Source Code

039466,000001: # Copyright: Public domain. 039467,000002: # Filename: FINDCDUW--GUIDAP_INTERFACE.agc 039468,000003: # Purpose: Part of the source code for Luminary 1A build 099. 039469,000004: # It is part of the source code for the Lunar Module's (LM) 039470,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 039471,000006: # Assembler: yaYUL 039472,000007: # Contact: Hartmuth Gutsche <hgutsche@xplornet.com>. 039473,000008: # Website: www.ibiblio.org/apollo. 039474,000009: # Pages: 908-925 039475,000010: # Mod history: 2009-05-28 HG Transcribed from page images. 039476,000011: 039477,000012: # This source code has been transcribed or otherwise adapted from 039478,000013: # digitized images of a hardcopy from the MIT Museum. The digitization 039479,000014: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 039480,000015: # the Museum. Many thanks to both. The images (with suitable reduction 039481,000016: # in storage size and consequent reduction in image quality as well) are 039482,000017: # available online at www.ibiblio.org/apollo. If for some reason you 039483,000018: # find that the images are illegible, contact me at info@sandroid.org 039484,000019: # about getting access to the (much) higher-quality images which Paul 039485,000020: # actually created. 039486,000021: 039487,000022: # Notations on the hardcopy document read, in part: 039488,000023: 039489,000024: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 039490,000025: # 16:27 JULY 14, 1969 039491,000026: 039492,000027: # Page 908 039493,000028: # PROGRAM NAME: FINDCDUW 039494,000029: # MOD NUMBER: 1 68-07-15 039495,000030: # MOD AUTHOR: KLUMPP 039496,000031: 039497,000032: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22. 039498,000033: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST 039499,000034: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY 039500,000035: # FETCHING FOR THE THRUST DIRECTION FILTER THE 039501,000036: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER 039502,000037: # MODES. 039503,000038: # 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL 039504,000039: # AUTOPILOT COMMANDS WHENEVER 039505,000040: # 1) NOT IN PNGCS-AUTO, OR 039506,000041: # 2) ENGINE IS OFF. 039507,000042: 039508,000043: # FUNCTIONAL DESCRIPTION: 039509,000044: 039510,000045: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS 039511,000046: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR 039512,000047: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE 039513,000048: # INCRMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED 039514,000049: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL 039515,000050: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR 039516,000051: # ACCELERATIONS AVAILABLE). 039517,000052: 039518,000053: # FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION 039519,000054: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET, 039520,000055: # ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR. 039521,000056: 039522,000057: # Page 909 039523,000058: # SPECIFICATIONS: 039524,000059: 039525,000060: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED 039526,000061: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW. 039527,000062: 039528,000063: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND 039529,000064: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH 039530,000065: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC. 039531,000066: 039532,000067: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES 039533,000068: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED. 039534,000069: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN 039535,000070: # WITHOUT ISSUING AUTOPILOT CMDS. 039536,000071: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT 039537,000072: # ISSUING AUTOPILOT CMDS. 039538,000073: 039539,000074: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK. 039540,000075: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES, 039541,000076: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE. 039542,000077: 039543,000078: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN 039544,000079: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES 039545,000080: # STOPRATE AS ONLY INPUT TO AUTOPILOT. 039546,000081: 039547,000082: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT. 039548,000083: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT. 039549,000084: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI. 039550,000085: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED. 039551,000086: # CSMDOCKD FLAG DENOTING CSM DOCKED. 039552,000087: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR. 039553,000088: 039554,000089: # OUTPUTS: DELCDUX,Y,Z 039555,000090: # OMEGAPD,+1,+2 039556,000091: # DELPEROR,+1,+2 039557,000092: # CPHI,+1,+2 FOR NOUN22 039558,000093: 039559,000094: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY 039560,000095: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES 039561,000096: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE. 039562,000097: 039563,000098: # Page 910 039564,000099: # INITIALIZATION FOR FINDCDUW 039565,000100: 039566,000101: 30,3104 BANK 30 039567,000102: 30,2000 SETLOC FCDUW 039568,000103: 30,2000 BANK 039569,000104: 039570,000105: 30,3104 E6,1646 EBANK= ECDUW 039571,000106: 30,3104 COUNT* $$/FCDUW 039572,000107: 039573,000108: 30,3104 77775 INITCDUW VLOAD 039574,000109: 30,3105 06520 UNITX 039575,000110: 30,3106 03270 STORE UNFV/2 039576,000111: 30,3107 03262 STORE UNWC/2 039577,000112: 30,3110 77616 RVQ 039578,000113: 039579,000114: # FINDCDUW PRELIMINARIES 039580,000115: 039581,000116: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD 039582,000117: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT 039583,000118: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC 039584,000119: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED 039585,000120: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT 039586,000121: 30,3116 77420 STQ EXIT 039587,000122: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS 039588,000123: 039589,000124: # MORE HAUSKEEPING 039590,000125: 30,3120 33761 CA ECDUWL 039591,000126: 30,3121 56003 XCH EBANK # SET EBANK 039592,000127: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK 039593,000128: 039594,000129: 30,3123 30111 CA DAPBOOLS 039595,000130: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15 039596,000131: 30,3125 10000 CCS A 039597,000132: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED 039598,000133: 30,3127 55650 TS NDXCDUW 039599,000134: 039600,000135: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15 039601,000136: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT 039602,000137: 039603,000138: 30,3132 70111 MASK DAPBOOLS 039604,000139: 30,3133 55651 TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD 039605,000140: 039606,000141: # Page 911 039607,000142: # FETCH BASIC DATA 039608,000143: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET) 039609,000144: 039610,000145: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT 039611,000146: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO 039612,000147: 30,3137 30033 CA CDUY 039613,000148: 30,3140 54766 TS CDUSPOTY 039614,000149: 30,3141 30034 CA CDUZ 039615,000150: 30,3142 54770 TS CDUSPOTZ 039616,000151: 039617,000152: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT 039618,000153: 30,3144 00006 EXTEND 039619,000154: 30,3145 02030 RAND CHAN30 039620,000155: 30,3146 10000 CCS A 039621,000156: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED) 039622,000157: 039623,000158: 30,3150 34736 CA BIT14 # AUTO MODE BIT 039624,000159: 30,3151 00006 EXTEND 039625,000160: 30,3152 02031 RAND CHAN31 039626,000161: 30,3153 10000 CCS A 039627,000162: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED) 039628,000163: 039629,000164: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT 039630,000165: 039631,000166: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD 039632,000167: 30,3157 54772 TS CDUSPOTX 039633,000168: 30,3160 31636 CA CDUYD 039634,000169: 30,3161 54766 TS CDUSPOTY 039635,000170: 30,3162 31637 CA CDUZD 039636,000171: 30,3163 54770 TS CDUSPOTZ 039637,000172: 039638,000173: # Page 912 039639,000174: # FETCH INPUTS 039640,000175: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC 039641,000176: 30,3165 77634 RTB 039642,000177: 30,3166 21726 NORMUNIT 039643,000178: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2 039644,000179: 30,3170 03262 UNWC/2 039645,000180: 30,3171 47034 RTB RTB 039646,000181: 30,3172 21726 NORMUNIT 039647,000182: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S 039648,000183: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2 039649,000184: 30,3175 00325 DELV 039650,000185: 30,3176 53404 BOVB UNIT 039651,000186: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO 039652,000187: 30,3200 45000 BOV CALL 039653,000188: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER 039654,000189: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR 039655,000190: 039656,000191: # THRUST DIRECTION FILTER 039657,000192: 039658,000193: 30,3203 77776 EXIT 039659,000194: 039660,000195: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC 039661,000196: 30,3205 22157 LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER, 039662,000197: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE. 039663,000198: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT. 039664,000199: 039665,000200: 30,3210 31673 CA UNFVZ/2 039666,000201: 30,3211 22161 LXCH MPAC +5 039667,000202: 30,3212 03503 TC FLTRSUB 039668,000203: 30,3213 55673 TS UNFVZ/2 039669,000204: 039670,000205: 30,3214 06037 TC INTPRET # COMPLETES FILTER 039671,000206: 039672,000207: # Page 913 039673,000208: # FIND A SUITABLE WINDOW POINTING VECTOR 039674,000209: 039675,000210: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB 039676,000211: 30,3216 03252 FLAGOODW 039677,000212: 30,3217 61223 FETCHZNB 039678,000213: 30,3220 45175 VLOAD CALL 039679,000214: 30,3221 00015 UNZ/2 039680,000215: 30,3222 61523 UNWCTEST 039681,000216: 039682,000217: 30,3223 77775 FETCHZNB VLOAD 039683,000218: 30,3224 02162 ZNBPIP 039684,000219: 30,3225 34015 STCALL UNZ/2 039685,000220: 30,3226 61523 UNWCTEST 039686,000221: 039687,000222: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2 039688,000223: 30,3230 02146 XNBPIP 039689,000224: 30,3231 00015 STORE UNZ/2 039690,000225: 039691,000226: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX 039692,000227: 039693,000228: 30,3232 47375 DCMCL VLOAD VXV 039694,000229: 30,3233 00015 UNZ/2 039695,000230: 30,3234 00001 UNX/2 039696,000231: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION 039697,000232: 30,3236 76435 VXV VSL1 039698,000233: 30,3237 00001 UNX/2 039699,000234: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION 039700,000235: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2 039701,000236: 30,3242 03274 UNFVZ/2 # MUST BE SMALL 039702,000237: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2 039703,000238: 30,3244 03272 UNFVY/2 # MUST BE SMALL 039704,000239: 30,3245 53372 VSL1 VAD 039705,000240: 30,3246 00001 UNX/2 039706,000241: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR 039707,000242: 30,3250 00001 STORE UNX/2 # UNX/2 039708,000243: 30,3251 76435 VXV VSL1 039709,000244: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER 039710,000245: 30,3253 00007 STORE UNY/2 # UNY/2 039711,000246: 30,3254 47276 VCOMP VXV 039712,000247: 30,3255 00001 UNX/2 039713,000248: 30,3256 77772 VSL1 039714,000249: 30,3257 00015 STORE UNZ/2 # UNZ/2 039715,000250: 039716,000251: # Page 914 039717,000252: # COMPUTES THE REQUIRED GIMBAL ANGLES 039718,000253: 039719,000254: 30,3260 77624 CALL 039720,000255: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI 039721,000256: 30,3262 77776 EXIT 039722,000257: 039723,000258: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS 039724,000259: 039725,000260: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA 039726,000261: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM 039727,000262: 30,3265 33773 CA CDUZDLIM 039728,000263: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE 039729,000264: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES? 039730,000265: 30,3270 00006 EXTEND 039731,000266: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO 039732,000267: 30,3272 00006 EXTEND 039733,000268: 30,3273 13275 BZF +2 039734,000269: 30,3274 13756 TCF ALARMMGA 039735,000270: 039736,000271: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW 039737,000272: 039738,000273: 30,3276 22007 ZL 039739,000274: 30,3277 34752 CA TWO 039740,000275: 30,3300 54142 DELGMBLP TS TEM2 039741,000276: 039742,000277: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO 039743,000278: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG. 039744,000279: 30,3303 70000 SQUARE 039745,000280: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED) 039746,000281: 30,3305 00006 EXTEND 039747,000282: 30,3306 63311 BZMF +3 039748,000283: 30,3307 34755 CA ZERO 039749,000284: 30,3310 55651 TS FLAGOODW 039750,000285: 039751,000286: 30,3311 50142 INDEX TEM2 039752,000287: 30,3312 30154 CA MPAC 039753,000288: 30,3313 50142 INDEX TEM2 039754,000289: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22 039755,000290: 30,3315 00006 EXTEND 039756,000291: 30,3316 50142 INDEX TEM2 039757,000292: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHLTY DIFFERENT 039758,000293: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM 039759,000294: 30,3321 50142 INDEX TEM2 039760,000295: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI 039761,000296: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS 039762,000297: 30,3324 10142 CCS TEM2 039763,000298: 30,3325 13300 TCF DELGMBLP 039764,000299: 039765,000300: # Page 915 039766,000301: # BRANCHES TO NOATTCNT 039767,000302: 30,3326 11652 CCS FLPAUTNO 039768,000303: 30,3327 13752 TCF NOATTCNT +2 # NO PNGCS AUTO 039769,000304: 039770,000305: 30,3330 30101 CA FLAGWRD5 039771,000306: 30,3331 74745 MASK ENGONBIT 039772,000307: 30,3332 00006 EXTEND 039773,000308: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON 039774,000309: 039775,000310: # Page 916 039776,000311: # LIMIT THE ATTITUDE ANGLE CHANGES 039777,000312: 039778,000313: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME, 039779,000314: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS 039780,000315: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL 039781,000316: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY: 039782,000317: 039783,000318: # [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ] 039784,000319: # [ ] [ ] [ ] 039785,000320: # [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ] 039786,000321: # [ ] [ ] [ ] 039787,000322: # [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ] 039788,000323: 039789,000324: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED 039790,000325: 30,3335 51650 INDEX NDXCDUW 039791,000326: 30,3336 33767 CA DAZMAX 039792,000327: 30,3337 03727 TC LIMITSUB 039793,000328: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ 039794,000329: 039795,000330: 30,3341 31676 CA -DELGMB +1 039796,000331: 30,3342 00006 EXTEND 039797,000332: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED 039798,000333: 30,3344 54001 TS L 039799,000334: 30,3345 51650 INDEX NDXCDUW 039800,000335: 30,3346 33771 CA DAY/2MAX 039801,000336: 30,3347 03727 TC LIMITSUB 039802,000337: 30,3350 00006 EXTEND 039803,000338: 30,3351 10746 DV COSCDUZ 039804,000339: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE 039805,000340: 039806,000341: 30,3353 00006 EXTEND 039807,000342: 30,3354 70740 MP SINCDUZ 039808,000343: 30,3355 20001 DDOUBL 039809,000344: 30,3356 40000 COM 039810,000345: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG. 039811,000346: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBV. 039812,000347: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU 039813,000348: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES? 039814,000349: 30,3363 33767 CA DAXMAX 039815,000350: 30,3364 03727 TC LIMITSUB 039816,000351: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX 039817,000352: 30,3366 11651 CCS FLAGOODW 039818,000353: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD 039819,000354: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX 039820,000355: 30,3371 41676 CS -DELGMB +1 039821,000356: 30,3372 00006 EXTEND 039822,000357: 30,3373 70740 MP SINCDUZ 039823,000358: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY 039824,000359: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO 039825,000360: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG 039826,000361: 039827,000362: # Page 917 039828,000363: # COMPUTE COMMANDED ATTITUDE RATES 039829,000364: 039830,000365: # [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ] 039831,000366: # [ ] [ ] [ ] 039832,000367: # [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ] 039833,000368: # [ ] [ ] [ ] 039834,000369: # [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ] 039835,000370: 039836,000371: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF 039837,000372: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS, 039838,000373: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW). 039839,000374: 039840,000375: 30,3376 41675 CS -DELGMB 039841,000376: 30,3377 55643 TS OMEGAPD 039842,000377: 30,3400 41676 CS -DELGMB +1 039843,000378: 30,3401 00006 EXTEND 039844,000379: 30,3402 70740 MP SINCDUZ 039845,000380: 30,3403 20001 DDOUBL 039846,000381: 30,3404 27643 ADS OMEGAPD 039847,000382: 30,3405 27643 ADS OMEGAPD 039848,000383: 039849,000384: 30,3406 41676 CS -DELGMB +1 039850,000385: 30,3407 00006 EXTEND 039851,000386: 30,3410 70750 MP COSCDUX 039852,000387: 30,3411 20001 DDOUBL 039853,000388: 30,3412 00006 EXTEND 039854,000389: 30,3413 70746 MP COSCDUZ 039855,000390: 30,3414 55644 TS OMEGAQD 039856,000391: 30,3415 41677 CS -DELGMB +2 039857,000392: 30,3416 00006 EXTEND 039858,000393: 30,3417 70742 MP SINCDUX 039859,000394: 30,3420 27644 ADS OMEGAQD 039860,000395: 30,3421 27644 ADS OMEGAQD 039861,000396: 30,3422 27644 ADS OMEGAQD 039862,000397: 039863,000398: 30,3423 31676 CA -DELGMB +1 039864,000399: 30,3424 00006 EXTEND 039865,000400: 30,3425 70742 MP SINCDUX 039866,000401: 30,3426 20001 DDOUBL 039867,000402: 30,3427 00006 EXTEND 039868,000403: 30,3430 70746 MP COSCDUZ 039869,000404: 30,3431 55645 TS OMEGARD 039870,000405: 30,3432 41677 CS -DELGMB +2 039871,000406: 30,3433 00006 EXTEND 039872,000407: 30,3434 70750 MP COSCDUX 039873,000408: 30,3435 27645 ADS OMEGARD 039874,000409: 30,3436 27645 ADS OMEGARD 039875,000410: 30,3437 27645 ADS OMEGARD 039876,000411: 039877,000412: # Page 918 039878,000413: # FINAL TRANSFER 039879,000414: 039880,000415: 30,3440 34752 CA TWO 039881,000416: 30,3441 54142 CDUWXFR TS TEM2 039882,000417: 30,3442 50142 INDEX TEM2 039883,000418: 30,3443 31675 CA -DELGMB 039884,000419: 30,3444 00006 EXTEND 039885,000420: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL 039886,000421: 30,3446 03743 TC ONESTO2S 039887,000422: 30,3447 50142 INDEX TEM2 039888,000423: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE 039889,000424: 039890,000425: 30,3451 50142 INDEX TEM2 039891,000426: 30,3452 11643 CCS OMEGAPD 039892,000427: 30,3453 64753 AD ONE 039893,000428: 30,3454 13456 TCF +2 039894,000429: 30,3455 64753 AD ONE 039895,000430: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD) 039896,000431: 30,3457 50142 INDEX TEM2 039897,000432: 30,3460 71643 MP OMEGAPD 039898,000433: 30,3461 00006 EXTEND 039899,000434: 30,3462 74741 MP BIT11 # 1/16 039900,000435: 30,3463 00006 EXTEND 039901,000436: 30,3464 50142 INDEX TEM2 # 2 039902,000437: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC 039903,000438: 30,3466 54001 TS L 039904,000439: 30,3467 33771 CA DELERLIM 039905,000440: 30,3470 03727 TC LIMITSUB 039906,000441: 30,3471 50142 INDEX TEM2 039907,000442: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL 039908,000443: 30,3473 10142 CCS TEM2 039909,000444: 30,3474 13441 TCF CDUWXFR 039910,000445: 039911,000446: # HAUSKEEPING AND RETURN 039912,000447: 039913,000448: 30,3475 31646 TCQCDUW CA ECDUWUSR 039914,000449: 30,3476 54003 TS EBANK # RETURN USER'S EBANK 039915,000450: 039916,000451: 30,3477 06037 TC INTPRET 039917,000452: 30,3500 52001 SETPD GOTO 039918,000453: 30,3501 00001 0 039919,000454: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER 039920,000455: 039921,000456: # Page 919 039922,000457: # THRUST VECTOR FILTER SUBROUTINE 039923,000458: 039924,000459: 30,3503 00006 FLTRSUB EXTEND 039925,000460: 30,3504 22142 QXCH TEM2 039926,000461: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET 039927,000462: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF 039928,000463: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S 039929,000464: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY. 039930,000465: 30,3511 51650 INDEX NDXCDUW 039931,000466: 30,3512 73762 MP GAINFLTR 039932,000467: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED 039933,000468: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z 039934,000469: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED 039935,000470: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET 039936,000471: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED 039937,000472: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z 039938,000473: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED 039939,000474: 30,3522 00142 TC TEM2 039940,000475: 039941,000476: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS 039942,000477: 039943,000478: 30,3523 63441 UNWCTEST DOT DSQ 039944,000479: 30,3524 00001 UNX/2 039945,000480: 30,3525 50025 DSU BMN 039946,000481: 30,3526 21767 DOTSWFMX 039947,000482: 30,3527 61232 DCMCL 039948,000483: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE 039949,000484: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG 039950,000485: 30,3532 00000 0 039951,000486: 039952,000487: # Page 920 039953,000488: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS 039954,000489: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST. 039955,000490: # NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS. 039956,000491: 039957,000492: 30,3533 63545 NB2CDUSP DLOAD DSQ 039958,000493: 30,3534 00003 2 039959,000494: 30,3535 51021 BDSU BPL 039960,000495: 30,3536 06512 DP1/4TH 039961,000496: 30,3537 61542 +3 039962,000497: 30,3540 77745 DLOAD 039963,000498: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2 039964,000499: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2 039965,000500: 039966,000501: 30,3543 00006 EXTEND 039967,000502: 30,3544 30155 DCA MPAC 039968,000503: 30,3545 20001 DDOUBL 039969,000504: 30,3546 54145 TS TEM5 039970,000505: 30,3547 13552 TCF +3 039971,000506: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS 039972,000507: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1 039973,000508: 039974,000509: 30,3552 50120 INDEX FIXLOC 039975,000510: 30,3553 30002 CA 2 039976,000511: 30,3554 22154 LXCH MPAC 039977,000512: 30,3555 03622 TC ARCTRGSP 039978,000513: 30,3556 54156 TS MPAC +2 # CDUZ 039979,000514: 039980,000515: 30,3557 34755 CA ZERO 039981,000516: 30,3560 03600 TC DVBYCOSM 039982,000517: 30,3561 34751 CA FOUR 039983,000518: 30,3562 03600 TC DVBYCOSM 039984,000519: 30,3563 40141 CS TEM1 039985,000520: 30,3564 03622 TC ARCTRGSP 039986,000521: 30,3565 54155 TS MPAC +1 # CDUY 039987,000522: 039988,000523: 30,3566 34750 CA BIT4 039989,000524: 30,3567 03600 TC DVBYCOSM 039990,000525: 30,3570 33577 CA 16OCT 039991,000526: 30,3571 03600 TC DVBYCOSM 039992,000527: 30,3572 40141 CS TEM1 039993,000528: 30,3573 03622 TC ARCTRGSP 039994,000529: 30,3574 54154 TS MPAC # CDUX 039995,000530: 039996,000531: 30,3575 06037 TC INTPRET 039997,000532: 30,3576 77616 RVQ 039998,000533: 039999,000534: 30,3577 00016 16OCT OCT 16 040000,000535: 040001,000536: # Page 921 040002,000537: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA) 040003,000538: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD 040004,000539: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2 040005,000540: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER 040006,000541: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION. 040007,000542: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER 040008,000543: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND. 040009,000544: 040010,000545: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE 040011,000546: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL 040012,000547: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED 040013,000548: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2. 040014,000549: 040015,000550: 30,3600 60120 DVBYCOSM AD FIXLOC 040016,000551: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND 040017,000552: 040018,000553: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND 040019,000554: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO 040020,000555: 30,3604 00006 EXTEND 040021,000556: 30,3605 63607 BZMF +2 040022,000557: 30,3606 40000 COM 040023,000558: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS 040024,000559: 30,3610 00006 EXTEND 040025,000560: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH 040026,000561: 040027,000562: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF 040028,000563: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT. 040029,000564: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND 040030,000565: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED. 040031,000566: 30,3616 10145 DV TEM5 040032,000567: 30,3617 54001 TSL&TCQ TS L 040033,000568: 30,3620 22141 LXCH TEM1 040034,000569: 30,3621 00002 TC Q 040035,000570: 040036,000571: # Page 922 040037,000572: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN 040038,000573: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS. 040039,000574: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES. 040040,000575: 040041,000576: 30,3622 00006 ARCTRGSP EXTEND 040042,000577: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO 040043,000578: 040044,000579: 30,3624 00006 EXTEND 040045,000580: 30,3625 22144 QXCH TEM4 040046,000581: 30,3626 54142 TS TEM2 040047,000582: 30,3627 30001 CA L 040048,000583: 30,3630 54143 TS TEM3 040049,000584: 30,3631 34755 CA ZERO 040050,000585: 30,3632 00006 EXTEND 040051,000586: 30,3633 10142 DV TEM2 040052,000587: 30,3634 00006 EXTEND 040053,000588: 30,3635 13654 BZF USECOS 040054,000589: 040055,000590: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL 040056,000591: 30,3637 34755 CA ZERO 040057,000592: 30,3640 13644 TCF +4 040058,000593: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN, 040059,000594: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN) 040060,000595: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT 040061,000596: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS 040062,000597: 30,3645 30142 CA TEM2 040063,000598: 30,3646 03672 TC SPARCSIN -1 040064,000599: 30,3647 03743 TC ONESTO2S 040065,000600: 30,3650 00006 EXTEND 040066,000601: 30,3651 20143 MSU TEM3 040067,000602: 30,3652 03743 1TO2&TCQ TC ONESTO2S 040068,000603: 30,3653 00144 TC TEM4 040069,000604: 040070,000605: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER 040071,000606: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS)) 040072,000607: 30,3656 64736 AD HALF 040073,000608: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS 040074,000609: 30,3660 10142 CCS TEM2 040075,000610: 30,3661 30143 CA TEM3 040076,000611: 30,3662 13652 TCF 1TO2&TCQ 040077,000612: 30,3663 40143 CS TEM3 040078,000613: 30,3664 13652 TCF 1TO2&TCQ 040079,000614: 040080,000615: 30,3665 10001 SINZERO CCS L 040081,000616: 30,3666 34755 CA ZERO 040082,000617: 30,3667 00002 TC Q 040083,000618: 30,3670 34735 CA NEGMAX # PI, 2'S COMP 040084,000619: 30,3671 00002 TC Q 040085,000620: 040086,000621: # Page 923 040087,000622: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED 040088,000623: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70 040089,000624: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF 040090,000625: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP) 040091,000626: 040092,000627: 30,3672 60000 DOUBLE 040093,000628: 30,3673 54021 SPARCSIN TS SR 040094,000629: 30,3674 13700 TCF +4 040095,000630: 30,3675 50000 INDEX A 040096,000631: 30,3676 44734 CS LIMITS 040097,000632: 30,3677 54021 TS SR 040098,000633: 30,3700 00006 EXTEND 040099,000634: 30,3701 70000 MP A 040100,000635: 30,3702 54141 TS TEM1 040101,000636: 30,3703 00006 EXTEND 040102,000637: 30,3704 73726 MP DPL9 040103,000638: 30,3705 63725 AD DPL7 040104,000639: 30,3706 00006 EXTEND 040105,000640: 30,3707 70141 MP TEM1 040106,000641: 30,3710 63724 AD DPL5 040107,000642: 30,3711 00006 EXTEND 040108,000643: 30,3712 70141 MP TEM1 040109,000644: 30,3713 63723 AD DPL3 040110,000645: 30,3714 00006 EXTEND 040111,000646: 30,3715 70141 MP TEM1 040112,000647: 30,3716 63722 AD DPL1 040113,000648: 30,3717 00006 EXTEND 040114,000649: 30,3720 70021 MP SR 040115,000650: 30,3721 00002 TC Q 040116,000651: 30,3722 24406 DPL1 DEC 10502 B-14 040117,000652: 30,3723 00660 DPL3 DEC 432 B-14 040118,000653: 30,3724 16204 DPL5 DEC 7300 B-14 040119,000654: 30,3725 50744 DPL7 DEC -11803 B-14 040120,000655: 30,3726 20315 DPL9 DEC 8397 B-14 040121,000656: 040122,000657: # Page 924 040123,000658: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE 040124,000659: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A. 040125,000660: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A. 040126,000661: 040127,000662: # VERSION COUTESY HUGH BLAIR-SMITH 040128,000663: 040129,000664: 30,3727 54141 LIMITSUB TS TEM1 040130,000665: 30,3730 34755 CA ZERO 040131,000666: 30,3731 00006 EXTEND 040132,000667: 30,3732 10141 DV TEM1 040133,000668: 30,3733 10000 CCS A 040134,000669: 30,3734 22141 LXCH TEM1 040135,000670: 30,3735 13737 TCF +2 040136,000671: 30,3736 13741 TCF +3 040137,000672: 30,3737 30001 CA L 040138,000673: 30,3740 00002 TC Q 040139,000674: 30,3741 40141 CS TEM1 040140,000675: 30,3742 00002 TC Q 040141,000676: 040142,000677: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP 040143,000678: 040144,000679: 30,3743 10000 ONESTO2S CCS A 040145,000680: 30,3744 64753 AD ONE 040146,000681: 30,3745 00002 TC Q 040147,000682: 30,3746 40000 CS A 040148,000683: 30,3747 00002 TC Q 040149,000684: 040150,000685: # NO ATTITUDE CONTROL 040151,000686: 040152,000687: 30,3750 05567 NOATTCNT TC ALARM 040153,000688: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL 040154,000689: 040155,000690: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM 040156,000691: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW 040157,000692: 30,3754 40165 FCADR STOPRATE 040158,000693: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS 040159,000694: 040160,000695: # MIDDLE GIMBAL ANGLE ALARM 040161,000696: 040162,000697: 30,3756 05567 ALARMMGA TC ALARM 040163,000698: 30,3757 00401 OCT 00401 040164,000699: 30,3760 13275 TCF MGARET 040165,000700: 040166,000701: # Page 925 040167,000702: # ****************************************************************** 040168,000703: # CONSTANTS 040169,000704: # ****************************************************************** 040170,000705: 040171,000706: # ADDRESS CONSTANTS 040172,000707: 040173,000708: 30,3761 03246 ECDUWL ECADR ECDUW 040174,000709: 040175,000710: # THRUST DIRECTION FILTER CONSTANTS 040176,000711: 040177,000712: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM 040178,000713: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM 040179,000714: 040180,000715: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS. 040181,000716: # THIS DOES NOT ALLOW FOR S/C ROT RATE. 040182,000717: 040183,000718: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL 040184,000719: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION. 040185,000720: 040186,000721: # CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS 040187,000722: 040188,000723: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG 040189,000724: # LOWER PART COMES FROM NEXT CONSTANT 040190,000725: 040191,000726: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI 040192,000727: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED 040193,000728: 040194,000729: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY 040195,000730: 30,3772 00133 DEC .0055555555 040196,000731: 040197,000732: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ 040198,000733: 040199,000734: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI 040200,000735: 040201,000736: # CONSTANTS FOR DATA TRANSFER 040202,000737: 040203,000738: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT 040204,000739: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD 040205,000740: 040206,000741: 30,3775 30,3771 DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI 040207,000742: 040208,000743: # *** END OF FLY .132 *** End of include-file FINDCDUW--GUIDAP_INTERFACE.agc. Parent file is MAIN.agc