* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(pp. 0984-0985): Proof TVCROLLDAP #271 * done(pp. 0984-0998): Proof TVCROLLDAP #271 * fix: change back "B-10 (simulator patch) to "B+4" (original GAP printouts)
This commit is contained in:
Glenn Dwiyatcita
James Harris
parent
f2be2c6ffe
commit
16ffeaeb08
@ -28,56 +28,57 @@
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# Colossus 2A
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# Page 984
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# PROGRAM NAME....TVC ROLL AUTOPILOT
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# LOG SECTION....TVCROLLDAP SUBROUTINE....DAPCSM
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# PROGRAM NAME...TVC ROLL AUTOPILOT
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# LOG SECTION...TVCROLLDAP SUBROUTINE...DAPCSM
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# MOD BY SCHLUNDT 21 OCTOBER 1968
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#
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# FUNCTIONAL DESCRIPTION....
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#
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# *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
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# *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
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# BY IGNOVER (P40)
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# BY IGNITION (P40)
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# *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
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# *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
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# *USES T6 CLOCK TO TIME JET FIRINGS.
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# *USES T6 CLOCK TO TIME JET FIRINGS
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# *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
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# *MINIMUM JET FIRING TIME = 15 MS
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# *JET PAIRS FIRE ALTERNATELY
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# *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
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# *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
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# OF A JET FIRING TIME IS MADE ON A LATER PASS
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#
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# CALLING SEQUENCE....
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#
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# *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
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# WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
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#
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# NORMAL EXIT MODES.... ENDOFJOB
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#
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# ALARM OR ABORT EXIT MODES.... NONE
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#
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# SUBROUTINES CALLED.....NONE
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#
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# OTHER INTERFACES....
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#
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# *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
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# EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
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# *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC
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# SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS
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# NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
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#
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# ERASABLE INITIALIZATION REQUIRED
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#
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# ERASABLE INITIALIZATION REQUIRED....
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# *1/CONACC (S40.15)
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# *OGAD (CDUX, AT IGNITION)
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# *OGAD (CDUX AT IGNITION)
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# *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
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# *OGAPAST (OGANOW AT TVCEXECUTIVE)
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# *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
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#
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# OUTPUT....
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#
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# *ROLL JET PAIR FIRINGS
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#
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# Page 985
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# DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
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@ -86,7 +87,7 @@
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# LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
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# SWITCHING LOGIC IN THE PHASE PLANE....
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#
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# OGARATE
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# *
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# *
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@ -118,17 +119,17 @@
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# * -MAXLIM
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# *
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# *
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#
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# SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
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# CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
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# ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
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# FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
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# SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
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# ABOVE.
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#
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# THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRISED OF
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# THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
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# TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
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# 5-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
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# 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
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# Page 987
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#
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# GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
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@ -137,7 +138,7 @@
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# DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
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# TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
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# LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
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# INSTEAD. CONSIDER AN OPERATING POINT IN REGION 6'. PASS A TANGENT TO
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# INSTEAD. TAKE AN OPERATING POINT IN REGION 6' . PASS A TANGENT TO
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# THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
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# INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
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# THE INTERSECTION DEFINES THE DESIRED OGARATE. IF THE OPERATING POINT IS
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@ -149,61 +150,63 @@
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# RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
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# SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
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# APPROXIMATION.
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#
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# FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDARY BEFORE
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# INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
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# IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
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# THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
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# IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
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# THE DESIRED INTERSECTION (I.E., IN THE REGION BETWEEN THE MINLIM
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# THE DESIRED INTERSECTION (IE. IN THE REGION BETWEEN THE MINLIM
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# AND THE STRAIGHT LINE SWITCH) IT WILL EXHIBIT NORMAL COAST-REGION
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# BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
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# IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
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# FAILED-ON.
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#
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# WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
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# MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
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# DEFINED BY: OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
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# DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
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# OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
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# REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
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# FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,
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# AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
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#
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# EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
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# 2
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# SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
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#
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# EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
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#
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# SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
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#
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# WHERE INTERCEP = DB(-SLOPE) - LMCRATE
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# Page 988
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#
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# EQUATION FOR INTERSECTION, CONTROL PARABOLA, AND STRAIGHT SWITCH LINE....
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#
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# EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
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# DOGADOT = NUM/DEN, WHERE
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# 2
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# NUM = (-SLOPE)(OGARATE) (1/CONACC)
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# +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
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# +LMCRATE
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#
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# DEN = (-SLOPE)(LMCRATE)(1/CONACC) = SGN(DELOGA)
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# DEN = (-SLOPE)(LMCRATE)(1/CONACC) - SGN(DELOGA)
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# 2
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# DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2) SGN(OGARATE)
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#
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# FOR REGIONS 6 AND 6-PRIME, USE ACTUAL OPERATING POINT (OGA, OGARATE)
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# FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)
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# FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
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# FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
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# AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
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#
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# OGAERROR= DELOGA + DB SGN(OGARATE)
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#
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# OGARATE= -LMCRATE SGN(OGARATE)
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#
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# NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
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# ALSO, AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
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# AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE.
