PROOF R60_62 ISSUE # (#743)
* 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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@ -45,15 +45,15 @@
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# 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
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# ASTRONAUT RESPONSE.
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#
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# 5. DISPLAY RESPONSE RETURNS.
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# 5. DISPLAY RESPONSE RETURNS:
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#
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# A. ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT.
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# A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
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#
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# B. TERMINATE -- IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
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# B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
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# THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
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# NOT IN R61 AN EXIT IS DONE VIA GOTOPOOH.
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#
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# C. PROCEED -- CONTINUE WITH PROGRAM AT STEP 6.
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# C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
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#
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# 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
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# (VECPOINT).
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@ -64,14 +64,14 @@
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#
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# 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
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#
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# 10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES).
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# 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
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#
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# 11. DO A PHASE-CHANGE.
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# 11. DO A PHASECHANGE.
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#
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# 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
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# GIMBAL ANGLES (GOMANUR).
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#
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# 13. AT END OF MANEUVER TO TO STEP 3.
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# GIMBAL ANGLES (GOMANUR).
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# 13. AT END OF MANEUVER GO TO STEP 3.
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#
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# IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
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# FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
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@ -82,13 +82,13 @@
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# CALLING SEQUENCE: TC BANKCALL
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# CADR R60LEM
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#
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# ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
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# ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT)
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# 3AXISFLG.
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#
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# SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF24, LINUS, GODSPER,
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# SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
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# GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
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#
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# NORMAL EXIT MODES: CAE TEMPR60 (CALLER'S RETURN ADDRESS)
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# NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS)
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# TC BANKJUMP
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#
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# ALARMS: NONE
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@ -114,7 +114,7 @@ REDOMANN CAF 3AXISBIT
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TC INTPRET
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CALL
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VECPOINT # TO COMPUTE FINAL ANGLES
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STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
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STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
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EXIT
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TOBALL TC BANKCALL
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@ -124,7 +124,7 @@ TOBALLA CAF V06N18
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CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
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TC R61TEST
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TC REDOMANC # PROCEED
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TC ENDMANU1 # ENTER I.E., FINISHED WITH R60
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TC ENDMANU1 # ENTER I.E. FINISHED WITH R60
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# Page 474
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TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
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TC ENDOFJOB
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@ -162,11 +162,11 @@ ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
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CHKLINUS CS FLAGWRD4
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MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
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CCS A
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TC Q # NO -- EXIT
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TC Q # NO - EXIT
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CA Q
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TS MPAC +2 # SAVE RETURN
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CS THREE # OBTAIN LOCATION FOR RESTART
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AD BUF2 # HOLD Q OF LAST DISPLAY
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AD BUF2 # HOLDS Q OF LAST DISPLAY
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TS TBASE2
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TC PHASCHNG
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@ -218,7 +218,7 @@ BIT14+7 OCT 20100
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OCT203 OCT 203
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V06N18 VN 0618
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# SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
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# SUBROUTINE TO CHECK FOR G+N CONTROL. AUTO STABILIZATION
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#
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# RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
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# RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
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@ -238,49 +238,42 @@ ISITAUTO EXTEND # CHECK FOR AUTO MODE
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# PROGRAM DESCRIPTION BALLANGS
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# MOD NO. LOG SECTION R60,R62
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#
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# WRITTEN BY RAMA M. AIYAWAR
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#
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# WRITTEN BY RAMA M.AIYAWAR
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# FUNCTIONAL DESCRIPTION
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#
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# COMPUTES LM FDAI BALL DISPLAY ANGLES
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#
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# CALLING SEQUENCE
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#
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# TC BALLANGS
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#
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# NORMAL EXIT MODE
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#
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# TC BALLEXIT # (SAVED Q)
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#
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# ALARM OR EXIT MODE: NIL
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#
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# ALARM OR EXIT MODE NIL
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# SUBROUTINES CALLED
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#
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# CD*TR*G
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# ARCTAN
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#
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# INPUT
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#
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# CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
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# SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION.
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#
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# CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
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# SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
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# OUTPUT
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#
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# FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
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# SP,2'S COMPEMENT.
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#
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# THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
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# FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
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# SP,2S COMPLIMENT.
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# THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS. IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
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#
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# ERASABLE INITIALIZATION REQUIRED
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#
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# CPHI, CTHETA, CPSI EACH AN SP REGISTER
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#
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# CPHI,CTHETA,CPSI EACH A SP REGISTER
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# DEBRIS
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#
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# A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
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# A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIS,BALLEXIT
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#
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# NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
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# EQUIVALENTLY, CDUX, CDUY, AND CDUZ.
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#
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# NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
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# EQUIVALENTLY, CDUX, CDUY, & CDUZ.
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#
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# NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
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@ -314,7 +307,7 @@ BALLANGS TC MAKECADR
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COSCDUZ
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DMP SL1 # RESCALE
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COSCDUX
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STCALL COSTH # (COSTH = 16D IN PD)
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STCALL COSTH # (COSTH= 16D IN PD)
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ARCTAN
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PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
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SINCDUZ
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@ -327,15 +320,15 @@ BALLANGS TC MAKECADR
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COSCDUX
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DMP SL1 # CXCY
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COSCDUY
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DSU STADR # PULL UP FORM 6 PD
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DSU STADR # PULL UP FROM 6 PD
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STODL COSTH # COSTH = CXCY - SXSZSY
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SINCDUY
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DMP SL1
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COSCDUX # CXSY
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DAD STADR # PULL UP FORM 4 PD
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DAD STADR # PULL UP FROM 4 PD
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STCALL SINTH # SINTH = CXSY + SXSZCY
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ARCTAN # RETURNS WITH D(MPAC) = PITCH
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PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
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PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
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RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
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V1STO2S
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STORE FDAIX # MODE IS TP
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@ -347,32 +340,30 @@ ENDBALL CA BALLEXIT
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TC BANKJUMP
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# Page 480
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# PROGRAM DESCRIPTION -- VECPOINT
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# PROGRAM DESCRIPTION - VECPOINT
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#
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#
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# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
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# TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
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# BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
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# THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
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# SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
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# VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
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# ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
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# VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
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# ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
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# IN T(MPAC) BEFORE RETURNING TO THE CALLER.
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#
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# THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
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# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
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# PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
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# 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,
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# THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
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# 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,
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# THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
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# THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
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# STORED AS 2'S COMPLEMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
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#
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# STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
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# WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
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# CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
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# REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
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# EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
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#
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# CALLING SEQUENCE
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#
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# CALLING SEQUENCE -
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# 1) LOAD SCAXIS, POINTVSM
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# 2) CALL
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# VECPOINT
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@ -383,7 +374,7 @@ ENDBALL CA BALLEXIT
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# 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
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# 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
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#
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# ERASABLES USED --
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# ERASABLES USED -
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#
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# 1) SCAXIS 6
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# 2) POINTVSM 6
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@ -403,7 +394,7 @@ ENDBALL CA BALLEXIT
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EBANK= BCDU
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VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
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VECQTEMP # NOT PRESENT -- ENTER WITH CDUD'S IN MPAC
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VECQTEMP # NOT PRESENT-ENTER WITH CDUD'S IN MPAC
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VECPNT2
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VECPNT2 AXC,2 GOTO
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MIS
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@ -418,7 +409,7 @@ STORANG STCALL 25D
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CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
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VLOAD VXM
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POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
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MIS # INITIAL S/C AXES (VF = POINTVSM)
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MIS # INITIAL S/C AXES ( VF = POINTVSM)
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UNIT
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STORE 28D
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# PD 28 29 30 31 32 33
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@ -447,9 +438,9 @@ COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
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6 # MFS6 = SIN(CPSI) $2
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DSU BMN
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SINGIMLC # = SIN(59 DEGS) $2
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FINDGIMB # /CPSI/ LESS THAN 59 DEGS.
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FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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# Page 482
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# I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
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# I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
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DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
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SCAXIS # THE THRUST AXIS
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@ -469,9 +460,9 @@ COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
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IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
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SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
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U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3)
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U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
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# X SCAXIS . XF) LESS THAN 0, U = SCAXIS
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# OTHERWISE U = -SCAXIS.
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# OTHERWISE U = -SCAXIS
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VLOAD VCOMP
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SCAXIS
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@ -490,7 +481,7 @@ CHEKAXIS DLOAD ABS
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COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
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# OF GIMBAL LOCK (VECANG2 $360)
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PICKANG1 DLOAD
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VECANG1 # = 50 DEGS. $360
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VECANG1 # = 50 DEGS $ 360
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COMPMFSN CALL
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DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
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AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
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@ -505,12 +496,12 @@ FINDGIMB AXC,1 CALL
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0 # EXTRACT THE COMMANDED CDU ANGLES FROM
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DCMTOCDU # THIS MATRIX
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RTB SETPD
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V1STO2S # CONVERT TO 2'S COMPLEMENT
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V1STO2S # CONVERT TO 2:S COMPLEMENT
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0
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GOTO
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VECQTEMP # RETURN TO CALLER
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PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
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PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
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28D
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SCAXIS
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BMN TLOAD
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@ -527,7 +518,7 @@ ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
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HIDPHALF # INITIAL S/C AXES.
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UNIT VXV # FIND Y(SM) X X(I)
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SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
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UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I),
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UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
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PICKX # Y(SM) PERPENDICULAR TO VI
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STODL COF
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36D # CHECK MAGNITUDE
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@ -543,17 +534,17 @@ XROT STODL COF
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PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
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HIDPHALF
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XROT
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SINGIMLC 2DEC .4285836003 # = SIN(59) $2
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SINGIMLC 2DEC .4285836003 # =SIN(59) $2
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SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
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SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
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SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
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SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
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VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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# Page 484
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VECANG2 2DEC .09722222222 # = 35 DEGREES $360
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1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ************
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1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
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DPB-14 OCT 00001
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OCT 00000
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@ -577,11 +568,10 @@ R62FLASH CAF V06N22 # FLASH V06N22 AND
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TCF R62FLASH # ENTER
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# ASTRONAUT MAY LOAD NEW ICDUS AT THIS
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# POINT.
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# POINT
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GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
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ADRES 3AXISFLG
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TC BANKCALL
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CADR R60LEM
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TCF ENDEXT # END R62
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