Source Code
044596,000001: # Copyright: Public domain.
044597,000002: # Filename: JET_SELECTION_LOGIC.agc
044598,000003: # Purpose: Part of the source code for Colossus, build 249.
044599,000004: # It is part of the source code for the Command Module's (CM)
044600,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9.
044601,000006: # Assembler: yaYUL
044602,000007: # Reference: Starts on p. 1014 of 1701.pdf.
044603,000008: # Contact: Ron Burkey <info@sandroid.org>.
044604,000009: # Website: www.ibiblio.org/apollo.
044605,000010: # Mod history: 08/26/04 RSB. Began transcribing.
044606,000011:
044607,000012: # The contents of the "Colossus249" files, in general, are transcribed
044608,000013: # from a scanned document obtained from MIT's website,
044609,000014: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this
044610,000015: # document read, in part:
044611,000016:
044612,000017: # Assemble revision 249 of AGC program Colossus by NASA
044613,000018: # 2021111-041. October 28, 1968.
044614,000019:
044615,000020: # This AGC program shall also be referred to as
044616,000021: # Colossus 1A
044617,000022:
044618,000023: # Prepared by
044619,000024: # Massachussets Institute of Technology
044620,000025: # 75 Cambridge Parkway
044621,000026: # Cambridge, Massachusetts
044622,000027: # under NASA contract NAS 9-4065.
044623,000028:
044624,000029: # Refer directly to the online document mentioned above for further information.
044625,000030: # Please report any errors (relative to 1701.pdf) to info@sandroid.org.
044626,000031:
044627,000032: # In some cases, where the source code for Luminary 131 overlaps that of
044628,000033: # Colossus 249, this code is instead copied from the corresponding Luminary 131
044629,000034: # source file, and then is proofed to incorporate any changes.
044630,000035:
044631,000036: # Page 1014
044632,000037: 21,3751 BANK 21
044633,000038: 17,2000 SETLOC DAPS4
044634,000039: 17,2000 BANK
044635,000040:
044636,000041: 17,2577 COUNT 17/DAPJS
044637,000042:
044638,000043: 17,2577 E6,1510 EBANK= KMPAC
044639,000044:
044640,000045: # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
044641,000046:
044642,000047: 17,2577 22016 JETSLECT LXCH BANKRUPT
044643,000048: 17,2600 32661 CAF DELTATT3 # = 60 MS RESET TO EXECUTIVE PHASE1
044644,000049: 17,2601 61634 AD T5TIME
044645,000050: 17,2602 54030 TS TIME5
044646,000051: 17,2603 12606 TCF +3
044647,000052: 17,2604 32662 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT
044648,000053: 17,2605 54030 TS TIME5
044649,000054: 17,2606 33340 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS
044650,000055: 17,2607 54031 TS TIME6 # IN 14 MS
044651,000056: 17,2610 34674 CAF NEGMAX
044652,000057: 17,2611 00006 EXTEND
044653,000058: 17,2612 05013 WOR CHAN13
044654,000059: 17,2613 00006 EXTEND
044655,000060: 17,2614 22012 QXCH QRUPT
044656,000061: 17,2615 32660 CAF XLNMASK # = 7700 OCT
044657,000062: 17,2616 00006 EXTEND # EXAMINE THE TRANSLATION
044658,000063: 17,2617 06031 RXOR CHAN31 # HAND CONTROLLER
044659,000064: 17,2620 72660 MASK XLNMASK
044660,000065: 17,2621 00006 EXTEND
044661,000066: 17,2622 12663 BZF NOXLNCMD
044662,000067: 17,2623 55502 TS T5TEMP
044663,000068: 17,2624 00006 EXTEND
044664,000069: 17,2625 74702 MP BIT9
044665,000070: 17,2626 76214 MASK THREE
044666,000071: 17,2627 55513 TS XNDX1 # AC QUAD X-TRANSLATION INDEX
044667,000072: 17,2630 55514 TS XNDX2 # BD QUAD X-TRANSLATION INDEX
044668,000073: 17,2631 31502 CA T5TEMP
044669,000074: 17,2632 00006 EXTEND # 1 = + XLN
044670,000075: 17,2633 74704 MP BIT7 # 2 = - XLN
044671,000076: 17,2634 76214 MASK THREE # 3 = NO XLN
044672,000077: 17,2635 55515 TS YNDX # Y-TRANSLATION INDEX
044673,000078:
044674,000079: 17,2636 31502 CA T5TEMP
044675,000080: 17,2637 00006 EXTEND
044676,000081: 17,2640 74706 MP BIT5
044677,000082: 17,2641 76214 MASK THREE
044678,000083: 17,2642 55516 TS ZNDX # Z-TRANSLATION INDEX
044679,000084:
044680,000085: 17,2643 31466 CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
044681,000086: 17,2644 74675 MASK BIT14 # TRANSLATIONS.
044682,000087: 17,2645 00006 EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
044683,000088: # Page 1015
044684,000089: 17,2646 12651 BZF NOLEM
044685,000090: 17,2647 46214 CS THREE # IF LEM IS ON, SET ATTKALMN = -3
044686,000091: 17,2650 12652 TCF +2
044687,000092: 17,2651 44711 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2.
044688,000093: 17,2652 55617 TS ATTKALMN
044689,000094: 17,2653 11631 CCS XTRANS # (+, -1, 0)
044690,000095: 17,2654 55513 TS XNDX1 # USING BD-X ZERO XNDX1
044691,000096: 17,2655 12667 TCF PWORD
044692,000097: 17,2656 55514 TS XNDX2 # USING AC-X ZERO XNDX2
044693,000098: 17,2657 12667 TCF PWORD
044694,000099: 17,2660 07700 XLNMASK OCT 7700
044695,000100: 17,2661 37772 DELTATT3 DEC 16378 B-14 # = 60 MS
044696,000101: 17,2662 37776 DELATT20 DEC 16382 B-14 # = 20 MS
044697,000102:
044698,000103: 17,2663 55513 NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
044699,000104: 17,2664 55514 TS XNDX2
044700,000105: 17,2665 55515 TS YNDX
044701,000106: 17,2666 55516 TS ZNDX
044702,000107:
044703,000108: # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
044704,000109:
044705,000110: 17,2667 11562 PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
044706,000111: 17,2670 34712 CAF ONE
044707,000112: 17,2671 12673 TCF +2 # 0 = NO PITCH
044708,000113: 17,2672 34711 CAF TWO # +1 = + PITCH
044709,000114: 17,2673 55520 TS PINDEX # +2 = - PITCH
044710,000115:
044711,000116: 17,2674 11626 CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
044712,000117: 17,2675 12701 TCF AFAILP
044713,000118: 17,2676 12711 TCF TABPCOM # 0 = NO REAL AC FAILURES
044714,000119: 17,2677 12703 TCF CFAILP # + = A QUAD FAILED
044715,000120: 17,2700 12711 TCF TABPCOM # - = C QUAD FAILED
044716,000121: # IF FAILURES ARE PRESENT IGNORE
044717,000122: # X-TRANSLATIONS ON THIS AXIS
044718,000123:
044719,000124: 17,2701 34334 AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
044720,000125: 17,2702 12713 TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
044721,000126: 17,2703 35656 CFAILP CAF TWELVE
044722,000127: 17,2704 12713 TCF TABPCOM +2
044723,000128:
044724,000129: 17,2705 00000 XLNNDX DEC 0 B-14 # INDICES FOR TRANSLATION COMMANDS
044725,000130: 17,2706 00003 DEC 3 B-14 # FOR USE IN TABLE LOOK UP
044726,000131: 17,2707 00006 DEC 6 B-14
044727,000132: 17,2710 00000 DEC 0 B-14
044728,000133:
044729,000134: 17,2711 5656 TWELVE = OCT14
044730,000135:
044731,000136: # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
044732,000137: # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
044733,000138: # Page 1016
044734,000139:
044735,000140: 17,2711 51513 TABPCOM INDEX XNDX1
044736,000141: 17,2712 32705 CA XLNNDX
044737,000142: 17,2713 61520 AD PINDEX
044738,000143: 17,2714 50000 INDEX A
044739,000144: 17,2715 32741 CA PYTABLE
044740,000145: 17,2716 72760 MASK PJETS # =1417 OCT
044741,000146: 17,2717 55453 TS PWORD1
044742,000147: 17,2720 00006 EXTEND
044743,000148: 17,2721 74704 MP BIT7
044744,000149: 17,2722 55523 TS NPJETS # = NO. OF PITCH JETS
044745,000150:
044746,000151: # YAW JET COMMANDS TIMING(N X-TRANS, NO QUAD FAILURES) 32MCT
044747,000152:
044748,000153: 17,2723 11563 YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
044749,000154: 17,2724 34712 CAF ONE
044750,000155: 17,2725 12727 TCF +2
044751,000156: 17,2726 34711 CAF TWO
044752,000157: 17,2727 55521 TS YINDEX # YAW ROTATION INDEX
044753,000158:
044754,000159: 17,2730 11627 CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
044755,000160: 17,2731 12735 TCF BFAILY # 0 = NO BD FAILURE
044756,000161: 17,2732 12762 TCF TABYCOM # + - B QUAD FAILED
044757,000162: 17,2733 12737 TCF DFAILY # - = D QUAD FAILED
044758,000163: 17,2734 12762 TCF TABYCOM
044759,000164:
044760,000165: 17,2735 34334 BFAILY CAF NINE
044761,000166: 17,2736 12764 TCF TABYCOM +2
044762,000167: 17,2737 35656 DFAILY CAF TWELVE
044763,000168: 17,2740 12764 TCF TABYCOM +2
044764,000169:
044765,000170: # Page 1017
044766,000171: # TABLE FOR PITCH(YAW) COMMANDS
044767,000172: # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
044768,000173: # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
044769,000174: # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
044770,000175: # BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
044771,000176:
044772,000177: # ROT TRANS QUAD BIAS
044773,000178: 17,2741 00000 PYTABLE OCT 0 # 0 0 0
044774,000179: 17,2742 05125 OCT 5125 # + 0 0
044775,000180: 17,2743 05252 OCT 5252 # - 0 0
044776,000181: 17,2744 00231 OCT 0231 # 0 + 3
044777,000182: 17,2745 02421 OCT 2421 # + + 3
044778,000183: 17,2746 02610 OCT 2610 # - + 3
044779,000184: 17,2747 00146 OCT 0146 # 0 - 6
044780,000185: 17,2750 02504 OCT 2504 # + - 6
044781,000186: 17,2751 02442 OCT 2442 # - - 6
044782,000187: 17,2752 00000 OCT 0 # 0 A(B) 9
044783,000188: 17,2753 02421 OCT 2421 # + A(B) 9
044784,000189: 17,2754 02442 OCT 2442 # - A(B) 9
044785,000190: 17,2755 00000 OCT 0 # 0 C(D) 12
044786,000191: 17,2756 02504 OCT 2504 # + C(D) 12
044787,000192: 17,2757 02610 OCT 2610 # - C(D) 12
044788,000193:
044789,000194: # MASKS FOR PITCH AND YAW COMMANDS
044790,000195:
044791,000196: 17,2760 01417 PJETS OCT 1417
044792,000197: 17,2761 06360 YJETS OCT 6360
044793,000198:
044794,000199: # TABLE LOOK UP FOR YAW COMMANDS WTIH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
044795,000200: # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
044796,000201:
044797,000202: 17,2762 51514 TABYCOM INDEX XNDX2
044798,000203: 17,2763 32705 CA XLNNDX
044799,000204: 17,2764 61521 AD YINDEX
044800,000205: 17,2765 50000 INDEX A
044801,000206: 17,2766 32741 CA PYTABLE
044802,000207: 17,2767 72761 MASK YJETS # = 6360 OCT
044803,000208: 17,2770 55455 TS YWORD1
044804,000209: 17,2771 00006 EXTEND
044805,000210: 17,2772 74706 MP BIT5
044806,000211: 17,2773 55524 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
044807,000212:
044808,000213: # Page 1018
044809,000214: # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
044810,000215:
044811,000216: 17,2774 11561 RWORD CCS TAU # CHECK FOR ROLL COMMANDS
044812,000217: 17,2775 34712 CAF ONE
044813,000218: 17,2776 13000 TCF +2
044814,000219: 17,2777 34711 CAF TWO
044815,000220: 17,3000 55517 TS RINDEX
044816,000221:
044817,000222: 17,3001 11630 CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
044818,000223: 17,3002 13073 TCF BDROLL # ROLL COMMANDS
044819,000224: 17,3003 13073 TCF BDROLL # +, +0 = BD ROLL
044820,000225: 17,3004 13005 TCF +1 # -, -0 = AC ROLL
044821,000226:
044822,000227: 17,3005 11626 ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
044823,000228: 17,3006 13012 TCF RAFAIL # ON AC QUADS
044824,000229: 17,3007 13022 TCF RXLNS
044825,000230: 17,3010 13014 TCF RCFAIL
044826,000231: 17,3011 13022 TCF RXLNS
044827,000232:
044828,000233: 17,3012 34334 RAFAIL CAF NINE # QUAD FAILURE WILL GET
044829,000234: 17,3013 13024 TCF TABRCOM # 1-JET OPERATION
044830,000235: 17,3014 35656 RCFAIL CAF TWELVE
044831,000236: 17,3015 13024 TCF TABRCOM
044832,000237:
044833,000238: 17,3016 00000 XLN1NDX DEC 0 B-14
044834,000239: 17,3017 00001 DEC 1 B-14 # INDICES FOR TRANSLATION
044835,000240: 17,3020 00002 DEC 2 B-14
044836,000241: 17,3021 00000 DEC 0 B-14
044837,000242:
044838,000243: # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
044839,000244: # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
044840,000245:
044841,000246: 17,3022 51515 RXLNS INDEX YNDX # NO AC QUAD FAILURES
044842,000247: 17,3023 32705 CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
044843,000248: 17,3024 61517 TABRCOM AD RINDEX
044844,000249: 17,3025 50000 INDEX A
044845,000250: 17,3026 33155 CA RTABLE
044846,000251: 17,3027 73174 MASK ACRJETS # = 3760 OCT
044847,000252: 17,3030 55451 TS RWORD1
044848,000253:
044849,000254: # CHECK FOR Z-TRANSLATIONS ON BD
044850,000255:
044851,000256: 17,3031 31516 BDZCHECK CA ZNDX
044852,000257: 17,3032 00006 EXTEND
044853,000258: 17,3033 63065 BZMF NOBDZ # NO Z-TRANSLATION
044854,000259:
044855,000260: # Page 1019
044856,000261: # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSSIBLE
044857,000262: # AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION: IF THE RESULTANT NET ROLL
044858,000263: # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
044859,000264: # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
044860,000265:
044861,000266: 17,3034 11627 CCS RBDFAIL
044862,000267: 17,3035 36214 CAF THREE
044863,000268: 17,3036 13040 TCF +2
044864,000269: 17,3037 36211 CAF SIX
044865,000270: 17,3040 51516 INDEX ZNDX
044866,000271: 17,3041 63016 AD XLN1NDX
044867,000272: 17,3042 50000 INDEX A
044868,000273: 17,3043 33176 CA YZTABLE
044869,000274: 17,3044 73207 MASK BDZJETS # = 3417 OCT
044870,000275: 17,3045 61451 AD RWORD1 # ADD TO ROLL COMMANDS
044871,000276: 17,3046 55502 TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
044872,000277:
044873,000278: 17,3047 00006 EXTEND
044874,000279: 17,3050 74704 MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
044875,000280: 17,3051 66061 AD =-4 # Z-TRANSLATION ADDED ON
044876,000281: 17,3052 55522 TS NRJETS # NET NO. OF +,- ROLL JETS ON
044877,000282: 17,3053 00006 EXTEND
044878,000283: 17,3054 13060 BZF TAUCHECK
044879,000284:
044880,000285: 17,3055 31502 ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
044881,000286: 17,3056 55451 TS RWORD1 # HAVE INTRODUCED AND UNDESIREABLE ROLL
044882,000287: 17,3057 13321 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
044883,000288:
044884,000289: 17,3060 11561 TAUCHECK CCS TAU
044885,000290: 17,3061 13065 TCF NOBDZ
044886,000291: 17,3062 13055 TCF ACRBDZ
044887,000292: 17,3063 13065 TCF NOBDZ
044888,000293: 17,3064 13055 TCF ACRBDZ
044889,000294:
044890,000295: 17,3065 31451 NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
044891,000296: 17,3066 00006 EXTEND
044892,000297: 17,3067 74704 MP BIT7
044893,000298: 17,3070 67715 AD =-2
044894,000299: 17,3071 55522 TS NRJETS
044895,000300: 17,3072 13321 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
044896,000301:
044897,000302: # Page 1020
044898,000303: # BD QUAD SELECTION FOR ROLL COMMANDS
044899,000304:
044900,000305: 17,3073 11627 BDROLL CCS RBDFAIL
044901,000306: 17,3074 13100 TCF RBFAIL
044902,000307: 17,3075 13104 TCF RZXLNS
044903,000308: 17,3076 13102 TCF RDFAIL
044904,000309: 17,3077 13104 TCF RZXLNS
044905,000310: 17,3100 34334 RBFAIL CAF NINE
044906,000311: 17,3101 13106 TCF TABRZCMD
044907,000312: 17,3102 35656 RDFAIL CAF TWELVE
044908,000313: 17,3103 13106 TCF TABRZCMD
044909,000314:
044910,000315: 17,3104 51516 RZXLNS INDEX ZNDX # NO BD FAILURES
044911,000316: 17,3105 32705 CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
044912,000317: 17,3106 61517 TABRZCMD AD RINDEX
044913,000318: 17,3107 50000 INDEX A
044914,000319: 17,3110 33155 CA RTABLE
044915,000320: 17,3111 73175 MASK BDRJETS # = 34017 OCT
044916,000321: 17,3112 55451 TS RWORD1
044917,000322:
044918,000323: 17,3113 31515 ACYCHECK CA YNDX # ANY Y-TRANSLATION
044919,000324: 17,3114 00006 EXTEND
044920,000325: 17,3115 13147 BZF NOACY # NO Y-TRANSLATION
044921,000326: 17,3116 11626 CCS RACFAIL
044922,000327: 17,3117 36214 CAF THREE
044923,000328: 17,3120 13122 TCF +2
044924,000329: 17,3121 36211 CAF SIX
044925,000330: 17,3122 51515 INDEX YNDX
044926,000331: 17,3123 63016 AD XLN1NDX
044927,000332: 17,3124 50000 INDEX A
044928,000333: 17,3125 33176 CA YZTABLE
044929,000334: 17,3126 73210 MASK ACYJETS # = 34360 OCT
044930,000335: 17,3127 61451 AD RWORD1
044931,000336: 17,3130 55502 TS T5TEMP
044932,000337: 17,3131 00006 EXTEND # FOR EXPLANATION SEE CODING ON RTABLE
044933,000338: 17,3132 74707 MP BIT4
044934,000339: 17,3133 66061 AD =-4
044935,000340: 17,3134 55522 TS NRJETS # NO. OF NET ROLL JETS
044936,000341: 17,3135 00006 EXTEND
044937,000342: 17,3136 13142 BZF TAUCHCK # IF NRJETS = 0
044938,000343:
044939,000344: 17,3137 31502 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
044940,000345: 17,3140 55451 TS RWORD1
044941,000346: 17,3141 13321 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
044942,000347:
044943,000348: 17,3142 11561 TAUCHCK CCS TAU
044944,000349: 17,3143 13147 TCF NOACY
044945,000350: 17,3144 13137 TCF BDRACZ
044946,000351: 17,3145 13147 TCF NOACY
044947,000352: 17,3146 13137 TCF BDRACZ
044948,000353:
044949,000354: # Page 1021
044950,000355: 17,3147 31451 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
044951,000356: 17,3150 00006 EXTEND
044952,000357: 17,3151 74707 MP BIT4
044953,000358: 17,3152 67715 AD =-2
044954,000359: 17,3153 55522 TS NRJETS
044955,000360: 17,3154 13321 TCF ROLLTIME
044956,000361:
044957,000362: # Page 1022
044958,000363: # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
044959,000364:
044960,000365: # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
044961,000366: # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
044962,000367: # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
044963,000368:
044964,000369: # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
044965,000370: # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
044966,000371: # SWITCH TO AC ROLL.
044967,000372:
044968,000373: # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
044969,000374: # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
044970,000375:
044971,000376: # WORD MAKE UP....RTABLE
044972,000377:
044973,000378: # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPONDING
044974,000379: # TO AC ROLL HAS THE FOLLOWING INTERPRETATION:
044975,000380:
044976,000381: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS:
044977,000382:
044978,000383: # BIT NO. 11 10 9 NO. OF ROLL JETS
044979,000384:
044980,000385: # 0 0 0 -2
044981,000386: # 0 0 1 -1
044982,000387: # 0 1 0 0
044983,000388: # 0 1 1 +1
044984,000389: # 1 0 0 +2
044985,000390:
044986,000391: # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
044987,000392: # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
044988,000393:
044989,000394: # THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTEPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
044990,000395: # (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
044991,000396:
044992,000397: # ROLL TRANS QUADFAIL BIAS
044993,000398:
044994,000399: 17,3155 11000 RTABLE OCT 11000 # 0 0
044995,000400: 17,3156 22125 OCT 22125 # + 0
044996,000401: 17,3157 00252 OCT 00252 # - 0
044997,000402: 17,3160 11231 OCT 11231 # 0 +Y(+Z) 3
044998,000403: 17,3161 15421 OCT 15421 # + +Y(+Z) 3
044999,000404: 17,3162 04610 OCT 04610 # - +Y(+Z) 3
045000,000405: 17,3163 11146 OCT 11146 # 0 -Y(-Z) 6
045001,000406: 17,3164 15504 OCT 15504 # + -Y(-Z) 6
045002,000407: 17,3165 04442 OCT 04442 # - -Y(-Z) 6
045003,000408: 17,3166 11000 OCT 11000 # 0 A(B) 9
045004,000409: 17,3167 15504 OCT 15504 # + A(B) 9
045005,000410: 17,3170 04610 OCT 04610 # - A(B) 9
045006,000411: 17,3171 11000 OCT 11000 # 0 C(D) 12
045007,000412: 17,3172 15421 OCT 15421 # + C(D) 12
045008,000413: 17,3173 04442 OCT 04442 # - C(D) 12
045009,000414:
045010,000415: # Page 1023
045011,000416: # RTABLE MASKS:
045012,000417:
045013,000418: 17,3174 03760 ACRJETS OCT 03760
045014,000419: 17,3175 34017 BDRJETS OCT 34017
045015,000420:
045016,000421: # Page 1024
045017,000422: # Y, Z TRANSLATION TABLE
045018,000423:
045019,000424: # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
045020,000425: # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
045021,000426: # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
045022,000427: # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE ENCOUNTER
045023,000428: # SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
045024,000429:
045025,000430: # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE
045026,000431: # ABOVE.
045027,000432:
045028,000433: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
045029,000434: # ADDED TO TEH AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILARLY BITS
045030,000435: # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
045031,000436:
045032,000437: # TRANSLATION QUADFAIL BIAS
045033,000438:
045034,000439: 17,3176 11000 YZTABLE OCT 11000 # 0 0
045035,000440: 17,3177 11231 OCT 11231 # +Z(+Y) 0
045036,000441: 17,3200 11146 OCT 11146 # -Z(-Y) 0
045037,000442: 17,3201 11000 OCT 11000 # 0 B(A) 3
045038,000443: 17,3202 04610 OCT 04610 # +Z(+Y) B(A) 3
045039,000444: 17,3203 15504 OCT 15504 # -Z(-Y) B(A) 3
045040,000445: 17,3204 11000 OCT 11000 # 0 D(C) 6
045041,000446: 17,3205 15421 OCT 15421 # +Z(+Y) D(C) 6
045042,000447: 17,3206 04442 OCT 04442 # -Z(-Y) D(C) 6
045043,000448:
045044,000449: # YZ-TABLE MASKS:
045045,000450:
045046,000451: 17,3207 03417 BDZJETS OCT 03417
045047,000452: 17,3210 34360 ACYJETS OCT 34360
045048,000453:
045049,000454: # ADDITIONAL CONSTANTS
045050,000455:
045051,000456: 17,3211 7715 =-2 = NEG2
045052,000457: 17,3211 6061 =-4 = NEG4
045053,000458:
045054,000459: # Page 1025
045055,000460: # CALCULATION OF JET ON-TIMES
045056,000461:
045057,000462: # THE ROTATION COMMANDS (TAU'S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
045058,000463: # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
045059,000464: # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5
045060,000465: # INTERVAL.
045061,000466:
045062,000467: # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
045063,000468: # (DFT'S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
045064,000469:
045065,000470: # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
045066,000471: # UPDATE DFT.
045067,000472:
045068,000473: # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
045069,000474: # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
045070,000475: # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
045071,000476: # AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
045072,000477: # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
045073,000478: # ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
045074,000479:
045075,000480: # PITCH JET ON-TIME CALCULATION
045076,000481:
045077,000482: 17,3211 11562 PITCHTIM CCS TAU1
045078,000483: 17,3212 13221 TCF PTAUPOS
045079,000484: 17,3213 13215 TCF +2
045080,000485: 17,3214 13217 TCF PTAUNEG
045081,000486: 17,3215 55550 TS DFT1 # NO PITCH ROTATION
045082,000487: 17,3216 13417 TCF PBYPASS # COMMANDS
045083,000488:
045084,000489: 17,3217 41523 PTAUNEG CS NPJETS
045085,000490: 17,3220 55523 TS NPJETS
045086,000491: 17,3221 31562 PTAUPOS CA TAU1
045087,000492: 17,3222 00006 EXTEND
045088,000493: 17,3223 51523 INDEX NPJETS
045089,000494: 17,3224 73400 MP NJET
045090,000495: 17,3225 55461 TS BLAST1
045091,000496: 17,3226 63333 AD =-.1SEC
045092,000497: 17,3227 00006 EXTEND
045093,000498: 17,3230 63241 BZMF AD14MSP
045094,000499: 17,3231 51523 INDEX NPJETS
045095,000500: 17,3232 33334 CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC
045096,000501: 17,3233 55550 TS DFT1
045097,000502: 17,3234 40000 COM
045098,000503: 17,3235 27562 ADS TAU1 # UPDATE TAU1
045099,000504: 17,3236 33335 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION
045100,000505: 17,3237 55461 TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY
045101,000506: 17,3240 13404 TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH
045102,000507: # OVER TO TVC
045103,000508: 17,3241 41461 AD14MSP CS BLAST1 # SEE IF JET ON TIME IS LESS THAN
045104,000509: 17,3242 63340 AD =14MS # MINIMUM IMPULSE TIME
045105,000510: 17,3243 00006 EXTEND
045106,000511: 17,3244 63247 BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS
045107,000512: 17,3245 33340 CAF =14MS
045108,000513: # Page 1026
045109,000514: 17,3246 55461 TS BLAST1
045110,000515: 17,3247 31461 PBLASTOK CA BLAST1
045111,000516: 17,3250 00006 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED
045112,000517: 17,3251 71523 MP NPJETS # WITHIN THE TS-CYCLE TIME
045113,000518: 17,3252 23550 LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
045114,000519: 17,3253 55562 TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
045115,000520: 17,3254 13404 TCF ASMBLWP
045116,000521:
045117,000522: # Page 1027
045118,000523: # YAW JET ON-TIME CALCULATION
045119,000524:
045120,000525: 17,3255 11563 YAWTIME CCS TAU2
045121,000526: 17,3256 13265 TCF YTAUPOS
045122,000527: 17,3257 13261 TCF +2
045123,000528: 17,3260 13263 TCF YTAUNEG
045124,000529: 17,3261 55551 TS DFT2 # NO YAW ROTATION COMMANDS
045125,000530: 17,3262 13563 TCF YBYPASS
045126,000531:
045127,000532: 17,3263 41524 YTAUNEG CS NYJETS
045128,000533: 17,3264 55524 TS NYJETS
045129,000534: 17,3265 31563 YTAUPOS CA TAU2
045130,000535: 17,3266 00006 EXTEND
045131,000536: 17,3267 51524 INDEX NYJETS
045132,000537: 17,3270 73400 MP NJET
045133,000538: 17,3271 55463 TS BLAST2
045134,000539: 17,3272 63333 AD =-.1SEC
045135,000540: 17,3273 00006 EXTEND
045136,000541: 17,3274 63305 BZMF AD14MSY
045137,000542: 17,3275 51524 INDEX NYJETS
045138,000543: 17,3276 33334 CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC
045139,000544: 17,3277 55551 TS DFT2
045140,000545: 17,3300 40000 COM
045141,000546: 17,3301 27563 ADS TAU2 # DECREMENT TAU2
045142,000547: 17,3302 33335 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
045143,000548: 17,3303 55463 TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
045144,000549: 17,3304 13550 TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
045145,000550:
045146,000551: 17,3305 41463 AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
045147,000552: 17,3306 63340 AD =14MS # MINIMUM IMPULSE TIME
045148,000553: 17,3307 00006 EXTEND
045149,000554: 17,3310 63313 BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045150,000555: 17,3311 33340 CAF =14MS
045151,000556: 17,3312 55463 TS BLAST2
045152,000557: 17,3313 31463 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
045153,000558: 17,3314 00006 EXTEND # THE T5CYCLE TIME
045154,000559: 17,3315 71524 MP NYJETS
045155,000560: 17,3316 23551 LXCH DFT2
045156,000561: 17,3317 55563 TS TAU2 # ZERO TAU2
045157,000562: 17,3320 13550 TCF ASMBLWY
045158,000563:
045159,000564: # Page 1028
045160,000565: # ROLL ON-TIME CALCULATION:
045161,000566:
045162,000567: 17,3321 11561 ROLLTIME CCS TAU
045163,000568: 17,3322 13341 TCF RBLAST
045164,000569: 17,3323 13325 TCF +2
045165,000570: 17,3324 13341 TCF RBLAST
045166,000571: 17,3325 51522 INDEX NRJETS
045167,000572: 17,3326 33334 CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
045168,000573: 17,3327 55547 TS DFT # PRESENT
045169,000574: 17,3330 13543 TCF RBYPASS
045170,000575:
045171,000576: 17,3331 77037 DEC -480 B-14 # =-.3SEC
045172,000577: 17,3332 77277 DEC -320 B-14 # =-.2SEC
045173,000578: 17,3333 77537 =-.1SEC DEC -160 B-14 # =-.1SEC
045174,000579: 17,3334 00000 DFTMAX DEC 0 B-14 # 0
045175,000580: 17,3335 00240 =+.1SEC DEC 160 B-14 # =+.1SEC
045176,000581: 17,3336 00500 DEC 320 B-14 # =+.2SEC
045177,000582: 17,3337 00740 DEC 480 B-14 # =+.3SEC
045178,000583: 17,3340 00027 =14MS DEC 23 B-14 # =14MS
045179,000584:
045180,000585: 17,3341 31561 RBLAST CA TAU
045181,000586: 17,3342 00006 EXTEND
045182,000587: 17,3343 51522 INDEX NRJETS
045183,000588: 17,3344 73400 MP NJET
045184,000589: 17,3345 55457 TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE
045185,000590: # USED IN DETERMINING THE JET ON-TIMES
045186,000591: 17,3346 63333 AD =-.1SEC
045187,000592: 17,3347 00006 EXTEND
045188,000593: 17,3350 63361 BZMF AD14MSR
045189,000594: 17,3351 51522 INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER
045190,000595: 17,3352 33334 CA DFTMAX # THAN THE T5 CYCLE TIME
045191,000596: 17,3353 55547 TS DFT
045192,000597: 17,3354 40000 COM
045193,000598: 17,3355 27561 ADS TAU
045194,000599: 17,3356 33335 CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
045195,000600: 17,3357 55457 TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
045196,000601: 17,3360 13424 TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
045197,000602:
045198,000603: 17,3361 41457 AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
045199,000604: 17,3362 63340 AD =14MS # MINIMUM IMPULSE TIME
045200,000605: 17,3363 00006 EXTEND
045201,000606: 17,3364 63367 BZMF RBLASTOK
045202,000607: 17,3365 33340 CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045203,000608: 17,3366 55457 TS BLAST
045204,000609: 17,3367 31457 RBLASTOK CA BLAST
045205,000610: 17,3370 00006 EXTEND
045206,000611: 17,3371 71522 MP NRJETS
045207,000612: 17,3372 23547 LXCH DFT
045208,000613: 17,3373 55561 TS TAU # ZERO TAU
045209,000614: 17,3374 13424 TCF ASMBLWR
045210,000615:
045211,000616: # Page 1029
045212,000617: 17,3375 65252 DEC -.333333 # = -1/3
045213,000618: 17,3376 57777 DEC -.500000 # = -1.2
045214,000619: 17,3377 40000 DEC -.999999 # = -1 (NEGMAX)
045215,000620: 17,3400 00000 NJET DEC 0 B-14
045216,000621: 17,3401 37777 DEC .999999 # = +1 (POSMAX)
045217,000622: 17,3402 20000 DEC .500000 # = +1/2
045218,000623: 17,3403 12525 DEC .333333 # = +1/3
045219,000624:
045220,000625: # Page 1030
045221,000626: # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
045222,000627: # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
045223,000628:
045224,000629: # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
045225,000630: # CORRESPONDING ROTATIONS ARE COMPLETED.
045226,000631:
045227,000632: # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
045228,000633:
045229,000634: 17,3404 11626 ASMBLWP CCS RACFAIL
045230,000635: 17,3405 13413 TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION
045231,000636: 17,3406 13410 TCF +2
045232,000637: 17,3407 13413 TCF FPX2
045233,000638: 17,3410 51513 INDEX XNDX1
045234,000639: 17,3411 32705 CA XLNNDX
045235,000640: 17,3412 50000 INDEX A
045236,000641: 17,3413 32741 FPX2 CA PYTABLE
045237,000642: 17,3414 72760 MASK PJETS
045238,000643: 17,3415 55454 TS PWORD2
045239,000644: 17,3416 13255 TCF YAWTIME
045240,000645:
045241,000646: 17,3417 31453 PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
045242,000647: 17,3420 55454 TS PWORD2 # UPON ENTRY
045243,000648: 17,3421 34714 CAF ZERO
045244,000649: 17,3422 55461 TS BLAST1 # THERE IS NO PWORD2
045245,000650: 17,3423 13255 TCF YAWTIME
045246,000651:
045247,000652: # Page 1031
045248,000653: # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
045249,000654:
045250,000655: 17,3424 11515 ASMBLWR CCS YNDX # CHECK FOR Y-TRANS
045251,000656: 17,3425 13435 TCF ACBD2Y
045252,000657: 17,3426 34714 NO2Y CAF ZERO
045253,000658: 17,3427 55452 TS RWORD2
045254,000659: 17,3430 11516 CCS ZNDX # CHECK FOR Z-TRANS
045255,000660: 17,3431 13500 TCF ACBD2Z
045256,000661: 17,3432 34714 NO2Z CAF ZERO
045257,000662: 17,3433 27452 ADS RWORD2
045258,000663: 17,3434 13211 TCF PITCHTIM # RWORD2 ASSEMBLED
045259,000664:
045260,000665: 17,3435 11630 ACBD2Y CCS ACORBD
045261,000666: 17,3436 13453 TCF AC2Y # CAN DO Y-TRANS
045262,000667: 17,3437 13453 TCF AC2Y
045263,000668: 17,3440 13441 TCF +1 # USING AC FOR ROLL
045264,000669: 17,3441 11626 CCS RACFAIL
045265,000670: 17,3442 13426 TCF NO2Y # USING AC AND AC HAS FAILED
045266,000671: 17,3443 13445 TCF +2
045267,000672: 17,3444 13426 TCF NO2Y # DITTO
045268,000673:
045269,000674: 17,3445 51515 INDEX YNDX # NO FAILURES, CAN DO Y
045270,000675: 17,3446 32705 CA XLNNDX
045271,000676: 17,3447 50000 INDEX A
045272,000677: 17,3450 33155 CA RTABLE
045273,000678: 17,3451 73174 MASK ACRJETS
045274,000679: 17,3452 13427 TCF NO2Y +1
045275,000680:
045276,000681: 17,3453 11626 AC2Y CCS RACFAIL
045277,000682: 17,3454 36214 CAF THREE
045278,000683: 17,3455 13457 TCF +2
045279,000684: 17,3456 36211 CAF SIX
045280,000685: 17,3457 51515 INDEX YNDX
045281,000686: 17,3460 63016 AD XLN1NDX
045282,000687: 17,3461 50000 INDEX A
045283,000688: 17,3462 33176 CA YZTABLE
045284,000689: 17,3463 73210 MASK ACYJETS
045285,000690: 17,3464 55452 TS RWORD2
045286,000691: 17,3465 00006 EXTEND
045287,000692: 17,3466 74707 MP BIT4
045288,000693: 17,3467 67715 AD =-2
045289,000694: 17,3470 55522 TS NRJETS
045290,000695: 17,3471 41457 CS BLAST
045291,000696: 17,3472 63335 AD =+.1SEC
045292,000697: 17,3473 00006 EXTEND
045293,000698: 17,3474 71522 MP NRJETS
045294,000699: 17,3475 30001 CA L
045295,000700: 17,3476 27547 ADS DFT
045296,000701: 17,3477 13430 TCF NO2Y +2
045297,000702: # Page 1032
045298,000703: 17,3500 11630 ACBD2Z CCS ACORBD
045299,000704: 17,3501 13531 TCF BDF2Z # USING BD-ROLL
045300,000705: 17,3502 13531 TCF BDF2Z # MUST CHECK FOR BD FAILURES
045301,000706: 17,3503 13504 TCF +1
045302,000707: 17,3504 11627 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS
045303,000708: 17,3505 36214 CAF THREE
045304,000709: 17,3506 13510 TCF +2
045305,000710: 17,3507 36211 CAF SIX
045306,000711: 17,3510 51516 INDEX ZNDX
045307,000712: 17,3511 63016 AD XLN1NDX
045308,000713: 17,3512 50000 INDEX A
045309,000714: 17,3513 33176 CA YZTABLE
045310,000715: 17,3514 73207 MASK BDZJETS
045311,000716: 17,3515 27452 ADS RWORD2
045312,000717: 17,3516 00006 EXTEND
045313,000718: 17,3517 74704 MP BIT7
045314,000719: 17,3520 67715 AD =-2
045315,000720: 17,3521 55522 TS NRJETS
045316,000721: 17,3522 41457 CS BLAST
045317,000722: 17,3523 63335 AD =+.1SEC
045318,000723: 17,3524 00006 EXTEND
045319,000724: 17,3525 71522 MP NRJETS
045320,000725: 17,3526 30001 CA L
045321,000726: 17,3527 27547 ADS DFT
045322,000727: 17,3530 13211 TCF PITCHTIM
045323,000728:
045324,000729: 17,3531 11627 BDF2Z CCS RBDFAIL
045325,000730: 17,3532 13432 TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
045326,000731: 17,3533 13535 TCF +2
045327,000732: 17,3534 13432 TCF NO2Z # DITTO
045328,000733: 17,3535 51516 INDEX ZNDX
045329,000734: 17,3536 32705 CA XLNNDX
045330,000735: 17,3537 50000 INDEX A
045331,000736: 17,3540 33155 CA RTABLE
045332,000737: 17,3541 73175 MASK BDRJETS
045333,000738: 17,3542 13433 TCF NO2Z +1
045334,000739:
045335,000740: 17,3543 31451 RBYPASS CA RWORD1
045336,000741: 17,3544 55452 TS RWORD2
045337,000742: 17,3545 34714 CAF ZERO
045338,000743: 17,3546 55457 TS BLAST
045339,000744: 17,3547 13211 TCF PITCHTIM
045340,000745:
045341,000746: # Page 1033
045342,000747: # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
045343,000748:
045344,000749: 17,3550 11627 ASMBLWY CCS RBDFAIL
045345,000750: 17,3551 13557 TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION
045346,000751: 17,3552 13554 TCF +2
045347,000752: 17,3553 13557 TCF FYX2
045348,000753: 17,3554 51514 INDEX XNDX2
045349,000754: 17,3555 32705 CA XLNNDX
045350,000755: 17,3556 50000 INDEX A
045351,000756: 17,3557 32741 FYX2 CA PYTABLE
045352,000757: 17,3560 72761 MASK YJETS
045353,000758: 17,3561 55456 TS YWORD2
045354,000759: 17,3562 13567 TCF T6SETUP
045355,000760:
045356,000761: 17,3563 31455 YBYPASS CA YWORD1
045357,000762: 17,3564 55456 TS YWORD2
045358,000763: 17,3565 34714 CAF ZERO
045359,000764: 17,3566 55463 TS BLAST2
045360,000765:
045361,000766: # Page 1034
045362,000767: # SORT THE JET ON-TIMES
045363,000768:
045364,000769: # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE:
045365,000770:
045366,000771: # RWORD1
045367,000772: # RWORD2 BLAST
045368,000773:
045369,000774: # PWORD1
045370,000775: # PWORD2 BLAST1
045371,000776:
045372,000777: # YWORD1
045373,000778: # YWORD2 BLAST2
045374,000779:
045375,000780: # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
045376,000781: # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
045377,000782: # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
045378,000783: # ORDER WORD.
045379,000784:
045380,000785: 17,3567 34714 T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
045381,000786: 17,3570 55460 TS BLAST +1
045382,000787: 17,3571 34710 CAF FOUR # BRANCH INDEX FOR PITCH
045383,000788: 17,3572 55462 TS BLAST1 +1
045384,000789: 17,3573 34717 CAF ELEVEN # BRANCH INDEX FOR YAW
045385,000790: 17,3574 55464 TS BLAST2 +1
045386,000791:
045387,000792: 17,3575 41457 CS BLAST
045388,000793: 17,3576 61461 AD BLAST1
045389,000794: 17,3577 00006 EXTEND
045390,000795: 17,3600 63624 BZMF DXCHT12 # T1 OR T2
045391,000796: 17,3601 41461 CHECKT23 CS BLAST1
045392,000797: 17,3602 61463 AD BLAST2
045393,000798: 17,3603 00006 EXTEND
045394,000799: 17,3604 63630 BZMF DXCHT23
045395,000800: 17,3605 41461 CALCDT6 CS BLAST1
045396,000801: 17,3606 27463 ADS BLAST2
045397,000802: 17,3607 41457 CS BLAST
045398,000803: 17,3610 27461 ADS BLAST1 # END OF SORTING PROCEDURE
045399,000804: 17,3611 00006 EXTEND # RESET T5LOC TO BEGIN PHASE1
045400,000805: 17,3612 33623 DCA RCS2CADR
045401,000806: 17,3613 53313 DXCH T5LOC
045402,000807: 17,3614 44712 ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
045403,000808: 17,3615 71501 MASK RCSFLAGS # T6 PROGRAM
045404,000809: 17,3616 55501 TS RCSFLAGS
045405,000810: 17,3617 44714 CS ZERO # RESET T5PHASE FOR PHASE1
045406,000811: 17,3620 55465 TS T5PHASE
045407,000812: 17,3621 15222 TCF RESUME # RESUME INTERRUPTED PROGRAM
045408,000813: 17,3622 E6,1510 EBANK= KMPAC
045409,000814: 17,3622 02106 42066 RCS2CADR 2CADR RCSATT
045410,000815:
045411,000816: # Page 1035
045412,000817: 17,3624 53460 DXCHT12 DXCH BLAST
045413,000818: 17,3625 53462 DXCH BLAST1
045414,000819: 17,3626 53460 DXCH BLAST
045415,000820: 17,3627 13601 TCF CHECKT23
045416,000821:
045417,000822: 17,3630 53462 DXCHT23 DXCH BLAST1
045418,000823: 17,3631 53464 DXCH BLAST2
045419,000824: 17,3632 53462 DXCH BLAST1
045420,000825: 17,3633 41457 CS BLAST
045421,000826: 17,3634 61461 AD BLAST1
045422,000827: 17,3635 00006 EXTEND
045423,000828: 17,3636 63640 BZMF +2
045424,000829: 17,3637 13605 TCF CALCDT6
045425,000830: 17,3640 53460 DXCH BLAST
045426,000831: 17,3641 53462 DXCH BLAST1
045427,000832: 17,3642 53460 DXCH BLAST
045428,000833: 17,3643 13605 TCF CALCDT6
045429,000834:
045430,000835: # Page 1036
045431,000836: # T6 PROGRAM AND CHANNEL SETUP
045432,000837:
045433,000838: 21,3751 BANK 21
045434,000839: 17,2000 SETLOC DAPS5
045435,000840: 17,2000 BANK
045436,000841:
045437,000842: 17,3644 22016 T6START LXCH BANKRUPT
045438,000843: 17,3645 00006 EXTEND
045439,000844: 17,3646 22012 QXCH QRUPT
045440,000845: 17,3647 10031 CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET
045441,000846: 17,3650 15222 TCF RESUME # AFTER T6RUPT OCCURRED (IN T5RUPT)
045442,000847: 17,3651 13653 TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
045443,000848: 17,3652 15222 TCF RESUME # TAKING ACTION
045444,000849:
045445,000850: 17,3653 41501 CS RCSFLAGS
045446,000851: 17,3654 74712 MASK BIT1 # IF BIT1 IS 0 RESET TO 1
045447,000852: 17,3655 00006 EXTEND # AND INITIALIZE CHANNEL
045448,000853: 17,3656 13667 BZF T6RUPTOR
045449,000854: 17,3657 27501 ADS RCSFLAGS
045450,000855: 17,3660 31451 CA RWORD1
045451,000856: 17,3661 00006 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1
045452,000857: 17,3662 01006 WRITE CHAN6
045453,000858: 17,3663 31453 CA PWORD1
045454,000859: 17,3664 61455 AD YWORD1
045455,000860: 17,3665 00006 EXTEND
045456,000861: 17,3666 01005 WRITE CHAN5
045457,000862:
045458,000863: 17,3667 11457 T6RUPTOR CCS BLAST
045459,000864: 17,3670 13747 TCF ZBLAST # ZERO BLAST1
045460,000865: 17,3671 13706 TCF REPLACE # REPLACE WORD1
045461,000866: 17,3672 13674 TCF +2
045462,000867: 17,3673 13706 TCF REPLACE
045463,000868: 17,3674 11461 T6L1 CCS BLAST1
045464,000869: 17,3675 13752 TCF ZBLAST1
045465,000870: 17,3676 13713 TCF REPLACE1
045466,000871: 17,3677 13701 TCF +2
045467,000872: 17,3700 13713 TCF REPLACE1
045468,000873: 17,3701 11463 T6L2 CCS BLAST2
045469,000874: 17,3702 13755 TCF ZBLAST2
045470,000875: 17,3703 13720 TCF REPLACE2
045471,000876: 17,3704 15222 TCF RESUME
045472,000877: 17,3705 13720 TCF REPLACE2
045473,000878:
045474,000879: 17,3706 51460 REPLACE INDEX BLAST +1
045475,000880: 17,3707 03725 TC REPLACER
045476,000881: 17,3710 44712 CS ONE
045477,000882: 17,3711 55457 TS BLAST
045478,000883: 17,3712 13674 TCF T6L1
045479,000884:
045480,000885: 17,3713 51462 REPLACE1 INDEX BLAST1 +1
045481,000886: # Page 1037
045482,000887: 17,3714 03725 TC REPLACER
045483,000888: 17,3715 44712 CS ONE
045484,000889: 17,3716 55461 TS BLAST1
045485,000890: 17,3717 13701 TCF T6L2
045486,000891:
045487,000892: 17,3720 51464 REPLACE2 INDEX BLAST2 +1
045488,000893: 17,3721 03725 TC REPLACER
045489,000894: 17,3722 44712 CS ONE
045490,000895: 17,3723 55463 TS BLAST2
045491,000896: 17,3724 15222 TCF RESUME
045492,000897:
045493,000898: 17,3725 31452 REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2
045494,000899: 17,3726 00006 EXTEND
045495,000900: 17,3727 01006 WRITE CHAN6
045496,000901: 17,3730 00002 TC Q
045497,000902:
045498,000903: 17,3731 32761 REPLACEP CA YJETS
045499,000904: 17,3732 00006 EXTEND
045500,000905: 17,3733 02005 RAND CHAN5
045501,000906: 17,3734 61454 AD PWORD2
045502,000907: 17,3735 00006 EXTEND
045503,000908: 17,3736 01005 WRITE CHAN5
045504,000909: 17,3737 00002 TC Q
045505,000910:
045506,000911: 17,3740 32760 REPLACEY CA PJETS
045507,000912: 17,3741 00006 EXTEND
045508,000913: 17,3742 02005 RAND CHAN5
045509,000914: 17,3743 61456 AD YWORD2
045510,000915: 17,3744 00006 EXTEND
045511,000916: 17,3745 01005 WRITE CHAN5
045512,000917: 17,3746 00002 TC Q
045513,000918:
045514,000919: 17,3747 34714 ZBLAST CAF ZERO
045515,000920: 17,3750 57457 XCH BLAST
045516,000921: 17,3751 13757 TCF ENABT6
045517,000922: 17,3752 34714 ZBLAST1 CAF ZERO
045518,000923: 17,3753 57461 XCH BLAST1
045519,000924: 17,3754 13757 TCF ENABT6
045520,000925: 17,3755 34714 ZBLAST2 CAF ZERO
045521,000926: 17,3756 57463 XCH BLAST2
045522,000927: 17,3757 54031 ENABT6 TS TIME6
045523,000928: 17,3760 34674 CAF NEGMAX
045524,000929: 17,3761 00006 EXTEND
045525,000930: 17,3762 05013 WOR CHAN13 # ENABLE T6RUPT
045526,000931: 17,3763 15222 TCF RESUME
045527,000932:
045528,000933: # END OF T6 INTERRUPT
045529,000934:
045530,000935: 17,3764 ENDSLECT EQUALS
045531,000936:
End of include-file JET_SELECTION_LOGIC.agc. Parent file is MAIN.agc