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fix: (Issue #569) page 0344

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Sudhish2607 2020-10-28 19:05:02 -05:00
parent fed6549629
commit 1abf046f01
1 changed files with 33 additions and 31 deletions
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28
Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc
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@ -131,6 +131,7 @@
# STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE # 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 # 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 # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
#
# * # *
# CAF PRIO XX # CAF PRIO XX
# -- # --
@ -139,8 +140,8 @@
# 2CADR KALCMAN3 # 2CADR KALCMAN3
# RELINT # RELINT
# #
# THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO # 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: # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
# #
# L TC BANKCALL # L TC BANKCALL
# L+1 CADR ATTSTALL # L+1 CADR ATTSTALL
@ -151,12 +152,11 @@
# SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
# WAS IN GIMBAL LOCK. # 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. # 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 # 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. # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
@ -166,15 +166,17 @@
# #
# 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., # DOWN LIST, I.E.,
# [ M M M ] #
# [ 0 1 2 ] # (M M M )
# * [ ] * * # ( 0 1 2)
# M = [ M M M ] = M1 X M2 # * ( ) * *
# [ 3 4 5 ] # M = (M M M ) = M1 X M2
# [ ] # ( 3 4 5)
# [ M M M ] # ( )
# [ 6 7 8 ] # (M M M )
#
# Page 345 # Page 345
# [ 6 7 8 ]
# * # *
# INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
# * # *