From a13c575973c2d3241d2b9828cccbbcf29e312432 Mon Sep 17 00:00:00 2001 From: Sudhish2607 Date: Wed, 28 Oct 2020 17:02:56 -0500 Subject: [PATCH] fix: (Issue #569) page 0342 --- Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc | 34 +++++++++++------------ 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc b/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc index 554e162..39265e5 100644 --- a/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc +++ b/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc @@ -27,7 +27,7 @@ # 16:27 JULY 14, 1969 # Page 342 -# BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU +# BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE - KALCMANU # # MOD 2 DATE 5/1/67 BY DON KEENE # @@ -36,47 +36,47 @@ # 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 -# MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT +# MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE # # CPHI = COMMANDED OUTER GIMBAL ANGLE # CTHETA = COMMANDED INNER GIMBAL ANGLE # CPSI = COMMANDED MIDDLE GIMBAL ANGLE # -# WHEN POINTING A SPACECRAFT AXIS (I.E., X, Y, Z, THE AOT, THRUST AXIS, ETC.) THE SUBROUTINE VECPOINT MAY BE -# USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60). -# -# WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE +# WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE +# USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60) - +# 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 -# _ +# - # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING -# _ +# _ # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL -# LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER. +# LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER. # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK. # -# FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK. +# FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK. # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES, # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN -# _ +# _ # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE. # -# AUTOMATIC MANEUVERS ARE TIMED WTH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z +# AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU -# ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS -# CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC). +# ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS +# CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC). # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW -# MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED +# MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE -# DESIRED GIMBAL ANGLES. +# DESIRED FINAL GIMBAL ANGLES. # # PROGRAM LOGIC FLOW # -# KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS +# KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION. + # Page 343 # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE # * * *