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# Copyright: Public domain.
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# Filename: FINDCDUW--GUIDAP_INTERFACE.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 908-925
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# Mod history: 2009-05-28 HG Transcribed from page images.
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#
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
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# 16:27 JULY 14, 1969
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# Page 908
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# PROGRAM NAME: FINDCDUW
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# MOD NUMBER: 1 68-07-15
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# MOD AUTHOR: KLUMPP
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#
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# OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
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# 2. TO MAINTAIN CORRECT AND CURRENT THRUST
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# DIRECTION DATA IN ALL MODES. THIS IS DONE BY
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# FETCHING FOR THE THRUST DIRECTION FILTER THE
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# CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
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# MODES.
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# 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL
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# AUTOPILOT COMMANDS WHENEVER
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# 1) NOT IN PNGCS-AUTO, OR
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# 2) ENGINE IS OFF.
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#
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# FUNCTIONAL DESCRIPTION:
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#
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# FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
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# AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
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# AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
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# INCRMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
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# ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
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# LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
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# ACCELERATIONS AVAILABLE).
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#
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# FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
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# FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET,
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# ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
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#
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# Page 909
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# SPECIFICATIONS:
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#
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# INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
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# BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
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#
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# CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
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# VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
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# THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
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#
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# RETURNS: NORMAL INTERPRETIVE IN ALL CASES
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# 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
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# 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
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# WITHOUT ISSUING AUTOPILOT CMDS.
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# 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
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# ISSUING AUTOPILOT CMDS.
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#
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# ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
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# FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
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# BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
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#
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# 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
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# UNITIZED USING NORMUNIT. FINDCDUW ISSUES
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# STOPRATE AS ONLY INPUT TO AUTOPILOT.
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#
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# INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
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# UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
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# OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
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# XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
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# CSMDOCKD FLAG DENOTING CSM DOCKED.
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# STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
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#
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# OUTPUTS: DELCDUX,Y,Z
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# OMEGAPD,+1,+2
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# DELPEROR,+1,+2
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# CPHI,+1,+2 FOR NOUN22
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#
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# DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
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# WRITING INTO THESE LOCATIONS THE SINES AND COSINES
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# OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
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# Page 910
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# INITIALIZATION FOR FINDCDUW
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BANK 30
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SETLOC FCDUW
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BANK
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EBANK= ECDUW
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COUNT* $$/FCDUW
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INITCDUW VLOAD
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UNITX
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STORE UNFV/2
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STORE UNWC/2
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RVQ
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# FINDCDUW PRELIMINARIES
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VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
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UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
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FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
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FINDCDUW # INTERPRETER NOW INITIALIZED
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22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
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STQ EXIT
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QCDUWUSR # SAVE RETURN ADDRESS
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# MORE HAUSKEEPING
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CA ECDUWL
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XCH EBANK # SET EBANK
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TS ECDUWUSR # SAVE USER'S EBANK
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CA DAPBOOLS
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MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
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CCS A
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CA ONE # INDEX IF CSM DOCKED
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TS NDXCDUW
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CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
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TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
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MASK DAPBOOLS
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TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD
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# Page 911
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# FETCH BASIC DATA
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INHINT # RELINT AT PAUTNO (TC INTPRET)
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CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
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TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
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CA CDUY
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TS CDUSPOTY
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CA CDUZ
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TS CDUSPOTZ
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CA BIT10 # PNGCS CONTROL BIT
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EXTEND
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RAND CHAN30
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CCS A
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TCF PAUTNO # NOT PNGCS (BITS INVERTED)
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CA BIT14 # AUTO MODE BIT
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EXTEND
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RAND CHAN31
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CCS A
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TCF PAUTNO # NOT AUTO (BITS INVERTED)
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TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
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CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
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TS CDUSPOTX
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CA CDUYD
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TS CDUSPOTY
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CA CDUZD
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TS CDUSPOTZ
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# Page 912
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# FETCH INPUTS
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PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
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RTB
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NORMUNIT
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STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
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UNWC/2
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RTB RTB
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NORMUNIT
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QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
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STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
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DELV
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BOVB UNIT
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NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
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BOV CALL
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AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER
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*SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
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# THRUST DIRECTION FILTER
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EXIT
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CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
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LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER,
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TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
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TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
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CA UNFVZ/2
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LXCH MPAC +5
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TC FLTRSUB
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TS UNFVZ/2
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TC INTPRET # COMPLETES FILTER
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# Page 913
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# FIND A SUITABLE WINDOW POINTING VECTOR
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AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
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FLAGOODW
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FETCHZNB
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VLOAD CALL
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UNZ/2
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UNWCTEST
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FETCHZNB VLOAD
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ZNBPIP
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STCALL UNZ/2
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UNWCTEST
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VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
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XNBPIP
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STORE UNZ/2
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# COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
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DCMCL VLOAD VXV
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UNZ/2
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UNX/2
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UNIT PUSH # UNY/2 FIRST ITERATION
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VXV VSL1
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UNX/2
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STORE UNZ/2 # -UNZ/2 FIRST ITERATION
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VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
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UNFVZ/2 # MUST BE SMALL
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VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
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UNFVY/2 # MUST BE SMALL
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VSL1 VAD
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UNX/2
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UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
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STORE UNX/2 # UNX/2
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VXV VSL1
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UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
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STORE UNY/2 # UNY/2
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VCOMP VXV
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UNX/2
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VSL1
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STORE UNZ/2 # UNZ/2
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# Page 914
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# COMPUTES THE REQUIRED GIMBAL ANGLES
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CALL
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NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
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EXIT
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# LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
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CA MPAC +2 # LIMIT THE MGA
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TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
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CA CDUZDLIM
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TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
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XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
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EXTEND
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MSU MPAC +2 # THIS BETTER YIELD ZERO
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EXTEND
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BZF +2
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TCF ALARMMGA
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MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
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ZL
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CA TWO
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DELGMBLP TS TEM2
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CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
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EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
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SQUARE
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AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
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EXTEND
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BZMF +3
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CA ZERO
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TS FLAGOODW
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INDEX TEM2
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CA MPAC
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INDEX TEM2
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TS CPHI # OUTPUTS TO NOUN22
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EXTEND
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INDEX TEM2
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MSU CDUXD # NO MATTER THAT THESE SLIGHLTY DIFFERENT
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COM # FROM WHEN WE INITIALLY FETCHED THEM
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INDEX TEM2
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TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
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TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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CCS TEM2
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TCF DELGMBLP
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# Page 915
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# BRANCHES TO NOATTCNT
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CCS FLPAUTNO
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TCF NOATTCNT +2 # NO PNGCS AUTO
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CA FLAGWRD5
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MASK ENGONBIT
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EXTEND
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BZF NOATTCNT +2 # ENGINE NOT ON
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# Page 916
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# LIMIT THE ATTITUDE ANGLE CHANGES
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#
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# THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
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# THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
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# THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL
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# AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
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#
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# [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ]
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# [ ] [ ] [ ]
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# [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ]
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# [ ] [ ] [ ]
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# [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ]
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LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
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INDEX NDXCDUW
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CA DAZMAX
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TC LIMITSUB
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TS -DELGMB +2 # -DELGMBZ
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CA -DELGMB +1
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EXTEND
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MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
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TS L
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INDEX NDXCDUW
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CA DAY/2MAX
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TC LIMITSUB
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EXTEND
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DV COSCDUZ
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XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
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EXTEND
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MP SINCDUZ
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DDOUBL
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COM
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EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
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MSU -DELGMB # BASED ON UNLIMITED DELGMBV.
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|
TS L # ONE BIT ERROR IF OPERANDS IN MSU
|
||
|
|
INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
|
||
|
|
CA DAXMAX
|
||
|
|
TC LIMITSUB
|
||
|
|
TS -DELGMB # SAVE LIMITED +DELATTX
|
||
|
|
CCS FLAGOODW
|
||
|
|
CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
|
||
|
|
TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
|
||
|
|
CS -DELGMB +1
|
||
|
|
EXTEND
|
||
|
|
MP SINCDUZ
|
||
|
|
DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
|
||
|
|
ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
|
||
|
|
# 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
|
||
|
|
|
||
|
|
# Page 917
|
||
|
|
# COMPUTE COMMANDED ATTITUDE RATES
|
||
|
|
#
|
||
|
|
# [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ]
|
||
|
|
# [ ] [ ] [ ]
|
||
|
|
# [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ]
|
||
|
|
# [ ] [ ] [ ]
|
||
|
|
# [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ]
|
||
|
|
#
|
||
|
|
# ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
|
||
|
|
# PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
|
||
|
|
# AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
|
||
|
|
|
||
|
|
CS -DELGMB
|
||
|
|
TS OMEGAPD
|
||
|
|
CS -DELGMB +1
|
||
|
|
EXTEND
|
||
|
|
MP SINCDUZ
|
||
|
|
DDOUBL
|
||
|
|
ADS OMEGAPD
|
||
|
|
ADS OMEGAPD
|
||
|
|
|
||
|
|
CS -DELGMB +1
|
||
|
|
EXTEND
|
||
|
|
MP COSCDUX
|
||
|
|
DDOUBL
|
||
|
|
EXTEND
|
||
|
|
MP COSCDUZ
|
||
|
|
TS OMEGAQD
|
||
|
|
CS -DELGMB +2
|
||
|
|
EXTEND
|
||
|
|
MP SINCDUX
|
||
|
|
ADS OMEGAQD
|
||
|
|
ADS OMEGAQD
|
||
|
|
ADS OMEGAQD
|
||
|
|
|
||
|
|
CA -DELGMB +1
|
||
|
|
EXTEND
|
||
|
|
MP SINCDUX
|
||
|
|
DDOUBL
|
||
|
|
EXTEND
|
||
|
|
MP COSCDUZ
|
||
|
|
TS OMEGARD
|
||
|
|
CS -DELGMB +2
|
||
|
|
EXTEND
|
||
|
|
MP COSCDUX
|
||
|
|
ADS OMEGARD
|
||
|
|
ADS OMEGARD
|
||
|
|
ADS OMEGARD
|
||
|
|
|
||
|
|
# Page 918
|
||
|
|
# FINAL TRANSFER
|
||
|
|
|
||
|
|
CA TWO
|
||
|
|
CDUWXFR TS TEM2
|
||
|
|
INDEX TEM2
|
||
|
|
CA -DELGMB
|
||
|
|
EXTEND
|
||
|
|
MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
|
||
|
|
TC ONESTO2S
|
||
|
|
INDEX TEM2
|
||
|
|
TS DELCDUX # ANGLE INTERFACE
|
||
|
|
|
||
|
|
INDEX TEM2
|
||
|
|
CCS OMEGAPD
|
||
|
|
AD ONE
|
||
|
|
TCF +2
|
||
|
|
AD ONE
|
||
|
|
EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
|
||
|
|
INDEX TEM2
|
||
|
|
MP OMEGAPD
|
||
|
|
EXTEND
|
||
|
|
MP BIT11 # 1/16
|
||
|
|
EXTEND
|
||
|
|
INDEX TEM2 # 2
|
||
|
|
DV 1JACC # UNITS PI/4 RAD/SEC
|
||
|
|
TS L
|
||
|
|
CA DELERLIM
|
||
|
|
TC LIMITSUB
|
||
|
|
INDEX TEM2
|
||
|
|
TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
|
||
|
|
CCS TEM2
|
||
|
|
TCF CDUWXFR
|
||
|
|
|
||
|
|
# HAUSKEEPING AND RETURN
|
||
|
|
|
||
|
|
TCQCDUW CA ECDUWUSR
|
||
|
|
TS EBANK # RETURN USER'S EBANK
|
||
|
|
|
||
|
|
TC INTPRET
|
||
|
|
SETPD GOTO
|
||
|
|
0
|
||
|
|
QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
|
||
|
|
|
||
|
|
# Page 919
|
||
|
|
# THRUST VECTOR FILTER SUBROUTINE
|
||
|
|
|
||
|
|
FLTRSUB EXTEND
|
||
|
|
QXCH TEM2
|
||
|
|
TS TEM3 # SAVE ORIGINAL OFFSET
|
||
|
|
COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
|
||
|
|
AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
|
||
|
|
EXTEND # NOT WORTH THE INCREASED OBSCURITY.
|
||
|
|
INDEX NDXCDUW
|
||
|
|
MP GAINFLTR
|
||
|
|
TS L # INCR TO OFFSET, UNLIMITED
|
||
|
|
CA DUNFVLIM # SAME LIMIT FOR Y AND Z
|
||
|
|
TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
|
||
|
|
AD TEM3 # ORIGINAL OFFSET
|
||
|
|
TS L # TOTAL OFFSET, UNLIMITED
|
||
|
|
CA UNFVLIM # SAME LIMIT FOR Y AND Z
|
||
|
|
TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
|
||
|
|
TC TEM2
|
||
|
|
|
||
|
|
# SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
|
||
|
|
|
||
|
|
UNWCTEST DOT DSQ
|
||
|
|
UNX/2
|
||
|
|
DSU BMN
|
||
|
|
DOTSWFMX
|
||
|
|
DCMCL
|
||
|
|
SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
|
||
|
|
FLAGOODW # ZEROING WINDOW GOOD FLAG
|
||
|
|
0
|
||
|
|
|
||
|
|
# Page 920
|
||
|
|
# NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
|
||
|
|
# ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
|
||
|
|
# NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
|
||
|
|
|
||
|
|
NB2CDUSP DLOAD DSQ
|
||
|
|
2
|
||
|
|
BDSU BPL
|
||
|
|
DP1/4TH
|
||
|
|
+3
|
||
|
|
DLOAD
|
||
|
|
ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
|
||
|
|
SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
|
||
|
|
|
||
|
|
EXTEND
|
||
|
|
DCA MPAC
|
||
|
|
DDOUBL
|
||
|
|
TS TEM5
|
||
|
|
TCF +3
|
||
|
|
CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
|
||
|
|
TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
|
||
|
|
|
||
|
|
INDEX FIXLOC
|
||
|
|
CA 2
|
||
|
|
LXCH MPAC
|
||
|
|
TC ARCTRGSP
|
||
|
|
TS MPAC +2 # CDUZ
|
||
|
|
|
||
|
|
CA ZERO
|
||
|
|
TC DVBYCOSM
|
||
|
|
CA FOUR
|
||
|
|
TC DVBYCOSM
|
||
|
|
CS TEM1
|
||
|
|
TC ARCTRGSP
|
||
|
|
TS MPAC +1 # CDUY
|
||
|
|
|
||
|
|
CA BIT4
|
||
|
|
TC DVBYCOSM
|
||
|
|
CA 16OCT
|
||
|
|
TC DVBYCOSM
|
||
|
|
CS TEM1
|
||
|
|
TC ARCTRGSP
|
||
|
|
TS MPAC # CDUX
|
||
|
|
|
||
|
|
TC INTPRET
|
||
|
|
RVQ
|
||
|
|
|
||
|
|
16OCT OCT 16
|
||
|
|
|
||
|
|
# Page 921
|
||
|
|
# THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
|
||
|
|
# ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
|
||
|
|
# ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
|
||
|
|
# THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
|
||
|
|
# ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
|
||
|
|
# BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
|
||
|
|
# THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
|
||
|
|
#
|
||
|
|
# IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
|
||
|
|
# REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
|
||
|
|
# ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
|
||
|
|
# IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
|
||
|
|
|
||
|
|
DVBYCOSM AD FIXLOC
|
||
|
|
TS ADDRWD # ADRES OF OPERAND
|
||
|
|
|
||
|
|
INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
|
||
|
|
CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
|
||
|
|
EXTEND
|
||
|
|
BZMF +2
|
||
|
|
COM
|
||
|
|
AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
|
||
|
|
EXTEND
|
||
|
|
BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
|
||
|
|
|
||
|
|
EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
|
||
|
|
INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
|
||
|
|
DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
|
||
|
|
EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
|
||
|
|
DV TEM5
|
||
|
|
TSL&TCQ TS L
|
||
|
|
LXCH TEM1
|
||
|
|
TC Q
|
||
|
|
|
||
|
|
# Page 922
|
||
|
|
# ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
|
||
|
|
# UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
|
||
|
|
# THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
|
||
|
|
|
||
|
|
ARCTRGSP EXTEND
|
||
|
|
BZF SINZERO # TO AVOID DIVIDING BY ZERO
|
||
|
|
|
||
|
|
EXTEND
|
||
|
|
QXCH TEM4
|
||
|
|
TS TEM2
|
||
|
|
CA L
|
||
|
|
TS TEM3
|
||
|
|
CA ZERO
|
||
|
|
EXTEND
|
||
|
|
DV TEM2
|
||
|
|
EXTEND
|
||
|
|
BZF USECOS
|
||
|
|
|
||
|
|
CCS TEM3 # SIN IS SMALLER OR EQUAL
|
||
|
|
CA ZERO
|
||
|
|
TCF +4
|
||
|
|
CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
|
||
|
|
TS TEM2 # ANGLE = PI-ARCSIN(SIN)
|
||
|
|
CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
|
||
|
|
TS TEM3 # WE NO LONGER NEED COS
|
||
|
|
CA TEM2
|
||
|
|
TC SPARCSIN -1
|
||
|
|
TC ONESTO2S
|
||
|
|
EXTEND
|
||
|
|
MSU TEM3
|
||
|
|
1TO2&TCQ TC ONESTO2S
|
||
|
|
TC TEM4
|
||
|
|
|
||
|
|
USECOS CS TEM3 # COS IS SMALLER
|
||
|
|
TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS))
|
||
|
|
AD HALF
|
||
|
|
TS TEM3 # WE NO LONGER NEED COS
|
||
|
|
CCS TEM2
|
||
|
|
CA TEM3
|
||
|
|
TCF 1TO2&TCQ
|
||
|
|
CS TEM3
|
||
|
|
TCF 1TO2&TCQ
|
||
|
|
|
||
|
|
SINZERO CCS L
|
||
|
|
CA ZERO
|
||
|
|
TC Q
|
||
|
|
CA NEGMAX # PI, 2'S COMP
|
||
|
|
TC Q
|
||
|
|
|
||
|
|
# Page 923
|
||
|
|
# SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
|
||
|
|
# 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
|
||
|
|
# DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
|
||
|
|
# 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
|
||
|
|
|
||
|
|
DOUBLE
|
||
|
|
SPARCSIN TS SR
|
||
|
|
TCF +4
|
||
|
|
INDEX A
|
||
|
|
CS LIMITS
|
||
|
|
TS SR
|
||
|
|
EXTEND
|
||
|
|
MP A
|
||
|
|
TS TEM1
|
||
|
|
EXTEND
|
||
|
|
MP DPL9
|
||
|
|
AD DPL7
|
||
|
|
EXTEND
|
||
|
|
MP TEM1
|
||
|
|
AD DPL5
|
||
|
|
EXTEND
|
||
|
|
MP TEM1
|
||
|
|
AD DPL3
|
||
|
|
EXTEND
|
||
|
|
MP TEM1
|
||
|
|
AD DPL1
|
||
|
|
EXTEND
|
||
|
|
MP SR
|
||
|
|
TC Q
|
||
|
|
DPL1 DEC 10502
|
||
|
|
DPL3 DEC 432
|
||
|
|
DPL5 DEC 7300
|
||
|
|
DPL7 DEC -11803
|
||
|
|
DPL9 DEC 8397
|
||
|
|
|
||
|
|
# Page 924
|
||
|
|
# LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
|
||
|
|
# ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
|
||
|
|
# THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
|
||
|
|
#
|
||
|
|
# VERSION COUTESY HUGH BLAIR-SMITH
|
||
|
|
|
||
|
|
LIMITSUB TS TEM1
|
||
|
|
CA ZERO
|
||
|
|
EXTEND
|
||
|
|
DV TEM1
|
||
|
|
CCS A
|
||
|
|
LXCH TEM1
|
||
|
|
TCF +2
|
||
|
|
TCF +3
|
||
|
|
CA L
|
||
|
|
TC Q
|
||
|
|
CS TEM1
|
||
|
|
TC Q
|
||
|
|
|
||
|
|
# SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
|
||
|
|
|
||
|
|
ONESTO2S CCS A
|
||
|
|
AD ONE
|
||
|
|
TC Q
|
||
|
|
CS A
|
||
|
|
TC Q
|
||
|
|
|
||
|
|
# NO ATTITUDE CONTROL
|
||
|
|
|
||
|
|
NOATTCNT TC ALARM
|
||
|
|
OCT 00402 # NO ATTITUDE CONTROL
|
||
|
|
|
||
|
|
+2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
|
||
|
|
TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
|
||
|
|
FCADR STOPRATE
|
||
|
|
TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
|
||
|
|
|
||
|
|
# MIDDLE GIMBAL ANGLE ALARM
|
||
|
|
|
||
|
|
ALARMMGA TC ALARM
|
||
|
|
OCT 00401
|
||
|
|
TCF MGARET
|
||
|
|
|
||
|
|
# Page 925
|
||
|
|
#******************************************************************
|
||
|
|
# CONSTANTS
|
||
|
|
#******************************************************************
|
||
|
|
|
||
|
|
# ADDRESS CONSTANTS
|
||
|
|
|
||
|
|
ECDUWL ECADR ECDUW
|
||
|
|
|
||
|
|
# THRUST DIRECTION FILTER CONSTANTS
|
||
|
|
|
||
|
|
GAINFLTR DEC .2 # GAIN FILTER SANS CSM
|
||
|
|
DEC .1 # GAIN FILTER WITH CSM
|
||
|
|
|
||
|
|
DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
|
||
|
|
# THIS DOES NOT ALLOW FOR S/C ROT RATE.
|
||
|
|
|
||
|
|
UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
|
||
|
|
# +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
|
||
|
|
|
||
|
|
# CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS
|
||
|
|
|
||
|
|
DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
|
||
|
|
# LOWER PART COMES FROM NEXT CONSTANT
|
||
|
|
|
||
|
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DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
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DEC .0111111111 # 2 DEG WHEN CSM DOCKED
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DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
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DEC .0055555555
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DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
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CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
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# CONSTANTS FOR DATA TRANSFER
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DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
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# CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
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DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI
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# *** END OF FLY .132 ***
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