Source Code
059881,000001: # Copyright: Public domain.
059882,000002: # Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
059883,000003: # Purpose: A section of Luminary 1C, revision 131.
059884,000004: # It is part of the source code for the Lunar Module's (LM)
059885,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
059886,000006: # This file is intended to be a faithful transcription, except
059887,000007: # that the code format has been changed to conform to the
059888,000008: # requirements of the yaYUL assembler rather than the
059889,000009: # original YUL assembler.
059890,000010: # Reference: pp. 1439-1456 of 1729.pdf.
059891,000011: # Contact: Ron Burkey <info@sandroid.org>.
059892,000012: # Website: www.ibiblio.org/apollo/index.html
059893,000013: # Mod history: 06/07/03 RSB. Began transcribing.
059894,000014: # 05/14/05 RSB Corrected website reference above.
059895,000015:
059896,000016: # Page 1439
059897,000017: 17,2124 BANK 17
059898,000018: 17,2000 SETLOC DAPS2
059899,000019: 17,2000 BANK
059900,000020:
059901,000021: 17,2124 E6,1634 EBANK= CDUXD
059902,000022:
059903,000023: 17,2124 COUNT* $$/DAPQR
059904,000024:
059905,000025: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
059906,000026: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
059907,000027: 17,2126 02031 RAND CHAN31
059908,000028: 17,2127 10000 CCS A
059909,000029: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
059910,000030: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
059911,000031: 17,2132 74740 MASK OURRCBIT
059912,000032: 17,2133 00006 EXTEND
059913,000033: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERROS.
059914,000034: 17,2135 02655 TC QERRCALC
059915,000035:
059916,000036: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
059917,000037: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
059918,000038: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
059919,000039: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
059920,000040: 17,2142 55630 TS COTROLER
059921,000041:
059922,000042: 17,2143 53437 DXCH EDOTQ
059923,000043: 17,2144 03200 TC ROT-TOUV
059924,000044: 17,2145 53427 DXCH OMEGAU
059925,000045:
059926,000046: # X - TRANSLATION
059927,000047:
059928,000048: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
059929,000049: # ULLAGER
059930,000050: # APSFLAG, DRIFTBIT
059931,000051: # ACC40R2X, ACRBTRAN
059932,000052:
059933,000053: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
059934,000054: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
059935,000055:
059936,000056: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
059937,000057: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
059938,000058:
059939,000059: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
059940,000060: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
059941,000061: 17,2150 02031 RAND CHAN31
059942,000062: 17,2151 00006 EXTEND
059943,000063: 17,2152 12200 BZF +X0RULGE
059944,000064: # Page 1440
059945,000065: 17,2153 34744 CA BIT8
059946,000066: 17,2154 00006 EXTEND
059947,000067: 17,2155 02031 RAND CHAN31
059948,000068: 17,2156 00006 EXTEND
059949,000069: 17,2157 12201 BZF -XTRANS
059950,000070:
059951,000071: 17,2160 34746 CA ULLAGER
059952,000072: 17,2161 70111 MASK DAPBOOLS
059953,000073: 17,2162 10000 CCS A
059954,000074: 17,2163 12200 TCF +X0RULGE
059955,000075:
059956,000076: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
059957,000077: 17,2165 55474 TS NEXTV
059958,000078: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
059959,000079: 17,2167 74744 MASK DRIFTBIT
059960,000080: 17,2170 00006 EXTEND
059961,000081: 17,2171 12176 BZF TSENSE
059962,000082: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
059963,000083: 17,2173 74737 MASK APSFLBIT
059964,000084: 17,2174 10000 CCS A
059965,000085: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
059966,000086: 17,2176 55500 TSENSE TS SENSETYP
059967,000087: 17,2177 12232 TCF QRCONTRL
059968,000088:
059969,000089: 17,2200 34753 +X0RULGE CAF ONE
059970,000090: 17,2201 64751 -XTRANS AD FOUR
059971,000091: 17,2202 55743 TS ROTINDEX
059972,000092: 17,2203 67750 AD NEG3
059973,000093: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
059974,000094: 17,2205 30111 CA DAPBOOLS
059975,000095: 17,2206 74741 MASK ACC4OR2X
059976,000096: 17,2207 10000 CCS A
059977,000097: 17,2210 12352 TCF TRANS4
059978,000098:
059979,000099: 17,2211 30111 CA DAPBOOLS
059980,000100: 17,2212 74742 MASK AORBTRAN
059981,000101: 17,2213 10000 CCS A
059982,000102: 17,2214 34753 CA ONE # THREE FOR B
059983,000103: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
059984,000104: 17,2216 55742 TSNUMBRT TS NUMBERT
059985,000105:
059986,000106: 17,2217 03225 TC SELCTSUB
059987,000107:
059988,000108: 17,2220 11740 CCS POLYTEMP
059989,000109: 17,2221 12224 TCF +3
059990,000110: 17,2222 05567 TC ALARM
059991,000111: 17,2223 02002 OCT 02002
059992,000112: 17,2224 35764 CA 00314OCT
059993,000113: 17,2225 71740 MASK POLYTEMP
059994,000114: 17,2226 55473 TSNEXTS TS NEXTU
059995,000115: # Page 1441
059996,000116: 17,2227 45764 CS 00314OCT
059997,000117: 17,2230 71740 MASK POLYTEMP
059998,000118: 17,2231 55474 TS NEXTV
059999,000119:
060000,000120: # Q,R-AXES RCS CONTROL MODE SELECTION
060001,000121: # SWITCHES INDICATION WHEN SET
060002,000122: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
060003,000123: # PULSES MINIMUM IMPULSE MODE
060004,000124: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
060005,000125:
060006,000126: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
060007,000127: 17,2233 00006 EXTEND
060008,000128: 17,2234 02031 RAND CHAN31 # BITS INVERTED
060009,000129: 17,2235 10000 CCS A
060010,000130: 17,2236 12710 TCF ATTSTEER
060011,000131: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
060012,000132: 17,2240 70111 MASK DAPBOOLS
060013,000133: 17,2241 00006 EXTEND
060014,000134: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060015,000135:
060016,000136: # MINIMUM IMPULSE MODE
060017,000137:
060018,000138: 17,2243 00004 INHINT
060019,000139: 17,2244 04674 TC IBNKCALL
060020,000140: 17,2245 40154 CADR ZATTEROR
060021,000141: 17,2246 34755 CA ZERO
060022,000142: 17,2247 55450 TS QERROR
060023,000143: 17,2250 55452 TS RERROR # FOR DISPLAYS
060024,000144: 17,2251 00003 RELINT
060025,000145:
060026,000146: 17,2252 00006 EXTEND
060027,000147: 17,2253 00031 READ CHAN31
060028,000148: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
060029,000149: 17,2255 11461 CCS OLDQRMIN
060030,000150: 17,2256 12300 TCF CHECKIN
060031,000151:
060032,000152: 17,2257 31736 FIREQR CA TEMP31
060033,000153: 17,2260 74753 MASK BIT1
060034,000154: 17,2261 00006 EXTEND
060035,000155: 17,2262 12304 BZF +QMIN
060036,000156:
060037,000157: 17,2263 31736 CA TEMP31
060038,000158: 17,2264 74752 MASK BIT2
060039,000159: 17,2265 00006 EXTEND
060040,000160: 17,2266 12310 BZF -QMIN
060041,000161:
060042,000162: 17,2267 31736 CA TEMP31
060043,000163: 17,2270 74747 MASK BIT5
060044,000164: # Page 1442
060045,000165: 17,2271 00006 EXTEND
060046,000166: 17,2272 12314 BZF +RMIN
060047,000167:
060048,000168: 17,2273 31736 CA TEMP31
060049,000169: 17,2274 74746 MASK BIT6
060050,000170: 17,2275 00006 EXTEND
060051,000171: 17,2276 12316 BZF -RMIN
060052,000172:
060053,000173: 17,2277 13112 TCF XTRANS
060054,000174:
060055,000175: 17,2300 41736 CHECKIN CS TEMP31
060056,000176: 17,2301 72351 MASK OCT63
060057,000177: 17,2302 55461 TS OLDQRMIN
060058,000178: 17,2303 13112 TCF XTRANS
060059,000179:
060060,000180: 17,2304 33136 +QMIN CA 14MS
060061,000181: 17,2305 55525 TS TJU
060062,000182: 17,2306 43136 CS 14MS
060063,000183: 17,2307 12320 TCF MINQR
060064,000184: 17,2310 43136 -QMIN CS 14MS
060065,000185: 17,2311 55525 TS TJU
060066,000186: 17,2312 33136 CA 14MS
060067,000187: 17,2313 12320 TCF MINQR
060068,000188: 17,2314 33136 +RMIN CA 14MS
060069,000189: 17,2315 12317 TCF +2
060070,000190: 17,2316 43136 -RMIN CS 14MS
060071,000191: 17,2317 55525 TS TJU
060072,000192: 17,2320 55526 MINQR TS TJV
060073,000193: 17,2321 32350 CA MINADR
060074,000194: 17,2322 55477 TS RETJADR
060075,000195: 17,2323 34753 CA ONE
060076,000196: 17,2324 55461 TS OLDQRMIN
060077,000197: 17,2325 55505 MINRTN TS AXISCTR
060078,000198: 17,2326 30111 CA DAPBOOLS
060079,000199: 17,2327 74737 MASK CSMDOCKD
060080,000200: 17,2330 00006 EXTEND
060081,000201: 17,2331 12341 BZF MIMRET
060082,000202: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
060083,000203: 17,2333 11525 CCS TJU
060084,000204: 17,2334 34776 CA 60MS
060085,000205: 17,2335 12337 TCF +2
060086,000206: 17,2336 44776 CS 60MS
060087,000207: 17,2337 51505 INDEX AXISCTR
060088,000208: 17,2340 55525 TS TJU
060089,000209: 17,2341 30111 MIMRET CA DAPBOOLS
060090,000210: 17,2342 74742 MASK AORBTRAN
060091,000211: 17,2343 10000 CCS A
060092,000212: 17,2344 34753 CA ONE
060093,000213: 17,2345 64752 AD TWO
060094,000214: 17,2346 55742 TS NUMBERT
060095,000215: # Page 1443
060096,000216: 17,2347 12756 TCF AFTERTJ
060097,000217:
060098,000218: 17,2350 4776 60MS = OCT140
060099,000219: 17,2350 02325 MINADR GENADR MINRTN
060100,000220: 17,2351 00063 OCT63 OCT 63
060101,000221: 17,2352 17,3136 14MS = +TJMINT6
060102,000222:
060103,000223: 17,2352 34751 TRANS4 CA FOUR
060104,000224: 17,2353 12216 TCF TSNUMBRT
060105,000225:
060106,000226: # RATE COMMAND MODE:
060107,000227:
060108,000228: # DESCRIPTION (SAME AS P-AXIS)
060109,000229:
060110,000230: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
060111,000231: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
060112,000232: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
060113,000233: 17,2357 34735 CA BIT15
060114,000234: 17,2360 71443 MASK CH31TEMP
060115,000235: 17,2361 00006 EXTEND
060116,000236: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
060117,000237: 17,2363 34740 CA OURRCBIT # ***********
060118,000238: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
060119,000239: 17,2365 00006 EXTEND # *********** LAST TIME.
060120,000240: 17,2366 12710 BZF STILLRCS
060121,000241: 17,2367 44743 CS BIT9
060122,000242: 17,2370 71262 MASK RCSFLAGS
060123,000243: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
060124,000244: 17,2372 12374 TCF DAMPING
060125,000245: 17,2373 4771 40CYCL = OCT50
060126,000246: 17,2373 4753 1/10S = BIT1
060127,000247: 17,2373 00056 LINRAT DEC 46 B-14
060128,000248:
060129,000249: # ===========================================================
060130,000250:
060131,000251: 17,2374 34755 DAMPING CA ZERO
060132,000252: 17,2375 55462 TS SAVEHAND
060133,000253: 17,2376 55463 TS SAVEHAND +1
060134,000254: 17,2377 11462 RHCACTIV CCS SAVEHAND # ******************
060135,000255: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
060136,000256: 17,2401 12403 TCF +2 # ******************
060137,000257: 17,2402 12403 TCF +1
060138,000258: 17,2403 60000 DOUBLE # WHERE
060139,000259: 17,2404 60000 DOUBLE
060140,000260: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
060141,000261: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
060142,000262: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
060143,000263: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
060144,000264: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
060145,000265: 17,2412 71444 MP STIKSENS
060146,000266: 17,2413 57455 XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC
060147,000267: 17,2414 40000 COM
060148,000268: # Page 1444
060149,000269: 17,2415 61455 AD QLAST
060150,000270: 17,2416 55740 TS DAPTEMP3
060151,000271: 17,2417 11463 CCS SAVEHAND +1
060152,000272: 17,2420 12423 TCF +3
060153,000273: 17,2421 12423 TCF +2
060154,000274: 17,2422 12423 TCF +1
060155,000275: 17,2423 60000 DOUBLE
060156,000276: 17,2424 60000 DOUBLE
060157,000277: 17,2425 62373 AD LINRAT
060158,000278: 17,2426 00006 EXTEND
060159,000279: 17,2427 71463 MP SAVEHAND +1
060160,000280: 17,2430 30001 CA L
060161,000281: 17,2431 00006 EXTEND
060162,000282: 17,2432 71444 MP STIKSENS
060163,000283: 17,2433 57456 XCH RLAST
060164,000284: 17,2434 40000 COM
060165,000285: 17,2435 61456 AD RLAST
060166,000286: 17,2436 55741 TS DAPTEMP4
060167,000287: 17,2437 41455 CS QLAST # INTERVAL.
