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@ -9,8 +9,8 @@ |
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# Pages: 1063-1092 |
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# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the |
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# same name, using Comanche055 page images. |
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# 2009-05-20 RSB Corrections: Removed an extraneous label |
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# EXDAPIN, added a missing instruction in |
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# 2009-05-20 RSB Corrections: Removed an extraneous label |
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# EXDAPIN, added a missing instruction in |
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# COMPAT. |
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# |
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# This source code has been transcribed or otherwise adapted from digitized |
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@ -19,13 +19,13 @@ |
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# thanks to both. The images (with suitable reduction in storage size and |
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# consequent reduction in image quality as well) are available online at |
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# www.ibiblio.org/apollo. If for some reason you find that the images are |
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# illegible, contact me at info@sandroid.org about getting access to the |
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# illegible, contact me at info@sandroid.org about getting access to the |
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# (much) higher-quality images which Paul actually created. |
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# |
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# Notations on the hardcopy document read, in part: |
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# |
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# Assemble revision 055 of AGC program Comanche by NASA |
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# 2021113-051. 10:28 APR. 1, 1969 |
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# 2021113-051. 10:28 APR. 1, 1969 |
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# |
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# This AGC program shall also be referred to as |
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# Colossus 2A |
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@ -38,43 +38,43 @@ |
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# CM/DSTBY = 0 TO TERMINATE DAP OPERATION |
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BANK 15 |
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SETLOC ETRYDAP |
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BANK |
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COUNT 15/DAPEN |
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EBANK= AOG |
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READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO |
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ADS CM/GYMDT # PIPTIME. (GROUP 6) |
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# IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE |
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# PHASCHNG PROTECTION IS IN CM/DAPIC. |
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CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU. |
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MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS |
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EXTEND # GIMBAL DIFFERENCES) |
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BZF READGYM1 # OK |
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CS BIT1 # NOT IN FINE ALIGN, SO IDLE |
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MASK CM/FLAGS # SET GYMDIFSW = 0 |
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TS CM/FLAGS |
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TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE. |
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TC CM/GYMIC +2 |
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READGYM1 CA CDUX |
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XCH AOG |
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EXTEND |
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MSU AOG # -DELAOG=AOG(N-1) - AOG(N) |
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TS -DELAOG |
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CA CDUY |
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XCH AIG |
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EXTEND |
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MSU AIG |
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TS -DELAIG |
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CA CDUZ |
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XCH AMG |
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EXTEND |
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@ -90,12 +90,12 @@ DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1 |
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TC CM/GYMIC # DON'T CALC BODYRATE ON FIRST PASS. |
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NOOP |
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TC FLUSHJET # TURN OFF ALL JETS |
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TC PHASCHNG |
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OCT 00006 # DEACTIVATE DAP GROUP 6. |
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TC TASKOVER |
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DOBRATE CA ONE # DO BODYRATE |
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DOBRATE1 TS JETEM # SKIP BODYRATE |
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@ -103,13 +103,13 @@ DOBRATE1 TS JETEM # SKIP BODYRATE |
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TC WAITLIST |
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EBANK= AOG |
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2CADR READGYMB |
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# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS |
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CCS JETEM |
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TC BODYRATE |
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TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES) |
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CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0 |
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CAF ZERO |
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TS JETAG |
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@ -118,7 +118,7 @@ CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0 |
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TS OLDELR |
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TS GAMDOT # NO GYM DIF, PROB NO GAM DIF. |
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TC DOBRATE1 |
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# Page 1065 |
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# COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS |
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@ -128,45 +128,45 @@ ANGOVCOR TS L # THIS COSTS 2 MCT TO USE. |
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CAF LIMITS |
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ADS L |
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TC Q |
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BLOCK 3 |
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COUNT 03/DAPEN |
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FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS. |
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EXTEND |
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WRITE ROLLJETS # ZERO CHANNEL 6 |
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EXTEND |
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WRITE PYJETS # ZERO CHANNEL 5 |
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TC Q |
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BANK 15 |
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COUNT 15/DAPEN |
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SETLOC ETRYDAP |
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BANK |
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RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE |
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AD JETEM # OF CONSTANT ACCELERATION. |
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EXTEND |
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MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2 |
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AD JETEM |
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TC Q |
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# Page 1066 |
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# THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED. |
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BANK 20 |
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SETLOC DAPS1 |
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BANK |
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COUNT 20/DAPEN |
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EBANK= AOG |
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CM/DAPON CA EBAOG |
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TS EBANK |
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TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER. |
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ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS. |
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TC DOWNFLAG # RESET DAPBIT2 |
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@ -177,14 +177,14 @@ CM/DAPON CA EBAOG |
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EXTEND |
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DCA T5IDLER1 # DISABLE RCS JET CALLS |
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DXCH T6LOC |
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TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS. |
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CS 13,14,15 |
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MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY |
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TS DAPDATR1 |
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TC +4 |
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NOTYET CA .5SEC |
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TC BANKCALL |
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CADR DELAYJOB # (DELAYJOB DOES INHINT) |
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@ -192,15 +192,15 @@ NOTYET CA .5SEC |
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MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE. |
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EXTEND |
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BZF NOTYET |
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CS ONE # ACTIVATE CM/DAP |
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TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON |
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# NEXT PASS. |
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TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL |
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# HEADSUP IS SET IN P62. |
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# FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62 |
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CA 7 |
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TS JETAG |
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TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE |
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@ -215,20 +215,20 @@ NOTYET CA .5SEC |
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EXTEND |
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MP HALF |
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TS ROLLC # NOT INTERESTED IN LO WORD. |
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CS CM/FLAGS |
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MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0 |
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ADS CM/FLAGS # SET BIT TO 1. |
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CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER |
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MASK BIT1 # V 37 ENTRIES. |
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ADS FLAGWRD2 |
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RELINT |
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TC POSTJUMP |
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CADR P62.1 |
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# Page 1068 |
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# INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1 |
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# SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG . |
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@ -237,17 +237,17 @@ NOTYET CA .5SEC |
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CM/DAPIC CA EBAOG |
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TS EBANK |
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INHINT |
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CM/DAP2C CS PIPTIME +1 |
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# PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1. |
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TS JETEM |
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CA POS1/2 |
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AD POS1/2 |
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AD TIME1 # OVFL GUARANTEED |
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ADS JETEM # C(A) = DELTA TIME SINCE PIPUP |
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CS FIVE |
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AD JETEM |
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CCS A |
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@ -259,28 +259,28 @@ CM/DAP2C CS PIPTIME +1 |
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TC WAITLIST |
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EBANK= AOG |
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2CADR READGYMB |
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CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY |
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MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP |
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AD CM/SWIC2 # SET CM/DSTBY, LATSW |
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# DISABLE ENTRY DISPLAY, SINCE DES. GIMB. |
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# CALC. (P62.3) GOES TO ENDEXIT |
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TS CM/FLAGS |
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CA 7 |
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TS BETA/180 # NECESSARY: NO OVFL CORRECTIO |
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CA ONE # INITIALIZE THE TM OF BODY RATES VIA |
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TS SW/NDX # UPBUFF. |
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TC 2PHSCHNG # DOES INHINT/RELINT |
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OCT 40116 # SAVE TBASE6 |
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OCT 05024 |
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OCT 13000 |
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TC POSTJUMP |
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# Page 1069 |
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CADR P62.2 |
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CM/SWIC1 OCT 16017 |
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CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW |
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-CDUT+1 OCT 77766 |
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@ -301,29 +301,29 @@ T5IDLER1 2CADR T5IDLOC |
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BANK 15 |
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SETLOC ETRYDAP |
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BANK |
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COUNT 15/DAPEN |
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BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY. |
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TC SPCOS |
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TS COSM |
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CA AOG # C(AOG) = AOG/180 |
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TC SPSIN # SINO |
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TS SINO # SINO = SIN(AOG) |
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EXTEND |
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MP COSM |
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TS SINOCOSM # SO CM |
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CA AOG |
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TC SPCOS # COSO |
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TS COSO |
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EXTEND |
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MP COSM |
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TS COSOCOSM # CO CM |
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# PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO |
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CS -DELAMG |
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@ -338,7 +338,7 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY. |
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XCH OLDELQ |
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TC RATEAVG |
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TS QREL # PITCHDOT = Q TCDU/180 |
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# Page 1071 |
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# YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO |
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@ -354,13 +354,13 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY. |
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XCH OLDELR |
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TC RATEAVG |
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TS RREL # YAWDOT = R TCDU/180 |
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# ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM |
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CA AMG |
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TC SPSIN |
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TS SINM |
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EXTEND |
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MP -DELAIG |
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TS JETEM |
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@ -373,9 +373,9 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY. |
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XCH OLDELP |
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TC RATEAVG |
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TS PREL # ROLLDOT = P TCDU/180 |
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# IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0 |
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CCS GAMDOT |
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TC +2 |
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TC NOGAMDUT |
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@ -387,7 +387,7 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY. |
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EXTEND |
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MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3) |
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ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180 |
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CA ROLL/180 |
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TC SPCOS |
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# Page 1072 |
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@ -395,12 +395,12 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY. |
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EXTEND |
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MP GAMDOT |
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ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180 |
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CS JETEM +1 # B( ) = -SR GAMDOT |
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EXTEND |
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MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3) |
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ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180 |
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NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12 |
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MASK CM/FLAGS |
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EXTEND |
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@ -408,14 +408,14 @@ STBYDUMP BZF TASKOVER # DAP NOT ARMED. |
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CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO. |
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TS TIME5 |
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EXTEND |
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DCA ATDOTCAD |
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DXCH T5LOC |
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# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS |
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TC TASKOVER |
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EBANK= AOG |
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ATDOTCAD 2CADR ATTRATES |
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@ -433,7 +433,7 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5 |
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DOUBLE |
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TS CM/SAVE |
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# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS |
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CA QREL |
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AD ALFA/180 |
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TC ANGOVCOR |
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@ -441,28 +441,28 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5 |
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TC SPCOS |
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TS CALFA # CALFA |
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TS PHIDOT |
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EXTEND |
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MP PREL |
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XCH PHIDOT # CA PREL |
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EXTEND |
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MP RREL # CA RREL |
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TS BETADOT |
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CA ALFA/180 |
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TC SPSIN |
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TS SALFA # SIN(ALFA) |
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EXTEND |
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MP RREL # SA RREL |
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ADS PHIDOT # CB PHIDOT, SAVED. |
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CS SALFA |
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EXTEND |
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MP PREL |
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ADS BETADOT # SAVE BETADOT TCDU/180 |
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ADS BETA/180 # BETA DONE. |
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TC SPSIN |
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EXTEND |
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MP PHIDOT # NEGLECT CB IN CB PHIDOT |
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@ -475,13 +475,13 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5 |
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TC ANGOVCOR # JUST IN CASE ... |
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TS AK1 |
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TS QAXERR # FOR PITCH FDAI AND EDIT. |
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CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB |
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AD ROLL/180 |
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TC ANGOVCOR |
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TS ROLLTM # ROLL/180 FOR TM. |
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TS ROLL/180 # ROLL DONE. |
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# START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER. |
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CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST. |
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@ -490,17 +490,17 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5 |
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# AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO |
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# IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL |
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# BE R-AXIS ERROR. |
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CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G |
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MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G |
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EXTEND |
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BZF EXDAP # IF G LESS THAN .05 |
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CS ONE # IF G GEQ THAN .05 |
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TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS |
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TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES |
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TS AK2 # IN ATM. (MODE =-1) |
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CS PREL # YAW ERROR = RREL - PREL TAN(ALFA) |
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EXTEND |
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MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20) |
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@ -508,9 +508,9 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5 |
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TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ |
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INDEX A # +/- 1 IF NOT |
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CAF YJETCODE |
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TS JETEM |
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# START PITCH AUTOPILOT HERE. RATE DAMPING ONLY. |
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CA QREL |
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@ -518,11 +518,11 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5 |
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EXDAPIN INDEX A # COME HERE FROM EX ATM DAP |
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CAF P/RJCODE |
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ADS JETEM # COMBINE ALL NEW BITS. |
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EXTEND # DOES NOT REQUIRE SAVING OLD CODES. |
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# Page 1075 |
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# Page 1075 |
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WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG. |
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CCS JETAG |
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TC CM/RCS |
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TC CM/FDAI |
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@ -536,7 +536,7 @@ EXDAPIN INDEX A # COME HERE FROM EX ATM DAP |
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TCF DZCOM |
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AD YAWLIM |
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TCF DZNOCOM |
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# BIASED DZ FOR EXT ATM DAP. |
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BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L. |
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CCS A # START ERROR DZ. |
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@ -555,7 +555,7 @@ BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L. |
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TCF +2 # RATE OK. CONTINUE |
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ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT |
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XCH JETEM2 # AND CONTINUE TO GET SIGN. |
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2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ |
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|
AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT) |
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|
TCF +3 |
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|
@ -564,7 +564,7 @@ DZCOM COM |
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|
DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ |
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|
CA ZERO # SET C(A) = +0 INSIDE |
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TC Q |
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|
# Page 1077 |
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|
|
# EXTRA ATMOSPHERIC DIGITAL AUTOPILOT |
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|
|
# |
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|
@ -598,7 +598,7 @@ EXDAP TS CMDAPMOD # +0 FOR NOW |
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|
AD C45LIM |
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|
TS A |
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|
TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45) |
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CCS CALFA # |CALFA| > 0.707 |
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TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG. |
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|
@ -614,10 +614,10 @@ EXDAP TS CMDAPMOD # +0 FOR NOW |
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|
TC WAITLIST |
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|
EBANK= AOG |
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|
2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC. |
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|
# Page 1078 |
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# Page 1078 |
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|
# 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL |
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|
# TRANSIT TIME FROM ALFA=45 TO ALFA TRIM. |
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|
EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC |
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|
TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP |
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|
|
TCF EXDAP3 |
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|
@ -625,7 +625,7 @@ EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC |
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|
EXTEND # TURN OFF ROLL JETS IF ON AND WAIT |
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|
|
WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE |
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|
|
TS JETAG # RESTORE PROPER VALUE +0 |
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|
|
# ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL. |
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|
|
EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45) |
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|
|
CA RAXERR # C()= BETACOM - BETA/180 |
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|
|
@ -648,7 +648,7 @@ EXDAP1 TS RAXERR # FOR YAW FDAI |
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|
|
INDEX A |
|
|
|
CAF YJETCODE |
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|
|
TS JETEM |
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|
|
CA QAXERR # ALFA ERROR. |
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|
|
TS L |
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|
|
CA QREL # FOR ALPHADOT USE QREL |
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|
|
@ -656,18 +656,18 @@ EXDAP1 TS RAXERR # FOR YAW FDAI |
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|
|
EXTEND |
|
|
|
ROR LCHAN |
|
|
|
TCF EXDAPIN # CONTINUE ON IN DAP |
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|
EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1 |
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|
CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO |
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|
|
TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD |
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|
|
# =0 AND JETAG =-1, QUENCHES JETS IF ON) |
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|
CCS P63FLAG # IF FLAG WAS +1, SET =0. |
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|
|
TS P63FLAG |
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|
# Page 1079 |
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|
# Page 1079 |
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|
|
NOOP |
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|
CCS SALFA # BETA CONTROL WITH P JETS |
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|
CS RAXERR # B()= BETACOM - BETA/180 |
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|
|
TCF +2 |
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|
|
@ -688,7 +688,7 @@ EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1 |
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|
|
CAF P/RJCODE # GET ROLL CODE |
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|
|
EXTEND # ROLL CONTROL WITH YAW JETS. |
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|
|
WRITE ROLLJETS # WE'LL SKIP REGULAR ROLL SYST |
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|
CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME. |
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|
|
EXTEND |
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|
|
MSU ROLL/180 # 1'S COMPL, BUT SO WHAT'S A BIT? |
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|
|
@ -698,13 +698,13 @@ EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1 |
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|
|
TC EXDAP1 |
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|
CS L |
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|
TC EXDAP1 |
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|
NSEC DEC 2100 # 65 DEG/ 3 DEG/SEC |
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|
|
# IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT. |
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|
|
4D/SLIM DEC 16348 # 1.0 -4/180 D/S = 4/1800 EXP 14 |
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|
|
YDOTLIM DEC 16366 # =1.0 - YDOT DZ= 16384 -18 |
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|
|
# YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14 |
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|
CM/BIAS DEC 55 # =.6/180 B14 = 55 |
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|
|
YAWLIM DEC 16055 # YAWLIM=1.0-3.6/180=16384-329=16055 |
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|
|
C45LIM DEC .29289 # =1.0-COS(45) |
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|
|
@ -723,9 +723,9 @@ COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3) |
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|
|
YJETCODE OCTAL 00000 # RCS JET BITS |
|
|
|
OCTAL 00240 # NEG Y |
|
|
|
OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS |
|
|
|
P/RJCODE OCTAL 00000 |
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|
|
P/RJCODE OCTAL 00000 |
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|
|
OCTAL 00012 # NEG R ALSO NEG P |
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|
# Page 1081 |
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|
|
# RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP. |
|
|
|
# THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE |
|
|
|
@ -740,9 +740,9 @@ SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH |
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|
|
TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE |
|
|
|
TC PHASCHNG |
|
|
|
OCT 00001 |
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|
|
TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE |
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|
|
# PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE |
|
|
|
# TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE |
|
|
|
# THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN |
|
|
|
@ -754,19 +754,19 @@ HALFPR EQUALS NEG1/2 +1 |
|
|
|
# ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE |
|
|
|
# MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY |
|
|
|
# IF A RESTART OCCURS AFTER TIMETST COMMENCES. |
|
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|
|
CM/RCS CS ONE |
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|
|
TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER |
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|
|
CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR |
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|
|
EXTEND |
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|
|
MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800 |
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|
|
AD L # -2 RDOT T/180 IN L |
|
|
|
TS -VT/180 # SAVE -2VT/180 HERE |
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|
|
CS ROLL/180 |
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|
|
TS SR # SAVE (-R/180) /2 |
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|
|
CS CM/FLAGS |
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|
|
MASK BIT4 # LATSW = 101D BIT4 |
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|
|
EXTEND # ROLL OVER TOP $ |
|
|
|
@ -776,19 +776,19 @@ CM/RCS CS ONE |
|
|
|
AD SR # -(R/180) /2 |
|
|
|
XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180. |
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|
|
TCF COMPAT # POSSIBLE OVFL ABOVE. |
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|
|
# Page 1082 |
|
|
|
GETLCX CA POS1/2 # FORM RCOM/360 |
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|
|
DOUBLE |
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|
|
AD ROLLC |
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|
|
XCH LCX/360 # IGNORE POSSIBLE OVFL. |
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|
|
CA SR # FORM -R/360 |
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|
|
AD NEG1/2 |
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|
|
AD NEG1/2 # IGNORE OVFL |
|
|
|
XCH LCX/360 # -R/360 |
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|
|
ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1) |
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|
|
# DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ? |
|
|
|
|
|
|
|
CCS -VT/180 # TAKE SHORTEST ANGULAR PATH |
|
|
|
@ -814,12 +814,12 @@ TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI |
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|
|
CS HALFPR # +A YIELDS -1/2 |
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|
|
DOUBLE |
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|
|
ADS LCX/360 |
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|
|
COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN. |
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|
EXTEND |
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|
|
MP CALFA # COS ALFA |
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|
|
TS LCX/360 # SCALED LCX OK HERE. |
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|
|
CCS CMDAPMOD # FOUR POSSIBILITIES HERE |
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|
|
TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0) |
|
|
|
# ALL 3 AXES ALREADY DONE. |
|
|
|
@ -839,7 +839,7 @@ COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN. |
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|
|
EXTEND |
|
|
|
MP 180/8ATT |
|
|
|
TS VSQ/4API |
|
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|
|
|
|
|
|
|
|
|
# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS? |
|
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|
|
|
|
WHICHALF DOUBLE # FOR SECOND BURN, A1 |
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|
|
@ -854,7 +854,7 @@ WHICHALF DOUBLE # FOR SECOND BURN, A1 |
|
|
|
AD BUFLIM |
|
|
|
EXTEND |
|
|
|
BZMF REFLECT # POINT (X,V) IN LHP. |
|
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|
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|
|
# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG? |
|
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|
|
COM |
|
|
|
@ -862,20 +862,20 @@ WHICHALF DOUBLE # FOR SECOND BURN, A1 |
|
|
|
AD BUFLIM |
|
|
|
EXTEND |
|
|
|
BZMF DZ1 # POINT (X,V) IN RHP |
|
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|
|
|
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|
|
# IS POINT WITHIN VELOCITY DZ? |
|
|
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|
|
|
|
CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG? |
|
|
|
AD VSQ/4API |
|
|
|
EXTEND |
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|
|
BZMF DZCALL # YES. |
|
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|
|
|
|
|
|
|
# POINT IS IN BUFFER ZONE. THRUST TO X AXIS. |
|
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|
|
CS JNDX |
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|
|
TS JNDX1 |
|
|
|
TC OVRLINE1 |
|
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|
|
|
|
|
|
|
|
REFLECT CS -VT/180 # RELFECT LHP INTO RHP REL TO TERM CONTR |
|
|
|
TS -VT/180 |
|
|
|
TS SR # -VT/360 SAVED FOR DZ. |
|
|
|
@ -884,7 +884,7 @@ REFLECT CS -VT/180 # RELFECT LHP INTO RHP REL TO TERM CONTR |
|
|
|
TS LCX/360 |
|
|
|
CS JNDX |
|
|
|
TS JNDX |
|
|
|
|
|
|
|
|
|
|
|
# IS VSQ/4API - (VSQ/4API) MIN NEG? |
|
|
|
|
|
|
|
DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $ |
|
|
|
@ -892,7 +892,7 @@ DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $ |
|
|
|
EXTEND |
|
|
|
BZMF DZ2 # YES, GO TEST FURTHER. |
|
|
|
TCF MAXVTEST # NO |
|
|
|
|
|
|
|
|
|
|
|
# IS X/360 - XMIN/360 -VT/360 NEG? |
|
|
|
|
|
|
|
DZ2 CS XMIN/360 # XMIN/360 = 4/360 |
|
|
|
@ -900,7 +900,7 @@ DZ2 CS XMIN/360 # XMIN/360 = 4/360 |
|
|
|
AD SR # C(SR) = -VT/360 |
|
|
|
EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $ |
|
|
|
BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0. |
|
|
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|
|
|
|
|
|
|
|
# IS XD/360 - VM/360K - XS/360 POS? |
|
|
|
|
|
|
|
MAXVTEST CS JNDX |
|
|
|
@ -918,7 +918,7 @@ MAXVTEST CS JNDX |
|
|
|
EXTEND |
|
|
|
MP KTRCS |
|
|
|
DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY. |
|
|
|
|
|
|
|
|
|
|
|
TC GETON1 # INSURE THAT Q IS POS AS TAG. |
|
|
|
MAXVTIM1 EXTEND |
|
|
|
ZQ # SET +Q AS TAG |
|
|
|
@ -933,14 +933,14 @@ GETON1 TS VDT/180 # VDT/180 OR VMT/180 |
|
|
|
EXTEND |
|
|
|
BZMF OVRLINE |
|
|
|
TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1 |
|
|
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|
|
|
|
|
|
|
|
OVRLINE CCS Q |
|
|
|
TCF OVRLINE1 |
|
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MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN |
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TS JNDX |
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CS TON1 |
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TCF OVRLINE2 +1 |
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OVRLINE1 CS -VT/180 # DRIFT AT V |
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TS VDT/180 |
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OVRLINE2 CA ZERO |
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@ -951,14 +951,14 @@ GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180 |
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MP 180/8ATT |
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DOUBLE # FOR SECOND BURN, A1 |
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TS TON2 # = TON2 / 4T |
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COM |
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EXTEND |
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BZMF GETOFF |
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TS TON2 |
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CA JNDX |
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TS JNDX1 |
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GETOFF CS TON2 # TON2 / 4T |
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EXTEND |
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MP VDT/180 # VDT/180, OR VT/180, OR VMT/180. |
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@ -977,7 +977,7 @@ GETOFF CS TON2 # TON2 / 4T |
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DV VDT/180 |
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EXTEND |
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BZF GETOFF2 # DIVIDE OK |
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TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE. |
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TCF TIMSCAL |
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@ -993,19 +993,19 @@ TIMSCAL TS TOFF # IN CS |
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EXTEND |
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MP TON1 # C(TON1) = TON1 / 4T |
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TS TON1 # IN CS |
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CAF 4JETT |
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EXTEND |
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MP TON2 # C(TON2) = TON2 / 4T |
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TS TON2 # IN CS |
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CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE |
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TS JETAG # SET +0 TO SHOW ROLL DAP CALLED. |
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# CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE |
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# INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT |
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# AND ON ALTERNATE PASSES THROUGH CM/DUMPR. |
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CA ONE |
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TS SW/NDX |
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@ -1024,11 +1024,11 @@ TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL. |
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AD POS1/2 |
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AD POS1/2 # OVFL GUARANTEED. |
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ADS TUSED # B(TUSED) =-TUSED =-OLTIME1 |
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CA -T-3 # =-T +2 -5 (SEE SETJTAG) |
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# THE +2 REQUIRED FOR PROPER BRANCH. |
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ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2 |
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CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1 |
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AD TON1 |
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EXTEND |
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@ -1036,7 +1036,7 @@ TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL. |
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INDEX JNDX |
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CAF P/RJCODE |
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TS T1BITS |
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CA TON1 |
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ADS TUSED |
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EXTEND |
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@ -1076,11 +1076,11 @@ TIMETST3 TS TON1 |
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TIMETST4 TS TOFF |
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TIMETST5 CS ONE |
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TS TON2 |
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# SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING |
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# JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS |
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# EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE |
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# EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE |
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# EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE |
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# SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE |
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# THAN ONE REGISTER. |
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@ -1110,18 +1110,18 @@ JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL |
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TC WAITLIST |
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EBANK= AOG |
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2CADR JETCALL |
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JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN |
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# Page 1089 |
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EXTEND # NO NEED TO SAVE OLD CODES |
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WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG. |
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CCS OUTTAG |
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TC TASKOVER |
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ROLLDUMP TC CM/FDAIR |
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# EDIT DUMP AT ABOVE LOCATION. |
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# WAITLIST ENTRIES COME HERE. |
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JETCALL CAF BIT2 # CM/DSTBY =103D BIT2 |
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@ -1131,7 +1131,7 @@ JETCALL CAF BIT2 # CM/DSTBY =103D BIT2 |
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BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT. |
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ZL # NO, CONTINUE. |
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TCF JETCALL3 # C(A) POS, C(L) = +0 |
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# DEAD ZONE ENTRIES COME HERE. |
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DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0. |
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@ -1145,7 +1145,7 @@ DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0. |
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TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC. |
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TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE. |
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# OTHERWISE, SAVE ROLL COMMAND. |
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CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS. |
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EXTEND # INHINT NOT NEEDED HERE. |
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WRITE ROLLJETS # TURN OFF ALL ROLL JETS. |
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@ -1173,33 +1173,33 @@ CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES |
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EXTEND |
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MP HALF |
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ADS PAXERR1 # ROLL ERROR/360. OVFL OK. |
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# EDIT DUMP AT ABOVE LOCATION. |
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CM/FDAIR CA HALF |
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EXTEND |
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MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D |
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TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE. |
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# PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND |
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# TO UPDATE THE NEEDLE DISPLAY ON THE NEXT. |
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# SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM |
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# IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON |
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# THE SUBSEQUENT PASS. |
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CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE |
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TS SW/NDX |
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EXTEND # INDEX |
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BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO |
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# ENDBUF. |
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# ENDBUF. |
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# INDEX IS POS FOR NEEDLES. |
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TC IBNKCALL |
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CADR NEEDLER |
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TC CM/END |
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# INDEX IS NEG FOR TM FILE |
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CMTMFILE AD THREE |
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EXTEND |
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BZMF SAVENDX |
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@ -1216,16 +1216,16 @@ SAVENDX TS SW/NDX # A NEGATIVE NUMBER. |
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CA RREL |
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INDEX SW/NDX |
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TS ENDBUF +1 |
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CM/END CA CM/SAVE |
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TS SR |
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# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS |
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EXTEND |
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DCA T5IDLER2 |
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DXCH T5LOC |
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TC RESUME |
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EBANK= T5LOC |
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T5IDLER2 2CADR T5IDLOC |
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@ -1241,7 +1241,7 @@ T5IDLER2 2CADR T5IDLOC |
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# Q PITCH RATE |
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# R YAW RATE |
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# ETC. |
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#CMTMTIME = UPBUFF |
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#SW/NDX = UPBUFF +1 |
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#ENDBUF = UPBUFF +16D |
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@ -1249,7 +1249,7 @@ T5IDLER2 2CADR T5IDLOC |
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# Page 1092 |
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# SPACER |
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# |
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# CONSTANTS USED IN THE ROLL CONTROL SYSTEM: |
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# CONSTANTS USED IN THE ROLL CONTROL SYSTEM: |
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# CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC, |
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# XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE |
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# XBUF = 4DEG |
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James Harris
5 years ago