Source Code

019930,000001: 019931,000002: 019932,000003: 019933,000004: 019934,000005: 019935,000006: 019936,000007: 019937,000008: 019938,000009: 019939,000010: 019940,000011: 019941,000012: 019942,000013: 019943,000014: 019944,000015: 019945,000016: 019946,000017: 019947,000018: 019948,000019: 019949,000020: 019950,000021: 019951,000022: 019952,000023: 019953,000024: 019954,000025: 019955,000026: 019956,000027: 019957,000028: 019958,000029: 019959,000030: 019960,000031: 019961,000032: 019962,000033: 019963,000034: 019964,000035: 019965,000036: 019966,000037: 019967,000038: 019968,000039: 019969,000040: 019970,000041: 019971,000042: 019972,000043: 019973,000044: 019974,000045: 019975,000046: 019976,000047: 019977,000048: 019978,000049: 019979,000050: 019980,000051: 019981,000052: 019982,000053: 019983,000054: 019984,000055: 019985,000056: 019986,000057: 019987,000058: 019988,000059: 019989,000060: 019990,000061: 019991,000062: 019992,000063: 019993,000064: 019994,000065: 019995,000066: 019996,000067: 019997,000068: 019998,000069: 019999,000070: 020000,000071: 020001,000072: 020002,000073: 020003,000074: 020004,000075: 020005,000076: 020006,000077: 020007,000078: 020008,000079: 020009,000080: 020010,000081: 020011,000082: 020012,000083: 020013,000084: 020014,000085: 020015,000086: 020016,000087: 34,2000 020017,000088: 26,2000 020018,000089: 26,2000 020019,000090: 020020,000091: 26,2123 020021,000092: 020022,000093: 26,2123 < 020122,000193: 26,2244 020123,000194: 020124,000195: 26,2245 020125,000196: < 020462,000533: 26,2377 020463,000534: 26,2400 # Copyright: Public domain. # Filename: R60_62.agc # Purpose: A section of Luminary 1C, revision 131. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. # This file is intended to be a faithful transcription, except # that the code format has been changed to conform to the # requirements of the yaYUL assembler rather than the # original YUL assembler. # Reference: pp. 481-494 of 1729.pdf. # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo/index.html # Mod history: 05/14/03 RSB. Began transcribing. # 05/14/05 RSB Corrected website reference above. # Page 481 # MOD NO: 0 DATE: 1 MAY 1968 # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62 # FUNCTIONAL DESCRIPTION: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED # ATTITUDE. # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE # CALCULATED (VECPOINT). # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS). # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER. # 4. IF PRIORITY DISPLAY FLAG IS SET TO A PHASECHANGE. THEN AWAIT # ASTRONAUT RESPONSE. # 5. DISPLAY RESPONSE RETURNS. # A. ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT. # B. TERMINATE -- IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF # NOT IN R61 AND EXIT IS DONE VIA GOTOP00H. # C. PROCEED -- CONTINUE WITH PROGRAM AT STEP 6. # 6. IF THE 3-AXIS FLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED # (VECPOINT). # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS). # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3. # # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3. # 10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES). # 11. DO A PHASE-CHANGE. # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL # GIMBAL ANGLES (GOMANUR). # 13. AT END OF MANEUVER TO TO STEP 3. # IF SATISFACTORY MANEUVER STEP 5A EXITS R60. # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT # Page 482 # STEP 5C. # CALLING SEQUENCE: TC BANKCALL # CADR R60LEM # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT) # 3AXISFLG. # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF24, LINUS, GOSPER, # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG # NORMAL EXIT MODES: CAE TEMPR60 (CALLER'S RETURN ADDRESS) # TC BANKJUMP # ALARMS: NONE # OUTPUT: NONE # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2 BANK 34 SETLOC MANUVER BANK 1163 EBANK= TEMPR60 COUNT* $$/R06 >020023,000094: 26,2123 04645 R60LEM TC MAKECADR 55163 TS TEMPR60 E4E">020026,000097: 26,2125 34746 REDOMANN CAF 3AXISBIT 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12136 TCF TOBALL # YES 06042 TC INTPRET 77624 CALL 56040 VECPOINT # TO COMPUTE FINAL ANGLES 00322 STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI 77776 EXIT >020036,000107: 26,2136 05504 TOBALL TC UPFLAG # INSURE THAT TOTAL ATTITUDE ERRORS ARE 00013 ADRES NEEDLFLG # DISPLAYED ON FDAI ERROR NEEDLES 05516 TC DOWNFLAG 00000 ADRES NEED2FLG 04616 TC BANKCALL 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI 1">020042,000113: 26,2144 32260 TOBALLA CAF V06N18 04616 TC BANKCALL # Page 483 20711 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER 02246 TC R61TEST 02154 TC REDOMANC # PROCEED 02201 TC ENDMANU1 # ENTER I.E., FINISHED WITH R60 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS 05155 TC ENDOFJOB E43">020052,000123: 26,2154 34746 REDOMANC CAF 3AXISBIT 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12165 TCF TOBALLC # YES 06042 TC INTPRET 77624 CALL 56040 VECPOINT # TO COMPUTE FINAL ANGLES 00322 STORE CPHI # STORE ANGLES 77776 EXIT 3">020062,000133: 26,2165 04616 TOBALLC TC BANKCALL 54272 CADR BALLANGS # TO CONVERT ANGLES TO FDAI 02261 TC G+N,AUTO # CHECK AUTO MODE 10000 CCS A 12144 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER. E56">020068,000139: 26,2172 32260 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER 04616 TC BANKCALL 20452 CADR GODSPR 02205 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS E56">020073,000144: 26,2176 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU 17741 CADR GOMANUR 556">020076,000147: 26,2200 12144 ENDMANUV TCF TOBALLA # FINISHED MANEUVER. 531">020077,000148: 26,2201 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG 00124 ADRES 3AXISFLG 31163 CAE TEMPR60 04640 TC BANKJUMP 553">020082,000153: 26,2205 40100 CHKLINUS CS FLAGWRD4 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET? 10000 CCS A 00002 TC Q # NO -- EXIT 30002 CA Q 54156 TS MPAC +2 # SAVE RETURN 46250 CS THREE # OBTAIN LOCATION FOR RESTART 60133 AD BUF2 # HOLD Q OF LAST DISPLAY 55054 TS TBASE2 05353 TC PHASCHNG 00132 OCT 00132 # Page 484 34745 CAF BIT7 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY 00156 TC MPAC +2 3">020099,000170: 26,2223 37717 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY 05146 TC PRIOCHNG 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON. 70075 MASK FLAGWRD1 10000 CCS A 12243 TCF RER60 34745 CAF RNDVZBIT # IS IT P20? 70074 MASK FLAGWRD0 10000 CCS A 02240 TC +4 # YES 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT 40112 OCT 40112 05155 TC ENDOFJOB 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20 40072 OCT 40072 05155 TC ENDOFJOB /a>020121,000192: 26,2243 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART 00077 ADRES PDSPFLAG 01054 TC TBASE2 4">020126,000197: 26,2246 31010 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89 00006 EXTEND 12201 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR garbled) 74740 MASK PDSPFBIT 00006 EXTEND 16001 BZF GOTOP00H # NO 06025 TC GOTOV56 # YES 7">020136,000207: 26,2256 20100 BIT14+7 OCT 20100 >020137,000208: 26,2257 00203 OCT203 OCT 203 >020138,000209: 26,2260 01422 V06N18 VN 0618 # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET 44F">020145,000216: 26,2261 00006 G+N,AUTO EXTEND # Page 485 00030 READ CHAN30 74742 MASK BIT10 10000 CCS A 00002 TC Q # NOT IN G+N C(A) = - 44F">020151,000222: 26,2266 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE 00031 READ CHAN31 74736 MASK BIT14 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK # Page 486 # PROGRAM DESCRIPTION BALLANGS # MOD NO. LOG SECTION R60,R62 # WRITTEN BY RAMA M. AIYAWAR # FUNCTIONAL DESCRIPTION # COMPUTES LM FDAI BALL DISPLAY ANGLES # CALLING SEQUENCE # TC BALLANGS # NORMAL EXIT MODE # TC BALLEXIT # (SAVED Q) # ALARM OR EXIT MODE: NIL # SUBROUTINES CALLED # CD*TR*G # ARCTAN # INPUT # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE # SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION. # OUTPUT # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION # SP,2'S COMPEMENT. # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19. # ERASABLE INITIALIZATION REQUIRED # CPHI, CTHETA, CPSI EACH AN SP REGISTER # DEBRIS # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR # EQUIVALENTLY, CDUX, CDUY, AND CDUZ. # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES. SETLOC BAWLANGS BANK COUNT* $$/BALL 753">020209,000280: 26,2272 04645 BALLANGS TC MAKECADR 55337 TS BALLEXIT 30321 CA CPHI # Page 487 54771 TS CDUSPOT +4 30322 CA CTHETA 54765 TS CDUSPOT 30323 CA CPSI 54767 TS CDUSPOT +2 06042 TC INTPRET 45001 SETPD CALL 00001 0D 47545 CD*TR*G 41345 DLOAD DMP 00742 SINCDUX # SIN (OGA) 00746 COSCDUZ # COS (MGA) 57552 SL1 DCOMP # SCALE 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD 00740 SINCDUZ 14023 STODL SINTH # (SINTH = 18D IN PD) 00746 COSCDUZ 72405 DMP SL1 # RESCALE 00750 COSCDUX 34021 STCALL COSTH # (COSTH = 16D IN PD) 26506 ARCTAN 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD 00740 SINCDUZ 00742 SINCDUX 41512 SL2 PUSH # SXSZ INTO 4 PD 65205 DMP PDDL # SXSZCY INTO 4 PD 00744 COSCDUY 65205 DMP PDDL # SXSZSY INTO 6 PD 00736 SINCDUY 00750 COSCDUX 72405 DMP SL1 # CXCY 00744 COSCDUY 45425 DSU STADR # PULL UP FORM 6 PD 63756 STODL COSTH # COSTH = CXCY - SXSZSY 00736 SINCDUY 72405 DMP SL1 00750 COSCDUX # CXSY 45415 DAD STADR # PULL UP FORM 4 PD 43754 STCALL SINTH # SINTH = CXSY + SXSZCY 26506 ARCTAN # RETURNS WITH D(MPAC) = PITCH 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW 21621 V1STO2S 02345 STORE FDAIX # MODE IS TP 77776 EXIT C">020262,000333: 26,2352 31337 ENDBALL CA BALLEXIT # Page 488 04640 TC BANKJUMP # Page 489 # PROGRAM DESCRIPTION -- VECPOINT # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES. # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL # ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM # IN T(MPAC) BEFORE RETURNING TO THE CALLER. # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE, # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS- # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS, # THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X) # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND # STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER. # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES. # CALLING SEQUENCE # 1) LOAD SCAXIS, POINTVSM # 2) CALL # VECPOINT # RETURNS WITH # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1 # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2 # ERASABLES USED -- # 1) SCAXIS 6 # 2) POINTVSM 6 # 3) MIS 18 # 4) DEL 18 # 5) COF 6 # 6) VECQTEMP 1 # 7) ALL OF VAC AREA 43 # TOTAL 99 SETLOC VECPT BANK # Page 490 COUNT* $$/VECPT EBANK= BCDU 1">020323,000394: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS 03324 VECQTEMP # NOT PRESENT -- ENTER WITH CDUD'S IN MPAC 56035 VECPNT2 2">020326,000397: 27,2035 52164 VECPNT2 AXC,2 GOTO 03245 MIS 56046 STORANG E54">020329,000400: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS 03324 VECQTEMP 56043 VECLEAR # AND CLEAR OVFIND 2">020332,000403: 27,2043 47164 VECLEAR AXC,2 RTB 03245 MIS # READ THE PRESENT CDU ANGLES AND 44403 READCDUK # STORE THEM IN PD25, 26, 27 7">020335,000406: 27,2046 34032 STORANG STCALL 25D 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS) 61375 VLOAD VXM 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO 03246 MIS # INITIAL S/C AXES (VF = POINTVSM) 77656 UNIT 00035 STORE 28D # PD 28 29 30 31 32 33 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI 03765 SCAXIS # WHERE VI = SCAXIS 57400 BOV VCOMP 56170 PICKAXIS 17270 STODL COF # CHECK MAGNITUDE 00045 36D # OF CROSS PRODUCT 50025 DSU BMN # VECTOR, IF LESS 14415 DPB-14 # THAN B-14 ASSUME 56170 PICKAXIS # UNIT OPERATION 50375 VLOAD DOT # INVALID. 03765 SCAXIS 00035 28D 65552 SL1 ARCCOS 458">020356,000427: 27,2072 77624 COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI 75160 AXC,1 AXC,2 03245 MIS # COMPUTE THE TRANSFORMATION FROM FINAL 02230 KEL # S/C AXES TO STABLE MEMBER AXES 77624 CALL # MFS = MIS MFI 44312 MXM3 # (IN PD LIST) 51545 DLOAD ABS 00007 6 # MFS6 = SIN(CPSI) 50025 DSU BMN 14402 SINGIMLC # = SIN(59 DEGS) 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS. # Page 491 # I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING 03765 SCAXIS # THE THRUST AXIS 51025 DSU BPL 14404 SINVEC1 # SIN 49.4 DEGS 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE 77626 STADR 50515 STOVL MIS +12D 77626 STADR # STORE MFS (IN PD LIST) IN MIS 50523 STOVL MIS +6 77626 STADR 50531 STOVL MIS 03254 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO 56125 IGSAMEX # FINAL X S/C AXIS 8">020388,000459: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3) # X SCAXIS . XF) LESS THAN Q, U = SCAXIS # OTHERWISE U = -SCAXIS. 57575 VLOAD VCOMP 03765 SCAXIS 37270 STCALL COF # ROTATE ABOUT -SCAXIS 56137 CHEKAXIS 953">020398,000469: 27,2134 77775 U=SCAXIS VLOAD 03765 SCAXIS 03270 STORE COF # ROTATE ABOUT + SCAXIS 953">020401,000472: 27,2137 51545 CHEKAXIS DLOAD ABS 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT 51025 DSU BPL 14406 SINVEC2 # SIN 29.5 DEGS 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER 14412 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT # OF GIMBAL LOCK (VECANG2 garbled) 731">020410,000481: 27,2147 77745 PICKANG1 DLOAD 14410 VECANG1 # =.50 DEGS. 34E">020412,000483: 27,2151 77624 COMPMFSN CALL 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK 03245 MIS 02230 KEL 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES # WHICH WILL ALIGN VI WITH VF AND AVOID # Page 492 # GIMBAL LOCK D42">020422,000493: 27,2160 45160 FINDGIMB AXC,1 CALL 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM 44654 DCMTOCDU # THIS MATRIX 40234 RTB SETPD 21621 V1STO2S # CONVERT TO 2'S COMPLEMENT 00001 0 77650 GOTO 03324 VECQTEMP # RETURN TO CALLER 953">020431,000502: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI 00035 28D 03765 SCAXIS 72240 BMN TLOAD 54354 ROT180 00032 25D 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU 03324 VECQTEMP # PRESETN CDU ANGLES BANK 35 SETLOC MANUVER1 BANK >020443,000514: 26,2354 47375 ROT180 VLOAD VXV # IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION 03254 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN 06522 HIDPHALF # INITIAL S/C AXES. 47256 UNIT VXV # FIND Y(SM) X X(I) 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I))) 40056 UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I), 54376 PICKX # Y(SM) PERPENDICULAR TO VI 17270 STODL COF 00045 36D # CHECK MAGNITUDE 50025 DSU BMN # OF THIS VECTOR. 14415 DPB-14 # IF LESS THAN B-14, 54376 PICKX # PICK X-AXIS. 77775 VLOAD 03270 COF >020457,000528: 26,2372 17270 XROT STODL COF 06522 HIDPHALF 77650 GOTO 56072 COMPMATX /a>020461,000532: 26,2376 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE 06522 HIDPHALF 54372 XROT C43">020464,000535: 26,2401 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) 1">020465,000536: 26,2403 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) 2">020466,000537: 26,2405 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) 1">020467,000538: 26,2407 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES # Page 493 2">020469,000540: 26,2411 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES >020471,000542: 26,2413 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) >020472,000543: 26,2414 00001 DPB-14 OCT 00001 00000 OCT 00000 # Page 494 # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49) BANK 34 SETLOC R62 BANK EBANK= BCDU COUNT* $$/R62 0">020485,000556: 23,2103 23,2103 R62DISP EQUALS R62FLASH 348">020487,000558: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND 04616 TC BANKCALL # ICDU ANGLES 20477 CADR GOFLASH 15472 TCF ENDEXT # TERMINATE 12111 TCF GOMOVE # PROCEED 12103 TCF R62FLASH # ENTER # ASTRONAUT MAY LOAD NEW ICDUS AT THIS # POINT. >020496,000567: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER 00124 ADRES 3AXISFLG 04616 TC BANKCALL 54123 CADR R60LEM 15472 TCF ENDEXT # END R62 Parent file is MAIN.agc