Source Code

044004,000001: # Copyright: Public domain. 044005,000002: # Filename: AUTOMATIC_MANEUVERS.agc 044006,000003: # Purpose: Part of the source code for Colossus, build 249. 044007,000004: # It is part of the source code for the Command Module's (CM) 044008,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9. 044009,000006: # Assembler: yaYUL 044010,000007: # Reference: Starts on p. 1000 of 1701.pdf. 044011,000008: # Contact: Ron Burkey <info@sandroid.org>. 044012,000009: # Website: www.ibiblio.org/apollo. 044013,000010: # Mod history: 08/25/04 RSB. Began transcribing. 044014,000011: 044015,000012: # The contents of the "Colossus249" files, in general, are transcribed 044016,000013: # from a scanned document obtained from MIT's website, 044017,000014: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this 044018,000015: # document read, in part: 044019,000016: 044020,000017: # Assemble revision 249 of AGC program Colossus by NASA 044021,000018: # 2021111-041. October 28, 1968. 044022,000019: 044023,000020: # This AGC program shall also be referred to as 044024,000021: # Colossus 1A 044025,000022: 044026,000023: # Prepared by 044027,000024: # Massachussets Institute of Technology 044028,000025: # 75 Cambridge Parkway 044029,000026: # Cambridge, Massachusetts 044030,000027: # under NASA contract NAS 9-4065. 044031,000028: 044032,000029: # Refer directly to the online document mentioned above for further information. 044033,000030: # Please report any errors (relative to 1701.pdf) to info@sandroid.org. 044034,000031: 044035,000032: # In some cases, where the source code for Luminary 131 overlaps that of 044036,000033: # Colossus 249, this code is instead copied from the corresponding Luminary 131 044037,000034: # source file, and then is proofed to incorporate any changes. 044038,000035: 044039,000036: # Page 1000 044040,000037: 21,3234 BANK 21 044041,000038: 21,2000 SETLOC DAPS3 044042,000039: 21,2000 BANK 044043,000040: 044044,000041: 21,3234 COUNT 21/DAPAM 044045,000042: 044046,000043: 21,3234 E6,1510 EBANK= KMPAC 044047,000044: 21,3234 00006 AHFNOROT EXTEND 044048,000045: 21,3235 00031 READ CHAN31 044049,000046: 21,3236 74675 MASK BIT14 044050,000047: 21,3237 00006 EXTEND 044051,000048: 21,3240 63256 BZMF FREECONT 044052,000049: 21,3241 31501 CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED 044053,000050: 21,3242 74675 MASK BIT14 044054,000051: 21,3243 10000 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL 044055,000052: 21,3244 12520 TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER 044056,000053: # AUTOMATIC CONTROL YET 044057,000054: 21,3245 00006 EXTEND 044058,000055: 21,3246 00031 READ CHAN31 044059,000056: 21,3247 74676 MASK BIT13 044060,000057: 21,3250 00006 EXTEND 044061,000058: 21,3251 63356 BZMF HOLDFUNC 044062,000059: 21,3252 31332 AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG. 044063,000060: 21,3253 00006 EXTEND # OTHERWISE, GO TO ATTHOLD. 044064,000061: 21,3254 63306 BZMF ATTHOLD 044065,000062: 21,3255 13362 TCF GRABANG 044066,000063: 044067,000064: # MINIMUM IMPULSE CONTROL 044068,000065: 044069,000066: 21,3256 34712 FREECONT CAF ONE 044070,000067: 21,3257 55332 TS HOLDFLAG # RESET HOLDFLAG 044071,000068: # INHIBIT AUTOMATIC STEERING 044072,000069: 21,3260 00006 EXTEND 044073,000070: 21,3261 00032 READ CHAN32 044074,000071: 21,3262 54001 TS L 044075,000072: 21,3263 40000 COM 044076,000073: 21,3264 73022 MASK MANROT 044077,000074: 21,3265 71633 MASK CHANTEMP 044078,000075: 21,3266 23633 LXCH CHANTEMP 044079,000076: 21,3267 03114 TC STICKCHK 044080,000077: 21,3270 51656 INDEX RMANNDX 044081,000078: 21,3271 33302 CA MINTAU # MINTAU +0 044082,000079: 21,3272 55561 TS TAU # +1 +14MS MINIMUM IMPULSE 044083,000080: 21,3273 51657 INDEX PMANNDX # +2 -14MS TIME 044084,000081: 21,3274 33302 CA MINTAU # +3 +0 044085,000082: 21,3275 55562 TS TAU1 044086,000083: 21,3276 51660 INDEX YMANNDX 044087,000084: 21,3277 33302 CA MINTAU 044088,000085: # Page 1001 044089,000086: 21,3300 55563 TS TAU2 044090,000087: 21,3301 13053 TCF T6PROGM 044091,000088: 21,3302 00000 MINTAU DEC 0 B-14 044092,000089: 21,3303 00027 DEC 23 B-14 # = 14MS 044093,000090: 21,3304 77750 DEC -23 B-14 # = -14MS 044094,000091: 21,3305 00000 DEC 0 B-14 044095,000092: 044096,000093: # Page 1002 044097,000094: # CALCULATION OF ATTITUDE ERRORS: 044098,000095: # _ * _ _ _ 044099,000096: # AK = AMGB (CDUX - THETADX) + BIAS 044100,000097: 044101,000098: # *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS * 044102,000099: # * * * ** * * * 044103,000100: # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1* 044104,000101: # * * * ** * * * 044105,000102: # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2* 044106,000103: 044107,000104: # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD 044108,000105: # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES. 044109,000106: # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN 044110,000107: # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO. 044111,000108: 044112,000109: 21,3306 30032 ATTHOLD CA CDUX 044113,000110: 21,3307 00006 EXTEND 044114,000111: 21,3310 21572 MSU THETADX 044115,000112: 21,3311 55567 TS ERRORX 044116,000113: 21,3312 30033 CA CDUY 044117,000114: 21,3313 00006 EXTEND 044118,000115: 21,3314 21573 MSU THETADY 044119,000116: 21,3315 55502 TS T5TEMP 044120,000117: 21,3316 00006 EXTEND 044121,000118: 21,3317 71640 MP AMGB1 044122,000119: 21,3320 27567 ADS ERRORX 044123,000120: 21,3321 31502 CA T5TEMP 044124,000121: 21,3322 00006 EXTEND 044125,000122: 21,3323 71641 MP AMGB4 044126,000123: 21,3324 55570 TS ERRORY 044127,000124: 21,3325 31502 CA T5TEMP 044128,000125: 21,3326 00006 EXTEND 044129,000126: 21,3327 71643 MP AMGB7 044130,000127: 21,3330 55571 TS ERRORZ 044131,000128: 21,3331 30034 CA CDUZ 044132,000129: 21,3332 00006 EXTEND 044133,000130: 21,3333 21574 MSU THETADZ 044134,000131: 21,3334 55502 TS T5TEMP 044135,000132: 21,3335 00006 EXTEND 044136,000133: 21,3336 71642 MP AMGB5 044137,000134: 21,3337 27570 ADS ERRORY 044138,000135: 21,3340 31502 CA T5TEMP 044139,000136: 21,3341 00006 EXTEND 044140,000137: 21,3342 71644 MP AMGB8 044141,000138: 21,3343 27571 ADS ERRORZ 044142,000139: 21,3344 41332 CS HOLDFLAG 044143,000140: 21,3345 00006 EXTEND 044144,000141: # Page 1003 044145,000142: 21,3346 63425 BZMF JETS 044146,000143: 21,3347 31564 CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC 044147,000144: 21,3350 27567 ADS ERRORX 044148,000145: 21,3351 31565 CA BIAS1 044149,000146: 21,3352 27570 ADS ERRORY 044150,000147: 21,3353 31566 CA BIAS2 044151,000148: 21,3354 27571 ADS ERRORZ 044152,000149: 21,3355 13425 TCF JETS 044153,000150: 21,3356 11332 HOLDFUNC CCS HOLDFLAG 044154,000151: 21,3357 13362 TCF +3 044155,000152: 21,3360 13306 TCF ATTHOLD 044156,000153: 21,3361 13362 TCF +1 044157,000154: 21,3362 34714 GRABANG CAF ZERO # ZERO WBODYS AND BIASES 044158,000155: 21,3363 55525 TS WBODY 044159,000156: 21,3364 55526 TS WBODY +1 044160,000157: 21,3365 55527 TS WBODY1 044161,000158: 21,3366 55530 TS WBODY1 +1 044162,000159: 21,3367 55531 TS WBODY2 044163,000160: 21,3370 55532 TS WBODY2 +1 044164,000161: 21,3371 55564 TS BIAS 044165,000162: 21,3372 55565 TS BIAS1 044166,000163: 21,3373 55566 TS BIAS2 044167,000164: 044168,000165: 21,3374 31501 CA RCSFLAGS 044169,000166: 21,3375 73023 MASK OCT16000 044170,000167: 21,3376 00006 EXTEND # IS RATE DAMPING COMPLETED 044171,000168: 21,3377 13405 BZF ENDDAMP # IF SO, GO TO ENDDAMP 044172,000169: 21,3400 34714 CAF ZERO # OTHERWISE, ZERO ERRORS 044173,000170: 21,3401 55567 TS ERRORX 044174,000171: 21,3402 55570 TS ERRORY 044175,000172: 21,3403 55571 TS ERRORZ 044176,000173: 21,3404 13425 TCF JETS 044177,000174: 044178,000175: 21,3405 55332 ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0 044179,000176: 21,3406 00006 EXTEND 044180,000177: 21,3407 30033 DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD 044181,000178: 21,3410 53573 DXCH THETADX # REFERENCES 044182,000179: 21,3411 30034 CA CDUZ 044183,000180: 21,3412 55574 TS THETADZ 044184,000181: 21,3413 13306 TCF ATTHOLD 044185,000182: 044186,000183: # Page 1004 044187,000184: # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS 044188,000185: 044189,000186: # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE 044190,000187: # PLANE. 044191,000188: 044192,000189: # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE 044193,000190: # APPROPRIATE DEADZONE. 044194,000191: 044195,000192: # . 044196,000193: # R22 RATE . ERROR 044197,000194: # WL+H . 044198,000195: # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES 044199,000196: # R23 WL * . 044200,000197: # ----------------------------------* . ----- DESIRED RATE LINES 044201,000198: # R23 WL-H - *. 044202,000199: # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE 044203,000200: # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE 044204,000201: # * . * 044205,000202: # *- . * 044206,000203: # R22 R24*- . * 044207,000204: # * . * 044208,000205: # * . * 044209,000206: # + -ADB . * AF ATTITUDE 044210,000207: # ........................+--+---------------+--+........................ 044211,000208: # AF * . +ADB + ERROR 044212,000209: # * . * 044213,000210: # * . -* 044214,000211: # * . -* 044215,000212: # * . -* 044216,000213: # * . * 044217,000214: # *. - * 044218,000215: # . - ***************** 044219,000216: # .*- 044220,000217: # . * -------------------------------- 044221,000218: # . 044222,000219: # . 044223,000220: # FIG. 1 PHASE PLANE SWITCHING LOGIC 044224,000221: 044225,000222: # CONSTANTS FOR JET SWITCHING LOGIC 044226,000223: 044227,000224: 21,3414 00114 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG S180 044228,000225: 21,3415 00055 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG S180 044229,000226: 21,3416 00022 06426 WLH 2DEC .0011111111 # = WL+H = 0.5 DED/SEC S450 044230,000227: 21,3420 00012 35415 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC S450 044231,000228: 21,3422 00016 22021 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC S450 044232,000229: 044233,000230: # Page 1005 044234,000231: 21,3424 12173 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG S450/180 044235,000232: 21,3425 31655 JETS CA ADB 044236,000233: 21,3426 64710 AD FOUR # AF = FLAT REGION = .044 DEG 044237,000234: 21,3427 55502 TS T5TEMP # ADB+AF 044238,000235: 21,3430 34711 CAF TWO 044239,000236: 21,3431 55506 JLOOP TS SPNDX 044240,000237: 21,3432 60000 DOUBLE 044241,000238: 21,3433 55507 TS DPNDX 044242,000239: 21,3434 00006 EXTEND 044243,000240: 21,3435 50000 INDEX A 044244,000241: 21,3436 31534 DCA ADOT 044245,000242: 21,3437 53516 DXCH EDOT 044246,000243: 21,3440 31332 CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN 044247,000244: 21,3441 00006 EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER. 044248,000245: 21,3442 13447 BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION 044249,000246: # OF WBODY AND GO TO INHOLD 044250,000247: 21,3443 00006 EXTEND 044251,000248: 21,3444 51507 INDEX DPNDX 044252,000249: 21,3445 41526 DCS WBODY 044253,000250: 21,3446 21516 DAS EDOT # = ADOT-WBODY 044254,000251: 21,3447 51506 INHOLD INDEX SPNDX 044255,000252: 21,3450 31567 CA ERRORX 044256,000253: 21,3451 55517 TS AERR # AERR = BIAS + AK 044257,000254: 044258,000255: 21,3452 11515 CCS EDOT 044259,000256: 21,3453 13463 TCF POSVEL 044260,000257: 21,3454 13456 TCF SIGNCK1 044261,000258: 21,3455 13473 TCF NEGVEL 044262,000259: 21,3456 11516 SIGNCK1 CCS EDOT +1 044263,000260: 21,3457 13463 TCF POSVEL 044264,000261: 21,3460 13463 TCF POSVEL 044265,000262: 21,3461 13473 TCF NEGVEL 044266,000263: 21,3462 13473 TCF NEGVEL 044267,000264: 21,3463 00006 POSVEL EXTEND 044268,000265: 21,3464 31516 DCA EDOT 044269,000266: 21,3465 53521 DXCH EDOTVEL 044270,000267: 21,3466 31502 CA T5TEMP 044271,000268: 21,3467 55523 TS ADBVEL # +(ADB+AF) 044272,000269: 21,3470 31517 CA AERR 044273,000270: 21,3471 55522 TS AERRVEL 044274,000271: 21,3472 03502 TC J6. 044275,000272: 21,3473 00006 NEGVEL EXTEND 044276,000273: 21,3474 41516 DCS EDOT 044277,000274: 21,3475 53521 DXCH EDOTVEL 044278,000275: 21,3476 41502 CS T5TEMP 044279,000276: 21,3477 55523 TS ADBVEL # -(ADB+AF) 044280,000277: 21,3500 41517 CS AERR 044281,000278: 21,3501 55522 TS AERRVEL 044282,000279: 044283,000280: 21,3502 00006 J6. EXTEND 044284,000281: # Page 1006 044285,000282: 21,3503 61655 SU ADB 044286,000283: 21,3504 63414 AD WLH/SLOP 044287,000284: 21,3505 00006 EXTEND 044288,000285: 21,3506 63535 BZMF J8 044289,000286: 044290,000287: 21,3507 41502 CS T5TEMP # (ADB+AF) 044291,000288: 21,3510 61522 AD AERRVEL 044292,000289: 21,3511 00006 EXTEND 044293,000290: 21,3512 63514 BZMF +2 044294,000291: 21,3513 13526 TCF J7 044295,000292: 21,3514 00006 EXTEND 044296,000293: 21,3515 41521 DCS EDOTVEL 044297,000294: 21,3516 00006 EXTEND 044298,000295: 21,3517 11654 DV SLOPE 044299,000296: 21,3520 00006 EXTEND 044300,000297: 21,3521 61522 SU AERRVEL 044301,000298: 21,3522 61655 AD ADB 044302,000299: 21,3523 00006 EXTEND 044303,000300: 21,3524 63614 BZMF J18 044304,000301: 21,3525 13670 TCF J23 044305,000302: 044306,000303: 21,3526 43415 J7 CS WL-H/SLP 044307,000304: 21,3527 00006 EXTEND 044308,000305: 21,3530 61502 SU T5TEMP # (ADB+AF) 044309,000306: 21,3531 61522 AD AERRVEL 044310,000307: 21,3532 00006 EXTEND 044311,000308: 21,3533 63620 BZMF J20 044312,000309: 21,3534 13631 TCF J21 044313,000310: 044314,000311: 21,3535 00006 J8 EXTEND 044315,000312: 21,3536 43417 DCS WLH 044316,000313: 21,3537 53514 DXCH WTEMP 044317,000314: 21,3540 00006 EXTEND 044318,000315: 21,3541 31521 DCA EDOTVEL 044319,000316: 21,3542 21514 DAS WTEMP 044320,000317: 21,3543 11513 CCS WTEMP 044321,000318: 21,3544 13657 TCF J22 044322,000319: 21,3545 13547 TCF SIGNCK2 044323,000320: 21,3546 13553 TCF NJ22 044324,000321: 21,3547 11514 SIGNCK2 CCS WTEMP +1 044325,000322: 21,3550 13657 TCF J22 044326,000323: 21,3551 13657 TCF J22 044327,000324: 21,3552 13553 TCF NJ22 044328,000325: 044329,000326: 21,3553 00006 NJ22 EXTEND 044330,000327: 21,3554 31521 DCA EDOTVEL 044331,000328: 21,3555 00006 EXTEND 044332,000329: 21,3556 11654 DV SLOPE 044333,000330: 21,3557 61502 AD T5TEMP # (ADB+AF) 044334,000331: 21,3560 61522 AD AERRVEL 044335,000332: # Page 1007 044336,000333: 21,3561 10000 CCS A 044337,000334: 21,3562 13670 TCF J23 044338,000335: 21,3563 13670 TCF J23 044339,000336: 21,3564 13566 TCF +2 044340,000337: 21,3565 13670 TCF J23 044341,000338: 044342,000339: 21,3566 00006 EXTEND 044343,000340: 21,3567 43421 DCS WLMH # WL - H 044344,000341: 21,3570 53514 DXCH WTEMP 044345,000342: 21,3571 00006 EXTEND 044346,000343: 21,3572 31521 DCA EDOTVEL 044347,000344: 21,3573 21514 DAS WTEMP 044348,000345: 21,3574 11513 CCS WTEMP 044349,000346: 21,3575 13670 TCF J23 044350,000347: 21,3576 13600 TCF SIGNCK3 044351,000348: 21,3577 13604 TCF NJ23 044352,000349: 21,3600 11514 SIGNCK3 CCS WTEMP +1 044353,000350: 21,3601 13670 TCF J23 044354,000351: 21,3602 13670 TCF J23 044355,000352: 21,3603 13604 TCF NJ23 044356,000353: 044357,000354: 21,3604 31522 NJ23 CA AERRVEL 044358,000355: 21,3605 61502 AD T5TEMP # (ADB+AF) 044359,000356: 21,3606 63415 AD WL-H/SLP 044360,000357: 21,3607 10000 CCS A 044361,000358: 21,3610 13702 TCF J24 044362,000359: 21,3611 13702 TCF J24 044363,000360: 21,3612 13657 TCF J22 044364,000361: 21,3613 13657 TCF J22 044365,000362: 044366,000363: 21,3614 00006 J18 EXTEND 044367,000364: 21,3615 41516 DCS EDOT 044368,000365: 21,3616 53511 DXCH KMPAC 044369,000366: 21,3617 13713 TCF JTIME 044370,000367: 044371,000368: 21,3620 41517 J20 CS AERR 044372,000369: 21,3621 61523 AD ADBVEL 044373,000370: 21,3622 00006 EXTEND 044374,000371: 21,3623 73424 MP SLOPE2 # (HYSTERESIS SLOPE) 044375,000372: 21,3624 53511 DXCH KMPAC 044376,000373: 21,3625 00006 EXTEND 044377,000374: 21,3626 41516 DCS EDOT 044378,000375: 21,3627 21511 DAS KMPAC 044379,000376: 21,3630 13713 TCF JTIME 044380,000377: 044381,000378: 21,3631 11515 J21 CCS EDOT 044382,000379: 21,3632 13650 TCF JP 044383,000380: 21,3633 13635 TCF SIGNCK4 044384,000381: 21,3634 13641 TCF JN 044385,000382: 21,3635 11516 SIGNCK4 CCS EDOT +1 044386,000383: # Page 1008 044387,000384: 21,3636 13650 TCF JP 044388,000385: 21,3637 13650 TCF JP 044389,000386: 21,3640 13641 TCF JN 044390,000387: 21,3641 00006 JN EXTEND 044391,000388: 21,3642 41516 DCS EDOT 044392,000389: 21,3643 53511 DXCH KMPAC 044393,000390: 21,3644 00006 EXTEND 044394,000391: 21,3645 33423 DCA WL 044395,000392: 21,3646 21511 DAS KMPAC 044396,000393: 21,3647 13713 TCF JTIME 044397,000394: 044398,000395: 21,3650 00006 JP EXTEND 044399,000396: 21,3651 41516 DCS EDOT 044400,000397: 21,3652 53511 DXCH KMPAC 044401,000398: 21,3653 00006 EXTEND 044402,000399: 21,3654 43423 DCS WL 044403,000400: 21,3655 21511 DAS KMPAC 044404,000401: 21,3656 13713 TCF JTIME 044405,000402: 044406,000403: 21,3657 11515 J22 CCS EDOT 044407,000404: 21,3660 13641 TCF JN 044408,000405: 21,3661 13663 TCF SIGNCK5 044409,000406: 21,3662 13650 TCF JP 044410,000407: 21,3663 11516 SIGNCK5 CCS EDOT +1 044411,000408: 21,3664 13641 TCF JN 044412,000409: 21,3665 13641 TCF JN 044413,000410: 21,3666 13650 TCF JP 044414,000411: 21,3667 13650 TCF JP 044415,000412: 044416,000413: 21,3670 51506 J23 INDEX SPNDX 044417,000414: 21,3671 44676 CS BIT13 # RESET RATE DAMPING FLAG 044418,000415: 21,3672 71501 MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0) 044419,000416: 21,3673 55501 TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1) 044420,000417: # BIT11 FOR YAW (SPNDX = 2) 044421,000418: 044422,000419: 21,3674 51506 INDEX SPNDX 044423,000420: 21,3675 33017 CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS 044424,000421: 21,3676 71501 MASK RCSFLAGS # AXIS 044425,000422: 21,3677 00006 EXTEND 044426,000423: 21,3700 13734 BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING 044427,000424: 044428,000425: 21,3701 13614 TCF J18 # YES, GO TO J18 AND FORCE A FIRING 044429,000426: 044430,000427: 21,3702 41517 J24 CS AERR 044431,000428: 21,3703 00006 EXTEND 044432,000429: 21,3704 61523 SU ADBVEL 044433,000430: 21,3705 00006 EXTEND 044434,000431: 21,3706 73424 MP SLOPE2 # (HYSTERESIS SLOPE) 044435,000432: 21,3707 53511 DXCH KMPAC 044436,000433: 21,3710 00006 EXTEND 044437,000434: # Page 1009 044438,000435: 21,3711 41516 DCS EDOT 044439,000436: 21,3712 21511 DAS KMPAC 044440,000437: 044441,000438: # Page 1010 044442,000439: # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, I.E., 044443,000440: 044444,000441: # T = J/M(DELTA W) 044445,000442: # J 044446,000443: 044447,000444: # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE 044448,000445: # SWITCHING LOGIC, AT THIS PINT STORED IN KMPAC. 044449,000446: 044450,000447: # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY 044451,000448: # (57.3/450)(B24/1600)(1/.8) 044452,000449: # FOR 1 JET OPERATION (M = 700 FT-LB). 044453,000450: # I.E., J/M = J(SLUG-FTFT) x 0.00000085601606 044454,000451: 044455,000452: # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY 044456,000453: # KEYBOARD ENTRY ARE 044457,000454: # J/M (ROLL) 044458,000455: # J/M1 (PITCH) 044459,000456: # J/M2 (YAW) 044460,000457: 044461,000458: # T = JET-ON TIME SCALED 16384/1600 SEC 044462,000459: # J 044463,000460: 044464,000461: # THE COMPUTER VARIABLES ARE 044465,000462: # TAU (ROLL) 044466,000463: # TAU1 (PITCH) 044467,000464: # TAU2 (YAW) 044468,000465: 044469,000466: 21,3713 51506 JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO 044470,000467: 21,3714 31623 CA J/M # SCALED (57.3/450)(B24/1600) 044471,000468: 21,3715 02026 TC SMALLMP # FOR 1-JET OPERATION 044472,000469: 21,3716 34700 CA BIT11 044473,000470: 21,3717 02026 TC SMALLMP 044474,000471: 21,3720 11510 CCS KMPAC 044475,000472: 21,3721 13725 TCF +4 044476,000473: 21,3722 13731 TCF TAUNORM 044477,000474: 21,3723 13727 TCF +4 044478,000475: 21,3724 13731 TCF TAUNORM 044479,000476: 21,3725 34672 CA POSMAX 044480,000477: 21,3726 13732 TCF DOJET 044481,000478: 21,3727 34674 CA NEGMAX 044482,000479: 21,3730 13732 TCF DOJET 044483,000480: 044484,000481: 21,3731 31511 TAUNORM CA KMPAC +1 044485,000482: 21,3732 51506 DOJET INDEX SPNDX 044486,000483: 21,3733 55561 TS TAU 044487,000484: 21,3734 11506 CCS SPNDX 044488,000485: 21,3735 13431 TCF JLOOP 044489,000486: 21,3736 13743 TCF T6PROG 044490,000487: 044491,000488: # Page 1011 044492,000489: 21,3737 34714 ZEROCMDS CAF ZERO 044493,000490: 21,3740 55561 TS TAU 044494,000491: 21,3741 55562 TS TAU1 044495,000492: 21,3742 55563 TS TAU2 044496,000493: 21,3743 00006 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS) 044497,000494: 21,3744 33750 DCA JETADDR # HAVE BEEN DETERINED 044498,000495: 21,3745 53313 DXCH T5LOC # RESET T5LOC FOR PHASE3 044499,000496: 21,3746 15222 TCF RESUME 044500,000497: 044501,000498: 21,3747 E6,1510 EBANK= KMPAC 044502,000499: 21,3747 02577 36066 JETADDR 2CADR JETSLECT 044503,000500: End of include-file AUTOMATIC_MANEUVERS.agc. Parent file is MAIN.agc