Source Code
046988,000001: # Copyright: Public domain.
046989,000002: # Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
046990,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
046991,000004: # It is part of the source code for the Command Module's (CM)
046992,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
046993,000006: # Assembler: yaYUL
046994,000007: # Contact: Ron Burkey <info@sandroid.org>.
046995,000008: # Website: www.ibiblio.org/apollo.
046996,000009: # Pages: 1063-1092
046997,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
046998,000011: # same name, using Comanche055 page images.
046999,000012: # 2009-05-20 RSB Corrections: Removed an extraneous label
047000,000013: # EXDAPIN, added a missing instruction in
047001,000014: # COMPAT.
047002,000015:
047003,000016: # This source code has been transcribed or otherwise adapted from digitized
047004,000017: # images of a hardcopy from the MIT Museum. The digitization was performed
047005,000018: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
047006,000019: # thanks to both. The images (with suitable reduction in storage size and
047007,000020: # consequent reduction in image quality as well) are available online at
047008,000021: # www.ibiblio.org/apollo. If for some reason you find that the images are
047009,000022: # illegible, contact me at info@sandroid.org about getting access to the
047010,000023: # (much) higher-quality images which Paul actually created.
047011,000024:
047012,000025: # Notations on the hardcopy document read, in part:
047013,000026:
047014,000027: # Assemble revision 055 of AGC program Comanche by NASA
047015,000028: # 2021113-051. 10:28 APR. 1, 1969
047016,000029:
047017,000030: # This AGC program shall also be referred to as
047018,000031: # Colossus 2A
047019,000032:
047020,000033: # Page 1063
047021,000034: # SUBROUTINE TO READ GIMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2'S COMPLEMENT, BUT THE
047022,000035: # DIFFERENECES ARE IN 1'S COMP. ENTER AND READ ANGLES EACH .1 SEC.
047023,000036:
047024,000037: # CM/DSTBY = 1 FOR DAP OPERATION
047025,000038: # CM/DSTBY = 0 TO TERMINATE DAP OPERATION
047026,000039:
047027,000040: 15,2434 BANK 15
047028,000041:
047029,000042: 15,2000 SETLOC ETRYDAP
047030,000043: 15,2000 BANK
047031,000044:
047032,000045: 15,2434 COUNT 15/DAPEN
047033,000046:
047034,000047: 15,2434 E6,1661 EBANK= AOG
047035,000048:
047036,000049: 15,2434 34377 READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
047037,000050: 15,2435 27725 ADS CM/GYMDT # PIPTIME. (GROUP 6)
047038,000051:
047039,000052: # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
047040,000053: # PHASCHNG PROTECTION IS IN CM/DAPIC.
047041,000054:
047042,000055: 15,2436 35012 CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
047043,000056: 15,2437 71321 MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
047044,000057: 15,2440 00006 EXTEND # GIMBAL DIFFERENCES)
047045,000058: 15,2441 12447 BZF READGYM1 # OK
047046,000059:
047047,000060: 15,2442 45017 CS BIT1 # NOT IN FINE ALIGN, SO IDLE
047048,000061: 15,2443 70102 MASK CM/FLAGS # SET GYMDIFSW = 0
047049,000062: 15,2444 54102 TS CM/FLAGS
047050,000063: 15,2445 06000 TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
047051,000064: 15,2446 02514 TC CM/GYMIC +2
047052,000065:
047053,000066: 15,2447 30032 READGYM1 CA CDUX
047054,000067: 15,2450 57661 XCH AOG
047055,000068: 15,2451 00006 EXTEND
047056,000069: 15,2452 21661 MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
047057,000070: 15,2453 55675 TS -DELAOG
047058,000071:
047059,000072: 15,2454 30033 CA CDUY
047060,000073: 15,2455 57662 XCH AIG
047061,000074: 15,2456 00006 EXTEND
047062,000075: 15,2457 21662 MSU AIG
047063,000076: 15,2460 55676 TS -DELAIG
047064,000077:
047065,000078: 15,2461 30034 CA CDUZ
047066,000079: 15,2462 57663 XCH AMG
047067,000080: 15,2463 00006 EXTEND
047068,000081: 15,2464 21663 MSU AMG
047069,000082: 15,2465 55677 TS -DELAMG
047070,000083:
047071,000084: # Page 1064
047072,000085: 15,2466 40102 DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
047073,000086: 15,2467 76214 MASK THREE
047074,000087: 15,2470 50000 INDEX A
047075,000088: 15,2471 02472 TC +1
047076,000089: 15,2472 02501 TC DOBRATE # OK, GO ON
047077,000090: 15,2473 02512 TC CM/GYMIC # DON'T CALC BODYRATE ON FIRST PASS.
047078,000091: 15,2474 12475 NOOP
047079,000092: 15,2475 06000 TC FLUSHJET # TURN OFF ALL JETS
047080,000093:
047081,000094: 15,2476 05412 TC PHASCHNG
047082,000095: 15,2477 00006 OCT 00006 # DEACTIVATE DAP GROUP 6.
047083,000096:
047084,000097: 15,2500 05324 TC TASKOVER
047085,000098:
047086,000099: 15,2501 35017 DOBRATE CA ONE # DO BODYRATE
047087,000100: 15,2502 55720 DOBRATE1 TS JETEM # SKIP BODYRATE
047088,000101:
047089,000102: 15,2503 34377 CA TEN # KEEP CDU READ GOING.
047090,000103: 15,2504 05245 TC WAITLIST
047091,000104: 15,2505 E6,1661 EBANK= AOG
047092,000105: 15,2505 02434 32066 2CADR READGYMB
047093,000106:
047094,000107: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047095,000108:
047096,000109: 15,2507 11720 CCS JETEM
047097,000110: 15,2510 02536 TC BODYRATE
047098,000111: 15,2511 05324 TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
047099,000112:
047100,000113: 15,2512 26102 CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
047101,000114: 15,2513 35021 CAF ZERO
047102,000115: 15,2514 55711 TS JETAG
047103,000116: 15,2515 55706 TS OLDELP
047104,000117: 15,2516 55707 TS OLDELQ
047105,000118: 15,2517 55710 TS OLDELR
047106,000119: 15,2520 55723 TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
047107,000120: 15,2521 02502 TC DOBRATE1
047108,000121:
047109,000122: # Page 1065
047110,000123: # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
047111,000124:
047112,000125: 15,2522 54001 ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
047113,000126: 15,2523 00002 TC Q # NO OVFL
047114,000127: 15,2524 50000 INDEX A
047115,000128: 15,2525 35000 CAF LIMITS
047116,000129: 15,2526 26001 ADS L
047117,000130: 15,2527 00002 TC Q
047118,000131:
047119,000132: 6000 BLOCK 3
047120,000133:
047121,000134: 6000 COUNT 03/DAPEN
047122,000135:
047123,000136: 6000 30007 FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
047124,000137: 6001 00006 EXTEND
047125,000138: 6002 01006 WRITE ROLLJETS # ZERO CHANNEL 6
047126,000139: 6003 00006 EXTEND
047127,000140: 6004 01005 WRITE PYJETS # ZERO CHANNEL 5
047128,000141: 6005 00002 TC Q
047129,000142:
047130,000143: 15,2530 BANK 15
047131,000144:
047132,000145: 15,2530 COUNT 15/DAPEN
047133,000146:
047134,000147: 15,2000 SETLOC ETRYDAP
047135,000148: 15,2000 BANK
047136,000149:
047137,000150: 15,2530 40000 RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
047138,000151: 15,2531 61720 AD JETEM # OF CONSTANT ACCELERATION.
047139,000152: 15,2532 00006 EXTEND
047140,000153: 15,2533 75002 MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
047141,000154: 15,2534 61720 AD JETEM
047142,000155: 15,2535 00002 TC Q
047143,000156:
047144,000157: # Page 1066
047145,000158: # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
047146,000159:
047147,000160: 20,3612 BANK 20
047148,000161: 20,2000 SETLOC DAPS1
047149,000162: 20,2000 BANK
047150,000163:
047151,000164: 20,3612 COUNT 20/DAPEN
047152,000165: 20,3612 E6,1661 EBANK= AOG
047153,000166:
047154,000167: 20,3612 35057 CM/DAPON CA EBAOG
047155,000168: 20,3613 54003 TS EBANK
047156,000169:
047157,000170: 20,3614 05560 TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
047158,000171: 20,3615 00132 ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
047159,000172: 20,3616 05560 TC DOWNFLAG # RESET DAPBIT2
047160,000173: 20,3617 00133 ADRES DAPBIT2 # BIT 14 FLAG 6
047161,000174: 20,3620 00006 EXTEND
047162,000175: 20,3621 33737 DCA T5IDLER1 # DISABLE RCS CALCULATION
047163,000176: 20,3622 53313 DXCH T5LOC
047164,000177: 20,3623 00006 EXTEND
047165,000178: 20,3624 33737 DCA T5IDLER1 # DISABLE RCS JET CALLS
047166,000179: 20,3625 53311 DXCH T6LOC
047167,000180:
047168,000181: 20,3626 06000 TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
047169,000182:
047170,000183: 20,3627 47707 CS 13,14,15
047171,000184: 20,3630 71466 MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
047172,000185: 20,3631 55466 TS DAPDATR1
047173,000186: 20,3632 03636 TC +4
047174,000187:
047175,000188: 20,3633 35036 NOTYET CA .5SEC
047176,000189: 20,3634 04662 TC BANKCALL
047177,000190: 20,3635 01732 CADR DELAYJOB # (DELAYJOB DOES INHINT)
047178,000191: 20,3636 35005 +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0
047179,000192: 20,3637 70102 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
047180,000193: 20,3640 00006 EXTEND
047181,000194: 20,3641 13633 BZF NOTYET
047182,000195:
047183,000196: 20,3642 45017 CS ONE # ACTIVATE CM/DAP
047184,000197: 20,3643 55501 TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
047185,000198: # NEXT PASS.
047186,000199: 20,3644 55727 TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
047187,000200: # HEADSUP IS SET IN P62.
047188,000201:
047189,000202: # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62
047190,000203:
047191,000204: 20,3645 30007 CA 7
047192,000205: 20,3646 55711 TS JETAG
047193,000206: 20,3647 55713 TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
047194,000207: # IN CASE CMDAPMOD IS NOT +1.
047195,000208: # Page 1067
047196,000209: 20,3650 00004 INHINT
047197,000210: 20,3651 00006 EXTEND
047198,000211: 20,3652 31666 DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
047199,000212: 20,3653 53604 DXCH ALFACOM # ESTABLISHES HEADSUP.
047200,000213: 20,3654 31664 CA ROLL/180
047201,000214: 20,3655 55717 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
047202,000215: 20,3656 00006 EXTEND
047203,000216: 20,3657 75002 MP HALF
047204,000217: 20,3660 55715 TS ROLLC # NOT INTERESTED IN LO WORD.
047205,000218:
047206,000219: 20,3661 40102 CS CM/FLAGS
047207,000220: 20,3662 75004 MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
047208,000221: 20,3663 26102 ADS CM/FLAGS # SET BIT TO 1.
047209,000222:
047210,000223: 20,3664 40076 CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
047211,000224: 20,3665 75017 MASK BIT1 # V 37 ENTRIES.
047212,000225: 20,3666 26076 ADS FLAGWRD2
047213,000226:
047214,000227: 20,3667 00003 RELINT
047215,000228:
047216,000229: 20,3670 04701 TC POSTJUMP
047217,000230: 20,3671 54342 CADR P62.1
047218,000231:
047219,000232: # Page 1068
047220,000233: # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
047221,000234: # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
047222,000235: # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
047223,000236: # SET AVEGEXIT TO CONTINUE AT CM/POSE
047224,000237:
047225,000238: 20,3672 35057 CM/DAPIC CA EBAOG
047226,000239: 20,3673 54003 TS EBANK
047227,000240:
047228,000241: 20,3674 00004 INHINT
047229,000242: 20,3675 41205 CM/DAP2C CS PIPTIME +1
047230,000243: # PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1.
047231,000244: 20,3676 55720 TS JETEM
047232,000245:
047233,000246: 20,3677 35002 CA POS1/2
047234,000247: 20,3700 65002 AD POS1/2
047235,000248: 20,3701 60025 AD TIME1 # OVFL GUARANTEED
047236,000249: 20,3702 27720 ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
047237,000250:
047238,000251: 20,3703 45022 CS FIVE
047239,000252: 20,3704 61720 AD JETEM
047240,000253: 20,3705 10000 CCS A
047241,000254: 20,3706 63735 AD -CDUT+1
047242,000255: 20,3707 13705 TCF -2
047243,000256: 20,3710 13711 NOOP
047244,000257: 20,3711 65017 AD ONE # SEND NO ZERO TO WTLST
047245,000258: 20,3712 55725 TS CM/GYMDT # FOR RESTART
047246,000259: 20,3713 05245 TC WAITLIST
047247,000260: 20,3714 E6,1661 EBANK= AOG
047248,000261: 20,3714 02434 32066 2CADR READGYMB
047249,000262:
047250,000263: 20,3716 43734 CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
047251,000264: 20,3717 70102 MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
047252,000265: 20,3720 64377 AD CM/SWIC2 # SET CM/DSTBY, LATSW
047253,000266: # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
047254,000267: # CALC. (P62.3) GOES TO ENDEXIT
047255,000268: 20,3721 54102 TS CM/FLAGS
047256,000269:
047257,000270: 20,3722 30007 CA 7
047258,000271: 20,3723 55666 TS BETA/180 # NECESSARY: NO OVFL CORRECTIO
047259,000272: 20,3724 35017 CA ONE # INITIALIZE THE TM OF BODY RATES VIA
047260,000273: 20,3725 54305 TS SW/NDX # UPBUFF.
047261,000274:
047262,000275: 20,3726 05372 TC 2PHSCHNG # DOES INHINT/RELINT
047263,000276: 20,3727 40116 OCT 40116 # SAVE TBASE6
047264,000277: 20,3730 05024 OCT 05024
047265,000278: 20,3731 13000 OCT 13000
047266,000279:
047267,000280: 20,3732 04701 TC POSTJUMP
047268,000281: # Page 1069
047269,000282: 20,3733 54326 CADR P62.2
047270,000283:
047271,000284: 20,3734 16017 CM/SWIC1 OCT 16017
047272,000285: 20,3735 4377 CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
047273,000286: 20,3735 77766 -CDUT+1 OCT 77766
047274,000287: 20,3736 1312 EBANK= T5LOC
047275,000288: 20,3736 03153 12062 T5IDLER1 2CADR T5IDLOC
047276,000289:
047277,000290: # Page 1070
047278,000291: # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
047279,000292: # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQIREMENT: TEMPORARILY ERASE. JETEM, JETEM +1
047280,000293:
047281,000294: # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
047282,000295: # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
047283,000296: # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER, IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
047284,000297: # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
047285,000298: # THIS IS NECESSARY UNDER THE GROUND-RULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
047286,000299:
047287,000300: 20,3740 E6,1661 EBANK= AOG
047288,000301: 15,2536 BANK 15
047289,000302: 15,2000 SETLOC ETRYDAP
047290,000303: 15,2000 BANK
047291,000304:
047292,000305: 15,2536 COUNT 15/DAPEN
047293,000306:
047294,000307: 15,2536 31663 BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
047295,000308: 15,2537 05074 TC SPCOS
047296,000309: 15,2540 55511 TS COSM
047297,000310:
047298,000311: 15,2541 31661 CA AOG # C(AOG) = AOG/180
047299,000312: 15,2542 05075 TC SPSIN # SINO
047300,000313: 15,2543 55512 TS SINO # SINO = SIN(AOG)
047301,000314:
047302,000315: 15,2544 00006 EXTEND
047303,000316: 15,2545 71511 MP COSM
047304,000317: 15,2546 55514 TS SINOCOSM # SO CM
047305,000318:
047306,000319: 15,2547 31661 CA AOG
047307,000320: 15,2550 05074 TC SPCOS # COSO
047308,000321: 15,2551 55513 TS COSO
047309,000322:
047310,000323: 15,2552 00006 EXTEND
047311,000324: 15,2553 71511 MP COSM
047312,000325: 15,2554 55515 TS COSOCOSM # CO CM
047313,000326:
047314,000327: # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
047315,000328:
047316,000329: 15,2555 41677 CS -DELAMG
047317,000330: 15,2556 00006 EXTEND
047318,000331: 15,2557 71512 MP SINO
047319,000332: 15,2560 53721 DXCH JETEM # 2 LOCS
047320,000333: 15,2561 41676 CS -DELAIG
047321,000334: 15,2562 00006 EXTEND
047322,000335: 15,2563 71515 MP COSOCOSM
047323,000336: 15,2564 21721 DAS JETEM
047324,000337: 15,2565 31720 CA JETEM
047325,000338: 15,2566 57707 XCH OLDELQ
047326,000339: 15,2567 02530 TC RATEAVG
047327,000340: 15,2570 55702 TS QREL # PITCHDOT = Q TCDU/180
047328,000341:
047329,000342: # Page 1071
047330,000343: # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
047331,000344:
047332,000345: 15,2571 41677 CS -DELAMG
047333,000346: 15,2572 00006 EXTEND
047334,000347: 15,2573 71513 MP COSO
047335,000348: 15,2574 53721 DXCH JETEM
047336,000349: 15,2575 31676 CA -DELAIG
047337,000350: 15,2576 00006 EXTEND
047338,000351: 15,2577 71514 MP SINOCOSM
047339,000352: 15,2600 21721 DAS JETEM
047340,000353: 15,2601 31720 CA JETEM
047341,000354: 15,2602 57710 XCH OLDELR
047342,000355: 15,2603 02530 TC RATEAVG
047343,000356: 15,2604 55703 TS RREL # YAWDOT = R TCDU/180
047344,000357:
047345,000358: # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
047346,000359:
047347,000360: 15,2605 31663 CA AMG
047348,000361: 15,2606 05075 TC SPSIN
047349,000362: 15,2607 55510 TS SINM
047350,000363:
047351,000364: 15,2610 00006 EXTEND
047352,000365: 15,2611 71676 MP -DELAIG
047353,000366: 15,2612 55720 TS JETEM
047354,000367: 15,2613 35021 CA ZERO
047355,000368: 15,2614 20001 DDOUBL # ROUND L INTO A
047356,000369: 15,2615 61675 AD -DELAOG
047357,000370: 15,2616 61720 AD JETEM
047358,000371: 15,2617 40000 CS A
047359,000372: 15,2620 55720 TS JETEM
047360,000373: 15,2621 57706 XCH OLDELP
047361,000374: 15,2622 02530 TC RATEAVG
047362,000375: 15,2623 55701 TS PREL # ROLLDOT = P TCDU/180
047363,000376:
047364,000377: # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
047365,000378:
047366,000379: 15,2624 11723 CCS GAMDOT
047367,000380: 15,2625 02627 TC +2
047368,000381: 15,2626 02651 TC NOGAMDUT
047369,000382: 15,2627 41664 CS ROLL/180
047370,000383: 15,2630 05075 TC SPSIN
047371,000384: 15,2631 00006 EXTEND
047372,000385: 15,2632 71723 MP GAMDOT
047373,000386: 15,2633 55721 TS JETEM +1 # -SR GAMDOT
047374,000387: 15,2634 00006 EXTEND
047375,000388: 15,2635 73177 MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
047376,000389: 15,2636 27701 ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
047377,000390:
047378,000391: 15,2637 31664 CA ROLL/180
047379,000392: 15,2640 05074 TC SPCOS
047380,000393: # Page 1072
047381,000394: 15,2641 40000 COM
047382,000395: 15,2642 00006 EXTEND
047383,000396: 15,2643 71723 MP GAMDOT
047384,000397: 15,2644 27702 ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
047385,000398:
047386,000399: 15,2645 41721 CS JETEM +1 # B( ) = -SR GAMDOT
047387,000400: 15,2646 00006 EXTEND
047388,000401: 15,2647 73200 MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
047389,000402: 15,2650 27703 ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
047390,000403:
047391,000404: 15,2651 35004 NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
047392,000405: 15,2652 70102 MASK CM/FLAGS
047393,000406: 15,2653 00006 EXTEND
047394,000407: 15,2654 15324 STBYDUMP BZF TASKOVER # DAP NOT ARMED.
047395,000408:
047396,000409: 15,2655 34777 CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
047397,000410: 15,2656 54030 TS TIME5
047398,000411:
047399,000412: 15,2657 00006 EXTEND
047400,000413: 15,2660 32664 DCA ATDOTCAD
047401,000414: 15,2661 53313 DXCH T5LOC
047402,000415: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047403,000416:
047404,000417: 15,2662 05324 TC TASKOVER
047405,000418:
047406,000419: 15,2663 E6,1661 EBANK= AOG
047407,000420: 15,2663 02665 32066 ATDOTCAD 2CADR ATTRATES
047408,000421:
047409,000422: # Page 1073
047410,000423: # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
047411,000424:
047412,000425: # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
047413,000426: # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
047414,000427: # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
047415,000428:
047416,000429: 15,2665 22016 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
047417,000430: 15,2666 00006 EXTEND # TASK MAY BE SKIPPED AT RESTART.
047418,000431: 15,2667 22012 QXCH QRUPT
047419,000432: 15,2670 30021 CA SR
047420,000433: 15,2671 60000 DOUBLE
047421,000434: 15,2672 55623 TS CM/SAVE
047422,000435: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
047423,000436:
047424,000437: 15,2673 31702 CA QREL
047425,000438: 15,2674 61665 AD ALFA/180
047426,000439: 15,2675 02522 TC ANGOVCOR
047427,000440: 15,2676 55665 TS ALFA/180
047428,000441: 15,2677 05074 TC SPCOS
047429,000442: 15,2700 55506 TS CALFA # CALFA
047430,000443: 15,2701 55705 TS PHIDOT
047431,000444:
047432,000445: 15,2702 00006 EXTEND
047433,000446: 15,2703 71701 MP PREL
047434,000447: 15,2704 57705 XCH PHIDOT # CA PREL
047435,000448: 15,2705 00006 EXTEND
047436,000449: 15,2706 71703 MP RREL # CA RREL
047437,000450: 15,2707 55704 TS BETADOT
047438,000451:
047439,000452: 15,2710 31665 CA ALFA/180
047440,000453: 15,2711 05075 TC SPSIN
047441,000454: 15,2712 55507 TS SALFA # SIN(ALFA)
047442,000455:
047443,000456: 15,2713 00006 EXTEND
047444,000457: 15,2714 71703 MP RREL # SA RREL
047445,000458: 15,2715 27705 ADS PHIDOT # CB PHIDOT, SAVED.
047446,000459:
047447,000460: 15,2716 41507 CS SALFA
047448,000461: 15,2717 00006 EXTEND
047449,000462: 15,2720 71701 MP PREL
047450,000463: 15,2721 27704 ADS BETADOT # SAVE BETADOT TCDU/180
047451,000464: 15,2722 27666 ADS BETA/180 # BETA DONE.
047452,000465:
047453,000466: 15,2723 05075 TC SPSIN
047454,000467: 15,2724 00006 EXTEND
047455,000468: 15,2725 71705 MP PHIDOT # NEGLECT CB IN CB PHIDOT
047456,000469: 15,2726 61665 AD ALFA/180
047457,000470: 15,2727 02522 TC ANGOVCOR
047458,000471: 15,2730 55665 TS ALFA/180 # ALFA DONE.
047459,000472: # Page 1074
047460,000473: 15,2731 40000 COM
047461,000474: 15,2732 61603 AD ALFACOM
047462,000475: 15,2733 02522 TC ANGOVCOR # JUST IN CASE ...
047463,000476: 15,2734 55477 TS AK1
047464,000477: 15,2735 55572 TS QAXERR # FOR PITCH FDAI AND EDIT.
047465,000478:
047466,000479: 15,2736 31705 CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
047467,000480: 15,2737 61664 AD ROLL/180
047468,000481: 15,2740 02522 TC ANGOVCOR
047469,000482: 15,2741 55714 TS ROLLTM # ROLL/180 FOR TM.
047470,000483: 15,2742 55664 TS ROLL/180 # ROLL DONE.
047471,000484:
047472,000485: # START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
047473,000486:
047474,000487: 15,2743 41666 CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
047475,000488: 15,2744 61604 AD BETACOM
047476,000489: 15,2745 55573 TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
047477,000490: # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
047478,000491: # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
047479,000492: # BE R-AXIS ERROR.
047480,000493:
047481,000494: 15,2746 35015 CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
047482,000495: 15,2747 70102 MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
047483,000496: 15,2750 00006 EXTEND
047484,000497: 15,2751 13037 BZF EXDAP # IF G LESS THAN .05
047485,000498: 15,2752 45017 CS ONE # IF G GEQ THAN .05
047486,000499: 15,2753 55700 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
047487,000500:
047488,000501: 15,2754 55477 TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
047489,000502: 15,2755 55500 TS AK2 # IN ATM. (MODE =-1)
047490,000503:
047491,000504: 15,2756 41701 CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
047492,000505: 15,2757 00006 EXTEND
047493,000506: 15,2760 73177 MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
047494,000507: 15,2761 61703 AD RREL
047495,000508: 15,2762 03027 TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
047496,000509: 15,2763 50000 INDEX A # +/- 1 IF NOT
047497,000510: 15,2764 33202 CAF YJETCODE
047498,000511:
047499,000512: 15,2765 55720 TS JETEM
047500,000513:
047501,000514: # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
047502,000515:
047503,000516: 15,2766 31702 CA QREL
047504,000517: 15,2767 03027 TC 2D/SDZ
047505,000518: 15,2770 50000 EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
047506,000519: 15,2771 33205 CAF P/RJCODE
047507,000520: 15,2772 27720 ADS JETEM # COMBINE ALL NEW BITS.
047508,000521:
047509,000522: 15,2773 00006 EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
047510,000523: # Page 1075
047511,000524: 15,2774 01005 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
047512,000525:
047513,000526: 15,2775 11711 CCS JETAG
047514,000527: 15,2776 03216 TC CM/RCS
047515,000528: 15,2777 03677 TC CM/FDAI
047516,000529: 15,3000 03704 TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
047517,000530:
047518,000531: # Page 1076
047519,000532: # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
047520,000533:
047521,000534: 15,3001 10000 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
047522,000535: 15,3002 63175 AD YAWLIM
047523,000536: 15,3003 13033 TCF DZCOM
047524,000537: 15,3004 63175 AD YAWLIM
047525,000538: 15,3005 13034 TCF DZNOCOM
047526,000539:
047527,000540: # BIASED DZ FOR EXT ATM DAP.
047528,000541: 15,3006 55624 BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
047529,000542: 15,3007 10000 CCS A # START ERROR DZ.
047530,000543: 15,3010 43174 CS CM/BIAS # = .6/180
047531,000544: 15,3011 13013 TCF +2
047532,000545: 15,3012 33174 CA CM/BIAS
047533,000546: 15,3013 60001 AD L # BIAS THE ERROR.
047534,000547: 15,3014 22002 LXCH Q # SAVE CALLER'S RETURN ADDRES.
047535,000548: 15,3015 03001 TC 3DDZ # GO GENERATE THE ERROR BIT.
047536,000549: 15,3016 52002 DXCH L # BIT TO L, RESTORE CALLER'S Q.
047537,000550: 15,3017 11624 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
047538,000551: 15,3020 63172 AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
047539,000552: 15,3021 13023 TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
047540,000553: 15,3022 63172 AD 4D/SLIM
047541,000554: 15,3023 54000 TS A
047542,000555: 15,3024 13026 TCF +2 # RATE OK. CONTINUE
047543,000556: 15,3025 22007 ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
047544,000557: 15,3026 57624 XCH JETEM2 # AND CONTINUE TO GET SIGN.
047545,000558:
047546,000559: 15,3027 10000 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
047547,000560: 15,3030 63173 AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
047548,000561: 15,3031 13034 TCF +3
047549,000562: 15,3032 63173 AD YDOTLIM # YDOT DZ = 2 DEG/SEC
047550,000563: 15,3033 40000 DZCOM COM
047551,000564: 15,3034 55721 DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
047552,000565: 15,3035 35021 CA ZERO # SET C(A) = +0 INSIDE
047553,000566: 15,3036 00002 TC Q
047554,000567:
047555,000568: # Page 1077
047556,000569: # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
047557,000570:
047558,000571: # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
047559,000572: # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
047560,000573: # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
047561,000574: # R-AXIS = CONTROL
047562,000575:
047563,000576: # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
047564,000577: # RATE = PREL
047565,000578: # P-AXIS = CONTROL
047566,000579:
047567,000580: # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
047568,000581: # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
047569,000582: # RATE = BETADOT
047570,000583: # P-AXIS = CONTROL
047571,000584:
047572,000585: # ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY.
047573,000586: # RATE = RREL
047574,000587: # R-AXIS = CONTROL
047575,000588:
047576,000589: # 3. FOR ALL CASES, USE
047577,000590: # ALFA: PITCH ERROR = (ALFACOM - ALFA)
047578,000591: # RATE = QREL
047579,000592: # Q-AXIS = CONTROL
047580,000593:
047581,000594: 15,3037 55700 EXDAP TS CMDAPMOD # +0 FOR NOW
047582,000595: 15,3040 11506 CCS CALFA
047583,000596: 15,3041 63176 AD C45LIM # =1.0-COS(45)
047584,000597: 15,3042 13044 TCF +2
047585,000598: 15,3043 63176 AD C45LIM
047586,000599: 15,3044 54000 TS A
047587,000600: 15,3045 13126 TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
047588,000601:
047589,000602: 15,3046 11506 CCS CALFA # |CALFA| > 0.707
047590,000603: 15,3047 13050 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
047591,000604:
047592,000605: 15,3050 11727 CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
047593,000606: 15,3051 03064 TC EXDAP4
047594,000607: 15,3052 03054 TC +2
047595,000608: 15,3053 03064 TC EXDAP4
047596,000609: 15,3054 05412 TC PHASCHNG # SINGLE PASS THROUGH HERE.
047597,000610: 15,3055 40334 OCT 40334
047598,000611: 15,3056 45017 CS ONE
047599,000612: 15,3057 55727 TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
047600,000613: 15,3060 33171 CA NSEC
047601,000614: 15,3061 05245 TC WAITLIST
047602,000615: 15,3062 E6,1661 EBANK= AOG
047603,000616: 15,3062 02374 54066 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
047604,000617: # Page 1078
047605,000618: # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
047606,000619: # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
047607,000620:
047608,000621: 15,3064 11711 EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
047609,000622: 15,3065 13073 TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
047610,000623: 15,3066 13073 TCF EXDAP3
047611,000624: 15,3067 35021 CA ZERO
047612,000625: 15,3070 00006 EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
047613,000626: 15,3071 01006 WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
047614,000627: 15,3072 55711 TS JETAG # RESTORE PROPER VALUE +0
047615,000628:
047616,000629: # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
047617,000630: 15,3073 11506 EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
047618,000631: 15,3074 31573 CA RAXERR # C()= BETACOM - BETA/180
047619,000632: 15,3075 13101 TCF EXDAP1
047620,000633: 15,3076 45021 CS ZERO
047621,000634: 15,3077 55700 TS CMDAPMOD # FOR CM/RCS
047622,000635: 15,3100 41573 CS RAXERR # COMPLEMENT OF YAW ERROR.
047623,000636: 15,3101 55573 EXDAP1 TS RAXERR # FOR YAW FDAI
047624,000637: 15,3102 55500 TS AK2 # WANT RAXERR FOR TM.
047625,000638: 15,3103 54001 TS L
047626,000639: 15,3104 11700 CCS CMDAPMOD # COORDINATE BETA CONTROL.
047627,000640: 15,3105 03110 TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
047628,000641: 15,3106 35017 CA ONE # USE BETADOT TO COORD IN MODE +0
047629,000642: 15,3107 50000 INDEX A # OTHERWISE USE RREL.
047630,000643: 15,3110 31703 CA RREL
047631,000644: 15,3111 03006 TC BIASEDZ # GO TEST DZ +0 IF IN DX, +-1 OTHERWISE
047632,000645: # IF GEQ 4D/S, SET ERROR BIT IN L=0
047633,000646: 15,3112 00006 EXTEND
047634,000647: 15,3113 04001 ROR LCHAN # L HAS BETA BIT
047635,000648: 15,3114 50000 INDEX A
047636,000649: 15,3115 33202 CAF YJETCODE
047637,000650: 15,3116 55720 TS JETEM
047638,000651:
047639,000652: 15,3117 31572 CA QAXERR # ALFA ERROR.
047640,000653: 15,3120 54001 TS L
047641,000654: 15,3121 31702 CA QREL # FOR ALPHADOT USE QREL
047642,000655: 15,3122 03006 TC BIASEDZ
047643,000656: 15,3123 00006 EXTEND
047644,000657: 15,3124 04001 ROR LCHAN
047645,000658: 15,3125 12770 TCF EXDAPIN # CONTINUE ON IN DAP
047646,000659:
047647,000660: 15,3126 25700 EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
047648,000661:
047649,000662: 15,3127 45017 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
047650,000663: 15,3130 55711 TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
047651,000664: # =0 AND JETAG =-1, QUENCHES JETS IF ON)
047652,000665:
047653,000666: 15,3131 11727 CCS P63FLAG # IF FLAG WAS +1, SET =0.
047654,000667: 15,3132 55727 TS P63FLAG
047655,000668: # Page 1079
047656,000669: 15,3133 13134 NOOP
047657,000670:
047658,000671: 15,3134 11507 CCS SALFA # BETA CONTROL WITH P JETS
047659,000672: 15,3135 41573 CS RAXERR # B()= BETACOM - BETA/180
047660,000673: 15,3136 13140 TCF +2
047661,000674: 15,3137 31573 CA RAXERR
047662,000675: 15,3140 55713 TS PAXERR1 # TEMP SAVE. ERROR/180
047663,000676: 15,3141 00006 EXTEND
047664,000677: 15,3142 75002 MP HALF # CM/FDAI EXPECTS ERROR/360.
047665,000678: 15,3143 57713 XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
047666,000679: 15,3144 54001 TS L
047667,000680: 15,3145 11507 CCS SALFA
047668,000681: 15,3146 41704 CS BETADOT # USE BETADOT TO COORD IN MODE +1
047669,000682: 15,3147 03151 TC +2
047670,000683: 15,3150 31704 CA BETADOT
047671,000684: 15,3151 03006 TC BIASEDZ
047672,000685: 15,3152 00006 EXTEND
047673,000686: 15,3153 04001 ROR LCHAN
047674,000687: 15,3154 50000 INDEX A
047675,000688: 15,3155 33205 CAF P/RJCODE # GET ROLL CODE
047676,000689: 15,3156 00006 EXTEND # ROLL CONTROL WITH YAW JETS.
047677,000690: 15,3157 01006 WRITE ROLLJETS # WE'LL SKIP REGULAR ROLL SYST
047678,000691:
047679,000692: 15,3160 31717 CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
047680,000693: 15,3161 00006 EXTEND
047681,000694: 15,3162 21664 MSU ROLL/180 # 1'S COMPL, BUT SO WHAT'S A BIT?
047682,000695: 15,3163 54001 TS L # FORCE A LIMIT CYCLE IN YAW RATE.
047683,000696: 15,3164 11507 CCS SALFA
047684,000697: 15,3165 30001 CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
047685,000698: 15,3166 03101 TC EXDAP1
047686,000699: 15,3167 40001 CS L
047687,000700: 15,3170 03101 TC EXDAP1
047688,000701:
047689,000702: 15,3171 04064 NSEC DEC 2100 B-14 # 65 DEG/ 3 DEG/SEC
047690,000703: # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
047691,000704: 15,3172 37734 4D/SLIM DEC 16348 B-14 # 1.0 -4/180 D/S = 4/1800 EXP 14
047692,000705: 15,3173 37756 YDOTLIM DEC 16366 B-14 # =1.0 - YDOT DZ= 16384 -18
047693,000706: # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
047694,000707:
047695,000708: 15,3174 00067 CM/BIAS DEC 55 B-14 # =.6/180 B14 = 55
047696,000709: 15,3175 37267 YAWLIM DEC 16055 B-14 # YAWLIM=1.0-3.6/180=16384-329=16055
047697,000710: 15,3176 11277 C45LIM DEC .29289 # =1.0-COS(45)
047698,000711:
047699,000712: 15,3177 65033 SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
047700,000713: 15,3200 36044 COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
047701,000714:
047702,000715: # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
047703,000716: # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
047704,000717: # FROM TRIM, SO USE ON-BOARD ESTIMATES.
047705,000718:
047706,000719: # Page 1080
047707,000720: # JET CODE TABLES FOLLOW
047708,000721:
047709,000722: 15,3201 00120 OCTAL 00120 # POS Y
047710,000723: 15,3202 00000 YJETCODE OCTAL 00000 # RCS JET BITS
047711,000724: 15,3203 00240 OCTAL 00240 # NEG Y
047712,000725: 15,3204 00005 OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
047713,000726: 15,3205 00000 P/RJCODE OCTAL 00000
047714,000727: 15,3206 00012 OCTAL 00012 # NEG R ALSO NEG P
047715,000728:
047716,000729: # Page 1081
047717,000730: # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
047718,000731: # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
047719,000732: # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
047720,000733: # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
047721,000734: # NEXT UPDATE.
047722,000735:
047723,000736: 15,3207 40025 SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
047724,000737: 15,3210 55712 TS TUSED
047725,000738: # THE 5 CS APPEARS IN TIMETST.
047726,000739: 15,3211 35017 CA ONE # RATHER THAN INCR, FOR SAFETY
047727,000740: 15,3212 55711 TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
047728,000741: 15,3213 05412 TC PHASCHNG
047729,000742: 15,3214 00001 OCT 00001
047730,000743:
047731,000744: 15,3215 05324 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
047732,000745:
047733,000746: # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
047734,000747: # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
047735,000748: # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
047736,000749: # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
047737,000750:
047738,000751: 15,3216 5001 HALFPR EQUALS NEG1/2 +1
047739,000752:
047740,000753: # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
047741,000754: # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
047742,000755: # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
047743,000756: # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
047744,000757:
047745,000758: 15,3216 45017 CM/RCS CS ONE
047746,000759: 15,3217 55617 TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
047747,000760:
047748,000761: 15,3220 45033 CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
047749,000762: 15,3221 00006 EXTEND
047750,000763: 15,3222 71701 MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
047751,000764: 15,3223 60001 AD L # -2 RDOT T/180 IN L
047752,000765: 15,3224 55613 TS -VT/180 # SAVE -2VT/180 HERE
047753,000766:
047754,000767: 15,3225 41664 CS ROLL/180
047755,000768: 15,3226 54021 TS SR # SAVE (-R/180) /2
047756,000769:
047757,000770: 15,3227 40102 CS CM/FLAGS
047758,000771: 15,3230 75014 MASK BIT4 # LATSW = 101D BIT4
047759,000772: 15,3231 00006 EXTEND # ROLL OVER TOP $
047760,000773: 15,3232 13240 BZF GETLCX # NO, TAKE SHORTEST PATH
047761,000774: 15,3233 26102 ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
047762,000775: 15,3234 31715 CA ROLLC # (ROLLC/180) /2
047763,000776: 15,3235 60021 AD SR # -(R/180) /2
047764,000777: 15,3236 57614 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
047765,000778: 15,3237 13300 TCF COMPAT # POSSIBLE OVFL ABOVE.
047766,000779:
047767,000780: # Page 1082
047768,000781: 15,3240 35002 GETLCX CA POS1/2 # FORM RCOM/360
047769,000782: 15,3241 60000 DOUBLE
047770,000783: 15,3242 61715 AD ROLLC
047771,000784: 15,3243 57614 XCH LCX/360 # IGNORE POSSIBLE OVFL.
047772,000785:
047773,000786: 15,3244 30021 CA SR # FORM -R/360
047774,000787: 15,3245 65000 AD NEG1/2
047775,000788: 15,3246 65000 AD NEG1/2 # IGNORE OVFL
047776,000789: 15,3247 57614 XCH LCX/360 # -R/360
047777,000790: 15,3250 27614 ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
047778,000791:
047779,000792: # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
047780,000793:
047781,000794: 15,3251 11613 CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
047782,000795: 15,3252 65017 AD ONE # (BASED ON SINGLE JET ACCELERATION)
047783,000796: 15,3253 13255 TCF +2
047784,000797: 15,3254 65017 AD ONE
047785,000798: 15,3255 00006 EXTEND
047786,000799: 15,3256 71613 MP -VT/180 # C(-VT/180) = -2 VT/180
047787,000800: 15,3257 00006 EXTEND
047788,000801: 15,3260 73750 MP 1/16A1 # = 180/(16 A1 TT)
047789,000802: 15,3261 00006 EXTEND
047790,000803: 15,3262 11506 DV CALFA
047791,000804: 15,3263 54001 TS L
047792,000805: 15,3264 11614 CCS LCX/360
047793,000806: 15,3265 35002 CAF POS1/2
047794,000807: 15,3266 13270 TCF +2
047795,000808: 15,3267 45002 CS POS1/2
047796,000809: 15,3270 61614 AD LCX/360 # IS LCX/360 LESS THAN 180 DEGS $
047797,000810: 15,3271 60001 AD L
047798,000811: 15,3272 54001 TS L
047799,000812: 15,3273 13300 TCF COMPAT # YES, GO ON.
047800,000813: 15,3274 50000 TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
047801,000814: 15,3275 45001 CS HALFPR # +A YIELDS -1/2
047802,000815: 15,3276 60000 DOUBLE
047803,000816: 15,3277 27614 ADS LCX/360
047804,000817:
047805,000818: 15,3300 31614 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
047806,000819: 15,3301 00006 EXTEND
047807,000820: 15,3302 71506 MP CALFA # COS ALFA
047808,000821: 15,3303 55614 TS LCX/360 # SCALED LCX OK HERE.
047809,000822:
047810,000823: 15,3304 11700 CCS CMDAPMOD # FOUR POSSIBILITIES HERE
047811,000824: 15,3305 03675 TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0)
047812,000825: # ALL 3 AXES ALREADY DONE.
047813,000826: 15,3306 03307 TC +1 # G LESS THAN .05. CA POS. CONTINUE
047814,000827: 15,3307 31614 CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
047815,000828: 15,3310 55614 TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
047816,000829: 15,3311 55571 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
047817,000830: 15,3312 55713 TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360)
047818,000831: # Page 1083
047819,000832: 15,3313 31613 CA -VT/180 # GET - 2 VT/180
047820,000833: 15,3314 54021 TS SR
047821,000834: 15,3315 30021 CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
047822,000835: 15,3316 55570 TS -VT/180E # DIAGNOSTIC ****
047823,000836: 15,3317 57613 XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
047824,000837: 15,3320 00006 EXTEND
047825,000838: 15,3321 71613 MP -VT/180 # B(A) = -ZVT/180
047826,000839: 15,3322 00006 EXTEND
047827,000840: 15,3323 73750 MP 180/8ATT
047828,000841: 15,3324 55616 TS VSQ/4API
047829,000842:
047830,000843: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
047831,000844:
047832,000845: 15,3325 60000 WHICHALF DOUBLE # FOR SECOND BURN, A1
047833,000846: 15,3326 40000 COM
047834,000847: 15,3327 63754 AD BUFLIM # =BUFLIM/(2 360)
047835,000848: 15,3330 54001 TS L
047836,000849: 15,3331 11613 CCS -VT/180
047837,000850: 15,3332 40001 CS L
047838,000851: 15,3333 13335 TCF +2
047839,000852: 15,3334 30001 CA L
047840,000853: 15,3335 61614 AD LCX/360
047841,000854: 15,3336 63754 AD BUFLIM
047842,000855: 15,3337 00006 EXTEND
047843,000856: 15,3340 63355 BZMF REFLECT # POINT (X,V) IN LHP.
047844,000857:
047845,000858: # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
047846,000859:
047847,000860: 15,3341 40000 COM
047848,000861: 15,3342 63754 AD BUFLIM
047849,000862: 15,3343 63754 AD BUFLIM
047850,000863: 15,3344 00006 EXTEND
047851,000864: 15,3345 63364 BZMF DZ1 # POINT (X,V) IN RHP
047852,000865:
047853,000866: # IS POINT WITHIN VELOCITY DZ?
047854,000867:
047855,000868: 15,3346 43747 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
047856,000869: 15,3347 61616 AD VSQ/4API
047857,000870: 15,3350 00006 EXTEND
047858,000871: 15,3351 63657 BZMF DZCALL # YES.
047859,000872:
047860,000873: # POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
047861,000874:
047862,000875: 15,3352 41617 CS JNDX
047863,000876: 15,3353 55620 TS JNDX1
047864,000877: 15,3354 03437 TC OVRLINE1
047865,000878:
047866,000879: 15,3355 41613 REFLECT CS -VT/180 # RELFECT LHP INTO RHP REL TO TERM CONTR
047867,000880: 15,3356 55613 TS -VT/180
047868,000881: 15,3357 54021 TS SR # -VT/360 SAVED FOR DZ.
047869,000882: # Page 1084
047870,000883: 15,3360 41614 CS LCX/360
047871,000884: 15,3361 55614 TS LCX/360
047872,000885: 15,3362 41617 CS JNDX
047873,000886: 15,3363 55617 TS JNDX
047874,000887:
047875,000888: # IS VSQ/4API - (VSQ/4API) MIN NEG?
047876,000889:
047877,000890: 15,3364 43747 DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
047878,000891: 15,3365 61616 AD VSQ/4API
047879,000892: 15,3366 00006 EXTEND
047880,000893: 15,3367 63371 BZMF DZ2 # YES, GO TEST FURTHER.
047881,000894: 15,3370 13376 TCF MAXVTEST # NO
047882,000895:
047883,000896: # IS X/360 - XMIN/360 -VT/360 NEG?
047884,000897:
047885,000898: 15,3371 43752 DZ2 CS XMIN/360 # XMIN/360 = 4/360
047886,000899: 15,3372 61614 AD LCX/360
047887,000900: 15,3373 60021 AD SR # C(SR) = -VT/360
047888,000901: 15,3374 00006 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
047889,000902: 15,3375 63657 BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0.
047890,000903:
047891,000904: # IS XD/360 - VM/360K - XS/360 POS?
047892,000905:
047893,000906: 15,3376 41617 MAXVTEST CS JNDX
047894,000907: 15,3377 55620 TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
047895,000908: 15,3400 43754 CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
047896,000909: 15,3401 61616 AD VSQ/4API
047897,000910: 15,3402 61614 AD LCX/360
047898,000911: 15,3403 55615 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
047899,000912: # BUT C(XD/360) = (XD - XS) /360
047900,000913: 15,3404 63753 AD -VM/360K # X INTERCEPT FOR MAX V (VM)
047901,000914: 15,3405 40000 COM
047902,000915: 15,3406 00006 EXTEND
047903,000916: 15,3407 63415 BZMF MAXVTIM1 # YES, THRUST TO VM
047904,000917: 15,3410 31615 CA XD/360
047905,000918: 15,3411 00006 EXTEND
047906,000919: 15,3412 75002 MP KTRCS
047907,000920: 15,3413 20001 DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
047908,000921:
047909,000922: 15,3414 03420 TC GETON1 # INSURE THAT Q IS POS AS TAG.
047910,000923: 15,3415 00006 MAXVTIM1 EXTEND
047911,000924: 15,3416 22007 ZQ # SET +Q AS TAG
047912,000925: 15,3417 43753 CS -VMT/180
047913,000926: 15,3420 55567 GETON1 TS VDT/180 # VDT/180 OR VMT/180
047914,000927: 15,3421 61613 AD -VT/180
047915,000928: 15,3422 60000 DOUBLE
047916,000929: 15,3423 00006 EXTEND
047917,000930: 15,3424 73750 MP 180/8ATT
047918,000931: 15,3425 55621 TS TON1 # TON1 / 4T
047919,000932: # Page 1085
047920,000933: 15,3426 00006 EXTEND
047921,000934: 15,3427 63431 BZMF OVRLINE
047922,000935: 15,3430 03443 TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
047923,000936:
047924,000937: 15,3431 10002 OVRLINE CCS Q
047925,000938: 15,3432 13437 TCF OVRLINE1
047926,000939: 15,3433 31620 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
047927,000940: 15,3434 55617 TS JNDX
047928,000941: 15,3435 41621 CS TON1
047929,000942: 15,3436 13442 TCF OVRLINE2 +1
047930,000943:
047931,000944: 15,3437 41613 OVRLINE1 CS -VT/180 # DRIFT AT V
047932,000945: 15,3440 55567 TS VDT/180
047933,000946: 15,3441 35021 OVRLINE2 CA ZERO
047934,000947: 15,3442 55621 TS TON1
047935,000948: 15,3443 31567 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
047936,000949: 15,3444 60000 DOUBLE
047937,000950: 15,3445 00006 EXTEND
047938,000951: 15,3446 73750 MP 180/8ATT
047939,000952: 15,3447 60000 DOUBLE # FOR SECOND BURN, A1
047940,000953: 15,3450 55607 TS TON2 # = TON2 / 4T
047941,000954:
047942,000955: 15,3451 40000 COM
047943,000956: 15,3452 00006 EXTEND
047944,000957: 15,3453 63457 BZMF GETOFF
047945,000958: 15,3454 55607 TS TON2
047946,000959: 15,3455 31617 CA JNDX
047947,000960: 15,3456 55620 TS JNDX1
047948,000961:
047949,000962: 15,3457 41607 GETOFF CS TON2 # TON2 / 4T
047950,000963: 15,3460 00006 EXTEND
047951,000964: 15,3461 71567 MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
047952,000965: 15,3462 55615 TS XD/360 # USE AS TEMP
047953,000966: 15,3463 41567 CS VDT/180
047954,000967: 15,3464 00006 EXTEND
047955,000968: 15,3465 13501 BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
047956,000969: 15,3466 61613 AD -VT/180
047957,000970: 15,3467 00006 EXTEND
047958,000971: 15,3470 71621 MP TON1 # TON1 /4T
047959,000972: 15,3471 61615 AD XD/360 # TEMP = -VDT/180 / 2 TON2
047960,000973: 15,3472 61614 AD LCX/360
047961,000974: 15,3473 22007 ZL
047962,000975: 15,3474 56001 XCH L # TEST THE DIVIDE
047963,000976: 15,3475 00006 EXTEND
047964,000977: 15,3476 11567 DV VDT/180
047965,000978: 15,3477 00006 EXTEND
047966,000979: 15,3500 13503 BZF GETOFF2 # DIVIDE OK
047967,000980:
047968,000981: 15,3501 35045 TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
047969,000982: 15,3502 13510 TCF TIMSCAL
047970,000983:
047971,000984: # Page 1086
047972,000985: 15,3503 56001 GETOFF2 XCH L # GET NUMERATOR.
047973,000986: 15,3504 00006 EXTEND
047974,000987: 15,3505 11567 DV VDT/180 # C(A) = TOFF / 2T
047975,000988: 15,3506 00006 EXTEND
047976,000989: 15,3507 75045 MP 2JETT
047977,000990: 15,3510 55605 TIMSCAL TS TOFF # IN CS
047978,000991:
047979,000992: 15,3511 33751 CAF 4JETT
047980,000993: 15,3512 00006 EXTEND
047981,000994: 15,3513 71621 MP TON1 # C(TON1) = TON1 / 4T
047982,000995: 15,3514 55621 TS TON1 # IN CS
047983,000996:
047984,000997: 15,3515 33751 CAF 4JETT
047985,000998: 15,3516 00006 EXTEND
047986,000999: 15,3517 71607 MP TON2 # C(TON2) = TON2 / 4T
047987,001000: 15,3520 55607 TS TON2 # IN CS
047988,001001:
047989,001002: 15,3521 35021 CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
047990,001003: 15,3522 55711 TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
047991,001004:
047992,001005: # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
047993,001006: # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT
047994,001007: # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
047995,001008:
047996,001009: 15,3523 35017 CA ONE
047997,001010: 15,3524 54305 TS SW/NDX
047998,001011:
047999,001012: # Page 1087
048000,001013: # TIMETEST SECTION FOR RCS
048001,001014:
048002,001015: # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASABLE LOCS TON1, TOFF, TON2, JNDX
048003,001016: # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
048004,001017: # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
048005,001018: # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
048006,001019: # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
048007,001020: # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
048008,001021: # SECTION JETCALL BELOW PROCESSES THIS LIST.
048009,001022:
048010,001023: 15,3525 30025 TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
048011,001024: 15,3526 65002 AD POS1/2
048012,001025: 15,3527 65002 AD POS1/2 # OVFL GUARANTEED.
048013,001026: 15,3530 27712 ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
048014,001027:
048015,001028: 15,3531 33746 CA -T-3 # =-T +2 -5 (SEE SETJTAG)
048016,001029: # THE +2 REQUIRED FOR PROPER BRANCH.
048017,001030: 15,3532 27712 ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
048018,001031:
048019,001032: 15,3533 45016 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
048020,001033: 15,3534 61621 AD TON1
048021,001034: 15,3535 00006 EXTEND
048022,001035: 15,3536 63550 BZMF TIMETST1
048023,001036: 15,3537 51617 INDEX JNDX
048024,001037: 15,3540 33205 CAF P/RJCODE
048025,001038: 15,3541 55622 TS T1BITS
048026,001039:
048027,001040: 15,3542 31621 CA TON1
048028,001041: 15,3543 27712 ADS TUSED
048029,001042: 15,3544 00006 EXTEND
048030,001043: 15,3545 63552 BZMF TOFFTEST
048031,001044: 15,3546 35021 CA ZERO
048032,001045: 15,3547 13603 TCF TIMETST3
048033,001046: 15,3550 45017 TIMETST1 CS ONE
048034,001047: 15,3551 55621 TS TON1
048035,001048: 15,3552 45016 TOFFTEST CS TWO
048036,001049: 15,3553 61605 AD TOFF
048037,001050: 15,3554 00006 EXTEND
048038,001051: 15,3555 63564 BZMF TIMETST2
048039,001052: 15,3556 31605 CA TOFF
048040,001053: 15,3557 27712 ADS TUSED
048041,001054: 15,3560 00006 EXTEND
048042,001055: 15,3561 63566 BZMF TON2TEST
048043,001056: 15,3562 35021 CA ZERO
048044,001057: 15,3563 13605 TCF TIMETST4
048045,001058: 15,3564 45017 TIMETST2 CS ONE
048046,001059: 15,3565 55605 TS TOFF
048047,001060: 15,3566 45016 TON2TEST CS TWO
048048,001061: 15,3567 61607 AD TON2
048049,001062: 15,3570 00006 EXTEND
048050,001063: 15,3571 63606 BZMF TIMETST5
048051,001064: # Page 1088
048052,001065: 15,3572 51620 INDEX JNDX1
048053,001066: 15,3573 33205 CAF P/RJCODE
048054,001067: 15,3574 55610 TS T2BITS
048055,001068: 15,3575 31607 CA TON2
048056,001069: 15,3576 27712 ADS TUSED
048057,001070: 15,3577 00006 EXTEND
048058,001071: 15,3600 63610 BZMF JETCALL1
048059,001072: 15,3601 35021 CA ZERO
048060,001073: 15,3602 13607 TCF TIMETST5 +1
048061,001074: 15,3603 55621 TIMETST3 TS TON1
048062,001075: 15,3604 45017 CS ONE
048063,001076: 15,3605 55605 TIMETST4 TS TOFF
048064,001077: 15,3606 45017 TIMETST5 CS ONE
048065,001078: 15,3607 55607 TS TON2
048066,001079:
048067,001080: # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
048068,001081: # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
048069,001082: # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPOINDING JET BITS ARE TO BE
048070,001083: # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
048071,001084: # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
048072,001085: # THAN ONE REGISTER.
048073,001086:
048074,001087: 15,3610 35021 JETCALL1 CA ZERO
048075,001088: 15,3611 55611 TS OUTTAG
048076,001089: 15,3612 55612 TS NUJET
048077,001090: 15,3613 55606 TS TBITS
048078,001091: 15,3614 53622 DXCH TON1
048079,001092: 15,3615 10000 CCS A
048080,001093: 15,3616 13633 TCF JETCALL2 # CALL WTLST
048081,001094: 15,3617 23612 JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
048082,001095: 15,3620 45017 CS ONE
048083,001096: 15,3621 53606 DXCH TOFF
048084,001097: 15,3622 10000 CCS A
048085,001098: 15,3623 13633 TCF JETCALL2 # CALL WTLST
048086,001099: 15,3624 23612 LXCH NUJET
048087,001100: 15,3625 45017 CS ONE
048088,001101: 15,3626 53610 DXCH TON2
048089,001102: 15,3627 10000 CCS A
048090,001103: 15,3630 13633 TCF JETCALL2 # CALL WTLST
048091,001104: 15,3631 23612 LXCH NUJET
048092,001105: 15,3632 03642 TC JETACTN # C(A) = +0
048093,001106: 15,3633 56001 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
048094,001107: 15,3634 27612 ADS NUJET
048095,001108: 15,3635 56001 XCH L
048096,001109: 15,3636 65017 AD ONE # RESTORE FOR CCS
048097,001110: 15,3637 05245 TC WAITLIST
048098,001111: 15,3640 E6,1661 EBANK= AOG
048099,001112: 15,3640 03650 32066 2CADR JETCALL
048100,001113:
048101,001114: 15,3642 31612 JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
048102,001115: # Page 1089
048103,001116: 15,3643 00006 EXTEND # NO NEED TO SAVE OLD CODES
048104,001117: 15,3644 01006 WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
048105,001118:
048106,001119: 15,3645 11611 CCS OUTTAG
048107,001120: 15,3646 05324 TC TASKOVER
048108,001121: 15,3647 03705 ROLLDUMP TC CM/FDAIR
048109,001122:
048110,001123: # EDIT DUMP AT ABOVE LOCATION.
048111,001124:
048112,001125: # WAITLIST ENTRIES COME HERE.
048113,001126:
048114,001127: 15,3650 35016 JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
048115,001128: 15,3651 55611 TS OUTTAG # SIGNIFY WTLST ENTRY
048116,001129: 15,3652 70102 MASK CM/FLAGS # IS SYSTEM DISABLED $
048117,001130: 15,3653 00006 EXTEND
048118,001131: 15,3654 13643 BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
048119,001132: 15,3655 22007 ZL # NO, CONTINUE.
048120,001133: 15,3656 13617 TCF JETCALL3 # C(A) POS, C(L) = +0
048121,001134:
048122,001135: # DEAD ZONE ENTRIES COME HERE.
048123,001136:
048124,001137: 15,3657 41700 DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
048125,001138: 15,3660 75017 MASK BIT1
048126,001139: 15,3661 54001 TS L # C(L)=0 FOR -0: C(L)=1 FOR -1 OR +0.
048127,001140: 15,3662 50000 INDEX A # ERASABLE ORDER: ROLLTM, ROLLC, ROLLC +1.
048128,001141: 15,3663 31714 CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
048129,001142: 15,3664 50001 INDEX L
048130,001143: 15,3665 54000 TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
048131,001144: 15,3666 60001 AD L # (BOTH MUST BE SCALED DEG/180)
048132,001145: 15,3667 02522 TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC.
048133,001146: 15,3670 55717 TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE.
048134,001147: # OTHERWISE, SAVE ROLL COMMAND.
048135,001148:
048136,001149: 15,3671 35021 CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
048137,001150: 15,3672 00006 EXTEND # INHINT NOT NEEDED HERE.
048138,001151: 15,3673 01006 WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
048139,001152: 15,3674 55567 TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
048140,001153: 15,3675 55711 DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
048141,001154: 15,3676 03647 TC ROLLDUMP
048142,001155:
048143,001156: # Page 1090
048144,001157: # CM ENTRY FDAI DISPLAY
048145,001158:
048146,001159: # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS:
048147,001160: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
048148,001161: # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
048149,001162: # ROLL ROLLC-ROLL
048150,001163: # PITCH ALFAC-ALFA
048151,001164: # YAW BETAC-BETA
048152,001165:
048153,001166: # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
048154,001167: # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
048155,001168:
048156,001169: # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
048157,001170: 15,3677 41705 CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
048158,001171: 15,3700 00006 EXTEND
048159,001172: 15,3701 71506 MP CALFA # FOR ASSUMED COORDINATION.
048160,001173: 15,3702 00006 EXTEND
048161,001174: 15,3703 75002 MP HALF
048162,001175: 15,3704 27713 ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
048163,001176:
048164,001177: # EDIT DUMP AT ABOVE LOCATION.
048165,001178: 15,3705 35002 CM/FDAIR CA HALF
048166,001179: 15,3706 00006 EXTEND
048167,001180: 15,3707 71713 MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
048168,001181: 15,3710 55476 TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
048169,001182:
048170,001183: # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
048171,001184: # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
048172,001185: # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
048173,001186: # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
048174,001187: # THE SUBSEQUENT PASS.
048175,001188:
048176,001189: 15,3711 40305 CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
048177,001190: 15,3712 54305 TS SW/NDX
048178,001191: 15,3713 00006 EXTEND # INDEX
048179,001192: 15,3714 63720 BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
048180,001193: # ENDBUF.
048181,001194: # INDEX IS POS FOR NEEDLES.
048182,001195:
048183,001196: 15,3715 04740 TC IBNKCALL
048184,001197: 15,3716 42420 CADR NEEDLER
048185,001198:
048186,001199: 15,3717 03736 TC CM/END
048187,001200:
048188,001201: # INDEX IS NEG FOR TM FILE
048189,001202:
048190,001203: 15,3720 66214 CMTMFILE AD THREE
048191,001204: 15,3721 00006 EXTEND
048192,001205: 15,3722 63726 BZMF SAVENDX
048193,001206:
048194,001207: # Page 1091
048195,001208: 15,3723 30025 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
048196,001209: 15,3724 54304 TS CMTMTIME
048197,001210: 15,3725 45025 CS THIRTEEN # INITIALIZE COUNTER
048198,001211: 15,3726 54305 SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
048199,001212: 15,3727 00006 EXTEND
048200,001213: 15,3730 31702 DCA PREL
048201,001214: 15,3731 50305 INDEX SW/NDX
048202,001215: 15,3732 52324 DXCH ENDBUF -1
048203,001216: 15,3733 31703 CA RREL
048204,001217: 15,3734 50305 INDEX SW/NDX
048205,001218: 15,3735 54325 TS ENDBUF +1
048206,001219:
048207,001220: 15,3736 31623 CM/END CA CM/SAVE
048208,001221: 15,3737 54021 TS SR
048209,001222: # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
048210,001223:
048211,001224: 15,3740 00006 EXTEND
048212,001225: 15,3741 33745 DCA T5IDLER2
048213,001226: 15,3742 53313 DXCH T5LOC
048214,001227: 15,3743 05333 TC RESUME
048215,001228:
048216,001229: 15,3744 1312 EBANK= T5LOC
048217,001230: 15,3744 03153 12062 T5IDLER2 2CADR T5IDLOC
048218,001231:
048219,001232: # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
048220,001233: # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
048221,001234: # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
048222,001235: # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
048223,001236: # EACH 2 SECONDS.
048224,001237:
048225,001238: # THE SEQUENCE IS: SP TIME INITIAL TIME
048226,001239: # SWITCH ALSO INDEX.
048227,001240: # P ROLL RATE
048228,001241: # Q PITCH RATE
048229,001242: # R YAW RATE
048230,001243: # ETC.
048231,001244:
048232,001245: # CMTMTIME = UPBUFF
048233,001246: # SW/NDX = UPBUFF +1
048234,001247: # ENDBUF = UPBUFF +16D
048235,001248:
048236,001249: # Page 1092
048237,001250: # SPACER
048238,001251:
048239,001252: # CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
048240,001253: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
048241,001254: # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
048242,001255: # XBUF = 4DEG
048243,001256:
048244,001257: 15,3746 77464 -T-3 DEC -203 B-14 # CS
048245,001258: 15,3747 00012 VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
048246,001259: 15,3750 5033 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
048247,001260: 15,3750 23617 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
048248,001261: 15,3751 15,3753 -VMT/180 = -VM/360K # = 20 (2) / 180
048249,001262: 15,3751 5045 2JETT = 4SECS # CS 2 (2) 100 INTEGER
048250,001263: 15,3751 01440 4JETT DEC 800 B-14 # CS 4 (2) 100 INTEGER
048251,001264: 15,3752 00266 XMIN/360 DEC 182 B-14 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
048252,001265: 15,3753 70706 -VM/360K DEC -.22222222 # =-20/( 360 (.25))
048253,001266: 15,3754 15,3750 1/16A1 = 180/8ATT
048254,001267: # 1/16A1 = 180/(16 A1 TT)
048255,001268: # = 180/(16 4.55 4)
048256,001269: 15,3754 00133 XS/360 DEC 91 B-14 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
048257,001270: 15,3755 15,3754 BUFLIM = XS/360 # 4/(2 360)
048258,001271:
048259,001272: 15,3755 5002 KTRCS = HALF # KT = (.25) 2 = .5
048260,001273:
048261,001274: # *** END OF TVCDAPS .011 ***
048262,001275:
End of include-file CM_ENTRY_DIGITAL_AUTOPILOT.agc. Parent file is MAIN.agc