From 8bb44091bed91c24702cbe065931a8bc6ba3a66d Mon Sep 17 00:00:00 2001 From: cai <caijiaqi2017@gmail.com> Date: Thu, 19 Jul 2018 06:10:17 +0800 Subject: [PATCH] proof IMU_COMPENSATION_PACKAGE (#343, closes #212) --- Comanche055/IMU_COMPENSATION_PACKAGE.agc | 52 ++++++++++++------------ 1 file changed, 25 insertions(+), 27 deletions(-) diff --git a/Comanche055/IMU_COMPENSATION_PACKAGE.agc b/Comanche055/IMU_COMPENSATION_PACKAGE.agc index 9c539ff..9ceb746 100644 --- a/Comanche055/IMU_COMPENSATION_PACKAGE.agc +++ b/Comanche055/IMU_COMPENSATION_PACKAGE.agc @@ -45,9 +45,8 @@ TCF +2 TCF IRIG1 # RETURN - INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S + INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S # FOR DOWNLINK. - 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF +2 @@ -68,7 +67,7 @@ EXTEND MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 INDEX BUF +2 - DAS DELVX # (PIPAI) + (PIPAI)(SF) + DAS DELVX # (PIPAI) + (PIPAI)(SFE) INDEX BUF +2 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) * @@ -83,12 +82,12 @@ # Page 298 AD NEG1 TCF 1/PIPA1 +1 - NOOP # LESS THAN ZERO IMPOSSIBLE + NOOP # LESS THAN ZERO IMPOSSIBLE. RELINT # Page 299 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. - TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ. + TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ. IRIGX EXTEND DCS DELVX # (PIPA PULSES) X 2(+14) @@ -97,10 +96,10 @@ IRIGX EXTEND TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14) EXTEND # - DCS DELVY # (PIPA PULSES) X 2(+14) + DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC # - CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * - TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14) + CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * + TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14) # EXTEND # *** # DCS DELVY # *** (PIPA PULSES) X 2(+14) @@ -108,8 +107,8 @@ IRIGX EXTEND # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14) - CS NBDX # (GYRO PULSES)/(CS) X 2(-3) - TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14) + CS NBDX # (GYRO PULSES)/(CS) X 2(-5) + TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14) IRIGY EXTEND DCS DELVY # (PIPA PULSES) X 2(+14) @@ -126,14 +125,14 @@ IRIGY EXTEND # EXTEND # *** # DCS DELVX # *** (PIPA PULSES) X 2(+14) # DXCH MPAC # *** -# CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-3) * -# TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14) +# CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * +# TC GCOMPSUB # *** -(ADOAY)(PIPAZ) (GYRO PULSES) X 2(+14) - CS NBDY # (GYRO PULSES)/(CS) X 2(-5) - TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) + CS NBDY # (GYRO PULSES)/(CS) X 2(-5) + TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) IRIGZ EXTEND - DCS DELVY # (PIPA PULSES) X 2(-14) + DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * # Page 300 @@ -151,15 +150,15 @@ IRIGZ EXTEND # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14) - CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) - TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) + CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) + TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) # Page 301 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES TCF +2 # YES TCF IRIG1 # NO - CA PRIO21 # HIGHER THAN SERVICER -- LESS THAN PRELAUNCH + CAF PRIO21 # HIGHER THAN SERVICER-LESS THAN PRELAUNCH TC NOVAC EBANK= NBDX 2CADR 1/GYRO @@ -181,19 +180,19 @@ GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A CAF ZERO DAS VBUF # NOW = (GYRO PULSES) X 2(+11) * - CA VBUF # PARTIAL RESULT -- MAJOR + CA VBUF # PARTIAL RESULT - MAJOR EXTEND MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI) - CA VBUF +1 # PARTIAL RESULT -- MINOR + CA VBUF +1 # PARTIAL RESULT - MINOR EXTEND MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * TS L CAF ZERO INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) - DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI) + DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI) TC Q @@ -227,7 +226,7 @@ DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ MASK NEGONE CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES - TS GCOMPSW # YES -- SET GCOMPSW POSITIVE + TS GCOMPSW # YES - SET GCOMPSW POSITIVE TC BUF +1 # NO # Page 303 @@ -267,14 +266,13 @@ GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX INDEX BUF # RESCALE CA GCOMP +1 EXTEND - MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0 + MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0 INDEX BUF LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0 CCS BUF # PIPAZ, PIPAY, PIPAX AD NEG1 TCF GCOMP1 +1 - V06N30S VN 0630 TCF ENDOFJOB @@ -295,7 +293,7 @@ NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE RELINT COM AD 1/PIPADT -NBD2 CCS A # CALCULATE ELAPSED TIME. +NBD2 CCS A # CALCULATE ELAPSED TIME AD ONE # NO TIME1 OVERFLOW TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP TCF +2 # TIME1 OVERFLOW @@ -312,8 +310,8 @@ NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14) DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19) CAF ZERO - TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. - TS BUF # INDEX X, Y, Z. + TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS + TS BUF # PIPAX, PIPAY, PIPAZ CS NBDX # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)