Source Code

014130,000001: # Copyright: Public domain. 014131,000002: # Filename: ATTITUDE_MANEUVER_ROUTINE.agc 014132,000003: # Purpose: Part of the source code for Luminary 1A build 099. 014133,000004: # It is part of the source code for the Lunar Module's (LM) 014134,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 014135,000006: # Assembler: yaYUL 014136,000007: # Contact: Ron Burkey <info@sandroid.org>. 014137,000008: # Website: www.ibiblio.org/apollo. 014138,000009: # Pages: 342-363 014139,000010: # Mod history: 2009-05-16 RSB Adapted from the corresponding 014140,000011: # Luminary131 file, using page 014141,000012: # images from Luminary 1A. 014142,000013: 014143,000014: # This source code has been transcribed or otherwise adapted from 014144,000015: # digitized images of a hardcopy from the MIT Museum. The digitization 014145,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 014146,000017: # the Museum. Many thanks to both. The images (with suitable reduction 014147,000018: # in storage size and consequent reduction in image quality as well) are 014148,000019: # available online at www.ibiblio.org/apollo. If for some reason you 014149,000020: # find that the images are illegible, contact me at info@sandroid.org 014150,000021: # about getting access to the (much) higher-quality images which Paul 014151,000022: # actually created. 014152,000023: 014153,000024: # Notations on the hardcopy document read, in part: 014154,000025: 014155,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 014156,000027: # 16:27 JULY 14, 1969 014157,000028: 014158,000029: # Page 342 014159,000030: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU 014160,000031: 014161,000032: # MOD 2 DATE 5/1/67 BY DON KEENE 014162,000033: 014163,000034: # PROGRAM DESCRIPTION 014164,000035: 014165,000036: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT 014166,000037: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED 014167,000038: # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE 014168,000039: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT 014169,000040: # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE 014170,000041: 014171,000042: # CPHI = COMMANDED OUTER GIMBAL ANGLE 014172,000043: # CTHETA = COMMANDED INNER GIMBAL ANGLE 014173,000044: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE 014174,000045: 014175,000046: # WHEN POINTING A SPACECRAFT AXIS (I.E., X, Y, Z, THE AOT, THRUST AXIS, ETC.) THE SUBROUTINE VECPOINT MAY BE 014176,000047: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60). 014177,000048: 014178,000049: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALEN ROTATION (COF ALSO U) AND THE 014179,000050: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION. 014180,000051: # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE 014181,000052: # _ 014182,000053: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING 014183,000054: # _ 014184,000055: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL 014185,000056: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER. 014186,000057: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK. 014187,000058: 014188,000059: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK. 014189,000060: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED 014190,000061: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES, 014191,000062: # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL 014192,000063: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN 014193,000064: # _ 014194,000065: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE. 014195,000066: 014196,000067: # AUTOMATIC MANEUVERS ARE TIMED WTH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z 014197,000068: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU 014198,000069: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS 014199,000070: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC). 014200,000071: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW 014201,000072: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED 014202,000073: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE 014203,000074: # DESIRED GIMBAL ANGLES. 014204,000075: 014205,000076: # PROGRAM LOGIC FLOW 014206,000077: 014207,000078: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS 014208,000079: # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION. 014209,000080: # Page 343 014210,000081: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE 014211,000082: # * * * 014212,000083: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE 014213,000084: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TEST ARE MADE TO DETERMINE IF 014214,000085: 014215,000086: # A) AM LESS THAN .25 DEGREES (MINANG) 014216,000087: # B) AM GREATER THAN 170 DEGREES (MAXANG) 014217,000088: 014218,000089: # IF AM IS LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THREFORE, WE CAN SIMPLY 014219,000090: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB. 014220,000091: 014221,000092: # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES THE AXES OF THE SINGLE EQUIVALENT ROTATION 014222,000093: # _ * 014223,000094: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. 014224,000095: # * * 014225,000096: # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED 014226,000097: # _ 014227,000098: # TO DETERMINE COF. 014228,000099: 014229,000100: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF 014230,000101: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS 014231,000102: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL 014232,000103: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL 014233,000104: # YAW. 014234,000105: 014235,000106: # AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY 014236,000107: # _ 014237,000108: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW 014238,000109: # DESIRED REFERENCE MATRIX IS THEN, 014239,000110: # * * * 014240,000111: # MIS = MIS DEL 014241,000112: # N+1 N 014242,000113: # * 014243,000114: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED 014244,000115: # * 014245,000116: # FROM MIS. 014246,000117: 014247,000118: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE 014248,000119: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED 014249,000120: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS 014250,000121: # (TIME1 AND TIME2) ARE THEN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF 014251,000122: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS 014252,000123: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE. 014253,000124: 014254,000125: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT- 014255,000126: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE. 014256,000127: 014257,000128: # Page 344 014258,000129: # CALLING SEQUENCE 014259,000130: 014260,000131: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND 014261,000132: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE 014262,000133: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS 014263,000134: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB 014264,000135: # * 014265,000136: # CAF PRIO XX 014266,000137: # -- 014267,000138: # INHINT 014268,000139: # TC FINDVAC 014269,000140: # 2CADR KALCMAN3 014270,000141: # RELINT 014271,000142: 014272,000143: # THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO 014273,000144: # WAIT, HE MAY PUT HIS JOB TO SLEEP WTH THE FOLLOWING INSTRUCTIONS: 014274,000145: 014275,000146: # L TC BANKCALL 014276,000147: # L+1 CADR ATTSTALL 014277,000148: # L+2 (BAD RETURN) 014278,000149: # L+3 (GOOD RETURN) 014279,000150: 014280,000151: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED 014281,000152: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE 014282,000153: # WAS IN GIMBAL LOCK. 014283,000154: 014284,000155: # *** NOTA BENE *** IF IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY 014285,000156: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU. 014286,000157: 014287,000158: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE 014288,000159: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE 014289,000160: # SUBROUTINES. 014290,000161: 014291,000162: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES 014292,000163: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS. 014293,000164: 014294,000165: # MXM3 014295,000166: # ---- 014296,000167: 014297,000168: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH 014298,000169: # DOWN LIST, I.E., 014299,000170: # [ M M M ] 014300,000171: # [ 0 1 2 ] 014301,000172: # * [ ] * * 014302,000173: # M = [ M M M ] = M1 X M2 014303,000174: # [ 3 4 5 ] 014304,000175: # [ ] 014305,000176: # [ M M M ] 014306,000177: # [ 6 7 8 ] 014307,000178: # Page 345 014308,000179: # * 014309,000180: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE 014310,000181: # * 014311,000182: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH 014312,000183: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M . 014313,000184: # 8 014314,000185: # TRANSPOS 014315,000186: # -------- 014316,000187: 014317,000188: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E., 014318,000189: # 014319,000190: # * * T 014320,000191: # M = M1 014321,000192: 014322,000193: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB- 014323,000194: # * 014324,000195: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST. 014325,000196: 014326,000197: # CDU TO DCM 014327,000198: # ---------- 014328,000199: 014329,000200: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING 014330,000201: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE 014331,000202: 014332,000203: # M = COSY COSZ 014333,000204: # 0 014334,000205: 014335,000206: # M = -COSY SINZ COSX + SINY SINX 014336,000207: # 1 014337,000208: 014338,000209: # M = COSY SINZ SINX + SINY COSX 014339,000210: # 2 014340,000211: 014341,000212: # M = SINZ 014342,000213: # 3 014343,000214: 014344,000215: # M = COSZ COSX 014345,000216: # 4 014346,000217: 014347,000218: # M = -COSZ SINX 014348,000219: # 5 014349,000220: 014350,000221: # M = -SINY COSZ 014351,000222: # 6 014352,000223: # 014353,000224: # M = SINY SINZ COSX + COSY SINX 014354,000225: # 7 014355,000226: # Page 346 014356,000227: # M = -SINY SINZ SINX + COSY COSX 014357,000228: # 8 014358,000229: 014359,000230: # WHERE X = OUTER GIMBAL ANGLE 014360,000231: # Y = INNER GIMBAL ANGLE 014361,000232: # Z = MIDDLE GIMBAL ANGLE 014362,000233: 014363,000234: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS: 014364,000235: 014365,000236: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN 014366,000237: # X Y Z 014367,000238: # STABLE MEMBER AXES (B , B , B ) ARE 014368,000239: # X Y Z 014369,000240: 014370,000241: # [ B ] [ A ] 014371,000242: # [ X ] [ X ] 014372,000243: # [ ] [ ] 014373,000244: # [ B ] * [ A ] 014374,000245: # [ Y ] = M [ Y ] 014375,000246: # [ ] [ ] 014376,000247: # [ B ] [ B ] 014377,000248: # [ Z ] [ Z ] 014378,000249: 014379,000250: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING 014380,000251: # * 014381,000252: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M. 014382,000253: 014383,000254: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX 014384,000255: # REGISTER X2. 014385,000256: 014386,000257: # DCM TO CDU 014387,000258: # ---------- 014388,000259: # * 014389,000260: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO 014390,000261: # * 014391,000262: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE 014392,000263: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1'S COMPLEMENT ANGLES ACALED BY 2PI. THE FORMULAS 014393,000264: # FOR THIS CONVERSION ARE 014394,000265: 014395,000266: # Z = ARCSIN (M ) 014396,000267: # 3 014397,000268: 014398,000269: # Y = ARCSIN (-M /COSZ) 014399,000270: # 6 014400,000271: 014401,000272: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y. 014402,000273: # 0 014403,000274: # Page 347 014404,000275: # X = ARCSIN (-M /COSZ) 014405,000276: # 5 014406,000277: 014407,000278: # IF M IS NEGATIVE, X IS REPLACED BY PI SGN X - X. 014408,000279: # 4 014409,000280: 014410,000281: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND 014411,000282: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF 014412,000283: # THE PUSH DOWN LIST. 014413,000284: 014414,000285: # DELCOMP 014415,000286: # ------- 014416,000287: # * 014417,000288: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON 014418,000289: # _ 014419,000290: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR U. THE FORMULA FOR THIS MATRIX IS 014420,000291: 014421,000292: # * * _ _T * 014422,000293: # DEL = I COSA + U U (1 - COSA) + V SINA 014423,000294: # X 014424,000295: 014425,000296: # WHERE * [ 1 0 0 ] 014426,000297: # I = [ 0 1 0 ] 014427,000298: # [ 0 0 1 ] 014428,000299: 014429,000300: # [ 2 ] 014430,000301: # [ U U U U U ] 014431,000302: # [ X X Y X Z ] 014432,000303: # [ ] 014433,000304: # _ _T [ 2 ] 014434,000305: # U U = [ U U U U U ] 014435,000306: # [ Y X Y Y Z ] 014436,000307: # [ ] 014437,000308: # [ 2 ] 014438,000309: # [ U U U U U ] 014439,000310: # [ Z X Z Y Z ] 014440,000311: 014441,000312: 014442,000313: # [ 0 -U U ] 014443,000314: # [ Z Y ] 014444,000315: # * [ ] 014445,000316: # V = [ U 0 -U ] 014446,000317: # X [ Z X ] 014447,000318: # [ ] 014448,000319: # [ -U U 0 ] 014449,000320: # [ Y X ] 014450,000321: 014451,000322: # Page 348 014452,000323: # _ 014453,000324: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES. 014454,000325: # A = ROTATION ANGLE 014455,000326: 014456,000327: # * 014457,000328: # THE INTERPRETATION OF DEL IS AS FOLLOWS: 014458,000329: 014459,000330: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME 014460,000331: # X Y Z 014461,000332: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE 014462,000333: # X Y Z 014463,000334: 014464,000335: # [ B ] [ A ] 014465,000336: # [ X ] [ X ] 014466,000337: # [ ] [ ] 014467,000338: # [ B ] * [ A ] 014468,000339: # [ Y ] = DEL [ Y ] 014469,000340: # [ ] [ ] 014470,000341: # [ B ] [ B ] 014471,000342: # [ Z ] [ Z ] 014472,000343: 014473,000344: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH 014474,000345: # _ 014475,000346: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT 014476,000347: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A, 014477,000348: # MUST THEN BE LOADED INTO D(MPAC). 014478,000349: # 014479,000350: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST. 014480,000351: 014481,000352: # READCDUK 014482,000353: # -------- 014483,000354: 014484,000355: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES. 014485,000356: 014486,000357: # SIGNMPAC 014487,000358: # -------- 014488,000359: 014489,000360: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW. 014490,000361: 014491,000362: # PROGRAM STORAGE ALLOCATION 014492,000363: 014493,000364: # 1) FIXED MEMORY 1059 WORDS 014494,000365: # 2) ERASABLE MEMORY 98 014495,000366: # 3) STATE SWITCHES 3 014496,000367: # Page 349 014497,000368: # 4) FLAGS 1 014498,000369: 014499,000370: # JOB PRIORITIES 014500,000371: 014501,000372: # 1) KALCMANU TBD 014502,000373: # 2) ONE SECOND UPDATE TBD 014503,000374: 014504,000375: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU. 014505,000376: 014506,000377: # STATE FLAGWRD 2 SETTING MEANING 014507,000378: # SWITCH NO. BIT NO. 014508,000379: 014509,000380: # * 014510,000381: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK 014511,000382: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK 014512,000383: # * 014513,000384: # 32 13 0 CONTINUE UPDATE PROCESS 014514,000385: # 1 START UPDATE PROCESS 014515,000386: 014516,000387: # 33 12 0 PERFORM FINAL P AXIS YAW IF REQUIRED 014517,000388: # 1 IGNORE ANY FINAL P-AXIS YAW 014518,000389: 014519,000390: # 34 11 0 SIGNAL END OF KALCMANU 014520,000391: # 1 KALCMANU IN PROCESS. USER MUST SET SWITCH BEFORE INITIATING 014521,000392: 014522,000393: # * INTERNAL TO KALCMANU 014523,000394: 014524,000395: # SUGGESTIONS FOR PROGRAM INTEGRATION 014525,000396: 014526,000397: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE: 014527,000398: 014528,000399: # CPHI 014529,000400: # CTHETA 014530,000401: # CPSI 014531,000402: # POINTVSM +5 014532,000403: # SCAXIS +5 014533,000404: # DELDCDU 014534,000405: # DELDCDU1 014535,000406: # DELDCDU2 014536,000407: # RATEINDX 014537,000408: 014538,000409: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK 014539,000410: 014540,000411: # MXM3 014541,000412: # Page 350 014542,000413: # TRANSPGS 014543,000414: # SIGNMPAC 014544,000415: # READCDUK 014545,000416: # CDUTODCM 014546,000417: 014547,000418: # Page 351 014548,000419: 15,2050 BANK 15 014549,000420: 22,2000 SETLOC KALCMON1 014550,000421: 22,2000 BANK 014551,000422: 014552,000423: 22,2004 E6,1676 EBANK= BCDU 014553,000424: 014554,000425: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWO'S COMPLEMENT ANGLES IN THE THREE SUCCESSIVE 014555,000426: # LOCATIONS, CPHI, CTHETA, CPSI. 014556,000427: 014557,000428: 22,2004 COUNT* $$/KALC 014558,000429: 22,2004 06037 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND 014559,000430: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C 014560,000431: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES. 014561,000432: 22,2007 03277 STORE BCDU # STORE INITIAL S/C ANGLES 014562,000433: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED 014563,000434: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE 014564,000435: 22,2012 51025 DSU BPL 014565,000436: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER 014566,000437: 22,2014 44724 TOOBADF 014567,000438: 22,2015 72364 AXC,2 TLOAD 014568,000439: 22,2016 03246 MIS 014569,000440: 22,2017 03277 BCDU 014570,000441: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL 014571,000442: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES 014572,000443: 22,2022 72364 AXC,2 TLOAD 014573,000444: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS 014574,000445: 22,2024 00322 CPHI 014575,000446: 22,2025 77624 CALL 014576,000447: 22,2026 44410 CDUTODCM 014577,000448: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2 014578,000449: 22,2030 03246 MIS 014579,000450: 22,2031 44326 TRANSPOS 014580,000451: 22,2032 45575 VLOAD STADR 014581,000452: 22,2033 50457 STOVL TMIS +12D 014582,000453: 22,2034 77626 STADR 014583,000454: 22,2035 50465 STOVL TMIS +6 014584,000455: 22,2036 77626 STADR 014585,000456: 22,2037 74473 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2 014586,000457: 22,2040 75160 AXC,1 AXC,2 014587,000458: 22,2041 03303 TMIS 014588,000459: 22,2042 02230 MFS 014589,000460: 22,2043 77624 CALL 014590,000461: 22,2044 44312 MXM3 014591,000462: 22,2045 45575 VLOAD STADR 014592,000463: 22,2046 51532 STOVL MFI +12D 014593,000464: 22,2047 77626 STADR 014594,000465: 22,2050 51540 STOVL MFI +6 014595,000466: 22,2051 77626 STADR 014596,000467: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4) 014597,000468: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST 014598,000469: # Page 352 014599,000470: 22,2054 00023 18D 014600,000471: 22,2055 44335 TRNSPSPD 014601,000472: 22,2056 45575 VLOAD STADR 014602,000473: 22,2057 50457 STOVL TMFI +12D 014603,000474: 22,2060 77626 STADR 014604,000475: 22,2061 50465 STOVL TMFI +6 014605,000476: 22,2062 77626 STADR 014606,000477: 22,2063 74473 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4 014607,000478: 014608,000479: # CALCULATE COFSKEW AND MFISYM 014609,000480: 014610,000481: 22,2064 45345 DLOAD DSU 014611,000482: 22,2065 03306 TMFI +2 014612,000483: 22,2066 02233 MFI +2 014613,000484: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM) 014614,000485: 22,2070 02235 MFI +4 014615,000486: 22,2071 03310 TMFI +4 014616,000487: 22,2072 45325 PDDL DSU 014617,000488: 22,2073 03316 TMFI +10D 014618,000489: 22,2074 02243 MFI +10D 014619,000490: 22,2075 77666 VDEF 014620,000491: 22,2076 03326 STORE COFSKEW # EQUALS MFISKEW 014621,000492: 014622,000493: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE 014623,000494: 014624,000495: 22,2077 43345 DLOAD DAD 014625,000496: 22,2100 02231 MFI 014626,000497: 22,2101 02251 MFI +16D 014627,000498: 22,2102 43225 DSU DAD 014628,000499: 22,2103 06512 DP1/4TH 014629,000500: 22,2104 02241 MFI +8D 014630,000501: 22,2105 03334 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE 014631,000502: 22,2106 77726 ARCCOS 014632,000503: 22,2107 03336 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2) 014633,000504: 22,2110 51025 DSU BPL 014634,000505: 22,2111 04363 MINANG 014635,000506: 22,2112 44117 CHECKMAX 014636,000507: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES 014637,000508: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD 014638,000509: 22,2115 37236 STCALL CDUXD # ABOUT COMMANDED ANGLES 014639,000510: 22,2116 44742 TOOBADI # STOP RATE AND EXIT 014640,000511: 014641,000512: 22,2117 45345 CHECKMAX DLOAD DSU 014642,000513: 22,2120 03336 AM 014643,000514: 22,2121 04365 MAXANG 014644,000515: 22,2122 77244 BPL VLOAD 014645,000516: 22,2123 44131 ALTCALC # UNIT 014646,000517: 22,2124 03326 COFSKEW # COFSKEW 014647,000518: 22,2125 77656 UNIT 014648,000519: 22,2126 03271 STORE COF # COF IS THE MANEUVER AXIS 014649,000520: # Page 353 014650,000521: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK 014651,000522: 22,2130 44744 LOCSKIRT 014652,000523: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES 014653,000524: 22,2132 02231 MFI 014654,000525: 22,2133 03304 TMFI 014655,000526: 22,2134 77762 VSR1 014656,000527: 22,2135 27304 STOVL MFISYM 014657,000528: 22,2136 02237 MFI +6 014658,000529: 22,2137 74455 VAD VSR1 014659,000530: 22,2140 03312 TMFI +6 014660,000531: 22,2141 27312 STOVL MFISYM +6 014661,000532: 22,2142 02245 MFI +12D 014662,000533: 22,2143 74455 VAD VSR1 014663,000534: 22,2144 03320 TMFI +12D 014664,000535: 22,2145 03320 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4 014665,000536: 014666,000537: # CALCULATE COF 014667,000538: 014668,000539: 22,2146 70545 DLOAD SR1 014669,000540: 22,2147 03334 CAM 014670,000541: 22,2150 45325 PDDL DSU # PDO CAM $4 014671,000542: 22,2151 06520 DPHALF 014672,000543: 22,2152 03334 CAM 014673,000544: 22,2153 65204 BOVB PDDL # PS2 1 - CAM $2 014674,000545: 22,2154 21712 SIGNMPAC 014675,000546: 22,2155 03324 MFISYM +16D 014676,000547: 22,2156 56225 DSU DDV 014677,000548: 22,2157 00001 0 014678,000549: 22,2160 00003 2 014679,000550: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM) 014680,000551: 22,2162 03314 MFISYM +8D # $ ROOT 2 014681,000552: 22,2163 56225 DSU DDV 014682,000553: 22,2164 00001 0 014683,000554: 22,2165 00003 2 014684,000555: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2 014685,000556: 22,2167 03304 MFISYM 014686,000557: 22,2170 56225 DSU DDV 014687,000558: 22,2171 00001 0 014688,000559: 22,2172 00003 2 014689,000560: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2 014690,000561: 22,2174 77656 UNIT 014691,000562: 22,2175 03271 STORE COF 014692,000563: 014693,000564: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY 014694,000565: 014695,000566: 22,2176 45345 COFMAXGO DLOAD DSU 014696,000567: 22,2177 03271 COF 014697,000568: 22,2200 03273 COF +2 014698,000569: 22,2201 71240 BMN DLOAD # COFY G COFX 014699,000570: # Page 354 014700,000571: 22,2202 44211 COMP12 014701,000572: 22,2203 03271 COF 014702,000573: 22,2204 50025 DSU BMN 014703,000574: 22,2205 03275 COF +4 014704,000575: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY 014705,000576: 22,2207 77650 GOTO 014706,000577: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ 014707,000578: 22,2211 45345 COMP12 DLOAD DSU 014708,000579: 22,2212 03273 COF +2 014709,000580: 22,2213 03275 COF +4 014710,000581: 22,2214 77640 BMN 014711,000582: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX 014712,000583: 014713,000584: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX 014714,000585: 22,2217 03330 COFSKEW +2 # UY 014715,000586: 22,2220 44224 U2POS 014716,000587: 22,2221 57575 VLOAD VCOMP 014717,000588: 22,2222 03271 COF 014718,000589: 22,2223 03271 STORE COF 014719,000590: 22,2224 51145 U2POS DLOAD BPL 014720,000591: 22,2225 03306 MFISYM +2 # UX UY 014721,000592: 22,2226 44232 OKU21 014722,000593: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE garbled 014723,000594: 22,2230 03271 COF 014724,000595: 22,2231 03271 STORE COF 014725,000596: 22,2232 51145 OKU21 DLOAD BPL 014726,000597: 22,2233 03316 MFISYM +10D # UY UZ 014727,000598: 22,2234 44744 LOCSKIRT 014728,000599: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY 014729,000600: 22,2236 03275 COF +4 014730,000601: 22,2237 03275 STORE COF +4 014731,000602: 22,2240 77650 GOTO 014732,000603: 22,2241 44744 LOCSKIRT 014733,000604: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX 014734,000605: 22,2243 03326 COFSKEW # UX 014735,000606: 22,2244 44250 U1POS 014736,000607: 22,2245 57575 VLOAD VCOMP 014737,000608: 22,2246 03271 COF 014738,000609: 22,2247 03271 STORE COF 014739,000610: 22,2250 51145 U1POS DLOAD BPL 014740,000611: 22,2251 03306 MFISYM +2 # UX UY 014741,000612: 22,2252 44256 OKU12 014742,000613: 22,2253 57545 DLOAD DCOMP 014743,000614: 22,2254 03273 COF +2 # SIGN OF UY OPPOSITE TO UX 014744,000615: 22,2255 03273 STORE COF +2 014745,000616: 22,2256 51145 OKU12 DLOAD BPL 014746,000617: 22,2257 03310 MFISYM +4 # UX UZ 014747,000618: 22,2260 44744 LOCSKIRT 014748,000619: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY 014749,000620: 22,2262 03275 COF +4 014750,000621: # Page 355 014751,000622: 22,2263 03275 STORE COF +4 014752,000623: 22,2264 77650 GOTO 014753,000624: 22,2265 44744 LOCSKIRT 014754,000625: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX 014755,000626: 22,2267 03332 COFSKEW +4 # UZ 014756,000627: 22,2270 44274 U3POS 014757,000628: 22,2271 57575 VLOAD VCOMP 014758,000629: 22,2272 03271 COF 014759,000630: 22,2273 03271 STORE COF 014760,000631: 22,2274 51145 U3POS DLOAD BPL 014761,000632: 22,2275 03310 MFISYM +4 # UX UZ 014762,000633: 22,2276 44302 OKU31 014763,000634: 22,2277 57545 DLOAD DCOMP 014764,000635: 22,2300 03271 COF # SIGN OF UX OPPOSITE TO UZ 014765,000636: 22,2301 03271 STORE COF 014766,000637: 22,2302 51145 OKU31 DLOAD BPL 014767,000638: 22,2303 03316 MFISYM +10D # UY UZ 014768,000639: 22,2304 44744 LOCSKIRT 014769,000640: 22,2305 57545 DLOAD DCOMP 014770,000641: 22,2306 03273 COF +2 # SIGN OF UY OPPOSITE TO UZ 014771,000642: 22,2307 03273 STORE COF +2 014772,000643: 22,2310 77650 GOTO 014773,000644: 22,2311 44744 LOCSKIRT 014774,000645: # Page 356 014775,000646: # MATRIX OPERATIONS 014776,000647: 014777,000648: 13,2207 BANK 13 014778,000649: 22,2000 SETLOC KALCMON2 014779,000650: 22,2000 BANK 014780,000651: 014781,000652: 22,2312 E6,1676 EBANK= BCDU 014782,000653: 014783,000654: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES 014784,000655: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST 014785,000656: 22,2314 00001 0,1 # AND MPAC 014786,000657: 22,2315 62703 VXM* PDVL* 014787,000658: 22,2316 77776 0,2 014788,000659: 22,2317 00007 6,1 014789,000660: 22,2320 62703 VXM* PDVL* 014790,000661: 22,2321 77776 0,2 014791,000662: 22,2322 00015 12D,1 014792,000663: 22,2323 41503 VXM* PUSH 014793,000664: 22,2324 77776 0,2 014794,000665: 22,2325 77616 RVQ 014795,000666: 014796,000667: # RETURN WITH MIXM2 IN PD LIST 014797,000668: 014798,000669: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX 014799,000670: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST 014800,000671: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1 014801,000672: 22,2331 62713 PDVL* PDVL* 014802,000673: 22,2332 00007 6,1 014803,000674: 22,2333 00015 12D,1 014804,000675: 22,2334 77606 PUSH # MATRIX IN PD 014805,000676: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST 014806,000677: 22,2336 50120 INDEX FIXLOC 014807,000678: 22,2337 52013 DXCH 12 014808,000679: 22,2340 50120 INDEX FIXLOC 014809,000680: 22,2341 52017 DXCH 16 014810,000681: 22,2342 50120 INDEX FIXLOC 014811,000682: 22,2343 52013 DXCH 12 014812,000683: 22,2344 50120 INDEX FIXLOC 014813,000684: 22,2345 52015 DXCH 14 014814,000685: 22,2346 50120 INDEX FIXLOC 014815,000686: 22,2347 52005 DXCH 4 014816,000687: 22,2350 50120 INDEX FIXLOC 014817,000688: 22,2351 52015 DXCH 14 014818,000689: 22,2352 50120 INDEX FIXLOC 014819,000690: 22,2353 52003 DXCH 2 014820,000691: 22,2354 50120 INDEX FIXLOC 014821,000692: 22,2355 52007 DXCH 6 014822,000693: 22,2356 50120 INDEX FIXLOC 014823,000694: 22,2357 52003 DXCH 2 014824,000695: # Page 357 014825,000696: 22,2360 06037 TC INTPRET 014826,000697: 22,2361 77616 RVQ 014827,000698: 014828,000699: 15,2050 BANK 15 014829,000700: 22,2000 SETLOC KALCMON1 014830,000701: 22,2000 BANK 014831,000702: 014832,000703: 22,2362 E6,1676 EBANK= BCDU 014833,000704: 014834,000705: 22,2362 00013 13563 MINANG 2DEC 0.00069375 014835,000706: 014836,000707: 22,2364 17070 34343 MAXANG 2DEC 0.472222222 014837,000708: 014838,000709: # GIMBAL LOCK CONSTANTS 014839,000710: 014840,000711: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES 014841,000712: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES 014842,000713: 014843,000714: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) $2 014844,000715: 014845,000716: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) $1 014846,000717: 014847,000718: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) $2 014848,000719: 014849,000720: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) $2 014850,000721: 014851,000722: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2 014852,000723: 014853,000724: 22,2400 17773 00057 CNGL 2DEC .499695 # COS(NGL) $2 014854,000725: 014855,000726: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES 014856,000727: 014857,000728: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES 014858,000729: 014859,000730: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES 014860,000731: 22,2404 54156 TS MPAC +2 014861,000732: 22,2405 00006 EXTEND 014862,000733: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION 014863,000734: 22,2407 16476 TCF TLOAD +6 014864,000735: 014865,000736: 22,2410 66370 CDUTODCM AXT,1 SSP Hello! 014866,000737: 22,2411 00003 OCT 3 014867,000738: 22,2412 00051 S1 014868,000739: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP 014869,000740: 22,2414 00010 STORE 7 014870,000741: 22,2415 77601 SETPD 014871,000742: 22,2416 00001 0 014872,000743: 22,2417 47133 LOOPSIN SLOAD* RTB 014873,000744: 22,2420 00013 10D,1 014874,000745: 22,2421 21576 CDULOGIC 014875,000746: # Page 358 014876,000747: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI) 014877,000748: 22,2423 65356 SIN PDDL # 2 COS(PHI) 014878,000749: 22,2424 00013 10D # 4 SIN(THETA) 014879,000750: 22,2425 41546 COS PUSH # 6 COS(THETA) 014880,000751: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI) 014881,000752: 22,2427 44417 LOOPSIN # 10 COS(PSI) 014882,000753: 22,2430 00007 6 014883,000754: 22,2431 72405 DMP SL1 014884,000755: 22,2432 00013 10D 014885,000756: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI) 014886,000757: 22,2434 41345 DLOAD DMP 014887,000758: 22,2435 00005 4 014888,000759: 22,2436 00001 0 014889,000760: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)) 014890,000761: 22,2440 00007 6 014891,000762: 22,2441 00011 8D 014892,000763: 22,2442 72405 DMP SL1 014893,000764: 22,2443 00003 2 014894,000765: 22,2444 72421 BDSU SL1 014895,000766: 22,2445 00015 12D 014896,000767: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI) 014897,000768: 22,2447 41345 DLOAD DMP 014898,000769: 22,2450 00003 2 014899,000770: 22,2451 00005 4 014900,000771: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4 014901,000772: 22,2453 00007 6 014902,000773: 22,2454 00011 8D 014903,000774: 22,2455 72405 DMP SL1 014904,000775: 22,2456 00001 0 014905,000776: 22,2457 72415 DAD SL1 014906,000777: 22,2460 00017 14D 014907,000778: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI) 014908,000779: 22,2462 77745 DLOAD 014909,000780: 22,2463 00011 8D 014910,000781: 22,2464 10007 STORE 6,2 # C3=SIN(PSI) 014911,000782: 22,2465 77745 DLOAD 014912,000783: 22,2466 00013 10D 014913,000784: 22,2467 72405 DMP SL1 014914,000785: 22,2470 00003 2 014915,000786: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI) 014916,000787: 22,2472 41345 DLOAD DMP 014917,000788: 22,2473 00013 10D 014918,000789: 22,2474 00001 0 014919,000790: 22,2475 72476 DCOMP SL1 014920,000791: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI) 014921,000792: 22,2477 41345 DLOAD DMP 014922,000793: 22,2500 00005 4 014923,000794: 22,2501 00013 10D 014924,000795: 22,2502 72476 DCOMP SL1 014925,000796: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI) 014926,000797: # Page 359 014927,000798: 22,2504 77745 DLOAD 014928,000799: 22,2505 72405 DMP SL1 # (PUSH UP 7) 014929,000800: 22,2506 00011 8D 014930,000801: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4 014931,000802: 22,2510 00007 6 014932,000803: 22,2511 00001 0 014933,000804: 22,2512 72415 DAD SL1 # (PUSH UP 7) 014934,000805: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI) 014935,000806: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI) 014936,000807: 22,2515 77745 DLOAD 014937,000808: 22,2516 72405 DMP SL1 # (PUSH UP 6) 014938,000809: 22,2517 00011 8D 014939,000810: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4 014940,000811: 22,2521 00007 6 014941,000812: 22,2522 00003 2 014942,000813: 22,2523 72425 DSU SL1 # (PUSH UP 6) 014943,000814: 22,2524 77626 STADR 014944,000815: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI) 014945,000816: 22,2526 77616 RVQ # +COS(THETA)COS(PHI) 014946,000817: 014947,000818: # CALCULATION OF THE MATRIX DEL...... 014948,000819: 014949,000820: # * * __T * 014950,000821: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1 014951,000822: # _ 014952,000823: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION. 014953,000824: # A IS THE ANGLE OF ROTATION (DP SCALED 2) 014954,000825: # _ 014955,000826: # UPON ENTRY, THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC 014956,000827: 014957,000828: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A 014958,000829: 22,2530 00001 0 014959,000830: 22,2531 65356 SIN PDDL # PD0 = SIN(A) 014960,000831: 22,2532 41546 COS PUSH # PD2 = COS(A) 014961,000832: 22,2533 65302 SR2 PDDL # PD2 = COS(A) $8 014962,000833: 22,2534 41021 BDSU BOVB 014963,000834: 22,2535 06520 DPHALF 014964,000835: 22,2536 21712 SIGNMPAC 014965,000836: 22,2537 77725 PDDL # PDA = 1-COS(A) 014966,000837: 014967,000838: # COMPUTE THE DIAGONAL COMPONENTS OF DEL 014968,000839: 014969,000840: 22,2540 03271 COF 014970,000841: 22,2541 41316 DSQ DMP 014971,000842: 22,2542 00005 4 014972,000843: 22,2543 52415 DAD SL3 014973,000844: 22,2544 00003 2 014974,000845: 22,2545 77604 BOVB 014975,000846: 22,2546 21712 SIGNMPAC 014976,000847: # Page 360 014977,000848: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) $1 014978,000849: 22,2550 03273 COF +2 014979,000850: 22,2551 41316 DSQ DMP 014980,000851: 22,2552 00005 4 014981,000852: 22,2553 52415 DAD SL3 014982,000853: 22,2554 00003 2 014983,000854: 22,2555 77604 BOVB 014984,000855: 22,2556 21712 SIGNMPAC 014985,000856: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1 014986,000857: 22,2560 03275 COF +4 014987,000858: 22,2561 41316 DSQ DMP 014988,000859: 22,2562 00005 4 014989,000860: 22,2563 52415 DAD SL3 014990,000861: 22,2564 00003 2 014991,000862: 22,2565 77604 BOVB 014992,000863: 22,2566 21712 SIGNMPAC 014993,000864: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1 014994,000865: 014995,000866: # COMPUTE THE OFF DIAGONAL TERMS OF DEL 014996,000867: 014997,000868: 22,2570 41345 DLOAD DMP 014998,000869: 22,2571 03271 COF 014999,000870: 22,2572 03273 COF +2 015000,000871: 22,2573 72405 DMP SL1 015001,000872: 22,2574 00005 4 015002,000873: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) $4 015003,000874: 22,2576 03275 COF +4 015004,000875: 22,2577 00001 0 015005,000876: 22,2600 43206 PUSH DAD # D8 UZ SIN A $4 015006,000877: 22,2601 00007 6 015007,000878: 22,2602 41112 SL2 BOVB 015008,000879: 22,2603 21712 SIGNMPAC 015009,000880: 22,2604 16237 STODL KEL +6 015010,000881: 22,2605 62421 BDSU SL2 015011,000882: 22,2606 77604 BOVB 015012,000883: 22,2607 21712 SIGNMPAC 015013,000884: 22,2610 16233 STODL KEL +2 015014,000885: 22,2611 03271 COF 015015,000886: 22,2612 41205 DMP DMP 015016,000887: 22,2613 03275 COF +4 015017,000888: 22,2614 00005 4 015018,000889: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) $4 015019,000890: 22,2616 03273 COF +2 015020,000891: 22,2617 41405 DMP PUSH # D8 UY SIN(A) 015021,000892: 22,2620 00001 0 015022,000893: 22,2621 62415 DAD SL2 015023,000894: 22,2622 00007 6 015024,000895: 22,2623 77604 BOVB 015025,000896: 22,2624 21712 SIGNMPAC 015026,000897: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A) 015027,000898: # Page 361 015028,000899: 22,2626 62421 BDSU SL2 015029,000900: 22,2627 77604 BOVB 015030,000901: 22,2630 21712 SIGNMPAC 015031,000902: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A) 015032,000903: 22,2632 03273 COF +2 015033,000904: 22,2633 41205 DMP DMP 015034,000905: 22,2634 03275 COF +4 015035,000906: 22,2635 00005 4 015036,000907: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4 015037,000908: 22,2637 03271 COF 015038,000909: 22,2640 41405 DMP PUSH # D8 UX SIN(A) 015039,000910: 22,2641 00001 0 015040,000911: 22,2642 62415 DAD SL2 015041,000912: 22,2643 00007 6 015042,000913: 22,2644 77604 BOVB 015043,000914: 22,2645 21712 SIGNMPAC 015044,000915: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A) 015045,000916: 22,2647 62421 BDSU SL2 015046,000917: 22,2650 77604 BOVB 015047,000918: 22,2651 21712 SIGNMPAC 015048,000919: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A) 015049,000920: 22,2653 77616 RVQ 015050,000921: 015051,000922: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE 015052,000923: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2). 015053,000924: # LEAVE CDU ANGLES SCALED 2PI IN V(MPAC). 015054,000925: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1). 015055,000926: 015056,000927: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS: 015057,000928: 015058,000929: # C = COS(THETA) COS(PSI 015059,000930: # 0 015060,000931: 015061,000932: # C = -COS(THETA) SIN(PSI) COS(PHI) + SIN(THETA) SIN(PHI) 015062,000933: # 1 015063,000934: 015064,000935: # C = COS(THETA) SIN(PSI) SIN(PHI) + SIN(THETA) COS(PHI) 015065,000936: # 2 015066,000937: 015067,000938: # C = SIN(PSI) 015068,000939: # 3 015069,000940: 015070,000941: # C = COS(PSI) COS(PHI) 015071,000942: # 4 015072,000943: 015073,000944: # C = -COS(PSI) SIN(PHI) 015074,000945: # 5 015075,000946: 015076,000947: # C = -SIN(THETA) COS(PSI) 015077,000948: # 6 015078,000949: 015079,000950: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS (THETA) SIN(PHI) 015080,000951: # 7 015081,000952: 015082,000953: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + COS(THETA)COS(PHI) 015083,000954: # 8 015084,000955: # Page 362 015085,000956: 015086,000957: # WHERE PHI = OGA 015087,000958: # THETA = IGA 015088,000959: # PSI = MGA 015089,000960: 015090,000961: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN 015091,000962: 22,2655 00007 6,1 015092,000963: 22,2656 71406 PUSH COS # PD +0 PSI 015093,000964: 22,2657 41152 SL1 BOVB 015094,000965: 22,2660 21712 SIGNMPAC 015095,000966: 22,2661 00051 STORE S1 015096,000967: 22,2662 57543 DLOAD* DCOMP 015097,000968: 22,2663 00015 12D,1 015098,000969: 22,2664 67471 DDV ARCSIN 015099,000970: 22,2665 00051 S1 015100,000971: 22,2666 51123 PDDL* BPL # PD +2 THETA 015101,000972: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA) 015102,000973: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT. 015103,000974: 22,2671 57545 DLOAD DCOMP 015104,000975: 22,2672 43244 BPL DAD 015105,000976: 22,2673 44677 SUHALFA 015106,000977: 22,2674 06520 DPHALF 015107,000978: 22,2675 77650 GOTO 015108,000979: 22,2676 44701 CALCPHI 015109,000980: 22,2677 77625 SUHALFA DSU 015110,000981: 22,2700 06520 DPHALF 015111,000982: 22,2701 77606 CALCPHI PUSH 015112,000983: 22,2702 57543 OKTHETA DLOAD* DCOMP 015113,000984: 22,2703 00013 10D,1 015114,000985: 22,2704 67471 DDV ARCSIN 015115,000986: 22,2705 00051 S1 015116,000987: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI 015117,000988: 22,2707 00011 8D,1 015118,000989: 22,2710 44722 OKPHI 015119,000990: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI 015120,000991: 22,2712 43244 BPL DAD 015121,000992: 22,2713 44717 SUHALFAP 015122,000993: 22,2714 06520 DPHALF 015123,000994: 22,2715 77650 GOTO 015124,000995: 22,2716 44723 VECOFANG 015125,000996: 22,2717 52025 SUHALFAP DSU GOTO 015126,000997: 22,2720 06520 DPHALF 015127,000998: 22,2721 44723 VECOFANG 015128,000999: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI 015129,001000: 22,2723 43466 VECOFANG VDEF RVQ 015130,001001: # Page 363 015131,001002: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER. 015132,001003: 015133,001004: 22,2724 77776 TOOBADF EXIT 015134,001005: 22,2725 05567 TC ALARM 015135,001006: 22,2726 00401 OCT 00401 015136,001007: 015137,001008: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS 015138,001009: 015139,001010: 22,2730 04616 TC BANKCALL 015140,001011: 22,2731 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS 015141,001012: 015142,001013: 22,2732 04616 NOGO TC BANKCALL 015143,001014: 22,2733 40165 CADR STOPRATE # STOP RATES 015144,001015: 015145,001016: 22,2734 34752 CAF TWO 015146,001017: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND 015147,001018: 22,2736 05203 TC WAITLIST 015148,001019: 22,2737 E6,1676 EBANK= BCDU 015149,001020: 22,2737 03234 44066 2CADR GOODMANU 015150,001021: 015151,001022: 22,2741 15155 TCF ENDOFJOB 015152,001023: 015153,001024: 22,2742 77776 TOOBADI EXIT 015154,001025: 22,2743 12732 TCF NOGO 015155,001026: 015156,001027: End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc