Source Code

061238,000001: # Copyright: Public domain. 061239,000002: # Filename: KALMAN_FILTER.agc 061240,000003: # Purpose: A section of Luminary 1C, revision 131. 061241,000004: # It is part of the source code for the Lunar Module's (LM) 061242,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. 061243,000006: # This file is intended to be a faithful transcription, except 061244,000007: # that the code format has been changed to conform to the 061245,000008: # requirements of the yaYUL assembler rather than the 061246,000009: # original YUL assembler. 061247,000010: # Reference: pp. 1467-1468 of 1729.pdf. 061248,000011: # Contact: Ron Burkey <info@sandroid.org>. 061249,000012: # Website: www.ibiblio.org/apollo/index.html 061250,000013: # Mod history: 06/08/03 RSB. Began transcribing. 061251,000014: # 05/14/05 RSB Corrected website reference above 061252,000015: 061253,000016: # Page 1467 061254,000017: 17,3777 E6,1522 EBANK= NO.UJETS 061255,000018: 16,3645 BANK 16 061256,000019: 16,2000 SETLOC DAPS1 061257,000020: 16,2000 BANK 061258,000021: 061259,000022: 16,3645 COUNT* $$/DAP 061260,000023: 061261,000024: 16,3645 34752 RATELOOP CA TWO 061262,000025: 16,3646 55743 TS DAPTEMP6 061263,000026: 16,3647 60000 DOUBLE 061264,000027: 16,3650 54002 TS Q 061265,000028: 16,3651 51743 INDEX DAPTEMP6 061266,000029: 16,3652 11524 CCS TJP 061267,000030: 16,3653 13655 TCF +2 061268,000031: 16,3654 13674 TCF LOOPRATE 061269,000032: 16,3655 63735 AD -100MST6 061270,000033: 16,3656 00006 EXTEND 061271,000034: 16,3657 63713 BZMF SMALLTJU 061272,000035: 16,3660 51743 INDEX DAPTEMP6 061273,000036: 16,3661 11524 CCS TJP 061274,000037: 16,3662 33735 CA -100MST6 061275,000038: 16,3663 13665 TCF +2 061276,000039: 16,3664 43735 CS -100MST6 061277,000040: 16,3665 51743 INDEX DAPTEMP6 061278,000041: 16,3666 27524 ADS TJP 061279,000042: 16,3667 51743 INDEX DAPTEMP6 061280,000043: 16,3670 11524 CCS TJP 061281,000044: 16,3671 43621 CS -100MS # 0.1 AT 1 061282,000045: 16,3672 13674 TCF +2 061283,000046: 16,3673 33621 CA -100MS 061284,000047: 16,3674 00006 LOOPRATE EXTEND 061285,000048: 16,3675 51743 INDEX DAPTEMP6 061286,000049: 16,3676 71521 MP NO.PJETS 061287,000050: 16,3677 30001 CA L 061288,000051: 16,3700 51743 INDEX DAPTEMP6 061289,000052: 16,3701 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER 061290,000053: 16,3702 00006 EXTEND 061291,000054: 16,3703 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC 061292,000055: 16,3704 00006 EXTEND 061293,000056: 16,3705 63736 BZMF NEGTORK 061294,000057: 16,3706 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER. 061295,000058: 16,3707 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS. 061296,000059: 061297,000060: 16,3710 11743 CCS DAPTEMP6 061298,000061: 16,3711 13646 TCF RATELOOP +1 061299,000062: 16,3712 13722 TCF ROTORQUE 061300,000063: 16,3713 34755 SMALLTJU CA ZERO 061301,000064: 16,3714 51743 INDEX DAPTEMP6 061302,000065: 16,3715 57524 XCH TJP 061303,000066: 16,3716 00006 EXTEND 061304,000067: # Page 1468 061305,000068: 16,3717 74760 MP ELEVEN # 10.24 PLUS 061306,000069: 16,3720 30001 CA L 061307,000070: 16,3721 13674 TCF LOOPRATE 061308,000071: 16,3722 31737 ROTORQUE CA DAPTEMP2 061309,000072: 16,3723 61740 AD DAPTEMP3 061310,000073: 16,3724 00006 EXTEND 061311,000074: 16,3725 71532 MP 1JACCR 061312,000075: 16,3726 55746 TS JETRATER 061313,000076: 16,3727 41740 CS DAPTEMP3 061314,000077: 16,3730 61737 AD DAPTEMP2 061315,000078: 16,3731 00006 EXTEND 061316,000079: 16,3732 71531 MP 1JACCQ 061317,000080: 16,3733 55745 TS JETRATEQ 061318,000081: 16,3734 12316 TCF BACKP 061319,000082: 16,3735 77537 -100MST6 DEC -160 B-14 061320,000083: 061321,000084: 16,3736 40000 NEGTORK COM 061322,000085: 16,3737 24002 INCR Q 061323,000086: 16,3740 13706 TCF STORTORK 061324,000087: 061325,000088: End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc