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This commit is contained in:
James Harris
2016-12-28 16:11:25 +00:00
parent 7c33b5996c
commit 4f3a1d4374
166 changed files with 5357 additions and 5357 deletions
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308
Comanche055/CM_ENTRY_DIGITAL_AUTOPILOT.agc
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@ -9,8 +9,8 @@
# Pages: 1063-1092
# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
# same name, using Comanche055 page images.
# 2009-05-20 RSB Corrections: Removed an extraneous label
# EXDAPIN, added a missing instruction in
# 2009-05-20 RSB Corrections: Removed an extraneous label
# EXDAPIN, added a missing instruction in
# COMPAT.
#
# This source code has been transcribed or otherwise adapted from digitized
@ -19,13 +19,13 @@
# thanks to both. The images (with suitable reduction in storage size and
# consequent reduction in image quality as well) are available online at
# www.ibiblio.org/apollo. If for some reason you find that the images are
# illegible, contact me at info@sandroid.org about getting access to the
# illegible, contact me at info@sandroid.org about getting access to the
# (much) higher-quality images which Paul actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
@ -38,43 +38,43 @@
# CM/DSTBY = 0 TO TERMINATE DAP OPERATION
BANK 15
SETLOC ETRYDAP
BANK
COUNT 15/DAPEN
EBANK= AOG
READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
ADS CM/GYMDT # PIPTIME. (GROUP 6)
# IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
# PHASCHNG PROTECTION IS IN CM/DAPIC.
CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
EXTEND # GIMBAL DIFFERENCES)
BZF READGYM1 # OK
CS BIT1 # NOT IN FINE ALIGN, SO IDLE
MASK CM/FLAGS # SET GYMDIFSW = 0
TS CM/FLAGS
TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
TC CM/GYMIC +2
READGYM1 CA CDUX
XCH AOG
EXTEND
MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
TS -DELAOG
CA CDUY
XCH AIG
EXTEND
MSU AIG
TS -DELAIG
CA CDUZ
XCH AMG
EXTEND
@ -90,12 +90,12 @@ DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
TC CM/GYMIC # DON'T CALC BODYRATE ON FIRST PASS.
NOOP
TC FLUSHJET # TURN OFF ALL JETS
TC PHASCHNG
OCT 00006 # DEACTIVATE DAP GROUP 6.
TC TASKOVER
DOBRATE CA ONE # DO BODYRATE
DOBRATE1 TS JETEM # SKIP BODYRATE
@ -103,13 +103,13 @@ DOBRATE1 TS JETEM # SKIP BODYRATE
TC WAITLIST
EBANK= AOG
2CADR READGYMB
# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
CCS JETEM
TC BODYRATE
TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
CAF ZERO
TS JETAG
@ -118,7 +118,7 @@ CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
TS OLDELR
TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
TC DOBRATE1
# Page 1065
# COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
@ -128,45 +128,45 @@ ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
CAF LIMITS
ADS L
TC Q
BLOCK 3
COUNT 03/DAPEN
FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
EXTEND
WRITE ROLLJETS # ZERO CHANNEL 6
EXTEND
WRITE PYJETS # ZERO CHANNEL 5
TC Q
BANK 15
COUNT 15/DAPEN
SETLOC ETRYDAP
BANK
RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
AD JETEM # OF CONSTANT ACCELERATION.
EXTEND
MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
AD JETEM
TC Q
# Page 1066
# THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
BANK 20
SETLOC DAPS1
BANK
COUNT 20/DAPEN
EBANK= AOG
CM/DAPON CA EBAOG
TS EBANK
TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
TC DOWNFLAG # RESET DAPBIT2
@ -177,14 +177,14 @@ CM/DAPON CA EBAOG
EXTEND
DCA T5IDLER1 # DISABLE RCS JET CALLS
DXCH T6LOC
TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
CS 13,14,15
MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
TS DAPDATR1
TC +4
NOTYET CA .5SEC
TC BANKCALL
CADR DELAYJOB # (DELAYJOB DOES INHINT)
@ -192,15 +192,15 @@ NOTYET CA .5SEC
MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
EXTEND
BZF NOTYET
CS ONE # ACTIVATE CM/DAP
TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
# NEXT PASS.
TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
# HEADSUP IS SET IN P62.
# FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62
CA 7
TS JETAG
TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
@ -215,20 +215,20 @@ NOTYET CA .5SEC
EXTEND
MP HALF
TS ROLLC # NOT INTERESTED IN LO WORD.
CS CM/FLAGS
MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
ADS CM/FLAGS # SET BIT TO 1.
CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
MASK BIT1 # V 37 ENTRIES.
ADS FLAGWRD2
RELINT
TC POSTJUMP
CADR P62.1
# Page 1068
# INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
# SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
@ -237,17 +237,17 @@ NOTYET CA .5SEC
CM/DAPIC CA EBAOG
TS EBANK
INHINT
CM/DAP2C CS PIPTIME +1
# PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1.
TS JETEM
CA POS1/2
AD POS1/2
AD TIME1 # OVFL GUARANTEED
ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
CS FIVE
AD JETEM
CCS A
@ -259,28 +259,28 @@ CM/DAP2C CS PIPTIME +1
TC WAITLIST
EBANK= AOG
2CADR READGYMB
CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
AD CM/SWIC2 # SET CM/DSTBY, LATSW
# DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
# CALC. (P62.3) GOES TO ENDEXIT
TS CM/FLAGS
CA 7
TS BETA/180 # NECESSARY: NO OVFL CORRECTIO
CA ONE # INITIALIZE THE TM OF BODY RATES VIA
TS SW/NDX # UPBUFF.
TC 2PHSCHNG # DOES INHINT/RELINT
OCT 40116 # SAVE TBASE6
OCT 05024
OCT 13000
TC POSTJUMP
# Page 1069
CADR P62.2
CM/SWIC1 OCT 16017
CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
-CDUT+1 OCT 77766
@ -301,29 +301,29 @@ T5IDLER1 2CADR T5IDLOC
BANK 15
SETLOC ETRYDAP
BANK
COUNT 15/DAPEN
BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
TC SPCOS
TS COSM
CA AOG # C(AOG) = AOG/180
TC SPSIN # SINO
TS SINO # SINO = SIN(AOG)
EXTEND
MP COSM
TS SINOCOSM # SO CM
CA AOG
TC SPCOS # COSO
TS COSO
EXTEND
MP COSM
TS COSOCOSM # CO CM
# PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
CS -DELAMG
@ -338,7 +338,7 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
XCH OLDELQ
TC RATEAVG
TS QREL # PITCHDOT = Q TCDU/180
# Page 1071
# YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
@ -354,13 +354,13 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
XCH OLDELR
TC RATEAVG
TS RREL # YAWDOT = R TCDU/180
# ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
CA AMG
TC SPSIN
TS SINM
EXTEND
MP -DELAIG
TS JETEM
@ -373,9 +373,9 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
XCH OLDELP
TC RATEAVG
TS PREL # ROLLDOT = P TCDU/180
# IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
CCS GAMDOT
TC +2
TC NOGAMDUT
@ -387,7 +387,7 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
EXTEND
MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
CA ROLL/180
TC SPCOS
# Page 1072
@ -395,12 +395,12 @@ BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
EXTEND
MP GAMDOT
ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
CS JETEM +1 # B( ) = -SR GAMDOT
EXTEND
MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
MASK CM/FLAGS
EXTEND
@ -408,14 +408,14 @@ STBYDUMP BZF TASKOVER # DAP NOT ARMED.
CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
TS TIME5
EXTEND
DCA ATDOTCAD
DXCH T5LOC
# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
TC TASKOVER
EBANK= AOG
ATDOTCAD 2CADR ATTRATES
@ -433,7 +433,7 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
DOUBLE
TS CM/SAVE
# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
CA QREL
AD ALFA/180
TC ANGOVCOR
@ -441,28 +441,28 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
TC SPCOS
TS CALFA # CALFA
TS PHIDOT
EXTEND
MP PREL
XCH PHIDOT # CA PREL
EXTEND
MP RREL # CA RREL
TS BETADOT
CA ALFA/180
TC SPSIN
TS SALFA # SIN(ALFA)
EXTEND
MP RREL # SA RREL
ADS PHIDOT # CB PHIDOT, SAVED.
CS SALFA
EXTEND
MP PREL
ADS BETADOT # SAVE BETADOT TCDU/180
ADS BETA/180 # BETA DONE.
TC SPSIN
EXTEND
MP PHIDOT # NEGLECT CB IN CB PHIDOT
@ -475,13 +475,13 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
TC ANGOVCOR # JUST IN CASE ...
TS AK1
TS QAXERR # FOR PITCH FDAI AND EDIT.
CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
AD ROLL/180
TC ANGOVCOR
TS ROLLTM # ROLL/180 FOR TM.
TS ROLL/180 # ROLL DONE.
# START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
@ -490,17 +490,17 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
# AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
# IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
# BE R-AXIS ERROR.
CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
EXTEND
BZF EXDAP # IF G LESS THAN .05
CS ONE # IF G GEQ THAN .05
TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
TS AK2 # IN ATM. (MODE =-1)
CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
EXTEND
MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
@ -508,9 +508,9 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
INDEX A # +/- 1 IF NOT
CAF YJETCODE
TS JETEM
# START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
CA QREL
@ -518,11 +518,11 @@ ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
CAF P/RJCODE
ADS JETEM # COMBINE ALL NEW BITS.
EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
# Page 1075
# Page 1075
WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
CCS JETAG
TC CM/RCS
TC CM/FDAI
@ -536,7 +536,7 @@ EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
TCF DZCOM
AD YAWLIM
TCF DZNOCOM
# BIASED DZ FOR EXT ATM DAP.
BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
CCS A # START ERROR DZ.
@ -555,7 +555,7 @@ BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
TCF +2 # RATE OK. CONTINUE
ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
XCH JETEM2 # AND CONTINUE TO GET SIGN.
2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
TCF +3
@ -564,7 +564,7 @@ DZCOM COM
DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
CA ZERO # SET C(A) = +0 INSIDE
TC Q
# Page 1077
# EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
#
@ -598,7 +598,7 @@ EXDAP TS CMDAPMOD # +0 FOR NOW
AD C45LIM
TS A
TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
CCS CALFA # |CALFA| > 0.707
TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
@ -614,10 +614,10 @@ EXDAP TS CMDAPMOD # +0 FOR NOW
TC WAITLIST
EBANK= AOG
2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
# Page 1078
# Page 1078
# 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
# TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
TCF EXDAP3
@ -625,7 +625,7 @@ EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
TS JETAG # RESTORE PROPER VALUE +0
# ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
CA RAXERR # C()= BETACOM - BETA/180
@ -648,7 +648,7 @@ EXDAP1 TS RAXERR # FOR YAW FDAI
INDEX A
CAF YJETCODE
TS JETEM
CA QAXERR # ALFA ERROR.
TS L
CA QREL # FOR ALPHADOT USE QREL
@ -656,18 +656,18 @@ EXDAP1 TS RAXERR # FOR YAW FDAI
EXTEND
ROR LCHAN
TCF EXDAPIN # CONTINUE ON IN DAP
EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
# =0 AND JETAG =-1, QUENCHES JETS IF ON)
CCS P63FLAG # IF FLAG WAS +1, SET =0.
TS P63FLAG
# Page 1079
# Page 1079
NOOP
CCS SALFA # BETA CONTROL WITH P JETS
CS RAXERR # B()= BETACOM - BETA/180
TCF +2
@ -688,7 +688,7 @@ EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
CAF P/RJCODE # GET ROLL CODE
EXTEND # ROLL CONTROL WITH YAW JETS.
WRITE ROLLJETS # WE'LL SKIP REGULAR ROLL SYST
CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
EXTEND
MSU ROLL/180 # 1'S COMPL, BUT SO WHAT'S A BIT?
@ -698,13 +698,13 @@ EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
TC EXDAP1
CS L
TC EXDAP1
NSEC DEC 2100 # 65 DEG/ 3 DEG/SEC
# IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
4D/SLIM DEC 16348 # 1.0 -4/180 D/S = 4/1800 EXP 14
YDOTLIM DEC 16366 # =1.0 - YDOT DZ= 16384 -18
# YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
CM/BIAS DEC 55 # =.6/180 B14 = 55
YAWLIM DEC 16055 # YAWLIM=1.0-3.6/180=16384-329=16055
C45LIM DEC .29289 # =1.0-COS(45)
@ -723,9 +723,9 @@ COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
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
P/RJCODE OCTAL 00000
OCTAL 00012 # NEG R ALSO NEG P
# Page 1081
# 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
TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
TC PHASCHNG
OCT 00001
TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
# 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.
CM/RCS CS ONE
TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
EXTEND
MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
AD L # -2 RDOT T/180 IN L
TS -VT/180 # SAVE -2VT/180 HERE
CS ROLL/180
TS SR # SAVE (-R/180) /2
CS CM/FLAGS
MASK BIT4 # LATSW = 101D BIT4
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.
TCF COMPAT # POSSIBLE OVFL ABOVE.
# Page 1082
GETLCX CA POS1/2 # FORM RCOM/360
DOUBLE
AD ROLLC
XCH LCX/360 # IGNORE POSSIBLE OVFL.
CA SR # FORM -R/360
AD NEG1/2
AD NEG1/2 # IGNORE OVFL
XCH LCX/360 # -R/360
ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
# 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
CS HALFPR # +A YIELDS -1/2
DOUBLE
ADS LCX/360
COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
EXTEND
MP CALFA # COS ALFA
TS LCX/360 # SCALED LCX OK HERE.
CCS CMDAPMOD # FOUR POSSIBILITIES HERE
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.
EXTEND
MP 180/8ATT
TS VSQ/4API
# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
WHICHALF DOUBLE # FOR SECOND BURN, A1
@ -854,7 +854,7 @@ WHICHALF DOUBLE # FOR SECOND BURN, A1
AD BUFLIM
EXTEND
BZMF REFLECT # POINT (X,V) IN LHP.
# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
COM
@ -862,20 +862,20 @@ WHICHALF DOUBLE # FOR SECOND BURN, A1
AD BUFLIM
EXTEND
BZMF DZ1 # POINT (X,V) IN RHP
# IS POINT WITHIN VELOCITY DZ?
CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
AD VSQ/4API
EXTEND
BZMF DZCALL # YES.
# POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
CS JNDX
TS JNDX1
TC OVRLINE1
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.
# 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
OVRLINE CCS Q
TCF OVRLINE1
MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
TS JNDX
CS TON1
TCF OVRLINE2 +1
OVRLINE1 CS -VT/180 # DRIFT AT V
TS VDT/180
OVRLINE2 CA ZERO
@ -951,14 +951,14 @@ GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
MP 180/8ATT
DOUBLE # FOR SECOND BURN, A1
TS TON2 # = TON2 / 4T
COM
EXTEND
BZMF GETOFF
TS TON2
CA JNDX
TS JNDX1
GETOFF CS TON2 # TON2 / 4T
EXTEND
MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
@ -977,7 +977,7 @@ GETOFF CS TON2 # TON2 / 4T
DV VDT/180
EXTEND
BZF GETOFF2 # DIVIDE OK
TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
TCF TIMSCAL
@ -993,19 +993,19 @@ TIMSCAL TS TOFF # IN CS
EXTEND
MP TON1 # C(TON1) = TON1 / 4T
TS TON1 # IN CS
CAF 4JETT
EXTEND
MP TON2 # C(TON2) = TON2 / 4T
TS TON2 # IN CS
CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
# CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
# INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT
# AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
CA ONE
TS SW/NDX
@ -1024,11 +1024,11 @@ TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
AD POS1/2
AD POS1/2 # OVFL GUARANTEED.
ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
CA -T-3 # =-T +2 -5 (SEE SETJTAG)
# THE +2 REQUIRED FOR PROPER BRANCH.
ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
AD TON1
EXTEND
@ -1036,7 +1036,7 @@ TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
INDEX JNDX
CAF P/RJCODE
TS T1BITS
CA TON1
ADS TUSED
EXTEND
@ -1076,11 +1076,11 @@ TIMETST3 TS TON1
TIMETST4 TS TOFF
TIMETST5 CS ONE
TS TON2
# SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
# JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
# EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE
# EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
# EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
# SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
# THAN ONE REGISTER.
@ -1110,18 +1110,18 @@ JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
TC WAITLIST
EBANK= AOG
2CADR JETCALL
JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
# Page 1089
EXTEND # NO NEED TO SAVE OLD CODES
WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
CCS OUTTAG
TC TASKOVER
ROLLDUMP TC CM/FDAIR
# EDIT DUMP AT ABOVE LOCATION.
# WAITLIST ENTRIES COME HERE.
JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
@ -1131,7 +1131,7 @@ JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
ZL # NO, CONTINUE.
TCF JETCALL3 # C(A) POS, C(L) = +0
# DEAD ZONE ENTRIES COME HERE.
DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
@ -1145,7 +1145,7 @@ DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC.
TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE.
# OTHERWISE, SAVE ROLL COMMAND.
CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
EXTEND # INHINT NOT NEEDED HERE.
WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
@ -1173,33 +1173,33 @@ CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
EXTEND
MP HALF
ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
# EDIT DUMP AT ABOVE LOCATION.
CM/FDAIR CA HALF
EXTEND
MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
# PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
# TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
# SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
# IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
# THE SUBSEQUENT PASS.
CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
TS SW/NDX
EXTEND # INDEX
BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
# ENDBUF.
# ENDBUF.
# INDEX IS POS FOR NEEDLES.
TC IBNKCALL
CADR NEEDLER
TC CM/END
# INDEX IS NEG FOR TM FILE
CMTMFILE AD THREE
EXTEND
BZMF SAVENDX
@ -1216,16 +1216,16 @@ SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
CA RREL
INDEX SW/NDX
TS ENDBUF +1
CM/END CA CM/SAVE
TS SR
# DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
EXTEND
DCA T5IDLER2
DXCH T5LOC
TC RESUME
EBANK= T5LOC
T5IDLER2 2CADR T5IDLOC
@ -1241,7 +1241,7 @@ T5IDLER2 2CADR T5IDLOC
# Q PITCH RATE
# R YAW RATE
# ETC.
#CMTMTIME = UPBUFF
#SW/NDX = UPBUFF +1
#ENDBUF = UPBUFF +16D
@ -1249,7 +1249,7 @@ T5IDLER2 2CADR T5IDLOC
# Page 1092
# SPACER
#
# CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
# CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
# CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
# XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
# XBUF = 4DEG