Update TJET_LAW.agc
This commit is contained in:
Dhivya S
parent
343e5bcde5
commit
27375f5b48
@ -45,7 +45,7 @@
|
||||
#
|
||||
# THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
|
||||
# PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU, OR TJV). THE NUMBER OF JETS THAT
|
||||
# TJETLAW ASSUMES WILL BE USED AS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
|
||||
# TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
|
||||
# ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
|
||||
# (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
|
||||
#
|
||||
@ -70,7 +70,7 @@
|
||||
# TJP, -U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
|
||||
#
|
||||
# DEBRIS:
|
||||
# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTEMP1-4.
|
||||
# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTRBG-4.
|
||||
#
|
||||
# ALARM: NONE
|
||||
|
||||
@ -86,49 +86,49 @@ TJETLAW EXTEND # SAVE Q FOR RETURN.
|
||||
|
||||
# SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
|
||||
|
||||
INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U
|
||||
CAF AXISDIFF # AXISDIFF(0)=0
|
||||
TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
|
||||
INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U
|
||||
CAF AXISDIFF # AXISDIFF(0)=0
|
||||
TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
|
||||
|
||||
CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
|
||||
EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
|
||||
BZMF NEGEDOT # POSITIVE EDOT.
|
||||
CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
|
||||
TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
|
||||
CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
|
||||
TCF SETSENSE # INITIALIZED POSITIVE.
|
||||
CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
|
||||
EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
|
||||
BZMF NEGEDOT # POSITIVE EDOT.
|
||||
CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
|
||||
TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
|
||||
CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
|
||||
TCF SETSENSE # INITIALIZED POSITIVE.
|
||||
|
||||
NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
|
||||
TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
|
||||
CS EDOT # 1. COMPLEMENT E AND EDOT.
|
||||
TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
|
||||
CAF BIT1 # (REVERSED LATER IF NECESSARY).
|
||||
ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
|
||||
TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
|
||||
CS SENSOR
|
||||
SETSENSE TS ROTSENSE
|
||||
NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
|
||||
TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
|
||||
CS EDOT # 1. COMPLEMENT E AND EDOT.
|
||||
TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
|
||||
CAF BIT1 # (REVERSED LATER IF NECESSARY).
|
||||
ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
|
||||
TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
|
||||
CS SENSOR
|
||||
SETSENSE TS ROTSENSE
|
||||
|
||||
# TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
|
||||
# IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
|
||||
# IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4
|
||||
# IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
|
||||
|
||||
CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
|
||||
CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
|
||||
EXTEND
|
||||
MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
|
||||
CCS A # ZERO, RESCALE AND TEST EDOT.
|
||||
TCF RUFLAW2
|
||||
TCF SCALEE
|
||||
TCF RUFLAW1
|
||||
SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
|
||||
EXTEND # IT TO PI/4 AND SAVE IT.
|
||||
MP L
|
||||
TS E
|
||||
MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
|
||||
CCS A # ZERO, RESCALE AND TEST EDOT.
|
||||
TCF RUFLAW2
|
||||
TCF SCALEE
|
||||
TCF RUFLAW1
|
||||
SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
|
||||
EXTEND # IT TO PI/4 AND SAVE IT.
|
||||
MP L
|
||||
TS E
|
||||
|
||||
# TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
|
||||
# IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
|
||||
# IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
|
||||
|
||||
CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
|
||||
CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
|
||||
# Page 1462
|
||||
EXTEND # FOR THIS AXIS=
|
||||
MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
|
||||
@ -138,13 +138,13 @@ SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
|
||||
|
||||
# *** FINELAW STARTS HERE ***
|
||||
|
||||
SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
|
||||
SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
|
||||
|
||||
CAE EDOT # COMPUTE (EDOT)(EDOT)
|
||||
EXTEND
|
||||
SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
|
||||
EXTEND
|
||||
MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE TO EDOTSQ
|
||||
MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
|
||||
TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
|
||||
|
||||
ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
|
||||
@ -152,107 +152,107 @@ ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
|
||||
TCF +2
|
||||
AD -3DEG
|
||||
EXTEND
|
||||
INDEX ADRSDIF1
|
||||
SU FIREDB
|
||||
INDEX ADRSDIF1
|
||||
SU FIREDB
|
||||
EXTEND
|
||||
BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED?
|
||||
MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND
|
||||
BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED?
|
||||
MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND
|
||||
ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
|
||||
CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
|
||||
TCF TJCALC
|
||||
SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
|
||||
SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
|
||||
TCF TJCALC # YES. USE MIN-JET PARAMETERS
|
||||
TCF MAXJETS # NO. GET THE MAX-JET PARAMETERS.
|
||||
TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
|
||||
TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
|
||||
|
||||
# BEGINNING OF TJET CALCULATIONS:
|
||||
|
||||
CS EDOTSQ # SCALED AT PI(2)/2(8).
|
||||
CS EDOTSQ # SCALED AT PI(2)/2(8).
|
||||
EXTEND
|
||||
INDEX ADRSDIF2
|
||||
INDEX ADRSDIF2
|
||||
MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
|
||||
INDEX ADRSDIF1
|
||||
AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
|
||||
INDEX ADRSDIF1
|
||||
AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
|
||||
EXTEND
|
||||
SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
|
||||
TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
|
||||
SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
|
||||
TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
|
||||
EXTEND
|
||||
BZMF ZON1,2,3
|
||||
BZMF ZON1,2,3
|
||||
|
||||
ZONE4,5 INDEX ADRSDIF1
|
||||
ZONE4,5 INDEX ADRSDIF1
|
||||
CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
|
||||
# Page 1463
|
||||
EXTEND # ACC = MAX(AMIN, AOS-).
|
||||
MP EDOTSQ # SCALED AT PI/2(8).
|
||||
AD E # SCALED AT PI/4
|
||||
INDEX ADRSDIF1
|
||||
AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
|
||||
AD E # SCALED AT PI/4
|
||||
INDEX ADRSDIF1
|
||||
AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
|
||||
EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
|
||||
BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
|
||||
# IF FUNCTION POSITIVE, IN ZONE 4.
|
||||
BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
|
||||
# IF FUNCTION POSITIVE, IN ZONE 4.
|
||||
|
||||
# ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
|
||||
# A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
|
||||
# B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
|
||||
# THEN THE THRUSTERS ARE KEPT ON.
|
||||
|
||||
ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
|
||||
ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
|
||||
CS TJETU # WITH SENSE OPPOSITE TO EDOT,
|
||||
EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD
|
||||
MP ROTSENSE # THE DESIRABLE STATE).
|
||||
EXTEND
|
||||
BZMF COASTTJ # NO. COAST.
|
||||
BZMF COASTTJ # NO. COAST.
|
||||
|
||||
JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT?
|
||||
TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
|
||||
|
||||
CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
|
||||
INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
|
||||
INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
|
||||
AD AXISDIST # PHASE PLANE?
|
||||
EXTEND
|
||||
BZMF COASTTJ # NO. SET TJET = 0.
|
||||
BZMF COASTTJ # NO. SET TJET = 0.
|
||||
TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
|
||||
CAE FIREFCT # AFTER COMPUTING THE REQUIRED
|
||||
TCF ZONE1 # PARAMETERS.
|
||||
|
||||
DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
|
||||
DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
|
||||
CS FIREDB # THIS POINT IN THE PHASE PLANE?
|
||||
DOUBLE
|
||||
AD FIREFCT
|
||||
EXTEND
|
||||
BZMF +3
|
||||
COASTTJ CAF ZERO # NO. SET TJET = 0.
|
||||
BZMF +3
|
||||
COASTTJ CAF ZERO # NO. SET TJET = 0.
|
||||
TCF RETURNTJ
|
||||
|
||||
TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
|
||||
TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
|
||||
|
||||
ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
|
||||
ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
|
||||
CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
|
||||
TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
|
||||
TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
|
||||
CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
|
||||
TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
|
||||
TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
|
||||
CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
|
||||
# Page 1464
|
||||
ADS ADRSDIF2
|
||||
|
||||
+4 CAE L
|
||||
EXTEND
|
||||
INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
|
||||
MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
|
||||
DDOUBL # ABASED.
|
||||
INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
|
||||
MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
|
||||
DDOUBL # BASED.
|
||||
DDOUBL
|
||||
DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
|
||||
INDEX ADRSDIF2
|
||||
CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
|
||||
DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
|
||||
INDEX ADRSDIF2
|
||||
CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
|
||||
EXTEND
|
||||
MP EDOT # SCALED AT PI/2(5)
|
||||
TS TTOAXIS # SCALED AT 4 SEC.
|
||||
MP EDOT # SCALED AT PI/2(5)
|
||||
TS TTOAXIS # SCALED AT 4 SEC.
|
||||
|
||||
# TEST WHETHER TJET GREATER THAN 50 MSEC.
|
||||
|
||||
EXTEND
|
||||
MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
|
||||
AD HH # (SCALED AT 8 SEC(2) ).
|
||||
AD HH # (SCALED AT 8 SEC(2) ).
|
||||
AD NEG2
|
||||
EXTEND
|
||||
BZMF FORMULA1
|
||||
@ -262,55 +262,55 @@ ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
|
||||
CAE TTOAXIS
|
||||
EXTEND
|
||||
MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
|
||||
AD HH # (SCALED AT 8 SEC(2) )
|
||||
AD HH # (SCALED AT 8 SEC(2) )
|
||||
AD -.0112A8
|
||||
EXTEND
|
||||
BZMF FORMULA2
|
||||
BZMF FORMULA2
|
||||
|
||||
# IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
|
||||
# IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
|
||||
|
||||
FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
|
||||
FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
|
||||
|
||||
# RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
|
||||
|
||||
RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
|
||||
RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
|
||||
MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
|
||||
INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
|
||||
INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
|
||||
TS TJETU
|
||||
EXTEND
|
||||
INDEX AXISCTR
|
||||
INDEX AXISCTR
|
||||
MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
|
||||
CAE L
|
||||
EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
|
||||
BZMF +3 # A MAX-JET CALCULATION.
|
||||
BZMF +3 # A MAX-JET CALCULATION.
|
||||
CAF FOUR
|
||||
# Page 1465
|
||||
TS NUMBERT
|
||||
TC HOLDQ # RETURN VIA SAVED Q.
|
||||
TC HOLDQ # RETURN VIA SAVED Q.
|
||||
|
||||
# TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
|
||||
|
||||
FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
|
||||
FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
|
||||
AD TTOAXIS # SCALED AT 4 SECONDS.
|
||||
DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
|
||||
DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
|
||||
EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
|
||||
DV HH # DP H AND DIVIDE BY DENOMINATOR.
|
||||
DV HH # DP H AND DIVIDE BY DENOMINATOR.
|
||||
EXTEND
|
||||
MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
|
||||
TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
|
||||
|
||||
# TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
|
||||
|
||||
FORMULA2 EXTEND
|
||||
FORMULA2 EXTEND
|
||||
DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
|
||||
DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
|
||||
# BE PRESERVED.
|
||||
DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
|
||||
# BE PRESERVED.
|
||||
CAE TTOAXIS # SCALED AT 4 SEC.
|
||||
AD .1AT4 # 0.1 SEC SCALED AT 4.
|
||||
DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
|
||||
DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
|
||||
EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
|
||||
DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
|
||||
DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
|
||||
EXTEND
|
||||
MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
|
||||
TCF RETURNTJ # END SUBROUTINE.
|
||||
@ -318,20 +318,20 @@ FORMULA2 EXTEND
|
||||
# SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
|
||||
# REACHED BY TC FROM 3 POINTS IN TJETLAW.
|
||||
|
||||
Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
|
||||
Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
|
||||
TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
|
||||
CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
|
||||
EXTEND
|
||||
INDEX ADRSDIF2
|
||||
INDEX ADRSDIF2
|
||||
MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
|
||||
TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
|
||||
AD -TJMAX
|
||||
EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
|
||||
BZMF +2
|
||||
BZMF +2
|
||||
TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
|
||||
RETURN # YES. GO ON TO FIND TJET
|
||||
|
||||
ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
|
||||
ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
|
||||
|
||||
# IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
|
||||
# LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
|
||||
@ -341,31 +341,31 @@ ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
|
||||
CAE FIREFCT # SCALED AT PI/4 RAD.
|
||||
AD FLAT
|
||||
EXTEND
|
||||
BZMF ZONE1 # NOT IN SPECIAL ZONES.
|
||||
BZMF ZONE1 # NOT IN SPECIAL ZONES.
|
||||
|
||||
# FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
|
||||
|
||||
ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
|
||||
ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
|
||||
AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
|
||||
EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
|
||||
BZMF ZONE3
|
||||
ZONE2 CAE TTOAXIS # FIRE TO AXIS.
|
||||
BZMF ZONE3
|
||||
ZONE2 CAE TTOAXIS # FIRE TO AXIS.
|
||||
TCF RETURNTJ
|
||||
ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
|
||||
ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
|
||||
CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
|
||||
TCF RETURNTJ # TJET = +0.
|
||||
TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
|
||||
TCF RETURNTJ # TJET = +0.
|
||||
|
||||
ZONE1 EXTEND
|
||||
INDEX ADRSDIF1
|
||||
ZONE1 EXTEND
|
||||
INDEX ADRSDIF1
|
||||
SU AXISDIST # SCALED AT PI/4 RAD.
|
||||
EXTEND
|
||||
INDEX ADRSDIF2
|
||||
MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
|
||||
INDEX ADRSDIF2
|
||||
MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
|
||||
DDOUBL
|
||||
DDOUBL
|
||||
DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
|
||||
DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
|
||||
|
||||
# TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
|
||||
# 2 2
|
||||
@ -376,43 +376,43 @@ ZONE1 EXTEND
|
||||
EXTEND
|
||||
SQUARE
|
||||
EXTEND
|
||||
SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
|
||||
SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
|
||||
EXTEND
|
||||
BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
|
||||
BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
|
||||
|
||||
# TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
|
||||
|
||||
CAE HH
|
||||
AD NEG2
|
||||
EXTEND
|
||||
BZMF FORMULA3
|
||||
BZMF FORMULA3
|
||||
|
||||
# Page 1467
|
||||
# TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
|
||||
|
||||
CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
|
||||
DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
|
||||
DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
|
||||
EXTEND # PRESERVED.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
AD TTOAXIS # SCALED AT 4 SEC.
|
||||
AD .0375AT4 # .0375 SEC SCALED AT 4.
|
||||
TCF RETURNTJ # END COMPUTATION.
|
||||
|
||||
# TJET - H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
|
||||
|
||||
FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION
|
||||
DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
|
||||
FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION
|
||||
DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
|
||||
EXTEND # PRESERVED.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
AD TTOAXIS # SCALED AT 4 SEC.
|
||||
|
||||
# IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
|
||||
# MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
|
||||
|
||||
CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
|
||||
CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
|
||||
EXTEND
|
||||
BZMF COASTTJ # YES, SET TIME TO ZERO.
|
||||
AD TJMIN # NO, RESTORE COMPUTED TIME.
|
||||
BZMF COASTTJ # YES, SET TIME TO ZERO.
|
||||
AD TJMIN # NO, RESTORE COMPUTED TIME.
|
||||
TCF RETURNTJ # END COMPUTATION.
|
||||
|
||||
# Page 1468
|
||||
@ -428,50 +428,50 @@ CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
|
||||
# RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
|
||||
# RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
|
||||
|
||||
RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
|
||||
RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
|
||||
ADS EDOT # WHICH IS THE TARGET RATE
|
||||
EXTEND
|
||||
BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
|
||||
BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
|
||||
TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
|
||||
CAE EDOT # PICK UP DESIRED RATE CHANGE.
|
||||
|
||||
RUFLAW12 EXTEND # COMPUTE TJET
|
||||
INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
|
||||
RUFLAW12 EXTEND # COMPUTE TJET
|
||||
INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
|
||||
MP 1/ANET1 +2
|
||||
AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
|
||||
EXTEND # 4 SECONDS, SET TJET TO TJMAX.
|
||||
BZMF +2
|
||||
BZMF +2
|
||||
TCF FULLTIME
|
||||
EXTEND
|
||||
BZF FULLTIME
|
||||
AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR
|
||||
DAS A
|
||||
DAS A
|
||||
DAS A # RESCALED TJET AT 4 SECONDS.
|
||||
DAS A # RESCALED TJET AT 4 SECONDS.
|
||||
TCF CHKMINTJ # RETURN AS FROM FINELAW.
|
||||
|
||||
SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
|
||||
SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
|
||||
CCS ROTSENSE
|
||||
CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
|
||||
TCF +2 # CORRESPONDING TO THE PROPER SENSE.
|
||||
CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
|
||||
TCF +2 # CORRESPONDING TO THE PROPER SENSE.
|
||||
CAF NEGONE
|
||||
ADS ADRSDIF2
|
||||
|
||||
CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
|
||||
TCF RUFLAW12
|
||||
|
||||
RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
|
||||
RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
|
||||
CAF RUFRATE
|
||||
AD EDOT # (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG.
|
||||
TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
|
||||
TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
|
||||
TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
|
||||
TCF FULLTIME
|
||||
|
||||
# Page 1469
|
||||
RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
|
||||
RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
|
||||
INDEX ADRSDIF1
|
||||
CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
|
||||
AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
|
||||
AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
|
||||
EXTEND # SCALED AT 4 PI RADIANS
|
||||
MP BIT11
|
||||
XCH EDOT
|
||||
@ -482,12 +482,12 @@ RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
|
||||
MP 1/ANET1 +2
|
||||
AD EDOT
|
||||
EXTEND
|
||||
BZMF COASTTJ # COAST IF BELOW IT.
|
||||
BZMF COASTTJ # COAST IF BELOW IT.
|
||||
TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
|
||||
|
||||
# SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
|
||||
|
||||
RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
|
||||
RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
|
||||
TS ROTSENSE
|
||||
+2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
|
||||
TS NUMBERT
|
||||
@ -497,23 +497,23 @@ RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
|
||||
|
||||
# CONSTANTS FOR TJETLAW
|
||||
|
||||
DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
|
||||
AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR
|
||||
DEC 16 # THE INDEXED AXIS AND THE U-AXIS.
|
||||
SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
|
||||
# (4 SEC) TO SCALING FOR T6 (10.24 SEC).
|
||||
-3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
|
||||
-.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
|
||||
.1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
|
||||
.1AT2 DEC .05 # .1 SEC SCALED AT 2.
|
||||
.0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
|
||||
-.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
|
||||
DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
|
||||
AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR
|
||||
DEC 16 # THE INDEXED AXIS AND THE U-AXIS.
|
||||
SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
|
||||
# (4 SEC) TO SCALING FOR T6 (10.24 SEC).
|
||||
-3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
|
||||
-.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
|
||||
.1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
|
||||
.1AT2 DEC .05 # .1 SEC SCALED AT 2.
|
||||
.0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
|
||||
-.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
|
||||
-.025AT4 DEC -.00625
|
||||
-.05AT2 DEC -.025
|
||||
-.15AT2 DEC -.075
|
||||
.00375A8 2DEC .00375 B-3
|
||||
.00375A8 2DEC .00375 B-3
|
||||
|
||||
-TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
|
||||
TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
|
||||
-TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
|
||||
TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
|
||||
-TJMIN DEC -.005
|
||||
RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
|
||||
RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
|
||||
|
||||
Loading…
Reference in New Issue
Block a user