Source Code
040691,000001: # Copyright: Public domain.
040692,000002: # Filename: TVCDAPS.agc
040693,000003: # Purpose: Part of the source code for Colossus, build 249.
040694,000004: # It is part of the source code for the Command Module's (CM)
040695,000005: # Apollo Guidance Computer (AGC), possibly for Apollo 8 and 9.
040696,000006: # Assembler: yaYUL
040697,000007: # Reference: Begins at p. 925 of 1701.pdf.
040698,000008: # Contact: Ron Burkey <info@sandroid.org>.
040699,000009: # Website: www.ibiblio.org/apollo.
040700,000010: # Mod history: 08/23/04 RSB. Began transcribing.
040701,000011:
040702,000012: # The contents of the "Colossus249" files, in general, are transcribed
040703,000013: # from a scanned document obtained from MIT's website,
040704,000014: # http://hrst.mit.edu/hrs/apollo/public/archive/1701.pdf. Notations on this
040705,000015: # document read, in part:
040706,000016:
040707,000017: # Assemble revision 249 of AGC program Colossus by NASA
040708,000018: # 2021111-041. October 28, 1968.
040709,000019:
040710,000020: # This AGC program shall also be referred to as
040711,000021: # Colossus 1A
040712,000022:
040713,000023: # Prepared by
040714,000024: # Massachussets Institute of Technology
040715,000025: # 75 Cambridge Parkway
040716,000026: # Cambridge, Massachusetts
040717,000027: # under NASA contract NAS 9-4065.
040718,000028:
040719,000029: # Refer directly to the online document mentioned above for further information.
040720,000030: # Please report any errors (relative to 1701.pdf) to info@sandroid.org.
040721,000031:
040722,000032: # In some cases, where the source code for Luminary 131 overlaps that of
040723,000033: # Colossus 249, this code is instead copied from the corresponding Luminary 131
040724,000034: # source file, and then is proofed to incorporate any changes.
040725,000035:
040726,000036: # Page 925
040727,000037: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
040728,000038: # LOG SECTION....TVCDAP SUBROUTINE....DAPCSM
040729,000039: # MOD BY ENGEL DATE....27 OCT, 1967
040730,000040:
040731,000041: # FUNCTIONAL DESCRIPTION
040732,000042:
040733,000043: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
040734,000044: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
040735,000045: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
040736,000046: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
040737,000047: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
040738,000048:
040739,000049: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
040740,000050: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
040741,000051: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
040742,000052: # INTEGRATION WITH ERROR LIMITING, THE CSM/LEM FILTER OR THE BRANCH
040743,000053: # POINTS FOR THE CSM-ALONE (GEN3DAP) FILTER, OUTPUT LIMITER,
040744,000054: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
040745,000055:
040746,000056: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
040747,000057: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
040748,000058: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
040749,000059: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
040750,000060: # MODING.
040751,000061:
040752,000062: # REFERENCES FOR THE CSM/LEM FILTER DESIGN INCLUDE R503 BY STUBBS
040753,000063: # (MIT IL OCT 1965) AND SGA MEMO R26-65 BY MARTIN (MIT IL OCT 1965).
040754,000064: # REFERENCES FOR THE CSM FILTER DESIGN (SEE GEN3DAP) INCLUDE R533 BY
040755,000065: # LU (MIT IL JUNE 1966).
040756,000066:
040757,000067: # OPERATIONAL ASPECTS OF THE INTEGRATED CONTROL PACKAGE, WITH DESIGN-
040758,000068: # NOMINAL PARAMETER VALUES ARE DISCUSSED IN AG R336-67 BY ENGEL
040759,000069: # (MIT IL OCT 1967) AND SGA MEMO R18-67 BY SCHLUNDT (MIT IL OCT 1967)
040760,000070:
040761,000071: # CALLING SEQUENCE.... (TYPICALLY)
040762,000072:
040763,000073: # T5 CALL OF TVCDAPON (P40-P47) BY IGNOVER (P40-P47)
040764,000074: # T5 CALL OF DAPINIT BY TVCINIT4 (P40-P47)
040765,000075: # T5 CALL OF DAPINIT BY DAPINIT
040766,000076: # T5 CALL OF PITCHDAP BY DAPINIT
040767,000077: # T5 CALL OF YAWDAP BY PITCHDAP
040768,000078: # T5 CALL OF PITCHDAP BY YAWDAP
040769,000079: # ETC.
040770,000080: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
040771,000081:
040772,000082: # NORMAL EXIT MODE....RESUME
040773,000083:
040774,000084: # ALARM OR ABORT EXIT MODES....NONE
040775,000085:
040776,000086: # SUBROUTINES CALLED....
040777,000087: # Page 926
040778,000088:
040779,000089: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
040780,000090: # NP0-, NP1-, NY0-, AND NY1NODE FOR GEN3DAP (LEM-OFF) FILTERS
040781,000091: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
040782,000092: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
040783,000093: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
040784,000094: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
040785,000095: # YAW DAPS
040786,000096: # OPTVAR, NSUM, DSUM FOR CSM/LEM FILTER OPERATIONS, COMMON TO
040787,000097: # PITCH AND YAW DAPS
040788,000098: # RESUME
040789,000099:
040790,000100: # OTHER INTERFACES
040791,000101:
040792,000102: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
040793,000103: # S40.15 FOR THE INITIAL DAP GAINS KP/KPDN (LEM-ON) OR KPGEN3 (-OFF)
040794,000104: # TVCEXECUTIVE FOR VARIABLE DAP GAINS, FILTER SAMPLE-RATE CHANGE AND
040795,000105: # GAIN REDUCTION AT LEM-ON SWITCHOVER, SINGLE-SHOT CG. ESTIMATION
040796,000106: # AT SWITCHOVER AND REPETITIVE CG ESTIMATION AFTER SWITCHOVER.
040797,000107: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
040798,000108:
040799,000109: # ERASABLE INITIALIZATION REQUIRED....
040800,000110:
040801,000111: # 29 PAD-LOAD ERASABLES ESTROKER.....EREPFRAC +1
040802,000112: # KP/KPDN (KPGEN3) AS IN S40.15 (R03)
040803,000113: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
040804,000114: # ENGINE-ON BIT (11.13) FOR RESTARTS
040805,000115: # TVCPHASE FOR RESTARTS (SEE IGNOVER, AND TVCINIT4)
040806,000116: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
040807,000117: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
040808,000118: # INCLUDING THE ZEROING OF 64 TEMPORARIES BY MRCLEAN
040809,000119: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY CDUTRIG1 (WITH
040810,000120: # UPDATES EVERY 1/2 SECOND)
040811,000121: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
040812,000122: # UNLESS BENCH-TESTING.
040813,000123:
040814,000124: # OUTPUT....
040815,000125:
040816,000126: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL
040817,000127: # COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
040818,000128: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
040819,000129: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
040820,000130:
040821,000131: # DEBRIS....
040822,000132:
040823,000133: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
040824,000134:
040825,000135: 17,2213 BANK 17
040826,000136: 20,2000 SETLOC DAPS2
040827,000137: 20,2000 BANK
040828,000138: # Page 927
040829,000139: 20,2327 E6,1742 EBANK= BZERO
040830,000140: 20,2327 COUNT* $$/DAPS
040831,000141:
040832,000142: # Page 929
040833,000143: # PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
040834,000144:
040835,000145: 20,2327 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
040836,000146: 20,2330 00006 EXTEND
040837,000147: 20,2331 22012 QXCH QRUPT
040838,000148:
040839,000149: 20,2332 33420 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
040840,000150: 20,2333 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
040841,000151: 20,2334 31635 CAE T5TVCDT
040842,000152: 20,2335 54030 TS TIME5
040843,000153:
040844,000154: 20,2336 11614 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
040845,000155: 20,2337 03506 TC HACK # TEST-START OR TEST-IN-PROGRESS
040846,000156: 20,2340 12342 TCF +2 # NO-TEST
040847,000157: 20,2341 03506 TC HACK # TEST-IN-PROGRESS
040848,000158:
040849,000159: 20,2342 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT
040850,000160: 20,2343 57655 XCH PCDUYPST # FOR PITCH AUTOPILOT
040851,000161: 20,2344 00006 EXTEND
040852,000162: 20,2345 21655 MSU PCDUYPST
040853,000163: 20,2346 02547 TCR RLIMTEST # RATE TEST
040854,000164: 20,2347 55657 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
040855,000165:
040856,000166: 20,2350 30034 CAE CDUZ # COMPUTE CDUZDOT
040857,000167: 20,2351 57656 XCH PCDUZPST # FOR PITCH AUTOPILOT
040858,000168: 20,2352 00006 EXTEND
040859,000169: 20,2353 21656 MSU PCDUZPST
040860,000170: 20,2354 02547 TCR RLIMTEST # RATE TEST
040861,000171: 20,2355 55660 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
040862,000172:
040863,000173: 20,2356 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
040864,000174: 20,2357 31616 DCA PERRB # ERROR, SC.AT B-1 REVS
040865,000175: 20,2360 53743 DXCH ERRBTMP
040866,000176:
040867,000177: 20,2361 00006 EXTEND
040868,000178: 20,2362 31530 DCA OMEGAYC
040869,000179: 20,2363 21743 DAS ERRBTMP
040870,000180:
040871,000181: 20,2364 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
040872,000182: 20,2365 00006 EXTEND
040873,000183: 20,2366 70750 MP COSCDUX
040874,000184: 20,2367 20001 DDOUBL
040875,000185: 20,2370 00006 EXTEND
040876,000186: 20,2371 71657 MP MCDUYDOT
040877,000187: 20,2372 20001 DDOUBL
040878,000188: 20,2373 53536 DXCH OMEGAYB
040879,000189:
040880,000190: 20,2374 41660 CS MCDUZDOT
040881,000191: 20,2375 00006 EXTEND
040882,000192: # Page 929
040883,000193: 20,2376 70742 MP SINCDUX
040884,000194: 20,2377 20001 DDOUBL
040885,000195: 20,2400 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
040886,000196:
040887,000197: 20,2401 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
040888,000198: 20,2402 41536 DCS OMEGAYB
040889,000199: 20,2403 21743 DAS ERRBTMP
040890,000200:
040891,000201: 20,2404 03126 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
040892,000202:
040893,000203: 20,2405 31466 P1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040894,000204: 20,2406 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040895,000205: 20,2407 10000 CCS A
040896,000206: 20,2410 12413 TCF +3 # USE LEM-ON FILTER
040897,000207: 20,2411 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040898,000208: 20,2412 36213 CADR NP0NODE
040899,000209:
040900,000210: 20,2413 00006 PFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS.
040901,000211: 20,2414 41544 DCS PDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
040902,000212: 20,2415 53745 DXCH JZERO
040903,000213:
040904,000214: 20,2416 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
040905,000215: 20,2417 61541 AD PNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
040906,000216: 20,2420 00006 EXTEND
040907,000217: 20,2421 74727 MP KPDN # KPDN, SC.AT B+1 SPASCREV
040908,000218: 20,2422 21745 DAS JZERO
040909,000219: 20,2423 31542 CAE PNSUM +1
040910,000220: 20,2424 00006 EXTEND
040911,000221: 20,2425 74727 MP KPDN
040912,000222: 20,2426 27745 ADS JZERO +1
040913,000223: 20,2427 54001 TS L
040914,000224: 20,2430 12432 TCF +2
040915,000225: 20,2431 27744 ADS JZERO # (SC.AT B+0 SPASCREV), (JZERO = CMDTMP)
040916,000226:
040917,000227: 20,2432 00006 JZSTORE EXTEND # PREPARE JZERO FOR DENOMINATOR LADDER
040918,000228: 20,2433 31745 DCA JZERO # SC.AT B+0 SPASCREV
040919,000229: 20,2434 20001 DDOUBL
040920,000230: 20,2435 20001 DDOUBL
040921,000231: 20,2436 20001 DDOUBL
040922,000232: 20,2437 53727 DXCH J1TMP # SC.AT B-3 SPASCREV
040923,000233:
040924,000234: 20,2440 03141 OPTVARKP TCR OPTVARK # PITCH VARIABLE-GAIN PACKAGE
040925,000235:
040926,000236: 20,2441 00006 POFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
040927,000237: 20,2442 41745 DCS CMDTMP # (GEN3DAP RETURNS AT POFFSET)
040928,000238: 20,2443 53745 DXCH CMDTMP
040929,000239: 20,2444 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
040930,000240: 20,2445 31626 DCA PDELOFF
040931,000241: 20,2446 21745 DAS CMDTMP
040932,000242:
040933,000243: # Page 930
040934,000244: 20,2447 31745 PROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
040935,000245: 20,2450 60000 DOUBLE
040936,000246: 20,2451 54001 TS L
040937,000247: 20,2452 34714 CAF ZERO
040938,000248: 20,2453 61744 AD CMDTMP
040939,000249:
040940,000250: 20,2454 03161 PACLIM TCR ACTLIM # PITCH ACTUATOR-COMMAND-LIMITER
040941,000251:
040942,000252: 20,2455 41631 POUT CS PCMD # INCREMENTAL PITCH COMMAND
040943,000253: 20,2456 61744 AD CMDTMP
040944,000254: 20,2457 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
040945,000255: # PROTECT, SINCE ERROR CNTR ZEROED)
040946,000256:
040947,000257: 20,2460 34700 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
040948,000258: 20,2461 00006 EXTEND
040949,000259: 20,2462 05014 WOR CHAN14
040950,000260: 20,2463 31466 P2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
040951,000261: 20,2464 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
040952,000262: 20,2465 10000 CCS A
040953,000263: 20,2466 12471 TCF +3 # USE LEM-ON FILTER
040954,000264: 20,2467 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
040955,000265: 20,2470 36246 CADR NP1NODE
040956,000266: 20,2471 31742 BZSTORE CAE ERRBTMP # PREPARE BZERO (UPPER WORD OF ERRBTMP)
040957,000267: 20,2472 60000 DOUBLE # FOR NUMERATOR LATTER....SC.AT B-1
040958,000268: 20,2473 55717 TS B1TMP # SC.AT B-2 REVS FOR LADDER
040959,000269: 20,2474 00006 PNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
040960,000270: 20,2475 31546 DCA B1 # NUMERATOR LADDER
040961,000271: 20,2476 53721 DXCH B2TMP
040962,000272: 20,2477 00006 EXTEND
040963,000273: 20,2500 31550 DCA B3
040964,000274: 20,2501 53723 DXCH B4TMP
040965,000275: 20,2502 00006 EXTEND
040966,000276: 20,2503 31552 DCA B5
040967,000277: 20,2504 53725 DXCH B6TMP
040968,000278:
040969,000279: 20,2505 03173 PNSUMC TCR NSUM # PITCH NUMERATOR SUM
040970,000280: 20,2506 00006 PDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING PITCH
040971,000281: 20,2507 31554 DCA J1 # DENOMINATOR LADDER
040972,000282: 20,2510 53731 DXCH J2TMP
040973,000283: 20,2511 00006 EXTEND
040974,000284: 20,2512 31556 DCA J2
040975,000285: 20,2513 53733 DXCH J3TMP
040976,000286: 20,2514 00006 EXTEND
040977,000287: 20,2515 31560 DCA J3
040978,000288: # Page 931
040979,000289: 20,2516 53735 DXCH J4TMP
040980,000290: 20,2517 00006 EXTEND
040981,000291: 20,2520 31562 DCA J4
040982,000292: 20,2521 53737 DXCH J5TMP
040983,000293: 20,2522 00006 EXTEND
040984,000294: 20,2523 31564 DCA J5
040985,000295: 20,2524 53741 DXCH J6TMP
040986,000296:
040987,000297: 20,2525 03233 PDSUMC TCR DSUM # PITCH DENOMINATOR SUM
040988,000298:
040989,000299: 20,2526 31744 DELBARP CAE CMDTMP # UPDATE PITCH OFFSET-TRACKER-FILTER
040990,000300: 20,2527 00006 EXTEND # (GEN3DAP RETURNS AT "DELBARP")
040991,000301: 20,2530 73421 MP 1-E(-AT)
040992,000302: 20,2531 53716 DXCH DELBRTMP
040993,000303: 20,2532 31621 CAE DELPBAR
040994,000304: 20,2533 00006 EXTEND
040995,000305: 20,2534 73422 MP E(-AT)
040996,000306: 20,2535 21716 DAS DELBRTMP
040997,000307: 20,2536 31622 CAE DELPBAR +1
040998,000308: 20,2537 00006 EXTEND
040999,000309: 20,2540 73422 MP E(-AT)
041000,000310: 20,2541 27716 ADS DELBRTMP +1
041001,000311: 20,2542 54001 TS L
041002,000312: 20,2543 12545 TCF +2
041003,000313: 20,2544 27715 ADS DELBRTMP
041004,000314:
041005,000315: 20,2545 02560 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
041006,000316:
041007,000317: 20,2546 15222 PDAPEND TCF RESUME # PITCH DAP COMPLETED
041008,000318: 20,2547 55744 RLIMTEST TS CMDTMP # TEST FOR EXCESSIVE CDU RATES
041009,000319: 20,2550 00006 EXTEND # IF CDU DIFFERENCE EXCEEDS 2.33 DEG
041010,000320: 20,2551 73415 MP 1/RTLIM # IF ONE SAMPLE PERIOD, SET CDURATE=0
041011,000321: 20,2552 00006 EXTEND
041012,000322: 20,2553 12556 BZF +3
041013,000323: 20,2554 34714 CAF ZERO
041014,000324: 20,2555 55744 TS CMDTMP
041015,000325: 20,2556 31744 CAE CMDTMP
041016,000326: 20,2557 00002 TC Q
041017,000327:
041018,000328: # Page 932
041019,000329: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
041020,000330:
041021,000331: 20,2560 25654 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
041022,000332: # NOTE POSSIBLE RE-ENTRY FROM RESTART
041023,000333: # PACKAGE, SHOULD A RESTART OCCUR
041024,000334: # DURING PITCH COPYCYCLE.
041025,000335:
041026,000336: 20,2561 00006 NEWB(S) EXTEND # UPDATE PITCH NUMERATOR LADDER FROM
041027,000337: 20,2562 31720 DCA B1TMP # TEMPORARIES
041028,000338: 20,2563 53546 DXCH B1
041029,000339: 20,2564 00006 EXTEND
041030,000340: 20,2565 31722 DCA B3TMP
041031,000341: 20,2566 53550 DXCH B3
041032,000342: 20,2567 00006 EXTEND
041033,000343: 20,2570 31724 DCA B5TMP
041034,000344: 20,2571 53552 DXCH B5
041035,000345:
041036,000346: 20,2572 00006 NEWJ(S) EXTEND # UPDATE PITCH DENOMINATOR LADDER FROM
041037,000347: 20,2573 31727 DCA J1TMP # TEMPORARIES
041038,000348: 20,2574 53554 DXCH J1
041039,000349: 20,2575 00006 EXTEND
041040,000350: 20,2576 31731 DCA J2TMP
041041,000351: 20,2577 53556 DXCH J2
041042,000352: 20,2600 00006 EXTEND
041043,000353: 20,2601 31733 DCA J3TMP
041044,000354: 20,2602 53560 DXCH J3
041045,000355: 20,2603 00006 EXTEND
041046,000356: 20,2604 31735 DCA J4TMP
041047,000357: 20,2605 53562 DXCH J4
041048,000358: 20,2606 00006 EXTEND # (ALSO NP1TMP,+1 TO NP1,+1)
041049,000359: 20,2607 31737 DCA J5TMP
041050,000360: 20,2610 53564 DXCH J5
041051,000361:
041052,000362: 20,2611 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
041053,000363: 20,2612 31743 DCA ERRBTMP
041054,000364: 20,2613 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
041055,000365: 20,2614 53616 DXCH PERRB
041056,000366:
041057,000367: 20,2615 00006 EXTEND # PITCH NUMERATOR SUM
041058,000368: 20,2616 31712 DCA NSUMTMP # (ALSO NP2TMP,+1 TO NP2,+1)
041059,000369: 20,2617 53542 DXCH PNSUM
041060,000370:
041061,000371: 20,2620 00006 EXTEND # PITCH DENOMINATOR SUM
041062,000372: 20,2621 31714 DCA DSUMTMP # (ALSO NP3TMP,+1 TO NP3,+1)
041063,000373: 20,2622 53544 DXCH PDSUM
041064,000374:
041065,000375: 20,2623 31744 CAE CMDTMP # PITCH ACTUATOR COMMAND
041066,000376: 20,2624 55631 TS PCMD
041067,000377:
041068,000378: 20,2625 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
041069,000379: # Page 933
041070,000380: 20,2626 31716 DCA DELBRTMP
041071,000381: 20,2627 53622 DXCH DELPBAR
041072,000382:
041073,000383: 20,2630 25654 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED
041074,000384:
041075,000385: 20,2631 00002 TC Q
041076,000386:
041077,000387: # Page 934
041078,000388: # TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
041079,000389:
041080,000390: 20,2632 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
041081,000391: 20,2633 00006 EXTEND
041082,000392: 20,2634 22012 QXCH QRUPT
041083,000393:
041084,000394: 20,2635 33416 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
041085,000395: 20,2636 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
041086,000396: 20,2637 31635 CAE T5TVCDT
041087,000397: 20,2640 54030 TS TIME5
041088,000398:
041089,000399: 20,2641 11614 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
041090,000400: 20,2642 03506 TC HACK # TEST-START OR TEST-IN-PROGRESS
041091,000401: 20,2643 12645 TCF +2 # NO-TEST
041092,000402: 20,2644 03506 TC HACK # TEST-IN-PROGRESS
041093,000403:
041094,000404: # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
041095,000405:
041096,000406: 20,2645 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
041097,000407: 20,2646 31620 DCA YERRB # ERROR, SC.AT B-1 REVS
041098,000408: 20,2647 53743 DXCH ERRBTMP
041099,000409:
041100,000410: 20,2650 00006 EXTEND
041101,000411: 20,2651 31532 DCA OMEGAZC
041102,000412: 20,2652 21743 DAS ERRBTMP
041103,000413:
041104,000414: 20,2653 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
041105,000415: 20,2654 00006 EXTEND
041106,000416: 20,2655 70742 MP SINCDUX
041107,000417: 20,2656 20001 DDOUBL
041108,000418: 20,2657 00006 EXTEND
041109,000419: 20,2660 71657 MP MCDUYDOT
041110,000420: 20,2661 20001 DDOUBL
041111,000421: 20,2662 53540 DXCH OMEGAZB
041112,000422:
041113,000423: 20,2663 41660 CS MCDUZDOT
041114,000424: 20,2664 00006 EXTEND
041115,000425: 20,2665 70750 MP COSCDUX
041116,000426: 20,2666 20001 DDOUBL
041117,000427: 20,2667 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
041118,000428:
041119,000429: 20,2670 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
041120,000430: 20,2671 41540 DCS OMEGAZB
041121,000431: 20,2672 21743 DAS ERRBTMP
041122,000432:
041123,000433: 20,2673 03126 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
041124,000434:
041125,000435: 20,2674 31466 Y1FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
041126,000436: 20,2675 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
041127,000437:
041128,000438: # Page 935
041129,000439: 20,2676 10000 CCS A
041130,000440: 20,2677 12702 TCF +3 # USE LEM-ON FILTER
041131,000441: 20,2700 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
041132,000442: 20,2701 36405 CADR NY0NODE
041133,000443:
041134,000444: 20,2702 00006 YFORWARD EXTEND # LEM-ON FILTER COMPUTATIONS
041135,000445: 20,2703 41570 DCS YDSUM # DENOMINATOR TERMS, SC.AT B+0 SPASCREVS
041136,000446: 20,2704 53745 DXCH YZERO
041137,000447:
041138,000448: 20,2705 31742 CAE ERRBTMP # INPUT ERROR, SC.AT B-1 REVS
041139,000449: 20,2706 61565 AD YNSUM # NUMERATOR TERMS, SC.AT B-1 REVS
041140,000450: 20,2707 00006 EXTEND
041141,000451: 20,2710 74727 MP KYDN # KYDN, SC.AT B+1 SPASCREV
041142,000452: 20,2711 21745 DAS YZERO
041143,000453: 20,2712 31566 CAE YNSUM +1
041144,000454: 20,2713 00006 EXTEND
041145,000455: 20,2714 74727 MP KYDN
041146,000456: 20,2715 27745 ADS YZERO +1
041147,000457: 20,2716 54001 TS L
041148,000458: 20,2717 12721 TCF +2
041149,000459: 20,2720 27744 ADS YZERO # (SC.AT B+0 SPASCREV), (YZERO = CMDTMP)
041150,000460:
041151,000461: 20,2721 00006 YZSTORE EXTEND # PREPARE YZERO FOR DENOMINATOR LADDER
041152,000462: 20,2722 31745 DCA YZERO # SC.AT B+0 SPASCREV
041153,000463: 20,2723 20001 DDOUBL
041154,000464: 20,2724 20001 DDOUBL
041155,000465: 20,2725 20001 DDOUBL
041156,000466: 20,2726 53727 DXCH Y1TMP # SC.AT B-3 SPASCREV
041157,000467:
041158,000468: 20,2727 03141 OPTVARKY TCR OPTVARK # YAW VARIABLE-GAIN PACKAGE
041159,000469:
041160,000470: 20,2730 00006 YOFFSET EXTEND # SIGN CHANGE IN FORWARD LOOP
041161,000471: 20,2731 41745 DCS CMDTMP # (GEN3DAP RETURNS AT YOFFSET)
041162,000472: 20,2732 53745 DXCH CMDTMP
041163,000473: 20,2733 00006 EXTEND # ADD IN DOUBLE-PRECISION CG OFFSETS
041164,000474: 20,2734 31630 DCA YDELOFF
041165,000475: 20,2735 21745 DAS CMDTMP
041166,000476:
041167,000477: 20,2736 31745 YROUND CAE CMDTMP +1 # ROUND UP FOR OUTPUT
041168,000478: 20,2737 60000 DOUBLE
041169,000479: 20,2740 54001 TS L
041170,000480: 20,2741 34714 CAF ZERO
041171,000481: 20,2742 61744 AD CMDTMP
041172,000482:
041173,000483: 20,2743 03161 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
041174,000484:
041175,000485: 20,2744 41632 YOUT CS YCMD # INCRMENTAL YAW COMMAND
041176,000486: 20,2745 61744 AD CMDTMP
041177,000487: 20,2746 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
041178,000488: # PROTECT, SINCE ERROR CNTR ZEROED)
041179,000489: # Page 936
041180,000490: 20,2747 34677 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
041181,000491: 20,2750 00006 EXTEND
041182,000492: 20,2751 05014 WOR CHAN14
041183,000493: 20,2752 31466 Y2FILJMP CAE DAPDATR1 # CHECK FOR LEM-ON/-OFF
041184,000494: 20,2753 74675 MASK BIT14 # (BIT 14 INDICATES LEM IS ON)
041185,000495: 20,2754 10000 CCS A
041186,000496: 20,2755 12760 TCF +3 # USE LEM-ON FILTER
041187,000497: 20,2756 04574 TC POSTJUMP # USE LEM-OFF (GEN3DAP) FILTER
041188,000498: 20,2757 36440 CADR NY1NODE
041189,000499: 20,2760 31742 CZSTORE CAE ERRBTMP # PREPARE CZERO (UPPER WORD OF ERRBTMP)
041190,000500: 20,2761 60000 DOUBLE # FOR NUMERATOR LATTER....SC.AT B-1
041191,000501: 20,2762 55717 TS C1TMP # SC.AT B-2 REVS FOR LADDER
041192,000502: 20,2763 00006 YNLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
041193,000503: 20,2764 31572 DCA C1 # NUMERATOR LADDER
041194,000504: 20,2765 53721 DXCH C2TMP
041195,000505: 20,2766 00006 EXTEND
041196,000506: 20,2767 31574 DCA C3
041197,000507: 20,2770 53723 DXCH C4TMP
041198,000508: 20,2771 00006 EXTEND
041199,000509: 20,2772 31576 DCA C5
041200,000510: 20,2773 53725 DXCH C6TMP
041201,000511:
041202,000512: 20,2774 03173 YNSUMC TCR NSUM # YAW NUMERATOR SUM
041203,000513: 20,2775 00006 YDLADDER EXTEND # PREPARE TEMPORARIES, FOR UPDATING YAW
041204,000514: 20,2776 31600 DCA Y1 # DENOMINATOR LADDER
041205,000515: 20,2777 53731 DXCH Y2TMP
041206,000516: 20,3000 00006 EXTEND
041207,000517: 20,3001 31602 DCA Y2
041208,000518: 20,3002 53733 DXCH Y3TMP
041209,000519: 20,3003 00006 EXTEND
041210,000520: 20,3004 31604 DCA Y3
041211,000521: 20,3005 53735 DXCH Y4TMP
041212,000522: 20,3006 00006 EXTEND
041213,000523: 20,3007 31606 DCA Y4
041214,000524: 20,3010 53737 DXCH Y5TMP
041215,000525: 20,3011 00006 EXTEND
041216,000526: 20,3012 31610 DCA Y5
041217,000527: 20,3013 53741 DXCH Y6TMP
041218,000528:
041219,000529: 20,3014 03233 YDSUMC TCR DSUM # YAW DENOMINATOR SUM
041220,000530:
041221,000531: 20,3015 31744 DELBARY CAE CMDTMP # UPDATE YAW OFFSET-TRACKER-FILTER
041222,000532: 20,3016 00006 EXTEND # (GEN3DAP RETURNS AT "DELBARY")
041223,000533: 20,3017 73421 MP 1-E(-AT)
041224,000534: # Page 937
041225,000535: 20,3020 53716 DXCH DELBRTMP
041226,000536: 20,3021 31623 CAE DELYBAR
041227,000537: 20,3022 00006 EXTEND
041228,000538: 20,3023 73422 MP E(-AT)
041229,000539: 20,3024 21716 DAS DELBRTMP
041230,000540: 20,3025 31624 CAE DELYBAR +1
041231,000541: 20,3026 00006 EXTEND
041232,000542: 20,3027 73422 MP E(-AT)
041233,000543: 20,3030 27716 ADS DELBRTMP +1
041234,000544: 20,3031 54001 TS L
041235,000545: 20,3032 13034 TCF +2
041236,000546: 20,3033 27715 ADS DELBRTMP
041237,000547:
041238,000548: 20,3034 03036 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
041239,000549:
041240,000550: 20,3035 15222 YDAPEND TCF RESUME # YAW DAP COMPLETED
041241,000551:
041242,000552: # Page 938
041243,000553: # TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
041244,000554:
041245,000555: 20,3036 25654 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE.
041246,000556: # NOTE POSSIBLE RE-ENTRY FROM RESTART
041247,000557: # PACKAGE, SHOULD A RESTART OCCUR
041248,000558: # DURING YAW COPYCYCLE.
041249,000559:
041250,000560: 20,3037 00006 NEWC(S) EXTEND # UPDATE YAW NUMERATOR LADDER FROM
041251,000561: 20,3040 31720 DCA C1TMP # TEMPORARIES
041252,000562: 20,3041 53572 DXCH C1
041253,000563: 20,3042 00006 EXTEND
041254,000564: 20,3043 31722 DCA C3TMP
041255,000565: 20,3044 53574 DXCH C3
041256,000566: 20,3045 00006 EXTEND
041257,000567: 20,3046 31724 DCA C5TMP
041258,000568: 20,3047 53576 DXCH C5
041259,000569:
041260,000570: 20,3050 00006 NEWY(S) EXTEND # UPDATE YAW DENOMINATOR LADDER FROM
041261,000571: 20,3051 31727 DCA Y1TMP # TEMPORARIES
041262,000572: 20,3052 53600 DXCH Y1
041263,000573: 20,3053 00006 EXTEND
041264,000574: 20,3054 31731 DCA Y2TMP
041265,000575: 20,3055 53602 DXCH Y2
041266,000576: 20,3056 00006 EXTEND
041267,000577: 20,3057 31733 DCA Y3TMP
041268,000578: 20,3060 53604 DXCH Y3
041269,000579: 20,3061 00006 EXTEND
041270,000580: 20,3062 31735 DCA Y4TMP
041271,000581: 20,3063 53606 DXCH Y4
041272,000582: 20,3064 00006 EXTEND # (ALSO NYTMMP,+1 TO NY1,+1)
041273,000583: 20,3065 31737 DCA Y5TMP
041274,000584: 20,3066 53610 DXCH Y5
041275,000585:
041276,000586: 20,3067 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
041277,000587: 20,3070 31743 DCA ERRBTMP
041278,000588: 20,3071 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
041279,000589: 20,3072 53620 DXCH YERRB
041280,000590:
041281,000591: 20,3073 00006 EXTEND # YAW NUMERATOR SUM
041282,000592: 20,3074 31712 DCA NSUMTMP # (ALSO NY2TMP,+1 TO NY2,+1)
041283,000593: 20,3075 53566 DXCH YNSUM
041284,000594:
041285,000595: 20,3076 00006 EXTEND # YAW DENOMINATOR SUM
041286,000596: 20,3077 31714 DCA DSUMTMP # (ALSO NY3TMP,+1 TO NY3,+1)
041287,000597: 20,3100 53570 DXCH YDSUM
041288,000598:
041289,000599: 20,3101 31744 CAE CMDTMP # YAW ACTUATOR COMMAND
041290,000600: 20,3102 55632 TS YCMD
041291,000601:
041292,000602: 20,3103 00006 EXTEND # YAW OFFSET-TRACKER-FILTER
041293,000603: # Page 939
041294,000604: 20,3104 31716 DCA DELBRTMP
041295,000605: 20,3105 53624 DXCH DELYBAR
041296,000606: 20,3106 34714 CAF ZERO # YAW COPYCYCLE COMPLETED
041297,000607: 20,3107 55654 TS TVCPHASE # RESET TVCPHASE
041298,000608:
041299,000609: 20,3110 00002 TC Q
041300,000610:
041301,000611: # Page 940
041302,000612: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
041303,000613: # INITIALIZATION PACKAGE FOR CDURATES....
041304,000614:
041305,000615: 20,3111 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
041306,000616:
041307,000617: 20,3112 37716 CAF NEGONE # SET UP
041308,000618: 20,3113 61635 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
041309,000619: 20,3114 64674 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
041310,000620: 20,3115 61635 AD T5TVCDT
041311,000621: 20,3116 54030 TS TIME5
041312,000622: 20,3117 33416 CAF PITCHT5 # (BBCON ALREADY THERE)
041313,000623: 20,3120 55312 TS T5LOC
041314,000624:
041315,000625: 20,3121 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
041316,000626: 20,3122 55655 TS PCDUYPST # PAST-VALUES
041317,000627: 20,3123 30034 CAE CDUZ
041318,000628: 20,3124 55656 TS PCDUZPST
041319,000629:
041320,000630: 20,3125 15224 TCF NOQRSM
041321,000631:
041322,000632: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
041323,000633:
041324,000634: 20,3126 31742 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
041325,000635: 20,3127 00006 EXTEND # CHECKS UPPER WORD ONLY
041326,000636: 20,3130 74710 MP 1/ERRLIM
041327,000637: 20,3131 00006 EXTEND
041328,000638: 20,3132 13140 BZF +6
041329,000639: 20,3133 11742 CCS ERRBTMP
041330,000640: 20,3134 34676 CAF ERRLIM
041331,000641: 20,3135 13137 TCF +2
041332,000642: 20,3136 44676 CS ERRLIM
041333,000643: 20,3137 55742 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
041334,000644:
041335,000645: 20,3140 00002 TC Q
041336,000646:
041337,000647: # VARIABLE-GAIN PACKAGE....
041338,000648:
041339,000649: 20,3141 31744 OPTVARK CAE CMDTMP # VARIABLE-GAIN PACKAGE....CMDTMP CONTAINS
041340,000650: 20,3142 00006 EXTEND # JZERO OR YZERO
041341,000651: 20,3143 71651 MP VARK # VARIABLE-GAIN, SC.AT 4 ASCREV/SPASCREV
041342,000652: 20,3144 53745 DXCH CMDTMP
041343,000653: 20,3145 22000 LXCH A # LO-ORDER WORD OF INPUT CMDTMP
041344,000654: 20,3146 00006 EXTEND
041345,000655: 20,3147 71651 MP VARK
041346,000656: 20,3150 27745 ADS CMDTMP +1
041347,000657: 20,3151 54001 TS L
041348,000658: # Page 941
041349,000659: 20,3152 13154 TCF +2
041350,000660: 20,3153 27744 ADS CMDTMP
041351,000661:
041352,000662: 20,3154 53745 DXCH CMDTMP # FIX UP SCALING
041353,000663: 20,3155 20001 DDOUBL
041354,000664: 20,3156 20001 DDOUBL
041355,000665: 20,3157 53745 DXCH CMDTMP
041356,000666:
041357,000667: 20,3160 00002 TC Q
041358,000668:
041359,000669: # ACTUATOR-COMMAND LIMITER PACKAGE....
041360,000670:
041361,000671: 20,3161 00006 ACTLIM EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
041362,000672: 20,3162 73414 MP 1/ACTSAT
041363,000673: 20,3163 00006 EXTEND
041364,000674: 20,3164 13172 BZF +6
041365,000675: 20,3165 11744 CCS CMDTMP # APPLY LIMITS
041366,000676: 20,3166 33413 CAF ACTSAT
041367,000677: 20,3167 13171 TCF +2
041368,000678: 20,3170 43413 CS ACTSAT
041369,000679: 20,3171 55744 TS CMDTMP # LIMITS WRITE OVER CMDTMP
041370,000680:
041371,000681: 20,3172 00002 TC Q
041372,000682:
041373,000683: # NUMERATOR-SUM COMPUTATION....
041374,000684:
041375,000685: 20,3173 31717 NSUM CAE B1TMP # PREPARE NUMERATOR SUM, SCALING IS AT
041376,000686: 20,3174 00006 EXTEND # B+0 REVS ( = B+2 x B-2 )
041377,000687: 20,3175 73423 MP N1
041378,000688: 20,3176 53712 DXCH NSUMTMP
041379,000689:
041380,000690: 20,3177 31720 CAE B2TMP
041381,000691: 20,3200 00006 EXTEND
041382,000692: 20,3201 73424 MP N2
041383,000693: 20,3202 21712 DAS NSUMTMP
041384,000694:
041385,000695: 20,3203 31721 CAE B3TMP
041386,000696: 20,3204 00006 EXTEND
041387,000697: 20,3205 73425 MP N3
041388,000698: 20,3206 21712 DAS NSUMTMP
041389,000699:
041390,000700: 20,3207 31722 CAE B4TMP
041391,000701: 20,3210 00006 EXTEND
041392,000702: 20,3211 73426 MP N4
041393,000703: 20,3212 21712 DAS NSUMTMP
041394,000704:
041395,000705: 20,3213 31723 CAE B5TMP
041396,000706: 20,3214 00006 EXTEND
041397,000707: # Page 942
041398,000708: 20,3215 73427 MP N5
041399,000709: 20,3216 21712 DAS NSUMTMP
041400,000710:
041401,000711: 20,3217 31724 CAE B6TMP
041402,000712: 20,3220 00006 EXTEND
041403,000713: 20,3221 73430 MP N6
041404,000714: 20,3222 21712 DAS NSUMTMP
041405,000715:
041406,000716: 20,3223 31725 CAE B7TMP
041407,000717: 20,3224 00006 EXTEND
041408,000718: 20,3225 73431 MP N7
041409,000719: 20,3226 21712 DAS NSUMTMP
041410,000720:
041411,000721: 20,3227 53712 NSUMSC DXCH NSUMTMP # FIX UP SCALING (NOW AT B+0 REVS)
041412,000722: 20,3230 20001 DDOUBL
041413,000723: 20,3231 53712 DXCH NSUMTMP # SC.AT B-1 REV
041414,000724:
041415,000725: 20,3232 00002 TC Q
041416,000726:
041417,000727: # DENOMINATOR-SUM COMPUTATION....
041418,000728:
041419,000729: 20,3233 31726 DSUM CAE J1TMP # PREPARE DENOMINATOR SUM, SCALED
041420,000730: 20,3234 00006 EXTEND # AT B+1 SPASCREVS ( = B+4 x B-3)
041421,000731: 20,3235 73432 MP D1 # (J1TMP = J,YZERO, SC.AT B-3 REVS)
041422,000732: 20,3236 53714 DXCH DSUMTMP
041423,000733: 20,3237 31726 CAE J1TMP
041424,000734: 20,3240 00006 EXTEND
041425,000735: 20,3241 73433 MP D1 +1
041426,000736: 20,3242 27714 ADS DSUMTMP +1
041427,000737: 20,3243 54001 TS L
041428,000738: 20,3244 13246 TCF +2
041429,000739: 20,3245 27713 ADS DSUMTMP
041430,000740: 20,3246 31727 CAE J1TMP +1
041431,000741: 20,3247 00006 EXTEND
041432,000742: 20,3250 73432 MP D1
041433,000743: 20,3251 27714 ADS DSUMTMP +1
041434,000744: 20,3252 54001 TS L
041435,000745: 20,3253 13255 TCF +2
041436,000746: 20,3254 27713 ADS DSUMTMP
041437,000747:
041438,000748: 20,3255 31730 D2J2 CAE J2TMP
041439,000749: 20,3256 00006 EXTEND
041440,000750: 20,3257 73434 MP D2
041441,000751: 20,3260 21714 DAS DSUMTMP
041442,000752: 20,3261 31730 CAE J2TMP
041443,000753: 20,3262 00006 EXTEND
041444,000754: 20,3263 73435 MP D2 +1
041445,000755: 20,3264 27714 ADS DSUMTMP +1
041446,000756: 20,3265 54001 TS L
041447,000757: # Page 943
041448,000758: 20,3266 13270 TCF +2
041449,000759: 20,3267 27713 ADS DSUMTMP
041450,000760: 20,3270 31731 CAE J2TMP +1
041451,000761: 20,3271 00006 EXTEND
041452,000762: 20,3272 73434 MP D2
041453,000763: 20,3273 27714 ADS DSUMTMP +1
041454,000764: 20,3274 54001 TS L
041455,000765: 20,3275 13277 TCF +2
041456,000766: 20,3276 27713 ADS DSUMTMP
041457,000767:
041458,000768: 20,3277 31732 D3J3 CAE J3TMP
041459,000769: 20,3300 00006 EXTEND
041460,000770: 20,3301 73436 MP D3
041461,000771: 20,3302 21714 DAS DSUMTMP
041462,000772: 20,3303 31732 CAE J3TMP
041463,000773: 20,3304 00006 EXTEND
041464,000774: 20,3305 73437 MP D3 +1
041465,000775: 20,3306 27714 ADS DSUMTMP +1
041466,000776: 20,3307 54001 TS L
041467,000777: 20,3310 13312 TCF +2
041468,000778: 20,3311 27713 ADS DSUMTMP
041469,000779: 20,3312 31733 CAE J3TMP +1
041470,000780: 20,3313 00006 EXTEND
041471,000781: 20,3314 73436 MP D3
041472,000782: 20,3315 27714 ADS DSUMTMP +1
041473,000783: 20,3316 54001 TS L
041474,000784: 20,3317 13321 TCF +2
041475,000785: 20,3320 27713 ADS DSUMTMP
041476,000786:
041477,000787: 20,3321 31734 D4J4 CAE J4TMP
041478,000788: 20,3322 00006 EXTEND
041479,000789: 20,3323 73440 MP D4
041480,000790: 20,3324 21714 DAS DSUMTMP
041481,000791: 20,3325 31734 CAE J4TMP
041482,000792: 20,3326 00006 EXTEND
041483,000793: 20,3327 73441 MP D4 +1
041484,000794: 20,3330 27714 ADS DSUMTMP +1
041485,000795: 20,3331 54001 TS L
041486,000796: 20,3332 13334 TCF +2
041487,000797: 20,3333 27713 ADS DSUMTMP
041488,000798: 20,3334 31735 CAE J4TMP +1
041489,000799: 20,3335 00006 EXTEND
041490,000800: 20,3336 73440 MP D4
041491,000801: 20,3337 27714 ADS DSUMTMP +1
041492,000802: 20,3340 54001 TS L
041493,000803: 20,3341 13343 TCF +2
041494,000804: 20,3342 27713 ADS DSUMTMP
041495,000805:
041496,000806: 20,3343 31736 D5J5 CAE J5TMP
041497,000807: 20,3344 00006 EXTEND
041498,000808: # Page 944
041499,000809: 20,3345 73442 MP D5
041500,000810: 20,3346 21714 DAS DSUMTMP
041501,000811: 20,3347 31736 CAE J5TMP
041502,000812: 20,3350 00006 EXTEND
041503,000813: 20,3351 73443 MP D5 +1
041504,000814: 20,3352 27714 ADS DSUMTMP +1
041505,000815: 20,3353 54001 TS L
041506,000816: 20,3354 13356 TCF +2
041507,000817: 20,3355 27713 ADS DSUMTMP
041508,000818: 20,3356 31737 CAE J5TMP +1
041509,000819: 20,3357 00006 EXTEND
041510,000820: 20,3360 73442 MP D5
041511,000821: 20,3361 27714 ADS DSUMTMP +1
041512,000822: 20,3362 54001 TS L
041513,000823: 20,3363 13365 TCF +2
041514,000824: 20,3364 27713 ADS DSUMTMP
041515,000825:
041516,000826: 20,3365 31740 D6J6 CAE J6TMP
041517,000827: 20,3366 00006 EXTEND
041518,000828: 20,3367 73444 MP D6
041519,000829: 20,3370 21714 DAS DSUMTMP
041520,000830: 20,3371 31740 CAE J6TMP
041521,000831: 20,3372 00006 EXTEND
041522,000832: 20,3373 73445 MP D6 +1
041523,000833: 20,3374 27714 ADS DSUMTMP +1
041524,000834: 20,3375 54001 TS L
041525,000835: 20,3376 13400 TCF +2
041526,000836: 20,3377 27713 ADS DSUMTMP
041527,000837: 20,3400 31741 CAE J6TMP +1
041528,000838: 20,3401 00006 EXTEND
041529,000839: 20,3402 73444 MP D6
041530,000840: 20,3403 27714 ADS DSUMTMP +1
041531,000841: 20,3404 54001 TS L
041532,000842: 20,3405 13407 TCF +2
041533,000843: 20,3406 27713 ADS DSUMTMP
041534,000844:
041535,000845: 20,3407 53714 DSUMSC DXCH DSUMTMP # FIX UP SCALING (NOW AT B+1 SPASCREV)
041536,000846: 20,3410 20001 DDOUBL
041537,000847: 20,3411 53714 DXCH DSUMTMP # SC.AT B+0 SPASCREV
041538,000848:
041539,000849: 20,3412 00002 TC Q
041540,000850:
041541,000851: # Page 945
041542,000852: # CONSTANTS FOR AUTOPILOTS
041543,000853: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 65.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)
041544,000854: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
041545,000855:
041546,000856: 20,3413 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
041547,000857: 20,3414 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
041548,000858:
041549,000859: 20,3415 4676 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
041550,000860: 20,3415 4710 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
041551,000861:
041552,000862: 20,3415 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) =0 IF CDUDIF < 2.33 DEG
041553,000863:
041554,000864: 20,3416 4727 KPDN = DEC45 # DESIGN-NOMINAL FILTER GAIN, SC.AT B+1
041555,000865: 20,3416 4727 KYDN = KPDN # SPASCREV (FOR DEC45 BITS EXACTLY)
041556,000866: # KPDN = .005747 DEG/DEG
041557,000867: # SCALED KPDN = DEC45
041558,000868: # 1SPASCREV = KPDN(B+14)/(2x45)
041559,000869: # = 1.04620942 REVS
041560,000870:
041561,000871: 20,3416 02327 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
041562,000872: 20,3417 03111 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
041563,000873: 20,3420 02632 YAWT5 GENADR YAWDAP # REQUIRED.
041564,000874: 20,3421 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
041565,000875: 20,3422 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
041566,000876:
041567,000877: 20,3423 50166 N1 DEC -2.9708385 B-2 # NUMERATOR COEFS (CSM/LEM), SC.AT B+2
041568,000878: 20,3424 31436 N2 DEC 3.1947342 B-2
041569,000879: 20,3425 74561 N3 DEC -0.40962906 B-2
041570,000880: 20,3426 53277 N4 DEC -2.5780275 B-2
041571,000881: 20,3427 27550 N5 DEC 2.9629319 B-2
041572,000882: 20,3430 63725 N6 DEC -1.5101470 B-2
041573,000883: 20,3431 02400 N7 DEC 0.31243224 B-2
041574,000884:
041575,000885: 20,3432 66341 54237 D1 2DEC -4.7798977 B-4 # DENOMINATOR COEFS (CSM/LEM), SC.AT B+4
041576,000886: # Page 946
041577,000887: 20,3434 22707 36641 D2 2DEC 9.4452763 B-4
041578,000888: 20,3436 54220 40714 D3 2DEC -9.8593475 B-4
041579,000889: 20,3440 13344 21146 D4 2DEC 5.7231811 B-4
041580,000890: 20,3442 74401 61760 D5 2DEC -1.7484750 B-4
041581,000891: 20,3444 00340 23073 D6 2DEC 0.21933335 B-4
041582,000892:
End of include-file TVCDAPS.agc. Parent file is MAIN.agc