parent
624a548983
commit
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@ -38,7 +38,7 @@
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# PDL 12D - 15D SAFE.
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# VALUE OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS.
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# VALUES OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS.
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EBANK= RTINIT # LET INTERPRETER SET EB
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@ -66,8 +66,8 @@ CM/POSE TC INTPRET # COME HERE VIA AVEGEXIT.
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S1 # UN FOR THE END OF THE TERMINAL PHASE.
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SPVQUIT DEC .019405 # 1000/ 2 VS
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TIX,1 VLOAD # IF V-VQUIT POS, BRANCH.
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CM/POSE2 # SAME UYA IN OLDUYA
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OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA
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CM/POSE2 # SAVE UYA IN OLDUYA
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OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA.
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CM/POSE2 STORE UYA/2 # REF COORDS
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STORE OLDUYA # RESTORE, OR SAVE AS CASE MAY BE.
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@ -78,7 +78,7 @@ CM/POSE2 STORE UYA/2 # REF COORDS
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STORE UZA/2 # REF COORDS
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# Page 884
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TLOAD # PICK UP CDUX, CDUY, CDUZ CORRESPONDING
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AOG/PIP # TO PIPUP TIME IN 2'S C AND SAVE.
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AOG/PIP # TO PIPUP TIME IN 2S.C AND SAVE.
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CM/TRIO STODL 24D
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25D # AIG/PIP
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@ -97,7 +97,7 @@ CM/TRIO STODL 24D
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0 # SM /2
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DCOMP VXSC
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UBX/2
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VSL1 # NOISE WON'T OVFL
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VSL1 # NOISE WONT OVFL.
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STODL UBY/2 # =(-SMCI, NOISE, SMSI)/2
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2 # CM /2 REPLACES NOISE
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STODL UBY/2 +2 # UBY/2=(-SMCI, CM, SMSI)/2
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@ -120,7 +120,7 @@ CM/TRIO STODL 24D
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UBY/2 +4
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STOVL UBY/2 +4 # YB/4 PLATFORM COORDS
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# YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI )
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# YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI )
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UBY/2
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VXM VSL2
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@ -135,7 +135,7 @@ CM/TRIO STODL 24D
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STOVL UBX/2 +2 # SM /2 REPLACES NOISE
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UBX/2 # XB/2 PLATFORM COORDS
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# XB = ( CMCI , SM , -CMSI )
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# XB = ( CMCI , SM , -CMSI )
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VXM VSL1
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REFSMMAT # .5 UNIT
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@ -145,8 +145,8 @@ CM/TRIO STODL 24D
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UBY/2
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STOVL UBZ/2 # ZB/2 DONE REF COORDS
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# EQUIVALENT TO
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# ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI )
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# EQUIVALENT TO
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# ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI)
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UXA/2 # -UVREL/2 = -UVA/2
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VXV UNIT # GET UNIT(-UVREL*UBY)/2 = UL/2
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@ -199,13 +199,13 @@ CMTR1 INDEX FIXLOC
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TS L
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INHINT
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# MUST REMAIN INHINTED UNTIL UPDATE OF BODY
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# ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS
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# INDICATOR.
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# MUST REMAIN INHINTED UNTIL UPDATE OF BODY
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# ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS
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# INDICATOR.
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CS CM/FLAGS
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MASK BIT11 # GAMDIFSW=94D BIT11 INITLY=0
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EXTEND # DON'T CALC GAMA DOT UNTIL HAVE FORMD
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EXTEND # DONT CALC GAMA DOT UNTIL HAVE FORMD
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# ONE DIFFERENCE.
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BZF DOGAMDOT # IS OK, GO ON.
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ADS CM/FLAGS # KNOW BIT IS 0
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@ -224,12 +224,12 @@ DOGAMDOT CS L
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EXTEND
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BZMF +3 # SET GAMDOT=+0 AS TAG IF TOO SMALL.
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NOGAMDOT CA ZERO # COME HERE INHINTED
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NOGAMDOT CA ZERO # COME HERE INHINTED.
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TS GAMDOT
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# FOR NOW LEAVE IN 2'S C
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# UPDATE ANGLES BY CORRECTING EULER ANG
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# FOR NOW LEAVE IN 2S.C
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# UPDATE ANGLES BY CORRECTING EUILER ANG
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# FOR ACCRUED INCREMENT SINCE PIPUP
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# R = R EUIL + R(NOW) - R(PIPUP)
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# R = R EUIL + R(NOW) -R(PIPUP)
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CS MPAC # GET (R EUL/180) /2
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DOUBLE # POSSIBLE OVERFLOW
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TC CORANGOV # CORRECT FOR OVFL IF ANY
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@ -277,7 +277,7 @@ REDOPOSE EXTEND # RE-STARTS COME HERE
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RELINT
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TC INTPRET # CAN'T TC DANZIG AFTER PHASCHNG.
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TC INTPRET # CANT TC DANZIG AFTER PHASCHNG.
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CM/POSE3 VLOAD ABVAL # RETURN FROM CM/ATUP. (RESTART)
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VN # 2(-7) M/CS
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STORE VMAGI # FOR DISPLAY ON CALL.
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@ -299,4 +299,3 @@ TCDU DEC .1 # TCDU = .1 SEC.
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EBANK= AOG
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REPOSADR 2CADR REDOPOSE
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