Source Code
042737,000001: # Copyright: Public domain.
042738,000002: # Filename: TVCDAPS.agc
042739,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
042740,000004: # It is part of the source code for the Command Module's (CM)
042741,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
042742,000006: # Assembler: yaYUL
042743,000007: # Contact: Ron Burkey <info@sandroid.org>.
042744,000008: # Website: www.ibiblio.org/apollo.
042745,000009: # Pages: 961-978
042746,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
042747,000011: # same name, using Comanche055 page images.
042748,000012: # 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND,
042749,000013: # added a missing instruction to PFORWARD.
042750,000014: # 2000-05-21 RSB Wrong opcode was used with DELBRTMP and
042751,000015: # DELBRTMP +1 operands in 4 places. Corrected
042752,000016: # an MP operation in 2CASFLTR.
042753,000017:
042754,000018: # This source code has been transcribed or otherwise adapted from digitized
042755,000019: # images of a hardcopy from the MIT Museum. The digitization was performed
042756,000020: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
042757,000021: # thanks to both. The images (with suitable reduction in storage size and
042758,000022: # consequent reduction in image quality as well) are available online at
042759,000023: # www.ibiblio.org/apollo. If for some reason you find that the images are
042760,000024: # illegible, contact me at info@sandroid.org about getting access to the
042761,000025: # (much) higher-quality images which Paul actually created.
042762,000026:
042763,000027: # Notations on the hardcopy document read, in part:
042764,000028:
042765,000029: # Assemble revision 055 of AGC program Comanche by NASA
042766,000030: # 2021113-051. 10:28 APR. 1, 1969
042767,000031:
042768,000032: # This AGC program shall also be referred to as
042769,000033: # Colossus 2A
042770,000034:
042771,000035: # Page 961
042772,000036: # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
042773,000037: # LOG SECTION....TVCDAPS SUBROUTINE....DAPCSM
042774,000038: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
042775,000039:
042776,000040: # FUNCTIONAL DESCRIPTION
042777,000041:
042778,000042: # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
042779,000043: # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
042780,000044: # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
042781,000045: # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
042782,000046: # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
042783,000047:
042784,000048: # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
042785,000049: # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
042786,000050: # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
042787,000051: # INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTERS
042788,000052: # FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER.
042789,000053: # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
042790,000054:
042791,000055: # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
042792,000056: # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
042793,000057: # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
042794,000058: # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
042795,000059: # MODING.
042796,000060:
042797,000061: # CALLING SEQUENCE.... (TYPICALLY)
042798,000062:
042799,000063: # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
042800,000064: # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
042801,000065: # T5 CALL OF PITCHDAP BY DAPINIT
042802,000066: # T5 CALL OF YAWDAP BY PITCHDAP
042803,000067: # T5 CALL OF PITCHDAP BY YAWDAP
042804,000068: # ETC.
042805,000069: # (AUTOMATIC SEQUENCING FROM TVCDAPON)
042806,000070:
042807,000071: # NORMAL EXIT MODE....RESUME
042808,000072:
042809,000073: # ALARM OR ABORT EXIT MODES....NONE
042810,000074:
042811,000075: # SUBROUTINES CALLED....
042812,000076:
042813,000077: # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
042814,000078: # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
042815,000079: # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
042816,000080: # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
042817,000081: # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
042818,000082: # YAW DAPS
042819,000083: # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
042820,000084: # OUTPUTS AND STORAGE VALUES
042821,000085: # RESUME
042822,000086:
042823,000087: # Page 962
042824,000088: # OTHER INTERFACES
042825,000089:
042826,000090: # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
042827,000091: # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
042828,000092: # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
042829,000093: # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
042830,000094:
042831,000095: # ERASABLE INITIALIZATION REQUIRED....
042832,000096:
042833,000097: # PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
042834,000098: # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
042835,000099: # ENGINE-ON BIT (11.13) FOR RESTARTS
042836,000100: # TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
042837,000101: # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
042838,000102: # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
042839,000103: # INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
042840,000104: # CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY QUICTRIG1 (WITH
042841,000105: # UPDATES EVERY 1/2 SECOND)
042842,000106: # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
042843,000107: # UNLESS BENCH-TESTING.
042844,000108:
042845,000109: # OUTPUT....
042846,000110:
042847,000111: # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL
042848,000112: # COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
042849,000113: # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
042850,000114: # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
042851,000115:
042852,000116: # DEBRIS....
042853,000117:
042854,000118: # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042855,000119:
042856,000120: 17,2552 BANK 17
042857,000121: 20,2000 SETLOC DAPS2
042858,000122: 20,2000 BANK
042859,000123:
042860,000124: 20,2530 E6,1702 EBANK= BZERO
042861,000125:
042862,000126: 20,2530 COUNT* $$/DAPS
042863,000127:
042864,000128: # Page 963
042865,000129: # PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
042866,000130:
042867,000131: 20,2530 22016 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
042868,000132: 20,2531 00006 EXTEND
042869,000133: 20,2532 22012 QXCH QRUPT
042870,000134:
042871,000135: 20,2533 33475 CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
042872,000136: 20,2534 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
042873,000137: 20,2535 31625 CAE T5TVCDT
042874,000138: 20,2536 54030 TS TIME5
042875,000139:
042876,000140: 20,2537 11574 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
042877,000141: 20,2540 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS
042878,000142: 20,2541 12543 TCF +2 # NO-TEST
042879,000143: 20,2542 03533 TC HACK # TEST-IN-PROGRESS
042880,000144:
042881,000145: 20,2543 30033 PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
042882,000146: 20,2544 57645 XCH PCDUYPST
042883,000147: 20,2545 00006 EXTEND
042884,000148: 20,2546 21645 MSU PCDUYPST
042885,000149: 20,2547 02560 TCR RLIMTEST # RATE TEST
042886,000150: 20,2550 55647 TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042887,000151:
042888,000152: 20,2551 30034 CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW)
042889,000153: 20,2552 57646 XCH PCDUZPST
042890,000154: 20,2553 00006 EXTEND
042891,000155: 20,2554 21646 MSU PCDUZPST
042892,000156: 20,2555 02560 TCR RLIMTEST # RATE TEST
042893,000157: 20,2556 55650 TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
042894,000158: 20,2557 12571 TCF PINTEGRL
042895,000159:
042896,000160: 20,2560 55611 RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
042897,000161: 20,2561 00006 EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD
042898,000162: 20,2562 73476 MP 1/RTLIM
042899,000163: 20,2563 00006 EXTEND
042900,000164: 20,2564 12567 BZF +3
042901,000165: 20,2565 35021 CAF ZERO
042902,000166: 20,2566 55611 TS TTMP1
042903,000167: 20,2567 31611 CAE TTMP1
042904,000168: 20,2570 00002 TC Q
042905,000169:
042906,000170: 20,2571 00006 PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
042907,000171: 20,2572 31576 DCA PERRB # ERROR, SC.AT B-1 REVS
042908,000172: 20,2573 53703 DXCH ERRBTMP
042909,000173:
042910,000174: 20,2574 00006 EXTEND
042911,000175: 20,2575 31530 DCA OMEGAYC
042912,000176: 20,2576 21703 DAS ERRBTMP
042913,000177:
042914,000178: # Page 964
042915,000179: 20,2577 40746 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
042916,000180: 20,2600 00006 EXTEND
042917,000181: 20,2601 70750 MP COSCDUX
042918,000182: 20,2602 20001 DDOUBL
042919,000183: 20,2603 00006 EXTEND
042920,000184: 20,2604 71647 MP MCDUYDOT
042921,000185: 20,2605 20001 DDOUBL
042922,000186: 20,2606 53536 DXCH OMEGAYB
042923,000187:
042924,000188: 20,2607 41650 CS MCDUZDOT
042925,000189: 20,2610 00006 EXTEND
042926,000190: 20,2611 70742 MP SINCDUX
042927,000191: 20,2612 20001 DDOUBL
042928,000192: 20,2613 21536 DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
042929,000193:
042930,000194: 20,2614 00006 EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
042931,000195: 20,2615 41536 DCS OMEGAYB
042932,000196: 20,2616 21703 DAS ERRBTMP
042933,000197:
042934,000198: 20,2617 03124 PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
042935,000199:
042936,000200: 20,2620 00006 PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
042937,000201: 20,2621 31542 DCA PTMP1 # FOR THE PITCH CHANNEL
042938,000202: 20,2622 53707 DXCH TMP1
042939,000203: 20,2623 00006 EXTEND
042940,000204: 20,2624 31546 DCA PTMP3
042941,000205: 20,2625 53713 DXCH TMP3
042942,000206: 20,2626 00006 EXTEND
042943,000207: 20,2627 31552 DCA PTMP5
042944,000208: 20,2630 53717 DXCH TMP5
042945,000209:
042946,000210: 20,2631 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
042947,000211: # (INCLUDES VARIABLE GAIN PACKAGE)
042948,000212:
042949,000213: 20,2632 00006 POFFSET EXTEND
042950,000214: 20,2633 31606 DCA PDELOFF
042951,000215: 20,2634 21705 DAS CMDTMP # NO SCALED AT B+0 ASCREV
042952,000216:
042953,000217: 20,2635 03137 PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
042954,000218:
042955,000219: 20,2636 41623 POUT CS PCMD # INCREMENTAL PITCH COMMAND
042956,000220: 20,2637 61704 AD CMDTMP
042957,000221: 20,2640 26054 ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
042958,000222: # PROTECT. SINCE ERROR CNTR ZEROED)
042959,000223:
042960,000224: 20,2641 35005 CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
042961,000225: 20,2642 00006 EXTEND
042962,000226: 20,2643 05014 WOR CHAN14
042963,000227:
042964,000228: 20,2644 00006 PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
042965,000229: # Page 965
042966,000230: 20,2645 31544 DCA PTMP2
042967,000231: 20,2646 53711 DXCH TMP2
042968,000232: 20,2647 00006 EXTEND
042969,000233: 20,2650 31550 DCA PTMP4
042970,000234: 20,2651 53715 DXCH TMP4
042971,000235: 20,2652 00006 EXTEND
042972,000236: 20,2653 31554 DCA PTMP6
042973,000237: 20,2654 53721 DXCH TMP6
042974,000238:
042975,000239: 20,2655 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
042976,000240:
042977,000241: 20,2656 31602 DELBARP CAE DELPBAR +1
042978,000242: 20,2657 00006 EXTEND
042979,000243: 20,2660 73500 MP E(-AT)
042980,000244: 20,2661 55701 TS DELBRTMP +1
042981,000245: 20,2662 31601 CAE DELPBAR
042982,000246: 20,2663 00006 EXTEND
042983,000247: 20,2664 73500 MP E(-AT)
042984,000248: 20,2665 21701 DAS DELBRTMP
042985,000249: 20,2666 31704 CAE CMDTMP
042986,000250: 20,2667 00006 EXTEND
042987,000251: 20,2670 73477 MP 1-E(-AT)
042988,000252: 20,2671 21701 DAS DELBRTMP
042989,000253:
042990,000254: 20,2672 02674 PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
042991,000255:
042992,000256: 20,2673 15333 PDAPEND TCF RESUME # PITCH DAP COMPLETED
042993,000257: # Page 966
042994,000258: # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
042995,000259:
042996,000260: 20,2674 25644 PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
042997,000261: # NOTE POSSIBLE RE-ENTRY FROM RESTART
042998,000262: # PACKAGE, SHOULD A RESTART OCCUR
042999,000263: # DURING PITCH COPYCYCLE.
043000,000264:
043001,000265: 20,2675 00006 EXTEND
043002,000266: 20,2676 31707 DCA TMP1
043003,000267: 20,2677 53542 DXCH PTMP1
043004,000268: 20,2700 00006 EXTEND
043005,000269: 20,2701 31711 DCA TMP2
043006,000270: 20,2702 53544 DXCH PTMP2
043007,000271: 20,2703 00006 EXTEND
043008,000272: 20,2704 31713 DCA TMP3
043009,000273: 20,2705 53546 DXCH PTMP3
043010,000274: 20,2706 00006 EXTEND
043011,000275: 20,2707 31715 DCA TMP4
043012,000276: 20,2710 53550 DXCH PTMP4
043013,000277: 20,2711 00006 EXTEND
043014,000278: 20,2712 31717 DCA TMP5
043015,000279: 20,2713 53552 DXCH PTMP5
043016,000280: 20,2714 00006 EXTEND
043017,000281: 20,2715 31721 DCA TMP6
043018,000282: 20,2716 53554 DXCH PTMP6
043019,000283:
043020,000284: 20,2717 00006 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
043021,000285: 20,2720 31703 DCA ERRBTMP
043022,000286: 20,2721 55477 TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
043023,000287: 20,2722 53576 DXCH PERRB
043024,000288:
043025,000289: 20,2723 31704 CAE CMDTMP # PITCH ACTUATOR COMMAND
043026,000290: 20,2724 55623 TS PCMD
043027,000291:
043028,000292: 20,2725 00006 EXTEND # PITCH OFFSET-TRACKER-FILTER
043029,000293: 20,2726 31701 DCA DELBRTMP
043030,000294: 20,2727 53602 DXCH DELPBAR
043031,000295:
043032,000296: 20,2730 25644 INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2)
043033,000297:
043034,000298: 20,2731 00002 TC Q
043035,000299:
043036,000300: # Page 967
043037,000301: # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
043038,000302:
043039,000303: 20,2732 22016 YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
043040,000304: 20,2733 00006 EXTEND
043041,000305: 20,2734 22012 QXCH QRUPT
043042,000306:
043043,000307: 20,2735 33473 CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
043044,000308: 20,2736 55312 TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
043045,000309: 20,2737 31625 CAE T5TVCDT
043046,000310: 20,2740 54030 TS TIME5
043047,000311:
043048,000312: 20,2741 11574 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
043049,000313: 20,2742 03533 TC HACK # TEST-START OR TEST-IN-PROGRESS
043050,000314: 20,2743 12745 TCF +2 # NO-TEST
043051,000315: 20,2744 03533 TC HACK # TEST-IN-PROGRESS
043052,000316:
043053,000317: # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
043054,000318:
043055,000319: 20,2745 00006 YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
043056,000320: 20,2746 31600 DCA YERRB # ERROR, SC.AT B-1 REVS
043057,000321: 20,2747 53703 DXCH ERRBTMP
043058,000322:
043059,000323: 20,2750 00006 EXTEND
043060,000324: 20,2751 31532 DCA OMEGAZC
043061,000325: 20,2752 21703 DAS ERRBTMP
043062,000326:
043063,000327: 20,2753 30746 CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
043064,000328: 20,2754 00006 EXTEND
043065,000329: 20,2755 70742 MP SINCDUX
043066,000330: 20,2756 20001 DDOUBL
043067,000331: 20,2757 00006 EXTEND
043068,000332: 20,2760 71647 MP MCDUYDOT
043069,000333: 20,2761 20001 DDOUBL
043070,000334: 20,2762 53540 DXCH OMEGAZB
043071,000335:
043072,000336: 20,2763 41650 CS MCDUZDOT
043073,000337: 20,2764 00006 EXTEND
043074,000338: 20,2765 70750 MP COSCDUX
043075,000339: 20,2766 20001 DDOUBL
043076,000340: 20,2767 21540 DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
043077,000341:
043078,000342: 20,2770 00006 EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
043079,000343: 20,2771 41540 DCS OMEGAZB
043080,000344: 20,2772 21703 DAS ERRBTMP
043081,000345:
043082,000346: 20,2773 03124 YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
043083,000347:
043084,000348: 20,2774 00006 YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
043085,000349: 20,2775 31556 DCA YTMP1 # FOR THE YAW CHANNEL
043086,000350: # Page 968
043087,000351: 20,2776 53707 DXCH TMP1
043088,000352: 20,2777 00006 EXTEND
043089,000353: 20,3000 31562 DCA YTMP3
043090,000354: 20,3001 53713 DXCH TMP3
043091,000355: 20,3002 00006 EXTEND
043092,000356: 20,3003 31566 DCA YTMP5
043093,000357: 20,3004 53717 DXCH TMP5
043094,000358:
043095,000359: 20,3005 03156 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
043096,000360: # (INCLUDES VARIABLE GAIN PACKAGE)
043097,000361:
043098,000362: 20,3006 00006 YOFFSET EXTEND
043099,000363: 20,3007 31610 DCA YDELOFF
043100,000364: 20,3010 21705 DAS CMDTMP # NOW SCALED AT B+0 ASCREV
043101,000365:
043102,000366: 20,3011 03137 YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
043103,000367:
043104,000368: 20,3012 41624 YOUT CS YCMD # INCRMENTAL YAW COMMAND
043105,000369: 20,3013 61704 AD CMDTMP
043106,000370: 20,3014 26053 ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
043107,000371: # PROTECT, SINCE ERROR CNTR ZEROED)
043108,000372:
043109,000373: 20,3015 35004 CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
043110,000374: 20,3016 00006 EXTEND
043111,000375: 20,3017 05014 WOR CHAN14
043112,000376:
043113,000377: 20,3020 00006 YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW
043114,000378: 20,3021 31560 DCA YTMP2
043115,000379: 20,3022 53711 DXCH TMP2
043116,000380: 20,3023 00006 EXTEND
043117,000381: 20,3024 31564 DCA YTMP4
043118,000382: 20,3025 53715 DXCH TMP4
043119,000383: 20,3026 00006 EXTEND
043120,000384: 20,3027 31570 DCA YTMP6
043121,000385: 20,3030 53721 DXCH TMP6
043122,000386:
043123,000387: 20,3031 03247 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
043124,000388:
043125,000389: 20,3032 31604 DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER
043126,000390: 20,3033 00006 EXTEND
043127,000391: 20,3034 73500 MP E(-AT)
043128,000392: 20,3035 55701 TS DELBRTMP +1
043129,000393: 20,3036 31603 CAE DELYBAR
043130,000394: 20,3037 00006 EXTEND
043131,000395: 20,3040 73500 MP E(-AT)
043132,000396: 20,3041 21701 DAS DELBRTMP
043133,000397: 20,3042 31704 CAE CMDTMP
043134,000398: 20,3043 00006 EXTEND
043135,000399: 20,3044 73477 MP 1-E(-AT)
043136,000400: 20,3045 21701 DAS DELBRTMP
043137,000401:
043138,000402: # Page 969
043139,000403: 20,3046 03050 YCOPYCYC TCR YCOPY # YAW COPYCYCLE
043140,000404:
043141,000405: 20,3047 15333 YDAPEND TCF RESUME # YAW DAP COMPLETED
043142,000406:
043143,000407: # Page 970
043144,000408: # TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
043145,000409:
043146,000410: 20,3050 25644 YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3)
043147,000411: # NOTE POSSIBLE RE-ENTRY FROM RESTART
043148,000412: # PACKAGE, SHOULD A RESTART OCCUR
043149,000413: # DURING YAW COPYCYCLE.
043150,000414:
043151,000415: 20,3051 00006 EXTEND
043152,000416: 20,3052 31707 DCA TMP1
043153,000417: 20,3053 53556 DXCH YTMP1
043154,000418: 20,3054 00006 EXTEND
043155,000419: 20,3055 31711 DCA TMP2
043156,000420: 20,3056 53560 DXCH YTMP2
043157,000421: 20,3057 00006 EXTEND
043158,000422: 20,3060 31713 DCA TMP3
043159,000423: 20,3061 53562 DXCH YTMP3
043160,000424: 20,3062 00006 EXTEND
043161,000425: 20,3063 31715 DCA TMP4
043162,000426: 20,3064 53564 DXCH YTMP4
043163,000427: 20,3065 00006 EXTEND
043164,000428: 20,3066 31717 DCA TMP5
043165,000429: 20,3067 53566 DXCH YTMP5
043166,000430: 20,3070 00006 EXTEND
043167,000431: 20,3071 31721 DCA TMP6
043168,000432: 20,3072 53570 DXCH YTMP6
043169,000433:
043170,000434: 20,3073 00006 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
043171,000435: 20,3074 31703 DCA ERRBTMP
043172,000436: 20,3075 55500 TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
043173,000437: 20,3076 53600 DXCH YERRB
043174,000438:
043175,000439: 20,3077 31704 CAE CMDTMP
043176,000440: 20,3100 55624 TS YCMD
043177,000441:
043178,000442: 20,3101 00006 EXTEND
043179,000443: 20,3102 31701 DCA DELBRTMP
043180,000444: 20,3103 53604 DXCH DELYBAR
043181,000445:
043182,000446: 20,3104 35021 CAF ZERO # YAW COPYCYCLE COMPLETED
043183,000447: 20,3105 55644 TS TVCPHASE # RESET TVCPHASE
043184,000448:
043185,000449: 20,3106 00002 TC Q
043186,000450:
043187,000451: # Page 971
043188,000452: # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
043189,000453:
043190,000454: # INITIALIZATION PACKAGE FOR CDURATES....
043191,000455:
043192,000456: 20,3107 22016 DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
043193,000457:
043194,000458: 20,3110 37716 CAF NEGONE # SET UP
043195,000459: 20,3111 61625 AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
043196,000460: 20,3112 65001 AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
043197,000461: 20,3113 61625 AD T5TVCDT
043198,000462: 20,3114 54030 TS TIME5
043199,000463: 20,3115 33473 CAF PITCHT5 # (BBCON ALREADY THERE)
043200,000464: 20,3116 55312 TS T5LOC
043201,000465:
043202,000466: 20,3117 30033 CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
043203,000467: 20,3120 55645 TS PCDUYPST # PAST-VALUES
043204,000468: 20,3121 30034 CAE CDUZ
043205,000469: 20,3122 55646 TS PCDUZPST
043206,000470:
043207,000471: 20,3123 15335 TCF NOQRSM
043208,000472:
043209,000473: # BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
043210,000474:
043211,000475: 20,3124 31702 ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
043212,000476: 20,3125 00006 EXTEND # CHECKS UPPER WORD ONLY
043213,000477: 20,3126 75015 MP 1/ERRLIM
043214,000478: 20,3127 00006 EXTEND
043215,000479: 20,3130 13136 BZF +6
043216,000480: 20,3131 11702 CCS ERRBTMP
043217,000481: 20,3132 35003 CAF ERRLIM
043218,000482: 20,3133 13135 TCF +2
043219,000483: 20,3134 45003 CS ERRLIM
043220,000484: 20,3135 55702 TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
043221,000485:
043222,000486: 20,3136 00002 TC Q
043223,000487:
043224,000488: # ACTUATOR-COMMAND LIMITER PACKAGE....
043225,000489:
043226,000490: 20,3137 31705 ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
043227,000491: 20,3140 60000 DOUBLE
043228,000492: 20,3141 54001 TS L
043229,000493: 20,3142 35021 CAF ZERO
043230,000494: 20,3143 61704 AD CMDTMP
043231,000495:
043232,000496: 20,3144 00006 EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
043233,000497: 20,3145 73472 MP 1/ACTSAT
043234,000498: 20,3146 00006 EXTEND
043235,000499: # Page 972
043236,000500: 20,3147 13155 BZF +6
043237,000501: 20,3150 11704 CCS CMDTMP # APPLY LIMITS
043238,000502: 20,3151 33471 CAF ACTSAT
043239,000503: 20,3152 13154 TCF +2
043240,000504: 20,3153 43471 CS ACTSAT
043241,000505: 20,3154 55704 TS CMDTMP # LIMITS WRITE OVER CMDTMP
043242,000506:
043243,000507: 20,3155 00002 TC Q
043244,000508:
043245,000509: # FILTER COMPUTATIONS FOR PRESENT OUTPUT................
043246,000510:
043247,000511: 20,3156 35021 FWDFLTR CAF ZERO
043248,000512: 20,3157 55615 TS DAP1
043249,000513: 20,3160 55617 TS DAP2
043250,000514: 20,3161 55621 TS DAP3
043251,000515: 20,3162 55704 TS CMDTMP
043252,000516:
043253,000517: 20,3163 55700 TS DELBRTMP
043254,000518:
043255,000519: 20,3164 31703 1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE
043256,000520: 20,3165 00006 EXTEND
043257,000521: 20,3166 71723 MP N10 # N10
043258,000522: 20,3167 55616 TS DAP1 +1
043259,000523: 20,3170 31702 CA ERRBTMP
043260,000524: 20,3171 00006 EXTEND
043261,000525: 20,3172 71723 MP N10 # N10
043262,000526: 20,3173 21616 DAS DAP1
043263,000527: 20,3174 53707 DXCH TMP1
043264,000528: 20,3175 21616 DAS DAP1
043265,000529:
043266,000530: 20,3176 31616 2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE
043267,000531: 20,3177 00006 EXTEND
043268,000532: 20,3200 71730 MP N10 +5 # N20
043269,000533: 20,3201 55620 TS DAP2 +1
043270,000534: 20,3202 31615 CA DAP1
043271,000535: 20,3203 00006 EXTEND
043272,000536: 20,3204 71730 MP N10 +5 # N20
043273,000537: 20,3205 21620 DAS DAP2
043274,000538: 20,3206 53713 DXCH TMP3
043275,000539: 20,3207 21620 DAS DAP2
043276,000540:
043277,000541: 20,3210 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
043278,000542: 20,3211 75002 MASK BIT14
043279,000543: 20,3212 10000 CCS A
043280,000544: 20,3213 13220 TCF 3DAPCAS # LEM ON
043281,000545: 20,3214 00006 EXTEND # LEM OFF
043282,000546: 20,3215 31620 DCA DAP2
043283,000547: 20,3216 53622 DXCH DAP3
043284,000548: 20,3217 13232 TCF OPTVARK
043285,000549:
043286,000550: # Page 973
043287,000551: 20,3220 31620 3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE
043288,000552: 20,3221 00006 EXTEND
043289,000553: 20,3222 71735 MP N10 +10D # N30
043290,000554: 20,3223 55622 TS DAP3 +1
043291,000555: 20,3224 31617 CA DAP2
043292,000556: 20,3225 00006 EXTEND
043293,000557: 20,3226 71735 MP N10 +10D # N30
043294,000558: 20,3227 21622 DAS DAP3
043295,000559: 20,3230 53717 DXCH TMP5
043296,000560: 20,3231 21622 DAS DAP3
043297,000561:
043298,000562: 20,3232 41622 OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
043299,000563: 20,3233 00006 EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP)
043300,000564: 20,3234 71641 MP VARK # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE
043301,000565: 20,3235 55705 TS CMDTMP +1
043302,000566: 20,3236 41621 CS DAP3
043303,000567: 20,3237 00006 EXTEND
043304,000568: 20,3240 71641 MP VARK
043305,000569: 20,3241 21705 DAS CMDTMP
043306,000570:
043307,000571: 20,3242 53705 DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS
043308,000572: 20,3243 20001 DDOUBL
043309,000573: 20,3244 20001 DDOUBL
043310,000574: 20,3245 53705 DXCH CMDTMP # -- SCALED B+1 ASCREVS
043311,000575: # NOTE -- THERE IS AN INHERENT GAIN OF
043312,000576: # (B+1 ASCREVS) ON THE OUTPUT DACS.
043313,000577:
043314,000578: 20,3246 00002 TC Q
043315,000579:
043316,000580: # FILTER PRECOMPUTATIONS FOR NEXT PASS................
043317,000581:
043318,000582: 20,3247 35021 PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
043319,000583: 20,3250 55611 TS TTMP1
043320,000584: 20,3251 55613 TS TTMP2
043321,000585:
043322,000586: 20,3252 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY
043323,000587: 20,3253 00006 EXTEND
043324,000588: 20,3254 71724 MP N10 +1 # N11/2
043325,000589: 20,3255 55612 TS TTMP1 +1
043326,000590: 20,3256 31702 CA ERRBTMP
043327,000591: 20,3257 00006 EXTEND
043328,000592: 20,3260 71724 MP N10 +1 # N11/2
043329,000593: 20,3261 21612 DAS TTMP1
043330,000594:
043331,000595: 20,3262 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
043332,000596: 20,3263 00006 EXTEND
043333,000597: 20,3264 71726 MP N10 +3 # D11/2
043334,000598: 20,3265 55614 TS TTMP2 +1
043335,000599: 20,3266 41615 CS DAP1
043336,000600:
043337,000601: # Page 974
043338,000602: 20,3267 00006 EXTEND
043339,000603: 20,3270 71726 MP N10 +3 # D11/2
043340,000604: 20,3271 21614 DAS TTMP2
043341,000605:
043342,000606: 20,3272 53614 DXCH TTMP2
043343,000607: 20,3273 21612 DAS TTMP1
043344,000608: 20,3274 53612 DXCH TTMP1
043345,000609: 20,3275 20001 DDOUBL
043346,000610: 20,3276 21711 DAS TMP2
043347,000611:
043348,000612: 20,3277 53711 DXCH TMP2
043349,000613: 20,3300 53707 DXCH TMP1
043350,000614:
043351,000615: 20,3301 35021 CAF ZERO
043352,000616: 20,3302 55611 TS TTMP1
043353,000617: 20,3303 55710 TS TMP2
043354,000618:
043355,000619: 20,3304 31703 CA ERRBTMP +1 # MULTIPLY INPUT BY
043356,000620: 20,3305 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF.
043357,000621: 20,3306 71725 MP N10 +2 # N12
043358,000622: 20,3307 55612 TS TTMP1 +1
043359,000623: 20,3310 31702 CA ERRBTMP
043360,000624: 20,3311 00006 EXTEND
043361,000625: 20,3312 71725 MP N10 +2 # N12
043362,000626: 20,3313 21612 DAS TTMP1
043363,000627:
043364,000628: 20,3314 41616 CS DAP1 +1 # MULTIPLY OUTPUT BY
043365,000629: 20,3315 00006 EXTEND
043366,000630: 20,3316 71727 MP N10 +4 # D12
043367,000631: 20,3317 55711 TS TMP2 +1
043368,000632: 20,3320 41615 CS DAP1
043369,000633: 20,3321 00006 EXTEND
043370,000634: 20,3322 71727 MP N10 +4 # D12
043371,000635: 20,3323 21711 DAS TMP2
043372,000636:
043373,000637: 20,3324 53612 DXCH TTMP1
043374,000638: 20,3325 21711 DAS TMP2
043375,000639:
043376,000640: 20,3326 35021 2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER **********
043377,000641: 20,3327 55611 TS TTMP1
043378,000642: 20,3330 55613 TS TTMP2
043379,000643:
043380,000644: 20,3331 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043381,000645: 20,3332 00006 EXTEND
043382,000646: 20,3333 71731 MP N10 +6 # N21/2
043383,000647: 20,3334 55612 TS TTMP1 +1
043384,000648: 20,3335 31615 CA DAP1
043385,000649: 20,3336 00006 EXTEND
043386,000650: 20,3337 71731 MP N10 +6 # N21/2
043387,000651: # Page 975
043388,000652: 20,3340 21612 DAS TTMP1
043389,000653:
043390,000654: 20,3341 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043391,000655: 20,3342 00006 EXTEND
043392,000656: 20,3343 71733 MP N10 +8D # D21/2
043393,000657: 20,3344 55614 TS TTMP2 +1
043394,000658: 20,3345 41617 CS DAP2
043395,000659: 20,3346 00006 EXTEND
043396,000660: 20,3347 71733 MP N10 +8D # D21/2
043397,000661: 20,3350 21614 DAS TTMP2
043398,000662:
043399,000663: 20,3351 53614 DXCH TTMP2
043400,000664: 20,3352 21612 DAS TTMP1
043401,000665: 20,3353 53612 DXCH TTMP1
043402,000666: 20,3354 20001 DDOUBL
043403,000667: 20,3355 21715 DAS TMP4
043404,000668:
043405,000669: 20,3356 53715 DXCH TMP4
043406,000670: 20,3357 53713 DXCH TMP3
043407,000671:
043408,000672: 20,3360 35021 CAF ZERO
043409,000673: 20,3361 55611 TS TTMP1
043410,000674: 20,3362 55714 TS TMP4
043411,000675:
043412,000676: 20,3363 31616 CA DAP1 +1 # MULTIPLY INPUT BY
043413,000677: 20,3364 00006 EXTEND # SECOND-ORDER NUMERATOR COEFF.
043414,000678: 20,3365 71732 MP N10 +7 # N22
043415,000679: 20,3366 55612 TS TTMP1 +1
043416,000680: 20,3367 31615 CA DAP1
043417,000681: 20,3370 00006 EXTEND
043418,000682: 20,3371 71732 MP N10 +7 # N22
043419,000683: 20,3372 21612 DAS TTMP1
043420,000684:
043421,000685: 20,3373 41620 CS DAP2 +1 # MULTIPLY OUTPUT BY
043422,000686: 20,3374 00006 EXTEND
043423,000687: 20,3375 71734 MP N10 +9D # D22
043424,000688: 20,3376 55715 TS TMP4 +1
043425,000689: 20,3377 41617 CS DAP2
043426,000690: 20,3400 00006 EXTEND
043427,000691: 20,3401 71734 MP N10 +9D # D22
043428,000692: 20,3402 21715 DAS TMP4
043429,000693:
043430,000694: 20,3403 53612 DXCH TTMP1
043431,000695: 20,3404 21715 DAS TMP4
043432,000696:
043433,000697: 20,3405 31466 CAE DAPDATR1 # TEST FOR LEM ON OR OFF
043434,000698: 20,3406 75003 MASK BIT13
043435,000699: 20,3407 10000 CCS A
043436,000700: 20,3410 00002 TC Q # EXIT IF LEM OFF
043437,000701:
043438,000702: # Page 976
043439,000703: 20,3411 35021 3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER **********
043440,000704: 20,3412 55611 TS TTMP1
043441,000705: 20,3413 55613 TS TTMP2
043442,000706:
043443,000707: 20,3414 31620 CA DAP2 +1 # MULTIPLY INPUT BY (1/2)
043444,000708: 20,3415 00006 EXTEND
043445,000709: 20,3416 71736 MP N10 +11D # N31/2
043446,000710: 20,3417 55612 TS TTMP1 +1
043447,000711: 20,3420 31617 CA DAP2
043448,000712: 20,3421 00006 EXTEND
043449,000713: 20,3422 71736 MP N10 +11D # N31/2
043450,000714: 20,3423 21612 DAS TTMP1
043451,000715:
043452,000716: 20,3424 41622 CS DAP3 +1
043453,000717: 20,3425 00006 EXTEND
043454,000718: 20,3426 71740 MP N10 +13D # D31/2
043455,000719: 20,3427 55614 TS TTMP2 +1
043456,000720: 20,3430 41621 CS DAP3
043457,000721: 20,3431 00006 EXTEND
043458,000722: 20,3432 71740 MP N10 +13D # D31/2
043459,000723: 20,3433 21614 DAS TTMP2
043460,000724:
043461,000725: 20,3434 53614 DXCH TTMP2
043462,000726: 20,3435 21612 DAS TTMP1
043463,000727: 20,3436 53612 DXCH TTMP1
043464,000728: 20,3437 20001 DDOUBL
043465,000729: 20,3440 21721 DAS TMP6
043466,000730:
043467,000731: 20,3441 53721 DXCH TMP6
043468,000732: 20,3442 53717 DXCH TMP5
043469,000733:
043470,000734: 20,3443 35021 CAF ZERO
043471,000735: 20,3444 55611 TS TTMP1
043472,000736: 20,3445 55720 TS TMP6
043473,000737:
043474,000738: 20,3446 31620 CA DAP2 +1 # MULTIPLY INPUT BY
043475,000739: 20,3447 00006 EXTEND
043476,000740: 20,3450 71737 MP N10 +12D # N32
043477,000741: 20,3451 55612 TS TTMP1 +1
043478,000742: 20,3452 31617 CA DAP2
043479,000743: 20,3453 00006 EXTEND
043480,000744: 20,3454 71737 MP N10 +12D # N32
043481,000745: 20,3455 21612 DAS TTMP1
043482,000746:
043483,000747: 20,3456 41622 CS DAP3 +1
043484,000748: 20,3457 00006 EXTEND
043485,000749: 20,3460 71741 MP N10 +14D # D32
043486,000750: 20,3461 55721 TS TMP6 +1
043487,000751: 20,3462 41621 CS DAP3
043488,000752: 20,3463 00006 EXTEND
043489,000753: # Page 977
043490,000754: 20,3464 71741 MP N10 +14D # D32
043491,000755: 20,3465 21721 DAS TMP6
043492,000756:
043493,000757: 20,3466 53612 DXCH TTMP1
043494,000758: 20,3467 21721 DAS TMP6
043495,000759:
043496,000760: 20,3470 00002 TC Q
043497,000761:
043498,000762: # Page 978
043499,000763: # CONSTANTS FOR AUTOPILOTS
043500,000764:
043501,000765: # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)
043502,000766: # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
043503,000767:
043504,000768: 20,3471 00375 ACTSAT DEC 253 B-14 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
043505,000769: 20,3472 00101 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
043506,000770:
043507,000771: 20,3473 5003 ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
043508,000772: 20,3473 5015 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
043509,000773:
043510,000774: 20,3473 02530 PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
043511,000775: 20,3474 03107 DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
043512,000776: 20,3475 02732 YAWT5 GENADR YAWDAP # REQUIRED.
043513,000777:
043514,000778: 20,3476 00115 1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG
043515,000779: 20,3477 00243 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
043516,000780: 20,3500 37535 E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
043517,000781:
End of include-file TVCDAPS.agc. Parent file is MAIN.agc