From 1abf046f01065768a0bb1f45193a28bf7b9f9751 Mon Sep 17 00:00:00 2001 From: Sudhish2607 Date: Wed, 28 Oct 2020 19:05:02 -0500 Subject: [PATCH] fix: (Issue #569) page 0344 --- Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc | 64 ++++++++++++----------- 1 file changed, 33 insertions(+), 31 deletions(-) diff --git a/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc b/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc index 1b0050c..675bae8 100644 --- a/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc +++ b/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc @@ -127,54 +127,56 @@ # Page 344 # CALLING SEQUENCE # -# IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND +# IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB -# * -# CAF PRIO XX -# -- -# INHINT -# TC FINDVAC -# 2CADR KALCMAN3 -# RELINT # -# THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO -# WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS: +# * +# CAF PRIO XX +# -- +# INHINT +# TC FINDVAC +# 2CADR KALCMAN3 +# RELINT # -# L TC BANKCALL -# L+1 CADR ATTSTALL -# L+2 (BAD RETURN) -# L+3 (GOOD RETURN) +# THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO +# WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS # -# UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED +# L TC BANKCALL +# L+1 CADR ATTSTALL +# L+2 (BAD RETURN) +# L+3 (GOOD RETURN) +# +# UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE # WAS IN GIMBAL LOCK. # -# *** NOTA BENE *** IF IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY +# ***NOTA BENE*** IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU. -# -# IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE +# IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE -# SUBROUTINES. +# SUBROUTINES # -# KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES +# KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS. # -# MXM3 -# ---- +# MXM3 +# ---- # -# THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH +# THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH # DOWN LIST, I.E., -# [ M M M ] -# [ 0 1 2 ] -# * [ ] * * -# M = [ M M M ] = M1 X M2 -# [ 3 4 5 ] -# [ ] -# [ M M M ] -# [ 6 7 8 ] +# +# (M M M ) +# ( 0 1 2) +# * ( ) * * +# M = (M M M ) = M1 X M2 +# ( 3 4 5) +# ( ) +# (M M M ) +# # Page 345 +# [ 6 7 8 ] # * # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE # *