Apollo-11/Luminary099/GIMBAL_LOCK_AVOIDANCE.agc

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# Copyright: Public domain.
# Filename: GIMBAL_LOCK_AVOIDANCE.agc
# Purpose: Part of the source code for Luminary 1A build 099.
# It is part of the source code for the Lunar Module's (LM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 364
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# Mod history: 2009-05-17 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
# 2010-12-31 JL Fixed page number comment.
#
# This source code has been transcribed or otherwise adapted from
# digitized images of a hardcopy from the MIT Museum. The digitization
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
# the Museum. Many 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 (much) higher-quality images which Paul
# actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
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# 16:27 JULY 14, 1969
# Page 364
BANK 15
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SETLOC KALCMON1
BANK
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# DETECTING GIMBAL LOCK
LOCSKIRT EQUALS NOGIMLOC
NOGIMLOC SET
CALCMAN3
WCALC LXC,1 DLOAD*
RATEINDX # CHOOSE THE DESIRED MANEUVER RATE
ARATE,1 # FROM A LIST OF FOUR
SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
# ABOUT COF
DLOAD* VXSC
ARATE,1
COF
STODL BRATE # COMPONENT MANEUVER RATES 45 DEG/SEC
AM
DMP DDV*
ANGLTIME
ARATE,1
SR
5
STORE TM # MANEUVER EXECUTION TIME SCALED AS T2
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SETGO
CALCMAN2 # 0(OFF) = CONTINUE MANEUVER
NEWANGL +1 # 1(ON) = START MANEUVER
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# THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
# LOADING RATEINDX WITH 0,2,4,6, RESPECTIVELY
ARATE 2DEC .0088888888 # = 0.2 DEG/SEC $ 22.5 DEG/SEC
2DEC .0222222222 # = 0.5 DEG/SEC $ 22.5 DEG/SEC
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2DEC .0888888888 # = 2.0 DEG/SEC $ 22.5 DEG/SEC
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2DEC .4444444444 # = 10.0 DEG/SEC $ 22.5 DEG/SEC
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ANGLTIME 2DEC .0001907349 # = 1008-19 FUDGE FACTOR TO CONVERT
# MANEUVER ANGLE TO MANEUVER TIME
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