060168,000288: 17,2440 61422 AD OMEGAQ
060169,000289: 17,2441 55436 TS QRATEDIF
060170,000290: 17,2442 41456 CS RLAST
060171,000291: 17,2443 61423 AD OMEGAR
060172,000292: 17,2444 55437 TS RRATEDIF
060173,000293: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
060174,000294: 17,2446 03200 TC ROT-TOUV
060175,000295: 17,2447 53427 DXCH URATEDIF
060176,000296: 17,2450 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
060177,000297: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
060178,000298: 17,2452 02454 TC +2
060179,000299: 17,2453 02454 TC +1
060180,000300: 17,2454 61476 AD -RATEDB
060181,000301: 17,2455 00006 EXTEND
060182,000302: 17,2456 62460 BZMF +2
060183,000303: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060184,000304: 17,2460 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
060185,000305: 17,2461 02464 TC +3
060186,000306: 17,2462 02464 TC +2
060187,000307: 17,2463 02464 TC +1
060188,000308: 17,2464 61476 AD -RATEDB
060189,000309: 17,2465 00006 EXTEND
060190,000310: 17,2466 62470 BZMF +2
060191,000311: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060192,000312: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
060193,000313: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
060194,000314: 17,2472 00006 EXTEND
060195,000315: 17,2473 12475 BZF +2
060196,000316: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
060197,000317: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
060198,000318: 17,2476 34771 CA 40CYCL
060199,000319: # Page 1445
060200,000320: 17,2477 55457 TS TCQR
060201,000321: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL
060202,000322: 17,2501 04674 TC IBNKCALL
060203,000323: 17,2502 40154 FCADR ZATTEROR
060204,000324: 17,2503 00003 RELINT
060205,000325: 17,2504 34755 CA ZERO
060206,000326: 17,2505 55450 TS DYERROR
060207,000327: 17,2506 55451 TS DYERROR +1
060208,000328: 17,2507 55452 TS DZERROR
060209,000329: 17,2510 55453 TS DZERROR +1
060210,000330: 17,2511 11426 CCS URATEDIF
060211,000331: 17,2512 12515 TCF +3
060212,000332: 17,2513 12515 TCF +2
060213,000333: 17,2514 12515 TCF +1
060214,000334: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060215,000335: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
060216,000336: 17,2517 62533 BZMF VDB
060217,000337: 17,2520 11427 CCS VRATEDIF
060218,000338: 17,2521 12524 TCF +3
060219,000339: 17,2522 12524 TCF +2
060220,000340: 17,2523 12524 TCF +1
060221,000341: 17,2524 61476 AD TARGETDB
060222,000342: 17,2525 00006 EXTEND
060223,000343: 17,2526 62530 BZMF +2
060224,000344: 17,2527 12544 TCF QRTIME
060225,000345: 17,2530 34755 CA ZERO
060226,000346: 17,2531 55427 TS VRATEDIF
060227,000347: 17,2532 12544 TCF QRTIME
060228,000348: 17,2533 11427 VDB CCS VRATEDIF
060229,000349: 17,2534 02537 TC +3
060230,000350: 17,2535 02537 TC +2
060231,000351: 17,2536 02537 TC +1
060232,000352: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060233,000353: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
060234,000354: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
060235,000355: 17,2542 34755 CA ZERO # PASS.
060236,000356: 17,2543 55426 TS URATEDIF
060237,000357: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
060238,000358: 17,2545 00006 EXTEND
060239,000359: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
060240,000360: 17,2547 41262 CS RCSFLAGS
060241,000361: 17,2550 74741 MASK QRBIT
060242,000362: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
060243,000363: 17,2552 02556 TC +4
060244,000364: 17,2553 44741 TOPSEUDO CS QRBIT
060245,000365: 17,2554 71262 MASK RCSFLAGS
060246,000366: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
060247,000367: 17,2556 32622 CA HANDADR
060248,000368: 17,2557 55477 TS RETJADR
060249,000369: 17,2560 34753 CA ONE
060250,000370:
060251,000371: # Page 1446
060252,000372: 17,2561 55505 BACKHAND TS AXISCTR
060253,000373:
060254,000374: 17,2562 34751 CA FOUR
060255,000375: 17,2563 55742 TS NUMBERT
060256,000376:
060257,000377: 17,2564 51505 INDEX AXISCTR
060258,000378: 17,2565 51534 INDEX SKIPU
060259,000379: 17,2566 12567 TCF +1
060260,000380: 17,2567 34751 CA FOUR
060261,000381: 17,2570 51505 INDEX AXISCTR
060262,000382: 17,2571 55534 TS SKIPU
060263,000383: 17,2572 13034 TCF LOOPER
060264,000384:
060265,000385: 17,2573 51505 INDEX AXISCTR
060266,000386: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANTITY
060267,000387: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
060268,000388: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
060269,000389: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
060270,000390: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
060271,000391: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
060272,000392:
060273,000393: 17,2602 50000 INDEX A
060274,000394: 17,2603 41570 CS 1/ANET2 +1
060275,000395: 17,2604 00006 EXTEND
060276,000396: 17,2605 51505 INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC
060277,000397: 17,2606 71426 MP URATEDIF # JET TIME IN A, SCALED 32 SEC
060278,000398: 17,2607 54002 TS Q
060279,000399: 17,2610 20001 DAS A
060280,000400: 17,2611 60002 AD Q
060281,000401: 17,2612 54000 TS A # OVERFLOW SKIP
060282,000402: 17,2613 12615 TCF +2
060283,000403: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
060284,000404: 17,2615 51505 SETTIME INDEX AXISCTR
060285,000405: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
060286,000406: 17,2617 12756 TCF AFTERTJ
060287,000407:
060288,000408: 17,2620 34755 ZEROTJ CA ZERO
060289,000409: 17,2621 12615 TCF SETTIME
060290,000410:
060291,000411: 17,2622 02561 HANDADR GENADR BACKHAND
060292,000412:
060293,000413: # GTS WILL BE TRIED IF
060294,000414: # 1. USEQRJTS = 0,
060295,000415: # 2. ALLOWGTS POS,
060296,000416: # 3. JETS ARE OFF (Q,R-AXES)
060297,000417:
060298,000418: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
060299,000419: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.)
060300,000420: 17,2625 10000 CCS A
060301,000421: 17,2626 12141 TCF RCS
060302,000422: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK CK CONTROL FOR GTS?
060303,000423: # Page 1447
060304,000424: 17,2630 12632 TCF +2
060305,000425: 17,2631 12141 TCF RCS
060306,000426: 17,2632 00006 EXTEND
060307,000427: 17,2633 00005 READ CHAN5
060308,000428: 17,2634 10000 CCS A
060309,000429: 17,2635 12641 TCF CHKINGTS
060310,000430: 17,2636 00006 GOTOGTS EXTEND
060311,000431: 17,2637 32654 DCA GTSCADR
060312,000432: 17,2640 52006 DTCB
060313,000433:
060314,000434: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
060315,000435: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
060316,000436: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS.
060317,000437: 17,2644 00004 INHINT
060318,000438: 17,2645 04674 TC IBNKCALL
060319,000439: 17,2646 43327 CADR TIMEGMBL
060320,000440: 17,2647 00003 RELINT
060321,000441: 17,2650 34755 CAF ZERO
060322,000442: 17,2651 55632 TS INGTS
060323,000443: 17,2652 12141 TCF RCS
060324,000444:
060325,000445: 17,2653 E6,1634 EBANK= CDUXD
060326,000446: 17,2653 03076 42106 GTSCADR 2CADR GTS
060327,000447:
060328,000448: # Page 1448
060329,000449: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
060330,000450:
060331,000451: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
060332,000452: 17,2656 00006 EXTEND
060333,000453: 17,2657 21635 MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS)
060334,000454: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
060335,000455: 17,2661 00006 EXTEND
060336,000456: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
060337,000457: 17,2663 55751 TS E
060338,000458: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
060339,000459: 17,2665 00006 EXTEND
060340,000460: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
060341,000461: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
060342,000462: 17,2670 00006 EXTEND
060343,000463: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
060344,000464: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
060345,000465: 17,2673 61751 AD E
060346,000466: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
060347,000467:
060348,000468: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
060349,000469: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
060350,000470: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
060351,000471: 17,2700 55751 TS E
060352,000472: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
060353,000473: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
060354,000474: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
060355,000475: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
060356,000476: 17,2705 61751 AD E
060357,000477: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
060358,000478: 17,2707 00002 TC Q
060359,000479:
060360,000480: # Page 1449
060361,000481: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
060362,000482:
060363,000483: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
060364,000484:
060365,000485: 17,2710 31452 STILLRCS CA RERROR
060366,000486: 17,2711 22000 LXCH A
060367,000487: 17,2712 31450 CA QERROR
060368,000488: 17,2713 03200 TC ROT-TOUV
060369,000489: 17,2714 53751 DXCH UERROR
060370,000490:
060371,000491: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
060372,000492: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
060373,000493:
060374,000494: 17,2715 33142 TJLAW CA TJLAWADR
060375,000495: 17,2716 55477 TS RETJADR
060376,000496: 17,2717 34753 CA ONE
060377,000497: 17,2720 55505 TS AXISCTR
060378,000498: 17,2721 51505 INDEX AXISCTR
060379,000499: 17,2722 51534 INDEX SKIPU
060380,000500: 17,2723 12724 TCF +1
060381,000501: 17,2724 34751 CA FOUR
060382,000502: 17,2725 51505 INDEX AXISCTR
060383,000503: 17,2726 55534 TS SKIPU
060384,000504: 17,2727 13034 TCF LOOPER
060385,000505: 17,2730 51505 INDEX AXISCTR
060386,000506: 17,2731 31750 CA UERROR
060387,000507: 17,2732 55751 TS E
060388,000508: 17,2733 51505 INDEX AXISCTR
060389,000509: 17,2734 31426 CA OMEGAU
060390,000510: 17,2735 55427 TS EDOT
060391,000511: 17,2736 30111 CA DAPBOOLS
060392,000512: 17,2737 74737 MASK CSMDOCKD
060393,000513: 17,2740 10000 CCS A
060394,000514: 17,2741 12744 TCF +3
060395,000515: 17,2742 03304 TC TJETLAW
060396,000516: 17,2743 12756 TCF AFTERTJ
060397,000517: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
060398,000518: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
060399,000519: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
060400,000520: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
060401,000521: 17,2750 00004 INHINT
060402,000522: 17,2751 04674 TC IBNKCALL
060403,000523: 17,2752 43736 CADR SPSRCS # DETERMINE RCS CONTROL
060404,000524: 17,2753 00003 RELINT
060405,000525: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
060406,000526: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SLECTION, ETC.
060407,000527:
060408,000528: # Q,R-JET-SELECTION-LOGIC
060409,000529:
060410,000530: # INPUT: AXISCTR 0,1 FOR U,V
060411,000531: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
060412,000532: # Page 1450
060413,000533: # TJU,TJV JET TIME SCALED 10.24 SEC.
060414,000534: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
060415,000535: # RETJADR WHERE TO RETURN TO
060416,000536:
060417,000537: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
060418,000538: # CHANNEL 5
060419,000539: # SKIPU,SKIPV FOR LESS THAN 150MS FIRING
060420,000540:
060421,000541: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
060422,000542: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
060423,000543: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
060424,000544: # IF NONE CAN BE FOUND.
060425,000545:
060426,000546: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
060427,000547: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
060428,000548:
060429,000549: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
060430,000550: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
060431,000551: 17,2760 00006 EXTEND
060432,000552: 17,2761 12772 BZF DOROTAT
060433,000553: 17,2762 40106 CS FLGWRD10
060434,000554: 17,2763 74737 MASK APSFLBIT
060435,000555: 17,2764 00006 EXTEND
060436,000556: 17,2765 12772 BZF DOROTAT
060437,000557: 17,2766 30111 CA DAPBOOLS
060438,000558: 17,2767 74744 MASK DRIFTBIT
060439,000559: 17,2770 00006 EXTEND
060440,000560: 17,2771 13112 BZF XTRANS
060441,000561:
060442,000562: 17,2772 34752 DOROTAT CAF TWO
060443,000563: 17,2773 54001 TS L
060444,000564: 17,2774 51505 INDEX AXISCTR
060445,000565: 17,2775 11525 CCS TJU
060446,000566: 17,2776 13003 TCF +5
060447,000567: 17,2777 13026 TCF NOROTAT
060448,000568: 17,3000 13002 TCF +2
060449,000569: 17,3001 13026 TCF NOROTAT
060450,000570: 17,3002 22007 ZL
060451,000571: 17,3003 64753 AD ONE
060452,000572: 17,3004 55736 TS ABSTJ
060453,000573:
060454,000574: 17,3005 31505 CA AXISCTR
060455,000575: 17,3006 60001 AD L
060456,000576: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V +U +V
060457,000577:
060458,000578: 17,3010 31736 CA ABSTJ
060459,000579: 17,3011 63137 AD -150MS
060460,000580: 17,3012 00006 EXTEND
060461,000581: 17,3013 63037 BZMF DOSKIP
060462,000582: # Page 1451
060463,000583: 17,3014 03225 TC SELCTSUB
060464,000584:
060465,000585: 17,3015 51505 INDEX AXISCTR
060466,000586: 17,3016 33134 CA INDEXES
060467,000587: 17,3017 54001 TS L
060468,000588:
060469,000589: 17,3020 31740 CA POLYTEMP
060470,000590: 17,3021 00004 INHINT
060471,000591: 17,3022 50001 INDEX L
060472,000592: 17,3023 05744 TC WRITEP
060473,000593:
060474,000594: 17,3024 00003 RELINT
060475,000595: 17,3025 13100 TCF FEEDBACK
060476,000596:
060477,000597: 17,3026 51505 NOROTAT INDEX AXISCTR
060478,000598: 17,3027 33134 CA INDEXES
060479,000599: 17,3030 00004 INHINT
060480,000600: 17,3031 50000 INDEX A
060481,000601: 17,3032 05743 TC WRITEP -1
060482,000602:
060483,000603: 17,3033 00003 RELINT
060484,000604: 17,3034 11505 LOOPER CCS AXISCTR
060485,000605: 17,3035 01477 TC RETJADR
060486,000606: 17,3036 13270 TCF CLOSEOUT
060487,000607: 17,3037 41736 DOSKIP CS ABSTJ
060488,000608: 17,3040 63136 AD +TJMINT6 # 14MS
060489,000609: 17,3041 00006 EXTEND
060490,000610: 17,3042 63061 BZMF NOTMIN
060491,000611:
060492,000612: 17,3043 27736 ADS ABSTJ
060493,000613: 17,3044 51505 INDEX AXISCTR
060494,000614: 17,3045 11525 CCS TJU
060495,000615: 17,3046 33136 CA +TJMINT6
060496,000616: 17,3047 13051 TCF +2
060497,000617: 17,3050 43136 CS +TJMINT6
060498,000618: 17,3051 51505 INDEX AXISCTR
060499,000619: 17,3052 55525 TS TJU
060500,000620:
060501,000621: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
060502,000622: 17,3054 13060 TCF NOTMIN -1
060503,000623: 17,3055 00006 EXTEND
060504,000624: 17,3056 00004 READ LOSCALAR
060505,000625: 17,3057 74753 MASK ONE
060506,000626: 17,3060 55742 TS NUMBERT
060507,000627:
060508,000628: 17,3061 03225 NOTMIN TC SELCTSUB
060509,000629:
060510,000630: 17,3062 51505 INDEX AXISCTR
060511,000631: 17,3063 33134 CA INDEXES
060512,000632: 17,3064 00004 INHINT
060513,000633: # Page 1452
060514,000634: 17,3065 55471 TS T6FURTHA +1
060515,000635: 17,3066 31740 CA POLYTEMP
060516,000636: 17,3067 51471 INDEX T6FURTHA +1
060517,000637: 17,3070 05744 TC WRITEP
060518,000638:
060519,000639: 17,3071 31736 CA ABSTJ
060520,000640: 17,3072 55470 TS T6FURTHA
060521,000641: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
060522,000642:
060523,000643: 17,3074 00003 RELINT
060524,000644:
060525,000645: 17,3075 34755 CA ZERO
060526,000646: 17,3076 51505 INDEX AXISCTR
060527,000647: 17,3077 55534 TS SKIPU
060528,000648:
060529,000649: 17,3100 46250 FEEDBACK CS THREE
060530,000650: 17,3101 61742 AD NUMBERT
060531,000651: 17,3102 00006 EXTEND
060532,000652: 17,3103 63106 BZMF +3
060533,000653:
060534,000654: 17,3104 34752 CA TWO
060535,000655: 17,3105 13107 TCF +2
060536,000656: 17,3106 34753 CA ONE
060537,000657: 17,3107 51505 INDEX AXISCTR
060538,000658: 17,3110 55522 TS NO.UJETS
060539,000659: 17,3111 13034 TCF LOOPER
060540,000660:
060541,000661: 17,3112 34755 XTRANS CA ZERO
060542,000662: 17,3113 55525 TS TJU
060543,000663: 17,3114 55526 TS TJV
060544,000664: 17,3115 34751 CA FOUR
060545,000665: 17,3116 00004 INHINT
060546,000666: 17,3117 57534 XCH SKIPU
060547,000667: 17,3120 00006 EXTEND
060548,000668: 17,3121 13123 BZF +2
060549,000669: 17,3122 05747 TC WRITEU -1
060550,000670: 17,3123 34751 CA FOUR
060551,000671: 17,3124 57535 XCH SKIPV
060552,000672: 17,3125 00003 RELINT
060553,000673:
060554,000674: 17,3126 00006 EXTEND
060555,000675: 17,3127 13270 BZF CLOSEOUT
060556,000676: 17,3130 00004 INHINT
060557,000677: 17,3131 05760 TC WRITEV -1
060558,000678: 17,3132 00003 RELINT
060559,000679:
060560,000680: 17,3133 13270 TCF CLOSEOUT
060561,000681: 17,3134 00004 INDEXES DEC 4 B-14
060562,000682: 17,3135 00015 DEC 13 B-14
060563,000683: 17,3136 00026 +TJMINT6 DEC 22 B-14
060564,000684: # Page 1453
060565,000685: 17,3137 77417 -150MS DEC -240 B-14
060566,000686: 17,3140 00600 BIT8,9 OCT 00600
060567,000687: 17,3141 00266 SCLNORM OCT 266
060568,000688: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
060569,000689:
060570,000690: # THE JET LIST:
060571,000691: # THIS IS A WAITLIST FOR T6RUPTS.
060572,000692:
060573,000693: # CALLED BY:
060574,000694: # CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN
060575,000695: # TS T6FURTHA
060576,000696: # CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW)
060577,000697: # TS T6FURTHA +1
060578,000698: # TC JTLST
060579,000699:
060580,000700: # EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
060581,000701: # JETS INTO CHANNEL 5. IT IT DESIRES TO TURN OFF THIS POLICY WITHIN
060582,000702: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
060583,000703: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
060584,000704: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
060585,000705:
060586,000706: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT)
060587,000707: # THE INPUT IS THE LAST MEMBER OF THE LIST.
060588,000708:
060589,000709: # RETURNS BY:
060590,000710: # + TC Q
060591,000711:
060592,000712: # DEFINITIONS: (OUTPUT)
060593,000713: # TIME6 TIME OF NEXT RUPT
060594,000714: # T6NEXT DELTA TIME TO NEXT RUPT
060595,000715: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
060596,000716: # NXT6ADR AXIS INDEX 0 -- P-AXIS
060597,000717: # T6NEXT +1 AXIS INDEX 4 -- U-AXIS
060598,000718: # T6FURTHA +1 AXIS INDEX 13 -- V-AXIS
060599,000719:
060600,000720: 17,3143 41470 JTLST CS T6FURTHA
060601,000721: 17,3144 60031 AD TIME6
060602,000722: 17,3145 00006 EXTEND
060603,000723: 17,3146 63163 BZMF MIDORLST # TIME6 -- TI IS IN A
060604,000724:
060605,000725: 17,3147 23465 LXCH NXT6ADR
060606,000726: 17,3150 53467 DXCH T6NEXT
060607,000727: 17,3151 53471 DXCH T6FURTHA
060608,000728: 17,3152 54031 TS TIME6
060609,000729: 17,3153 23465 LXCH NXT6ADR
060610,000730:
060611,000731: 17,3154 00006 TURNON EXTEND
060612,000732: 17,3155 23265 QXCH C13QSAV
060613,000733: 17,3156 06022 TC C13STALL
060614,000734:
060615,000735: 17,3157 34735 CA BIT15
060616,000736: # Page 1454
060617,000737: 17,3160 00006 EXTEND
060618,000738: 17,3161 05013 WOR CHAN13
060619,000739: 17,3162 01265 TC C13QSAV
060620,000740:
060621,000741: 17,3163 61466 MIDORLST AD T6NEXT
060622,000742: 17,3164 00006 EXTEND
060623,000743: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT -- T IS IN A
060624,000744:
060625,000745: 17,3166 23467 LXCH T6NEXT +1
060626,000746: 17,3167 53471 DXCH T6FURTHA
060627,000747: 17,3170 00006 EXTEND
060628,000748: 17,3171 60031 SU TIME6
060629,000749: 17,3172 53467 DXCH T6NEXT
060630,000750:
060631,000751: 17,3173 00002 TC Q
060632,000752:
060633,000753: 17,3174 40000 LASTCHG CS A
060634,000754: 17,3175 64754 AD NEG0
060635,000755: 17,3176 55470 TS T6FURTHA
060636,000756:
060637,000757: 17,3177 00002 TC Q
060638,000758:
060639,000759: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
060640,000760: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
060641,000761: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
060642,000762: # A AND THE V-COMPONENT IS IN L.
060643,000763:
060644,000764: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
060645,000765: 17,3201 00006 EXTEND
060646,000766: 17,3202 71626 MP COEFFQ
060647,000767: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
060648,000768: 17,3204 00006 EXTEND
060649,000769: 17,3205 71627 MP COEFFR
060650,000770: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
060651,000771: 17,3207 61737 AD ROTEMP2
060652,000772: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
060653,000773: 17,3211 13215 TCF +4
060654,000774: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
060655,000775: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
060656,000776: 17,3214 55736 TS ROTEMP1
060657,000777: 17,3215 41737 CS ROTEMP2
060658,000778: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
060659,000779: 17,3217 54007 TS 7
060660,000780: 17,3220 13223 TCF +3
060661,000781: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
060662,000782: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
060663,000783: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
060664,000784: 17,3224 00002 TC Q
060665,000785: 17,3225 51743 SELCTSUB INDEX ROTINDEX
060666,000786: # Page 1455
060667,000787: 17,3226 33257 CA ALLJETS
060668,000788: 17,3227 51742 INDEX NUMBERT
060669,000789: 17,3230 73263 MASK TYPEPOLY
060670,000790: 17,3231 55740 TS POLYTEMP
060671,000791:
060672,000792: 17,3232 71257 MASK CH5MASK
060673,000793: 17,3233 10000 CCS A
060674,000794: 17,3234 13236 TCF +2
060675,000795:
060676,000796: 17,3235 00002 TC Q
060677,000797:
060678,000798: 17,3236 36250 CA THREE
060679,000799: 17,3237 55742 FAILOOP TS NUMBERT
060680,000800: 17,3240 51743 INDEX ROTINDEX
060681,000801: 17,3241 33257 CA ALLJETS
060682,000802: 17,3242 51742 INDEX NUMBERT
060683,000803: 17,3243 73263 MASK TYPEPOLY
060684,000804: 17,3244 55740 TS POLYTEMP
060685,000805: 17,3245 71257 MASK CH5MASK
060686,000806: 17,3246 00006 EXTEND
060687,000807: 17,3247 13235 BZF FAILOOP -2
060688,000808: 17,3250 11742 CCS NUMBERT
060689,000809: 17,3251 13237 TCF FAILOOP
060690,000810: 17,3252 51505 INDEX AXISCTR
060691,000811: 17,3253 55525 TS TJU
060692,000812: 17,3254 05567 TC ALARM
060693,000813: 17,3255 02004 OCT 02004
060694,000814: 17,3256 13026 TCF NOROTAT
060695,000815: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
060696,000816: 17,3260 00022 OCT 00022 # -V 2 9
060697,000817: 17,3261 00204 OCT 00204 # +U 5 14
060698,000818: 17,3262 00041 OCT 00041 # +V 1 10
060699,000819: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
060700,000820: 17,3264 00252 OCT 00252 # +X 2 6 10 14
060701,000821: 17,3265 00146 OCT 00146 # A 2 5 9 14
060702,000822: 17,3266 00231 OCT 00231 # B 1 6 9 14
060703,000823: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
060704,000824:
060705,000825: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
060706,000826:
060707,000827: 17,3270 33272 CLOSEOUT CA ADRRUPT
060708,000828: 17,3271 07757 TC MAKERUPT
060709,000829:
060710,000830: 17,3272 03273 ADRRUPT ADRES ENDJASK
060711,000831:
060712,000832: 17,3273 53753 ENDJASK DXCH DAPARUPT
060713,000833: 17,3274 52011 DXCH ARUPT
060714,000834: 17,3275 53755 DXCH DAPBQRPT
060715,000835: 17,3276 56017 XCH BRUPT
060716,000836: # Page 1456
060717,000837: 17,3277 22002 LXCH Q
060718,000838: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
060719,000839: 17,3301 53757 DXCH DAPZRUPT
060720,000840: 17,3302 52016 DXCH ZRUPT
060721,000841: 17,3303 15272 TCF NOQRSM
060722,000842: 7757 BLOCK 3
060723,000843: 6000 SETLOC FFTAG6
060724,000844: 6000 BANK
060725,000845:
060726,000846: 7757 COUNT* $$/DAP
060727,000847:
060728,000848: 7757 00006 MAKERUPT EXTEND
060729,000849: 7760 07757 EDRUPT MAKERUPT
060730,000850:
End of include-file Q_R-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc