ryan/Apollo-11
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: (Issue #569) page 0344

Browse Source
This commit is contained in:
Sudhish2607 2020-10-28 19:05:02 -05:00
parent fed6549629
commit 1abf046f01
1 changed files with 33 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

64
Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc
View File

@ -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
# *