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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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78
Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc
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@@ -7,8 +7,8 @@
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 342-363
# Mod history: 2009-05-16 RSB Adapted from the corresponding
# Luminary131 file, using page
# Mod history: 2009-05-16 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
#
# This source code has been transcribed or otherwise adapted from
@@ -24,7 +24,7 @@
# Notations on the hardcopy document read, in part:
#
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
# 16:27 JULY 14, 1969
# 16:27 JULY 14, 1969
# Page 342
# BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU
@@ -35,7 +35,7 @@
#
# KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
# DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
# ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
# ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
# MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT
# SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
#
@@ -48,7 +48,7 @@
#
# WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
# MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
# THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
# THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
# _
# MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
# _
@@ -103,7 +103,7 @@
# P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
# YAW.
#
# AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
# AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
# _
# SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
# DESIRED REFERENCE MATRIX IS THEN,
@@ -115,7 +115,7 @@
# *
# FROM MIS.
#
# AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
# AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
# MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
# ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
# (TIME1 AND TIME2) ARE THEN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
@@ -129,7 +129,7 @@
# CALLING SEQUENCE
#
# 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
# 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
# *
@@ -186,7 +186,7 @@
# --------
#
# THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
#
#
# * * T
# M = M1
#
@@ -220,7 +220,7 @@
#
# M = -SINY COSZ
# 6
#
#
# M = SINY SINZ COSX + COSY SINX
# 7
# Page 346
@@ -346,7 +346,7 @@
# THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
# DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
# MUST THEN BE LOADED INTO D(MPAC).
#
#
# INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
#
# READCDUK
@@ -419,9 +419,9 @@
BANK 15
SETLOC KALCMON1
BANK
EBANK= BCDU
# THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWO'S COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
# LOCATIONS, CPHI, CTHETA, CPSI.
@@ -475,7 +475,7 @@ SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
STOVL TMFI +6
STADR
STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
# CALCULATE COFSKEW AND MFISYM
DLOAD DSU
@@ -489,7 +489,7 @@ SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
MFI +10D
VDEF
STORE COFSKEW # EQUALS MFISKEW
# CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
DLOAD DAD
@@ -508,7 +508,7 @@ SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
CPHI # GO DIRECTLY INTO ATTITUDE HOLD
STCALL CDUXD # ABOUT COMMANDED ANGLES
TOOBADI # STOP RATE AND EXIT
CHECKMAX DLOAD DSU
AM
MAXANG
@@ -533,7 +533,7 @@ ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
VAD VSR1
TMFI +12D
STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
# CALCULATE COF
DLOAD SR1
@@ -560,7 +560,7 @@ ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
UNIT
STORE COF
# DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
COFMAXGO DLOAD DSU
@@ -578,9 +578,9 @@ COFMAXGO DLOAD DSU
COMP12 DLOAD DSU
COF +2
COF +4
BMN
BMN
METHOD3 # COFZ G COFY OR COFX
METHOD2 DLOAD BPL # COFY MAX
COFSKEW +2 # UY
U2POS
@@ -648,9 +648,9 @@ OKU31 DLOAD BPL
BANK 13
SETLOC KALCMON2
BANK
EBANK= BCDU
MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
0 # AND LEAVES RESULT IN PD LIST
0,1 # AND MPAC
@@ -663,7 +663,7 @@ MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
VXM* PUSH
0,2
RVQ
# RETURN WITH MIXM2 IN PD LIST
TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
@@ -695,13 +695,13 @@ TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
# Page 357
TC INTPRET
RVQ
BANK 15
SETLOC KALCMON1
BANK
EBANK= BCDU
MINANG 2DEC 0.00069375
MAXANG 2DEC 0.472222222
@@ -732,7 +732,7 @@ READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
EXTEND
DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
TCF TLOAD +6
CDUTODCM AXT,1 SSP
OCT 3
S1
@@ -814,7 +814,7 @@ LOOPSIN SLOAD* RTB
STADR
STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
RVQ # +COS(THETA)COS(PHI)
# CALCULATION OF THE MATRIX DEL......
#
# * * __T *
@@ -834,7 +834,7 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
DPHALF
SIGNMPAC
PDDL # PDA = 1-COS(A)
# COMPUTE THE DIAGONAL COMPONENTS OF DEL
COF
@@ -859,10 +859,10 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
4
DAD SL3
2
BOVB
BOVB
SIGNMPAC
STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
# COMPUTE THE OFF DIAGONAL TERMS OF DEL
DLOAD DMP
@@ -918,7 +918,7 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
SIGNMPAC
STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
RVQ
# DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
# X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2).
# LEAVE CDU ANGLES SCALED 2PI IN V(MPAC).
@@ -1004,24 +1004,24 @@ VECOFANG VDEF RVQ
TOOBADF EXIT
TC ALARM
OCT 00401
TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
TC BANKCALL
CADR ZATTEROR # ZERO ATTITUDE ERRORS
NOGO TC BANKCALL
CADR STOPRATE # STOP RATES
CAF TWO
INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
TC WAITLIST
EBANK= BCDU
2CADR GOODMANU
TCF ENDOFJOB
TOOBADI EXIT
TCF NOGO