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