Source Code

013996,000001: # Copyright: Public domain. 013997,000002: # Filename: ATTITUDE_MANEUVER_ROUTINE.agc 013998,000003: # Purpose: A section of Luminary 1C, revision 131. 013999,000004: # It is part of the source code for the Lunar Module's (LM) 014000,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. 014001,000006: # This file is intended to be a faithful transcription, except 014002,000007: # that the code format has been changed to conform to the 014003,000008: # requirements of the yaYUL assembler rather than the 014004,000009: # original YUL assembler. 014005,000010: # Reference: pp. 349-370 of 1729.pdf. 014006,000011: # Contact: Ron Burkey <info@sandroid.org>. 014007,000012: # Website: www.ibiblio.org/apollo/index.html 014008,000013: # Mod history: 05/10/03 RSB. Began transcribing. 014009,000014: # 05/14/05 RSB Corrected website reference above. 014010,000015: 014011,000016: # Page 349 014012,000017: # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU 014013,000018: 014014,000019: # MOD 2 DATE 5/1/67 BY DONE KEENE 014015,000020: 014016,000021: # PROGRAM DESCRIPTION 014017,000022: 014018,000023: # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT 014019,000024: # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED 014020,000025: # ORIENTATION SPECIFIED BY TEH PROGRAM WHICH CLALS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE 014021,000026: # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT 014022,000027: # SINGLE PRECISION ANGLES IN TEH THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE 014023,000028: 014024,000029: # CPHI = COMMANDED OUTER GIMBAL ANGLE 014025,000030: # CTHETA = COMMANDED INNER GIMBAL ANGLE 014026,000031: # CPSI = COMMANDED MIDDLE GIMBAL ANGLE 014027,000032: 014028,000033: # WHEN POINTING A SPACECRAFT AXIS (I.E., X, Y, Z, THE AOT, THRUST AXIS, ETC.) THE SUBROUTINE VECPOINT MAY BE 014029,000034: # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60). 014030,000035: 014031,000036: # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALEN ROTATION (COF ALSO U) AND THE 014032,000037: # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION. 014033,000038: # THIS DIRECTION REMAINS FIXED BOTH IN INERTAIL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE 014034,000039: # _ 014035,000040: # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING 014036,000041: # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL 014037,000042: # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER. 014038,000043: # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK. 014039,000044: 014040,000045: # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK. 014041,000046: # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED 014042,000047: # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATED, 014043,000048: # THE PROGRAM ALSO GENEATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL 014044,000049: # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN 014045,000050: # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE. 014046,000051: 014047,000052: # AUTOMATIC MANEUVERS ARE TIMED WTH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z 014048,000053: # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU 014049,000054: # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DU TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW AMNEUVER IS 014050,000055: # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC). 014051,000056: # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW 014052,000057: # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED 014053,000058: # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE 014054,000059: # DESIRED GIMBAL ANGLES. 014055,000060: 014056,000061: # PROGRAM LOGIC FLOW 014057,000062: 014058,000063: # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS 014059,000064: # UP THE CURREN CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION. 014060,000065: # Page 350 014061,000066: # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE 014062,000067: # * * * 014063,000068: # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE 014064,000069: # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TEST ARE MADE TO DETERMIN IF 014065,000070: 014066,000071: # A) AM LESS THAN .25 DEGREES (MINANG) 014067,000072: # B) AM GREATER THAN 170 DEGREES (MAXANG) 014068,000073: 014069,000074: # IF AM IS LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THREFORE, WE CAN SIMPLY 014070,000075: # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB. 014071,000076: 014072,000077: # IF AM IS GRATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES THE AXES OF TEH SINGLE EQUIVALENT ROTATION 014073,000078: # _ * 014074,000079: # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. 014075,000080: # * * 014076,000081: # IF AM GREATER T;HAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED 014077,000082: # _ 014078,000083: # TO DETERMINE COF. 014079,000084: 014080,000085: # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF 014081,000086: # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS 014082,000087: # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL 014083,000088: # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL 014084,000089: # YAW. 014085,000090: 014086,000091: # AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY 014087,000092: # _ 014088,000093: # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW 014089,000094: # DESIRED REFERENC MATRIX IS THEN, 014090,000095: # * * * 014091,000096: # MIS = MIS DEL 014092,000097: # N+1 N 014093,000098: # * 014094,000099: # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED 014095,000100: # * 014096,000101: # FROM MIS. 014097,000102: 014098,000103: # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE 014099,000104: # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED 014100,000105: # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS 014101,000106: # (TIME1 AND TIME2) ARE THEN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF 014102,000107: # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THSI 014103,000108: # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE. 014104,000109: 014105,000110: # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT- 014106,000111: # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE. 014107,000112: 014108,000113: # Page 351 014109,000114: # CALLING SEQUENCE 014110,000115: 014111,000116: # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND 014112,000117: # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE 014113,000118: # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS 014114,000119: # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB 014115,000120: # * 014116,000121: # CAF PRIO XX 014117,000122: # -- 014118,000123: # INHINT 014119,000124: # TC FINDVAC 014120,000125: # 2CADR KALCMAN3 014121,000126: # RELINT 014122,000127: 014123,000128: # THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO 014124,000129: # WAIT, HE MAY PUT HIS JOB TO SLEEP WTH THE FOLLOWING INSTRUCTIONS: 014125,000130: 014126,000131: # L TC BANKCALL 014127,000132: # L+1 CADR ATTSTALL 014128,000133: # L+2 (BAD RETURN) 014129,000134: # L+3 (GOOD RETURN) 014130,000135: 014131,000136: # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED 014132,000137: # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE 014133,000138: # WAS IN GIMBAL LOCK. 014134,000139: 014135,000140: # *** NOTA BENE *** IF IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY 014136,000141: # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU. 014137,000142: 014138,000143: # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE 014139,000144: # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE 014140,000145: # SUBROUTINES. 014141,000146: 014142,000147: # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES 014143,000148: # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS. 014144,000149: 014145,000150: # MXM3 014146,000151: # ---- 014147,000152: 014148,000153: # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH 014149,000154: # DOWN LIST, I.E., 014150,000155: # [ M M M ] 014151,000156: # [ 0 1 2 ] 014152,000157: # * [ ] * * 014153,000158: # M = [ M M M ] = M1 X M2 014154,000159: # [ 3 4 5 ] 014155,000160: # [ ] 014156,000161: # [ M M M ] 014157,000162: # [ 6 7 8 ] 014158,000163: # Page 352 014159,000164: # * 014160,000165: # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE 014161,000166: # * 014162,000167: # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH 014163,000168: # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M . 014164,000169: # 8 014165,000170: # TRANSPOS 014166,000171: # -------- 014167,000172: 014168,000173: # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E., 014169,000174: # 014170,000175: # * * T 014171,000176: # M = M1 014172,000177: 014173,000178: # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB- 014174,000179: # * 014175,000180: # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST. 014176,000181: 014177,000182: # CDU TO DCM 014178,000183: # ---------- 014179,000184: 014180,000185: # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING 014181,000186: # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE 014182,000187: 014183,000188: # M = COSY COSZ 014184,000189: # 0 014185,000190: 014186,000191: # M = -COSY SINZ COSX + SINY SINX 014187,000192: # 1 014188,000193: 014189,000194: # M = COSY SINZ SINX + SINY COSX 014190,000195: # 2 014191,000196: 014192,000197: # M = SINZ 014193,000198: # 3 014194,000199: 014195,000200: # M = COSZ COSX 014196,000201: # 4 014197,000202: 014198,000203: # M = -COSZ SINX 014199,000204: # 5 014200,000205: 014201,000206: # M = -SINY COSZ 014202,000207: # 6 014203,000208: # 014204,000209: # M = SINY SINZ COSX + COSY SINX 014205,000210: # 7 014206,000211: # Page 353 014207,000212: # M = -SINY SINZ SINX + COSY COSX 014208,000213: # 8 014209,000214: 014210,000215: # WHERE X = OUTER GIMBAL ANGLE 014211,000216: # Y = INNER GIMBAL ANGLE 014212,000217: # Z = MIDDLE GIMBAL ANGLE 014213,000218: 014214,000219: # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS: 014215,000220: 014216,000221: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN 014217,000222: # X Y Z 014218,000223: # STABLE MEMBER AXES (B , B , B ) ARE 014219,000224: # X Y Z 014220,000225: 014221,000226: # [ B ] [ A ] 014222,000227: # [ X ] [ X ] 014223,000228: # [ ] [ ] 014224,000229: # [ B ] * [ A ] 014225,000230: # [ Y ] = M [ Y ] 014226,000231: # [ ] [ ] 014227,000232: # [ B ] [ B ] 014228,000233: # [ Z ] [ Z ] 014229,000234: 014230,000235: # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING 014231,000236: # * 014232,000237: # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M. 014233,000238: 014234,000239: # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX 014235,000240: # REGISTER X2. 014236,000241: 014237,000242: # DCM TO CDU 014238,000243: # ---------- 014239,000244: 014240,000245: # THIS ROUTINE EXTRACTS THE CDU ANGLES FROMA DIRECTION COSINE MATRIX (M SCALED BY 2) RELATIVE S/C AXIS TO 014241,000246: # * 014242,000247: # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE 014243,000248: # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1'S COMPLEMENT ANGLES ACALED BY 2PI. THE FORMULAS 014244,000249: # FOR THIS CONVERSION ARE 014245,000250: 014246,000251: # Z = ARCSIN (M ) 014247,000252: # 3 014248,000253: 014249,000254: # Y = ARCSIN (-M /COSZ) 014250,000255: # 6 014251,000256: 014252,000257: # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y. 014253,000258: # 0 014254,000259: # Page 354 014255,000260: # X = ARCSIN (-M /COSZ) 014256,000261: # 5 014257,000262: 014258,000263: # IF M IS NEGATIVE, X IS REPLACED BY PI SGN X - X. 014259,000264: # 4 014260,000265: 014261,000266: # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND 014262,000267: # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF 014263,000268: # THE PUSH DOWN LIST. 014264,000269: 014265,000270: # DELCOMP 014266,000271: # ------- 014267,000272: # * 014268,000273: # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON (material missing) 014269,000274: # _ 014270,000275: # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR U. THE FORMULA FOR THIS MATRIX IS 014271,000276: 014272,000277: # * * _ _T * 014273,000278: # DEL = I COSA + U U (1 - COSA) + V SINA 014274,000279: # X 014275,000280: 014276,000281: # WHERE * [ 1 0 0 ] 014277,000282: # I = [ 0 1 0 ] 014278,000283: # [ 0 0 1 ] 014279,000284: 014280,000285: # [ 2 ] 014281,000286: # [ U U U U U ] 014282,000287: # [ X X Y X Z ] 014283,000288: # [ ] 014284,000289: # _ _T [ 2 ] 014285,000290: # U U = [ U U U U U ] 014286,000291: # [ Y X Y Y Z ] 014287,000292: # [ ] 014288,000293: # [ 2 ] 014289,000294: # [ U U U U U ] 014290,000295: # [ Z X X Y Z ] 014291,000296: 014292,000297: 014293,000298: # [ 0 -U U ] 014294,000299: # [ Z Y ] 014295,000300: # * [ ] 014296,000301: # V = [ U 0 -U ] 014297,000302: # X [ Z X ] 014298,000303: # [ ] 014299,000304: # [ -U U 0 ] 014300,000305: # [ Y X ] 014301,000306: 014302,000307: # _ 014303,000308: # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES. 014304,000309: # A = ROTATION ANGLE 014305,000310: 014306,000311: # * 014307,000312: # THE INTERPRETATION OF DEL IS AS FOLLOWS: 014308,000313: 014309,000314: # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME 014310,000315: # X Y Z 014311,000316: # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE 014312,000317: # X Y Z 014313,000318: 014314,000319: # [ B ] [ A ] 014315,000320: # [ X ] [ X ] 014316,000321: # [ ] [ ] 014317,000322: # [ B ] * [ A ] 014318,000323: # [ Y ] = DEL [ Y ] 014319,000324: # [ ] [ ] 014320,000325: # [ B ] [ B ] 014321,000326: # [ Z ] [ Z ] 014322,000327: 014323,000328: # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH 014324,000329: # _ 014325,000330: # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (garbled UNIT 014326,000331: # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABEL LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A, 014327,000332: # MUST THEN BE LOADED INTO D(MPAC). 014328,000333: # 014329,000334: # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST. 014330,000335: 014331,000336: # READCDUK 014332,000337: # -------- 014333,000338: 014334,000339: # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES. 014335,000340: 014336,000341: # SIGNMPAC 014337,000342: # -------- 014338,000343: 014339,000344: # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW. 014340,000345: 014341,000346: # PROGRAM STORAGE ALLOCATION 014342,000347: 014343,000348: # 1) FIXED MEMORY 1059 WORDS 014344,000349: # 2) ERASABLE MEMORY 98 014345,000350: # 3) STATE SWITCHES 3 014346,000351: # 4) FLAGS 1 014347,000352: 014348,000353: # JOB PRIORITIES 014349,000354: 014350,000355: # 1) KALCMANU TBD 014351,000356: # 2) ONE SECOND UPDATE TBD 014352,000357: 014353,000358: # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU. 014354,000359: 014355,000360: # STATE FLAGWRD 2 SETTING MEANING 014356,000361: # SWITCH NO. BIT NO. 014357,000362: 014358,000363: # * 014359,000364: # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK 014360,000365: # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK 014361,000366: # * 014362,000367: # 32 13 0 CONTINUE UPDATE PROCESS 014363,000368: # 1 START UPDATE PROCESS 014364,000369: 014365,000370: # 33 12 0 PERFORM FINAL P AXIS YAW IF REQUIRED 014366,000371: # 1 IGNORE ANY FINAL P-AXIS YAW 014367,000372: 014368,000373: # 34 11 0 SIGNAL END OF KALCMANU 014369,000374: # 1 KALCMANU IN PROCESS. USER MUST SET SWITCH BEFORE INITIATING 014370,000375: 014371,000376: # * INTERNAL TO KALCMANU 014372,000377: 014373,000378: # SUGGESTIONS FOR PROGRAM INTEGRATION 014374,000379: 014375,000380: # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE: 014376,000381: 014377,000382: # CPHI 014378,000383: # CTHETA 014379,000384: # CPSI 014380,000385: # POINTVSM +5 014381,000386: # SCAXIS +5 014382,000387: # DELDCDU 014383,000388: # DELDCDU1 014384,000389: # DELDCDU2 014385,000390: # RATEINDX 014386,000391: 014387,000392: # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK 014388,000393: 014389,000394: # MXM3 014390,000395: # Page 357 014391,000396: # TRANSPGS 014392,000397: # SIGNMPAC 014393,000398: # READCDUK 014394,000399: # CDUTODCM 014395,000400: 014396,000401: # Page 358 014397,000402: 15,2050 BANK 15 014398,000403: 22,2000 SETLOC KALCMON1 014399,000404: 22,2000 BANK 014400,000405: 014401,000406: 22,2004 E6,1675 EBANK= BCDU 014402,000407: 014403,000408: # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWO'S COMPLEMENT ANGLES IN THE THREE SUCCESSIVE 014404,000409: # LOCATIONS, CPHI, CTHETA, CPSI. 014405,000410: 014406,000411: 22,2004 COUNT* $$/KALC 014407,000412: 22,2004 06042 KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND 014408,000413: 22,2005 77634 RTB # COMPUTE THE MATRIX FROM INITIAL S/C 014409,000414: 22,2006 44403 READCDUK # AXES TO FINAL S/C AXES. 014410,000415: 22,2007 03276 STORE BCDU # STORE INITIAL S/C ANGLES 014411,000416: 22,2010 51535 SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED 014412,000417: 22,2011 00324 CPSI # MIDDLE GIMBAL ANGLE 014413,000418: 22,2012 51025 DSU BPL 014414,000419: 22,2013 04403 LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER 014415,000420: 22,2014 44724 TOOBADF 014416,000421: 22,2015 72364 AXC,2 TLOAD 014417,000422: 22,2016 03245 MIS 014418,000423: 22,2017 03276 BCDU 014419,000424: 22,2020 77624 CALL # COMPUTE THE TRANSFORMATION FROM INITIAL 014420,000425: 22,2021 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES 014421,000426: 22,2022 72364 AXC,2 TLOAD 014422,000427: 22,2023 02230 MFS # PREPARE TO CALCULATE ARRAY MFS 014423,000428: 22,2024 00322 CPHI 014424,000429: 22,2025 77624 CALL 014425,000430: 22,2026 44410 CDUTODCM 014426,000431: 22,2027 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED 014427,000432: 22,2030 03245 MIS 014428,000433: 22,2031 44326 TRANSPOS 014429,000434: 22,2032 45575 VLOAD STADR 014430,000435: 22,2033 50460 STOVL TMIS +12D 014431,000436: 22,2034 77626 STADR 014432,000437: 22,2035 50466 STOVL TMIS +6 014433,000438: 22,2036 77626 STADR 014434,000439: 22,2037 74474 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2 014435,000440: 22,2040 75160 AXC,1 AXC,2 014436,000441: 22,2041 03302 TMIS 014437,000442: 22,2042 02230 MFS 014438,000443: 22,2043 77624 CALL 014439,000444: 22,2044 44312 MXM3 014440,000445: 22,2045 45575 VLOAD STADR 014441,000446: 22,2046 51532 STOVL MFI +12D 014442,000447: 22,2047 77626 STADR 014443,000448: 22,2050 51540 STOVL MFI +6 014444,000449: 22,2051 77626 STADR 014445,000450: 22,2052 75546 STORE MFI # MFI = TMIS MFS (SCALED BY 4) 014446,000451: 22,2053 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST 014447,000452: # Page 359 014448,000453: 22,2054 00023 18D 014449,000454: 22,2055 44335 TRNSPSPD 014450,000455: 22,2056 45575 VLOAD STADR 014451,000456: 22,2057 50460 STOVL TMFI +12D 014452,000457: 22,2060 77626 STADR 014453,000458: 22,2061 50466 STOVL TMFI +6 014454,000459: 22,2062 77626 STADR 014455,000460: 22,2063 74474 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4 014456,000461: 014457,000462: # CALCULATE COFSKEW AND MFISYM 014458,000463: 014459,000464: 22,2064 45345 DLOAD DSU 014460,000465: 22,2065 03305 TMFI +2 014461,000466: 22,2066 02233 MFI +2 014462,000467: 22,2067 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM) 014463,000468: 22,2070 02235 MFI +4 014464,000469: 22,2071 03307 TMFI +4 014465,000470: 22,2072 45325 PDDL DSU 014466,000471: 22,2073 03315 TMFI +10D 014467,000472: 22,2074 02243 MFI +10D 014468,000473: 22,2075 77666 VDEF 014469,000474: 22,2076 03325 STORE COFSKEW # EQUALS MFISKEW 014470,000475: 014471,000476: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE 014472,000477: 014473,000478: 22,2077 43345 DLOAD DAD 014474,000479: 22,2100 02231 MFI 014475,000480: 22,2101 02251 MFI +16D 014476,000481: 22,2102 43225 DSU DAD 014477,000482: 22,2103 06514 DP1/4TH 014478,000483: 22,2104 02241 MFI +8D 014479,000484: 22,2105 03333 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE 014480,000485: 22,2106 77726 ARCCOS 014481,000486: 22,2107 03335 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2) 014482,000487: 22,2110 51025 DSU BPL 014483,000488: 22,2111 04363 MINANG 014484,000489: 22,2112 44117 CHECKMAX 014485,000490: 22,2113 77751 TLOAD # MANEUVER LESS THAN .25 DEGREES 014486,000491: 22,2114 00322 CPHI # GO DIRECTLY INTO ATTITUDE HOLD 014487,000492: 22,2115 37235 STCALL CDUXD # ABOUT COMMANDED ANGLES 014488,000493: 22,2116 44742 TOOBADI # STOP RATE AND EXIT 014489,000494: 014490,000495: 22,2117 45345 CHECKMAX DLOAD DSU 014491,000496: 22,2120 03335 AM 014492,000497: 22,2121 04365 MAXANG 014493,000498: 22,2122 77244 BPL VLOAD 014494,000499: 22,2123 44131 ALTCALC # UNIT 014495,000500: 22,2124 03325 COFSKEW # COFSKEW 014496,000501: 22,2125 77656 UNIT 014497,000502: 22,2126 03270 STORE COF # COF IS THE MANEUVER AXIS 014498,000503: # Page 360 014499,000504: 22,2127 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK 014500,000505: 22,2130 44744 LOCSKIRT 014501,000506: 22,2131 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES 014502,000507: 22,2132 02231 MFI 014503,000508: 22,2133 03303 TMFI 014504,000509: 22,2134 77762 VSR1 014505,000510: 22,2135 27303 STOVL MFISYM 014506,000511: 22,2136 02237 MFI +6 014507,000512: 22,2137 74455 VAD VSR1 014508,000513: 22,2140 03311 TMFI +6 014509,000514: 22,2141 27311 STOVL MFISYM +6 014510,000515: 22,2142 02245 MFI +12D 014511,000516: 22,2143 74455 VAD VSR1 014512,000517: 22,2144 03317 TMFI +12D 014513,000518: 22,2145 03317 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4 014514,000519: 014515,000520: # CALCULATE COF 014516,000521: 014517,000522: 22,2146 70545 DLOAD SR1 014518,000523: 22,2147 03333 CAM 014519,000524: 22,2150 45325 PDDL DSU # PDO CAM 014520,000525: 22,2151 06522 DPHALF 014521,000526: 22,2152 03333 CAM 014522,000527: 22,2153 65204 BOVB PDDL # PS2 1 - CAM 014523,000528: 22,2154 21713 SIGNMPAC 014524,000529: 22,2155 03323 MFISYM +16D 014525,000530: 22,2156 56225 DSU DDV 014526,000531: 22,2157 00001 0 014527,000532: 22,2160 00003 2 014528,000533: 22,2161 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM) 014529,000534: 22,2162 03313 MFISYM +8D 014530,000535: 22,2163 56225 DSU DDV 014531,000536: 22,2164 00001 0 014532,000537: 22,2165 00003 2 014533,000538: 22,2166 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) 014534,000539: 22,2167 03303 MFISYM 014535,000540: 22,2170 56225 DSU DDV 014536,000541: 22,2171 00001 0 014537,000542: 22,2172 00003 2 014538,000543: 22,2173 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) 014539,000544: 22,2174 77656 UNIT 014540,000545: 22,2175 03270 STORE COF 014541,000546: 014542,000547: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY 014543,000548: 014544,000549: 22,2176 45345 COFMAXGO DLOAD DSU 014545,000550: 22,2177 03270 COF 014546,000551: 22,2200 03272 COF +2 014547,000552: 22,2201 71240 BMN DLOAD # COFY G COFX 014548,000553: # Page 361 014549,000554: 22,2202 44211 COMP12 014550,000555: 22,2203 03270 COF 014551,000556: 22,2204 50025 DSU BMN 014552,000557: 22,2205 03274 COF +4 014553,000558: 22,2206 44266 METHOD3 # COFZ G COFX OR COFY 014554,000559: 22,2207 77650 GOTO 014555,000560: 22,2210 44242 METHOD1 # COFX G COFY OR COFZ 014556,000561: 22,2211 45345 COMP12 DLOAD DSU 014557,000562: 22,2212 03272 COF +2 014558,000563: 22,2213 03274 COF +4 014559,000564: 22,2214 77640 BMN 014560,000565: 22,2215 44266 METHOD3 # COFZ G COFY OR COFX 014561,000566: 014562,000567: 22,2216 51145 METHOD2 DLOAD BPL # COFY MAX 014563,000568: 22,2217 03327 COFSKEW +2 # UY 014564,000569: 22,2220 44224 U2POS 014565,000570: 22,2221 57575 VLOAD VCOMP 014566,000571: 22,2222 03270 COF 014567,000572: 22,2223 03270 STORE COF 014568,000573: 22,2224 51145 U2POS DLOAD BPL 014569,000574: 22,2225 03305 MFISYM +2 # UX UY 014570,000575: 22,2226 44232 OKU21 014571,000576: 22,2227 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE garbled 014572,000577: 22,2230 03270 COF 014573,000578: 22,2231 03270 STORE COF 014574,000579: 22,2232 51145 OKU21 DLOAD BPL 014575,000580: 22,2233 03315 MFISYM +10D # UY UZ 014576,000581: 22,2234 44744 LOCSKIRT 014577,000582: 22,2235 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY 014578,000583: 22,2236 03274 COF +4 014579,000584: 22,2237 03274 STORE COF +4 014580,000585: 22,2240 77650 GOTO 014581,000586: 22,2241 44744 LOCSKIRT 014582,000587: 22,2242 51145 METHOD1 DLOAD BPL # COFX MAX 014583,000588: 22,2243 03325 COFSKEW 014584,000589: 22,2244 44250 U1POS 014585,000590: 22,2245 57575 VLOAD VCOMP 014586,000591: 22,2246 03270 COF 014587,000592: 22,2247 03270 STORE COF 014588,000593: 22,2250 51145 U1POS DLOAD BPL 014589,000594: 22,2251 03305 MFISYM +2 # UX UY 014590,000595: 22,2252 44256 OKU12 014591,000596: 22,2253 57545 DLOAD DCOMP 014592,000597: 22,2254 03272 COF +2 # SIGN OF UY OPPOSITE TO UX 014593,000598: 22,2255 03272 STORE COF +2 014594,000599: 22,2256 51145 OKU12 DLOAD BPL 014595,000600: 22,2257 03307 MFISYM +4 # UX UZ 014596,000601: 22,2260 44744 LOCSKIRT 014597,000602: 22,2261 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY 014598,000603: 22,2262 03274 COF +4 014599,000604: # Page 362 014600,000605: 22,2263 03274 STORE COF +4 014601,000606: 22,2264 77650 GOTO 014602,000607: 22,2265 44744 LOCSKIRT 014603,000608: 22,2266 51145 METHOD3 DLOAD BPL # COFZ MAX 014604,000609: 22,2267 03331 COFSKEW +4 # UZ 014605,000610: 22,2270 44274 U3POS 014606,000611: 22,2271 57575 VLOAD VCOMP 014607,000612: 22,2272 03270 COF 014608,000613: 22,2273 03270 STORE COF 014609,000614: 22,2274 51145 U3POS DLOAD BPL 014610,000615: 22,2275 03307 MFISYM +4 # UX UZ 014611,000616: 22,2276 44302 OKU31 014612,000617: 22,2277 57545 DLOAD DCOMP 014613,000618: 22,2300 03270 COF # SIGN OF UX OPPOSITE TO UZ 014614,000619: 22,2301 03270 STORE COF 014615,000620: 22,2302 51145 OKU31 DLOAD BPL 014616,000621: 22,2303 03315 MFISYM +10D # UY UZ 014617,000622: 22,2304 44744 LOCSKIRT 014618,000623: 22,2305 57545 DLOAD DCOMP 014619,000624: 22,2306 03272 COF +2 # SIGN OF UY OPPOSITE TO UZ 014620,000625: 22,2307 03272 STORE COF +2 014621,000626: 22,2310 77650 GOTO 014622,000627: 22,2311 44744 LOCSKIRT 014623,000628: # Page 363 014624,000629: # MATRIX OPERATIONS 014625,000630: 014626,000631: 13,2207 BANK 13 014627,000632: 22,2000 SETLOC KALCMON2 014628,000633: 22,2000 BANK 014629,000634: 014630,000635: 22,2312 E6,1675 EBANK= BCDU 014631,000636: 014632,000637: 22,2312 76601 MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES 014633,000638: 22,2313 00001 0 # AND LEAVES RESULT IN PD LIST 014634,000639: 22,2314 00001 0,1 # AND MPAC 014635,000640: 22,2315 62703 VXM* PDVL* 014636,000641: 22,2316 77776 0,2 014637,000642: 22,2317 00007 6,1 014638,000643: 22,2320 62703 VXM* PDVL* 014639,000644: 22,2321 77776 0,2 014640,000645: 22,2322 00015 12D,1 014641,000646: 22,2323 41503 VXM* PUSH 014642,000647: 22,2324 77776 0,2 014643,000648: 22,2325 77616 RVQ 014644,000649: 014645,000650: # RETURN WITH MIXM2 IN PD LIST 014646,000651: 014647,000652: 22,2326 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX 014648,000653: 22,2327 00001 0 # AND LEAVES RESULT IN PD LIST 014649,000654: 22,2330 00001 0,1 # MATRIX ADDRESS IN XR1 014650,000655: 22,2331 62713 PDVL* PDVL* 014651,000656: 22,2332 00007 6,1 014652,000657: 22,2333 00015 12D,1 014653,000658: 22,2334 77606 PUSH # MATRIX IN PD 014654,000659: 22,2335 77776 TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST 014655,000660: 22,2336 50120 INDEX FIXLOC 014656,000661: 22,2337 52013 DXCH 12 014657,000662: 22,2340 50120 INDEX FIXLOC 014658,000663: 22,2341 52017 DXCH 16 014659,000664: 22,2342 50120 INDEX FIXLOC 014660,000665: 22,2343 52013 DXCH 12 014661,000666: 22,2344 50120 INDEX FIXLOC 014662,000667: 22,2345 52015 DXCH 14 014663,000668: 22,2346 50120 INDEX FIXLOC 014664,000669: 22,2347 52005 DXCH 4 014665,000670: 22,2350 50120 INDEX FIXLOC 014666,000671: 22,2351 52015 DXCH 14 014667,000672: 22,2352 50120 INDEX FIXLOC 014668,000673: 22,2353 52003 DXCH 2 014669,000674: 22,2354 50120 INDEX FIXLOC 014670,000675: 22,2355 52007 DXCH 6 014671,000676: 22,2356 50120 INDEX FIXLOC 014672,000677: 22,2357 52003 DXCH 2 014673,000678: # Page 364 014674,000679: 22,2360 06042 TC INTPRET 014675,000680: 22,2361 77616 RVQ 014676,000681: 014677,000682: 15,2050 BANK 15 014678,000683: 22,2000 SETLOC KALCMON1 014679,000684: 22,2000 BANK 014680,000685: 014681,000686: 22,2362 E6,1675 EBANK= BCDU 014682,000687: 014683,000688: 22,2362 00013 13563 MINANG 2DEC 0.00069375 014684,000689: 22,2364 17070 34343 MAXANG 2DEC 0.472222222 014685,000690: 014686,000691: # GIMBAL LOCK CONSTANTS 014687,000692: 014688,000693: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES 014689,000694: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES 014690,000695: 014691,000696: 22,2366 15666 20443 SD 2DEC .433015 # = SIN(D) 014692,000697: 22,2370 33555 01106 K3S1 2DEC .86603 # = SIN(D) 014693,000698: 22,2372 67777 77777 K4 2DEC -.25 # = -COS(D) 014694,000699: 22,2374 04000 00000 K4SQ 2DEC .125 # = COS(D)COS(D) 014695,000700: 22,2376 00216 36323 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) 014696,000701: 22,2400 17773 00057 CNGL 2DEC .499695 # = COS(NGL) 014697,000702: 22,2402 14344 LOCKANGL DEC .388889 # = 70 DEGREES 014698,000703: 014699,000704: # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES 014700,000705: 014701,000706: 22,2403 30034 READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES 014702,000707: 22,2404 54156 TS MPAC +2 014703,000708: 22,2405 00006 EXTEND 014704,000709: 22,2406 30033 DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION 014705,000710: 22,2407 16501 TCF TLOAD +6 014706,000711: 014707,000712: 22,2410 66370 CDUTODCM AXT,1 SSP Hello! 014708,000713: 22,2411 00003 OCT 3 014709,000714: 22,2412 00051 S1 014710,000715: 22,2413 00001 OCT 1 # SET XR1, S1, AND PD FOR LOOP 014711,000716: 22,2414 00010 STORE 7 014712,000717: 22,2415 77601 SETPD 014713,000718: 22,2416 00001 0 014714,000719: 22,2417 47133 LOOPSIN SLOAD* RTB 014715,000720: 22,2420 00013 10D,1 014716,000721: 22,2421 21577 CDULOGIC 014717,000722: # Page 365 014718,000723: 22,2422 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI) 014719,000724: 22,2423 65356 SIN PDDL # 2 COS(PHI) 014720,000725: 22,2424 00013 10D # 4 SIN(THETA) 014721,000726: 22,2425 41546 COS PUSH # 6 COS(THETA) 014722,000727: 22,2426 71300 TIX,1 DLOAD # 8 SIN(PSI) 014723,000728: 22,2427 44417 LOOPSIN # 10 COS(PSI) 014724,000729: 22,2430 00007 6 014725,000730: 22,2431 72405 DMP SL1 014726,000731: 22,2432 00013 10D 014727,000732: 22,2433 10001 STORE 0,2 # C0 = COS(THETA)COS(PSI) 014728,000733: 22,2434 41345 DLOAD DMP 014729,000734: 22,2435 00005 4 014730,000735: 22,2436 00001 0 014731,000736: 22,2437 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)) 014732,000737: 22,2440 00007 6 014733,000738: 22,2441 00011 8D 014734,000739: 22,2442 72405 DMP SL1 014735,000740: 22,2443 00003 2 014736,000741: 22,2444 72421 BDSU SL1 014737,000742: 22,2445 00015 12D 014738,000743: 22,2446 10003 STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI) 014739,000744: 22,2447 41345 DLOAD DMP 014740,000745: 22,2450 00003 2 014741,000746: 22,2451 00005 4 014742,000747: 22,2452 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4 014743,000748: 22,2453 00007 6 014744,000749: 22,2454 00011 8D 014745,000750: 22,2455 72405 DMP SL1 014746,000751: 22,2456 00001 0 014747,000752: 22,2457 72415 DAD SL1 014748,000753: 22,2460 00017 14D 014749,000754: 22,2461 10005 STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI) 014750,000755: 22,2462 77745 DLOAD 014751,000756: 22,2463 00011 8D 014752,000757: 22,2464 10007 STORE 6,2 # C3=SIN(PSI) 014753,000758: 22,2465 77745 DLOAD 014754,000759: 22,2466 00013 10D 014755,000760: 22,2467 72405 DMP SL1 014756,000761: 22,2470 00003 2 014757,000762: 22,2471 10011 STORE 8D,2 # C4=COS(PSI)COS(PHI) 014758,000763: 22,2472 41345 DLOAD DMP 014759,000764: 22,2473 00013 10D 014760,000765: 22,2474 00001 0 014761,000766: 22,2475 72476 DCOMP SL1 014762,000767: 22,2476 10013 STORE 10D,2 # C5=-COS(PSI)SIN(PHI) 014763,000768: 22,2477 41345 DLOAD DMP 014764,000769: 22,2500 00005 4 014765,000770: 22,2501 00013 10D 014766,000771: 22,2502 72476 DCOMP SL1 014767,000772: 22,2503 10015 STORE 12D,2 # C6=-SIN(THETA)COS(PSI) 014768,000773: # Page 366 014769,000774: 22,2504 77745 DLOAD 014770,000775: 22,2505 72405 DMP SL1 # (PUSH UP 7) 014771,000776: 22,2506 00011 8D 014772,000777: 22,2507 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4 014773,000778: 22,2510 00007 6 014774,000779: 22,2511 00001 0 014775,000780: 22,2512 72415 DAD SL1 # (PUSH UP 7) 014776,000781: 22,2513 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI) 014777,000782: 22,2514 67760 STORE 14D,2 # +COS(THETA)SIN(PHI) 014778,000783: 22,2515 77745 DLOAD 014779,000784: 22,2516 72405 DMP SL1 # (PUSH UP 6) 014780,000785: 22,2517 00011 8D 014781,000786: 22,2520 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4 014782,000787: 22,2521 00007 6 014783,000788: 22,2522 00003 2 014784,000789: 22,2523 72425 DSU SL1 # (PUSH UP 6) 014785,000790: 22,2524 77626 STADR 014786,000791: 22,2525 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI) 014787,000792: 22,2526 77616 RVQ # +COS(THETA)COS(PHI) 014788,000793: 014789,000794: # CALCULATION OF THE MATRIX DEL...... 014790,000795: 014791,000796: # * * __T * 014792,000797: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1 014793,000798: # _ 014794,000799: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION. 014795,000800: # A IS THE ANGLE OF ROTATION (DP SCALED 2) 014796,000801: # _ 014797,000802: # UPON ENTRY, THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC 014798,000803: 014799,000804: 22,2527 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A 014800,000805: 22,2530 00001 0 014801,000806: 22,2531 65356 SIN PDDL # PD0 = SIN(A) 014802,000807: 22,2532 41546 COS PUSH # PD2 = COS(A) 014803,000808: 22,2533 65302 SR2 PDDL # PD2 = COS(A) 014804,000809: 22,2534 41021 BDSU BOVB 014805,000810: 22,2535 06522 DPHALF 014806,000811: 22,2536 21713 SIGNMPAC 014807,000812: 22,2537 77725 PDDL # PDA = 1-COS(A) 014808,000813: 014809,000814: # COMPUTE THE DIAGONAL COMPONENTS OF DEL 014810,000815: 014811,000816: 22,2540 03270 COF 014812,000817: 22,2541 41316 DSQ DMP 014813,000818: 22,2542 00005 4 014814,000819: 22,2543 52415 DAD SL3 014815,000820: 22,2544 00003 2 014816,000821: 22,2545 77604 BOVB 014817,000822: 22,2546 21713 SIGNMPAC 014818,000823: # Page 367 014819,000824: 22,2547 16231 STODL KEL # UX UX(1-COS(A)) +COS(A) 014820,000825: 22,2550 03272 COF +2 014821,000826: 22,2551 41316 DSQ DMP 014822,000827: 22,2552 00005 4 014823,000828: 22,2553 52415 DAD SL3 014824,000829: 22,2554 00003 2 014825,000830: 22,2555 77604 BOVB 014826,000831: 22,2556 21713 SIGNMPAC 014827,000832: 22,2557 16241 STODL KEL +8D # UY UY(1-COS(A)) +COS(A) 014828,000833: 22,2560 03274 COF +4 014829,000834: 22,2561 41316 DSQ DMP 014830,000835: 22,2562 00005 4 014831,000836: 22,2563 52415 DAD SL3 014832,000837: 22,2564 00003 2 014833,000838: 22,2565 77604 BOVB 014834,000839: 22,2566 21713 SIGNMPAC 014835,000840: 22,2567 02251 STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) 014836,000841: 014837,000842: # COMPUTE TEH OFF DIAGONAL TERMS OF DEL 014838,000843: 014839,000844: 22,2570 41345 DLOAD DMP 014840,000845: 22,2571 03270 COF 014841,000846: 22,2572 03272 COF +2 014842,000847: 22,2573 72405 DMP SL1 014843,000848: 22,2574 00005 4 014844,000849: 22,2575 41325 PDDL DMP # D6 UX UY (1-COS A) 014845,000850: 22,2576 03274 COF +4 014846,000851: 22,2577 00001 0 014847,000852: 22,2600 43206 PUSH DAD # D8 UZ SIN A 014848,000853: 22,2601 00007 6 014849,000854: 22,2602 41112 SL2 BOVB 014850,000855: 22,2603 21713 SIGNMPAC 014851,000856: 22,2604 16237 STODL KEL +6 014852,000857: 22,2605 62421 BDSU SL2 014853,000858: 22,2606 77604 BOVB 014854,000859: 22,2607 21713 SIGNMPAC 014855,000860: 22,2610 16233 STODL KEL +2 014856,000861: 22,2611 03270 COF 014857,000862: 22,2612 41205 DMP DMP 014858,000863: 22,2613 03274 COF +4 014859,000864: 22,2614 00005 4 014860,000865: 22,2615 65352 SL1 PDDL # D6 UX UZ (1-COS A) 014861,000866: 22,2616 03272 COF +2 014862,000867: 22,2617 41405 DMP PUSH # D8 UY SIN(A) 014863,000868: 22,2620 00001 0 014864,000869: 22,2621 62415 DAD SL2 014865,000870: 22,2622 00007 6 014866,000871: 22,2623 77604 BOVB 014867,000872: 22,2624 21713 SIGNMPAC 014868,000873: 22,2625 16235 STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A) 014869,000874: # Page 368 014870,000875: 22,2626 62421 BDSU SL2 014871,000876: 22,2627 77604 BOVB 014872,000877: 22,2630 21713 SIGNMPAC 014873,000878: 22,2631 16245 STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A) 014874,000879: 22,2632 03272 COF +2 014875,000880: 22,2633 41205 DMP DMP 014876,000881: 22,2634 03274 COF +4 014877,000882: 22,2635 00005 4 014878,000883: 22,2636 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) 014879,000884: 22,2637 03270 COF 014880,000885: 22,2640 41405 DMP PUSH # D8 UX SIN(A) 014881,000886: 22,2641 00001 0 014882,000887: 22,2642 62415 DAD SL2 014883,000888: 22,2643 00007 6 014884,000889: 22,2644 77604 BOVB 014885,000890: 22,2645 21713 SIGNMPAC 014886,000891: 22,2646 16247 STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A) 014887,000892: 22,2647 62421 BDSU SL2 014888,000893: 22,2650 77604 BOVB 014889,000894: 22,2651 21713 SIGNMPAC 014890,000895: 22,2652 02243 STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A) 014891,000896: 22,2653 77616 RVQ 014892,000897: 014893,000898: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE 014894,000899: 014895,000900: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2). 014896,000901: # LEAVE CDU ANGLES SCALED 2PI IN V(MPAC). 014897,000902: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1). 014898,000903: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS: 014899,000904: 014900,000905: # C = COS(THETA) COS(PSI 014901,000906: # 0 014902,000907: 014903,000908: # C = -COS(THETA) SIN(PSI) COS(PHI) + SIN(THETA) SIN(PHI) 014904,000909: # 1 014905,000910: 014906,000911: # C = COS(THETA) SIN(PSI) SIN(PHI + SIN(THETA) COS(PHI) 014907,000912: # 2 014908,000913: 014909,000914: # C = SIN(PSI) 014910,000915: # 3 014911,000916: 014912,000917: # C = COS(PSI) COS(PHI) 014913,000918: # 4 014914,000919: 014915,000920: # C = -COS(PSI) SIN(PHI) 014916,000921: # 5 014917,000922: 014918,000923: # C = -SIN(THETA) COS(PSI) 014919,000924: # 6 014920,000925: 014921,000926: # C = SIN(THETA) SIN(PSI) COS(PHI) + COS (THETA) SIN(PHI) 014922,000927: # 7 014923,000928: 014924,000929: # C = -SIN(THETA) SIN(PSI) SIN(PHI) + COS(THETA)COS(PHI) 014925,000930: # 8 014926,000931: # Page 369 014927,000932: 014928,000933: # WHERE PHI = OGA 014929,000934: # THETA = IGA 014930,000935: # PSI = MGA 014931,000936: 014932,000937: 22,2654 67543 DCMTOCDU DLOAD* ARCSIN 014933,000938: 22,2655 00007 6,1 014934,000939: 22,2656 71406 PUSH COS # PD +0 PSI 014935,000940: 22,2657 41152 SL1 BOVB 014936,000941: 22,2660 21713 SIGNMPAC 014937,000942: 22,2661 00051 STORE S1 014938,000943: 22,2662 57543 DLOAD* DCOMP 014939,000944: 22,2663 00015 12D,1 014940,000945: 22,2664 67471 DDV ARCSIN 014941,000946: 22,2665 00051 S1 014942,000947: 22,2666 51123 PDDL* BPL # PD +2 THETA 014943,000948: 22,2667 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA) 014944,000949: 22,2670 44702 OKTHETA # TO DETERMINE THE PROPER QUADRANT. 014945,000950: 22,2671 57545 DLOAD DCOMP 014946,000951: 22,2672 43244 BPL DAD 014947,000952: 22,2673 44677 SUHALFA 014948,000953: 22,2674 06522 DPHALF 014949,000954: 22,2675 77650 GOTO 014950,000955: 22,2676 44701 CALCPHI 014951,000956: 22,2677 77625 SUHALFA DSU 014952,000957: 22,2700 06522 DPHALF 014953,000958: 22,2701 77606 CALCPHI PUSH 014954,000959: 22,2702 57543 OKTHETA DLOAD* DCOMP 014955,000960: 22,2703 00013 10D,1 014956,000961: 22,2704 67471 DDV ARCSIN 014957,000962: 22,2705 00051 S1 014958,000963: 22,2706 51123 PDDL* BPL # PUSH DOWN PHI 014959,000964: 22,2707 00011 8D,1 014960,000965: 22,2710 44722 OKPHI 014961,000966: 22,2711 57545 DLOAD DCOMP # PUSH UP PHI 014962,000967: 22,2712 43244 BPL DAD 014963,000968: 22,2713 44717 SUHALFAP 014964,000969: 22,2714 06522 DPHALF 014965,000970: 22,2715 77650 GOTO 014966,000971: 22,2716 44723 VECOFANG 014967,000972: 22,2717 52025 SUHALFAP DSU GOTO 014968,000973: 22,2720 06522 DPHALF 014969,000974: 22,2721 44723 VECOFANG 014970,000975: 22,2722 77745 OKPHI DLOAD # PUSH UP PHI 014971,000976: 22,2723 43466 VECOFANG VDEF RVQ 014972,000977: # Page 370 014973,000978: # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER. 014974,000979: 014975,000980: 22,2724 77776 TOOBADF EXIT 014976,000981: 22,2725 05567 TC ALARM 014977,000982: 22,2726 00401 OCT 00401 014978,000983: 014979,000984: 22,2727 12732 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS 014980,000985: 014981,000986: 22,2730 04616 TC BANKCALL 014982,000987: 22,2731 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS 014983,000988: 014984,000989: 22,2732 04616 NOGO TC BANKCALL 014985,000990: 22,2733 40166 CADR STOPRATE # STOP RATES 014986,000991: 014987,000992: 22,2734 34752 CAF TWO 014988,000993: 22,2735 00004 INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND 014989,000994: 22,2736 05203 TC WAITLIST 014990,000995: 22,2737 E6,1675 EBANK= BCDU 014991,000996: 22,2737 03234 44066 2CADR GOODMANU 014992,000997: 014993,000998: 22,2741 15155 TCF ENDOFJOB 014994,000999: 014995,001000: 22,2742 77776 TOOBADI EXIT 014996,001001: 22,2743 12732 TCF NOGO 014997,001002: 014998,001003: End of include-file ATTITUDE_MANEUVER_ROUTINE.agc. Parent file is MAIN.agc