1057 lines
20 KiB
Plaintext
1057 lines
20 KiB
Plaintext
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# Copyright: Public domain.
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# Filename: P-AXIS_RCS_AUTOPILOT.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: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 1421-1441
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# Mod history: 2009-05-27 RSB Adapted from the corresponding
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# Luminary131 file, using page
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# images from Luminary 1A.
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# 2009-06-05 RSB Corrected a relative jump from
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# +8 to +8D.
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# 2009-06-07 RSB Corrected a typo.
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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 1421
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BANK 16
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SETLOC DAPS1
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BANK
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EBANK= PERROR
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COUNT* $$/DAPP
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# THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
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# THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
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PAXIS CA MS100
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ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW
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# SYNCHRONIZATION WITH OTHER INTERRUPTS ***
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LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
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EXTEND
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QXCH QRUPT
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# CHECK IF DAP PASS IS PERMISSIBLE
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CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
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TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
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OCT 02000 # CALLED FOR. IT IS NEVER ZERO
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TC CHEKBITS # RETURN IS TC I+1 IF DAP SHOULD STAY ON.
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CA CDUX # READ AND STORE CDU'S
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TS DAPTREG4
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CA CDUY
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TS DAPTREG5
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CA CDUZ
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TS DAPTREG6
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# ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
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#
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# THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
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# AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
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CA CDUXD
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EXTEND
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MSU DELCDUX
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TC 1STOTWOS
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TS CDUXD
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CA CDUYD
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EXTEND
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MSU DELCDUY
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TC 1STOTWOS
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TS CDUYD
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CA CDUZD
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EXTEND
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MSU DELCDUZ
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# Page 1422
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TC 1STOTWOS
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TS CDUZD
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EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
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DIM TCP # TIME COUNTERS.
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EXTEND
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DIM TCQR
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# RATFLOOP COMPUTES JETRATEQ, JRATER, AND 1JACC*NO. PJEETS IN ITEMP1.
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# RETURNS TO BACKP.
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#
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# JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
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# JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
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# JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
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TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
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1STOTWOS CCS A
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AD ONE
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TC Q
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CS A
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TC Q
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SUBDIVDE EXTEND # OVERFLOW PROTECTION ROUTINE TO GIVE
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MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
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DAS OMEGAU # OVERFLOW
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+3 EXTEND
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DCA OMEGAU
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DXCH DAPTEMP5
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CCS OMEGAU
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TCF +2
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TCF DIVIDER
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AD -OCT630
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EXTEND
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BZMF DIVIDER
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CCS OMEGAU
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CA POSMAX # 45 DEG/SEC
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TC Q
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CS POSMAX
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TC Q
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DIVIDER DXCH OMEGAU
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EXTEND
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DV DAPTREG4
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TC Q
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OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
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TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
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INDEX A
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CS BIT15 -1
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# Page 1423
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TC Q
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-OCT630 OCT 77147
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BACKP CA DAPTEMP1
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EXTEND
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MP 1JACC
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TS JETRATE
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# BEGINNING OF THE RATE DERIVATION
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# OMEGAP,Q,R BODY RATES SCALED AT PI/4
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# TRAPEDP,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
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# NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
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# AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELERATION. (PI/4)
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# JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELERATION. (PI/4)
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# TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ETC.
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# OMEGAU DP-TEMPORARY STORAGE
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# OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
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CAE DAPTREG4 # CDUX IS STORED HERE
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TS L
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EXTEND
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MSU OLDXFORP # SCALED AT PI
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LXCH OLDXFORP
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TS DAPTEMP1
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CA 1/40
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TS DAPTREG4
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CS JETRATE
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EXTEND
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MP BIT14
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ADS TRAPEDP
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CA JETRATEQ
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AD AOSQTERM
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EXTEND
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MP -BIT14
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ADS TRAPEDQ
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CA JETRATER
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AD AOSRTERM
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EXTEND
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MP -BIT14
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ADS TRAPEDR
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CA DAPTREG5 # CDUY IS STORED HERE
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TS L
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EXTEND
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MSU OLDYFORP # SCALED AT PI
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LXCH OLDYFORP
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TS DAPTEMP2
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EXTEND
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MP M11 # M11 SCALED AT 1
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# Page 1424
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AD DAPTEMP1
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DXCH OMEGAU
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TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
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EXTEND
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SU OMEGAP
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ADS TRAPEDP
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TC OVERSUB
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TS TRAPEDP
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EXTEND
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DCA DAPTEMP5
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DAS DXERROR
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CS PLAST
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EXTEND
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MP 1/40
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DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
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CA DAPTREG6 # CDUZ IS STORED HERE
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TS L
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EXTEND
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MSU OLDZFORQ
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TS DAPTEMP3
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LXCH OLDZFORQ
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CA M21
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EXTEND
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MP DAPTEMP2
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DXCH OMEGAU
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CA M22
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TC SUBDIVDE
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EXTEND
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SU OMEGAQ
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ADS TRAPEDQ
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TC OVERSUB
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TS TRAPEDQ
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EXTEND
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DCA DAPTEMP5
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DAS DYERROR
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CS QLAST
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EXTEND
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MP 1/40
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DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
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CA M31
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EXTEND
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MP DAPTEMP2
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DXCH OMEGAU
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CA M32
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TC SUBDIVDE
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# Page 1425
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EXTEND
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SU OMEGAR
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ADS TRAPEDR
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TC OVERSUB
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TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
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EXTEND
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DCA DAPTEMP5
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DAS DZERROR
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CS RLAST
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EXTEND
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MP 1/40
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DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
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CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
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MASK CSMDOCKD
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EXTEND
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BZF LMONLY
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EXTEND # DOCKED
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DCA DKOMEGAN
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DXCH DAPTREG4
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CA DKTRAP
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TCF +5
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LMONLY EXTEND # UNDOCKED
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DCA LMOMEGAN
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DXCH DAPTREG4
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CA LMTRAP
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+5 TS DAPTREG6
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CCS TRAPEDP
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TCF +2
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TCF SMALPDIF
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AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
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EXTEND
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BZMF SMALPDIF
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ZL
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LXCH TRAPEDP
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CA ZERO
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EXTEND
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DV NPTRAPS
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ADS OMEGAP
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TC OVERSUB
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TS OMEGAP
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CA DAPTREG4 ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
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TS NPTRAPS
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SMALPDIF INCR NPTRAPS
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P-RATE CA JETRATE
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ADS OMEGAP
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TC OVERSUB
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TS OMEGAP
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CCS TRAPEDQ
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# Page 1426
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TCF +2
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TCF Q-RATE
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AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
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EXTEND
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BZMF Q-RATE
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ZL
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LXCH TRAPEDQ
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CA ZERO
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EXTEND
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DV NQTRAPS
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TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
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ADS OMEGAQ
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TC OVERSUB
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TS OMEGAQ
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CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
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XCH NQTRAPS
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AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
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XCH DAPTEMP1
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EXTEND
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MP FIVE
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EXTEND
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DV DAPTEMP1
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ADS AOSQ
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Q-RATE INCR NQTRAPS
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CA JETRATEQ
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AD AOSQTERM
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ADS OMEGAQ
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TC OVERSUB
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TS OMEGAQ
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|
CCS TRAPEDR
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TCF +2
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|
TCF R-RATE
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AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
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EXTEND
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|
BZMF R-RATE
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ZL
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LXCH TRAPEDR
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CA ZERO
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EXTEND
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DV NRTRAPS
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|
TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
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|
ADS OMEGAR
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TC OVERSUB
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TS OMEGAR
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CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
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|
XCH NRTRAPS
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AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
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XCH DAPTEMP2
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EXTEND
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# Page 1427
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MP FIVE
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EXTEND
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DV DAPTEMP2
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ADS AOSR
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|
R-RATE INCR NRTRAPS
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|
CA JETRATER
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AD AOSRTERM
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|
|
ADS OMEGAR
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TC OVERSUB
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TS OMEGAR
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# END OF RATE DERIVATION
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# BEGIN OFFSET ESTIMATER
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# IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
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# AOS = AOS + K*SUMRATE
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|
|
|
||
|
|
CS DAPBOOLS
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||
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|
MASK DRIFTBIT
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|
CCS A
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|
TCF WORKTIME
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TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
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TS ALPHAR
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TS AOSQTERM
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TS AOSRTERM
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|
TS AOSQ
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|
TS AOSR
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|
TCF PRETIMCK
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|
KAOS DEC 60
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WORKTIME CA QACCDOT
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EXTEND
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|
MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
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|
|
DAS AOSQ
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|
CA AOSQ
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|
TS ALPHAQ
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|
EXTEND
|
||
|
|
MP 200MS # .2 AT 1
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|
|
TS AOSQTERM
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|
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CA RACCDOT
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||
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EXTEND
|
||
|
|
MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
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|
|
DAS AOSR
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|
CA AOSR
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||
|
|
TS ALPHAR
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||
|
|
EXTEND
|
||
|
|
MP 200MS # .2 AT 1
|
||
|
|
TS AOSRTERM
|
||
|
|
TCF PRETIMCK
|
||
|
|
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||
|
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# Page 1428
|
||
|
|
PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
|
||
|
|
MASK RCSFLAGS
|
||
|
|
CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
|
||
|
|
TC ACDT+C12 # VALID.
|
||
|
|
|
||
|
|
DXCH ARUPT
|
||
|
|
DXCH DAPARUPT
|
||
|
|
CA SUPERJOB # SETTING UP THE SUPERJOB
|
||
|
|
XCH BRUPT
|
||
|
|
LXCH QRUPT
|
||
|
|
DXCH DAPBQRPT
|
||
|
|
CA SUPERADR
|
||
|
|
DXCH ZRUPT
|
||
|
|
DXCH DAPZRUPT
|
||
|
|
TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
|
||
|
|
# FORM OF A JASK, AT SUPERJOB.
|
||
|
|
|
||
|
|
SUPERADR GENADR SUPERJOB +1
|
||
|
|
|
||
|
|
# COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
|
||
|
|
|
||
|
|
SUPERJOB TCF RATELOOP
|
||
|
|
PRETIMCK CCS QGIMTIMR
|
||
|
|
TCF DECQTIMR # POSITIVE -- COUNTING DOWN
|
||
|
|
TCF TURNOFFQ # NEGATIVE -- DRIVE SHOULD BE ENDED
|
||
|
|
CHKRTIMR CCS RGIMTIMR # NEGATIVE -- INACTIVE
|
||
|
|
TCF DECRTIMR # (NEG ZERO -- IMPOSSIBLE)
|
||
|
|
TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
|
||
|
|
|
||
|
|
EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
|
||
|
|
DIM PJETCTR
|
||
|
|
EXTEND
|
||
|
|
DIM UJETCTR
|
||
|
|
EXTEND
|
||
|
|
DIM VJETCTR
|
||
|
|
CA BIT12
|
||
|
|
MASK RCSFLAGS
|
||
|
|
EXTEND
|
||
|
|
BZF SKIPPAXS
|
||
|
|
TC CHKVISFZ
|
||
|
|
DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
|
||
|
|
TCF CHKRTIMR
|
||
|
|
DECRTIMR TS RGIMTIMR
|
||
|
|
TCF CHKRTIMR +3
|
||
|
|
|
||
|
|
TURNOFFQ TS NEGUQ # HALT DRIVES.
|
||
|
|
TS QACCDOT
|
||
|
|
CS QGIMBITS
|
||
|
|
EXTEND
|
||
|
|
# Page 1429
|
||
|
|
WAND CHAN12
|
||
|
|
CAF NEGMAX
|
||
|
|
TS QGIMTIMR
|
||
|
|
TCF CHKRTIMR
|
||
|
|
TURNOFFR TS NEGUR
|
||
|
|
TS RACCDOT
|
||
|
|
CS RGIMBITS
|
||
|
|
EXTEND
|
||
|
|
WAND CHAN12
|
||
|
|
CAF NEGMAX
|
||
|
|
TS RGIMTIMR
|
||
|
|
TCF CHKRTIMR +3
|
||
|
|
QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
|
||
|
|
RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
|
||
|
|
|
||
|
|
SKIPPAXS CS RCSFLAGS
|
||
|
|
MASK BIT12
|
||
|
|
ADS RCSFLAGS # BIT 12 SET TO 1.
|
||
|
|
TCF QRAXIS # GO TO QRAXIS OR TO CTS.
|
||
|
|
|
||
|
|
# Y-X TRANSLATION
|
||
|
|
#
|
||
|
|
# INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLLER)
|
||
|
|
#
|
||
|
|
# OUTPUT: NEXTP
|
||
|
|
#
|
||
|
|
# NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
|
||
|
|
# IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
|
||
|
|
# (1) FOR DIAGONAL TRANS: UNFAILED PAIR
|
||
|
|
# ALARM (IF NO PAIR)
|
||
|
|
# (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
|
||
|
|
# ALARM (IF DIAGONAL PAIRS ARE FAILED)
|
||
|
|
|
||
|
|
CHKVISFZ EXTEND
|
||
|
|
READ CHAN31
|
||
|
|
CS A
|
||
|
|
MASK 07400OCT
|
||
|
|
EXTEND
|
||
|
|
BZF TSNEXTP
|
||
|
|
EXTEND
|
||
|
|
MP BIT7
|
||
|
|
INDEX A
|
||
|
|
CA INDXYZ
|
||
|
|
TS ROTINDEX
|
||
|
|
TRYUORV CA SIX
|
||
|
|
TC SELECTYZ
|
||
|
|
CS SIX
|
||
|
|
AD NUMBERT
|
||
|
|
EXTEND
|
||
|
|
# Page 1430
|
||
|
|
BZF TSNEXTP -1
|
||
|
|
CS FIVE
|
||
|
|
AD ROTINDEX
|
||
|
|
EXTEND
|
||
|
|
BZMF ALTERYZ
|
||
|
|
CS NUMBERT
|
||
|
|
AD FOUR
|
||
|
|
EXTEND
|
||
|
|
BZMF TSNEXTP -1
|
||
|
|
ABORTYZ TC ALARM
|
||
|
|
OCT 02001
|
||
|
|
CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
|
||
|
|
LXCH RCSFLAGS
|
||
|
|
EXTEND
|
||
|
|
RXOR 1
|
||
|
|
TS RCSFLAGS
|
||
|
|
CA ZERO
|
||
|
|
TCF TSNEXTP
|
||
|
|
ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
|
||
|
|
LXCH RCSFLAGS
|
||
|
|
EXTEND
|
||
|
|
RXOR 1
|
||
|
|
TS RCSFLAGS
|
||
|
|
MASK BIT1
|
||
|
|
AD FOUR
|
||
|
|
ADS ROTINDEX
|
||
|
|
TCF TRYUORV
|
||
|
|
CA POLYTEMP
|
||
|
|
TSNEXTP TS NEXTP
|
||
|
|
|
||
|
|
# STATE LOGIC
|
||
|
|
# CHECK IN ORDER: IF ON
|
||
|
|
# LPDPHASE GO TO PURGENCY
|
||
|
|
# PULSES MINIMUM PULSE LOTIC
|
||
|
|
# DETENT(BIT15 CH31) RATE COMMAND
|
||
|
|
# GOTO TO PURGENCY
|
||
|
|
|
||
|
|
CA BIT13 # CHECK STICK IF IN ATT. HOLD.
|
||
|
|
EXTEND
|
||
|
|
RAND CHAN31
|
||
|
|
EXTEND
|
||
|
|
BZF MANMODE
|
||
|
|
|
||
|
|
CA DAPBOOLS
|
||
|
|
MASK XOVINHIB
|
||
|
|
CCS A
|
||
|
|
TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
|
||
|
|
|
||
|
|
TCF DETENTCK
|
||
|
|
MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
|
||
|
|
MASK DAPBOOLS
|
||
|
|
# Page 1431
|
||
|
|
EXTEND
|
||
|
|
BZF DETENTCK # BRANCH FOR RATE COMMAND
|
||
|
|
|
||
|
|
CA ZERO
|
||
|
|
TS PERROR
|
||
|
|
|
||
|
|
# MINIMUM IMPULSE MODE
|
||
|
|
|
||
|
|
CA CDUX
|
||
|
|
TS CDUXD
|
||
|
|
|
||
|
|
CCS OLDPMIN
|
||
|
|
TCF CHECKP
|
||
|
|
|
||
|
|
FIREP CA BIT3
|
||
|
|
EXTEND
|
||
|
|
RAND CHAN31
|
||
|
|
EXTEND
|
||
|
|
BZF +XMIN
|
||
|
|
|
||
|
|
CA BIT4
|
||
|
|
EXTEND
|
||
|
|
RAND CHAN31
|
||
|
|
EXTEND
|
||
|
|
BZF -XMIN
|
||
|
|
|
||
|
|
TCF JETSOFF
|
||
|
|
|
||
|
|
CHECKP EXTEND
|
||
|
|
READ CHAN31
|
||
|
|
CS A
|
||
|
|
MASK OCT14
|
||
|
|
TS OLDPMIN
|
||
|
|
TCF JETSOFF
|
||
|
|
|
||
|
|
-XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
|
||
|
|
TCF +2 # IN JET SELECTION ROUTINE
|
||
|
|
+XMIN CA TEN
|
||
|
|
TS TJP
|
||
|
|
CA ONE
|
||
|
|
TS OLDPMIN
|
||
|
|
TCF PJETSLEC -6
|
||
|
|
|
||
|
|
# MANUAL RATE COMMAND MODE
|
||
|
|
# ========================
|
||
|
|
# BY ROBERT F. STENGEL
|
||
|
|
#
|
||
|
|
# THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
|
||
|
|
# THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
|
||
|
|
# RATE CONTROL AND ATTITUDE HOLD.
|
||
|
|
#
|
||
|
|
# Page 1432
|
||
|
|
# IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
|
||
|
|
# THE `BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
|
||
|
|
# THE `TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
|
||
|
|
#
|
||
|
|
# IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
|
||
|
|
# CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
|
||
|
|
# IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
|
||
|
|
#
|
||
|
|
# SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
|
||
|
|
# OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
|
||
|
|
# R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
|
||
|
|
#
|
||
|
|
# HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
|
||
|
|
# AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
|
||
|
|
# OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
|
||
|
|
# CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
|
||
|
|
#
|
||
|
|
# ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
|
||
|
|
# JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
|
||
|
|
|
||
|
|
DETENTCK EXTEND
|
||
|
|
READ CHAN31
|
||
|
|
TS CH31TEMP
|
||
|
|
MASK BIT15 # CHECK OUT-OF-DETENT BIT.