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# ALSO, AT POINT WHERE DOGARATE IS COMPUTED, REGISTER DELOGA IS USED
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# AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
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# Page 989
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# ROLLDAP CODING....
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@ -221,7 +224,7 @@ ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
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TS OGARATE # SC.AT B-4 REV/SEC
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# COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
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# EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
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# EXAMINE DURATION OF LAST JET FIRING IF JETS ARE NOW ON.
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DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
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EXTEND
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@ -229,7 +232,7 @@ DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
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TCF ROLLOGIC # ENTER LOGIC,JETS NOW ON.
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CAE TEMREG # EXAMINE LAST FIRING INTERVAL
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EXTEND # IF POSITIVE, DON'T FIRE
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EXTEND # IF POSITIVE, DONT FIRE
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BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
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CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
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@ -257,7 +260,8 @@ ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
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TS SGNRT # + OR - 2(-14)
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# Page 990
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# CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
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# CALCULATE DISTANCE FROM SWITCH PARABOLA (DELOGA)
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EXTEND
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MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
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CS L
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@ -279,17 +283,17 @@ DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
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EXTEND
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REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
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# NO JET FIRE YET. TEST FOR MAX OGARATE.
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# NO JET FIRE YET. TEST FOR MAX OGARATE
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INDEX I
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0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
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TS IOGARATE # I.E., I OGARATE
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TS IOGARATE # I.E. I OGARATE
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AD MAXLIM # SCALED AT 2(-4) REV/SEC
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EXTEND
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REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
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# COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT: NOTE THAT STR. LINE
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# SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG. QUANTITY
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# COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
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# SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG QUANTITY
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CA OGARATE
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EXTEND
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@ -312,10 +316,10 @@ REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
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EXTEND
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REG2TST BZMF NOROLL # IP REGION 2 (COAST SIDE OF STRT LINE)
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# CHECK TO SEE IF OGARATE IS ABOVE MINLIM
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# CHECK TO SEE IF OGARATE IS ABOVE MINLIM BOUNDARY
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CA IOGARATE # ALWAYS NEGATIVE
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AD MINLIM # SCALED AT 2(-4) REV/SEC.
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AD MINLIM # SCALED AT 2(-4) REV/SEC
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EXTEND
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REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
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@ -339,7 +343,7 @@ REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
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REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
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TS DELOGA # ACTUAL STATE
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CA OGARATE
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TS DELOGART # ACTUAL STATE, I.E., DEL OGARATE
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TS DELOGART # ACTUAL STATE,I.E. DEL OGARATE
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TCF ONROLL
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# JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VICE VERSA),USE INDIRECT
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@ -436,7 +440,7 @@ ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
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CAE TEMREG # DESIRED CHANGE IN OGARATE
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EXTEND
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MP ROLLFIRE # (SGN OF TORQUE: ZERO IF JETS NOW OFF)
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MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
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CCS A
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TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
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TCF NEWROLL # START NEW FIRING NOW, PLUS
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@ -462,11 +466,11 @@ NEWROLL CCS TEMREG # CALL THIS T6FIRE
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EXTEND
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MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
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# PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
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# PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE.
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MAXTFIRE CA TEMREG
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EXTEND
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MP 1/TMXFIR # I.E., 1/TMAXFIRE
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MP 1/TMXFIR # I.E. 1/TMAXFIRE
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EXTEND
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MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
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@ -476,7 +480,7 @@ MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
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CS TMAXFIRE # USE MAXIMUM
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TS TEMREG
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# SET UP SIGN OF REQUIRED TORQUE
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# SET UP SIGN OF REQUIRED TORQUE.
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NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
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CA POSMAX # POSITIVE TORQUE REQUIRED
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@ -499,7 +503,7 @@ FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
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EXTEND
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SU TEMREG
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EXTEND
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EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DON'T, EXIT ROLL DAP
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EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
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TCF JETROLL
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NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
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@ -574,7 +578,7 @@ RDAPEND TCF TASKOVER # EXIT ROLL DAP
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# THIS T6 TASK SHUTS OFF ALL ROLL JETS
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NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
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CAF ZERO # CALLED BY "JETROLL")
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CAF ZERO # CALLED BY ..JETROLL..)
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TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
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EXTEND
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KILLJETS WRITE CHAN6
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@ -600,10 +604,9 @@ MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
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MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
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# The following two were B+4.---RSB 2009.
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TMINFIRE DEC 1.5 B-10 # 15 MS. (14MIN), SC.AT 16 BITS/CS
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TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
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TMAXFIRE DEC 250 B-10 # 2.5 SEC, SC.AT 16 BITS/CS
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TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
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1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
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# ROUNDS TO OCT00004, SO ALLOWS 2.56
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@ -612,6 +615,5 @@ T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
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+ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
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+ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
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-ROLL1 = TEN # ONBITS FOR JETS 12 AND 10
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-ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10
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-ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
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