Source Code
061596,000001: # Copyright: Public domain.
061597,000002: # Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
061598,000003: # Purpose: Part of the source code for Luminary 1A build 099.
061599,000004: # It is part of the source code for the Lunar Module's (LM)
061600,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
061601,000006: # Assembler: yaYUL
061602,000007: # Contact: Ron Burkey <info@sandroid.org>.
061603,000008: # Website: www.ibiblio.org/apollo.
061604,000009: # Pages: 1442-1459
061605,000010: # Mod history: 2009-05-27 RSB Adapted from the corresponding
061606,000011: # Luminary131 file, using page
061607,000012: # images from Luminary 1A.
061608,000013: # 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
061609,000014: # the former is not compatible with yaYUL.
061610,000015:
061611,000016: # This source code has been transcribed or otherwise adapted from
061612,000017: # digitized images of a hardcopy from the MIT Museum. The digitization
061613,000018: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
061614,000019: # the Museum. Many thanks to both. The images (with suitable reduction
061615,000020: # in storage size and consequent reduction in image quality as well) are
061616,000021: # available online at www.ibiblio.org/apollo. If for some reason you
061617,000022: # find that the images are illegible, contact me at info@sandroid.org
061618,000023: # about getting access to the (much) higher-quality images which Paul
061619,000024: # actually created.
061620,000025:
061621,000026: # Notations on the hardcopy document read, in part:
061622,000027:
061623,000028: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
061624,000029: # 16:27 JULY 14, 1969
061625,000030:
061626,000031: # Page 1442
061627,000032: 17,2072 BANK 17
061628,000033: 17,2000 SETLOC DAPS2
061629,000034: 17,2000 BANK
061630,000035:
061631,000036: 17,2072 E6,1635 EBANK= CDUXD
061632,000037:
061633,000038: 17,2072 COUNT* $$/DAPQR
061634,000039:
061635,000040: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
061636,000041: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
061637,000042: 17,2074 02031 RAND CHAN31
061638,000043: 17,2075 10000 CCS A
061639,000044: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
061640,000045: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
061641,000046: 17,2100 74740 MASK OURRCBIT
061642,000047: 17,2101 00006 EXTEND
061643,000048: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERROS.
061644,000049: 17,2103 02626 TC QERRCALC
061645,000050:
061646,000051: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061647,000052: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
061648,000053: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
061649,000054: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
061650,000055: 17,2110 55631 TS COTROLER
061651,000056:
061652,000057: 17,2111 53437 DXCH EDOTQ
061653,000058: 17,2112 03146 TC ROT-TOUV
061654,000059: 17,2113 53427 DXCH OMEGAU
061655,000060:
061656,000061: # X - TRANSLATION
061657,000062:
061658,000063: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061659,000064: # ULLAGER
061660,000065: # APSFLAG, DRIFTBIT
061661,000066: # ACC40R2X, ACRBTRAN
061662,000067:
061663,000068: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
061664,000069: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
061665,000070:
061666,000071: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
061667,000072: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061668,000073:
061669,000074: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
061670,000075: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
061671,000076: 17,2116 02031 RAND CHAN31
061672,000077: 17,2117 00006 EXTEND
061673,000078: 17,2120 12146 BZF +X0RULGE
061674,000079: # Page 1443
061675,000080: 17,2121 34744 CA BIT8
061676,000081: 17,2122 00006 EXTEND
061677,000082: 17,2123 02031 RAND CHAN31
061678,000083: 17,2124 00006 EXTEND
061679,000084: 17,2125 12147 BZF -XTRANS
061680,000085:
061681,000086: 17,2126 34746 CA ULLAGER
061682,000087: 17,2127 70111 MASK DAPBOOLS
061683,000088: 17,2130 10000 CCS A
061684,000089: 17,2131 12146 TCF +X0RULGE
061685,000090:
061686,000091: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
061687,000092: 17,2133 55474 TS NEXTV
061688,000093: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
061689,000094: 17,2135 74744 MASK DRIFTBIT
061690,000095: 17,2136 00006 EXTEND
061691,000096: 17,2137 12144 BZF TSENSE
061692,000097: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061693,000098: 17,2141 74737 MASK APSFLBIT
061694,000099: 17,2142 10000 CCS A
061695,000100: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061696,000101: 17,2144 55500 TSENSE TS SENSETYP
061697,000102: 17,2145 12200 TCF QRCONTRL
061698,000103:
061699,000104: 17,2146 34753 +X0RULGE CAF ONE
061700,000105: 17,2147 64751 -XTRANS AD FOUR
061701,000106: 17,2150 55744 TS ROTINDEX
061702,000107: 17,2151 67745 AD NEG3
061703,000108: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061704,000109: 17,2153 30111 CA DAPBOOLS
061705,000110: 17,2154 74741 MASK ACC4OR2X
061706,000111: 17,2155 10000 CCS A
061707,000112: 17,2156 12321 TCF TRANS4
061708,000113:
061709,000114: 17,2157 30111 CA DAPBOOLS
061710,000115: 17,2160 74742 MASK AORBTRAN
061711,000116: 17,2161 10000 CCS A
061712,000117: 17,2162 34753 CA ONE # THREE FOR B
061713,000118: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061714,000119: 17,2164 55743 TSNUMBRT TS NUMBERT
061715,000120:
061716,000121: 17,2165 03173 TC SELCTSUB
061717,000122:
061718,000123: 17,2166 11741 CCS POLYTEMP
061719,000124: 17,2167 12172 TCF +3
061720,000125: 17,2170 05567 TC ALARM
061721,000126: 17,2171 02002 OCT 02002
061722,000127: 17,2172 35774 CA 00314OCT
061723,000128: 17,2173 71741 MASK POLYTEMP
061724,000129: 17,2174 55473 TSNEXTS TS NEXTU
061725,000130: # Page 1444
061726,000131: 17,2175 45774 CS 00314OCT
061727,000132: 17,2176 71741 MASK POLYTEMP
061728,000133: 17,2177 55474 TS NEXTV
061729,000134:
061730,000135: # Q,R-AXES RCS CONTROL MODE SELECTION
061731,000136: # SWITCHES INDICATION WHEN SET
061732,000137: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061733,000138: # PULSES MINIMUM IMPULSE MODE
061734,000139: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061735,000140:
061736,000141: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061737,000142: 17,2201 00006 EXTEND
061738,000143: 17,2202 02031 RAND CHAN31 # BITS INVERTED
061739,000144: 17,2203 10000 CCS A
061740,000145: 17,2204 12661 TCF ATTSTEER
061741,000146: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061742,000147: 17,2206 70111 MASK DAPBOOLS
061743,000148: 17,2207 00006 EXTEND
061744,000149: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061745,000150:
061746,000151: # MINIMUM IMPULSE MODE
061747,000152:
061748,000153: 17,2211 00004 INHINT
061749,000154: 17,2212 04674 TC IBNKCALL
061750,000155: 17,2213 40153 CADR ZATTEROR
061751,000156: 17,2214 34755 CA ZERO
061752,000157: 17,2215 55450 TS QERROR
061753,000158: 17,2216 55452 TS RERROR # FOR DISPLAYS
061754,000159: 17,2217 00003 RELINT
061755,000160:
061756,000161: 17,2220 00006 EXTEND
061757,000162: 17,2221 00031 READ CHAN31
061758,000163: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
061759,000164: 17,2223 11461 CCS OLDQRMIN
061760,000165: 17,2224 12246 TCF CHECKIN
061761,000166:
061762,000167: 17,2225 31737 FIREQR CA TEMP31
061763,000168: 17,2226 74753 MASK BIT1
061764,000169: 17,2227 00006 EXTEND
061765,000170: 17,2230 12252 BZF +QMIN
061766,000171:
061767,000172: 17,2231 31737 CA TEMP31
061768,000173: 17,2232 74752 MASK BIT2
061769,000174: 17,2233 00006 EXTEND
061770,000175: 17,2234 12256 BZF -QMIN
061771,000176:
061772,000177: 17,2235 31737 CA TEMP31
061773,000178: 17,2236 74747 MASK BIT5
061774,000179: # Page 1445
061775,000180: 17,2237 00006 EXTEND
061776,000181: 17,2240 12262 BZF +RMIN
061777,000182:
061778,000183: 17,2241 31737 CA TEMP31
061779,000184: 17,2242 74746 MASK BIT6
061780,000185: 17,2243 00006 EXTEND
061781,000186: 17,2244 12264 BZF -RMIN
061782,000187:
061783,000188: 17,2245 13063 TCF XTRANS
061784,000189:
061785,000190: 17,2246 41737 CHECKIN CS TEMP31
061786,000191: 17,2247 72320 MASK OCT63
061787,000192: 17,2250 55461 TS OLDQRMIN
061788,000193: 17,2251 13063 TCF XTRANS
061789,000194:
061790,000195: 17,2252 33107 +QMIN CA 14MS
061791,000196: 17,2253 55525 TS TJU
061792,000197: 17,2254 43107 CS 14MS
061793,000198: 17,2255 12266 TCF MINQR
061794,000199: 17,2256 43107 -QMIN CS 14MS
061795,000200: 17,2257 55525 TS TJU
061796,000201: 17,2260 33107 CA 14MS
061797,000202: 17,2261 12266 TCF MINQR
061798,000203: 17,2262 33107 +RMIN CA 14MS
061799,000204: 17,2263 12265 TCF +2
061800,000205: 17,2264 43107 -RMIN CS 14MS
061801,000206: 17,2265 55525 TS TJU
061802,000207: 17,2266 55526 MINQR TS TJV
061803,000208: 17,2267 32317 CA MINADR
061804,000209: 17,2270 55477 TS RETJADR
061805,000210: 17,2271 34753 CA ONE
061806,000211: 17,2272 55461 TS OLDQRMIN
061807,000212: 17,2273 55505 MINRTN TS AXISCTR
061808,000213: 17,2274 30111 CA DAPBOOLS
061809,000214: 17,2275 74737 MASK CSMDOCKD
061810,000215: 17,2276 00006 EXTEND
061811,000216: 17,2277 12307 BZF MIMRET
061812,000217: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
061813,000218: 17,2301 11525 CCS TJU
061814,000219: 17,2302 32316 CA 60MS
061815,000220: 17,2303 12305 TCF +2
061816,000221: 17,2304 42316 CS 60MS
061817,000222: 17,2305 51505 INDEX AXISCTR
061818,000223: 17,2306 55525 TS TJU
061819,000224: 17,2307 30111 MIMRET CA DAPBOOLS
061820,000225: 17,2310 74742 MASK AORBTRAN
061821,000226: 17,2311 10000 CCS A
061822,000227: 17,2312 34753 CA ONE
061823,000228: 17,2313 64752 AD TWO
061824,000229: 17,2314 55743 TS NUMBERT
061825,000230: # Page 1446
061826,000231: 17,2315 12727 TCF AFTERTJ
061827,000232:
061828,000233: 17,2316 00140 60MS DEC 96 B-14 # RSB 2009 -- was 96.0.
061829,000234: 17,2317 02273 MINADR GENADR MINRTN
061830,000235: 17,2320 00063 OCT63 OCT 63
061831,000236: 17,2321 17,3107 14MS = +TJMINT6
061832,000237:
061833,000238: 17,2321 34751 TRANS4 CA FOUR
061834,000239: 17,2322 12164 TCF TSNUMBRT
061835,000240:
061836,000241: # RATE COMMAND MODE:
061837,000242:
061838,000243: # DESCRIPTION (SAME AS P-AXIS)
061839,000244:
061840,000245: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061841,000246: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061842,000247: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
061843,000248: 17,2326 34735 CA BIT15
061844,000249: 17,2327 71443 MASK CH31TEMP
061845,000250: 17,2330 00006 EXTEND
061846,000251: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061847,000252: 17,2332 34740 CA OURRCBIT # ***********
061848,000253: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061849,000254: 17,2334 00006 EXTEND # *********** LAST TIME.
061850,000255: 17,2335 12661 BZF STILLRCS
061851,000256: 17,2336 44743 CS BIT9
061852,000257: 17,2337 71273 MASK RCSFLAGS
061853,000258: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
061854,000259: 17,2341 12345 TCF DAMPING
061855,000260: 17,2342 00050 40CYCL OCT 50
061856,000261: 17,2343 00001 1/10S OCT 1
061857,000262: 17,2344 00056 LINRAT DEC 46 B-14
061858,000263:
061859,000264: # ===========================================================
061860,000265:
061861,000266: 17,2345 34755 DAMPING CA ZERO
061862,000267: 17,2346 55462 TS SAVEHAND
061863,000268: 17,2347 55463 TS SAVEHAND +1
061864,000269: 17,2350 11462 RHCACTIV CCS SAVEHAND # ******************
061865,000270: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061866,000271: 17,2352 12354 TCF +2 # ******************
061867,000272: 17,2353 12354 TCF +1
061868,000273: 17,2354 60000 DOUBLE # WHERE
061869,000274: 17,2355 60000 DOUBLE
061870,000275: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061871,000276: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061872,000277: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061873,000278: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061874,000279: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061875,000280: 17,2363 71444 MP STIKSENS
061876,000281: 17,2364 57455 XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC
061877,000282: 17,2365 40000 COM
061878,000283: # Page 1447
061879,000284: 17,2366 61455 AD QLAST
061880,000285: 17,2367 55741 TS DAPTEMP3
061881,000286: 17,2370 11463 CCS SAVEHAND +1
061882,000287: 17,2371 12374 TCF +3
061883,000288: 17,2372 12374 TCF +2
061884,000289: 17,2373 12374 TCF +1
061885,000290: 17,2374 60000 DOUBLE
061886,000291: 17,2375 60000 DOUBLE
061887,000292: 17,2376 62344 AD LINRAT
061888,000293: 17,2377 00006 EXTEND
061889,000294: 17,2400 71463 MP SAVEHAND +1
061890,000295: 17,2401 30001 CA L
061891,000296: 17,2402 00006 EXTEND
061892,000297: 17,2403 71444 MP STIKSENS
061893,000298: 17,2404 57456 XCH RLAST
061894,000299: 17,2405 40000 COM
061895,000300: 17,2406 61456 AD RLAST
061896,000301: 17,2407 55742 TS DAPTEMP4
061897,000302: 17,2410 41455 CS QLAST # INTERVAL.
061898,000303: 17,2411 61422 AD OMEGAQ
061899,000304: 17,2412 55436 TS QRATEDIF
061900,000305: 17,2413 41456 CS RLAST
061901,000306: 17,2414 61423 AD OMEGAR
061902,000307: 17,2415 55437 TS RRATEDIF
061903,000308: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061904,000309: 17,2417 03146 TC ROT-TOUV
061905,000310: 17,2420 53427 DXCH URATEDIF
061906,000311: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061907,000312: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061908,000313: 17,2423 02425 TC +2
061909,000314: 17,2424 02425 TC +1
061910,000315: 17,2425 61476 AD -RATEDB
061911,000316: 17,2426 00006 EXTEND
061912,000317: 17,2427 62431 BZMF +2
061913,000318: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061914,000319: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061915,000320: 17,2432 02435 TC +3
061916,000321: 17,2433 02435 TC +2
061917,000322: 17,2434 02435 TC +1
061918,000323: 17,2435 61476 AD -RATEDB
061919,000324: 17,2436 00006 EXTEND
061920,000325: 17,2437 62441 BZMF +2
061921,000326: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061922,000327: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061923,000328: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061924,000329: 17,2443 00006 EXTEND
061925,000330: 17,2444 12446 BZF +2
061926,000331: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061927,000332: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061928,000333: 17,2447 32342 CA 40CYCL
061929,000334: # Page 1448
061930,000335: 17,2450 55457 TS TCQR
061931,000336: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL
061932,000337: 17,2452 04674 TC IBNKCALL
061933,000338: 17,2453 40153 FCADR ZATTEROR
061934,000339: 17,2454 00003 RELINT
061935,000340: 17,2455 34755 CA ZERO
061936,000341: 17,2456 55450 TS DYERROR
061937,000342: 17,2457 55451 TS DYERROR +1
061938,000343: 17,2460 55452 TS DZERROR
061939,000344: 17,2461 55453 TS DZERROR +1
061940,000345: 17,2462 11426 CCS URATEDIF
061941,000346: 17,2463 12466 TCF +3
061942,000347: 17,2464 12466 TCF +2
061943,000348: 17,2465 12466 TCF +1
061944,000349: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061945,000350: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
061946,000351: 17,2470 62504 BZMF VDB
061947,000352: 17,2471 11427 CCS VRATEDIF
061948,000353: 17,2472 12475 TCF +3
061949,000354: 17,2473 12475 TCF +2
061950,000355: 17,2474 12475 TCF +1
061951,000356: 17,2475 61476 AD TARGETDB
061952,000357: 17,2476 00006 EXTEND
061953,000358: 17,2477 62501 BZMF +2
061954,000359: 17,2500 12515 TCF QRTIME
061955,000360: 17,2501 34755 CA ZERO
061956,000361: 17,2502 55427 TS VRATEDIF
061957,000362: 17,2503 12515 TCF QRTIME
061958,000363: 17,2504 11427 VDB CCS VRATEDIF
061959,000364: 17,2505 02510 TC +3
061960,000365: 17,2506 02510 TC +2
061961,000366: 17,2507 02510 TC +1
061962,000367: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061963,000368: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061964,000369: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061965,000370: 17,2513 34755 CA ZERO # PASS.
061966,000371: 17,2514 55426 TS URATEDIF
061967,000372: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061968,000373: 17,2516 00006 EXTEND
061969,000374: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061970,000375: 17,2520 41273 CS RCSFLAGS
061971,000376: 17,2521 74741 MASK QRBIT
061972,000377: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
061973,000378: 17,2523 02527 TC +4
061974,000379: 17,2524 44741 TOPSEUDO CS QRBIT
061975,000380: 17,2525 71273 MASK RCSFLAGS
061976,000381: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
061977,000382: 17,2527 32573 CA HANDADR
061978,000383: 17,2530 55477 TS RETJADR
061979,000384: 17,2531 34753 CA ONE
061980,000385:
061981,000386: # Page 1449
061982,000387: 17,2532 55505 BACKHAND TS AXISCTR
061983,000388:
061984,000389: 17,2533 34751 CA FOUR
061985,000390: 17,2534 55743 TS NUMBERT
061986,000391:
061987,000392: 17,2535 51505 INDEX AXISCTR
061988,000393: 17,2536 51535 INDEX SKIPU
061989,000394: 17,2537 12540 TCF +1
061990,000395: 17,2540 34751 CA FOUR
061991,000396: 17,2541 51505 INDEX AXISCTR
061992,000397: 17,2542 55535 TS SKIPU
061993,000398: 17,2543 13005 TCF LOOPER
061994,000399:
061995,000400: 17,2544 51505 INDEX AXISCTR
061996,000401: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANTITY
061997,000402: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061998,000403: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
061999,000404: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
062000,000405: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
062001,000406: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062002,000407:
062003,000408: 17,2553 50000 INDEX A
062004,000409: 17,2554 41571 CS 1/ANET2 +1
062005,000410: 17,2555 00006 EXTEND
062006,000411: 17,2556 51505 INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC
062007,000412: 17,2557 71426 MP URATEDIF # JET TIME IN A, SCALED 32 SEC
062008,000413: 17,2560 54002 TS Q
062009,000414: 17,2561 20001 DAS A
062010,000415: 17,2562 60002 AD Q
062011,000416: 17,2563 54000 TS A # OVERFLOW SKIP
062012,000417: 17,2564 12566 TCF +2
062013,000418: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
062014,000419: 17,2566 51505 SETTIME INDEX AXISCTR
062015,000420: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062016,000421: 17,2570 12727 TCF AFTERTJ
062017,000422:
062018,000423: 17,2571 34755 ZEROTJ CA ZERO
062019,000424: 17,2572 12566 TCF SETTIME
062020,000425:
062021,000426: 17,2573 02532 HANDADR GENADR BACKHAND
062022,000427:
062023,000428: # GTS WILL BE TRIED IF
062024,000429: # 1. USEQRJTS = 0,
062025,000430: # 2. ALLOWGTS POS,
062026,000431: # 3. JETS ARE OFF (Q,R-AXES)
062027,000432:
062028,000433: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
062029,000434: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.)
