Source Code
060732,000001: # Copyright: Public domain.
060733,000002: # Filename: TJET_LAW.agc
060734,000003: # Purpose: A section of Luminary 1C, revision 131.
060735,000004: # It is part of the source code for the Lunar Module's (LM)
060736,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
060737,000006: # This file is intended to be a faithful transcription, except
060738,000007: # that the code format has been changed to conform to the
060739,000008: # requirements of the yaYUL assembler rather than the
060740,000009: # original YUL assembler.
060741,000010: # Reference: pp. 1457-1466 of 1729.pdf.
060742,000011: # Contact: Ron Burkey <info@sandroid.org>.
060743,000012: # Website: www.ibiblio.org/apollo/index.html
060744,000013: # Mod history: 06/08/03 RSB. Began transcribing.
060745,000014: # 05/14/05 RSB Corrected website reference above.
060746,000015:
060747,000016: # Page 1457
060748,000017: # PROGRAM DESCRIPTION
060749,000018: # DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN
060750,000019: # CODED BY: P. S. WEISSMAN, 28 FEBRURARY 1968
060751,000020:
060752,000021: # TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
060753,000022: # ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
060754,000023: # -1 INDICATES THE P-AXIS
060755,000024: # +0 INDICATES THE U-AXIS
060756,000025: # +1 INDICATES TEH V-AXIS
060757,000026: # THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
060758,000027: # UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
060759,000028: # COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
060760,000029: # ACCESSED BY INDEXING.
060761,000030:
060762,000031: # THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
060763,000032: # PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU, OR TJV). THE NUMBER OF JETS THAT
060764,000033: # TJETLAW ASSUMES WILL BE USED AS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
060765,000034: # ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
060766,000035: # (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
060767,000036:
060768,000037: # IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
060769,000038: # ERROR AND/OR ERROR RATE ARE LARGE.
060770,000039:
060771,000040: # CALLING SEQUENCE:
060772,000041: # TC TJETLAW # (MUST BE IN JASK)
060773,000042: # OR
060774,000043: # INHINT # (MUST BE IN JASK)
060775,000044: # TC IBNKCALL
060776,000045: # CADR TJETLAW
060777,000046: # RELINT
060778,000047:
060779,000048: # EXIT: RETURN TO Q.
060780,000049:
060781,000050: # INPUT:
060782,000051: # FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP, -U, -V.
060783,000052: # FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU, -V).
060784,000053:
060785,000054: # OUTPUT:
060786,000055: # TJP, -U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
060787,000056:
060788,000057: # DEBRIS:
060789,000058: # A, L, Q, E, EDOT, DAPTEMP1-6, DAPTEMP1-4.
060790,000059:
060791,000060: # ALARM: NONE
060792,000061:
060793,000062: 17,3304 BANK 17
060794,000063: 17,2000 SETLOC DAPS2
060795,000064: 17,2000 BANK
060796,000065: 17,3304 E6,1524 EBANK= TJP
060797,000066: # Page 1458
060798,000067: 17,3304 COUNT* $$/DAPTJ
060799,000068:
060800,000069: 17,3304 00006 TJETLAW EXTEND # SAVE Q FOR RETURN.
060801,000070: 17,3305 23744 QXCH HOLDQ
060802,000071:
060803,000072: # SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
060804,000073:
060805,000074: 17,3306 51505 INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U
060806,000075: 17,3307 33755 CAF AXISDIFF # AXISDIFF(0)=0
060807,000076: 17,3310 55745 TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
060808,000077:
060809,000078: 17,3311 31427 CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
060810,000079: 17,3312 00006 EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
060811,000080: 17,3313 63320 BZMF NEGEDOT # POSITIVE EDOT.
060812,000081: 17,3314 31745 CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
060813,000082: 17,3315 55743 TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
060814,000083: 17,3316 33757 CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
060815,000084: 17,3317 13330 TCF SETSENSE # INITIALIZED POSITIVE.
060816,000085:
060817,000086: 17,3320 41751 NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
060818,000087: 17,3321 55751 TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
060819,000088: 17,3322 41427 CS EDOT # 1. COMPLEMENT E AND EDOT.
060820,000089: 17,3323 55427 TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
060821,000090: 17,3324 34753 CAF BIT1 # (REVERSED LATER IF NECESSARY).
060822,000091: 17,3325 27745 ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
060823,000092: 17,3326 55743 TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
060824,000093: 17,3327 43757 CS SENSOR
060825,000094: 17,3330 55737 SETSENSE TS ROTSENSE
060826,000095:
060827,000096: # TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
060828,000097: # IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
060829,000098: # IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4
060830,000099:
060831,000100: 17,3331 31751 CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
060832,000101: 17,3332 00006 EXTEND
060833,000102: 17,3333 74747 MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
060834,000103: 17,3334 10000 CCS A # ZERO, RESCALE AND TEST EDOT.
060835,000104: 17,3335 13717 TCF RUFLAW2
060836,000105: 17,3336 13340 TCF SCALEE
060837,000106: 17,3337 13663 TCF RUFLAW1
060838,000107: 17,3340 34737 SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
060839,000108: 17,3341 00006 EXTEND # IT TO PI/4 AND SAVE IT.
060840,000109: 17,3342 70001 MP L
060841,000110: 17,3343 55751 TS E
060842,000111:
060843,000112: # TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
060844,000113: # IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
060845,000114: # IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
060846,000115:
060847,000116: 17,3344 31427 CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
060848,000117: # Page 1459
060849,000118: 17,3345 00006 EXTEND # FOR THIS AXIS=
060850,000119: 17,3346 74750 MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
060851,000120: 17,3347 00006 EXTEND # ZERO, THEN RESCALE AND USE FINELAW.
060852,000121: 17,3350 13352 BZF SCALEDOT
060853,000122: 17,3351 13725 TCF RUFLAW3
060854,000123:
060855,000124: # *** FINELAW STARTS HERE ***
060856,000125:
060857,000126: 17,3352 23427 SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
060858,000127:
060859,000128: 17,3353 31427 CAE EDOT # COMPUTE (EDOT)(EDOT)
060860,000129: 17,3354 00006 EXTEND
060861,000130: 17,3355 70000 SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
060862,000131: 17,3356 00006 EXTEND
060863,000132: 17,3357 74737 MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE TO EDOTSQ
060864,000133: 17,3360 55736 TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
060865,000134:
060866,000135: 17,3361 11751 ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
060867,000136: 17,3362 13365 TCF +3 # DEADBAND) REQUIRE MAXIMUM JETS?
060868,000137: 17,3363 13365 TCF +2
060869,000138: 17,3364 13365 TCF +1
060870,000139: 17,3365 63760 AD -3DEG
060871,000140: 17,3366 00006 EXTEND
060872,000141: 17,3367 51745 INDEX ADRSDIF1
060873,000142: 17,3370 61600 SU FIREDB
060874,000143: 17,3371 00006 EXTEND
060875,000144: 17,3372 63377 BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED?
060876,000145: 17,3373 34752 MAXJETS CAF TWO # IF YES: INCRMENT ADDRESS LOCATOR AND
060877,000146: 17,3374 27743 ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
060878,000147: 17,3375 34751 CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
060879,000148: 17,3376 13402 TCF TJCALC
060880,000149: 17,3377 11500 SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
060881,000150: 17,3400 13402 TCF TJCALC # YES. USE MIN-JET PARAMETERS
060882,000151: 17,3401 13373 TCF MAXJETS # NO. GET THE MAX-JET PARAMETERS.
060883,000152: 17,3402 55742 TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
060884,000153:
060885,000154: # BEGINNING OF TJET CALCULATIONS:
060886,000155:
060887,000156: 17,3403 41736 CS EDOTSQ # SCALED AT PI(2)/2(8).
060888,000157: 17,3404 00006 EXTEND
060889,000158: 17,3405 51743 INDEX ADRSDIF2
060890,000159: 17,3406 71566 MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
060891,000160: 17,3407 51745 INDEX ADRSDIF1
060892,000161: 17,3410 61600 AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
060893,000162: 17,3411 00006 EXTEND
060894,000163: 17,3412 61751 SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
060895,000164: 17,3413 55740 TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
060896,000165: 17,3414 00006 EXTEND
060897,000166: 17,3415 63575 BZMF ZON1,2,3
060898,000167:
060899,000168: 17,3416 51745 ZONE4,4 INDEX ADRSDIF1
060900,000169: # Page 1460
060901,000170: 17,3417 31572 CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
060902,000171: 17,3420 00006 EXTEND # ACC = MAX(AMIN, AOS-).
060903,000172: 17,3421 71736 MP EDOTSQ # SCALED AT PI/2(8).
060904,000173: 17,3422 61751 AD E # SCALED AT PI/4
060905,000174: 17,3423 51745 INDEX ADRSDIF1
060906,000175: 17,3424 61602 AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
060907,000176: 17,3425 00006 EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
060908,000177: 17,3426 63461 BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
060909,000178: # IF FUNCTION POSITIVE, IN ZONE 4.
060910,000179:
060911,000180: # ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
060912,000181: # A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
060913,000182: # B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
060914,000183: # THEN THE THRUSTERS ARE KEPT ON.
060915,000184:
060916,000185: 17,3427 51505 ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
060917,000186: 17,3430 41525 CS TJETU # WITH SENSE OPPOSITE TO EDOT,
060918,000187: 17,3431 00006 EXTEND # (I.E., ARE JETS ON AND FIRING TOARD
060919,000188: 17,3432 71737 MP ROTSENSE # THE DESIRABLE STATE).
060920,000189: 17,3433 00006 EXTEND
060921,000190: 17,3434 63455 BZMF COASTTJ # NO. COAST.
060922,000191:
060923,000192: 17,3435 11554 JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT?
060924,000193: 17,3436 13447 TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
060925,000194:
060926,000195: 17,3437 41740 CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
060927,000196: 17,3440 51745 INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
060928,000197: 17,3441 61604 AD AXISDIST # PHASE PLANE?
060929,000198: 17,3442 00006 EXTEND
060930,000199: 17,3443 63455 BZMF COASTTJ # NO. SET TJET = 0.
060931,000200: 17,3444 03561 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
060932,000201: 17,3445 31740 CAE FIREFCT # AFTER COMPUTING THE REQUIRED
060933,000202: 17,3446 13615 TCF ZONE1 # PARAMETERS.
060934,000203:
060935,000204: 17,3447 51745 DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
060936,000205: 17,3450 41600 CS FIREDB # THIS POINT IN THE PHASE PLANE?
060937,000206: 17,3451 60000 DOUBLE
060938,000207: 17,3452 61740 AD FIREFCT
060939,000208: 17,3453 00006 EXTEND
060940,000209: 17,3454 63457 BZMF +3
060941,000210: 17,3455 34755 COASTTJ CAF ZERO # NO. SET TJET = 0.
060942,000211: 17,3456 13521 TCF RETURNTJ
060943,000212:
060944,000213: 17,3457 03561 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
060945,000214: 17,3460 13602 TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
060946,000215:
060947,000216: 17,3461 54001 ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
060948,000217: 17,3462 11737 CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
060949,000218: 17,3463 13467 TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
060950,000219: 17,3464 05675 TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
060951,000220: # Page 1461
060952,000221: 17,3465 44752 CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
060953,000222: 17,3466 27743 ADS ADRSDIF2
060954,000223:
060955,000224: 17,3467 30001 +4 CAE L
060956,000225: 17,3470 00006 EXTEND
060957,000226: 17,3471 51743 INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
060958,000227: 17,3472 71575 MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
060959,000228: 17,3473 20001 DDOUBL # ABASED.
060960,000229: 17,3474 20001 DDOUBL
060961,000230: 17,3475 53747 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
060962,000231: 17,3476 51743 INDEX ADRSDIF2
060963,000232: 17,3477 31567 CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
060964,000233: 17,3500 00006 EXTEND
060965,000234: 17,3501 71427 MP EDOT # SCALED AT PI/2(5)
060966,000235: 17,3502 55741 TS TTOAXIS # SCALED AT 4 SEC.
060967,000236:
060968,000237: # TEST WHETHER TJET GREATER THAN 50 MSEC.
060969,000238:
060970,000239: 17,3503 00006 EXTEND
060971,000240: 17,3504 73767 MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
060972,000241: 17,3505 61746 AD HH # (SCALED AT 8 SEC(2) ).
060973,000242: 17,3506 67751 AD NEG2
060974,000243: 17,3507 00006 EXTEND
060975,000244: 17,3510 63536 BZMF FORMULA1
060976,000245:
060977,000246: # TEST WHETHER TJET GREATER THAN 150 MSEC.
060978,000247:
060979,000248: 17,3511 31741 CAE TTOAXIS
060980,000249: 17,3512 00006 EXTEND
060981,000250: 17,3513 73770 MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
060982,000251: 17,3514 61746 AD HH # (SCALED AT 8 SEC(2) )
060983,000252: 17,3515 63761 AD -.0112A8
060984,000253: 17,3516 00006 EXTEND
060985,000254: 17,3517 63546 BZMF FORMULA2
060986,000255:
060987,000256: # IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
060988,000257: # IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
060989,000258:
060990,000259: 17,3520 34741 FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
060991,000260:
060992,000261: # RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
060993,000262:
060994,000263: 17,3521 00006 RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
060995,000264: 17,3522 71737 MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
060996,000265: 17,3523 51505 INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
060997,000266: 17,3524 55525 TS TJETU
060998,000267: 17,3525 00006 EXTEND
060999,000268: 17,3526 51505 INDEX AXISCTR
061000,000269: 17,3527 71546 MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
061001,000270: 17,3530 30001 CAE L
061002,000271: 17,3531 00006 EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
061003,000272: 17,3532 63535 BZMF +3 # A MAX-JET CALCULATION.
061004,000273: # Page 1462
061005,000274: 17,3533 34751 CAF FOUR
061006,000275: 17,3534 55742 TS NUMBERT
061007,000276: 17,3535 01744 TC HOLDQ # RETURN VIA SAVED Q.
061008,000277:
061009,000278: # TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
061010,000279:
061011,000280: 17,3536 43766 FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
061012,000281: 17,3537 61741 AD TTOAXIS # SCALED AT 4 SECONDS.
061013,000282: 17,3540 53747 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
061014,000283: 17,3541 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
061015,000284: 17,3542 11746 DV HH # DP H AND DIVIDE BY DENOMINATOR.
061016,000285: 17,3543 00006 EXTEND
061017,000286: 17,3544 74736 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
061018,000287: 17,3545 13656 TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
061019,000288:
061020,000289: # TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
061021,000290:
061022,000291: 17,3546 00006 FORMULA2 EXTEND
061023,000292: 17,3547 33772 DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
061024,000293: 17,3550 21747 DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
061025,000294: # BE PRESERVED.
061026,000295: 17,3551 31741 CAE TTOAXIS # SCALED AT 4 SEC.
061027,000296: 17,3552 63762 AD .1AT4 # 0.1 SEC SCALED AT 4.
061028,000297: 17,3553 53747 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
061029,000298: 17,3554 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
061030,000299: 17,3555 11746 DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
061031,000300: 17,3556 00006 EXTEND
061032,000301: 17,3557 74736 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
061033,000302: 17,3560 13521 TCF RETURNTJ # END SUBROUTINE.
061034,000303:
061035,000304: # SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
061036,000305: # REACHED BY TC FROM 3 POINTS IN TJETLAW.
061037,000306:
061038,000307: 17,3561 41737 Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
061039,000308: 17,3562 55737 TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
061040,000309: 17,3563 31427 CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
061041,000310: 17,3564 00006 EXTEND
061042,000311: 17,3565 51743 INDEX ADRSDIF2
061043,000312: 17,3566 71566 MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
061044,000313: 17,3567 55741 TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
061045,000314: 17,3570 63773 AD -TJMAX
061046,000315: 17,3571 00006 EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
061047,000316: 17,3572 63574 BZMF +2
061048,000317: 17,3573 13520 TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
061049,000318: 17,3574 00002 RETURN # YES. GO ON TO FIND TJET
061050,000319:
061051,000320: 17,3575 03561 ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
061052,000321:
061053,000322: # IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
061054,000323: # Page 1463
061055,000324: # LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
061056,000325: # OR ULLAGE, FLAT = 0
061057,000326:
061058,000327: 17,3576 31740 CAE FIREFCT # SCALED AT PI/4 RAD.
061059,000328: 17,3577 61554 AD FLAT
061060,000329: 17,3600 00006 EXTEND
061061,000330: 17,3601 63615 BZMF ZONE1 # NOT IN SPECIAL ZONES.
061062,000331:
061063,000332: # FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
061064,000333:
061065,000334: 17,3602 41555 ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
061066,000335: 17,3603 61741 AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
061067,000336: 17,3604 00006 EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
061068,000337: 17,3605 63610 BZMF ZONE3
061069,000338: 17,3606 31741 ZONE2 CAE TTOAXIS # FIRE TO AXIS.
061070,000339: 17,3607 13521 TCF RETURNTJ
061071,000340: 17,3610 11427 ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
061072,000341: 17,3611 34746 CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
061073,000342: 17,3612 13521 TCF RETURNTJ # TJET = +0.
061074,000343: 17,3613 05675 TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
061075,000344: 17,3614 13521 TCF RETURNTJ # TJET = +0.
061076,000345:
061077,000346: 17,3615 00006 ZONE1 EXTEND
061078,000347: 17,3616 51745 INDEX ADRSDIF1
061079,000348: 17,3617 61604 SU AXISDIST # SCALED AT PI/4 RAD.
061080,000349: 17,3620 00006 EXTEND
061081,000350: 17,3621 51743 INDEX ADRSDIF2
061082,000351: 17,3622 71574 MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
061083,000352: 17,3623 20001 DDOUBL
061084,000353: 17,3624 20001 DDOUBL
061085,000354: 17,3625 53747 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
061086,000355:
061087,000356: # TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
061088,000357: # 2 2
061089,000358: # IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS )
061090,000359:
061091,000360: 17,3626 31741 CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS.
061092,000361: 17,3627 63773 AD -TJMAX # -.150 SECOND SCALED AT 4.
061093,000362: 17,3630 00006 EXTEND
061094,000363: 17,3631 70000 SQUARE
061095,000364: 17,3632 00006 EXTEND
061096,000365: 17,3633 61746 SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
061097,000366: 17,3634 00006 EXTEND
061098,000367: 17,3635 63520 BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
061099,000368:
061100,000369: # TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
061101,000370:
061102,000371: 17,3636 31746 CAE HH
061103,000372: 17,3637 67751 AD NEG2
061104,000373: 17,3640 00006 EXTEND
061105,000374: # Page 1464
061106,000375: 17,3641 63651 BZMF FORMULA3
061107,000376:
061108,000377: # TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
061109,000378:
061110,000379: 17,3642 33763 CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
061111,000380: 17,3643 53747 DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
061112,000381: 17,3644 00006 EXTEND # PRESERVED.
061113,000382: 17,3645 11746 DV HH # QUOTIENT SCALED AT 4 SECONDS.
061114,000383: 17,3646 61741 AD TTOAXIS # SCALED AT 4 SEC.
061115,000384: 17,3647 63764 AD .0375AT4 # .0375 SEC SCALED AT 4.
061116,000385: 17,3650 13521 TCF RETURNTJ # END COMPUTATION.
061117,000386:
061118,000387: # TJET - H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
061119,000388:
061120,000389: 17,3651 43765 FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION
061121,000390: 17,3652 53747 DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
061122,000391: 17,3653 00006 EXTEND # PRESERVED.
061123,000392: 17,3654 11746 DV HH # QUOTIENT SCALED AT 4 SECONDS.
061124,000393: 17,3655 61741 AD TTOAXIS # SCALED AT 4 SEC.
061125,000394:
061126,000395: # IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
061127,000396: # MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
061128,000397:
061129,000398: 17,3656 63775 CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
061130,000399: 17,3657 00006 EXTEND
061131,000400: 17,3660 63455 BZMF COASTTJ # YES, SET TIME TO ZERO.
061132,000401: 17,3661 63774 AD TJMIN # NO, RESTORE COMPUTED TIME.
061133,000402: 17,3662 13521 TCF RETURNTJ # END COMPUTATION.
061134,000403:
061135,000404: # Page 1465
061136,000405: # *** ROUGHLAW ***
061137,000406:
061138,000407: # BEFORE ENTRY TO RUFLAW:
061139,000408: # 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
061140,000409: # 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
061141,000410: # 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
061142,000411: # (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
061143,000412:
061144,000413: # RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.).
061145,000414: # RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
061146,000415: # RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
061147,000416:
061148,000417: 17,3663 43776 RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
061149,000418: 17,3664 27427 ADS EDOT # WHICH IS THE TARGET RATE
061150,000419: 17,3665 00006 EXTEND
061151,000420: 17,3666 63707 BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
061152,000421: 17,3667 03745 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
061153,000422: 17,3670 31427 CAE EDOT # PICK UP DESIRED RATE CHANGE.
061154,000423:
061155,000424: 17,3671 00006 RUFLAW12 EXTEND # COMPUTE TJET
061156,000425: 17,3672 51743 INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
061157,000426: 17,3673 71570 MP 1/ANET1 +2
061158,000427: 17,3674 67744 AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
061159,000428: 17,3675 00006 EXTEND # 4 SECONDS, SET TJET TO TJMAX.
061160,000429: 17,3676 63700 BZMF +2
061161,000430: 17,3677 13520 TCF FULLTIME
061162,000431: 17,3700 00006 EXTEND
061163,000432: 17,3701 13520 BZF FULLTIME
061164,000433: 17,3702 64740 AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR
061165,000434: 17,3703 20001 DAS A
061166,000435: 17,3704 20001 DAS A
061167,000436: 17,3705 20001 DAS A # RESCALED TJET AT 4 SECONDS.
061168,000437: 17,3706 13656 TCF CHKMINTJ # RETURN AS FROM FINELAW.
061169,000438:
061170,000439: 17,3707 03747 SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
061171,000440: 17,3710 11737 CCS ROTSENSE
061172,000441: 17,3711 34753 CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
061173,000442: 17,3712 13714 TCF +2 # CORRESPONDING TO THE PROPER SENSE.
061174,000443: 17,3713 37752 CAF NEGONE
061175,000444: 17,3714 27743 ADS ADRSDIF2
061176,000445:
061177,000446: 17,3715 41427 CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
061178,000447: 17,3716 13671 TCF RUFLAW12
061179,000448:
061180,000449: 17,3717 03745 RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
061181,000450: 17,3720 33776 CAF RUFRATE
061182,000451: 17,3721 61427 AD EDOT # (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG.
061183,000452: 17,3722 54000 TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
061184,000453: 17,3723 13671 TCF RUFLAW12
061185,000454: 17,3724 13520 TCF FULLTIME
061186,000455:
061187,000456: # Page 1466
061188,000457: 17,3725 03745 RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
061189,000458: 17,3726 51745 INDEX ADRSDIF1
061190,000459: 17,3727 41600 CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
061191,000460: 17,3730 61751 AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
061192,000461: 17,3731 00006 EXTEND # SCALED AT 4 PI RADIANS
061193,000462: 17,3732 74741 MP BIT11
061194,000463: 17,3733 57427 XCH EDOT
061195,000464: 17,3734 00006 EXTEND
061196,000465: 17,3735 70000 SQUARE
061197,000466: 17,3736 00006 EXTEND
061198,000467: 17,3737 51745 INDEX ADRSDIF1
061199,000468: 17,3740 71570 MP 1/ANET1 +2
061200,000469: 17,3741 61427 AD EDOT
061201,000470: 17,3742 00006 EXTEND
061202,000471: 17,3743 63455 BZMF COASTTJ # COAST IF BELOW IT.
061203,000472: 17,3744 13520 TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
061204,000473:
061205,000474: # SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
061206,000475:
061207,000476: 17,3745 41737 RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
061208,000477: 17,3746 55737 TS ROTSENSE
061209,000478: 17,3747 34751 +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
061210,000479: 17,3750 55742 TS NUMBERT
061211,000480: 17,3751 34735 CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS.
061212,000481: 17,3752 55740 TS FIREFCT
061213,000482: 17,3753 00002 TC Q
061214,000483:
061215,000484: # CONSTANTS FOR TJETLAW
061216,000485:
061217,000486: 17,3754 77757 DEC -16 B-14 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
061218,000487: 17,3755 00000 AXISDIFF DEC +0 B-14 # BETWEEN STORED 1/ACCS PARAMETERS FOR
061219,000488: 17,3756 00020 DEC 16 B-14 # THE INDEXED AXIS AND THE U-AXIS.
061220,000489: 17,3757 14400 SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
061221,000490: # (4 SEC) TO SCALING FOR T6 (10.24 SEC).
061222,000491: 17,3760 75673 -3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
061223,000492: 17,3761 77750 -.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
061224,000493: 17,3762 00632 .1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
061225,000494: 17,3763 01463 .1AT2 DEC .05 # .1 SEC SCALED AT 2.
061226,000495: 17,3764 00232 .0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
061227,000496: 17,3765 77462 -.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
061228,000497: 17,3766 77631 -.025AT4 DEC -.00625
061229,000498: 17,3767 77145 -.05AT2 DEC -.025
061230,000499: 17,3770 75462 -.15AT2 DEC -.075
061231,000500: 17,3771 00007 25605 .00375A8 2DEC .00375 B-3
061232,000501:
061233,000502: 17,3773 76631 -TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
061234,000503: 17,3774 00122 TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
061235,000504: 17,3775 77655 -TJMIN DEC -.005
061236,000505: 17,3776 04476 RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
End of include-file TJET_LAW.agc. Parent file is MAIN.agc