Source Code
|
These source-code files were obtained by digitally photographing
an Artemis 72 program listing from a private collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971 THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS COLOSSUS 3 THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER OSR PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, CAMBRIDGE, MASS. |
017815,000002: # Copyright: Public domain.
017816,000003: # Filename: ANGLFIND.agc
017817,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
017818,000005: # build 072. This is for the Command Module's (CM)
017819,000006: # Apollo Guidance Computer (AGC), we believe for
017820,000007: # Apollo 15-17.
017821,000008: # Assembler: yaYUL
017822,000009: # Contact: Sergio Navarro <sergionavarrog@gmail.com>
017823,000010: # Website: www.ibiblio.org/apollo/index.html
017824,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
017825,000012: # Mod history: 2009-08-19 SN Adapted from corresponding Comanche 055 file.
017826,000013: # 2009-09-04 JL Fixed page number comment. Fixed bad octal number in NOGO.
017827,000014: # Fixed typos. Added missing code at end.
017828,000015: # 2010-02-20 RSB Un-##'d this header.
017829,000016:
|
|
Page 403 |
017831,000018: 22,2000 SETLOC KALCMON1
017832,000019: 22,2000 BANK
017833,000020:
017834,000021: 22,2000 E6,1661 EBANK= BCDU
017835,000022:
017836,000023: 22,2000 COUNT* $$/KALC
017837,000024: 22,2000 06006 KALCMAN3 TC INTPRET
017838,000025: 22,2001 77634 +1 RTB
017839,000026: 22,2002 44370 READCDUK # PICK UP CURRENT CDU ANGLES
017840,000027: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017841,000028: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017842,000029: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017843,000030: 22,2006 03262 BCDU # (MIS)
017844,000031: 22,2007 77624 CALL
017845,000032: 22,2010 44377 CDUTODCM
017846,000033: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017847,000034: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017848,000035: 22,2013 01310 CPHI # (MFS)
017849,000036: 22,2014 77624 CALL
017850,000037: 22,2015 44377 CDUTODCM
017851,000038: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017852,000039: 22,2017 03320 MIS
017853,000040: 22,2020 44334 TRANSPOS
017854,000041: 22,2021 77775 VLOAD
017855,000042: 22,2022 77626 STADR
017856,000043: 22,2023 50474 STOVL TMIS +12D
017857,000044: 22,2024 77626 STADR
017858,000045: 22,2025 50502 STOVL TMIS +6
017859,000046: 22,2026 77626 STADR
017860,000047: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017861,000048: 22,2030 75160 AXC,1 AXC,2
017862,000049: 22,2031 03266 TMIS
017863,000050: 22,2032 03425 MFS
017864,000051: 22,2033 77624 CALL
017865,000052: 22,2034 44304 MXM3
017866,000053: 22,2035 45575 VLOAD STADR
017867,000054: 22,2036 50335 STOVL MFI +12D
017868,000055: 22,2037 77626 STADR
017869,000056: 22,2040 50343 STOVL MFI +6
017870,000057: 22,2041 77626 STADR
017871,000058: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017872,000059: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017873,000060: 22,2044 00023 18D
017874,000061: 22,2045 44343 TRNSPSPD
017875,000062: 22,2046 45575 VLOAD STADR
017876,000063: 22,2047 50474 STOVL TMFI +12D
017877,000064: 22,2050 77626 STADR
017878,000065: 22,2051 50502 STOVL TMFI +6
017879,000066: 22,2052 77626 STADR
017880,000067: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
|
|
Page 404 |
017882,000069:
017883,000070: # CALCULATE COFSKEW AND MFISYM
017884,000071:
017885,000072: 22,2054 45345 DLOAD DSU
017886,000073: 22,2055 03271 TMFI +2
017887,000074: 22,2056 03430 MFI +2
017888,000075: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017889,000076: 22,2060 03432 MFI +4
017890,000077: 22,2061 03273 TMFI +4
017891,000078: 22,2062 45325 PDDL DSU
017892,000079: 22,2063 03301 TMFI +10D
017893,000080: 22,2064 03440 MFI +10D
017894,000081: 22,2065 77666 VDEF
017895,000082: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017896,000083:
017897,000084: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017898,000085:
017899,000086: 22,2067 43345 DLOAD DAD
017900,000087: 22,2070 03426 MFI
017901,000088: 22,2071 03446 MFI +16D
017902,000089: 22,2072 43225 DSU DAD
017903,000090: 22,2073 15326 DP1/4TH
017904,000091: 22,2074 03436 MFI +8D
017905,000092: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017906,000093: 22,2076 77726 ARCCOS
017907,000094: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017908,000095: 22,2100 51025 DSU BPL
017909,000096: 22,2101 04367 MINANG
017910,000097: 22,2102 44111 CHECKMAX
017911,000098: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017912,000099: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017913,000100: 22,2105 44770 CS ONE # ABOUT COMMANDED ANGLES
017914,000101: 22,2106 55340 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017915,000102: 22,2107 03163 TC LOADCDUD # GOOD RETURN
017916,000103: 22,2110 12723 TCF NOGO
017917,000104:
017918,000105: 22,2111 45345 CHECKMAX DLOAD DSU
017919,000106: 22,2112 03365 AM
017920,000107: 22,2113 04370 MAXANG
017921,000108: 22,2114 77244 BPL VLOAD
017922,000109: 22,2115 44123 ALTCALC # UNIT
017923,000110: 22,2116 03311 COFSKEW # COFSKEW
017924,000111: 22,2117 77656 UNIT
017925,000112: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017926,000113: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017927,000114: 22,2122 44745 LOCSKIRT
017928,000115: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017929,000116: 22,2124 03426 MFI
017930,000117: 22,2125 03267 TMFI
017931,000118: 22,2126 77762 VSR1
|
|
Page 405 |
017933,000120: 22,2127 27267 STOVL MFISYM
017934,000121: 22,2130 03434 MFI +6
017935,000122: 22,2131 74455 VAD VSR1
017936,000123: 22,2132 03275 TMFI +6
017937,000124: 22,2133 27275 STOVL MFISYM +6
017938,000125: 22,2134 03442 MFI +12D
017939,000126: 22,2135 74455 VAD VSR1
017940,000127: 22,2136 03303 TMFI +12D
017941,000128: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017942,000129:
017943,000130:
017944,000131: # CALCULATE COF
017945,000132:
017946,000133: 22,2140 70545 DLOAD SR1
017947,000134: 22,2141 03317 CAM
017948,000135: 22,2142 45325 PDDL DSU # PD0 CAM $4
017949,000136: 22,2143 15334 DPHALF
017950,000137: 22,2144 03317 CAM
017951,000138: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017952,000139: 22,2146 45761 SIGNMPAC
017953,000140: 22,2147 03307 MFISYM +16D
017954,000141: 22,2150 56225 DSU DDV
017955,000142: 22,2151 00001 0
017956,000143: 22,2152 00003 2
017957,000144: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
017958,000145: 22,2154 03277 MFISYM +8D # $ ROOT 2
017959,000146: 22,2155 56225 DSU DDV
017960,000147: 22,2156 00001 0
017961,000148: 22,2157 00003 2
017962,000149: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017963,000150: 22,2161 03267 MFISYM
017964,000151: 22,2162 56225 DSU DDV
017965,000152: 22,2163 00001 0
017966,000153: 22,2164 00003 2
017967,000154: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017968,000155: 22,2166 77656 UNIT
017969,000156: 22,2167 03343 STORE COF
017970,000157:
017971,000158: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017972,000159:
017973,000160: 22,2170 45345 COFMAXGO DLOAD DSU
017974,000161: 22,2171 03343 COF
017975,000162: 22,2172 03345 COF +2
017976,000163: 22,2173 71240 BMN DLOAD # COFY G COFX
017977,000164: 22,2174 44203 COMP12
017978,000165: 22,2175 03343 COF
017979,000166: 22,2176 50025 DSU BMN
017980,000167: 22,2177 03347 COF +4
017981,000168: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017982,000169: 22,2201 77650 GOTO
|
|
Page 406 |
017984,000171: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017985,000172: 22,2203 45345 COMP12 DLOAD DSU
017986,000173: 22,2204 03345 COF +2
017987,000174: 22,2205 03347 COF +4
017988,000175: 22,2206 77640 BMN
017989,000176: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017990,000177:
017991,000178: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017992,000179: 22,2211 03313 COFSKEW +2 # UY
017993,000180: 22,2212 44216 U2POS
017994,000181: 22,2213 57575 VLOAD VCOMP
017995,000182: 22,2214 03343 COF
017996,000183: 22,2215 03343 STORE COF
017997,000184: 22,2216 51145 U2POS DLOAD BPL
017998,000185: 22,2217 03271 MFISYM +2 # UX UY
017999,000186: 22,2220 44224 OKU21
018000,000187: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
018001,000188: 22,2222 03343 COF
018002,000189: 22,2223 03343 STORE COF
018003,000190: 22,2224 51145 OKU21 DLOAD BPL
018004,000191: 22,2225 03301 MFISYM +10D # UY UZ
018005,000192: 22,2226 44745 LOCSKIRT
018006,000193: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
018007,000194: 22,2230 03347 COF +4
018008,000195: 22,2231 03347 STORE COF +4
018009,000196: 22,2232 77650 GOTO
018010,000197: 22,2233 44745 LOCSKIRT
018011,000198: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
018012,000199: 22,2235 03311 COFSKEW # UX
018013,000200: 22,2236 44242 U1POS
018014,000201: 22,2237 57575 VLOAD VCOMP
018015,000202: 22,2240 03343 COF
018016,000203: 22,2241 03343 STORE COF
018017,000204: 22,2242 51145 U1POS DLOAD BPL
018018,000205: 22,2243 03271 MFISYM +2 # UX UY
018019,000206: 22,2244 44250 OKU12
018020,000207: 22,2245 57545 DLOAD DCOMP
018021,000208: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
018022,000209: 22,2247 03345 STORE COF +2
018023,000210: 22,2250 51145 OKU12 DLOAD BPL
018024,000211: 22,2251 03273 MFISYM +4 # UX UZ
018025,000212: 22,2252 44745 LOCSKIRT
018026,000213: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
018027,000214: 22,2254 03347 COF +4
018028,000215: 22,2255 03347 STORE COF +4
018029,000216: 22,2256 77650 GOTO
018030,000217: 22,2257 44745 LOCSKIRT
018031,000218: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
018032,000219: 22,2261 03315 COFSKEW +4 # UZ
018033,000220: 22,2262 44266 U3POS
|
|
Page 407 |
018035,000222: 22,2263 57575 VLOAD VCOMP
018036,000223: 22,2264 03343 COF
018037,000224: 22,2265 03343 STORE COF
018038,000225: 22,2266 51145 U3POS DLOAD BPL
018039,000226: 22,2267 03273 MFISYM +4 # UX UZ
018040,000227: 22,2270 44274 OKU31
018041,000228: 22,2271 57545 DLOAD DCOMP
018042,000229: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
018043,000230: 22,2273 03343 STORE COF
018044,000231: 22,2274 51145 OKU31 DLOAD BPL
018045,000232: 22,2275 03301 MFISYM +10D # UY UZ
018046,000233: 22,2276 44745 LOCSKIRT
018047,000234: 22,2277 57545 DLOAD DCOMP
018048,000235: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
018049,000236: 22,2301 03345 STORE COF +2
018050,000237: 22,2302 77650 GOTO
018051,000238: 22,2303 44745 LOCSKIRT
018052,000239:
|
|
Page 408 |
018054,000241: # MATRIX OPERATIONS
018055,000242:
018056,000243: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
018057,000244: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
018058,000245: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
018059,000246: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
018060,000247: 22,2310 77770 6,2
018061,000248: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
018062,000249: 22,2312 77776 0,2
018063,000250: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
018064,000251: 22,2314 00001 0,1
018065,000252: 22,2315 77760 14D,2
018066,000253: 22,2316 64723 PDDL* PDDL*
018067,000254: 22,2317 77766 8D,2
018068,000255: 22,2320 77774 2,2
018069,000256: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
018070,000257: 22,2322 00001 0,1
018071,000258: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
018072,000259: 22,2324 77756 16D,2
018073,000260: 22,2325 77764 10D,2
018074,000261: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
018075,000262: 22,2327 77772 4,2
018076,000263: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
018077,000264: 22,2331 00001 0,1
018078,000265: 22,2332 77650 GOTO
018079,000266: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
018080,000267: # # RETURN WITH M1XM2 IN PD LIST
018081,000268:
018082,000269: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
018083,000270: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
018084,000271: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
018085,000272: 22,2337 62713 PDVL* PDVL*
018086,000273: 22,2340 00007 6,1
018087,000274: 22,2341 00015 12D,1
018088,000275: 22,2342 77606 PUSH # MATRIX IN PD
018089,000276: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
018090,000277: 22,2344 00003 2
018091,000278: 22,2345 00007 6
018092,000279: 22,2346 14003 STODL 2
018093,000280: 22,2347 77626 STADR
018094,000281: 22,2350 63770 STODL 6
018095,000282: 22,2351 00005 4
018096,000283: 22,2352 77725 PDDL
018097,000284: 22,2353 00015 12D
018098,000285: 22,2354 14005 STODL 4
018099,000286: 22,2355 77626 STADR
018100,000287: 22,2356 63762 STODL 12D
018101,000288: 22,2357 00013 10D
018102,000289: 22,2360 77725 PDDL
|
|
Page 409 |
018104,000291: 22,2361 00017 14D
018105,000292: 22,2362 14013 STODL 10D
018106,000293: 22,2363 77626 STADR
018107,000294: 22,2364 77760 STORE 14D
018108,000295: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
018109,000296: 22,2366 00013 MINANG DEC .00069375
018110,000297: 22,2367 17071 MAXANG DEC .472222
018111,000298: 22,2370 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
018112,000299: 22,2371 30034 CA CDUZ
018113,000300: 22,2372 54156 TS MPAC +2
018114,000301: 22,2373 00006 EXTEND
018115,000302: 22,2374 30033 DCA CDUX
018116,000303: 22,2375 00003 RELINT
018117,000304: 22,2376 16445 TCF TLOAD +6
018118,000305: 22,2000 SETLOC KALCMON2
018119,000306: 22,2000 BANK
018120,000307:
018121,000308: 22,2377 COUNT* $$/KALC
018122,000309:
018123,000310: 22,2377 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
018124,000311: 22,2400 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
018125,000312: 22,2401 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
018126,000313: 22,2402 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP
018127,000314: 22,2403 00010 STORE 7
018128,000315: 22,2404 77601 SETPD
018129,000316: 22,2405 00001 0
018130,000317: 22,2406 47133 LOOPSIN SLOAD* RTB
018131,000318: 22,2407 00013 10D,1
018132,000319: 22,2410 51754 CDULOGIC
Hello!
018133,000320: 22,2411 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
018134,000321: 22,2412 65356 SIN PDDL # 2 COS(PHI)
018135,000322: 22,2413 00013 10D # 4 SIN(THETA)
018136,000323: 22,2414 41546 COS PUSH # 6 COS(THETA)
018137,000324: 22,2415 71300 TIX,1 DLOAD # 8 SIN(PSI)
018138,000325: 22,2416 44406 LOOPSIN # 10 COS(PSI)
018139,000326: 22,2417 00007 6
018140,000327: 22,2420 72405 DMP SL1
018141,000328: 22,2421 00013 10D
018142,000329: 22,2422 10001 STORE 0,2
018143,000330: 22,2423 77745 DLOAD
018144,000331: 22,2424 00005 4
018145,000332: 22,2425 65205 DMP PDDL
018146,000333: 22,2426 00001 0 # (PD6 SIN(THETA)SIN(PHI))
018147,000334: 22,2427 00007 6
018148,000335: 22,2430 41205 DMP DMP
018149,000336: 22,2431 00011 8D
018150,000337: 22,2432 00003 2
018151,000338: 22,2433 44352 SL1 BDSU
018152,000339: 22,2434 00015 12D
018153,000340: 22,2435 77752 SL1
|
|
Page 410 |
018155,000342: 22,2436 10003 STORE 2,2
018156,000343: 22,2437 77745 DLOAD
018157,000344: 22,2440 00003 2
018158,000345: 22,2441 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
018159,000346: 22,2442 00005 4
018160,000347: 22,2443 00007 6
018161,000348: 22,2444 41205 DMP DMP
018162,000349: 22,2445 00011 8D
018163,000350: 22,2446 00001 0
018164,000351: 22,2447 77752 SL1
018165,000352: 22,2450 72415 DAD SL1
018166,000353: 22,2451 00017 14D
018167,000354: 22,2452 10005 STORE 4,2
018168,000355: 22,2453 77745 DLOAD
018169,000356: 22,2454 00011 8D
018170,000357: 22,2455 10007 STORE 6,2
018171,000358: 22,2456 77745 DLOAD
018172,000359: 22,2457 00013 10D
018173,000360: 22,2460 72405 DMP SL1
018174,000361: 22,2461 00003 2
018175,000362: 22,2462 10011 STORE 8D,2
018176,000363: 22,2463 77745 DLOAD
018177,000364: 22,2464 00013 10D
018178,000365: 22,2465 57405 DMP DCOMP
018179,000366: 22,2466 00001 0
018180,000367: 22,2467 77752 SL1
018181,000368: 22,2470 10013 STORE 10D,2
018182,000369: 22,2471 77745 DLOAD
018183,000370: 22,2472 00005 4
018184,000371: 22,2473 57405 DMP DCOMP
018185,000372: 22,2474 00013 10D
018186,000373: 22,2475 77752 SL1
018187,000374: 22,2476 10015 STORE 12D,2
018188,000375: 22,2477 77745 DLOAD
018189,000376: 22,2500 72405 DMP SL1 # (PUSH UP 7)
018190,000377: 22,2501 00011 8D
018191,000378: 22,2502 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
018192,000379: 22,2503 00007 6
018193,000380: 22,2504 00001 0
018194,000381: 22,2505 72415 DAD SL1 # (PUSH UP 7)
018195,000382: 22,2506 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
018196,000383: 22,2507 67760 STORE 14D,2
018197,000384: 22,2510 77745 DLOAD
018198,000385: 22,2511 72405 DMP SL1 # (PUSH UP 6)
018199,000386: 22,2512 00011 8D
018200,000387: 22,2513 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
018201,000388: 22,2514 00007 6
018202,000389: 22,2515 00003 2
018203,000390: 22,2516 72425 DSU SL1 # (PUSH UP 6)
018204,000391: 22,2517 77626 STADR
|
|
Page 411 |
018206,000393: 22,2520 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
018207,000394: 22,2521 77616 RVQ # +COS(THETA)COS(PHI)
018208,000395: 22,2522 ENDOCM EQUALS
018209,000396:
018210,000397: 22,2000 SETLOC KALCMON1
018211,000398: 22,2000 BANK
018212,000399:
018213,000400: # CALCULATION OF THE MATRIX DEL......
018214,000401:
018215,000402: # * * __T *
018216,000403: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
018217,000404:
018218,000405: # _
018219,000406: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
018220,000407: # A IS THE ANGLE OF ROTATION (DP SCALED 2).
018221,000408: # _
018222,000409: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC.
018223,000410:
018224,000411: 22,2522 COUNT* $$/KALC
018225,000412: 22,2522 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
018226,000413: 22,2523 00001 0
018227,000414: 22,2524 65356 SIN PDDL # PD0 = SIN(A)
018228,000415: 22,2525 41546 COS PUSH # PD2 = COS(A)
018229,000416: 22,2526 65302 SR2 PDDL # PD2 = COS(A) $8
018230,000417: 22,2527 41021 BDSU BOVB # PD4 = 1-COS(A) $2
018231,000418: 22,2530 15334 DPHALF
018232,000419: 22,2531 45761 SIGNMPAC
018233,000420:
018234,000421: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
018235,000422:
018236,000423: 22,2532 77725 PDDL
018237,000424: 22,2533 03343 COF
018238,000425: 22,2534 41316 DSQ DMP
018239,000426: 22,2535 00005 4
018240,000427: 22,2536 52415 DAD SL3
018241,000428: 22,2537 00003 2
018242,000429: 22,2540 77604 BOVB
018243,000430: 22,2541 45761 SIGNMPAC
018244,000431: 22,2542 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
018245,000432: 22,2543 03345 COF +2
018246,000433: 22,2544 41316 DSQ DMP
018247,000434: 22,2545 00005 4
018248,000435: 22,2546 52415 DAD SL3
018249,000436: 22,2547 00003 2
018250,000437: 22,2550 77604 BOVB
018251,000438: 22,2551 45761 SIGNMPAC
018252,000439: 22,2552 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
018253,000440: 22,2553 03347 COF +4
018254,000441: 22,2554 41316 DSQ DMP
|
|
Page 412 |
018256,000443: 22,2555 00005 4
018257,000444: 22,2556 52415 DAD SL3
018258,000445: 22,2557 00003 2
018259,000446: 22,2560 77604 BOVB
018260,000447: 22,2561 45761 SIGNMPAC
018261,000448: 22,2562 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
018262,000449:
018263,000450: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
018264,000451:
018265,000452: 22,2563 41345 DLOAD DMP
018266,000453: 22,2564 03343 COF
018267,000454: 22,2565 03345 COF +2
018268,000455: 22,2566 72405 DMP SL1
018269,000456: 22,2567 00005 4
018270,000457: 22,2570 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
018271,000458: 22,2571 03347 COF +4
018272,000459: 22,2572 00001 0
018273,000460: 22,2573 43206 PUSH DAD # D8 UZ SIN A $ 4
018274,000461: 22,2574 00007 6
018275,000462: 22,2575 41112 SL2 BOVB
018276,000463: 22,2576 45761 SIGNMPAC
018277,000464: 22,2577 17434 STODL DEL +6
018278,000465: 22,2600 62421 BDSU SL2
018279,000466: 22,2601 77604 BOVB
018280,000467: 22,2602 45761 SIGNMPAC
018281,000468: 22,2603 17430 STODL DEL +2
018282,000469: 22,2604 03343 COF
018283,000470: 22,2605 41205 DMP DMP
018284,000471: 22,2606 03347 COF +4
018285,000472: 22,2607 00005 4
018286,000473: 22,2610 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
018287,000474: 22,2611 03345 COF +2
018288,000475: 22,2612 41405 DMP PUSH # D8 UY SIN(A)
018289,000476: 22,2613 00001 0
018290,000477: 22,2614 62415 DAD SL2
018291,000478: 22,2615 00007 6
018292,000479: 22,2616 77604 BOVB
018293,000480: 22,2617 45761 SIGNMPAC
018294,000481: 22,2620 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
018295,000482: 22,2621 62421 BDSU SL2
018296,000483: 22,2622 77604 BOVB
018297,000484: 22,2623 45761 SIGNMPAC
018298,000485: 22,2624 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
018299,000486: 22,2625 03345 COF +2
018300,000487: 22,2626 41205 DMP DMP
018301,000488: 22,2627 03347 COF +4
018302,000489: 22,2630 00005 4
018303,000490: 22,2631 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
018304,000491: 22,2632 03343 COF
018305,000492: 22,2633 41405 DMP PUSH # D6 UX SIN(A)
|
|
Page 413 |
018307,000494: 22,2634 00001 0
018308,000495: 22,2635 62415 DAD SL2
018309,000496: 22,2636 00007 6
018310,000497: 22,2637 77604 BOVB
018311,000498: 22,2640 45761 SIGNMPAC
018312,000499: 22,2641 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
018313,000500: 22,2642 62421 BDSU SL2
018314,000501: 22,2643 77604 BOVB
018315,000502: 22,2644 45761 SIGNMPAC
018316,000503: 22,2645 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
018317,000504: 22,2646 77616 RVQ
018318,000505:
018319,000506: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
018320,000507: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
018321,000508: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
018322,000509: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
018323,000510:
018324,000511: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
018325,000512:
018326,000513: # C =COS(THETA)COS(PSI)
018327,000514: # 0
018328,000515: # C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI)
018329,000516: # 1
018330,000517: # C =COS(THETA)SIN(PSI)SIN(PHI) + SIN(THETA)COS(PHI)
018331,000518: # 2
018332,000519: # C =SIN(PSI)
018333,000520: # 3
018334,000521: # C =COS(PSI)COS(PHI)
018335,000522: # 4
018336,000523: # C =-COS(PSI)SIN(PHI)
018337,000524: # 5
018338,000525: # C =-SIN(THETA)COS(PSI)
018339,000526: # 6
018340,000527: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI)
018341,000528: # 7
018342,000529: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI)
018343,000530: # 8
018344,000531:
018345,000532: # WHERE PHI = OGA
018346,000533: # THETA = IGA
018347,000534: # PSI = MGA
018348,000535:
018349,000536: 22,2647 67543 DCMTOCDU DLOAD* ARCSIN
018350,000537: 22,2650 00007 6,1
018351,000538: 22,2651 71406 PUSH COS # PD +0 PSI
018352,000539: 22,2652 41152 SL1 BOVB
018353,000540: 22,2653 45761 SIGNMPAC
018354,000541: 22,2654 00051 STORE S1
018355,000542: 22,2655 57543 DLOAD* DCOMP
|
|
Page 414 |
018357,000544: 22,2656 00015 12D,1
018358,000545: 22,2657 67471 DDV ARCSIN
018359,000546: 22,2660 00051 S1
018360,000547: 22,2661 51123 PDDL* BPL # PD +2 THETA
018361,000548: 22,2662 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
018362,000549: 22,2663 44675 OKTHETA # TO DETERMINE THE PROPER QUADRANT
018363,000550: 22,2664 57545 DLOAD DCOMP
018364,000551: 22,2665 43244 BPL DAD
018365,000552: 22,2666 44672 SUHALFA
018366,000553: 22,2667 15334 DPHALF
018367,000554: 22,2670 77650 GOTO
018368,000555: 22,2671 44674 CALCPHI
018369,000556: 22,2672 77625 SUHALFA DSU
018370,000557: 22,2673 15334 DPHALF
018371,000558: 22,2674 77606 CALCPHI PUSH
018372,000559: 22,2675 57543 OKTHETA DLOAD* DCOMP
018373,000560: 22,2676 00013 10D,1
018374,000561: 22,2677 67471 DDV ARCSIN
018375,000562: 22,2700 00051 S1
018376,000563: 22,2701 51123 PDDL* BPL # PUSH DOWN PHI
018377,000564: 22,2702 00011 8D,1
018378,000565: 22,2703 44715 OKPHI
018379,000566: 22,2704 57545 DLOAD DCOMP # PUSH UP PHI
018380,000567: 22,2705 43244 BPL DAD
018381,000568: 22,2706 44712 SUHALFAP
018382,000569: 22,2707 15334 DPHALF
018383,000570: 22,2710 77650 GOTO
018384,000571: 22,2711 44716 VECOFANG
018385,000572: 22,2712 52025 SUHALFAP DSU GOTO
018386,000573: 22,2713 15334 DPHALF
018387,000574: 22,2714 44716 VECOFANG
018388,000575: 22,2715 77745 OKPHI DLOAD # PUSH UP PHI
018389,000576: 22,2716 43466 VECOFANG VDEF RVQ
018390,000577:
|
|
Page 415 |
018392,000579: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018393,000580:
018394,000581: 22,2717 77776 NOGOM3 EXIT
018395,000582: 22,2720 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
018396,000583: 22,2721 04636 TC BANKCALL
018397,000584: 22,2722 40203 CADR ZEROEROR
018398,000585:
018399,000586: 22,2723 00004 NOGO INHINT
018400,000587: 22,2724 04463 TC STOPRATE
018401,000588:
018402,000589: 22,2725 34767 CAF R67BIT
018403,000590: 22,2726 70104 MASK FLAGWRD8
018404,000591: 22,2727 00006 EXTEND
018405,000592: 22,2730 12740 BZF NOTR67ND
018406,000593:
018407,000594: 22,2731 35016 CAF 1SEC # WAITLIST TASK IN 1 SECON:
018408,000595: 22,2732 05233 TC WAITLIST # RETURN TO UPDTCALL
018409,000596: 22,2733 E6,1661 EBANK= BCDU
018410,000597: 22,2733 02320 74066 2CADR R67
018411,000598:
018412,000599: 22,2735 05402 TC PHASCHNG
018413,000600: 22,2736 00111 OCT 00111
018414,000601:
018415,000602: 22,2737 01,2025 1P11SPT2 = 1.11SPOT
018416,000603: 22,2737 05205 TC ENDOFJOB
018417,000604:
018418,000605: 22,2740 34767 NOTR67ND CAF TWO # RETURN VIA
018419,000606: 22,2741 05233 TC WAITLIST # GOODEND
018420,000607: 22,2742 E6,1661 EBANK= BCDU
018421,000608: 22,2742 02311 20066 2CADR ENDMANU
018422,000609:
018423,000610: 22,2744 15205 TCF ENDOFJOB
End of include-file ANGLFIND.agc. Parent file is MAIN.agc