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PROOF R60_62 ISSUE # (#743)

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* proof read till pages 472-477

* proof read pages 478-479

* corrected . and , till page 479

* final proofreading done

* Review changes 472-473

* Review 474-475

* Review 477

* Review 478-480

* Review 481-482

* Review 483-485

Co-authored-by: James Harris <wopian@wopian.me>
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Niveditha N 2020-11-11 08:30:57 +05:30 committed by GitHub
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Luminary099/R60_62.agc
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@ -27,8 +27,8 @@
# 16:27 JULY 14, 1969 # 16:27 JULY 14, 1969
# Page 472 # Page 472
# MOD NO: 0 DATE: 1 MAY 1968 # MOD NO: 0 DATE: 1 MAY 1968
# MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62 # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
# #
# FUNCTIONAL DESCRIPTION: # FUNCTIONAL DESCRIPTION:
# #
@ -42,21 +42,21 @@
# #
# 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER. # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
# #
# 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
# ASTRONAUT RESPONSE. # ASTRONAUT RESPONSE.
# #
# 5. DISPLAY RESPONSE RETURNS. # 5. DISPLAY RESPONSE RETURNS:
# #
# A. ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT. # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
# #
# B. TERMINATE -- IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
# THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
# NOT IN R61 AN EXIT IS DONE VIA GOTOPOOH. # NOT IN R61 AN EXIT IS DONE VIA GOTOPOOH.
# #
# C. PROCEED -- CONTINUE WITH PROGRAM AT STEP 6. # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
# #
# 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
# (VECPOINT). # (VECPOINT).
# #
# 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS). # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
# #
@ -64,32 +64,32 @@
# #
# 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3. # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
# #
# 10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES). # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
# #
# 11. DO A PHASE-CHANGE. # 11. DO A PHASECHANGE.
# #
# 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
# GIMBAL ANGLES (GOMANUR).
# #
# 13. AT END OF MANEUVER TO TO STEP 3. # GIMBAL ANGLES (GOMANUR).
# 13. AT END OF MANEUVER GO TO STEP 3.
# #
# IF SATISFACTORY MANEUVER STEP 5A EXITS R60. # IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
# FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
# DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
# Page 473 # Page 473
# STEP 5C. # STEP 5C.
# #
# CALLING SEQUENCE: TC BANKCALL # CALLING SEQUENCE: TC BANKCALL
# CADR R60LEM # CADR R60LEM
# #
# ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT) # ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT)
# 3AXISFLG. # 3AXISFLG.
# #
# SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF24, LINUS, GODSPER, # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
# GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
# #
# NORMAL EXIT MODES: CAE TEMPR60 (CALLER'S RETURN ADDRESS) # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
# TC BANKJUMP # TC BANKJUMP
# #
# ALARMS: NONE # ALARMS: NONE
# #
@ -114,7 +114,7 @@ REDOMANN CAF 3AXISBIT
TC INTPRET TC INTPRET
CALL CALL
VECPOINT # TO COMPUTE FINAL ANGLES VECPOINT # TO COMPUTE FINAL ANGLES
STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
EXIT EXIT
TOBALL TC BANKCALL TOBALL TC BANKCALL
@ -124,7 +124,7 @@ TOBALLA CAF V06N18
CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
TC R61TEST TC R61TEST
TC REDOMANC # PROCEED TC REDOMANC # PROCEED
TC ENDMANU1 # ENTER I.E., FINISHED WITH R60 TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
# Page 474 # Page 474
TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
TC ENDOFJOB TC ENDOFJOB
@ -162,11 +162,11 @@ ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
CHKLINUS CS FLAGWRD4 CHKLINUS CS FLAGWRD4
MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET? MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
CCS A CCS A
TC Q # NO -- EXIT TC Q # NO - EXIT
CA Q CA Q
TS MPAC +2 # SAVE RETURN TS MPAC +2 # SAVE RETURN
CS THREE # OBTAIN LOCATION FOR RESTART CS THREE # OBTAIN LOCATION FOR RESTART
AD BUF2 # HOLD Q OF LAST DISPLAY AD BUF2 # HOLDS Q OF LAST DISPLAY
TS TBASE2 TS TBASE2
TC PHASCHNG TC PHASCHNG
@ -208,7 +208,7 @@ R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
EXTEND EXTEND
BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25) CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
MASK PDSPFBIT MASK PDSPFBIT
EXTEND EXTEND
BZF GOTOPOOH # NO BZF GOTOPOOH # NO
@ -218,69 +218,62 @@ BIT14+7 OCT 20100
OCT203 OCT 203 OCT203 OCT 203
V06N18 VN 0618 V06N18 VN 0618
# SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION # SUBROUTINE TO CHECK FOR G+N CONTROL. AUTO STABILIZATION
# #
# RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
# RETURNS WITH C(A) = +0 IF SWITCHES ARE SET # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
G+N,AUTO EXTEND G+N,AUTO EXTEND
READ CHAN30 READ CHAN30
MASK BIT10 MASK BIT10
CCS A CCS A
TC Q # NOT IN G+N C(A) = + TC Q # NOT IN G+N C(A) = +
# Page 476 # Page 476
ISITAUTO EXTEND # CHECK FOR AUTO MODE ISITAUTO EXTEND # CHECK FOR AUTO MODE
READ CHAN31 READ CHAN31
MASK BIT14 MASK BIT14
TC Q # (+) = NOT IN AUTO, (+0) = AOK TC Q # (+) = NOT IN AUTO, (+0) = AOK
# Page 477 # Page 477
# PROGRAM DESCRIPTION BALLANGS # PROGRAM DESCRIPTION BALLANGS
# MOD NO. LOG SECTION R60,R62 # MOD NO. LOG SECTION R60,R62
#
# WRITTEN BY RAMA M. AIYAWAR
# #
# WRITTEN BY RAMA M.AIYAWAR
# FUNCTIONAL DESCRIPTION # FUNCTIONAL DESCRIPTION
# #
# COMPUTES LM FDAI BALL DISPLAY ANGLES # COMPUTES LM FDAI BALL DISPLAY ANGLES
#
# CALLING SEQUENCE # CALLING SEQUENCE
# #
# TC BALLANGS # TC BALLANGS
#
# NORMAL EXIT MODE # NORMAL EXIT MODE
# #
# TC BALLEXIT # (SAVED Q) # TC BALLEXIT # (SAVED Q)
#
# ALARM OR EXIT MODE: NIL
# #
# ALARM OR EXIT MODE NIL
# SUBROUTINES CALLED # SUBROUTINES CALLED
# # CD*TR*G
# CD*TR*G # ARCTAN
# ARCTAN
# #
# INPUT # INPUT
# #
# CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
# SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION. # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
#
# OUTPUT # OUTPUT
# #
# FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION # FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
# SP,2'S COMPEMENT. # SP,2S COMPLIMENT.
# # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS. IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
# THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
# #
# ERASABLE INITIALIZATION REQUIRED # ERASABLE INITIALIZATION REQUIRED
# #
# CPHI, CTHETA, CPSI EACH AN SP REGISTER # CPHI,CTHETA,CPSI EACH A SP REGISTER
#
# DEBRIS # DEBRIS
# #
# A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIS,BALLEXIT
# #
# NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR #
# EQUIVALENTLY, CDUX, CDUY, AND CDUZ. # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
# EQUIVALENTLY, CDUX, CDUY, & CDUZ.
# #
# NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES. # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
@ -314,7 +307,7 @@ BALLANGS TC MAKECADR
COSCDUZ COSCDUZ
DMP SL1 # RESCALE DMP SL1 # RESCALE
COSCDUX COSCDUX
STCALL COSTH # (COSTH = 16D IN PD) STCALL COSTH # (COSTH= 16D IN PD)
ARCTAN ARCTAN
PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
SINCDUZ SINCDUZ
@ -327,15 +320,15 @@ BALLANGS TC MAKECADR
COSCDUX COSCDUX
DMP SL1 # CXCY DMP SL1 # CXCY
COSCDUY COSCDUY
DSU STADR # PULL UP FORM 6 PD DSU STADR # PULL UP FROM 6 PD
STODL COSTH # COSTH = CXCY - SXSZSY STODL COSTH # COSTH = CXCY - SXSZSY
SINCDUY SINCDUY
DMP SL1 DMP SL1
COSCDUX # CXSY COSCDUX # CXSY
DAD STADR # PULL UP FORM 4 PD DAD STADR # PULL UP FROM 4 PD
STCALL SINTH # SINTH = CXSY + SXSZCY STCALL SINTH # SINTH = CXSY + SXSZCY
ARCTAN # RETURNS WITH D(MPAC) = PITCH ARCTAN # RETURNS WITH D(MPAC) = PITCH
PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
V1STO2S V1STO2S
STORE FDAIX # MODE IS TP STORE FDAIX # MODE IS TP
@ -347,53 +340,51 @@ ENDBALL CA BALLEXIT
TC BANKJUMP TC BANKJUMP
# Page 480 # Page 480
# PROGRAM DESCRIPTION -- VECPOINT # PROGRAM DESCRIPTION - VECPOINT
# #
# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS #
# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
# TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
# BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES. # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
# THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
# SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
# VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
# ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM # ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
# IN T(MPAC) BEFORE RETURNING TO THE CALLER. # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
# # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
# THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS- # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
# PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
# LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS, # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR-X) AXIS,
# THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X) # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
# THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
# STORED AS 2'S COMPLEMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER. # STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
# # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
# WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
# CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
# REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
# EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES. # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
# #
# CALLING SEQUENCE # CALLING SEQUENCE -
# 1) LOAD SCAXIS, POINTVSM
# 2) CALL
# VECPOINT
# #
# 1) LOAD SCAXIS, POINTVSM # RETURNS WITH
# 2) CALL
# VECPOINT
# #
# RETURNS WITH # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
# 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
# 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
# #
# 1) DESIRED OUTER GIMBAL ANGLE IN MPAC # ERASABLES USED -
# 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
# 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
# #
# ERASABLES USED -- # 1) SCAXIS 6
# 2) POINTVSM 6
# 3) MIS 18
# 4) DEL 18
# 5) COF 6
# 6) VECQTEMP 1
# 7) ALL OF VAC AREA 43
# #
# 1) SCAXIS 6 # TOTAL 99
# 2) POINTVSM 6
# 3) MIS 18
# 4) DEL 18
# 5) COF 6
# 6) VECQTEMP 1
# 7) ALL OF VAC AREA 43
#
# TOTAL 99
SETLOC VECPT SETLOC VECPT
BANK BANK
@ -403,7 +394,7 @@ ENDBALL CA BALLEXIT
EBANK= BCDU EBANK= BCDU
VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
VECQTEMP # NOT PRESENT -- ENTER WITH CDUD'S IN MPAC VECQTEMP # NOT PRESENT-ENTER WITH CDUD'S IN MPAC
VECPNT2 VECPNT2
VECPNT2 AXC,2 GOTO VECPNT2 AXC,2 GOTO
MIS MIS
@ -418,7 +409,7 @@ STORANG STCALL 25D
CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS) CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
VLOAD VXM VLOAD VXM
POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
MIS # INITIAL S/C AXES (VF = POINTVSM) MIS # INITIAL S/C AXES ( VF = POINTVSM)
UNIT UNIT
STORE 28D STORE 28D
# PD 28 29 30 31 32 33 # PD 28 29 30 31 32 33
@ -431,12 +422,12 @@ STORANG STCALL 25D
DSU BMN # VECTOR, IF LESS DSU BMN # VECTOR, IF LESS
DPB-14 # THAN B-14 ASSUME DPB-14 # THAN B-14 ASSUME
PICKAXIS # UNIT OPERATION PICKAXIS # UNIT OPERATION
VLOAD DOT # INVALID. VLOAD DOT # INVALID.
SCAXIS SCAXIS
28D 28D
SL1 ARCCOS SL1 ARCCOS
COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
AXC,1 AXC,2 AXC,1 AXC,2
MIS # COMPUTE THE TRANSFORMATION FROM FINAL MIS # COMPUTE THE TRANSFORMATION FROM FINAL
KEL # S/C AXES TO STABLE MEMBER AXES KEL # S/C AXES TO STABLE MEMBER AXES
@ -444,34 +435,34 @@ COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
MXM3 # (IN PD LIST) MXM3 # (IN PD LIST)
DLOAD ABS DLOAD ABS
6 # MFS6 = SIN(CPSI) $2 6 # MFS6 = SIN(CPSI) $2
DSU BMN DSU BMN
SINGIMLC # = SIN(59 DEGS) $2 SINGIMLC # = SIN(59 DEGS) $2
FINDGIMB # /CPSI/ LESS THAN 59 DEGS. FINDGIMB # /CPSI/ LESS THAN 59 DEGS
# Page 482 # Page 482
# I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
DLOAD ABS # CHECK TO SEE IF WE ARE POINTING DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
SCAXIS # THE THRUST AXIS SCAXIS # THE THRUST AXIS
DSU BPL DSU BPL
SINVEC1 # SIN 49.4 DEGS $2 SINVEC1 # SIN 49.4 DEGS $2
FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
VLOAD # GIMBAL LOCK, ABORT COULD GO HERE VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
STADR STADR
STOVL MIS +12D STOVL MIS +12D
STADR # STORE MFS (IN PD LIST) IN MIS STADR # STORE MFS (IN PD LIST) IN MIS
STOVL MIS +6 STOVL MIS +6
STADR STADR
STOVL MIS STOVL MIS
MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
IGSAMEX # FINAL X S/C AXIS IGSAMEX # FINAL X S/C AXIS
IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3) U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
# X SCAXIS . XF) LESS THAN 0, U = SCAXIS # X SCAXIS . XF) LESS THAN 0, U = SCAXIS
# OTHERWISE U = -SCAXIS. # OTHERWISE U = -SCAXIS
VLOAD VCOMP VLOAD VCOMP
SCAXIS SCAXIS
@ -483,14 +474,14 @@ U=SCAXIS VLOAD
CHEKAXIS DLOAD ABS CHEKAXIS DLOAD ABS
SCAXIS # SEE IF WE ARE POINTING THE AOT SCAXIS # SEE IF WE ARE POINTING THE AOT
DSU BPL DSU BPL
SINVEC2 # SIN 29.5 DEGS $2 SINVEC2 # SIN 29.5 DEGS $2
PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
# OF GIMBAL LOCK (VECANG2 $360) # OF GIMBAL LOCK (VECANG2 $360)
PICKANG1 DLOAD PICKANG1 DLOAD
VECANG1 # = 50 DEGS. $360 VECANG1 # = 50 DEGS $ 360
COMPMFSN CALL COMPMFSN CALL
DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
@ -505,12 +496,12 @@ FINDGIMB AXC,1 CALL
0 # EXTRACT THE COMMANDED CDU ANGLES FROM 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
DCMTOCDU # THIS MATRIX DCMTOCDU # THIS MATRIX
RTB SETPD RTB SETPD
V1STO2S # CONVERT TO 2'S COMPLEMENT V1STO2S # CONVERT TO 2:S COMPLEMENT
0 0
GOTO GOTO
VECQTEMP # RETURN TO CALLER VECQTEMP # RETURN TO CALLER
PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
28D 28D
SCAXIS SCAXIS
BMN TLOAD BMN TLOAD
@ -523,11 +514,11 @@ PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
SETLOC MANUVER1 SETLOC MANUVER1
BANK BANK
ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 180 DEG ROTATION ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
HIDPHALF # INITIAL S/C AXES. HIDPHALF # INITIAL S/C AXES.
UNIT VXV # FIND Y(SM) X X(I) UNIT VXV # FIND Y(SM) X X(I)
SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I))) SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I), UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
PICKX # Y(SM) PERPENDICULAR TO VI PICKX # Y(SM) PERPENDICULAR TO VI
STODL COF STODL COF
36D # CHECK MAGNITUDE 36D # CHECK MAGNITUDE
@ -543,17 +534,17 @@ XROT STODL COF
PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
HIDPHALF HIDPHALF
XROT XROT
SINGIMLC 2DEC .4285836003 # = SIN(59) $2 SINGIMLC 2DEC .4285836003 # =SIN(59) $2
SINVEC1 2DEC .3796356537 # = SIN(49.4) $2 SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
SINVEC2 2DEC .2462117800 # = SIN(29.5) $2 SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
VECANG1 2DEC .1388888889 # = 50 DEGREES $360 VECANG1 2DEC .1388888889 # = 50 DEGREES $360
# Page 484 # Page 484
VECANG2 2DEC .09722222222 # = 35 DEGREES $360 VECANG2 2DEC .09722222222 # = 35 DEGREES $360
1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ************ 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
DPB-14 OCT 00001 DPB-14 OCT 00001
OCT 00000 OCT 00000
@ -577,11 +568,10 @@ R62FLASH CAF V06N22 # FLASH V06N22 AND
TCF R62FLASH # ENTER TCF R62FLASH # ENTER
# ASTRONAUT MAY LOAD NEW ICDUS AT THIS # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
# POINT. # POINT
GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
ADRES 3AXISFLG ADRES 3AXISFLG
TC BANKCALL TC BANKCALL
CADR R60LEM CADR R60LEM
TCF ENDEXT # END R62 TCF ENDEXT # END R62