Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
039506,000002: ## Copyright: Public domain.
039507,000003: ## Filename: FINDCDUW--GUIDAP_INTERFACE.agc
039508,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
039509,000005: ## It is part of the source code for the Lunar Module's (LM)
039510,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
039511,000007: ## Assembler: yaYUL
039512,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
039513,000009: ## Website: www.ibiblio.org/apollo.
039514,000010: ## Pages: 908-925
039515,000011: ## Mod history: 2009-05-28 HG Transcribed from page images.
039516,000012: ##
039517,000013: ## This source code has been transcribed or otherwise adapted from
039518,000014: ## digitized images of a hardcopy from the MIT Museum. The digitization
039519,000015: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
039520,000016: ## the Museum. Many thanks to both. The images (with suitable reduction
039521,000017: ## in storage size and consequent reduction in image quality as well) are
039522,000018: ## available online at www.ibiblio.org/apollo. If for some reason you
039523,000019: ## find that the images are illegible, contact me at info@sandroid.org
039524,000020: ## about getting access to the (much) higher-quality images which Paul
039525,000021: ## actually created.
039526,000022: ##
039527,000023: ## Notations on the hardcopy document read, in part:
039528,000024: ##
039529,000025: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
039530,000026: ## 16:27 JULY 14, 1969
039531,000027:
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Page 908 |
039533,000029: # PROGRAM NAME: FINDCDUW
039534,000030: # MOD NUMBER: 1 68-07-15
039535,000031: # MOD AUTHOR: KLUMPP
039536,000032:
039537,000033: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039538,000034: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039539,000035: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039540,000036: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039541,000037: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039542,000038: # MODES.
039543,000039: # 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL
039544,000040: # AUTOPILOT COMMANDS WHENEVER
039545,000041: # 1) NOT IN PNGCS-AUTO, OR
039546,000042: # 2) ENGINE IS OFF.
039547,000043:
039548,000044: # FUNCTIONAL DESCRIPTION:
039549,000045:
039550,000046: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039551,000047: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039552,000048: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039553,000049: # INCRMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039554,000050: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039555,000051: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039556,000052: # ACCELERATIONS AVAILABLE).
039557,000053:
039558,000054: # FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039559,000055: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET,
039560,000056: # ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039561,000057:
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Page 909 |
039563,000059: # SPECIFICATIONS:
039564,000060:
039565,000061: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039566,000062: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039567,000063:
039568,000064: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039569,000065: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039570,000066: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039571,000067:
039572,000068: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039573,000069: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039574,000070: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039575,000071: # WITHOUT ISSUING AUTOPILOT CMDS.
039576,000072: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039577,000073: # ISSUING AUTOPILOT CMDS.
039578,000074:
039579,000075: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039580,000076: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039581,000077: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039582,000078:
039583,000079: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039584,000080: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039585,000081: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039586,000082:
039587,000083: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039588,000084: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039589,000085: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
039590,000086: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039591,000087: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039592,000088: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039593,000089:
039594,000090: # OUTPUTS: DELCDUX,Y,Z
039595,000091: # OMEGAPD,+1,+2
039596,000092: # DELPEROR,+1,+2
039597,000093: # CPHI,+1,+2 FOR NOUN22
039598,000094:
039599,000095: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039600,000096: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039601,000097: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039602,000098:
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Page 910 |
039604,000100: # INITIALIZATION FOR FINDCDUW
039605,000101:
039606,000102: 30,3104 BANK 30
039607,000103: 30,2000 SETLOC FCDUW
039608,000104: 30,2000 BANK
039609,000105:
039610,000106: 30,3104 E6,1646 EBANK= ECDUW
039611,000107: 30,3104 COUNT* $$/FCDUW
039612,000108:
039613,000109: 30,3104 77775 INITCDUW VLOAD
039614,000110: 30,3105 06520 UNITX
039615,000111: 30,3106 03270 STORE UNFV/2
039616,000112: 30,3107 03262 STORE UNWC/2
039617,000113: 30,3110 77616 RVQ
039618,000114:
039619,000115: # FINDCDUW PRELIMINARIES
039620,000116:
039621,000117: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039622,000118: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039623,000119: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039624,000120: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
039625,000121: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039626,000122: 30,3116 77420 STQ EXIT
039627,000123: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
039628,000124:
039629,000125: # MORE HAUSKEEPING
039630,000126: 30,3120 33761 CA ECDUWL
039631,000127: 30,3121 56003 XCH EBANK # SET EBANK
039632,000128: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
039633,000129:
039634,000130: 30,3123 30111 CA DAPBOOLS
039635,000131: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039636,000132: 30,3125 10000 CCS A
039637,000133: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
039638,000134: 30,3127 55650 TS NDXCDUW
039639,000135:
039640,000136: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039641,000137: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039642,000138:
039643,000139: 30,3132 70111 MASK DAPBOOLS
039644,000140: 30,3133 55651 TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD
039645,000141:
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Page 911 |
039647,000143: # FETCH BASIC DATA
039648,000144: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039649,000145:
039650,000146: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039651,000147: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039652,000148: 30,3137 30033 CA CDUY
039653,000149: 30,3140 54766 TS CDUSPOTY
039654,000150: 30,3141 30034 CA CDUZ
039655,000151: 30,3142 54770 TS CDUSPOTZ
039656,000152:
039657,000153: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
039658,000154: 30,3144 00006 EXTEND
039659,000155: 30,3145 02030 RAND CHAN30
039660,000156: 30,3146 10000 CCS A
039661,000157: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039662,000158:
039663,000159: 30,3150 34736 CA BIT14 # AUTO MODE BIT
039664,000160: 30,3151 00006 EXTEND
039665,000161: 30,3152 02031 RAND CHAN31
039666,000162: 30,3153 10000 CCS A
039667,000163: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039668,000164:
039669,000165: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039670,000166:
039671,000167: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039672,000168: 30,3157 54772 TS CDUSPOTX
039673,000169: 30,3160 31636 CA CDUYD
039674,000170: 30,3161 54766 TS CDUSPOTY
039675,000171: 30,3162 31637 CA CDUZD
039676,000172: 30,3163 54770 TS CDUSPOTZ
039677,000173:
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Page 912 |
039679,000175: # FETCH INPUTS
039680,000176: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039681,000177: 30,3165 77634 RTB
039682,000178: 30,3166 21726 NORMUNIT
039683,000179: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039684,000180: 30,3170 03262 UNWC/2
039685,000181: 30,3171 47034 RTB RTB
039686,000182: 30,3172 21726 NORMUNIT
039687,000183: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039688,000184: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039689,000185: 30,3175 00325 DELV
039690,000186: 30,3176 53404 BOVB UNIT
039691,000187: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039692,000188: 30,3200 45000 BOV CALL
039693,000189: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER
039694,000190: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039695,000191:
039696,000192: # THRUST DIRECTION FILTER
039697,000193:
039698,000194: 30,3203 77776 EXIT
039699,000195:
039700,000196: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039701,000197: 30,3205 22157 LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER,
039702,000198: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039703,000199: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039704,000200:
039705,000201: 30,3210 31673 CA UNFVZ/2
039706,000202: 30,3211 22161 LXCH MPAC +5
039707,000203: 30,3212 03503 TC FLTRSUB
039708,000204: 30,3213 55673 TS UNFVZ/2
039709,000205:
039710,000206: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039711,000207:
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Page 913 |
039713,000209: # FIND A SUITABLE WINDOW POINTING VECTOR
039714,000210:
039715,000211: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039716,000212: 30,3216 03252 FLAGOODW
039717,000213: 30,3217 61223 FETCHZNB
039718,000214: 30,3220 45175 VLOAD CALL
039719,000215: 30,3221 00015 UNZ/2
039720,000216: 30,3222 61523 UNWCTEST
039721,000217:
039722,000218: 30,3223 77775 FETCHZNB VLOAD
039723,000219: 30,3224 02162 ZNBPIP
039724,000220: 30,3225 34015 STCALL UNZ/2
039725,000221: 30,3226 61523 UNWCTEST
039726,000222:
039727,000223: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039728,000224: 30,3230 02146 XNBPIP
039729,000225: 30,3231 00015 STORE UNZ/2
039730,000226:
039731,000227: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039732,000228:
039733,000229: 30,3232 47375 DCMCL VLOAD VXV
039734,000230: 30,3233 00015 UNZ/2
039735,000231: 30,3234 00001 UNX/2
039736,000232: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039737,000233: 30,3236 76435 VXV VSL1
039738,000234: 30,3237 00001 UNX/2
039739,000235: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039740,000236: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039741,000237: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
039742,000238: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039743,000239: 30,3244 03272 UNFVY/2 # MUST BE SMALL
039744,000240: 30,3245 53372 VSL1 VAD
039745,000241: 30,3246 00001 UNX/2
039746,000242: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039747,000243: 30,3250 00001 STORE UNX/2 # UNX/2
039748,000244: 30,3251 76435 VXV VSL1
039749,000245: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039750,000246: 30,3253 00007 STORE UNY/2 # UNY/2
039751,000247: 30,3254 47276 VCOMP VXV
039752,000248: 30,3255 00001 UNX/2
039753,000249: 30,3256 77772 VSL1
039754,000250: 30,3257 00015 STORE UNZ/2 # UNZ/2
039755,000251:
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Page 914 |
039757,000253: # COMPUTES THE REQUIRED GIMBAL ANGLES
039758,000254:
039759,000255: 30,3260 77624 CALL
039760,000256: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039761,000257: 30,3262 77776 EXIT
039762,000258:
039763,000259: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039764,000260:
039765,000261: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
039766,000262: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039767,000263: 30,3265 33773 CA CDUZDLIM
039768,000264: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039769,000265: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039770,000266: 30,3270 00006 EXTEND
039771,000267: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039772,000268: 30,3272 00006 EXTEND
039773,000269: 30,3273 13275 BZF +2
039774,000270: 30,3274 13756 TCF ALARMMGA
039775,000271:
039776,000272: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039777,000273:
039778,000274: 30,3276 22007 ZL
039779,000275: 30,3277 34752 CA TWO
039780,000276: 30,3300 54142 DELGMBLP TS TEM2
039781,000277:
039782,000278: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039783,000279: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039784,000280: 30,3303 70000 SQUARE
039785,000281: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039786,000282: 30,3305 00006 EXTEND
039787,000283: 30,3306 63311 BZMF +3
039788,000284: 30,3307 34755 CA ZERO
039789,000285: 30,3310 55651 TS FLAGOODW
039790,000286:
039791,000287: 30,3311 50142 INDEX TEM2
039792,000288: 30,3312 30154 CA MPAC
039793,000289: 30,3313 50142 INDEX TEM2
039794,000290: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
039795,000291: 30,3315 00006 EXTEND
039796,000292: 30,3316 50142 INDEX TEM2
039797,000293: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHLTY DIFFERENT
039798,000294: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039799,000295: 30,3321 50142 INDEX TEM2
039800,000296: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039801,000297: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
039802,000298: 30,3324 10142 CCS TEM2
039803,000299: 30,3325 13300 TCF DELGMBLP
039804,000300:
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Page 915 |
039806,000302: # BRANCHES TO NOATTCNT
039807,000303: 30,3326 11652 CCS FLPAUTNO
039808,000304: 30,3327 13752 TCF NOATTCNT +2 # NO PNGCS AUTO
039809,000305:
039810,000306: 30,3330 30101 CA FLAGWRD5
039811,000307: 30,3331 74745 MASK ENGONBIT
039812,000308: 30,3332 00006 EXTEND
039813,000309: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
039814,000310:
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Page 916 |
039816,000312: # LIMIT THE ATTITUDE ANGLE CHANGES
039817,000313:
039818,000314: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
039819,000315: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039820,000316: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL
039821,000317: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039822,000318:
039823,000319: # [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ]
039824,000320: # [ ] [ ] [ ]
039825,000321: # [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ]
039826,000322: # [ ] [ ] [ ]
039827,000323: # [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ]
039828,000324:
039829,000325: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039830,000326: 30,3335 51650 INDEX NDXCDUW
039831,000327: 30,3336 33767 CA DAZMAX
039832,000328: 30,3337 03727 TC LIMITSUB
039833,000329: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
039834,000330:
039835,000331: 30,3341 31676 CA -DELGMB +1
039836,000332: 30,3342 00006 EXTEND
039837,000333: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039838,000334: 30,3344 54001 TS L
039839,000335: 30,3345 51650 INDEX NDXCDUW
039840,000336: 30,3346 33771 CA DAY/2MAX
039841,000337: 30,3347 03727 TC LIMITSUB
039842,000338: 30,3350 00006 EXTEND
039843,000339: 30,3351 10746 DV COSCDUZ
039844,000340: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039845,000341:
039846,000342: 30,3353 00006 EXTEND
039847,000343: 30,3354 70740 MP SINCDUZ
039848,000344: 30,3355 20001 DDOUBL
039849,000345: 30,3356 40000 COM
039850,000346: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
039851,000347: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBV.
039852,000348: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039853,000349: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039854,000350: 30,3363 33767 CA DAXMAX
039855,000351: 30,3364 03727 TC LIMITSUB
039856,000352: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
039857,000353: 30,3366 11651 CCS FLAGOODW
039858,000354: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039859,000355: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039860,000356: 30,3371 41676 CS -DELGMB +1
039861,000357: 30,3372 00006 EXTEND
039862,000358: 30,3373 70740 MP SINCDUZ
039863,000359: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039864,000360: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039865,000361: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039866,000362:
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Page 917 |
039868,000364: # COMPUTE COMMANDED ATTITUDE RATES
039869,000365:
039870,000366: # [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ]
039871,000367: # [ ] [ ] [ ]
039872,000368: # [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ]
039873,000369: # [ ] [ ] [ ]
039874,000370: # [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ]
039875,000371:
039876,000372: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039877,000373: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039878,000374: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039879,000375:
039880,000376: 30,3376 41675 CS -DELGMB
039881,000377: 30,3377 55643 TS OMEGAPD
039882,000378: 30,3400 41676 CS -DELGMB +1
039883,000379: 30,3401 00006 EXTEND
039884,000380: 30,3402 70740 MP SINCDUZ
039885,000381: 30,3403 20001 DDOUBL
039886,000382: 30,3404 27643 ADS OMEGAPD
039887,000383: 30,3405 27643 ADS OMEGAPD
039888,000384:
039889,000385: 30,3406 41676 CS -DELGMB +1
039890,000386: 30,3407 00006 EXTEND
039891,000387: 30,3410 70750 MP COSCDUX
039892,000388: 30,3411 20001 DDOUBL
039893,000389: 30,3412 00006 EXTEND
039894,000390: 30,3413 70746 MP COSCDUZ
039895,000391: 30,3414 55644 TS OMEGAQD
039896,000392: 30,3415 41677 CS -DELGMB +2
039897,000393: 30,3416 00006 EXTEND
039898,000394: 30,3417 70742 MP SINCDUX
039899,000395: 30,3420 27644 ADS OMEGAQD
039900,000396: 30,3421 27644 ADS OMEGAQD
039901,000397: 30,3422 27644 ADS OMEGAQD
039902,000398:
039903,000399: 30,3423 31676 CA -DELGMB +1
039904,000400: 30,3424 00006 EXTEND
039905,000401: 30,3425 70742 MP SINCDUX
039906,000402: 30,3426 20001 DDOUBL
039907,000403: 30,3427 00006 EXTEND
039908,000404: 30,3430 70746 MP COSCDUZ
039909,000405: 30,3431 55645 TS OMEGARD
039910,000406: 30,3432 41677 CS -DELGMB +2
039911,000407: 30,3433 00006 EXTEND
039912,000408: 30,3434 70750 MP COSCDUX
039913,000409: 30,3435 27645 ADS OMEGARD
039914,000410: 30,3436 27645 ADS OMEGARD
039915,000411: 30,3437 27645 ADS OMEGARD
039916,000412:
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Page 918 |
039918,000414: # FINAL TRANSFER
039919,000415:
039920,000416: 30,3440 34752 CA TWO
039921,000417: 30,3441 54142 CDUWXFR TS TEM2
039922,000418: 30,3442 50142 INDEX TEM2
039923,000419: 30,3443 31675 CA -DELGMB
039924,000420: 30,3444 00006 EXTEND
039925,000421: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039926,000422: 30,3446 03743 TC ONESTO2S
039927,000423: 30,3447 50142 INDEX TEM2
039928,000424: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
039929,000425:
039930,000426: 30,3451 50142 INDEX TEM2
039931,000427: 30,3452 11643 CCS OMEGAPD
039932,000428: 30,3453 64753 AD ONE
039933,000429: 30,3454 13456 TCF +2
039934,000430: 30,3455 64753 AD ONE
039935,000431: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039936,000432: 30,3457 50142 INDEX TEM2
039937,000433: 30,3460 71643 MP OMEGAPD
039938,000434: 30,3461 00006 EXTEND
039939,000435: 30,3462 74741 MP BIT11 # 1/16
039940,000436: 30,3463 00006 EXTEND
039941,000437: 30,3464 50142 INDEX TEM2 # 2
039942,000438: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039943,000439: 30,3466 54001 TS L
039944,000440: 30,3467 33771 CA DELERLIM
039945,000441: 30,3470 03727 TC LIMITSUB
039946,000442: 30,3471 50142 INDEX TEM2
039947,000443: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039948,000444: 30,3473 10142 CCS TEM2
039949,000445: 30,3474 13441 TCF CDUWXFR
039950,000446:
039951,000447: # HAUSKEEPING AND RETURN
039952,000448:
039953,000449: 30,3475 31646 TCQCDUW CA ECDUWUSR
039954,000450: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
039955,000451:
039956,000452: 30,3477 06037 TC INTPRET
039957,000453: 30,3500 52001 SETPD GOTO
039958,000454: 30,3501 00001 0
039959,000455: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039960,000456:
![]() |
Page 919 |
039962,000458: # THRUST VECTOR FILTER SUBROUTINE
039963,000459:
039964,000460: 30,3503 00006 FLTRSUB EXTEND
039965,000461: 30,3504 22142 QXCH TEM2
039966,000462: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039967,000463: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039968,000464: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039969,000465: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039970,000466: 30,3511 51650 INDEX NDXCDUW
039971,000467: 30,3512 73762 MP GAINFLTR
039972,000468: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
039973,000469: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039974,000470: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039975,000471: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
039976,000472: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
039977,000473: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039978,000474: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039979,000475: 30,3522 00142 TC TEM2
039980,000476:
039981,000477: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039982,000478:
039983,000479: 30,3523 63441 UNWCTEST DOT DSQ
039984,000480: 30,3524 00001 UNX/2
039985,000481: 30,3525 50025 DSU BMN
039986,000482: 30,3526 21767 DOTSWFMX
039987,000483: 30,3527 61232 DCMCL
039988,000484: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039989,000485: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
039990,000486: 30,3532 00000 0
039991,000487:
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Page 920 |
039993,000489: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039994,000490: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039995,000491: # NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039996,000492:
039997,000493: 30,3533 63545 NB2CDUSP DLOAD DSQ
039998,000494: 30,3534 00003 2
039999,000495: 30,3535 51021 BDSU BPL
040000,000496: 30,3536 06512 DP1/4TH
040001,000497: 30,3537 61542 +3
040002,000498: 30,3540 77745 DLOAD
040003,000499: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
040004,000500: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
040005,000501:
040006,000502: 30,3543 00006 EXTEND
040007,000503: 30,3544 30155 DCA MPAC
040008,000504: 30,3545 20001 DDOUBL
040009,000505: 30,3546 54145 TS TEM5
040010,000506: 30,3547 13552 TCF +3
040011,000507: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
040012,000508: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
040013,000509:
040014,000510: 30,3552 50120 INDEX FIXLOC
040015,000511: 30,3553 30002 CA 2
040016,000512: 30,3554 22154 LXCH MPAC
040017,000513: 30,3555 03622 TC ARCTRGSP
040018,000514: 30,3556 54156 TS MPAC +2 # CDUZ
040019,000515:
040020,000516: 30,3557 34755 CA ZERO
040021,000517: 30,3560 03600 TC DVBYCOSM
040022,000518: 30,3561 34751 CA FOUR
040023,000519: 30,3562 03600 TC DVBYCOSM
040024,000520: 30,3563 40141 CS TEM1
040025,000521: 30,3564 03622 TC ARCTRGSP
040026,000522: 30,3565 54155 TS MPAC +1 # CDUY
040027,000523:
040028,000524: 30,3566 34750 CA BIT4
040029,000525: 30,3567 03600 TC DVBYCOSM
040030,000526: 30,3570 33577 CA 16OCT
040031,000527: 30,3571 03600 TC DVBYCOSM
040032,000528: 30,3572 40141 CS TEM1
040033,000529: 30,3573 03622 TC ARCTRGSP
040034,000530: 30,3574 54154 TS MPAC # CDUX
040035,000531:
040036,000532: 30,3575 06037 TC INTPRET
040037,000533: 30,3576 77616 RVQ
040038,000534:
040039,000535: 30,3577 00016 16OCT OCT 16
040040,000536:
![]() |
Page 921 |
040042,000538: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040043,000539: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040044,000540: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
040045,000541: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040046,000542: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040047,000543: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040048,000544: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040049,000545:
040050,000546: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040051,000547: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040052,000548: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
040053,000549: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040054,000550:
040055,000551: 30,3600 60120 DVBYCOSM AD FIXLOC
040056,000552: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
040057,000553:
040058,000554: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
040059,000555: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
040060,000556: 30,3604 00006 EXTEND
040061,000557: 30,3605 63607 BZMF +2
040062,000558: 30,3606 40000 COM
040063,000559: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040064,000560: 30,3610 00006 EXTEND
040065,000561: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
040066,000562:
040067,000563: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
040068,000564: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
040069,000565: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
040070,000566: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
040071,000567: 30,3616 10145 DV TEM5
040072,000568: 30,3617 54001 TSL&TCQ TS L
040073,000569: 30,3620 22141 LXCH TEM1
040074,000570: 30,3621 00002 TC Q
040075,000571:
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Page 922 |
040077,000573: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040078,000574: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040079,000575: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040080,000576:
040081,000577: 30,3622 00006 ARCTRGSP EXTEND
040082,000578: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
040083,000579:
040084,000580: 30,3624 00006 EXTEND
040085,000581: 30,3625 22144 QXCH TEM4
040086,000582: 30,3626 54142 TS TEM2
040087,000583: 30,3627 30001 CA L
040088,000584: 30,3630 54143 TS TEM3
040089,000585: 30,3631 34755 CA ZERO
040090,000586: 30,3632 00006 EXTEND
040091,000587: 30,3633 10142 DV TEM2
040092,000588: 30,3634 00006 EXTEND
040093,000589: 30,3635 13654 BZF USECOS
040094,000590:
040095,000591: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
040096,000592: 30,3637 34755 CA ZERO
040097,000593: 30,3640 13644 TCF +4
040098,000594: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
040099,000595: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
040100,000596: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
040101,000597: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
040102,000598: 30,3645 30142 CA TEM2
040103,000599: 30,3646 03672 TC SPARCSIN -1
040104,000600: 30,3647 03743 TC ONESTO2S
040105,000601: 30,3650 00006 EXTEND
040106,000602: 30,3651 20143 MSU TEM3
040107,000603: 30,3652 03743 1TO2&TCQ TC ONESTO2S
040108,000604: 30,3653 00144 TC TEM4
040109,000605:
040110,000606: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
040111,000607: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS))
040112,000608: 30,3656 64736 AD HALF
040113,000609: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
040114,000610: 30,3660 10142 CCS TEM2
040115,000611: 30,3661 30143 CA TEM3
040116,000612: 30,3662 13652 TCF 1TO2&TCQ
040117,000613: 30,3663 40143 CS TEM3
040118,000614: 30,3664 13652 TCF 1TO2&TCQ
040119,000615:
040120,000616: 30,3665 10001 SINZERO CCS L
040121,000617: 30,3666 34755 CA ZERO
040122,000618: 30,3667 00002 TC Q
040123,000619: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
040124,000620: 30,3671 00002 TC Q
040125,000621:
![]() |
Page 923 |
040127,000623: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040128,000624: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
040129,000625: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040130,000626: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
040131,000627:
040132,000628: 30,3672 60000 DOUBLE
040133,000629: 30,3673 54021 SPARCSIN TS SR
040134,000630: 30,3674 13700 TCF +4
040135,000631: 30,3675 50000 INDEX A
040136,000632: 30,3676 44734 CS LIMITS
040137,000633: 30,3677 54021 TS SR
040138,000634: 30,3700 00006 EXTEND
040139,000635: 30,3701 70000 MP A
040140,000636: 30,3702 54141 TS TEM1
040141,000637: 30,3703 00006 EXTEND
040142,000638: 30,3704 73726 MP DPL9
040143,000639: 30,3705 63725 AD DPL7
040144,000640: 30,3706 00006 EXTEND
040145,000641: 30,3707 70141 MP TEM1
040146,000642: 30,3710 63724 AD DPL5
040147,000643: 30,3711 00006 EXTEND
040148,000644: 30,3712 70141 MP TEM1
040149,000645: 30,3713 63723 AD DPL3
040150,000646: 30,3714 00006 EXTEND
040151,000647: 30,3715 70141 MP TEM1
040152,000648: 30,3716 63722 AD DPL1
040153,000649: 30,3717 00006 EXTEND
040154,000650: 30,3720 70021 MP SR
040155,000651: 30,3721 00002 TC Q
040156,000652: 30,3722 24406 DPL1 DEC 10502 B-14
040157,000653: 30,3723 00660 DPL3 DEC 432 B-14
040158,000654: 30,3724 16204 DPL5 DEC 7300 B-14
040159,000655: 30,3725 50744 DPL7 DEC -11803 B-14
040160,000656: 30,3726 20315 DPL9 DEC 8397 B-14
040161,000657:
![]() |
Page 924 |
040163,000659: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040164,000660: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040165,000661: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040166,000662:
040167,000663: # VERSION COUTESY HUGH BLAIR-SMITH
040168,000664:
040169,000665: 30,3727 54141 LIMITSUB TS TEM1
040170,000666: 30,3730 34755 CA ZERO
040171,000667: 30,3731 00006 EXTEND
040172,000668: 30,3732 10141 DV TEM1
040173,000669: 30,3733 10000 CCS A
040174,000670: 30,3734 22141 LXCH TEM1
040175,000671: 30,3735 13737 TCF +2
040176,000672: 30,3736 13741 TCF +3
040177,000673: 30,3737 30001 CA L
040178,000674: 30,3740 00002 TC Q
040179,000675: 30,3741 40141 CS TEM1
040180,000676: 30,3742 00002 TC Q
040181,000677:
040182,000678: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040183,000679:
040184,000680: 30,3743 10000 ONESTO2S CCS A
040185,000681: 30,3744 64753 AD ONE
040186,000682: 30,3745 00002 TC Q
040187,000683: 30,3746 40000 CS A
040188,000684: 30,3747 00002 TC Q
040189,000685:
040190,000686: # NO ATTITUDE CONTROL
040191,000687:
040192,000688: 30,3750 05567 NOATTCNT TC ALARM
040193,000689: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
040194,000690:
040195,000691: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
040196,000692: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
040197,000693: 30,3754 40165 FCADR STOPRATE
040198,000694: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
040199,000695:
040200,000696: # MIDDLE GIMBAL ANGLE ALARM
040201,000697:
040202,000698: 30,3756 05567 ALARMMGA TC ALARM
040203,000699: 30,3757 00401 OCT 00401
040204,000700: 30,3760 13275 TCF MGARET
040205,000701:
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Page 925 |
040207,000703: # ******************************************************************
040208,000704: # CONSTANTS
040209,000705: # ******************************************************************
040210,000706:
040211,000707: # ADDRESS CONSTANTS
040212,000708:
040213,000709: 30,3761 03246 ECDUWL ECADR ECDUW
040214,000710:
040215,000711: # THRUST DIRECTION FILTER CONSTANTS
040216,000712:
040217,000713: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
040218,000714: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
040219,000715:
040220,000716: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040221,000717: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
040222,000718:
040223,000719: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
040224,000720: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040225,000721:
040226,000722: # CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS
040227,000723:
040228,000724: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
040229,000725: # LOWER PART COMES FROM NEXT CONSTANT
040230,000726:
040231,000727: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
040232,000728: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
040233,000729:
040234,000730: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
040235,000731: 30,3772 00133 DEC .0055555555
040236,000732:
040237,000733: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
040238,000734:
040239,000735: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
040240,000736:
040241,000737: # CONSTANTS FOR DATA TRANSFER
040242,000738:
040243,000739: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
040244,000740: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
040245,000741:
040246,000742: 30,3775 30,3771 DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI
040247,000743:
040248,000744: # *** END OF FLY .132 ***
End of include-file FINDCDUW--GUIDAP_INTERFACE.agc. Parent file is MAIN.agc