Source Code
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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. |
042426,000002: # Copyright: Public domain.
042427,000003: # Filename: TVCDAPS.agc
042428,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
042429,000005: # build 072. This is for the Command Module's (CM)
042430,000006: # Apollo Guidance Computer (AGC), we believe for
042431,000007: # Apollo 15-17.
042432,000008: # Assembler: yaYUL
042433,000009: # Contact: Steve Case <case1780@adelphia.net>
042434,000010: # Website: www.ibiblio.org/apollo/index.html
042435,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
042436,000012: # Mod history: 2009-09-13 SMC Adapted from Comanche055 files.
042437,000013: # 2009-09-14 JL Fix typos. Fix page numbers. Remove change comments. Restore hard tabs.
042438,000014: # 2010-02-20 RSB Un-##'d this header.
042439,000015:
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Page 964 |
042441,000017: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
042442,000018: # LOG SECTION...TVCDAPS SUBROUTINE...DAPCSM
042443,000019: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
042444,000020: # FUNCTIONAL DESCRIPTION....
042445,000021:
042446,000022: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
042447,000023: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
042448,000024: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
042449,000025: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
042450,000026: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
042451,000027:
042452,000028: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
042453,000029: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
042454,000030: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
042455,000031: # INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
042456,000032: # FOR CSM OR CSM/LM OPERATION, A FILTER OUTPUT LIMITER,
042457,000033: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
042458,000034:
042459,000035: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
042460,000036: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
042461,000037: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
042462,000038: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
042463,000039: # MODING.
042464,000040:
042465,000041: # CALLING SEQUENCE.... (TYPICALLY)
042466,000042:
042467,000043: # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
042468,000044: # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
042469,000045: # T5 CALL OF PITCHDAP BY DAPINIT
042470,000046: # T5 CALL OF YAWDAP BY PITCHDAP
042471,000047: # T5 CALL OF PITCHDAP BY YAWDAP
042472,000048: # ETC.
042473,000049: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
042474,000050:
042475,000051: # NORMAL EXIT MODE....RESUME
042476,000052:
042477,000053: # ALARM OR ABORT EXIT MODES....NONE
042478,000054:
042479,000055: # SUBROUTINES CALLED....
042480,000056:
042481,000057: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
042482,000058: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
042483,000059: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
042484,000060: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
042485,000061: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
042486,000062: # YAW DAPS
042487,000063: # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
042488,000064: # OUTPUTS AND STORAGE VALUES
042489,000065: # RESUME
042490,000066:
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Page 965 |
042492,000068: # OTHER INTERFACES....
042493,000069:
042494,000070: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
042495,000071: # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
042496,000072: # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
042497,000073: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
042498,000074:
042499,000075: # ERASABLE INITIALIZATION REQUIRED....
042500,000076:
042501,000077: # PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS )
042502,000078: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
042503,000079: # ENGINE-ON BIT (11.13) FOR RESTARTS
042504,000080: # TVCPHASE FOR RESTARTS ( SEE DOTVCON, AND TVCINIT4 )
042505,000081: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
042506,000082: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
042507,000083: # INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
042508,000084: # CDUX,Y,Z AND SINCDUX....COSCDUX AS PREPARED BY QUICTRIG1 (WITH
042509,000085: # UPDATES EVERY 1/2 SECOND)
042510,000086: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
042511,000087: # UNLESS BENCH-TESTING.
042512,000088:
042513,000089: # OUTPUT....
042514,000090:
042515,000091: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
042516,000092: # TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
042517,000093: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
042518,000094: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
042519,000095: # DEBRIS....
042520,000096:
042521,000097: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042522,000098:
042523,000099: 20,2000 SETLOC DAPS2
042524,000100: 20,2000 BANK
042525,000101:
042526,000102: 20,2644 E6,1446 EBANK= CNTR
042527,000103:
042528,000104:
042529,000105: 20,2644 COUNT* $$/DAPS
042530,000106:
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Page 966 |
042532,000108:
042533,000109: # PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
042534,000110:
042535,000111:
042536,000112: 20,2644 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
042537,000113: 20,2645 00006 EXTEND
042538,000114: 20,2646 22012 QXCH QRUPT
042539,000115:
042540,000116: 20,2647 33620 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
042541,000117: 20,2650 54112 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
042542,000118: 20,2651 31625 CAE T5TVCDT
042543,000119: 20,2652 54030 TS TIME5
042544,000120:
042545,000121: 20,2653 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT
042546,000122: 20,2654 57636 XCH PCDUYPST
042547,000123: 20,2655 00006 EXTEND
042548,000124: 20,2656 21636 MSU PCDUYPST
042549,000125: 20,2657 02670 TCR RLIMTEST # RATE TEST
042550,000126: 20,2660 55642 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042551,000127:
042552,000128: 20,2661 30034 CAE CDUZ # COMPUTE CDUZDOT
042553,000129: 20,2662 57637 XCH PCDUZPST
042554,000130: 20,2663 00006 EXTEND
042555,000131: 20,2664 21637 MSU PCDUZPST
042556,000132: 20,2665 02670 TCR RLIMTEST # RATE TEST
042557,000133: 20,2666 55643 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042558,000134: 20,2667 12701 TCF PINTEGRL
042559,000135:
042560,000136: 20,2670 55611 RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
042561,000137: 20,2671 00006 EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD)
042562,000138: 20,2672 73621 MP 1/RTLIM # (USED BY PITCH AND YAW PASSES)
042563,000139: 20,2673 00006 EXTEND
042564,000140: 20,2674 12677 BZF +3
042565,000141: 20,2675 34772 CAF ZERO
042566,000142: 20,2676 55611 TS TTMP1
042567,000143: 20,2677 31611 CAE TTMP1
042568,000144: 20,2700 00002 TC Q
042569,000145:
042570,000146: 20,2701 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
042571,000147: 20,2702 31576 DCA PERRB # ERROR, SC.AT B-1 REVS
042572,000148: 20,2703 53665 DXCH ERRBTMP
042573,000149:
042574,000150: 20,2704 00006 EXTEND
042575,000151: 20,2705 31530 DCA OMEGAYC
042576,000152: 20,2706 21665 DAS ERRBTMP
042577,000153:
042578,000154: 20,2707 41151 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
042579,000155: 20,2710 00006 EXTEND
042580,000156: 20,2711 71153 MP COSCDUX
042581,000157: 20,2712 20001 DDOUBL
042582,000158: 20,2713 00006 EXTEND
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Page 967 |
042584,000160: 20,2714 71642 MP MCDUYDOT
042585,000161: 20,2715 20001 DDOUBL
042586,000162: 20,2716 53536 DXCH OMEGAYB
042587,000163:
042588,000164: 20,2717 41643 CS MCDUZDOT
042589,000165: 20,2720 00006 EXTEND
042590,000166: 20,2721 71145 MP SINCDUX
042591,000167: 20,2722 20001 DDOUBL
042592,000168: 20,2723 21536 DAS OMEGAYB # OMEGAYB, SCALED (B-1)/TVCDT REVS/SEC
042593,000169:
042594,000170: 20,2724 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
042595,000171: 20,2725 41536 DCS OMEGAYB
042596,000172: 20,2726 21665 DAS ERRBTMP
042597,000173:
042598,000174: 20,2727 03246 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
042599,000175:
042600,000176: 20,2730 00006 PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
042601,000177: 20,2731 31542 DCA PTMP1 # FOR THE PITCH CHANNEL
042602,000178: 20,2732 53671 DXCH TMP1
042603,000179: 20,2733 00006 EXTEND
042604,000180: 20,2734 31546 DCA PTMP3
042605,000181: 20,2735 53675 DXCH TMP3
042606,000182: 20,2736 00006 EXTEND
042607,000183: 20,2737 31552 DCA PTMP5
042608,000184: 20,2740 53701 DXCH TMP5
042609,000185:
042610,000186: 20,2741 03300 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
042611,000187: # (INCLUDES VARIABLE GAIN PACKAGE)
042612,000188:
042613,000189: 20,2742 00006 POFFSET EXTEND
042614,000190: 20,2743 31606 DCA PDELOFF
042615,000191: 20,2744 21667 DAS CMDTMP # NOW SCALED AT B+0 ASCREV
042616,000192:
042617,000193: 20,2745 03261 PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
042618,000194:
042619,000195: 20,2746 41623 POUT CS PCMD # INCREMENTAL PITCH COMMAND
042620,000196: 20,2747 61666 AD CMDTMP
042621,000197: 20,2750 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
042622,000198: # PROTECT, SINCE ERROR CNTR ZEROED)
042623,000199:
042624,000200: 20,2751 34756 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
042625,000201: 20,2752 00006 EXTEND
042626,000202: 20,2753 05014 WOR CHAN14
042627,000203:
042628,000204: 20,2754 00006 PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
042629,000205: 20,2755 31544 DCA PTMP2
042630,000206: 20,2756 53673 DXCH TMP2
042631,000207: 20,2757 00006 EXTEND
042632,000208: 20,2760 31550 DCA PTMP4
042633,000209: 20,2761 53677 DXCH TMP4
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042635,000211: 20,2762 00006 EXTEND
042636,000212: 20,2763 31554 DCA PTMP6
042637,000213: 20,2764 53703 DXCH TMP6
042638,000214:
042639,000215: 20,2765 03372 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
042640,000216:
042641,000217: 20,2766 31602 DELBARP CAE DELPBAR +1 # UPDATE PITCH OFFSET-TRACKER-FILTER
042642,000218: 20,2767 00006 EXTEND
042643,000219: 20,2770 73623 MP E(-AT)
042644,000220: 20,2771 55663 TS DELBRTMP +1
042645,000221: 20,2772 31601 CAE DELPBAR
042646,000222: 20,2773 00006 EXTEND
042647,000223: 20,2774 73623 MP E(-AT)
042648,000224: 20,2775 21663 DAS DELBRTMP
042649,000225: 20,2776 31666 CAE CMDTMP
042650,000226: 20,2777 00006 EXTEND
042651,000227: 20,3000 73622 MP 1-E(-AT)
042652,000228: 20,3001 21663 DAS DELBRTMP
042653,000229:
042654,000230: 20,3002 03004 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
042655,000231:
042656,000232: 20,3003 15323 PDAPEND TCF RESUME # PITCH DAP COMPLETED
042657,000233:
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Page 969 |
042659,000235:
042660,000236: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
042661,000237:
042662,000238: 20,3004 25635 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
042663,000239: # NOTE POSSIBLE RE-ENTRY FROM RESTART
042664,000240: # PACKAGE, SHOULD A RESTART OCCUR
042665,000241: # DURING PITCH COPYCYCLE.
042666,000242:
042667,000243: 20,3005 00006 EXTEND
042668,000244: 20,3006 31671 DCA TMP1
042669,000245: 20,3007 53542 DXCH PTMP1
042670,000246: 20,3010 00006 EXTEND
042671,000247: 20,3011 31673 DCA TMP2
042672,000248: 20,3012 53544 DXCH PTMP2
042673,000249: 20,3013 00006 EXTEND
042674,000250: 20,3014 31675 DCA TMP3
042675,000251: 20,3015 53546 DXCH PTMP3
042676,000252: 20,3016 00006 EXTEND
042677,000253: 20,3017 31677 DCA TMP4
042678,000254: 20,3020 53550 DXCH PTMP4
042679,000255: 20,3021 00006 EXTEND
042680,000256: 20,3022 31701 DCA TMP5
042681,000257: 20,3023 53552 DXCH PTMP5
042682,000258: 20,3024 00006 EXTEND
042683,000259: 20,3025 31703 DCA TMP6
042684,000260: 20,3026 53554 DXCH PTMP6
042685,000261:
042686,000262: 20,3027 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
042687,000263: 20,3030 31665 DCA ERRBTMP
042688,000264: 20,3031 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
042689,000265: 20,3032 53576 DXCH PERRB
042690,000266:
042691,000267: 20,3033 31666 CAE CMDTMP # PITCH ACTUATOR COMMAND
042692,000268: 20,3034 55623 TS PCMD
042693,000269:
042694,000270: 20,3035 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
042695,000271: 20,3036 31663 DCA DELBRTMP
042696,000272: 20,3037 53602 DXCH DELPBAR
042697,000273:
042698,000274: 20,3040 25635 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2)
042699,000275:
042700,000276: 20,3041 00002 TC Q
042701,000277:
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Page 970 |
042703,000279:
042704,000280: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
042705,000281:
042706,000282:
042707,000283: 20,3042 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
042708,000284: 20,3043 00006 EXTEND
042709,000285: 20,3044 22012 QXCH QRUPT
042710,000286:
042711,000287: 20,3045 33616 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
042712,000288: 20,3046 54112 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
042713,000289: 20,3047 31625 CAE T5TVCDT
042714,000290: 20,3050 54030 TS TIME5
042715,000291:
042716,000292: 20,3051 30033 YCDUDOTS CAE CDUY # COMPUTE CDUYDOT
042717,000293: 20,3052 57640 XCH YCDUYPST
042718,000294: 20,3053 00006 EXTEND
042719,000295: 20,3054 21640 MSU YCDUYPST
042720,000296: 20,3055 02670 TCR RLIMTEST # RATE TEST
042721,000297: 20,3056 55642 TS MCDUYDOT # (MINUS, SCALED 1/2TVCDT REV/SEC)
042722,000298:
042723,000299: 20,3057 30034 CAE CDUZ # COMPUTE CDUZDOT
042724,000300: 20,3060 57641 XCH YCDUZPST
042725,000301: 20,3061 00006 EXTEND
042726,000302: 20,3062 21641 MSU YCDUZPST
042727,000303: 20,3063 02670 TCR RLIMTEST # RATE TEST
042728,000304: 20,3064 55643 TS MCDUZDOT # (MINUS, SCALED 1/2TVCDT REV/SEC)
042729,000305:
042730,000306: 20,3065 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
042731,000307: 20,3066 31600 DCA YERRB # ERROR, SC.AT B-1 REVS
042732,000308: 20,3067 53665 DXCH ERRBTMP
042733,000309:
042734,000310: 20,3070 00006 EXTEND
042735,000311: 20,3071 31532 DCA OMEGAZC
042736,000312: 20,3072 21665 DAS ERRBTMP
042737,000313:
042738,000314: 20,3073 31151 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
042739,000315: 20,3074 00006 EXTEND
042740,000316: 20,3075 71145 MP SINCDUX
042741,000317: 20,3076 20001 DDOUBL
042742,000318: 20,3077 00006 EXTEND
042743,000319: 20,3100 71642 MP MCDUYDOT
042744,000320: 20,3101 20001 DDOUBL
042745,000321: 20,3102 53540 DXCH OMEGAZB
042746,000322:
042747,000323: 20,3103 41643 CS MCDUZDOT
042748,000324: 20,3104 00006 EXTEND
042749,000325: 20,3105 71153 MP COSCDUX
042750,000326: 20,3106 20001 DDOUBL
042751,000327: 20,3107 21540 DAS OMEGAZB # OMEGAZB, SCALED (B-1)/TVCDT REVS/SEC
042752,000328:
042753,000329: 20,3110 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
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Page 971 |
042755,000331: 20,3111 41540 DCS OMEGAZB
042756,000332: 20,3112 21665 DAS ERRBTMP
042757,000333:
042758,000334: 20,3113 03246 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
042759,000335:
042760,000336: 20,3114 00006 YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
042761,000337: 20,3115 31556 DCA YTMP1 # FOR THE YAW CHANNEL
042762,000338: 20,3116 53671 DXCH TMP1
042763,000339: 20,3117 00006 EXTEND
042764,000340: 20,3120 31562 DCA YTMP3
042765,000341: 20,3121 53675 DXCH TMP3
042766,000342: 20,3122 00006 EXTEND
042767,000343: 20,3123 31566 DCA YTMP5
042768,000344: 20,3124 53701 DXCH TMP5
042769,000345:
042770,000346: 20,3125 03300 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
042771,000347: # (INCLUDES VARIABLE GAIN PACKAGE)
042772,000348:
042773,000349: 20,3126 00006 YOFFSET EXTEND
042774,000350: 20,3127 31610 DCA YDELOFF
042775,000351: 20,3130 21667 DAS CMDTMP # NOW SCALED AT B+0 ASCREV
042776,000352:
042777,000353: 20,3131 03261 YACLIM TCR ACTLIM # ROUND OFF & LIMIT YAW ACTUATOR COMMAND
042778,000354:
042779,000355: 20,3132 41624 YOUT CS YCMD # INCRMENTAL YAW COMMAND
042780,000356: 20,3133 61666 AD CMDTMP
042781,000357: 20,3134 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
042782,000358: # PROTECT, SINCE ERROR CNTR ZEROED)
042783,000359:
042784,000360: 20,3135 34755 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
042785,000361: 20,3136 00006 EXTEND
042786,000362: 20,3137 05014 WOR CHAN14
042787,000363:
042788,000364: 20,3140 00006 YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW
042789,000365: 20,3141 31560 DCA YTMP2
042790,000366: 20,3142 53673 DXCH TMP2
042791,000367: 20,3143 00006 EXTEND
042792,000368: 20,3144 31564 DCA YTMP4
042793,000369: 20,3145 53677 DXCH TMP4
042794,000370: 20,3146 00006 EXTEND
042795,000371: 20,3147 31570 DCA YTMP6
042796,000372: 20,3150 53703 DXCH TMP6
042797,000373:
042798,000374: 20,3151 03372 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
042799,000375:
042800,000376: 20,3152 31604 DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER
042801,000377: 20,3153 00006 EXTEND
042802,000378: 20,3154 73623 MP E(-AT)
042803,000379: 20,3155 55663 TS DELBRTMP +1
042804,000380: 20,3156 31603 CAE DELYBAR
|
|
Page 972 |
042806,000382: 20,3157 00006 EXTEND
042807,000383: 20,3160 73623 MP E(-AT)
042808,000384: 20,3161 21663 DAS DELBRTMP
042809,000385: 20,3162 31666 CAE CMDTMP
042810,000386: 20,3163 00006 EXTEND
042811,000387: 20,3164 73622 MP 1-E(-AT)
042812,000388: 20,3165 21663 DAS DELBRTMP
042813,000389:
042814,000390: 20,3166 03170 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
042815,000391:
042816,000392: 20,3167 15323 YDAPEND TCF RESUME # YAW DAP COMPLETED
042817,000393:
|
|
Page 973 |
042819,000395:
042820,000396: # TAW TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
042821,000397:
042822,000398: 20,3170 25635 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3)
042823,000399: # NOTE POSSIBLE RE-ENTRY FROM RESTART
042824,000400: # PACKAGE, SHOULD A RESTART OCCUR
042825,000401: # DURING YAW COPYCYCLE.
042826,000402:
042827,000403: 20,3171 00006 EXTEND
042828,000404: 20,3172 31671 DCA TMP1
042829,000405: 20,3173 53556 DXCH YTMP1
042830,000406: 20,3174 00006 EXTEND
042831,000407: 20,3175 31673 DCA TMP2
042832,000408: 20,3176 53560 DXCH YTMP2
042833,000409: 20,3177 00006 EXTEND
042834,000410: 20,3200 31675 DCA TMP3
042835,000411: 20,3201 53562 DXCH YTMP3
042836,000412: 20,3202 00006 EXTEND
042837,000413: 20,3203 31677 DCA TMP4
042838,000414: 20,3204 53564 DXCH YTMP4
042839,000415: 20,3205 00006 EXTEND
042840,000416: 20,3206 31701 DCA TMP5
042841,000417: 20,3207 53566 DXCH YTMP5
042842,000418: 20,3210 00006 EXTEND
042843,000419: 20,3211 31703 DCA TMP6
042844,000420: 20,3212 53570 DXCH YTMP6
042845,000421:
042846,000422: 20,3213 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
042847,000423: 20,3214 31665 DCA ERRBTMP
042848,000424: 20,3215 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
042849,000425: 20,3216 53600 DXCH YERRB
042850,000426:
042851,000427: 20,3217 31666 CAE CMDTMP
042852,000428: 20,3220 55624 TS YCMD
042853,000429:
042854,000430: 20,3221 00006 EXTEND
042855,000431: 20,3222 31663 DCA DELBRTMP
042856,000432: 20,3223 53604 DXCH DELYBAR
042857,000433:
042858,000434: 20,3224 34772 CAF ZERO # YAW COPYCYCLE COMPLETED
042859,000435: 20,3225 55635 TS TVCPHASE # RESET TVCPHASE
042860,000436:
042861,000437: 20,3226 00002 TC Q
042862,000438:
|
|
Page 974 |
042864,000440:
042865,000441: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
042866,000442:
042867,000443:
042868,000444: # INITIALIZATION PACKAGE FOR CDURATES....
042869,000445:
042870,000446: 20,3227 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
042871,000447:
042872,000448: 20,3230 37702 CAF NEGONE # SET UP
042873,000449: 20,3231 61625 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
042874,000450: 20,3232 64752 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
042875,000451: 20,3233 61625 AD T5TVCDT
042876,000452: 20,3234 54030 TS TIME5
042877,000453: 20,3235 33616 CAF PITCHT5 # (BBCON ALREADY THERE)
042878,000454: 20,3236 54112 TS T5LOC
042879,000455:
042880,000456: 20,3237 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
042881,000457: 20,3240 55636 TS PCDUYPST # PAST-VALUES
042882,000458: 20,3241 55640 TS YCDUYPST
042883,000459: 20,3242 30034 CAE CDUZ
042884,000460: 20,3243 55637 TS PCDUZPST
042885,000461: 20,3244 55641 TS YCDUZPST
042886,000462:
042887,000463: 20,3245 15325 TCF NOQRSM
042888,000464:
042889,000465:
042890,000466: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
042891,000467:
042892,000468: 20,3246 31664 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
042893,000469: 20,3247 00006 EXTEND # CHECKS UPPER WORD ONLY
042894,000470: 20,3250 74766 MP 1/ERRLIM
042895,000471: 20,3251 00006 EXTEND
042896,000472: 20,3252 13260 BZF +6
042897,000473: 20,3253 11664 CCS ERRBTMP
042898,000474: 20,3254 34754 CAF ERRLIM
042899,000475: 20,3255 13257 TCF +2
042900,000476: 20,3256 44754 CS ERRLIM
042901,000477: 20,3257 55664 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
042902,000478:
042903,000479: 20,3260 00002 TC Q
042904,000480:
042905,000481:
042906,000482: # ACTUATOR-COMMAND LIMITER PACKAGE....
042907,000483:
042908,000484: 20,3261 31667 ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
042909,000485: 20,3262 60000 DOUBLE
042910,000486: 20,3263 54001 TS L
042911,000487: 20,3264 34772 CAF ZERO
042912,000488: 20,3265 61666 AD CMDTMP
042913,000489:
042914,000490: 20,3266 00006 EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
|
|
Page 975 |
042916,000492: 20,3267 73615 MP 1/ACTSAT
042917,000493: 20,3270 00006 EXTEND
042918,000494: 20,3271 13277 BZF +6
042919,000495: 20,3272 11666 CCS CMDTMP # APPLY LIMITS
042920,000496: 20,3273 33614 CAF ACTSAT
042921,000497: 20,3274 13276 TCF +2
042922,000498: 20,3275 43614 CS ACTSAT
042923,000499: 20,3276 55666 TS CMDTMP # LIMITS WRITE OVER CMDTMP
042924,000500:
042925,000501: 20,3277 00002 TC Q
042926,000502:
042927,000503: # FILTER COMPUTATIONS FOR PRESENT OUTPUT................
042928,000504:
042929,000505: 20,3300 34772 FWDFLTR CAF ZERO
042930,000506: 20,3301 55615 TS DAP1
042931,000507: 20,3302 55617 TS DAP2
042932,000508: 20,3303 55621 TS DAP3
042933,000509: 20,3304 55666 TS CMDTMP
042934,000510:
042935,000511: 20,3305 55662 TS DELBRTMP
042936,000512:
042937,000513: 20,3306 31665 1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE
042938,000514: 20,3307 00006 EXTEND
042939,000515: 20,3310 71705 MP N10 # N10
042940,000516: 20,3311 55616 TS DAP1 +1
042941,000517: 20,3312 31664 CA ERRBTMP
042942,000518: 20,3313 00006 EXTEND
042943,000519: 20,3314 71705 MP N10 # N10
042944,000520: 20,3315 21616 DAS DAP1
042945,000521: 20,3316 53671 DXCH TMP1
042946,000522: 20,3317 21616 DAS DAP1
042947,000523:
042948,000524: 20,3320 31616 2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE
042949,000525: 20,3321 00006 EXTEND
042950,000526: 20,3322 71712 MP N10 +5 # N20
042951,000527: 20,3323 55620 TS DAP2 +1
042952,000528: 20,3324 31615 CA DAP1
042953,000529: 20,3325 00006 EXTEND
042954,000530: 20,3326 71712 MP N10 +5 # N20
042955,000531: 20,3327 21620 DAS DAP2
042956,000532: 20,3330 53675 DXCH TMP3
042957,000533: 20,3331 21620 DAS DAP2
042958,000534:
042959,000535: 20,3332 31465 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
042960,000536: 20,3333 74753 MASK BIT14
042961,000537: 20,3334 10000 CCS A
042962,000538: 20,3335 13344 TCF 3DAPCAS # LEM ON
042963,000539: 20,3336 00006 EXTEND # LEM OFF
042964,000540: 20,3337 31620 DCA DAP2
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|
Page 976 |
042966,000542: 20,3340 20001 DDOUBL
042967,000543: 20,3341 20001 DDOUBL
042968,000544: 20,3342 53622 DXCH DAP3
042969,000545: 20,3343 13356 TCF OPTVARK
042970,000546:
042971,000547: 20,3344 31620 3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE
042972,000548: 20,3345 00006 EXTEND
042973,000549: 20,3346 71717 MP N10 +10D # N30
042974,000550: 20,3347 55622 TS DAP3 +1
042975,000551: 20,3350 31617 CA DAP2
042976,000552: 20,3351 00006 EXTEND
042977,000553: 20,3352 71717 MP N10 +10D # N30
042978,000554: 20,3353 21622 DAS DAP3
042979,000555: 20,3354 53701 DXCH TMP5
042980,000556: 20,3355 21622 DAS DAP3
042981,000557:
042982,000558: 20,3356 41622 OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
042983,000559: 20,3357 00006 EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP)
042984,000560: 20,3360 71632 MP VARK # SCALED (1.08 B+2) CSM/LM
042985,000561: 20,3361 55667 TS CMDTMP +1 # ( " B+4) CSM
042986,000562: 20,3362 41621 CS DAP3
042987,000563: 20,3363 00006 EXTEND
042988,000564: 20,3364 71632 MP VARK
042989,000565: 20,3365 21667 DAS CMDTMP
042990,000566:
042991,000567: 20,3366 53667 DXCH CMDTMP # FIX UP SCALING - SCALED B+1 ASCREV
042992,000568: 20,3367 20001 DDOUBL
042993,000569: 20,3370 53667 DXCH CMDTMP # - SCALED B+0 ASCREV
042994,000570: # NOTE - THERE IS AN INHERENT GAIN OF
042995,000571: # (B+1 ASCREV/REV) ON THE OUTPUT DACS.
042996,000572:
042997,000573: 20,3371 00002 TC Q
042998,000574:
042999,000575:
043000,000576: # FILTER PRECOMPUTATIONS FOR NEXT PASS...................
043001,000577:
043002,000578: 20,3372 34772 PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
043003,000579: 20,3373 55611 TS TTMP1
043004,000580: 20,3374 55613 TS TTMP2
043005,000581:
043006,000582: 20,3375 31665 CA ERRBTMP +1 # MULTIPLY INPUT BY
043007,000583: 20,3376 00006 EXTEND
043008,000584: 20,3377 71706 MP N10 +1 # N11/2
043009,000585: 20,3400 55612 TS TTMP1 +1
043010,000586: 20,3401 31664 CA ERRBTMP
043011,000587: 20,3402 00006 EXTEND
043012,000588: 20,3403 71706 MP N10 +1 # N11/2
043013,000589: 20,3404 21612 DAS TTMP1
043014,000590:
043015,000591: 20,3405 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
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|
Page 977 |
043017,000593: 20,3406 00006 EXTEND
043018,000594: 20,3407 71710 MP N10 +3 # D11/2
043019,000595: 20,3410 55614 TS TTMP2 +1
043020,000596: 20,3411 41615 CS DAP1
043021,000597: 20,3412 00006 EXTEND
043022,000598: 20,3413 71710 MP N10 +3 # D11/2
043023,000599: 20,3414 21614 DAS TTMP2
043024,000600:
043025,000601: 20,3415 53614 DXCH TTMP2
043026,000602: 20,3416 21612 DAS TTMP1
043027,000603: 20,3417 53612 DXCH TTMP1
043028,000604: 20,3420 20001 DDOUBL
043029,000605: 20,3421 21673 DAS TMP2
043030,000606:
043031,000607: 20,3422 53673 DXCH TMP2
043032,000608: 20,3423 53671 DXCH TMP1
043033,000609:
043034,000610: 20,3424 34772 CAF ZERO
043035,000611: 20,3425 55611 TS TTMP1
043036,000612: 20,3426 55672 TS TMP2
043037,000613:
043038,000614: 20,3427 31665 CA ERRBTMP +1 # MULTIPLY INPUT BY
043039,000615: 20,3430 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF.
043040,000616: 20,3431 71707 MP N10 +2 # N12
043041,000617: 20,3432 55612 TS TTMP1 +1
043042,000618: 20,3433 31664 CA ERRBTMP
043043,000619: 20,3434 00006 EXTEND
043044,000620: 20,3435 71707 MP N10 +2 # N12
043045,000621: 20,3436 21612 DAS TTMP1
043046,000622:
043047,000623: 20,3437 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
043048,000624: 20,3440 00006 EXTEND
043049,000625: 20,3441 71711 MP N10 +4 # D12
043050,000626: 20,3442 55673 TS TMP2 +1
043051,000627: 20,3443 41615 CS DAP1
043052,000628: 20,3444 00006 EXTEND
043053,000629: 20,3445 71711 MP N10 +4 # D12
043054,000630: 20,3446 21673 DAS TMP2
043055,000631:
043056,000632: 20,3447 53612 DXCH TTMP1
043057,000633: 20,3450 21673 DAS TMP2
043058,000634:
043059,000635: 20,3451 34772 2CASFLTR CAF ZERO # *****SECOND CASCADE FILTER*****
043060,000636: 20,3452 55611 TS TTMP1
043061,000637: 20,3453 55613 TS TTMP2
043062,000638:
043063,000639: 20,3454 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043064,000640: 20,3455 00006 EXTEND
043065,000641: 20,3456 71713 MP N10 +6 # N21/2
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|
Page 978 |
043067,000643: 20,3457 55612 TS TTMP1 +1
043068,000644: 20,3460 31615 CA DAP1
043069,000645: 20,3461 00006 EXTEND
043070,000646: 20,3462 71713 MP N10 +6 # N21/2
043071,000647: 20,3463 21612 DAS TTMP1
043072,000648:
043073,000649: 20,3464 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043074,000650: 20,3465 00006 EXTEND
043075,000651: 20,3466 71715 MP N10 +8D # D21/2
043076,000652: 20,3467 55614 TS TTMP2 +1
043077,000653: 20,3470 41617 CS DAP2
043078,000654: 20,3471 00006 EXTEND
043079,000655: 20,3472 71715 MP N10 +8D # D21/2
043080,000656: 20,3473 21614 DAS TTMP2
043081,000657:
043082,000658: 20,3474 53614 DXCH TTMP2
043083,000659: 20,3475 21612 DAS TTMP1
043084,000660: 20,3476 53612 DXCH TTMP1
043085,000661: 20,3477 20001 DDOUBL
043086,000662: 20,3500 21677 DAS TMP4
043087,000663:
043088,000664: 20,3501 53677 DXCH TMP4
043089,000665: 20,3502 53675 DXCH TMP3
043090,000666:
043091,000667: 20,3503 34772 CAF ZERO
043092,000668: 20,3504 55611 TS TTMP1
043093,000669: 20,3505 55676 TS TMP4
043094,000670:
043095,000671: 20,3506 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043096,000672: 20,3507 00006 EXTEND
043097,000673: 20,3510 71714 MP N10 +7 # N22
043098,000674: 20,3511 55612 TS TTMP1 +1
043099,000675: 20,3512 31615 CA DAP1
043100,000676: 20,3513 00006 EXTEND
043101,000677: 20,3514 71714 MP N10 +7 # N22
043102,000678: 20,3515 21612 DAS TTMP1
043103,000679:
043104,000680: 20,3516 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043105,000681: 20,3517 00006 EXTEND
043106,000682: 20,3520 71716 MP N10 +9D # D22
043107,000683: 20,3521 55677 TS TMP4 +1
043108,000684: 20,3522 41617 CS DAP2
043109,000685: 20,3523 00006 EXTEND
043110,000686: 20,3524 71716 MP N10 +9D # D22
043111,000687: 20,3525 21677 DAS TMP4
043112,000688:
043113,000689: 20,3526 53612 DXCH TTMP1
043114,000690: 20,3527 21677 DAS TMP4
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|
Page 979 |
043116,000692: 20,3530 31465 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
043117,000693: 20,3531 74754 MASK BIT13
043118,000694: 20,3532 10000 CCS A
043119,000695: 20,3533 00002 TC Q # EXIT IF LEM OFF
043120,000696:
043121,000697: 20,3534 34772 3CASFLTR CAF ZERO # *****THIRD CASCADE FILTER*****
043122,000698: 20,3535 55611 TS TTMP1
043123,000699: 20,3536 55613 TS TTMP2
043124,000700:
043125,000701: 20,3537 31620 CA DAP2 +1 # MULTIPLY INPUT BY (1/2)
043126,000702: 20,3540 00006 EXTEND
043127,000703: 20,3541 71720 MP N10 +11D # N31/2
043128,000704: 20,3542 55612 TS TTMP1 +1
043129,000705: 20,3543 31617 CA DAP2
043130,000706: 20,3544 00006 EXTEND
043131,000707: 20,3545 71720 MP N10 +11D # N31/2
043132,000708: 20,3546 21612 DAS TTMP1
043133,000709:
043134,000710: 20,3547 41622 CS DAP3 +1
043135,000711: 20,3550 00006 EXTEND
043136,000712: 20,3551 71722 MP N10 +13D # D31/2
043137,000713: 20,3552 55614 TS TTMP2 +1
043138,000714: 20,3553 41621 CS DAP3
043139,000715: 20,3554 00006 EXTEND
043140,000716: 20,3555 71722 MP N10 +13D # D31/2
043141,000717: 20,3556 21614 DAS TTMP2
043142,000718:
043143,000719: 20,3557 53614 DXCH TTMP2
043144,000720: 20,3560 21612 DAS TTMP1
043145,000721: 20,3561 53612 DXCH TTMP1
043146,000722: 20,3562 20001 DDOUBL
043147,000723: 20,3563 21703 DAS TMP6
043148,000724:
043149,000725: 20,3564 53703 DXCH TMP6
043150,000726: 20,3565 53701 DXCH TMP5
043151,000727:
043152,000728: 20,3566 34772 CAF ZERO
043153,000729: 20,3567 55611 TS TTMP1
043154,000730: 20,3570 55702 TS TMP6
043155,000731:
043156,000732: 20,3571 31620 CA DAP2 +1 # MULTIPLY INPUT BY
043157,000733: 20,3572 00006 EXTEND
043158,000734: 20,3573 71721 MP N10 +12D # N32
043159,000735: 20,3574 55612 TS TTMP1 +1
043160,000736: 20,3575 31617 CA DAP2
043161,000737: 20,3576 00006 EXTEND
043162,000738: 20,3577 71721 MP N10 +12D # N32
043163,000739: 20,3600 21612 DAS TTMP1
043164,000740:
043165,000741: 20,3601 41622 CS DAP3 +1
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|
Page 980 |
043167,000743: 20,3602 00006 EXTEND
043168,000744: 20,3603 71723 MP N10 +14D # D32
043169,000745: 20,3604 55703 TS TMP6 +1
043170,000746: 20,3605 41621 CS DAP3
043171,000747: 20,3606 00006 EXTEND
043172,000748:
043173,000749: 20,3607 71723 MP N10 +14D # D32
043174,000750: 20,3610 21703 DAS TMP6
043175,000751:
043176,000752: 20,3611 53612 DXCH TTMP1
043177,000753: 20,3612 21703 DAS TMP6
043178,000754:
043179,000755: 20,3613 00002 TC Q
043180,000756:
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|
Page 981 |
043182,000758:
043183,000759: # CONSTANTS FOR AUTOPILOTS
043184,000760:
043185,000761: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)
043186,000762:
043187,000763: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043188,000764:
043189,000765: 20,3614 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
043190,000766: 20,3615 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
043191,000767:
043192,000768: 20,3616 4754 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
043193,000769: 20,3616 4766 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
043194,000770:
043195,000771: 20,3616 02644 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
043196,000772: 20,3617 03227 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
043197,000773: 20,3620 03042 YAWT5 GENADR YAWDAP # REQUIRED.
043198,000774:
043199,000775:
043200,000776: 20,3621 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG
043201,000777: 20,3622 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043202,000778: 20,3623 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
End of include-file TVCDAPS.agc. Parent file is MAIN.agc