|
||
|
|
EXTEND
|
||
|
|
BZF RHCMOVED # BRANCH IF OUT OF DETENT.
|
||
|
|
CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
|
||
|
|
MASK DAPBOOLS
|
||
|
|
EXTEND
|
||
|
|
BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
|
||
|
|
|
||
|
|
# ................................................................................
|
||
|
|
|
||
|
|
CA BIT9 # JUST IN DETENT??
|
||
|
|
MASK RCSFLAGS
|
||
|
|
EXTEND
|
||
|
|
BZF RUTH
|
||
|
|
CAF BIT13 # CHECK FOR ATTITUDE HOLD.
|
||
|
|
EXTEND
|
||
|
|
RAND CHAN31
|
||
|
|
EXTEND
|
||
|
|
BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
|
||
|
|
|
||
|
|
CS BITS9,11 # IN AUTO.
|
||
|
|
MASK RCSFLAGS # (X-AXIS OVERRIDE)
|
||
|
|
TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
|
||
|
|
TCF RATEDAMP
|
||
|
|
|
||
|
|
RUTH CA RCSFLAGS
|
||
|
|
MASK PBIT # IN ATTITUDE HOLD.
|
||
|
|
EXTEND
|
||
|
|
BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
|
||
|
|
TCF RATEDAMP
|
||
|
|
|
||
|
|
# Page 1433
|
||
|
|
CA RCSFLAGS
|
||
|
|
MASK QRBIT
|
||
|
|
EXTEND
|
||
|
|
BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
|
||
|
|
TCF RATEDAMP
|
||
|
|
|
||
|
|
# ============================================
|
||
|
|
|
||
|
|
1/10SEC OCT 1
|
||
|
|
40CYC OCT 50
|
||
|
|
PQRBIT OCT 74777
|
||
|
|
BITS9,11 EQUALS EBANK5
|
||
|
|
LINRATP DEC 46
|
||
|
|
|
||
|
|
# ============================================
|
||
|
|
|
||
|
|
RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
|
||
|
|
INHINT # ALL AXES.
|
||
|
|
MASK DAPBOOLS
|
||
|
|
TS DAPBOOLS
|
||
|
|
|
||
|
|
# READ CDUS INTO CDU DESIRED REGISTERS
|
||
|
|
|
||
|
|
CAF BIT13
|
||
|
|
EXTEND
|
||
|
|
RAND CHAN31
|
||
|
|
EXTEND
|
||
|
|
BZF +4
|
||
|
|
CA CDUX # (X-AXIS OVERRIDE)
|
||
|
|
TS CDUXD
|
||
|
|
TC +3
|
||
|
|
TC IBNKCALL
|
||
|
|
FCADR ZATTEROR
|
||
|
|
RELINT
|
||
|
|
TCF PURGENCY
|
||
|
|
|
||
|
|
TS PERROR
|
||
|
|
JUSTOUT CA OURRCBIT # INITIALIZATION -- FIRST MANUAL PASS.
|
||
|
|
ADS DAPBOOLS
|
||
|
|
CA ZERO
|
||
|
|
TS DXERROR
|
||
|
|
TS DXERROR +1
|
||
|
|
TS DYERROR
|
||
|
|
TS DYERROR +1
|
||
|
|
TS DZERROR
|
||
|
|
TS DZERROR +1
|
||
|
|
TS PLAST
|
||
|
|
TS QLAST
|
||
|
|
TS RLAST
|
||
|
|
TS Q-RHCCTR
|
||
|
|
TS R-RHCCTR
|
||
|
|
CA PQRBIT
|
||
|
|
MASK RCSFLAGS
|
||
|
|
TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
|
||
|
|
# Page 1434
|
||
|
|
CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
|
||
|
|
MASK BIT9
|
||
|
|
ADS RCSFLAGS
|
||
|
|
TC ZEROENBL
|
||
|
|
TCF JETSOFF
|
||
|
|
ZEROENBL LXCH R-RHCCTR
|
||
|
|
CA Q-RHCCTR
|
||
|
|
DXCH SAVEHAND
|
||
|
|
CA ZERO
|
||
|
|
TS P-RHCCTR
|
||
|
|
TS Q-RHCCTR
|
||
|
|
TS R-RHCCTR
|
||
|
|
CA BITS8,9
|
||
|
|
EXTEND
|
||
|
|
WOR CHAN13 # COUNTERS ZEROED AND ENABLED
|
||
|
|
TC Q
|
||
|
|
RATEDAMP CA ZERO
|
||
|
|
TS P-RHCCTR
|
||
|
|
TCF RATERROR
|
||
|
|
|
||
|
|
RHCMOVED CA OURRCBIT # P CONTROL
|
||
|
|
MASK DAPBOOLS
|
||
|
|
EXTEND
|
||
|
|
BZF JUSTOUT -1
|
||
|
|
RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
|
||
|
|
TS CDUXD # X-AXIS OVERRIDE
|
||
|
|
CCS P-RHCCTR
|
||
|
|
TCF +3
|
||
|
|
TCF +2
|
||
|
|
TCF +1
|
||
|
|
DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
|
||
|
|
DOUBLE # (SEE EXPLANATION OF Q,R-AXES RCS
|
||
|
|
AD LINRATP # AUTOPILOT)
|
||
|
|
EXTEND
|
||
|
|
MP P-RHCCTR
|
||
|
|
CA L
|
||
|
|
EXTEND
|
||
|
|
MP STIKSENS
|
||
|
|
XCH PLAST
|
||
|
|
COM
|
||
|
|
AD PLAST
|
||
|
|
TS DAPTEMP1
|
||
|
|
TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
|
||
|
|
CS PLAST
|
||
|
|
AD OMEGAP
|
||
|
|
TS EDOTP
|
||
|
|
CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
|
||
|
|
TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
|
||
|
|
TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
|
||
|
|
TCF +1
|
||
|
|
# Page 1435
|
||
|
|
AD -RATEDB
|
||
|
|
EXTEND
|
||
|
|
BZMF +4
|
||
|
|
CA 40CYC
|
||
|
|
TS TCP
|
||
|
|
TC PEGI
|
||
|
|
CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
|
||
|
|
MASK PBIT
|
||
|
|
EXTEND
|
||
|
|
BZF +2
|
||
|
|
TC PEGI # TO PURE RATE COMMAND
|
||
|
|
CA DXERROR # PSEUDO-AUTO CONTROL.
|
||
|
|
TS E # X-ATTITUDE ERROR (SP)
|
||
|
|
TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
|
||
|
|
TC PURGENCY +4
|
||
|
|
PEGI CA CDUX # DIRECT RATE CONTROL.
|
||
|
|
TS CDUXD
|
||
|
|
CA ZERO
|
||
|
|
TS DXERROR
|
||
|
|
TS DXERROR +1
|
||
|
|
TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
|
||
|
|
CCS EDOTP
|
||
|
|
TC +3
|
||
|
|
TC +2
|
||
|
|
TC +1
|
||
|
|
TS ABSEDOTP
|
||
|
|
AD TARGETDB
|
||
|
|
EXTEND # IF RATE ERROR IS LESS THAN DEADBANK,
|
||
|
|
BZMF LAST # FIRE, AN SWITCH TO PSEUDO-AUTO.
|
||
|
|
CA TCP
|
||
|
|
EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.
|
||
|
|
BZMF LAST
|
||
|
|
CS RCSFLAGS
|
||
|
|
MASK PBIT
|
||
|
|
ADS RCSFLAGS # BIT 10 IS 1.
|
||
|
|
TCF +4
|
||
|
|
LAST CS PBIT
|
||
|
|
MASK RCSFLAGS
|
||
|
|
TS RCSFLAGS # BIT 10 IS 0.
|
||
|
|
CS EDOTP
|
||
|
|
EXTEND
|
||
|
|
MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
|
||
|
|
DAS A
|
||
|
|
TC OVERSUB
|
||
|
|
EXTEND
|
||
|
|
MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
|
||
|
|
TS TJP # 4.JET TIME
|
||
|
|
CA ABSEDOTP
|
||
|
|
AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
|
||
|
|
EXTEND
|
||
|
|
# Page 1436
|
||
|
|
BZMF +3
|
||
|
|
|
||
|
|
CA SIX
|
||
|
|
TCF +8D
|
||
|
|
CA TJP
|
||
|
|
ADS TJP
|
||
|
|
|
||
|
|
# GOES TO PJETSLEC FOR TWO JETS
|
||
|
|
# P-JET-SELECTION-ROUTINE (ROTATION)
|
||
|
|
#
|
||
|
|
# INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
|
||
|
|
# TJP + FOR +P ROTATION
|
||
|
|
#
|
||
|
|
# OUTPUT: CHANNEL 6
|
||
|
|
# PJUMPADR FOR P-AXIS SKIP
|
||
|
|
# (JTLST CALL) (SMALL TJP)
|
||
|
|
#
|
||
|
|
# ORDER OF POLICIES TRIED IN CASE OF FAILURE.
|
||
|
|
# +P -P
|
||
|
|
# 7,15 8,16
|
||
|
|
# 4,12 3,11
|
||
|
|
# 4,7 8,11
|
||
|
|
# 7,12 11,16
|
||
|
|
# 12,15 3,16
|
||
|
|
# 4,15 3,8
|
||
|
|
# ALARM ALARM
|
||
|
|
|
||
|
|
CA AORBSYST
|
||
|
|
MASK DAPBOOLS
|
||
|
|
CCS A
|
||
|
|
CA ONE
|
||
|
|
AD FOUR
|
||
|
|
TS NUMBERT
|
||
|
|
PJETSLEC CA ONE
|
||
|
|
TS L
|
||
|
|
CCS TJP
|
||
|
|
TCF +5
|
||
|
|
TCF JETSOFF
|
||
|
|
TCF +2
|
||
|
|
TCF JETSOFF
|
||
|
|
ZL
|
||
|
|
AD ONE
|
||
|
|
TS ABSTJ
|
||
|
|
LXCH ROTINDEX
|
||
|
|
TC SELECTP
|
||
|
|
CS SIX
|
||
|
|
AD NUMBERT
|
||
|
|
EXTEND
|
||
|
|
BZF +2
|
||
|
|
|
||
|
|
CS TWO
|
||
|
|
|
||
|
|
# Page 1437
|
||
|
|
AD FOUR
|
||
|
|
TS NO.PJETS
|
||
|
|
CA POLYTEMP
|
||
|
|
TC WRITEP
|
||
|
|
CS ABSTJ
|
||
|
|
AD +150MST6
|
||
|
|
EXTEND
|
||
|
|
BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
|
||
|
|
|
||
|
|
AD -136MST6
|
||
|
|
EXTEND
|
||
|
|
BZMF +5
|
||
|
|
|
||
|
|
ADS ABSTJ
|
||
|
|
INDEX ROTINDEX
|
||
|
|
CA MINTIMES
|
||
|
|
TS TJP
|
||
|
|
|
||
|
|
CA ABSTJ
|
||
|
|
ZL
|
||
|
|
INHINT
|
||
|
|
DXCH T6FURTHA
|
||
|
|
TC IBNKCALL
|
||
|
|
CADR JTLST
|
||
|
|
CS BIT12
|
||
|
|
MASK RCSFLAGS
|
||
|
|
TS RCSFLAGS # BIT 12 SET TO 0.
|
||
|
|
TC ALTSYST
|
||
|
|
TCF QRAXIS
|
||
|
|
|
||
|
|
ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
|
||
|
|
TS L
|
||
|
|
CA AORBSYST
|
||
|
|
EXTEND
|
||
|
|
RXOR LCHAN
|
||
|
|
TS DAPBOOLS
|
||
|
|
RELINT
|
||
|
|
TC Q
|
||
|
|
|
||
|
|
DKALT TC ALTSYST
|
||
|
|
|
||
|
|
JETSOFF TC WRITEP -1
|
||
|
|
CA ZERO
|
||
|
|
TS TJP
|
||
|
|
TCF QRAXIS
|
||
|
|
|
||
|
|
# (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
|
||
|
|
|
||
|
|
CALCPERR CA CDUY # P-ERROR CALCULATION.
|
||
|
|
EXTEND
|
||
|
|
MSU CDUYD # CDU VALUE -- ANGLE DESIRED (Y-AXIS)
|
||
|
|
# Page 1438
|
||
|
|
EXTEND
|
||
|
|
MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
|
||
|
|
XCH E # SAVE FIRST TERM (OF TWO)
|
||
|
|
CA CDUX # THIRD COMPONENT
|
||
|
|
EXTEND
|
||
|
|
MSU CDUXD # CDU VALUE -- ANGLE DESIRED (X-AXIS)
|
||
|
|
# EXTEND
|
||
|
|
# MP M13
|
||
|
|
AD DELPEROR # KALCMANU INTERFACE ERROR.
|
||
|
|
ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
|
||
|
|
XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
|
||
|
|
TC Q # RETURN TO CALLER
|
||
|
|
|
||
|
|
# P-AXIS URGENCY FUNCTION CALCULATION.
|
||
|
|
|
||
|
|
PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
|
||
|
|
CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
|
||
|
|
AD OMEGAP # SPS-BACKUP MODE.
|
||
|
|
TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
|
||
|
|
|
||
|
|
CS ONE
|
||
|
|
TS AXISCTR
|
||
|
|
CA DAPBOOLS
|
||
|
|
MASK CSMDOCKD
|
||
|
|
EXTEND
|
||
|
|
BZF HEADTJET
|
||
|
|
INHINT # IF CSMDOCKD = 1, GOT TO DOCKED RCS LOGIC
|
||
|
|
TC IBNKCALL
|
||
|
|
CADR SPSRCS
|
||
|
|
|
||
|
|
CA TJP
|
||
|
|
EXTEND
|
||
|
|
BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
|
||
|
|
RELINT
|
||
|
|
TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS.
|
||
|
|
HEADTJET CA ZERO
|
||
|
|
TS SENSETYP
|
||
|
|
INHINT
|
||
|
|
TC IBNKCALL
|
||
|
|
CADR TJETLAW
|
||
|
|
RELINT
|
||
|
|
|
||
|
|
CS FIREFCT
|
||
|
|
AD -FOURDEG
|
||
|
|
EXTEND
|
||
|
|
BZMF PJETSLEC -6
|
||
|
|
CCS TJP
|
||
|
|
TCF +2
|
||
|
|
TCF JETSOFF
|
||
|
|
# Page 1439
|
||
|
|
AD -160MST6
|
||
|
|
EXTEND
|
||
|
|
BZMF PJETSLEC -6
|
||
|
|
CA SIX
|
||
|
|
TCF PJETSLEC -1
|
||
|
|
-160MST6 DEC -256
|
||
|
|
-FOURDEG DEC -.08888
|
||
|
|
|
||
|
|
# Page 1440
|
||
|
|
# JET POLICY CONTSTRUCTION SUBROUTINE
|
||
|
|
#
|
||
|
|
# INPUT: ROTINDEX, NUMBERT
|
||
|
|
#
|
||
|
|
# OUTPUT: POLYTEMP (JET POLICY)
|
||
|
|
#
|
||
|
|
# THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
|
||
|
|
|
||
|
|
SELECTP CA SIX
|
||
|
|
TS TEMPNUM
|
||
|
|
INDEX NUMBERT
|
||
|
|
CA TYPEP
|
||
|
|
INDEX ROTINDEX
|
||
|
|
MASK JETSALL
|
||
|
|
TS POLYTEMP
|
||
|
|
MASK CH6MASK
|
||
|
|
CCS A
|
||
|
|
TCF +2
|
||
|
|
TC Q
|
||
|
|
CCS TEMPNUM
|
||
|
|
TCF +4
|
||
|
|
TC ALARM
|
||
|
|
OCT 02003
|
||
|
|
TCF JETSOFF # ********** TCF ALARMJET **********
|
||
|
|
SELECTYZ TS NUMBERT
|
||
|
|
TCF SELECTP +1
|
||
|
|
-1 TCF ABORTYZ +2
|
||
|
|
JETSALL OCT 00252
|
||
|
|
OCT 00125 # +P
|
||
|
|
OCT 00140 # -Y
|
||
|
|
OCT 00006 # -Z
|
||
|
|
OCT 00220 # +Y
|
||
|
|
OCT 00011 # +Z
|
||
|
|
OCT 00151 # +V
|
||
|
|
TYPEP OCT 00146 # -U
|
||
|
|
OCT 00226 # -V
|
||
|
|
OCT 00231 # +U
|
||
|
|
OCT 00151 # +V
|
||
|
|
OCT 00132 # 1-3
|
||
|
|
OCT 00245 # 2-4
|
||
|
|
OCT 00377 # ALL
|
||
|
|
INDXYZ = -136MST6
|
||
|
|
-136MST6 DEC -218
|
||
|
|
DEC 4
|
||
|
|
DEC 2
|
||
|
|
OCT 07776
|
||
|
|
DEC 5
|
||
|
|
DEC 9
|
||
|
|
DEC 10
|
||
|
|
OCT 07776
|
||
|
|
DEC 3
|
||
|
|
# Page 1441
|
||
|
|
DEC 8
|
||
|
|
DEC 7
|
||
|
|
OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
|
||
|
|
OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
|
||
|
|
OCT 07776 # TO BE TC JETSALL -1
|
||
|
|
OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
|
||
|
|
OCT 07776
|
||
|
|
+150MST6 DEC 240
|
||
|
|
07400OCT OCT 07400
|
||
|
|
|
||
|
|
# T-JET LAW FIXED CONSTANTS
|
||
|
|
|
||
|
|
NORMSCL OCT 266
|
||
|
|
-100MS DEC -.1
|
||
|
|
200MS DEC .2
|
||
|
|
25/32 = PRIO31 # (DEC .78125)
|
||
|
|
BITS8,9 OCTAL 00600
|
||
|
|
1/40 DEC .02500
|
||
|
|
MINTIMES DEC -22
|
||
|
|
DEC 22
|
||
|
|
PSKIPADR GENADR SKIPPAXS
|
||
|
|
|
||
|
|
# GOES TO Q,R-AXES RCS AUTOPILOT
|
||
|
|
|
||
|
|
QRAXIS CS OMEGARD
|
||
|
|
AD OMEGAR
|
||
|
|
TC OVERSUB
|
||
|
|
TS EDOTR
|
||
|
|
CS OMEGAQD
|
||
|
|
AD OMEGAQ
|
||
|
|
TC OVERSUB
|
||
|
|
TS EDOTQ
|
||
|
|
EXTEND
|
||
|
|
DCA QERRCALL
|
||
|
|
DTCB
|
||
|
|
|
||
|
|
EBANK= AOSQ
|
||
|
|
QERRCALL 2CADR CALLQERR
|