062030,000435: 17,2576 10000 CCS A
062031,000436: 17,2577 12107 TCF RCS
062032,000437: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
062033,000438: # Page 1450
062034,000439: 17,2601 12603 TCF +2
062035,000440: 17,2602 12107 TCF RCS
062036,000441: 17,2603 00006 EXTEND
062037,000442: 17,2604 00005 READ CHAN5
062038,000443: 17,2605 10000 CCS A
062039,000444: 17,2606 12612 TCF CHKINGTS
062040,000445: 17,2607 00006 GOTOGTS EXTEND
062041,000446: 17,2610 32625 DCA GTSCADR
062042,000447: 17,2611 52006 DTCB
062043,000448:
062044,000449: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
062045,000450: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
062046,000451: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS.
062047,000452: 17,2615 00004 INHINT
062048,000453: 17,2616 04674 TC IBNKCALL
062049,000454: 17,2617 43330 CADR TIMEGMBL
062050,000455: 17,2620 00003 RELINT
062051,000456: 17,2621 34755 CAF ZERO
062052,000457: 17,2622 55633 TS INGTS
062053,000458: 17,2623 12107 TCF RCS
062054,000459:
062055,000460: 17,2624 E6,1635 EBANK= CDUXD
062056,000461: 17,2624 03077 42106 GTSCADR 2CADR GTS
062057,000462:
062058,000463: # Page 1451
062059,000464: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062060,000465:
062061,000466: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
062062,000467: 17,2627 00006 EXTEND
062063,000468: 17,2630 21636 MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS)
062064,000469: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
062065,000470: 17,2632 00006 EXTEND
062066,000471: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062067,000472: 17,2634 55752 TS E
062068,000473: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
062069,000474: 17,2636 00006 EXTEND
062070,000475: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062071,000476: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
062072,000477: 17,2641 00006 EXTEND
062073,000478: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062074,000479: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
062075,000480: 17,2644 61752 AD E
062076,000481: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062077,000482:
062078,000483: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062079,000484: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062080,000485: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062081,000486: 17,2651 55752 TS E
062082,000487: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062083,000488: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062084,000489: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062085,000490: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
062086,000491: 17,2656 61752 AD E
062087,000492: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062088,000493: 17,2660 00002 TC Q
062089,000494:
062090,000495: # Page 1452
062091,000496: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062092,000497:
062093,000498: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062094,000499:
062095,000500: 17,2661 31452 STILLRCS CA RERROR
062096,000501: 17,2662 22000 LXCH A
062097,000502: 17,2663 31450 CA QERROR
062098,000503: 17,2664 03146 TC ROT-TOUV
062099,000504: 17,2665 53752 DXCH UERROR
062100,000505:
062101,000506: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062102,000507: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062103,000508:
062104,000509: 17,2666 33113 TJLAW CA TJLAWADR
062105,000510: 17,2667 55477 TS RETJADR
062106,000511: 17,2670 34753 CA ONE
062107,000512: 17,2671 55505 TS AXISCTR
062108,000513: 17,2672 51505 INDEX AXISCTR
062109,000514: 17,2673 51535 INDEX SKIPU
062110,000515: 17,2674 12675 TCF +1
062111,000516: 17,2675 34751 CA FOUR
062112,000517: 17,2676 51505 INDEX AXISCTR
062113,000518: 17,2677 55535 TS SKIPU
062114,000519: 17,2700 13005 TCF LOOPER
062115,000520: 17,2701 51505 INDEX AXISCTR
062116,000521: 17,2702 31751 CA UERROR
062117,000522: 17,2703 55752 TS E
062118,000523: 17,2704 51505 INDEX AXISCTR
062119,000524: 17,2705 31426 CA OMEGAU
062120,000525: 17,2706 55427 TS EDOT
062121,000526: 17,2707 30111 CA DAPBOOLS
062122,000527: 17,2710 74737 MASK CSMDOCKD
062123,000528: 17,2711 10000 CCS A
062124,000529: 17,2712 12715 TCF +3
062125,000530: 17,2713 03252 TC TJETLAW
062126,000531: 17,2714 12727 TCF AFTERTJ
062127,000532: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062128,000533: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
062129,000534: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062130,000535: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062131,000536: 17,2721 00004 INHINT
062132,000537: 17,2722 04674 TC IBNKCALL
062133,000538: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
062134,000539: 17,2724 00003 RELINT
062135,000540: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062136,000541: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SLECTION, ETC.
062137,000542:
062138,000543: # Q,R-JET-SELECTION-LOGIC
062139,000544:
062140,000545: # INPUT: AXISCTR 0,1 FOR U,V
062141,000546: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
062142,000547: # Page 1453
062143,000548: # TJU,TJV JET TIME SCALED 10.24 SEC.
062144,000549: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062145,000550: # RETJADR WHERE TO RETURN TO
062146,000551:
062147,000552: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062148,000553: # CHANNEL 5
062149,000554: # SKIPU,SKIPV FOR LESS THAN 150MS FIRING
062150,000555:
062151,000556: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062152,000557: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062153,000558: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062154,000559: # IF NONE CAN BE FOUND.
062155,000560:
062156,000561: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062157,000562: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062158,000563:
062159,000564: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062160,000565: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062161,000566: 17,2731 00006 EXTEND
062162,000567: 17,2732 12743 BZF DOROTAT
062163,000568: 17,2733 40106 CS FLGWRD10
062164,000569: 17,2734 74737 MASK APSFLBIT
062165,000570: 17,2735 00006 EXTEND
062166,000571: 17,2736 12743 BZF DOROTAT
062167,000572: 17,2737 30111 CA DAPBOOLS
062168,000573: 17,2740 74744 MASK DRIFTBIT
062169,000574: 17,2741 00006 EXTEND
062170,000575: 17,2742 13063 BZF XTRANS
062171,000576:
062172,000577: 17,2743 34752 DOROTAT CAF TWO
062173,000578: 17,2744 54001 TS L
062174,000579: 17,2745 51505 INDEX AXISCTR
062175,000580: 17,2746 11525 CCS TJU
062176,000581: 17,2747 12754 TCF +5
062177,000582: 17,2750 12777 TCF NOROTAT
062178,000583: 17,2751 12753 TCF +2
062179,000584: 17,2752 12777 TCF NOROTAT
062180,000585: 17,2753 22007 ZL
062181,000586: 17,2754 64753 AD ONE
062182,000587: 17,2755 55737 TS ABSTJ
062183,000588:
062184,000589: 17,2756 31505 CA AXISCTR
062185,000590: 17,2757 60001 AD L
062186,000591: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V +U +V
062187,000592:
062188,000593: 17,2761 31737 CA ABSTJ
062189,000594: 17,2762 63110 AD -150MS
062190,000595: 17,2763 00006 EXTEND
062191,000596: 17,2764 63010 BZMF DOSKIP
062192,000597: # Page 1454
062193,000598: 17,2765 03173 TC SELCTSUB
062194,000599:
062195,000600: 17,2766 51505 INDEX AXISCTR
062196,000601: 17,2767 33105 CA INDEXES
062197,000602: 17,2770 54001 TS L
062198,000603:
062199,000604: 17,2771 31741 CA POLYTEMP
062200,000605: 17,2772 00004 INHINT
062201,000606: 17,2773 50001 INDEX L
062202,000607: 17,2774 05754 TC WRITEP
062203,000608:
062204,000609: 17,2775 00003 RELINT
062205,000610: 17,2776 13051 TCF FEEDBACK
062206,000611:
062207,000612: 17,2777 51505 NOROTAT INDEX AXISCTR
062208,000613: 17,3000 33105 CA INDEXES
062209,000614: 17,3001 00004 INHINT
062210,000615: 17,3002 50000 INDEX A
062211,000616: 17,3003 05753 TC WRITEP -1
062212,000617:
062213,000618: 17,3004 00003 RELINT
062214,000619: 17,3005 11505 LOOPER CCS AXISCTR
062215,000620: 17,3006 01477 TC RETJADR
062216,000621: 17,3007 13236 TCF CLOSEOUT
062217,000622: 17,3010 41737 DOSKIP CS ABSTJ
062218,000623: 17,3011 63107 AD +TJMINT6 # 14MS
062219,000624: 17,3012 00006 EXTEND
062220,000625: 17,3013 63032 BZMF NOTMIN
062221,000626:
062222,000627: 17,3014 27737 ADS ABSTJ
062223,000628: 17,3015 51505 INDEX AXISCTR
062224,000629: 17,3016 11525 CCS TJU
062225,000630: 17,3017 33107 CA +TJMINT6
062226,000631: 17,3020 13022 TCF +2
062227,000632: 17,3021 43107 CS +TJMINT6
062228,000633: 17,3022 51505 INDEX AXISCTR
062229,000634: 17,3023 55525 TS TJU
062230,000635:
062231,000636: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062232,000637: 17,3025 13031 TCF NOTMIN -1
062233,000638: 17,3026 00006 EXTEND
062234,000639: 17,3027 00004 READ LOSCALAR
062235,000640: 17,3030 74753 MASK ONE
062236,000641: 17,3031 55743 TS NUMBERT
062237,000642:
062238,000643: 17,3032 03173 NOTMIN TC SELCTSUB
062239,000644:
062240,000645: 17,3033 51505 INDEX AXISCTR
062241,000646: 17,3034 33105 CA INDEXES
062242,000647: 17,3035 00004 INHINT
062243,000648: # Page 1455
062244,000649: 17,3036 55471 TS T6FURTHA +1
062245,000650: 17,3037 31741 CA POLYTEMP
062246,000651: 17,3040 51471 INDEX T6FURTHA +1
062247,000652: 17,3041 05754 TC WRITEP
062248,000653:
062249,000654: 17,3042 31737 CA ABSTJ
062250,000655: 17,3043 55470 TS T6FURTHA
062251,000656: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
062252,000657:
062253,000658: 17,3045 00003 RELINT
062254,000659:
062255,000660: 17,3046 34755 CA ZERO
062256,000661: 17,3047 51505 INDEX AXISCTR
062257,000662: 17,3050 55535 TS SKIPU
062258,000663:
062259,000664: 17,3051 46245 FEEDBACK CS THREE
062260,000665: 17,3052 61743 AD NUMBERT
062261,000666: 17,3053 00006 EXTEND
062262,000667: 17,3054 63057 BZMF +3
062263,000668:
062264,000669: 17,3055 34752 CA TWO
062265,000670: 17,3056 13060 TCF +2
062266,000671: 17,3057 34753 CA ONE
062267,000672: 17,3060 51505 INDEX AXISCTR
062268,000673: 17,3061 55522 TS NO.UJETS
062269,000674: 17,3062 13005 TCF LOOPER
062270,000675:
062271,000676: 17,3063 34755 XTRANS CA ZERO
062272,000677: 17,3064 55525 TS TJU
062273,000678: 17,3065 55526 TS TJV
062274,000679: 17,3066 34751 CA FOUR
062275,000680: 17,3067 00004 INHINT
062276,000681: 17,3070 57535 XCH SKIPU
062277,000682: 17,3071 00006 EXTEND
062278,000683: 17,3072 13074 BZF +2
062279,000684: 17,3073 05757 TC WRITEU -1
062280,000685: 17,3074 34751 CA FOUR
062281,000686: 17,3075 57536 XCH SKIPV
062282,000687: 17,3076 00003 RELINT
062283,000688:
062284,000689: 17,3077 00006 EXTEND
062285,000690: 17,3100 13236 BZF CLOSEOUT
062286,000691: 17,3101 00004 INHINT
062287,000692: 17,3102 05770 TC WRITEV -1
062288,000693: 17,3103 00003 RELINT
062289,000694:
062290,000695: 17,3104 13236 TCF CLOSEOUT
062291,000696: 17,3105 00004 INDEXES DEC 4 B-14
062292,000697: 17,3106 00015 DEC 13 B-14
062293,000698: 17,3107 00026 +TJMINT6 DEC 22 B-14
062294,000699: # Page 1456
062295,000700: 17,3110 77417 -150MS DEC -240 B-14
062296,000701: 17,3111 00600 BIT8,9 OCT 00600
062297,000702: 17,3112 00266 SCLNORM OCT 266
062298,000703: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062299,000704:
062300,000705: # THE JET LIST:
062301,000706: # THIS IS A WAITLIST FOR T6RUPTS.
062302,000707:
062303,000708: # CALLED BY:
062304,000709: # CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN
062305,000710: # TS T6FURTHA
062306,000711: # CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW)
062307,000712: # TS T6FURTHA +1
062308,000713: # TC JTLST
062309,000714:
062310,000715: # EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062311,000716: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062312,000717: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062313,000718: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062314,000719: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062315,000720:
062316,000721: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT)
062317,000722: # THE INPUT IS THE LAST MEMBER OF THE LIST.
062318,000723:
062319,000724: # RETURNS BY:
062320,000725: # + TC Q
062321,000726:
062322,000727: # DEFINITIONS: (OUTPUT)
062323,000728: # TIME6 TIME OF NEXT RUPT
062324,000729: # T6NEXT DELTA TIME TO NEXT RUPT
062325,000730: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
062326,000731: # NXT6ADR AXIS INDEX 0 -- P-AXIS
062327,000732: # T6NEXT +1 AXIS INDEX 4 -- U-AXIS
062328,000733: # T6FURTHA +1 AXIS INDEX 13 -- V-AXIS
062329,000734:
062330,000735: 17,3114 41470 JTLST CS T6FURTHA
062331,000736: 17,3115 60031 AD TIME6
062332,000737: 17,3116 00006 EXTEND
062333,000738: 17,3117 63131 BZMF MIDORLST # TIME6 -- TI IS IN A
062334,000739:
062335,000740: 17,3120 23465 LXCH NXT6ADR
062336,000741: 17,3121 53467 DXCH T6NEXT
062337,000742: 17,3122 53471 DXCH T6FURTHA
062338,000743: 17,3123 54031 TS TIME6
062339,000744: 17,3124 23465 LXCH NXT6ADR
062340,000745:
062341,000746: 17,3125 34735 TURNON CA BIT15
062342,000747: 17,3126 00006 EXTEND
062343,000748: 17,3127 05013 WOR CHAN13
062344,000749: 17,3130 00002 TC Q
062345,000750:
062346,000751: # Page 1457
062347,000752: 17,3131 61466 MIDORLST AD T6NEXT
062348,000753: 17,3132 00006 EXTEND
062349,000754: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
062350,000755:
062351,000756: 17,3134 23467 LXCH T6NEXT +1
062352,000757: 17,3135 53471 DXCH T6FURTHA
062353,000758: 17,3136 00006 EXTEND
062354,000759: 17,3137 60031 SU TIME6
062355,000760: 17,3140 53467 DXCH T6NEXT
062356,000761:
062357,000762: 17,3141 00002 TC Q
062358,000763:
062359,000764: 17,3142 40000 LASTCHG CS A
062360,000765: 17,3143 64754 AD NEG0
062361,000766: 17,3144 55470 TS T6FURTHA
062362,000767:
062363,000768: 17,3145 00002 TC Q
062364,000769:
062365,000770: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062366,000771: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062367,000772: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062368,000773: # A AND THE V-COMPONENT IS IN L.
062369,000774:
062370,000775: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
062371,000776: 17,3147 00006 EXTEND
062372,000777: 17,3150 71627 MP COEFFQ
062373,000778: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062374,000779: 17,3152 00006 EXTEND
062375,000780: 17,3153 71630 MP COEFFR
062376,000781: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
062377,000782: 17,3155 61740 AD ROTEMP2
062378,000783: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062379,000784: 17,3157 13163 TCF +4
062380,000785: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062381,000786: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062382,000787: 17,3162 55737 TS ROTEMP1
062383,000788: 17,3163 41740 CS ROTEMP2
062384,000789: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062385,000790: 17,3165 54007 TS 7
062386,000791: 17,3166 13171 TCF +3
062387,000792: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062388,000793: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062389,000794: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062390,000795: 17,3172 00002 TC Q
062391,000796: 17,3173 51744 SELCTSUB INDEX ROTINDEX
062392,000797: 17,3174 33225 CA ALLJETS
062393,000798: 17,3175 51743 INDEX NUMBERT
062394,000799: 17,3176 73231 MASK TYPEPOLY
062395,000800: 17,3177 55741 TS POLYTEMP
062396,000801: # Page 1458
062397,000802: 17,3200 71262 MASK CH5MASK
062398,000803: 17,3201 10000 CCS A
062399,000804: 17,3202 13204 TCF +2
062400,000805:
062401,000806: 17,3203 00002 TC Q
062402,000807:
062403,000808: 17,3204 36245 CA THREE
062404,000809: 17,3205 55743 FAILOOP TS NUMBERT
062405,000810: 17,3206 51744 INDEX ROTINDEX
062406,000811: 17,3207 33225 CA ALLJETS
062407,000812: 17,3210 51743 INDEX NUMBERT
062408,000813: 17,3211 73231 MASK TYPEPOLY
062409,000814: 17,3212 55741 TS POLYTEMP
062410,000815: 17,3213 71262 MASK CH5MASK
062411,000816: 17,3214 00006 EXTEND
062412,000817: 17,3215 13203 BZF FAILOOP -2
062413,000818: 17,3216 11743 CCS NUMBERT
062414,000819: 17,3217 13205 TCF FAILOOP
062415,000820: 17,3220 51505 INDEX AXISCTR
062416,000821: 17,3221 55525 TS TJU
062417,000822: 17,3222 05567 TC ALARM
062418,000823: 17,3223 02004 OCT 02004
062419,000824: 17,3224 12777 TCF NOROTAT
062420,000825: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
062421,000826: 17,3226 00022 OCT 00022 # -V 2 9
062422,000827: 17,3227 00204 OCT 00204 # +U 5 14
062423,000828: 17,3230 00041 OCT 00041 # +V 1 10
062424,000829: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
062425,000830: 17,3232 00252 OCT 00252 # +X 2 6 10 14
062426,000831: 17,3233 00146 OCT 00146 # A 2 5 10 13
062427,000832: 17,3234 00231 OCT 00231 # B 1 6 9 14
062428,000833: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
062429,000834:
062430,000835: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062431,000836:
062432,000837: 17,3236 33240 CLOSEOUT CA ADRRUPT
062433,000838: 17,3237 07754 TC MAKERUPT
062434,000839:
062435,000840: 17,3240 03241 ADRRUPT ADRES ENDJASK
062436,000841:
062437,000842: 17,3241 53754 ENDJASK DXCH DAPARUPT
062438,000843: 17,3242 52011 DXCH ARUPT
062439,000844: 17,3243 53756 DXCH DAPBQRPT
062440,000845: 17,3244 56017 XCH BRUPT
062441,000846: 17,3245 22002 LXCH Q
062442,000847: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062443,000848: 17,3247 53760 DXCH DAPZRUPT
062444,000849: 17,3250 52016 DXCH ZRUPT
062445,000850: 17,3251 15272 TCF NOQRSM
062446,000851: # Page 1459
062447,000852: 7754 BLOCK 3
062448,000853: 6000 SETLOC FFTAG6
062449,000854: 6000 BANK
062450,000855:
062451,000856: 7754 COUNT* $$/DAP
062452,000857:
062453,000858: 7754 00006 MAKERUPT EXTEND
062454,000859: 7755 07754 EDRUPT MAKERUPT
062455,000860:
End of include-file Q_R-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc