From 0c6136893ef193575d0d810484ead74de158273c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Gintautas=20=C5=A0vedas?= Date: Sat, 24 Oct 2020 20:59:27 +0300 Subject: [PATCH] Proof LEM_GEOMETRY #604 (#725) Co-authored-by: James Harris --- Luminary099/LEM_GEOMETRY.agc | 57 +++++++++++++++++------------------- 1 file changed, 27 insertions(+), 30 deletions(-) diff --git a/Luminary099/LEM_GEOMETRY.agc b/Luminary099/LEM_GEOMETRY.agc index 1ff63fa..63ff750 100644 --- a/Luminary099/LEM_GEOMETRY.agc +++ b/Luminary099/LEM_GEOMETRY.agc @@ -35,22 +35,22 @@ EBANK= XSM # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING -# THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO +# THE CONIC R,V AND THE DEVIATIONSR,V. THE STATE VECTORS ARE CONVERTED TO # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR -# R-OTHER,V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE +# R-OTHER , V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE # OTHER VEHICLES COMPUTER. # # INPUT -# STATE VECTOR IN TEMPORARY STORAGE AREA -# IF STATE VECTOR IS SCALED POS B27 AND VEL B5 -# SET X2 TO +2 -# IF STATE VECTOR IS SCALED POS B29 AND VEL B7 -# SET X2 TO 0 +# STATE VECTOR IN TEMPORARY STORAGE AREA +# IF STATE VECTOR IS SCALED POS B27 AND VEL B5 +# SET X2 TO +2 +# IF STATE VECTOR IS SCALED POS B29 AND VEL B7 +# SET X2 TO 0 # # OUTPUT -# R(T) IN RN, V(T) IN VN, T IN PIPTIME +# R(T) IN RN, V(T) IN VN, T IN PIPTIME # OR -# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER) +# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER) COUNT* $$/GEOM SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG. @@ -58,14 +58,14 @@ SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG. +1 VLOAD VSL* TDELTAV - 0 -7,2 + 0 -7,2 VAD VSL* RCV 0,2 STOVL RN TNUV VSL* VAD - 0 -4,2 + 0 -4,2 VCV VSL* 0,2 @@ -76,14 +76,14 @@ SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG. # Page 321 SVDWN1 VLOAD VSL* TDELTAV - 0 -7,2 + 0 -7,2 VAD VSL* RCV 0,2 STOVL R-OTHER TNUV VSL* VAD - 0 -4,2 + 0 -4,2 VCV VSL* 0,2 @@ -91,32 +91,32 @@ SVDWN1 VLOAD VSL* RVQ # Page 322 -# THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH -# GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE -# ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION -# ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE +# THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH +# GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE +# ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION +# ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE. # -# THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS +# THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS # -# S(2) = 180 + S(1) -# T(2) = 180 - T(1) +# S(2) = 180 + S(1) +# T(2) = 180 - T(1) # -# THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT. +# THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNB OR *SMNB* WILL HAVE LEFT IT. RRANGLES STORE 32D DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT 34D # ANGLE LATER, WE CAN FIND THE MODE 1 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF 0 # THE Y COMPONENT, THE ASIN GIVIN AN - PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG. + PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG LODPHALF STODL 4 # MODE 2 TRUNNION TO 4. LO6ZEROS STOVL 34D # UNIT THE PROJECTION OF THE VECTOR - 32D # IN THE X-Z PLANE - UNIT BOVB # IF OVERFLOW, TARGET VECTOR IS ALONG Y + 32D # IN THE X-Z PLANE + UNIT BOVB # IF OVERFLOW,TARGET VECTOR IS ALONG Y LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF STODL 32D # PROJECTION VECTOR. 32D @@ -154,7 +154,7 @@ RRANGLES STORE 32D GOTO S2 # Page 324 -# GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1, FIND THE ASSOCIATED +# GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1,FIND THE ASSOCIATED # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T), # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D. @@ -190,7 +190,7 @@ RRNB1 PUSH COS # SHAFT ANGLE TO 2 RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21. MPAC # SET MODE TO DP. (THE PRECEEDING STORE - # MAY BE DP, TP OR VECTOR.) + # MAY BE DP. TP OR VECTOR.) RTB SETPD CDULOGIC 0 @@ -203,7 +203,4 @@ RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21. CDULOGIC GOTO RRNB1 -# Page 325 -# (This page has nothing on it.) - - +# Page 325 (empty page)