Source Code
062977,000001: # Copyright: Public domain.
062978,000002: # Filename: KALMAN_FILTER.agc
062979,000003: # Purpose: Part of the source code for Luminary 1A build 099.
062980,000004: # It is part of the source code for the Lunar Module's (LM)
062981,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
062982,000006: # Assembler: yaYUL
062983,000007: # Contact: Ron Burkey <info@sandroid.org>.
062984,000008: # Website: www.ibiblio.org/apollo.
062985,000009: # Pages: 1470-1471
062986,000010: # Mod history: 2009-05-27 RSB Adapted from the corresponding
062987,000011: # Luminary131 file, using page
062988,000012: # images from Luminary 1A.
062989,000013:
062990,000014: # This source code has been transcribed or otherwise adapted from
062991,000015: # digitized images of a hardcopy from the MIT Museum. The digitization
062992,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
062993,000017: # the Museum. Many thanks to both. The images (with suitable reduction
062994,000018: # in storage size and consequent reduction in image quality as well) are
062995,000019: # available online at www.ibiblio.org/apollo. If for some reason you
062996,000020: # find that the images are illegible, contact me at info@sandroid.org
062997,000021: # about getting access to the (much) higher-quality images which Paul
062998,000022: # actually created.
062999,000023:
063000,000024: # Notations on the hardcopy document read, in part:
063001,000025:
063002,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
063003,000027: # 16:27 JULY 14, 1969
063004,000028:
063005,000029: # Page 1470
063006,000030: 17,3744 E6,1522 EBANK= NO.UJETS
063007,000031: 16,3641 BANK 16
063008,000032: 16,2000 SETLOC DAPS1
063009,000033: 16,2000 BANK
063010,000034:
063011,000035: 16,3641 COUNT* $$/DAP
063012,000036:
063013,000037: 16,3641 34752 RATELOOP CA TWO
063014,000038: 16,3642 55744 TS DAPTEMP6
063015,000039: 16,3643 60000 DOUBLE
063016,000040: 16,3644 54002 TS Q
063017,000041: 16,3645 51744 INDEX DAPTEMP6
063018,000042: 16,3646 11524 CCS TJP
063019,000043: 16,3647 13651 TCF +2
063020,000044: 16,3650 13670 TCF LOOPRATE
063021,000045: 16,3651 63731 AD -100MST6
063022,000046: 16,3652 00006 EXTEND
063023,000047: 16,3653 63707 BZMF SMALLTJU
063024,000048: 16,3654 51744 INDEX DAPTEMP6
063025,000049: 16,3655 11524 CCS TJP
063026,000050: 16,3656 33731 CA -100MST6
063027,000051: 16,3657 13661 TCF +2
063028,000052: 16,3660 43731 CS -100MST6
063029,000053: 16,3661 51744 INDEX DAPTEMP6
063030,000054: 16,3662 27524 ADS TJP
063031,000055: 16,3663 51744 INDEX DAPTEMP6
063032,000056: 16,3664 11524 CCS TJP
063033,000057: 16,3665 43615 CS -100MS # 0.1 AT 1
063034,000058: 16,3666 13670 TCF +2
063035,000059: 16,3667 33615 CA -100MS
063036,000060: 16,3670 00006 LOOPRATE EXTEND
063037,000061: 16,3671 51744 INDEX DAPTEMP6
063038,000062: 16,3672 71521 MP NO.PJETS
063039,000063: 16,3673 30001 CA L
063040,000064: 16,3674 51744 INDEX DAPTEMP6
063041,000065: 16,3675 55737 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
063042,000066: 16,3676 00006 EXTEND
063043,000067: 16,3677 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
063044,000068: 16,3700 00006 EXTEND
063045,000069: 16,3701 63732 BZMF NEGTORK
063046,000070: 16,3702 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
063047,000071: 16,3703 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
063048,000072:
063049,000073: 16,3704 11744 CCS DAPTEMP6
063050,000074: 16,3705 13642 TCF RATELOOP +1
063051,000075: 16,3706 13716 TCF ROTORQUE
063052,000076: 16,3707 34755 SMALLTJU CA ZERO
063053,000077: 16,3710 51744 INDEX DAPTEMP6
063054,000078: 16,3711 57524 XCH TJP
063055,000079: 16,3712 00006 EXTEND
063056,000080: # Page 1471
063057,000081: 16,3713 74760 MP ELEVEN # 10.24 PLUS
063058,000082: 16,3714 30001 CA L
063059,000083: 16,3715 13670 TCF LOOPRATE
063060,000084: 16,3716 31740 ROTORQUE CA DAPTEMP2
063061,000085: 16,3717 61741 AD DAPTEMP3
063062,000086: 16,3720 00006 EXTEND
063063,000087: 16,3721 71532 MP 1JACCR
063064,000088: 16,3722 55747 TS JETRATER
063065,000089: 16,3723 41741 CS DAPTEMP3
063066,000090: 16,3724 61740 AD DAPTEMP2
063067,000091: 16,3725 00006 EXTEND
063068,000092: 16,3726 71531 MP 1JACCQ
063069,000093: 16,3727 55746 TS JETRATEQ
063070,000094: 16,3730 12316 TCF BACKP
063071,000095: 16,3731 77537 -100MST6 DEC -160 B-14
063072,000096:
063073,000097: 16,3732 40000 NEGTORK COM
063074,000098: 16,3733 24002 INCR Q
063075,000099: 16,3734 13702 TCF STORTORK
063076,000100:
063077,000101:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc