Source Code
058835,000001: # Copyright: Public domain.
058836,000002: # Filename: P-AXIS_RCS_AUTOPILOT.agc
058837,000003: # Purpose: A section of Luminary 1C, revision 131.
058838,000004: # It is part of the source code for the Lunar Module's (LM)
058839,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
058840,000006: # This file is intended to be a faithful transcription, except
058841,000007: # that the code format has been changed to conform to the
058842,000008: # requirements of the yaYUL assembler rather than the
058843,000009: # original YUL assembler.
058844,000010: # Reference: pp. 1418-1438 of 1729.pdf.
058845,000011: # Contact: Ron Burkey <info@sandroid.org>.
058846,000012: # Website: www.ibiblio.org/apollo/index.html
058847,000013: # Mod history: 06/07/03 RSB. Began transcribing.
058848,000014: # 05/14/05 RSB Corrected website reference above.
058849,000015:
058850,000016: # Page 1418
058851,000017: 16,2213 BANK 16
058852,000018: 16,2000 SETLOC DAPS1
058853,000019: 16,2000 BANK
058854,000020:
058855,000021: 16,2213 E6,1464 EBANK= PERROR
058856,000022: 16,2213 COUNT* $$/DAPP
058857,000023:
058858,000024: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
058859,000025: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
058860,000026:
058861,000027: 16,2213 37732 PAXIS CA MS100
058862,000028: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW
058863,000029: # SYNCHRONIZATION WITH OTHER INTERRUPTS ***
058864,000030:
058865,000031: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
058866,000032: 16,2216 00006 EXTEND
058867,000033: 16,2217 22012 QXCH QRUPT
058868,000034:
058869,000035: # CHECK IF DAP PASS IS PERMISSIBLE
058870,000036:
058871,000037: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
058872,000038: 16,2221 05624 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
058873,000039: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO
058874,000040:
058875,000041: 16,2223 02000 TC CHEKBITS # RETUR IS TC I+1 IF DAP SHOULD STAY ON.
058876,000042:
058877,000043: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
058878,000044: 16,2225 55747 TS DAPTREG4
058879,000045: 16,2226 30033 CA CDUY
058880,000046: 16,2227 55750 TS DAPTREG5
058881,000047: 16,2230 30034 CA CDUZ
058882,000048: 16,2231 55751 TS DAPTREG6
058883,000049:
058884,000050: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
058885,000051:
058886,000052: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
058887,000053: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
058888,000054:
058889,000055: 16,2232 31634 CA CDUXD
058890,000056: 16,2233 00006 EXTEND
058891,000057: 16,2234 21637 MSU DELCDUX
058892,000058: 16,2235 02256 TC 1STOTWOS
058893,000059: 16,2236 55634 TS CDUXD
058894,000060: 16,2237 31635 CA CDUYD
058895,000061: 16,2240 00006 EXTEND
058896,000062: 16,2241 21640 MSU DELCDUY
058897,000063: 16,2242 02256 TC 1STOTWOS
058898,000064: 16,2243 55635 TS CDUYD
058899,000065: 16,2244 31636 CA CDUZD
058900,000066: 16,2245 00006 EXTEND
058901,000067: 16,2246 21641 MSU DELCDUZ
058902,000068: # Page 1419
058903,000069: 16,2247 02256 TC 1STOTWOS
058904,000070: 16,2250 55636 TS CDUZD
058905,000071: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
058906,000072: 16,2252 27445 DIM TCP # TIME COUNTERS.
058907,000073: 16,2253 00006 EXTEND
058908,000074: 16,2254 27457 DIM TCQR
058909,000075:
058910,000076: # RATFLOOP COMPUTES JETRATEQ, JRATER, AND 1JACC*NO. PJEETS IN ITEMP1.
058911,000077: # RETURNS TO BACKP.
058912,000078:
058913,000079: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
058914,000080: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
058915,000081: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
058916,000082:
058917,000083: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
058918,000084: 16,2256 10000 1STOTWOS CCS A
058919,000085: 16,2257 64753 AD ONE
058920,000086: 16,2260 00002 TC Q
058921,000087: 16,2261 40000 CS A
058922,000088: 16,2262 00002 TC Q
058923,000089: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROTECTION ROUTINE TO GIVE
058924,000090: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
058925,000091: 16,2265 21427 DAS OMEGAU # OVERFLOW
058926,000092:
058927,000093: 16,2266 00006 +3 EXTEND
058928,000094: 16,2267 31427 DCA OMEGAU
058929,000095: 16,2270 53743 DXCH DAPTEMP5
058930,000096: 16,2271 11426 CCS OMEGAU
058931,000097: 16,2272 12274 TCF +2
058932,000098: 16,2273 12304 TCF DIVIDER
058933,000099: 16,2274 62315 AD -OCT630
058934,000100: 16,2275 00006 EXTEND
058935,000101: 16,2276 62304 BZMF DIVIDER
058936,000102:
058937,000103: 16,2277 11426 CCS OMEGAU
058938,000104: 16,2300 34733 CA POSMAX # 45 DEG/SEC
058939,000105: 16,2301 00002 TC Q
058940,000106: 16,2302 44733 CS POSMAX
058941,000107: 16,2303 00002 TC Q
058942,000108:
058943,000109: 16,2304 53427 DIVIDER DXCH OMEGAU
058944,000110: 16,2305 00006 EXTEND
058945,000111: 16,2306 11747 DV DAPTREG4
058946,000112: 16,2307 00002 TC Q
058947,000113:
058948,000114: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
058949,000115: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
058950,000116: 16,2312 50000 INDEX A
058951,000117: 16,2313 44734 CS BIT15 -1
058952,000118: # Page 1420
058953,000119: 16,2314 00002 TC Q
058954,000120:
058955,000121: 16,2315 77147 -OCT630 OCT 77147
058956,000122:
058957,000123: 16,2316 31736 BACKP CA DAPTEMP1
058958,000124: 16,2317 00006 EXTEND
058959,000125: 16,2320 71530 MP 1JACC
058960,000126: 16,2321 55744 TS JETRATE
058961,000127:
058962,000128: # BEGINNING OF THE RATE DERIVATION
058963,000129: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
058964,000130: # TRAPEDP,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
058965,000131: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
058966,000132: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELERATION. (PI/4)
058967,000133: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELERATION. (PI/4)
058968,000134: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAEDP, ETC.
058969,000135: # OMEGAU DP-TEMPORARY STORAGE
058970,000136: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
058971,000137:
058972,000138: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE
058973,000139: 16,2323 54001 TS L
058974,000140: 16,2324 00006 EXTEND
058975,000141: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
058976,000142: 16,2326 23440 LXCH OLDXFORP
058977,000143: 16,2327 55736 TS DAPTEMP1
058978,000144: 16,2330 33624 CA 1/40
058979,000145: 16,2331 55747 TS DAPTREG4
058980,000146: 16,2332 41744 CS JETRATE
058981,000147: 16,2333 00006 EXTEND
058982,000148: 16,2334 74736 MP BIT14
058983,000149: 16,2335 27430 ADS TRAPEDP
058984,000150: 16,2336 31745 CA JETRATEQ
058985,000151: 16,2337 61544 AD AOSQTERM
058986,000152: 16,2340 00006 EXTEND
058987,000153: 16,2341 77741 MP -BIT14
058988,000154: 16,2342 27431 ADS TRAPEDQ
058989,000155: 16,2343 31746 CA JETRATER
058990,000156: 16,2344 61545 AD AOSRTERM
058991,000157: 16,2345 00006 EXTEND
058992,000158: 16,2346 77741 MP -BIT14
058993,000159: 16,2347 27432 ADS TRAPEDR
058994,000160:
058995,000161: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE
058996,000162: 16,2351 54001 TS L
058997,000163: 16,2352 00006 EXTEND
058998,000164: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
058999,000165: 16,2354 23441 LXCH OLDYFORP
059000,000166: 16,2355 55737 TS DAPTEMP2
059001,000167: 16,2356 00006 EXTEND
059002,000168: 16,2357 71414 MP M11 # M11 SCALED AT 1
059003,000169: # Page 1421
059004,000170: 16,2360 61736 AD DAPTEMP1
059005,000171: 16,2361 53427 DXCH OMEGAU
059006,000172:
059007,000173: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
059008,000174:
059009,000175: 16,2363 00006 EXTEND
059010,000176: 16,2364 61421 SU OMEGAP
059011,000177: 16,2365 27430 ADS TRAPEDP
059012,000178: 16,2366 02310 TC OVERSUB
059013,000179: 16,2367 55430 TS TRAPEDP
059014,000180: 16,2370 00006 EXTEND
059015,000181: 16,2371 31743 DCA DAPTEMP5
059016,000182: 16,2372 21447 DAS DXERROR
059017,000183: 16,2373 41454 CS PLAST
059018,000184: 16,2374 00006 EXTEND
059019,000185: 16,2375 73624 MP 1/40
059020,000186: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
059021,000187: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE
059022,000188: 16,2400 54001 TS L
059023,000189: 16,2401 00006 EXTEND
059024,000190: 16,2402 21442 MSU OLDZFORQ
059025,000191: 16,2403 55740 TS DAPTEMP3
059026,000192: 16,2404 23442 LXCH OLDZFORQ
059027,000193: 16,2405 31415 CA M21
059028,000194: 16,2406 00006 EXTEND
059029,000195: 16,2407 71737 MP DAPTEMP2
059030,000196: 16,2410 53427 DXCH OMEGAU
059031,000197: 16,2411 31417 CA M22
059032,000198: 16,2412 02263 TC SUBDIVDE
059033,000199:
059034,000200: 16,2413 00006 EXTEND
059035,000201: 16,2414 61422 SU OMEGAQ
059036,000202: 16,2415 27431 ADS TRAPEDQ
059037,000203: 16,2416 02310 TC OVERSUB
059038,000204: 16,2417 55431 TS TRAPEDQ
059039,000205: 16,2420 00006 EXTEND
059040,000206: 16,2421 31743 DCA DAPTEMP5
059041,000207: 16,2422 21451 DAS DYERROR
059042,000208: 16,2423 41455 CS QLAST
059043,000209: 16,2424 00006 EXTEND
059044,000210: 16,2425 73624 MP 1/40
059045,000211: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
059046,000212: 16,2427 31416 CA M31
059047,000213: 16,2430 00006 EXTEND
059048,000214: 16,2431 71737 MP DAPTEMP2
059049,000215: 16,2432 53427 DXCH OMEGAU
059050,000216: 16,2433 31420 CA M32
059051,000217:
059052,000218: 16,2434 02263 TC SUBDIVDE
059053,000219: # Page 1422
059054,000220: 16,2435 00006 EXTEND
059055,000221: 16,2436 61423 SU OMEGAR
059056,000222: 16,2437 27432 ADS TRAPEDR
059057,000223: 16,2440 02310 TC OVERSUB
059058,000224: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
059059,000225:
059060,000226: 16,2442 00006 EXTEND
059061,000227: 16,2443 31743 DCA DAPTEMP5
059062,000228: 16,2444 21453 DAS DZERROR
059063,000229: 16,2445 41456 CS RLAST
059064,000230: 16,2446 00006 EXTEND
059065,000231: 16,2447 73624 MP 1/40
059066,000232: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
059067,000233: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
059068,000234: 16,2452 74737 MASK CSMDOCKD
059069,000235: 16,2453 00006 EXTEND
059070,000236: 16,2454 12462 BZF LMONLY
059071,000237: 16,2455 00006 EXTEND # DOCKED
059072,000238: 16,2456 31405 DCA DKOMEGAN
059073,000239: 16,2457 53750 DXCH DAPTREG4
059074,000240: 16,2460 31403 CA DKTRAP
059075,000241: 16,2461 12466 TCF +5
059076,000242: 16,2462 00006 LMONLY EXTEND # UNDOCKED
059077,000243: 16,2463 31410 DCA LMOMEGAN
059078,000244: 16,2464 53750 DXCH DAPTREG4
059079,000245: 16,2465 31406 CA LMTRAP
059080,000246: 16,2466 55751 +5 TS DAPTREG6
059081,000247: 16,2467 11430 CCS TRAPEDP
059082,000248: 16,2470 12472 TCF +2
059083,000249: 16,2471 12507 TCF SMALPDIF
059084,000250: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059085,000251: 16,2473 00006 EXTEND
059086,000252: 16,2474 62507 BZMF SMALPDIF
059087,000253: 16,2475 22007 ZL
059088,000254: 16,2476 23430 LXCH TRAPEDP
059089,000255: 16,2477 34755 CA ZERO
059090,000256: 16,2500 00006 EXTEND
059091,000257: 16,2501 11433 DV NPTRAPS
059092,000258: 16,2502 27421 ADS OMEGAP
059093,000259: 16,2503 02310 TC OVERSUB
059094,000260: 16,2504 55421 TS OMEGAP
059095,000261: 16,2505 31747 CA DAPTREG4 ABOUT 10
059096,000262: 16,2506 55433 TS NPTRAPS
059097,000263: 16,2507 25433 SMALPDIF INCR NPTRAPS
059098,000264: 16,2510 31744 P-RATE CA JETRATE
059099,000265: 16,2511 27421 ADS OMEGAP
059100,000266: 16,2512 02310 TC OVERSUB
059101,000267: 16,2513 55421 TS OMEGAP
059102,000268:
059103,000269: 16,2514 11431 CCS TRAPEDQ
059104,000270: # Page 1423
059105,000271: 16,2515 12517 TCF +2
059106,000272: 16,2516 12544 TCF Q-RATE
059107,000273: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059108,000274: 16,2520 00006 EXTEND
059109,000275: 16,2521 62544 BZMF Q-RATE
059110,000276: 16,2522 22007 ZL
059111,000277: 16,2523 23431 LXCH TRAPEDQ
059112,000278: 16,2524 34755 CA ZERO
059113,000279: 16,2525 00006 EXTEND
059114,000280: 16,2526 11434 DV NQTRAPS
059115,000281: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
059116,000282: 16,2530 27422 ADS OMEGAQ
059117,000283: 16,2531 02310 TC OVERSUB
059118,000284: 16,2532 55422 TS OMEGAQ
059119,000285: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059120,000286: 16,2534 57434 XCH NQTRAPS
059121,000287: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
059122,000288: 16,2536 57736 XCH DAPTEMP1
059123,000289: 16,2537 00006 EXTEND
059124,000290: 16,2540 74756 MP FIVE
059125,000291: 16,2541 00006 EXTEND
059126,000292: 16,2542 11736 DV DAPTEMP1
059127,000293: 16,2543 27536 ADS AOSQ
059128,000294: 16,2544 25434 Q-RATE INCR NQTRAPS
059129,000295: 16,2545 31745 CA JETRATEQ
059130,000296: 16,2546 61544 AD AOSQTERM
059131,000297: 16,2547 27422 ADS OMEGAQ
059132,000298: 16,2550 02310 TC OVERSUB
059133,000299: 16,2551 55422 TS OMEGAQ
059134,000300:
059135,000301: 16,2552 11432 CCS TRAPEDR
059136,000302: 16,2553 12555 TCF +2
059137,000303: 16,2554 12602 TCF R-RATE
059138,000304: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059139,000305: 16,2556 00006 EXTEND
059140,000306: 16,2557 62602 BZMF R-RATE
059141,000307: 16,2560 22007 ZL
059142,000308: 16,2561 23432 LXCH TRAPEDR
059143,000309: 16,2562 34755 CA ZERO
059144,000310: 16,2563 00006 EXTEND
059145,000311: 16,2564 11435 DV NRTRAPS
059146,000312: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
059147,000313: 16,2566 27423 ADS OMEGAR
059148,000314: 16,2567 02310 TC OVERSUB
059149,000315: 16,2570 55423 TS OMEGAR
059150,000316: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059151,000317: 16,2572 57435 XCH NRTRAPS
059152,000318: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
059153,000319: 16,2574 57737 XCH DAPTEMP2
059154,000320: 16,2575 00006 EXTEND
059155,000321: # Page 1424
059156,000322: 16,2576 74756 MP FIVE
059157,000323: 16,2577 00006 EXTEND
059158,000324: 16,2600 11737 DV DAPTEMP2
059159,000325: 16,2601 27540 ADS AOSR
059160,000326: 16,2602 25435 R-RATE INCR NRTRAPS
059161,000327: 16,2603 31746 CA JETRATER
059162,000328: 16,2604 61545 AD AOSRTERM
059163,000329: 16,2605 27423 ADS OMEGAR
059164,000330: 16,2606 02310 TC OVERSUB
059165,000331: 16,2607 55423 TS OMEGAR
059166,000332:
059167,000333: # END OF RATE DERIVATION
059168,000334: # BEGIN OFFSET ESTIMATER
059169,000335: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
059170,000336: # AOS = AOS + K*SUMRATE
059171,000337:
059172,000338: 16,2610 40111 CS DAPBOOLS
059173,000339: 16,2611 74744 MASK DRIFTBIT
059174,000340: 16,2612 10000 CCS A
059175,000341: 16,2613 12624 TCF WORKTIME
059176,000342: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
059177,000343: 16,2615 55425 TS ALPHAR
059178,000344: 16,2616 55544 TS AOSQTERM
059179,000345: 16,2617 55545 TS AOSRTERM
059180,000346: 16,2620 55536 TS AOSQ
059181,000347: 16,2621 55540 TS AOSR
059182,000348: 16,2622 12667 TCF PRETIMCK
059183,000349: 16,2623 00074 KAOS DEC 60 B-14
059184,000350: 16,2624 31510 WORKTIME CA QACCDOT
059185,000351: 16,2625 00006 EXTEND
059186,000352: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
059187,000353: 16,2627 21537 DAS AOSQ
059188,000354: 16,2630 31536 CA AOSQ
059189,000355: 16,2631 55424 TS ALPHAQ
059190,000356: 16,2632 00006 EXTEND
059191,000357: 16,2633 73622 MP 200MS # .2 AT 1
059192,000358: 16,2634 55544 TS AOSQTERM
059193,000359: 16,2635 31512 CA RACCDOT
059194,000360: 16,2636 00006 EXTEND
059195,000361: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
059196,000362: 16,2640 21541 DAS AOSR
059197,000363: 16,2641 31540 CA AOSR
059198,000364: 16,2642 55425 TS ALPHAR
059199,000365: 16,2643 00006 EXTEND
059200,000366: 16,2644 73622 MP 200MS # .2 AT 1
059201,000367: 16,2645 55545 TS AOSRTERM
059202,000368: 16,2646 12667 TCF PRETIMCK
059203,000369:
059204,000370: # Page 1425
059205,000371: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
059206,000372: 16,2650 71262 MASK RCSFLAGS
059207,000373: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
059208,000374: 16,2652 03742 TC ACDT+C12 # VALID.
059209,000375:
059210,000376: 16,2653 52011 DXCH ARUPT
059211,000377: 16,2654 53753 DXCH DAPARUPT
059212,000378: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
059213,000379: 16,2656 56017 XCH BRUPT
059214,000380: 16,2657 22012 LXCH QRUPT
059215,000381: 16,2660 53755 DXCH DAPBQRPT
059216,000382: 16,2661 32665 CA SUPERADR
059217,000383: 16,2662 52016 DXCH ZRUPT
059218,000384: 16,2663 53757 DXCH DAPZRUPT
059219,000385: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
059220,000386: # FORM OF A JASK, AT SUPERJOB.
059221,000387:
059222,000388: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
059223,000389:
059224,000390: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
059225,000391:
059226,000392: 16,2666 13645 SUPERJOB TCF RATELOOP
059227,000393: 16,2667 11631 PRETIMCK CCS QGIMTIMR
059228,000394: 16,2670 12710 TCF DECQTIMR # POSITIVE -- COUNTING DOWN
059229,000395: 16,2671 12714 TCF TURNOFFQ # NEGATIVE -- DRIVE SHOULD BE ENDED
059230,000396: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE -- INACTIVE
059231,000397: 16,2673 12712 TCF DECRTIMR # (NEG ZERO -- IMPOSSIBLE)
059232,000398: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
059233,000399:
059234,000400: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
059235,000401: 16,2676 27766 DIM PJETCTR
059236,000402: 16,2677 00006 EXTEND
059237,000403: 16,2700 27767 DIM UJETCTR
059238,000404: 16,2701 00006 EXTEND
059239,000405: 16,2702 27770 DIM VJETCTR
059240,000406: 16,2703 34740 CA BIT12
059241,000407: 16,2704 71262 MASK RCSFLAGS
059242,000408: 16,2705 00006 EXTEND
059243,000409: 16,2706 12734 BZF SKIPPAXS
059244,000410: 16,2707 02740 TC CHKVISFZ
059245,000411: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
059246,000412: 16,2711 12672 TCF CHKRTIMR
059247,000413: 16,2712 55633 DECRTIMR TS RGIMTIMR
059248,000414: 16,2713 12675 TCF CHKRTIMR +3
059249,000415:
059250,000416: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
059251,000417: 16,2715 55510 TS QACCDOT
059252,000418: 16,2716 45007 CS QGIMBITS
059253,000419: 16,2717 00006 EXTEND
059254,000420: # Page 1426
059255,000421: 16,2720 03012 WAND CHAN12
059256,000422: 16,2721 34735 CAF NEGMAX
059257,000423: 16,2722 55631 TS QGIMTIMR
059258,000424: 16,2723 12672 TCF CHKRTIMR
059259,000425: 16,2724 55503 TURNOFFR TS NEGUR
059260,000426: 16,2725 55512 TS RACCDOT
059261,000427: 16,2726 45020 CS RGIMBITS
059262,000428: 16,2727 00006 EXTEND
059263,000429: 16,2730 03012 WAND CHAN12
059264,000430: 16,2731 34735 CAF NEGMAX
059265,000431: 16,2732 55633 TS RGIMTIMR
059266,000432: 16,2733 12675 TCF CHKRTIMR +3
059267,000433: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
059268,000434: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
059269,000435:
059270,000436: 16,2734 41262 SKIPPAXS CS RCSFLAGS
059271,000437: 16,2735 74740 MASK BIT12
059272,000438: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
059273,000439: 16,2737 13630 TCF QRAXIS # GO TO QRAXIS OR TO CTS.
059274,000440:
059275,000441: # Y-X TRANSLATION
059276,000442:
059277,000443: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLLER)
059278,000444:
059279,000445: # OUTPUT: NEXTP
059280,000446: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
059281,000447: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
059282,000448: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
059283,000449: # ALARM (IF NO PAIR)
059284,000450: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
059285,000451: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
059286,000452:
059287,000453: 16,2740 00006 CHKVISFZ EXTEND
059288,000454: 16,2741 00031 READ CHAN31
059289,000455: 16,2742 40000 CS A
059290,000456: 16,2743 73617 MASK 07400OCT
059291,000457: 16,2744 00006 EXTEND
059292,000458: 16,2745 13014 BZF TSNEXTP
059293,000459: 16,2746 00006 EXTEND
059294,000460: 16,2747 74745 MP BIT7
059295,000461: 16,2750 50000 INDEX A
059296,000462: 16,2751 33576 CA INDXYZ
059297,000463: 16,2752 55743 TS ROTINDEX
059298,000464: 16,2753 36245 TRYUORV CA SIX
059299,000465: 16,2754 03555 TC SELECTYZ
059300,000466: 16,2755 46245 CS SIX
059301,000467: 16,2756 61742 AD NUMBERT
059302,000468: 16,2757 00006 EXTEND
059303,000469: # Page 1427
059304,000470: 16,2760 13013 BZF TSNEXTP -1
059305,000471: 16,2761 44756 CS FIVE
059306,000472: 16,2762 61743 AD ROTINDEX
059307,000473: 16,2763 00006 EXTEND
059308,000474: 16,2764 63002 BZMF ALTERYZ
059309,000475: 16,2765 41742 CS NUMBERT
059310,000476: 16,2766 64751 AD FOUR
059311,000477: 16,2767 00006 EXTEND
059312,000478: 16,2770 63013 BZMF TSNEXTP -1
059313,000479: 16,2771 05567 ABORTYZ TC ALARM
059314,000480: 16,2772 02001 OCT 02001
059315,000481: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
059316,000482: 16,2774 23262 LXCH RCSFLAGS
059317,000483: 16,2775 00006 EXTEND
059318,000484: 16,2776 06001 RXOR 1
059319,000485: 16,2777 55262 TS RCSFLAGS
059320,000486: 16,3000 34755 CA ZERO
059321,000487: 16,3001 13014 TCF TSNEXTP
059322,000488: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
059323,000489: 16,3003 23262 LXCH RCSFLAGS
059324,000490: 16,3004 00006 EXTEND
059325,000491: 16,3005 06001 RXOR 1
059326,000492: 16,3006 55262 TS RCSFLAGS
059327,000493: 16,3007 74753 MASK BIT1
059328,000494: 16,3010 64751 AD FOUR
059329,000495: 16,3011 27743 ADS ROTINDEX
059330,000496: 16,3012 12753 TCF TRYUORV
059331,000497: 16,3013 31740 CA POLYTEMP
059332,000498: 16,3014 55472 TSNEXTP TS NEXTP
059333,000499:
059334,000500: # STATE LOGIC
059335,000501: # CHECK IN ORDER: IF ON
059336,000502: # LPDPHASE GO TO PURGENCY
059337,000503: # PULSES MINIMUM PULSE LOTIC
059338,000504: # DETENT(BIT15 CH31) RATE COMMAND
059339,000505: # GOTO TO PURGENCY
059340,000506:
059341,000507: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
059342,000508: 16,3016 00006 EXTEND
059343,000509: 16,3017 02031 RAND CHAN31
059344,000510: 16,3020 00006 EXTEND
059345,000511: 16,3021 13027 BZF MANMODE
059346,000512:
059347,000513: 16,3022 30111 CA DAPBOOLS
059348,000514: 16,3023 74743 MASK XOVINHIB
059349,000515: 16,3024 10000 CCS A
059350,000516: 16,3025 13467 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
059351,000517:
059352,000518: 16,3026 13071 TCF DETENTCK
059353,000519: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
059354,000520: 16,3030 70111 MASK DAPBOOLS
059355,000521: # Page 1428
059356,000522: 16,3031 00006 EXTEND
059357,000523: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
059358,000524:
059359,000525: 16,3033 34755 CA ZERO
059360,000526: 16,3034 55464 TS PERROR
059361,000527:
059362,000528: # MINIMUM IMPULSE MODE
059363,000529:
059364,000530: 16,3035 30032 CA CDUX
059365,000531: 16,3036 55634 TS CDUXD
059366,000532:
059367,000533: 16,3037 11460 CCS OLDPMIN
059368,000534: 16,3040 13054 TCF CHECKP
059369,000535:
059370,000536: 16,3041 34751 FIREP CA BIT3
059371,000537: 16,3042 00006 EXTEND
059372,000538: 16,3043 02031 RAND CHAN31
059373,000539: 16,3044 00006 EXTEND
059374,000540: 16,3045 13064 BZF +XMIN
059375,000541:
059376,000542: 16,3046 34750 CA BIT4
059377,000543: 16,3047 00006 EXTEND
059378,000544: 16,3050 02031 RAND CHAN31
059379,000545: 16,3051 00006 EXTEND
059380,000546: 16,3052 13062 BZF -XMIN
059381,000547:
059382,000548: 16,3053 13446 TCF JETSOFF
059383,000549:
059384,000550: 16,3054 00006 CHECKP EXTEND
059385,000551: 16,3055 00031 READ CHAN31
059386,000552: 16,3056 40000 CS A
059387,000553: 16,3057 75741 MASK OCT14
059388,000554: 16,3060 55460 TS OLDPMIN
059389,000555: 16,3061 13446 TCF JETSOFF
059390,000556:
059391,000557: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
059392,000558: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
059393,000559: 16,3064 34363 +XMIN CA TEN
059394,000560: 16,3065 55524 TS TJP
059395,000561: 16,3066 34753 CA ONE
059396,000562: 16,3067 55460 TS OLDPMIN
059397,000563: 16,3070 13354 TCF PJETSLEC -6
059398,000564:
059399,000565: # MANUAL RATE COMMAND MODE
059400,000566: # ========================
059401,000567: # BY ROBERT F. STENGEL
059402,000568:
059403,000569: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
059404,000570: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
059405,000571: # RATE CONTROL AND ATTITUDE HOLD.
059406,000572:
059407,000573: # Page 1429
059408,000574: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
059409,000575: # THE `BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
059410,000576: # THE `TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
059411,000577:
059412,000578: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
059413,000579: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
059414,000580: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
059415,000581:
059416,000582: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
059417,000583: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
059418,000584: # R AXES ARE COUPLED AND MUST USE TEH SAME CONTROL LAW.
059419,000585:
059420,000586: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
059421,000587: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
059422,000588: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
059423,000589: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
059424,000590:
059425,000591: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
059426,000592: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
059427,000593:
059428,000594: 16,3071 00006 DETENTCK EXTEND
059429,000595: 16,3072 00031 READ CHAN31
059430,000596: 16,3073 55443 TS CH31TEMP
059431,000597: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
059432,000598: 16,3075 00006 EXTEND
059433,000599: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
059434,000600: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
059435,000601: 16,3100 70111 MASK DAPBOOLS
059436,000602: 16,3101 00006 EXTEND
059437,000603: 16,3102 13467 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
059438,000604:
059439,000605: # ................................................................................
059440,000606:
059441,000607: 16,3103 34743 CA BIT9 # JUST IN DETENT??
059442,000608: 16,3104 71262 MASK RCSFLAGS
059443,000609: 16,3105 00006 EXTEND
059444,000610: 16,3106 13120 BZF RUTH
059445,000611: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
059446,000612: 16,3110 00006 EXTEND
059447,000613: 16,3111 02031 RAND CHAN31
059448,000614: 16,3112 00006 EXTEND
059449,000615: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
059450,000616:
059451,000617: 16,3114 45014 CS BITS9,11 # IN AUTO.
059452,000618: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE)
059453,000619: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
059454,000620: 16,3117 13220 TCF RATEDAMP
059455,000621:
059456,000622: 16,3120 31262 RUTH CA RCSFLAGS
059457,000623: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
059458,000624: 16,3122 00006 EXTEND
059459,000625: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
059460,000626: 16,3124 13220 TCF RATEDAMP
059461,000627:
059462,000628: # Page 1430
059463,000629: 16,3125 31262 CA RCSFLAGS
059464,000630: 16,3126 74741 MASK QRBIT
059465,000631: 16,3127 00006 EXTEND
059466,000632: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
059467,000633: 16,3131 13220 TCF RATEDAMP
059468,000634:
059469,000635: # ============================================
059470,000636:
059471,000637: 16,3132 4753 1/10SEC = BIT1
059472,000638: 16,3132 4771 40CYC = OCT50
059473,000639: 16,3132 74777 PQRBIT OCT 74777
059474,000640: 16,3133 5014 BITS9,11 EQUALS EBANK5
059475,000641: 16,3133 00056 LINRATP DEC 46 B-14
059476,000642:
059477,000643: # ============================================
059478,000644:
059479,000645: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
059480,000646: 16,3135 00004 INHINT # ALL AXES.
059481,000647: 16,3136 70111 MASK DAPBOOLS
059482,000648: 16,3137 54111 TS DAPBOOLS
059483,000649:
059484,000650: # READ CDUS INTO CDU DESIRED REGISTERS
059485,000651:
059486,000652: 16,3140 34737 CAF BIT13
059487,000653: 16,3141 00006 EXTEND
059488,000654: 16,3142 02031 RAND CHAN31
059489,000655: 16,3143 00006 EXTEND
059490,000656: 16,3144 13150 BZF +4
059491,000657: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE)
059492,000658: 16,3146 55634 TS CDUXD
059493,000659: 16,3147 03152 TC +3
059494,000660: 16,3150 04674 TC IBNKCALL
059495,000661: 16,3151 40154 FCADR ZATTEROR
059496,000662: 16,3152 00003 RELINT
059497,000663: 16,3153 13467 TCF PURGENCY
059498,000664:
059499,000665: 16,3154 55464 TS PERROR
059500,000666: 16,3155 34740 JUSTOUT CA OURRCBIT # INITIALIZATION -- FIRST MANUAL PASS.
059501,000667: 16,3156 26111 ADS DAPBOOLS
059502,000668: 16,3157 34755 CA ZERO
059503,000669: 16,3160 55446 TS DXERROR
059504,000670: 16,3161 55447 TS DXERROR +1
059505,000671: 16,3162 55450 TS DYERROR
059506,000672: 16,3163 55451 TS DYERROR +1
059507,000673: 16,3164 55452 TS DZERROR
059508,000674: 16,3165 55453 TS DZERROR +1
059509,000675: 16,3166 55454 TS PLAST
059510,000676: 16,3167 55455 TS QLAST
059511,000677: 16,3170 55456 TS RLAST
059512,000678: 16,3171 54042 TS Q-RHCCTR
059513,000679: 16,3172 54044 TS R-RHCCTR
059514,000680: 16,3173 33132 CA PQRBIT
059515,000681: 16,3174 71262 MASK RCSFLAGS
059516,000682: 16,3175 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
059517,000683: # Page 1431
059518,000684: 16,3176 03201 TC ZEROENBL
059519,000685: 16,3177 00003 RELINT
059520,000686: 16,3200 13446 TCF JETSOFF
059521,000687: 16,3201 22044 ZEROENBL LXCH R-RHCCTR
059522,000688: 16,3202 30042 CA Q-RHCCTR
059523,000689: 16,3203 53463 DXCH SAVEHAND
059524,000690: 16,3204 34755 CA ZERO
059525,000691: 16,3205 54043 TS P-RHCCTR
059526,000692: 16,3206 54042 TS Q-RHCCTR
059527,000693: 16,3207 54044 TS R-RHCCTR
059528,000694: 16,3210 00004 INHINT
059529,000695: 16,3211 00006 EXTEND
059530,000696: 16,3212 23265 QXCH C13QSAV
059531,000697: 16,3213 06022 TC C13STALL
059532,000698:
059533,000699: 16,3214 33623 CA BITS8,9
059534,000700: 16,3215 00006 EXTEND
059535,000701: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
059536,000702: 16,3217 01265 TC C13QSAV
059537,000703:
059538,000704: 16,3220 34755 RATEDAMP CA ZERO
059539,000705: 16,3221 54043 TS P-RHCCTR
059540,000706: 16,3222 13232 TCF RATERROR
059541,000707:
059542,000708: 16,3223 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1
059543,000709: 16,3224 74743 MASK BIT9
059544,000710: 16,3225 27262 ADS RCSFLAGS
059545,000711: 16,3226 34740 CA OURRCBIT # P CONTROL
059546,000712: 16,3227 70111 MASK DAPBOOLS
059547,000713: 16,3230 00006 EXTEND
059548,000714: 16,3231 13154 BZF JUSTOUT -1
059549,000715: 16,3232 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
059550,000716: 16,3233 55634 TS CDUXD # X-AXIS OVERRIDE
059551,000717: 16,3234 10043 CCS P-RHCCTR
059552,000718: 16,3235 13240 TCF +3
059553,000719: 16,3236 13240 TCF +2
059554,000720: 16,3237 13240 TCF +1
059555,000721: 16,3240 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
059556,000722: 16,3241 60000 DOUBLE # (SEE EXPLANATION OF Q,R-AXES RCS
059557,000723: 16,3242 63133 AD LINRATP # AUTOPILOT)
059558,000724: 16,3243 00006 EXTEND
059559,000725: 16,3244 70043 MP P-RHCCTR
059560,000726: 16,3245 30001 CA L
059561,000727: 16,3246 00006 EXTEND
059562,000728: 16,3247 71444 MP STIKSENS
059563,000729: 16,3250 57454 XCH PLAST
059564,000730: 16,3251 40000 COM
059565,000731: 16,3252 61454 AD PLAST
059566,000732: 16,3253 55736 TS DAPTEMP1
059567,000733: 16,3254 03201 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
059568,000734: # Page 1432
059569,000735: 16,3255 00003 RELINT
059570,000736: 16,3256 41454 CS PLAST
059571,000737: 16,3257 61421 AD OMEGAP
059572,000738: 16,3260 55427 TS EDOTP
059573,000739: 16,3261 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
059574,000740: 16,3262 13265 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
059575,000741: 16,3263 13273 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
059576,000742: 16,3264 13265 TCF +1
059577,000743: 16,3265 61476 AD -RATEDB
059578,000744: 16,3266 00006 EXTEND
059579,000745: 16,3267 63273 BZMF +4
059580,000746: 16,3270 34771 CA 40CYC
059581,000747: 16,3271 55445 TS TCP
059582,000748: 16,3272 03304 TC PEGI
059583,000749: 16,3273 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
059584,000750: 16,3274 74742 MASK PBIT
059585,000751: 16,3275 00006 EXTEND
059586,000752: 16,3276 13300 BZF +2
059587,000753: 16,3277 03304 TC PEGI # TO PURE RATE COMMAND
059588,000754: 16,3300 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
059589,000755: 16,3301 55751 TS E # X-ATTITUDE ERROR (SP)
059590,000756: 16,3302 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
059591,000757: 16,3303 03473 TC PURGENCY +4
059592,000758: 16,3304 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
059593,000759: 16,3305 55634 TS CDUXD
059594,000760: 16,3306 34755 CA ZERO
059595,000761: 16,3307 55446 TS DXERROR
059596,000762: 16,3310 55447 TS DXERROR +1
059597,000763: 16,3311 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
059598,000764: 16,3312 11427 CCS EDOTP
059599,000765: 16,3313 03316 TC +3
059600,000766: 16,3314 03316 TC +2
059601,000767: 16,3315 03316 TC +1
059602,000768: 16,3316 55736 TS ABSEDOTP
059603,000769: 16,3317 61476 AD TARGETDB
059604,000770: 16,3320 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBANK,
059605,000771: 16,3321 63331 BZMF LAST # FIRE, AN SWITCH TO PSEUDO-AUTO.
059606,000772: 16,3322 31445 CA TCP
059607,000773: 16,3323 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.
059608,000774: 16,3324 63331 BZMF LAST
059609,000775: 16,3325 41262 CS RCSFLAGS
059610,000776: 16,3326 74742 MASK PBIT
059611,000777: 16,3327 27262 ADS RCSFLAGS # BIT 10 IS 1.
059612,000778: 16,3330 13334 TCF +4
059613,000779: 16,3331 44742 LAST CS PBIT
059614,000780: 16,3332 71262 MASK RCSFLAGS
059615,000781: 16,3333 55262 TS RCSFLAGS # BIT 10 IS 0.
059616,000782: 16,3334 41427 CS EDOTP
059617,000783: 16,3335 00006 EXTEND
059618,000784: 16,3336 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
059619,000785: # Page 1433
059620,000786: 16,3337 20001 DAS A
059621,000787: 16,3340 02310 TC OVERSUB
059622,000788: 16,3341 00006 EXTEND
059623,000789: 16,3342 77721 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
059624,000790: 16,3343 55524 TS TJP # 4.JET TIME
059625,000791: 16,3344 31736 CA ABSEDOTP
059626,000792: 16,3345 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
059627,000793: 16,3346 00006 EXTEND
059628,000794: 16,3347 63352 BZMF +3
059629,000795:
059630,000796: 16,3350 36245 CA SIX
059631,000797: 16,3351 13361 TCF +8D
059632,000798: 16,3352 31524 CA TJP
059633,000799: 16,3353 27524 ADS TJP
059634,000800:
059635,000801: # GOES TO PJETSLEC FOR TWO JETS
059636,000802: # P-JET-SELECTION-ROUTINE (ROTATION)
059637,000803:
059638,000804: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
059639,000805: # TJP + FOR +P ROTATION
059640,000806:
059641,000807: # OUTPUT: CHANNEL 6
059642,000808: # PJUMPADR FOR P-AXIS SKIP
059643,000809: # (JTLST CALL) (SMALL TJP)
059644,000810:
059645,000811: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
059646,000812: # +P -P
059647,000813: # 7,15 8,16
059648,000814: # 4,12 3,11
059649,000815: # 4,7 8,11
059650,000816: # 7,12 11,16
059651,000817: # 12,15 3,16
059652,000818: # 4,15 3,8
059653,000819: # ALARM ALARM
059654,000820:
059655,000821: 16,3354 34747 CA AORBSYST
059656,000822: 16,3355 70101 MASK FLAGWRD5
059657,000823: 16,3356 10000 CCS A
059658,000824: 16,3357 34753 CA ONE
059659,000825: 16,3360 64751 AD FOUR
059660,000826: 16,3361 55742 TS NUMBERT
059661,000827: 16,3362 34753 PJETSLEC CA ONE
059662,000828: 16,3363 54001 TS L
059663,000829: 16,3364 11524 CCS TJP
059664,000830: 16,3365 13372 TCF +5
059665,000831: 16,3366 13446 TCF JETSOFF
059666,000832: 16,3367 13371 TCF +2
059667,000833: 16,3370 13446 TCF JETSOFF
059668,000834: 16,3371 22007 ZL
059669,000835: 16,3372 64753 AD ONE
059670,000836: 16,3373 55736 TS ABSTJ
059671,000837: # Page 1434
059672,000838: 16,3374 23743 LXCH ROTINDEX
059673,000839: 16,3375 03535 TC SELECTP
059674,000840: 16,3376 46245 CS SIX
059675,000841: 16,3377 61742 AD NUMBERT
059676,000842: 16,3400 00006 EXTEND
059677,000843: 16,3401 13403 BZF +2
059678,000844:
059679,000845: 16,3402 44752 CS TWO
059680,000846: 16,3403 64751 AD FOUR
059681,000847: 16,3404 55521 TS NO.PJETS
059682,000848: 16,3405 31740 CA POLYTEMP
059683,000849: 16,3406 05744 TC WRITEP
059684,000850: 16,3407 41736 CS ABSTJ
059685,000851: 16,3410 63616 AD +150MST6
059686,000852: 16,3411 00006 EXTEND
059687,000853: 16,3412 63630 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
059688,000854:
059689,000855: 16,3413 63576 AD -136MST6
059690,000856: 16,3414 00006 EXTEND
059691,000857: 16,3415 63422 BZMF +5
059692,000858:
059693,000859: 16,3416 27736 ADS ABSTJ
059694,000860: 16,3417 51743 INDEX ROTINDEX
059695,000861: 16,3420 33625 CA MINTIMES
059696,000862: 16,3421 55524 TS TJP
059697,000863:
059698,000864: 16,3422 31736 CA ABSTJ
059699,000865: 16,3423 22007 ZL
059700,000866: 16,3424 00004 INHINT
059701,000867: 16,3425 53471 DXCH T6FURTHA
059702,000868: 16,3426 04674 TC IBNKCALL
059703,000869: 16,3427 37143 CADR JTLST
059704,000870: 16,3430 44740 CS BIT12
059705,000871: 16,3431 71262 MASK RCSFLAGS
059706,000872: 16,3432 55262 TS RCSFLAGS # BIT 12 SET TO 0.
059707,000873: 16,3433 03435 TC ALTSYST
059708,000874: 16,3434 13630 TCF QRAXIS
059709,000875:
059710,000876: 16,3435 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS
059711,000877: 16,3436 54001 TS L
059712,000878: 16,3437 34747 CA AORBSYST
059713,000879: 16,3440 00006 EXTEND
059714,000880: 16,3441 06001 RXOR LCHAN
059715,000881: 16,3442 54101 TS FLAGWRD5
059716,000882: 16,3443 00003 RELINT
059717,000883: 16,3444 00002 TC Q
059718,000884:
059719,000885: 16,3445 03435 DKALT TC ALTSYST
059720,000886:
059721,000887: 16,3446 05743 JETSOFF TC WRITEP -1
059722,000888: # Page 1435
059723,000889: 16,3447 34755 CA ZERO
059724,000890: 16,3450 55524 TS TJP
059725,000891: 16,3451 13630 TCF QRAXIS
059726,000892:
059727,000893: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
059728,000894:
059729,000895: 16,3452 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
059730,000896: 16,3453 00006 EXTEND
059731,000897: 16,3454 21635 MSU CDUYD # CDU VALUE -- ANGLE DESIRED (Y-AXIS)
059732,000898: 16,3455 00006 EXTEND
059733,000899: 16,3456 71414 MP M11 # (CDUY-CDUYD)M1 SCALED AT PI RADIANS
059734,000900: 16,3457 57751 XCH E # SAVE FIRST TERM (OF TWO)
059735,000901: 16,3460 30032 CA CDUX # THIRD COMPONENT
059736,000902: 16,3461 00006 EXTEND
059737,000903: 16,3462 21634 MSU CDUXD # CDU VALUE -- ANGLE DESIRED (X-AXIS)
059738,000904: # EXTEND
059739,000905: # MP M13
059740,000906: 16,3463 61274 AD DELPEROR # KALCMANU INTERFACE ERROR.
059741,000907: 16,3464 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
059742,000908: 16,3465 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
059743,000909: 16,3466 00002 TC Q # RETURN TO CALLER
059744,000910:
059745,000911: # P-AXIS URGENCY FUNCTION CALCULATION.
059746,000912:
059747,000913: 16,3467 03452 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
059748,000914: 16,3470 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
059749,000915: 16,3471 61421 AD OMEGAP # SPS-BACKUP MODE.
059750,000916: 16,3472 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
059751,000917:
059752,000918: 16,3473 44753 CS ONE
059753,000919: 16,3474 55505 TS AXISCTR
059754,000920: 16,3475 30111 CA DAPBOOLS
059755,000921: 16,3476 74737 MASK CSMDOCKD
059756,000922: 16,3477 00006 EXTEND
059757,000923: 16,3500 13511 BZF HEADTJET
059758,000924: 16,3501 00004 INHINT # IF CSMDOCKD = 1, GOT TO DOCKED RCS LOGIC
059759,000925: 16,3502 04674 TC IBNKCALL
059760,000926: 16,3503 43736 CADR SPSRCS
059761,000927:
059762,000928: 16,3504 31524 CA TJP
059763,000929: 16,3505 00006 EXTEND
059764,000930: 16,3506 13445 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
059765,000931: 16,3507 00003 RELINT
059766,000932: 16,3510 13354 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS.
059767,000933: 16,3511 34755 HEADTJET CA ZERO
059768,000934: 16,3512 55500 TS SENSETYP
059769,000935: 16,3513 00004 INHINT
059770,000936: 16,3514 04674 TC IBNKCALL
059771,000937: 16,3515 37304 CADR TJETLAW
059772,000938: 16,3516 00003 RELINT
059773,000939: # Page 1436
059774,000940: 16,3517 41740 CS FIREFCT
059775,000941: 16,3520 63534 AD -FOURDEG
059776,000942: 16,3521 00006 EXTEND
059777,000943: 16,3522 63354 BZMF PJETSLEC -6
059778,000944: 16,3523 11524 CCS TJP
059779,000945: 16,3524 13526 TCF +2
059780,000946: 16,3525 13446 TCF JETSOFF
059781,000947: 16,3526 63533 AD -160MST6
059782,000948: 16,3527 00006 EXTEND
059783,000949: 16,3530 63354 BZMF PJETSLEC -6
059784,000950: 16,3531 36245 CA SIX
059785,000951: 16,3532 13361 TCF PJETSLEC -1
059786,000952: 16,3533 77377 -160MST6 DEC -256 B-14
059787,000953: 16,3534 75117 -FOURDEG DEC -.08888
059788,000954:
059789,000955: # Page 1437
059790,000956: # JET POLICY CONTSTRUCTION SUBROUTINE
059791,000957:
059792,000958: # INPUT: ROTINDEX, NUMBERT
059793,000959:
059794,000960: # OUTPUT: POLYTEMP (JET POLICY)
059795,000961:
059796,000962: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
059797,000963:
059798,000964: 16,3535 36245 SELECTP CA SIX
059799,000965: 16,3536 55741 TS TEMPNUM
059800,000966: 16,3537 51742 INDEX NUMBERT
059801,000967: 16,3540 33567 CA TYPEP
059802,000968: 16,3541 51743 INDEX ROTINDEX
059803,000969: 16,3542 73560 MASK JETSALL
059804,000970: 16,3543 55740 TS POLYTEMP
059805,000971: 16,3544 71260 MASK CH6MASK
059806,000972: 16,3545 10000 CCS A
059807,000973: 16,3546 13550 TCF +2
059808,000974: 16,3547 00002 TC Q
059809,000975: 16,3550 11741 CCS TEMPNUM
059810,000976: 16,3551 13555 TCF +4
059811,000977: 16,3552 05567 TC ALARM
059812,000978: 16,3553 02003 OCT 02003
059813,000979: 16,3554 13446 TCF JETSOFF # ********** TCF ALARMJET **********
059814,000980: 16,3555 55742 SELECTYZ TS NUMBERT
059815,000981: 16,3556 13536 TCF SELECTP +1
059816,000982: 16,3557 12773 -1 TCF ABORTYZ +2
059817,000983: 16,3560 00252 JETSALL OCT 00252
059818,000984: 16,3561 00125 OCT 00125 # +P
059819,000985: 16,3562 00140 OCT 00140 # -Y
059820,000986: 16,3563 00006 OCT 00006 # -Z
059821,000987: 16,3564 00220 OCT 00220 # +Y
059822,000988: 16,3565 00011 OCT 00011 # +Z
059823,000989: 16,3566 00151 OCT 00151 # +V
059824,000990: 16,3567 00146 TYPEP OCT 00146 # -U
059825,000991: 16,3570 00226 OCT 00226 # -V
059826,000992: 16,3571 00231 OCT 00231 # +U
059827,000993: 16,3572 00151 OCT 00151 # +V
059828,000994: 16,3573 00132 OCT 00132 # 1-3
059829,000995: 16,3574 00245 OCT 00245 # 2-4
059830,000996: 16,3575 00377 OCT 00377 # ALL
059831,000997: 16,3576 16,3576 INDXYZ = -136MST6
059832,000998: 16,3576 77445 -136MST6 DEC -218 B-14
059833,000999: 16,3577 00004 DEC 4 B-14
059834,001000: 16,3600 00002 DEC 2 B-14
059835,001001: 16,3601 07776 OCT 07776
059836,001002: 16,3602 00005 DEC 5 B-14
059837,001003: 16,3603 00011 DEC 9 B-14
059838,001004: 16,3604 00012 DEC 10 B-14
059839,001005: 16,3605 07776 OCT 07776
059840,001006: 16,3606 00003 DEC 3 B-14
059841,001007: # Page 1438
059842,001008: 16,3607 00010 DEC 8 B-14
059843,001009: 16,3610 00007 DEC 7 B-14
059844,001010: 16,3611 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
059845,001011: 16,3612 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
059846,001012: 16,3613 07776 OCT 07776 # TO BE TC JETSALL -1
059847,001013: 16,3614 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
059848,001014: 16,3615 07776 OCT 07776
059849,001015: 16,3616 00360 +150MST6 DEC 240 B-14
059850,001016: 16,3617 07400 07400OCT OCT 07400
059851,001017:
059852,001018: # T-JET LAW FIXED CONSTANTS
059853,001019:
059854,001020: 16,3620 00266 NORMSCL OCT 266
059855,001021: 16,3621 74631 -100MS DEC -.1
059856,001022: 16,3622 06315 200MS DEC .2
059857,001023: 16,3623 7721 25/32 = PRIO31 # (DEC .78125)
059858,001024: 16,3623 00600 BITS8,9 OCTAL 00600
059859,001025: 16,3624 00632 1/40 DEC .02500
059860,001026: 16,3625 77751 MINTIMES DEC -22 B-14
059861,001027: 16,3626 00026 DEC 22 B-14
059862,001028: 16,3627 02734 PSKIPADR GENADR SKIPPAXS
059863,001029:
059864,001030: # GOES TO Q,R-AXES RCS AUTOPILOT
059865,001031:
059866,001032: 16,3630 41644 QRAXIS CS OMEGARD
059867,001033: 16,3631 61423 AD OMEGAR
059868,001034: 16,3632 02310 TC OVERSUB
059869,001035: 16,3633 55437 TS EDOTR
059870,001036: 16,3634 41643 CS OMEGAQD
059871,001037: 16,3635 61422 AD OMEGAQ
059872,001038: 16,3636 02310 TC OVERSUB
059873,001039: 16,3637 55436 TS EDOTQ
059874,001040: 16,3640 00006 EXTEND
059875,001041: 16,3641 33644 DCA QERRCALL
059876,001042: 16,3642 52006 DTCB
059877,001043:
059878,001044: 16,3643 E6,1536 EBANK= AOSQ
059879,001045: 16,3643 02124 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc