Source Code
043781,000001: # Copyright: Public domain.
043782,000002: # Filename: TVCROLLDAP.agc
043783,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
043784,000004: # It is part of the source code for the Command Module's (CM)
043785,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
043786,000006: # Assembler: yaYUL
043787,000007: # Contact: Ron Burkey <info@sandroid.org>.
043788,000008: # Website: www.ibiblio.org/apollo.
043789,000009: # Pages: 984-998
043790,000010: # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
043791,000011: # same name, using Comanche055 page images.
043792,000012:
043793,000013: # This source code has been transcribed or otherwise adapted from digitized
043794,000014: # images of a hardcopy from the MIT Museum. The digitization was performed
043795,000015: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
043796,000016: # thanks to both. The images (with suitable reduction in storage size and
043797,000017: # consequent reduction in image quality as well) are available online at
043798,000018: # www.ibiblio.org/apollo. If for some reason you find that the images are
043799,000019: # illegible, contact me at info@sandroid.org about getting access to the
043800,000020: # (much) higher-quality images which Paul actually created.
043801,000021:
043802,000022: # Notations on the hardcopy document read, in part:
043803,000023:
043804,000024: # Assemble revision 055 of AGC program Comanche by NASA
043805,000025: # 2021113-051. 10:28 APR. 1, 1969
043806,000026:
043807,000027: # This AGC program shall also be referred to as
043808,000028: # Colossus 2A
043809,000029:
043810,000030: # Page 984
043811,000031: # PROGRAM NAME....TVC ROLL AUTOPILOT
043812,000032: # LOG SECTION....TVCROLLDAP SUBROUTINE....DAPCSM
043813,000033: # MOD BY SCHLUNDT 21 OCTOBER 1968
043814,000034:
043815,000035: # FUNCTIONAL DESCRIPTION....
043816,000036:
043817,000037: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
043818,000038: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
043819,000039: # BY IGNOVER (P40)
043820,000040: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
043821,000041: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
043822,000042: # *USES T6 CLOCK TO TIME JET FIRINGS.
043823,000043: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
043824,000044: # *MINIMUM JET FIRING TIME = 15 MS
043825,000045: # *JET PAIRS FIRE ALTERNATELY
043826,000046: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
043827,000047: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
043828,000048: # OF A JET FIRING TIME IS MADE ON A LATER PASS
043829,000049:
043830,000050: # CALLING SEQUENCE....
043831,000051:
043832,000052: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
043833,000053: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
043834,000054:
043835,000055: # NORMAL EXIT MODES.... ENDOFJOB
043836,000056:
043837,000057: # ALARM OR ABORT EXIT MODES.... NONE
043838,000058:
043839,000059: # SUBROUTINES CALLED.....NONE
043840,000060:
043841,000061: # OTHER INTERFACES....
043842,000062:
043843,000063: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
043844,000064: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
043845,000065: # *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC
043846,000066: # SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS
043847,000067: # NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
043848,000068:
043849,000069: # ERASABLE INITIALIZATION REQUIRED
043850,000070:
043851,000071: # *1/CONACC (S40.15)
043852,000072: # *OGAD (CDUX, AT IGNITION)
043853,000073: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
043854,000074: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
043855,000075: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
043856,000076:
043857,000077: # OUTPUT....
043858,000078:
043859,000079: # *ROLL JET PAIR FIRINGS
043860,000080:
043861,000081: # Page 985
043862,000082: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
043863,000083:
043864,000084: # Page 986
043865,000085: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
043866,000086: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
043867,000087:
043868,000088: # SWITCHING LOGIC IN THE PHASE PLANE....
043869,000089:
043870,000090: # OGARATE
043871,000091: # *
043872,000092: # *
043873,000093: # * * * * * * * * * * * *
043874,000094: # * (REGION 1, SEE TEXT BELOW)
043875,000095: # * *
043876,000096: # *
043877,000097: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
043878,000098: # * * .
043879,000099: # * * *
043880,000100: # * * (FIRE NEG ROLL JETS)
043881,000101: # * * *
043882,000102: # (-DB,+LMCRATE)....* *
043883,000103: # * * *
043884,000104: # * * OGAERROR
043885,000105: # ************************************************************************
043886,000106: # * * (-AK, OGAERR)
043887,000107: # * * * (REGION 6-PRIME)
043888,000108: # * * (SEE TEXT BELOW)
043889,000109: # * * *
043890,000110: # * * ...STRAIGHT LINE
043891,000111: # (FIRE POS ROLL JETS) * * * .
043892,000112: # * (COAST) *
043893,000113: # * * * * * * * * * * *
043894,000114: # * -MINLIM
043895,000115: # * *
043896,000116: # *
043897,000117: # * * * * * * * * * * * * * * * *
043898,000118: # * -MAXLIM
043899,000119: # *
043900,000120: # *
043901,000121:
043902,000122: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
043903,000123: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
043904,000124: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
043905,000125: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
043906,000126: # SUBJECT TO TEH LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
043907,000127: # ABOVE.
043908,000128:
043909,000129: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRISED OF
043910,000130: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
043911,000131: # 5-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
043912,000132: # Page 987
043913,000133:
043914,000134: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
043915,000135: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
043916,000136: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
043917,000137: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
043918,000138: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
043919,000139: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
043920,000140: # INSTEAD. CONSIDER AN OPERATING POINT IN REGION 6'. PASS A TANGENT TO
043921,000141: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
043922,000142: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
043923,000143: # THE INTERSECTION DEFINES THE DESIRED OGARATE. IF THE OPERATING POINT IS
043924,000144: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
043925,000145: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
043926,000146: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
043927,000147: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
043928,000148: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
043929,000149: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
043930,000150: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
043931,000151: # APPROXIMATION.
043932,000152:
043933,000153: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
043934,000154: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
043935,000155: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
043936,000156: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
043937,000157: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
043938,000158: # THE DESIRED INTERSECTION (I.E., IN THE REGION BETWEEN THE MINLIM
043939,000159: # AND THE STRAIGHT LINE SWITCH) IT WILL EXHIBIT NORMAL COAST-REGION
043940,000160: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
043941,000161: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
043942,000162: # FAILED-ON.
043943,000163:
043944,000164: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
043945,000165: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
043946,000166: # DEFINED BY: OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
043947,000167: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
043948,000168: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
043949,000169: # FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,
043950,000170: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
043951,000171:
043952,000172: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
043953,000173: # 2
043954,000174: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
043955,000175:
043956,000176: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
043957,000177:
043958,000178: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
043959,000179:
043960,000180: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
043961,000181: # Page 988
043962,000182:
043963,000183: # EQUATION FOR INTERSECTION, CONTROL PARABOLA, AND STRAIGHT SWITCH LINE....
043964,000184:
043965,000185: # DOGADOT = NUM/DEN, WHERE
043966,000186: # 2
043967,000187: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
043968,000188: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
043969,000189: # +LMCRATE
043970,000190:
043971,000191: # DEN = (-SLOPE)(LMCRATE)(1/CONACC) = SGN(DELOGA)
043972,000192: # 2
043973,000193: # DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2)SGN(OGARATE)
043974,000194:
043975,000195: # FOR REGIONS 6 AND 6-PRIME, USE ACTUAL OPERATING POINT (OGA, OGARATE)
043976,000196: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
043977,000197: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
043978,000198: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
043979,000199:
043980,000200: # OGAERROR = DELOGA + DB SGN(OGARATE)
043981,000201:
043982,000202: # OGARATE = -LMCRATE SGN(OGARATE)
043983,000203:
043984,000204: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
043985,000205: # ALSO, AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
043986,000206: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE.
043987,000207: # Page 989
043988,000208:
043989,000209: # ROLLDAP CODING....
043990,000210:
043991,000211: 16,2000 SETLOC DAPROLL
043992,000212: 16,2000 BANK
043993,000213: 16,3272 E6,1662 EBANK= OGANOW
043994,000214: 16,3272 COUNT* $$/ROLL
043995,000215: 16,3272 31662 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
043996,000216: 16,3273 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
043997,000217: 16,3274 21663 MSU OGAPAST
043998,000218: 16,3275 00006 EXTEND
043999,000219: 16,3276 75013 MP BIT5
044000,000220: 16,3277 22000 LXCH A
044001,000221: 16,3300 55533 TS OGARATE # SC.AT B-4 REV/SEC
044002,000222:
044003,000223: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
044004,000224: # EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
044005,000225:
044006,000226: 16,3301 31571 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
044007,000227: 16,3302 00006 EXTEND
044008,000228: 16,3303 13305 BZF +2 # ROLL JETS ARE NOW OFF.
044009,000229: 16,3304 13313 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
044010,000230:
044011,000231: 16,3305 31573 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
044012,000232: 16,3306 00006 EXTEND # IF POSITIVE, DON'T FIRE
044013,000233: 16,3307 13313 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
044014,000234:
044015,000235: 16,3310 35021 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
044016,000236: 16,3311 55573 TS TEMREG # RESET TEMREG
044017,000237: 16,3312 15324 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
044018,000238:
044019,000239: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
044020,000240:
044021,000241: 16,3313 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
044022,000242: 16,3314 00006 EXTEND
044023,000243: 16,3315 71640 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
044024,000244: 16,3316 00006 EXTEND
044025,000245: 16,3317 71533 MP OGARATE
044026,000246: 16,3320 63706 AD DB # SCALED AT 2(+0) REV
044027,000247: 16,3321 55573 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
044028,000248:
044029,000249: # GET SIGN OF OGARATE
044030,000250:
044031,000251: 16,3322 31533 CA OGARATE
044032,000252: 16,3323 00006 EXTEND
044033,000253: 16,3324 63327 BZMF +3 # LET SGN(0) BE NEGATIVE
044034,000254: 16,3325 35017 CA BIT1
044035,000255: 16,3326 13330 TCF +2
044036,000256: 16,3327 45017 CS BIT1
044037,000257: 16,3330 55666 TS SGNRT # + OR - 2(-14)
044038,000258:
044039,000259: # Page 990
044040,000260: # CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
044041,000261: 16,3331 00006 EXTEND
044042,000262: 16,3332 71573 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
044043,000263: 16,3333 40001 CS L
044044,000264: 16,3334 61664 AD OGA # SCALED AT 2(+0) REV
044045,000265: 16,3335 55667 DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
044046,000266:
044047,000267: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
044048,000268:
044049,000269: 16,3336 00006 EXTEND
044050,000270: 16,3337 63342 BZMF +3
044051,000271: 16,3340 34371 CAF PRIO30 # = CA (30000)
044052,000272: 16,3341 13343 TCF +2
044053,000273: 16,3342 35001 CAF BIT15 # = CS (40000)
044054,000274: 16,3343 55670 TS I
044055,000275:
044056,000276: 16,3344 51670 INDEX I # TSET ON I SGN(OGARATE)
044057,000277: 16,3345 01666 0 SGNRT # CA OR CS
044058,000278: 16,3346 40000 COM
044059,000279: 16,3347 00006 EXTEND
044060,000280: 16,3350 63421 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
044061,000281:
044062,000282: # NO JET FIRE YET. TEST FOR MAX OGARATE.
044063,000283:
044064,000284: 16,3351 51670 INDEX I
044065,000285: 16,3352 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
044066,000286: 16,3353 55671 TS IOGARATE # I.E., I OGARATE
044067,000287: 16,3354 63714 AD MAXLIM # SCALED AT 2(-4) REV/SEC
044068,000288: 16,3355 00006 EXTEND
044069,000289: 16,3356 63500 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
044070,000290:
044071,000291: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT: NOTE THAT STR. LINE
044072,000292: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG. QUANTITY
044073,000293:
044074,000294: 16,3357 31533 CA OGARATE
044075,000295: 16,3360 00006 EXTEND
044076,000296: 16,3361 75002 MP BIT14
044077,000297: 16,3362 55573 TS TEMREG
044078,000298: 16,3363 31664 CA OGA
044079,000299: 16,3364 00006 EXTEND
044080,000300: 16,3365 73707 MP -SLOPE
044081,000301: 16,3366 20001 DDOUBL
044082,000302: 16,3367 20001 DDOUBL
044083,000303: 16,3370 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
044084,000304: 16,3371 61573 AD TEMREG
044085,000305:
044086,000306: 16,3372 51670 INDEX I
044087,000307: 16,3373 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
044088,000308: 16,3374 40000 COM
044089,000309: # Page 991
044090,000310: 16,3375 63711 AD INTERCEP # SCALED AT 2(-3) REV.
044091,000311: 16,3376 40000 COM
044092,000312: 16,3377 00006 EXTEND
044093,000313: 16,3400 63611 REG2TST BZMF NOROLL # IP REGION 2 (COAST SIDE OF STRT LINE)
044094,000314:
044095,000315: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM
044096,000316:
044097,000317: 16,3401 31671 CA IOGARATE # ALWAYS NEGATIVE
044098,000318: 16,3402 63712 AD MINLIM # SCALED AT 2(-4) REV/SEC.
044099,000319: 16,3403 00006 EXTEND
044100,000320: 16,3404 63611 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
044101,000321:
044102,000322: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
044103,000323:
044104,000324: 16,3405 51670 INDEX I
044105,000325: 16,3406 01664 0 OGA
044106,000326: 16,3407 40000 COM
044107,000327: 16,3410 63706 AD DB
044108,000328: 16,3411 40000 COM
044109,000329: 16,3412 00006 EXTEND
044110,000330: 16,3413 63611 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
044111,000331:
044112,000332: # JETS MUST FIRE NOW. OGARATE IS NEG. (OR VICE VERSA). USE DIRECT STR. LINE.
044113,000333: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
044114,000334: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
044115,000335: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
044116,000336: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
044117,000337: # OPERATING POINTS IN REGIONS 6 AND 6')
044118,000338:
044119,000339: 16,3414 31664 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
044120,000340: 16,3415 55667 TS DELOGA # ACTUAL STATE
044121,000341: 16,3416 31533 CA OGARATE
044122,000342: 16,3417 55665 TS DELOGART # ACTUAL STATE, I.E., DEL OGARATE
044123,000343: 16,3420 13430 TCF ONROLL
044124,000344:
044125,000345: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VICE VERSA), USE INDIRECT
044126,000346: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
044127,000347: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
044128,000348: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1')
044129,000349:
044130,000350: 16,3421 51670 ROLLON INDEX I
044131,000351: 16,3422 03706 0 DB
044132,000352: 16,3423 27667 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
044133,000353:
044134,000354: 16,3424 43710 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
044135,000355: 16,3425 51670 INDEX I
044136,000356: 16,3426 00000 0 A
044137,000357: 16,3427 55665 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
044138,000358:
044139,000359: # Page 992
044140,000360: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
044141,000361:
044142,000362: 16,3430 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
044143,000363: 16,3431 71640 MP 1/CONACC
044144,000364: 16,3432 60000 DOUBLE
044145,000365: 16,3433 00006 EXTEND
044146,000366: 16,3434 73707 MP -SLOPE
044147,000367: 16,3435 55573 TS TEMREG # 2(-SLOPE)RATE /CONACC
044148,000368: 16,3436 00006 EXTEND
044149,000369: 16,3437 71665 MP DELOGART
044150,000370: 16,3440 55665 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
044151,000371: 16,3441 45005 CS BIT11
044152,000372: 16,3442 51670 INDEX I
044153,000373: 16,3443 00000 0 A
044154,000374: 16,3444 27573 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
044155,000375:
044156,000376: 16,3445 51670 INDEX I
044157,000377: 16,3446 01667 0 DELOGA
044158,000378: 16,3447 40000 COM
044159,000379: 16,3450 63706 AD DB
044160,000380: 16,3451 40000 COM
044161,000381: 16,3452 00006 EXTEND
044162,000382: 16,3453 73707 MP -SLOPE
044163,000383: 16,3454 27665 ADS DELOGART
044164,000384: 16,3455 33710 CA LMCRATE
044165,000385: 16,3456 00006 EXTEND
044166,000386: 16,3457 75005 MP BIT11
044167,000387: 16,3460 61665 RATENUM AD DELOGART # NUMERATOR COMPLETED
044168,000388:
044169,000389: 16,3461 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
044170,000390: 16,3462 35021 CA ZERO
044171,000391: 16,3463 00006 EXTEND
044172,000392: 16,3464 11573 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
044173,000393: 16,3465 00006 EXTEND
044174,000394: 16,3466 13474 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
044175,000395:
044176,000396: 16,3467 10000 MINLIMAP CCS A
044177,000397: 16,3470 34777 CAF POSMAX # POSITIVE OVERFLOW
044178,000398: 16,3471 13503 TCF ROLLSET
044179,000399: 16,3472 44777 CS POSMAX # NEGATIVE OVERFLOW
044180,000400: 16,3473 13503 TCF ROLLSET
044181,000401:
044182,000402: 16,3474 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 INTO L
044183,000403: 16,3475 00006 EXTEND
044184,000404: 16,3476 11573 DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
044185,000405: 16,3477 13503 TCF ROLLSET # (SCALED AT B-4 REV/SEC)
044186,000406:
044187,000407: 16,3500 43714 RATELIM CS MAXLIM
044188,000408: 16,3501 51670 INDEX I
044189,000409: # Page 993
044190,000410: 16,3502 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
044191,000411:
044192,000412: # COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE
044193,000413:
044194,000414: 16,3503 55573 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
044195,000415: 16,3504 00006 EXTEND
044196,000416: 16,3505 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
044197,000417: 16,3506 55573 TS TEMREG # OVERFLOW PROTECT
044198,000418: 16,3507 13512 TCF +3 # " "
044199,000419: 16,3510 50000 INDEX A # " "
044200,000420: 16,3511 45000 CS LIMITS # " "
044201,000421: 16,3512 00006 EXTEND
044202,000422: 16,3513 77665 MP T6SCALE # T6SCALE = 8/10.24
044203,000423: 16,3514 00006 EXTEND
044204,000424: 16,3515 71640 MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60)
044205,000425: 16,3516 20001 DDOUBL
044206,000426: 16,3517 20001 DDOUBL
044207,000427: 16,3520 55573 TS TEMREG # OVERFLOW PROTECT
044208,000428: 16,3521 13524 TCF +3 # " "
044209,000429: 16,3522 50000 INDEX A # " "
044210,000430: 16,3523 45000 CS LIMITS # " "
044211,000431: 16,3524 55573 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
044212,000432: 16,3525 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
044213,000433: 16,3526 13611 BZF NOROLL
044214,000434:
044215,000435: # JET FIRE TIME IS NZ, TEST FOR JETS NOW ON.
044216,000436:
044217,000437: 16,3527 31573 CAE TEMREG # DESIRED CHANGE IN OGARATE
044218,000438: 16,3530 00006 EXTEND
044219,000439: 16,3531 71571 MP ROLLFIRE # (SGN OF TORQUE: ZERO IF JETS NOW OFF)
044220,000440: 16,3532 10000 CCS A
044221,000441: 16,3533 13537 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
044222,000442: 16,3534 13542 TCF NEWROLL # START NEW FIRING NOW, PLUS
044223,000443: 16,3535 13611 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
044224,000444: 16,3536 13542 TCF NEWROLL # START NEW FIRING NOW, MINUS
044225,000445:
044226,000446: # CONTINUE PRESENT FIRING
044227,000447:
044228,000448: 16,3537 35021 MOREROLL CAF ZERO
044229,000449: 16,3540 55670 TS I # USE TEMP. AS MOREROLL SWITCH
044230,000450: 16,3541 13553 TCF MAXTFIRE
044231,000451:
044232,000452: # START NEW FIRING BUT CHECK IF GREATER THAN MIN FIRE TIME.
044233,000453:
044234,000454: 16,3542 11573 NEWROLL CCS TEMREG # CALL THIS T6FIRE
044235,000455: 16,3543 65017 AD ONE
044236,000456: 16,3544 13546 TCF +2
044237,000457: 16,3545 65017 AD ONE
044238,000458: 16,3546 40000 COM # -MAG(T6FIRE)
044239,000459: 16,3547 63715 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
044240,000460: # Page 994
044241,000461: 16,3550 40000 COM
044242,000462: 16,3551 00006 EXTEND
044243,000463: 16,3552 63611 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
044244,000464:
044245,000465: # PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
044246,000466:
044247,000467: 16,3553 31573 MAXTFIRE CA TEMREG
044248,000468: 16,3554 00006 EXTEND
044249,000469: 16,3555 75015 MP 1/TMXFIR # I.E., 1/TMAXFIRE
044250,000470: 16,3556 00006 EXTEND
044251,000471: 16,3557 13565 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
044252,000472:
044253,000473: 16,3560 10000 CCS A
044254,000474: 16,3561 33716 CAF TMAXFIRE # USE MAXIMUM
044255,000475: 16,3562 13564 TCF +2
044256,000476: 16,3563 43716 CS TMAXFIRE # USE MAXIMUM
044257,000477: 16,3564 55573 TS TEMREG
044258,000478:
044259,000479: # SET UP SIGN OF REQUIRED TORQUE
044260,000480:
044261,000481: 16,3565 11573 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
044262,000482: 16,3566 34777 CA POSMAX # POSITIVE TORQUE REQUIRED
044263,000483: 16,3567 13571 TCF +2
044264,000484: 16,3570 35001 CA NEGMAX # NEGATIVE TORQUE REQUIRED
044265,000485: 16,3571 55571 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
044266,000486:
044267,000487: 16,3572 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
044268,000488: 16,3573 00006 EXTEND
044269,000489: 16,3574 63577 BZMF +3 # POSITIVE TORQUE REQUIRED
044270,000490: 16,3575 41573 CS TEMREG
044271,000491: 16,3576 55573 TS TEMREG
044272,000492:
044273,000493: 16,3577 31670 FIRELOOK CA I # IS IT MOREROLL
044274,000494: 16,3600 00006 EXTEND
044275,000495: 16,3601 13603 BZF FIREPLUG # YES
044276,000496: 16,3602 13614 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
044277,000497:
044278,000498: 16,3603 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
044279,000499: 16,3604 00006 EXTEND
044280,000500: 16,3605 61573 SU TEMREG
044281,000501: 16,3606 00006 EXTEND
044282,000502: 16,3607 65324 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DON'T, EXIT ROLL DAP
044283,000503: 16,3610 13614 TCF JETROLL
044284,000504:
044285,000505: 16,3611 45021 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
044286,000506: 16,3612 55571 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
044287,000507: 16,3613 55573 TS TEMREG
044288,000508:
044289,000509: 16,3614 00006 JETROLL EXTEND
044290,000510: 16,3615 33705 DCA NOROL1T6
044291,000511: # Page 995
044292,000512: 16,3616 53311 DXCH T6LOC
044293,000513: 16,3617 31573 CA TEMREG # ENTER JET FIRING TIME
044294,000514: 16,3620 54031 TS TIME6
044295,000515:
044296,000516: 16,3621 31670 CA I # I=0 IF MOREROLL, KEEP SAME JETS ON
044297,000517: 16,3622 00006 EXTEND
044298,000518: 16,3623 15324 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
044299,000519:
044300,000520: 16,3624 11571 CCS ROLLFIRE
044301,000521: 16,3625 13631 TCF +TORQUE
044302,000522: 16,3626 13672 TCF T6ENABL
044303,000523: 16,3627 13652 TCF -TORQUE
044304,000524: 16,3630 13672 TCF T6ENABL
044305,000525:
044306,000526: # PROCEED WITH + TORQUE
044307,000527:
044308,000528: 16,3631 31572 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
044309,000529: 16,3632 75017 MASK BIT1 # WAS IT NO.9-11
044310,000530: 16,3633 00006 EXTEND
044311,000531: 16,3634 13644 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
044312,000532:
044313,000533: 16,3635 45017 NO.13-15 CS BIT1
044314,000534: 16,3636 71572 MASK ROLLWORD
044315,000535: 16,3637 55572 TS ROLLWORD # CHANGE BIT 1 TO ZERO
044316,000536: 16,3640 35037 CAF +ROLL2
044317,000537: 16,3641 00006 EXTEND
044318,000538: 16,3642 01006 WRITE CHAN6
044319,000539: 16,3643 13672 TCF T6ENABL
044320,000540:
044321,000541: 16,3644 35017 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
044322,000542: 16,3645 27572 ADS ROLLWORD # CHANGE BIT 1 TO ONE
044323,000543: 16,3646 35022 CAF +ROLL1
044324,000544: 16,3647 00006 EXTEND
044325,000545: 16,3650 01006 WRITE CHAN6
044326,000546: 16,3651 13672 TCF T6ENABL
044327,000547:
044328,000548: 16,3652 31572 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
044329,000549: 16,3653 75016 MASK BIT2 # WAS IT NO.12-10
044330,000550: 16,3654 00006 EXTEND
044331,000551: 16,3655 13665 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
044332,000552:
044333,000553: 16,3656 45016 NO.16-14 CS BIT2
044334,000554: 16,3657 71572 MASK ROLLWORD
044335,000555: 16,3660 55572 TS ROLLWORD # CHANGE BIT 2 TO ZERO
044336,000556: 16,3661 33717 CAF -ROLL2
044337,000557: 16,3662 00006 EXTEND
044338,000558: 16,3663 01006 WRITE CHAN6
044339,000559: 16,3664 13672 TCF T6ENABL
044340,000560:
044341,000561: 16,3665 35016 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
044342,000562: # Page 996
044343,000563: 16,3666 27572 ADS ROLLWORD # CHANGE BIT 2 TO ONE
044344,000564: 16,3667 34377 CAF -ROLL1
044345,000565: 16,3670 00006 EXTEND
044346,000566: 16,3671 01006 WRITE CHAN6
044347,000567:
044348,000568: 16,3672 35001 T6ENABL CAF BIT15
044349,000569: 16,3673 00006 EXTEND
044350,000570: 16,3674 05013 WOR CHAN13
044351,000571: 16,3675 15324 RDAPEND TCF TASKOVER # EXIT ROLL DAP
044352,000572:
044353,000573: # Page 997
044354,000574: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
044355,000575:
044356,000576: 16,3676 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
044357,000577: 16,3677 35021 CAF ZERO # CALLED BY "JETROLL")
044358,000578: 16,3700 55571 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
044359,000579: 16,3701 00006 EXTEND
044360,000580: 16,3702 01006 KILLJETS WRITE CHAN6
044361,000581: 16,3703 15335 TCF NOQRSM
044362,000582:
044363,000583: # Page 998
044364,000584: # CONSTANTS FOR ROLL AUTOPILOT....
044365,000585:
044366,000586: 16,3704 E6,1702 EBANK= BZERO
044367,000587: 16,3704 03676 34066 NOROL1T6 2CADR NOROLL1
044368,000588:
044369,000589: 16,3706 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
044370,000590:
044371,000591: 16,3707 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
044372,000592: # PER SEC
044373,000593: 16,3710 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
044374,000594: # B-4 REV/SEC
044375,000595: 16,3711 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
044376,000596:
044377,000597: 16,3712 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
044378,000598:
044379,000599: 16,3713 00027 1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
044380,000600:
044381,000601: 16,3714 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
044382,000602:
044383,000603: # The following two were B+4.---RSB 2009.
044384,000604: 16,3715 00030 TMINFIRE DEC 1.5 B-10 # 15 MS. (14MIN), SC.AT 16 BITS/CS
044385,000605:
044386,000606: 16,3716 07640 TMAXFIRE DEC 250 B-10 # 2.5 SEC, SC.AT 16 BITS/CS
044387,000607:
044388,000608: 16,3717 5015 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
044389,000609: # ROUNDS TO OCT00004, SO ALLOWS 2.56
044390,000610: # SEC FIRINGS BEFORE APPLYING LIMIT
044391,000611: 16,3717 7665 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
044392,000612:
044393,000613: 16,3717 5022 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
044394,000614: 16,3717 5037 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
044395,000615: 16,3717 4377 -ROLL1 = TEN # ONBITS FOR JETS 12 AND 10
044396,000616: 16,3717 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
044397,000617:
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc