000420: # ERASABLE USED: 044913,000421: # AK CDUXCMD 044914,000422: # AK1 CDUYCMD 044915,000423: # AK2 CDUZCMD 044916,000424: # EDRIVEX A,L,Q 044917,000425: # EDRIVEY T5TEMP 044918,000426: # EDRIVEZ SPNDX 044919,000427: 044920,000428: # SWITCHES; RCSFLAGS BITS 3,2 044921,000429: 044922,000430: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY) 044923,000431: # Page 1011 044924,000432: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) 044925,000433: # CHAN14 BIT 13,14,15 (DAC ACTIVITY) 044926,000434: 044927,000435: # SIGN CONVENTION: AK = THETAC - THETA 044928,000436: # WHERE THETAC = COMMAND ANGLE 044929,000437: # THETA = PRESENT ANGLE 044930,000438: 044931,000439: 21,2420 35014 NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE 044932,000440: 21,2421 00006 EXTEND # IF IN COARSE ALIGN DO NOT USE IMU 044933,000441: 21,2422 02012 RAND CHAN12 # ERROR COUNTERS. DON'T USE NEEDLES 044934,000442: 21,2423 00006 EXTEND 044935,000443: 21,2424 12431 BZF NEEDLER1 044936,000444: 21,2425 41501 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS 044937,000445: 21,2426 75015 MASK BIT3 044938,000446: 21,2427 27501 ADS RCSFLAGS 044939,000447: 21,2430 00002 TC Q 044940,000448: 044941,000449: 21,2431 31501 NEEDLER1 CA RCSFLAGS 044942,000450: 21,2432 76211 MASK SIX 044943,000451: 21,2433 00006 EXTEND 044944,000452: 21,2434 12471 BZF NEEDLES3 044945,000453: 21,2435 75015 MASK BIT3 044946,000454: 21,2436 00006 EXTEND 044947,000455: 21,2437 12462 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1 044948,000456: 044949,000457: 21,2440 45012 CS BIT6 # FIRST PASS BIT3 = 1 044950,000458: 21,2441 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS 044951,000459: 21,2442 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS. BEFORE 044952,000460: 21,2443 45021 NEEDLE11 CS ZERO # ENABLING COUNTERS. 044953,000461: 21,2444 55476 TS AK # ZERO THE INPUTS ON FIRST PASS 044954,000462: 21,2445 55477 TS AK1 044955,000463: 21,2446 55500 TS AK2 044956,000464: 21,2447 55503 TS EDRIVEX # ZERO THE DISPLAY REGISTERS 044957,000465: 21,2450 55504 TS EDRIVEY 044958,000466: 21,2451 55505 TS EDRIVEZ 044959,000467: 21,2452 54050 TS CDUXCMD # ZERO THE OUT COUNTERS 044960,000468: 21,2453 54051 TS CDUYCMD 044961,000469: 21,2454 54052 TS CDUZCMD 044962,000470: 21,2455 46211 CS SIX # RESET RCSFLAGS FOR PASS2 044963,000471: 21,2456 71501 MASK RCSFLAGS 044964,000472: 21,2457 65016 AD BIT2 044965,000473: 21,2460 55501 TS RCSFLAGS 044966,000474: 21,2461 00002 TC Q # END PASS1 044967,000475: 044968,000476: 21,2462 35012 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS 044969,000477: 21,2463 00006 EXTEND 044970,000478: 21,2464 05012 WOR CHAN12 044971,000479: 21,2465 46211 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE 044972,000480: # Page 1012 044973,000481: 21,2466 71501 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR 044974,000482: 21,2467 55501 TS RCSFLAGS # RELAY CLOSURE 044975,000483: 21,2470 00002 TC Q 044976,000484: 044977,000485: 21,2471 35012 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER 044978,000486: 21,2472 00006 EXTEND # IS ENABLED 044979,000487: 21,2473 02012 RAND CHAN12 044980,000488: 21,2474 00006 EXTEND # IF NOT RECYCLE NEEDLES 044981,000489: 21,2475 12425 BZF NEEDLER +5 044982,000490: 044983,000491: 21,2476 35016 NEEDLES CAF TWO 044984,000492: 21,2477 55506 DACLOOP TS SPNDX 044985,000493: 21,2500 45003 CS QUARTER 044986,000494: 21,2501 00006 EXTEND 044987,000495: 21,2502 51506 INDEX SPNDX 044988,000496: 21,2503 71476 MP AK 044989,000497: 21,2504 54001 TS L 044990,000498: 21,2505 10000 CCS A 044991,000499: 21,2506 32542 CA DACLIMIT 044992,000500: 21,2507 12511 TCF +2 044993,000501: 21,2510 42542 CS DACLIMIT 044994,000502: 21,2511 60001 AD L 044995,000503: 21,2512 55502 TS T5TEMP # OVFLO CHK 044996,000504: 21,2513 12517 TCF +4 044997,000505: 21,2514 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384 044998,000506: 21,2515 32542 CAF DACLIMIT 044999,000507: 21,2516 54001 TS L 045000,000508: 21,2517 51506 INDEX SPNDX 045001,000509: 21,2520 41503 CS EDRIVEX # CURRENT VALUE OF DAC 045002,000510: 21,2521 60001 AD L 045003,000511: 21,2522 51506 INDEX SPNDX 045004,000512: 21,2523 26050 ADS CDUXCMD 045005,000513: 21,2524 51506 INDEX SPNDX 045006,000514: 21,2525 23503 LXCH EDRIVEX 045007,000515: 21,2526 11506 CCS SPNDX 045008,000516: 21,2527 12477 TCF DACLOOP 045009,000517: 21,2530 37707 CAF 13,14,15 045010,000518: 21,2531 00006 EXTEND 045011,000519: 21,2532 05014 WOR CHAN14 # SET DAC ACTIVITY BITS 045012,000520: 21,2533 00002 TC Q 045013,000521: 045014,000522: 21,2534 32540 REINIT CAF DELAY200 # ........TILT LOGIC 045015,000523: 21,2535 54030 TS TIME5 # REINITIALIZE DAP IN 200MS 045016,000524: 21,2536 55465 TS T5PHASE 045017,000525: 21,2537 15333 TCF RESUME 045018,000526: 21,2540 37754 DELAY200 DEC 16364 B-14 # 200MS 045019,000527: 045020,000528: 21,2541 77177 DEC -384 B-14 045021,000529: 045022,000530: # Page 1013 045023,000531: 21,2542 37200 DACLIMIT DEC 16000 B-14 045024,000532: 21,2543 00600 DEC 384 B-14 045025,000533: 045026,000534: # Page 1014 045027,000535: # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT 045028,000536: 045029,000537: # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY 045030,000538: 045031,000539: # WBODY (+1) DFT TAU2 045032,000540: # WBODY1 (+1) DFT1 BIAS 045033,000541: # WBODY2 (+1) DFT2 BIAS1 045034,000542: # ADOT (+1) DRHO (+1) BIAS2 045035,000543: # ADOT1 (+1) DRHO1 (+1) ERRORX 045036,000544: # ADOT2 (+1) DRHO2 (+1) ERRORY 045037,000545: # MERRORX (+1) ATTSEC ERRORZ 045038,000546: # MERRORY (+1) TAU 045039,000547: # MERRORZ (+1) TAU1 045040,000548: 045041,000549: 21,2544 35017 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC 045042,000550: 21,2545 55332 TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN 045043,000551: # ATTITUDE HOLD REFERENCE 045044,000552: 045045,000553: 21,2546 04740 REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS 045046,000554: 21,2547 40347 CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT 045047,000555: 045048,000556: 21,2550 04740 TC IBNKCALL # DECODE IXX, IAVG, AND CONVERT 045049,000557: 21,2551 40500 CADR S40.14 # TO AUTOPILOT GAINS 045050,000558: 045051,000559: 21,2552 32623 CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE 045052,000560: 21,2553 55506 ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS 045053,000561: 21,2554 35021 CAF ZERO 045054,000562: 21,2555 51506 INDEX SPNDX 045055,000563: 21,2556 55525 TS WBODY 045056,000564: 21,2557 11506 CCS SPNDX 045057,000565: 21,2560 12553 TCF ZEROT5 045058,000566: 21,2561 02632 TCR ZEROJET 045059,000567: 045060,000568: 21,2562 45021 CS ZERO 045061,000569: 21,2563 55633 TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL 045062,000570: 045063,000571: 21,2564 55632 TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR 045064,000572: # MANUAL RATE MODES 045065,000573: 045066,000574: 21,2565 32624 CAF =.24 045067,000575: 21,2566 55654 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE 045068,000576: 045069,000577: 21,2567 35015 CAF FOUR 045070,000578: 21,2570 55634 TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN 045071,000579: # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT 045072,000580: # IN (80MS - T5TIME(40MS)). THEREFORE 045073,000581: # PHASE 1 (RATEFILTER) BEGINS CYCLING 100 045074,000582: # MS FROM NOW AND EVERY 100MS THEREAFTER. 045075,000583: 045076,000584: 21,2571 35024 CAF ELEVEN 045077,000585: 21,2572 55617 TS ATTKALMN # RESET TO PICK UP KALMAN FILTER TAINS 045078,000586: # TO INITIALIZE THE S/C ANGULAR RATES 045079,000587: # Page 1015 045080,000588: 21,2573 30032 CA CDUX 045081,000589: 21,2574 55635 TS RHO 045082,000590: 21,2575 30033 CA CDUY 045083,000591: 21,2576 55636 TS RHO1 045084,000592: 21,2577 30034 CA CDUZ 045085,000593: 21,2600 55637 TS RHO2 045086,000594: 21,2601 35021 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING 045087,000595: 21,2602 55465 TS T5PHASE # PHASE2 OF PROGRAM 045088,000596: 045089,000597: 21,2603 41321 CS IMODES33 # CHECK IMU STATUS 045090,000598: 21,2604 75012 MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN 045091,000599: 21,2605 10000 CCS A # IF BIT6 = 1 IMU NOT READY 045092,000600: 21,2606 12612 TCF IMUAOK 045093,000601: 21,2607 55617 TS ATTKALMN # CANNOT USE IMU 045094,000602: 21,2610 32626 CAF RCSINITB # PROVIDE FREE CONTROL ONLY 045095,000603: 21,2611 12617 TCF RCSSWIT # DON'T START UP RATE FILTER 045096,000604: # SIGNAL NO RATE FILTER 045097,000605: 045098,000606: 21,2612 37671 IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION 045099,000607: 21,2613 05134 TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN 045100,000608: 21,2614 E6,1510 EBANK= KMPAC 045101,000609: 21,2614 03447 44066 2CADR AMBGUPDT 045102,000610: 045103,000611: 21,2616 32625 CAF RCSINIT # CLEAR BIT14 --ASSUME WE HAVE A GOOD IMU 045104,000612: 21,2617 55501 RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM 045105,000613: # SET BIT3 --INITIALIZE NEEDLES 045106,000614: # CLEAR BIT4 --RESET FOR FDAIDSP1 045107,000615: 21,2620 32627 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU 045108,000616: # ERROR COUNTER TO ZERO. 045109,000617: # (MINIMUM DELAY = 15 MS) 045110,000618: 21,2621 54030 TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN 045111,000619: 21,2622 05333 TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE 045112,000620: # FILTER WILL BEGIN OPERATING ZOOMS FROM 045113,000621: # NOW 045114,000622: 045115,000623: # CONSTANTS USED IN INITIALIZATION PROGRAM 045116,000624: 045117,000625: 21,2623 00044 NO.T5VAR DEC 36 B-14 045118,000626: 21,2624 07534 =.24 DEC .24 # = SLOPE OF 0.6/SEC 045119,000627: 21,2625 00004 RCSINIT OCT 00004 045120,000628: 21,2626 20004 RCSINITB OCT 20004 045121,000629: 21,2627 37772 T5WAIT60 DEC 16378 B-14 # = 6 CS 045122,000630: 21,2630 E6,1510 EBANK= KMPAC 045123,000631: 21,2630 03617 36066 T6ADDR 2CADR T6START 045124,000632: 045125,000633: 21,2632 35024 ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2, 045126,000634: 21,2633 55506 TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2, 045127,000635: 21,2634 35021 CAF ZERO # AND RWORD1 045128,000636: 045129,000637: # Page 1016 045130,000638: 21,2635 51506 INDEX SPNDX 045131,000639: 21,2636 55451 TS RWORD1 045132,000640: 21,2637 11506 CCS SPNDX 045133,000641: 21,2640 12633 TCF ZEROJET +1 045134,000642: 045135,000643: 21,2641 35015 CAF FOUR 045136,000644: 21,2642 55462 TS BLAST1 +1 045137,000645: 21,2643 35024 CAF ELEVEN 045138,000646: 21,2644 55464 TS BLAST2 +1 045139,000647: 045140,000648: 21,2645 45017 CS BIT1 045141,000649: 21,2646 71501 MASK RCSFLAGS 045142,000650: 21,2647 55501 TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0 045143,000651: 045144,000652: 21,2650 00006 EXTEND 045145,000653: 21,2651 32631 DCA T6ADDR 045146,000654: 21,2652 53311 DXCH T6LOC 045147,000655: 21,2653 33050 CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS. 045148,000656: 21,2654 54031 TS TIME6 045149,000657: 21,2655 35001 CAF BIT15 045150,000658: 21,2656 00006 EXTEND 045151,000659: 21,2657 05013 WOR CHAN13 045152,000660: 045153,000661: 21,2660 00002 TC Q 045154,000662: 045155,000663: 21,2661 11617 T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE 045156,000664: 21,2662 13146 TCF KALUPDT 045157,000665: 045158,000666: 21,2663 12665 TCF +2 # ONLY IF ATTKALMN POSITIVE 045159,000667: 21,2664 12665 TCF +1 045160,000668: 21,2665 32156 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS 045161,000669: 21,2666 56030 XCH TIME5 # (JET SELECTION LOGIC) 045162,000670: 21,2667 27634 ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT 045163,000671: 045164,000672: 21,2670 31501 CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN 045165,000673: 21,2671 75001 MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET 045166,000674: 21,2672 00006 EXTEND # ATTKALMN TO -1 045167,000675: 21,2673 12675 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0. 045168,000676: 21,2674 45017 CS ONE 045169,000677: 21,2675 55617 NOHIAUTO TS ATTKALMN 045170,000678: 045171,000679: # Page 1017 045172,000680: # MANUAL ROTATION COMMANDS 045173,000681: 045174,000682: 21,2676 43032 CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5 045175,000683: 21,2677 71501 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO 045176,000684: 21,2700 55501 TS RCSFLAGS 045177,000685: 045178,000686: 21,2701 00006 EXTEND 045179,000687: 21,2702 00031 READ CHAN31 045180,000688: 21,2703 54001 TS L 045181,000689: 21,2704 31632 CA CH31TEMP 045182,000690: 21,2705 00006 EXTEND 045183,000691: 21,2706 06001 RXOR LCHAN 045184,000692: 21,2707 73036 MASK MANROT # = OCT00077 045185,000693: 21,2710 00006 EXTEND 045186,000694: 21,2711 62724 BZMF NOCHANGE 045187,000695: 045188,000696: 21,2712 22000 LXCH A 045189,000697: 21,2713 55632 TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP 045190,000698: 045191,000699: 21,2714 30001 CA L 045192,000700: 21,2715 00006 EXTEND 045193,000701: 21,2716 75013 MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L 045194,000702: 21,2717 30001 CA L 045195,000703: 21,2720 27501 ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH 045196,000704: # CHANGES IN COMMAND. BITS 10,9 FOR 045197,000705: # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR 045198,000706: # PITCH 045199,000707: 045200,000708: 21,2721 41501 CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND 045201,000709: 21,2722 73037 MASK OCT16000 # 11 OF RCSFLAGS) 045202,000710: 21,2723 27501 ADS RCSFLAGS 045203,000711: 045204,000712: 21,2724 41632 NOCHANGE CS CH31TEMP 045205,000713: 21,2725 73036 MASK MANROT 045206,000714: 21,2726 00006 EXTEND 045207,000715: 21,2727 63250 BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT 045208,000716: 045209,000717: 21,2730 55332 TS HOLDFLAG # SET HOLDFLAG + 045210,000718: 045211,000719: 21,2731 03130 TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX, 045212,000720: # YMANNDX, AND RMANNDX ARE ALL SET, BY 045213,000721: # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO, 045214,000722: # +, OR - ROTATION RESPECTIVELY AS 045215,000723: # COMMANDED BY THE RHC. 045216,000724: 045217,000725: # HOWEVER, IT IS WELL TO NOTE THAT AFTER 045218,000726: # THE RHC IS RETURNED TO DETENT, THE 045219,000727: # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS 045220,000728: # STICKCHK SO PMANNDX, YMANNDX, AND 045221,000729: # RMANNDX ARE NOT RESET TO ZERO BUT RATHER 045222,000730: # LEFT SET TO THEIR LAST OUT OF DETENT 045223,000731: # Page 1018 045224,000732: # VALUES. 045225,000733: 045226,000734: 21,2732 40075 CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING 045227,000735: 21,2733 75002 MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS 045228,000736: 21,2734 26075 ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT 045229,000737: 045230,000738: 21,2735 35002 CAF BIT14 045231,000739: 21,2736 00006 EXTEND 045232,000740: 21,2737 02031 RAND CHAN31 045233,000741: 21,2740 00006 EXTEND 045234,000742: 21,2741 63051 BZMF FREEFUNC 045235,000743: 045236,000744: 21,2742 31501 CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER 045237,000745: 21,2743 75002 MASK BIT14 # HAS BEEN INITIALIZED 045238,000746: 21,2744 10000 CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS 045239,000747: 21,2745 12534 TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER 045240,000748: 045241,000749: 21,2746 45022 CS FIVE # IF MANUAL MANEUVER IS AT HIGH RTE, SET 045242,000750: 21,2747 61130 AD RATEINDX # ATTKALMN TO -1. 045243,000751: 21,2750 00006 EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE. 045244,000752: 21,2751 62754 BZMF +3 045245,000753: 21,2752 45017 CS ONE 045246,000754: 21,2753 55617 TS ATTKALMN 045247,000755: 045248,000756: 21,2754 35016 CAF TWO # AUTO-HOLD MANUAL ROTATION 045249,000757: 21,2755 55506 SETWBODY TS SPNDX 045250,000758: 21,2756 60000 DOUBLE 045251,000759: 21,2757 55507 TS DPNDX 045252,000760: 21,2760 51506 INDEX SPNDX # RMANNDX = 0 NO ROTATION 045253,000761: 21,2761 31656 CA RMANNDX # = 1 + ROTATION 045254,000762: 21,2762 00006 EXTEND # = 2 - ROTATION 045255,000763: 21,2763 13005 BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS, 045256,000764: # GO TO NORATE. 045257,000765: 045258,000766: 21,2764 61130 AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC 045259,000767: 21,2765 54002 TS Q # = 2 0.2 DEG/SEC 045260,000768: 21,2766 50002 INDEX Q # = 4 0.5 DEG/SEC 045261,000769: 21,2767 33037 CA MANTABLE -1 # = 6 2.0 DEG/SEC 045262,000770: 21,2770 00006 EXTEND 045263,000771: 21,2771 75007 MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6 045264,000772: 21,2772 51507 INDEX DPNDX # TO GET COMMANDED RATE. 045265,000773: 21,2773 53526 DXCH WBODY # SET WBODY TO COMMANDED RATE. 045266,000774: 045267,000775: 21,2774 31501 CA RCSFLAGS 045268,000776: 21,2775 73037 MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND 045269,000777: 21,2776 00006 EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO 045270,000778: 21,2777 13015 BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE 045271,000779: # ERROR. 045272,000780: 045273,000781: # Page 1019 045274,000782: 21,3000 35021 ZEROER CA ZERO # ZEROER ZEROS MERRORS 045275,000783: 21,3001 22007 ZL 045276,000784: 21,3002 51507 INDEX DPNDX 045277,000785: 21,3003 53542 DXCH MERRORX 045278,000786: 21,3004 13023 TCF SPNDXCHK 045279,000787: 045280,000788: 21,3005 22007 NORATE ZL 045281,000789: 21,3006 51507 INDEX DPNDX 045282,000790: 21,3007 53526 DXCH WBODY # ZERO WBODY FOR THIS AXIS 045283,000791: 21,3010 31501 CA RCSFLAGS 045284,000792: 21,3011 73037 MASK OCT16000 045285,000793: 21,3012 00006 EXTEND # IS RATE DAMPING COMPLETED 045286,000794: 21,3013 13023 BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK 045287,000795: 21,3014 13000 TCF ZEROER # NO, GO TO ZEROER 045288,000796: 045289,000797: 21,3015 50002 MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE 045290,000798: 21,3016 43037 CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE 045291,000799: 21,3017 00006 EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE 045292,000800: 21,3020 75011 MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER 045293,000801: 21,3021 51507 INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES 045294,000802: 21,3022 21542 DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8 045295,000803: 045296,000804: 21,3023 51507 SPNDXCHK INDEX DPNDX 045297,000805: 21,3024 31541 CA MERRORX 045298,000806: 21,3025 51506 INDEX SPNDX 045299,000807: 21,3026 55567 TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX 045300,000808: 21,3027 11506 CCS SPNDX 045301,000809: 21,3030 12755 TCF SETWBODY 045302,000810: 21,3031 13441 TCF JETS 045303,000811: 045304,000812: 21,3032 01760 OCT01760 OCT 01760 # FORCED FIRING BITS MASK 045305,000813: 045306,000814: 21,3033 01400 OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF 045307,000815: 21,3034 00060 OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION 045308,000816: 21,3035 00300 OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE 045309,000817: # PRESERVED 045310,000818: # FOR INDEXING 045311,000819: 21,3036 00077 MANROT OCT 77 045312,000820: 21,3037 16000 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK 045313,000821: 21,3040 00165 MANTABLE DEC .0071111 045314,000822: 21,3041 77612 DEC -.0071111 045315,000823: 21,3042 00722 DEC .028444 045316,000824: 21,3043 77055 DEC -0.028444 045317,000825: 21,3044 02215 DEC .071111 045318,000826: 21,3045 75562 DEC -.071111 045319,000827: 21,3046 11064 DEC .284444 045320,000828: 21,3047 66713 DEC -.284444 045321,000829: 21,3050 00027 =+14MS DEC 23 B-14 045322,000830: 21,3051 51656 FREEFUNC INDEX RMANNDX # ACCELERATION 045323,000831: # Page 1020 045324,000832: 21,3052 33063 CA FREETAU # COMMANDS 045325,000833: 21,3053 55561 TS TAU 045326,000834: 21,3054 51657 INDEX PMANNDX 045327,000835: 21,3055 33063 CA FREETAU # FREETAU 0 SEC 045328,000836: 21,3056 55562 TS TAU1 # +1 +0.10 SEC 045329,000837: 21,3057 51660 INDEX YMANNDX # +2 -0.10 SEC 045330,000838: 21,3060 33063 CA FREETAU # (+3) 0 SEC 045331,000839: 21,3061 55563 TS TAU2 045332,000840: 21,3062 13067 TCF T6PROGM 045333,000841: 045334,000842: 21,3063 00000 FREETAU DEC 0 B-14 045335,000843: 21,3064 00740 DEC 480 B-14 045336,000844: 21,3065 77037 DEC -480 B-14 045337,000845: 21,3066 00000 DEC 0 B-14 045338,000846: 045339,000847: 21,3067 35021 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS 045340,000848: 21,3070 55567 TS ERRORX 045341,000849: 21,3071 55570 TS ERRORY 045342,000850: 21,3072 55571 TS ERRORZ 045343,000851: 21,3073 13757 TCF T6PROG 045344,000852: 045345,000853: # Page 1021 045346,000854: 21,3074 06604 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON 045347,000855: 21,3075 32703 DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT 045348,000856: 21,3076 06604 DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS 045349,000857: 21,3077 02031 GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION 045350,000858: 21,3100 12132 DEC .3180 # OF ATTITUDE RATES 045351,000859: 21,3101 13030 DEC .3452 045352,000860: 21,3102 14047 DEC .3774 045353,000861: 21,3103 15241 DEC .4161 045354,000862: 21,3104 16650 DEC .4634 045355,000863: 21,3105 20555 DEC .5223 045356,000864: 21,3106 23065 DEC .5970 045357,000865: 21,3107 26137 DEC .6933 045358,000866: 21,3110 32053 DEC .8151 045359,000867: 21,3111 35712 DEC .9342 045360,000868: 045361,000869: 21,3112 00435 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON 045362,000870: 21,3113 13412 DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT 045363,000871: 21,3114 00435 DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS 045364,000872: 21,3115 00032 GAIN2 DEC .0016 # SCALED 10 045365,000873: 21,3116 01350 DEC .0454 045366,000874: 21,3117 01575 DEC .0545 045367,000875: 21,3120 02103 DEC .0666 045368,000876: 21,3121 02523 DEC .0832 045369,000877: 21,3122 03327 DEC .1069 045370,000878: 21,3123 04432 DEC .1422 045371,000879: 21,3124 06264 DEC .1985 045372,000880: 21,3125 11351 DEC .2955 045373,000881: 21,3126 17324 DEC .4817 045374,000882: 21,3127 33622 DEC .8683 045375,000883: 21,3130 55502 STICKCHK TS T5TEMP 045376,000884: 21,3131 76214 MASK THREE # INDICES FOR MANUAL ROTATION 045377,000885: 21,3132 55657 TS PMANNDX 045378,000886: 21,3133 31502 CA T5TEMP 045379,000887: 21,3134 00006 EXTEND # MAN RATE 0 0 RATE (DP) 045380,000888: 21,3135 75003 MP QUARTER # +1 + RATE (DP) 045381,000889: 21,3136 55502 TS T5TEMP # +2 - RATE (DP) 045382,000890: 21,3137 76214 MASK THREE # (+3) 0 RATE (DP) 045383,000891: 21,3140 55660 TS YMANNDX 045384,000892: 21,3141 31502 CA T5TEMP 045385,000893: 21,3142 00006 EXTEND 045386,000894: 21,3143 75003 MP QUARTER 045387,000895: 21,3144 55656 TS RMANNDX 045388,000896: 21,3145 00002 TC Q 045389,000897: 21,3146 55617 KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING 045390,000898: # KALMAN FILTER TAKES 1.1 SEC 045391,000899: 045392,000900: 21,3147 32155 CA DELTATT # =1SEC - 80MS 045393,000901: 21,3150 61634 AD T5TIME # + DELAYS 045394,000902: # Page 1022 045395,000903: 21,3151 54030 TS TIME5 045396,000904: 21,3152 13155 TCF +3 045397,000905: 21,3153 32156 CAF DELTATT2 # SAFETY PLAY TO ASSURE 045398,000906: 21,3154 54030 TS TIME5 # A T5RUPT 045399,000907: 045400,000908: 21,3155 45021 KRESUME2 CS ZERO # RESET FOR PHASE1 045401,000909: 21,3156 55465 TS T5PHASE # RESUME INTERRUPTED PROGRAM 045402,000910: 21,3157 15333 TCF RESUME 045403,000911: 045404,000912: 21,3160 45014 FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1 045405,000913: 21,3161 71501 MASK RCSFLAGS 045406,000914: 21,3162 55501 TS RCSFLAGS 045407,000915: 045408,000916: 21,3163 40074 CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE 045409,000917: 21,3164 75007 MASK BIT9 # ERRORS 045410,000918: 21,3165 00006 EXTEND 045411,000919: 21,3166 13175 BZF FDAITOTL 045412,000920: 21,3167 00006 EXTEND 045413,000921: 21,3170 41570 DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR 045414,000922: 21,3171 53477 DXCH AK 045415,000923: 21,3172 41571 CS ERRORZ 045416,000924: 21,3173 55500 TS AK2 045417,000925: 21,3174 15333 TCF RESUME # END PHASE 1 045418,000926: 045419,000927: 21,3175 30105 FDAITOTL CA FLAGWRD9 045420,000928: 21,3176 75012 MASK BIT6 045421,000929: 21,3177 00006 EXTEND 045422,000930: 21,3200 13243 BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0 045423,000931: # IF SO, GO TO WRTN17 045424,000932: 21,3201 00006 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND 045425,000933: 21,3202 31157 DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE 045426,000934: 21,3203 53514 DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE 045427,000935: 21,3204 31155 CA CPHI # COMPONENTS OF N22 045428,000936: 045429,000937: 21,3205 00006 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR 045430,000938: 21,3206 20032 MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES 045431,000939: 21,3207 55476 TS AK 045432,000940: 21,3210 31513 CA WTEMP 045433,000941: 21,3211 00006 EXTEND 045434,000942: 21,3212 20033 MSU CDUY 045435,000943: 21,3213 55502 TS T5TEMP 045436,000944: 21,3214 00006 EXTEND 045437,000945: 21,3215 71640 MP AMGB1 045438,000946: 21,3216 27476 ADS AK 045439,000947: 21,3217 31502 CA T5TEMP 045440,000948: 21,3220 00006 EXTEND 045441,000949: 21,3221 71641 MP AMGB4 045442,000950: # Page 1023 045443,000951: 21,3222 55477 TS AK1 045444,000952: 21,3223 31502 CA T5TEMP 045445,000953: 21,3224 00006 EXTEND 045446,000954: 21,3225 71643 MP AMGB7 045447,000955: 21,3226 55500 TS AK2 045448,000956: 21,3227 31514 CA WTEMP +1 045449,000957: 21,3230 00006 EXTEND 045450,000958: 21,3231 20034 MSU CDUZ 045451,000959: 21,3232 55502 TS T5TEMP 045452,000960: 21,3233 00006 EXTEND 045453,000961: 21,3234 71642 MP AMGB5 045454,000962: 21,3235 27477 ADS AK1 045455,000963: 21,3236 31502 CA T5TEMP 045456,000964: 21,3237 00006 EXTEND 045457,000965: 21,3240 71644 MP AMGB8 045458,000966: 21,3241 27500 ADS AK2 045459,000967: 21,3242 15333 TCF RESUME # END PHASE1 OF RCS DAP 045460,000968: 045461,000969: 21,3243 00006 WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT 045462,000970: 21,3244 31335 DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP 045463,000971: 21,3245 53514 DXCH WTEMP # THE THREE COMPONENTS OF N17 045464,000972: 21,3246 31333 CA CPHIX 045465,000973: 21,3247 13205 TCF GETAKS 045466,000974: 045467,000975: # Page 1024 (empty page) 045468,000976: End of include-file RCS-CSM_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc