* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(pp. 0961-0965): Proof TVCDAPS #266 * done(pp. 0961-0978): Proof TVCDAPS #266
This commit is contained in:
Glenn Dwiyatcita
James Harris
parent
80d781c20e
commit
1fd3c9548c
@ -34,32 +34,31 @@
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# Page 961
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# PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
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# LOG SECTION....TVCDAPS SUBROUTINE....DAPCSM
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# LOG SECTION...TVCDAPS SUBROUTINE...DAPCSM
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# MODIFIED BY SCHLUNDT 21 OCTOBER 1968
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#
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# FUNCTIONAL DESCRIPTION
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#
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# FUNCTIONAL DESCRIPTION....
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# SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
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# FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
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# IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
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# (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
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# ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
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#
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# THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
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# EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
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# GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
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# INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTERS
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# INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER
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# FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER.
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# CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
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#
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# THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
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# TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
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# REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
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# TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
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# MODING.
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#
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# CALLING SEQUENCE.... (TYPICALLY)
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#
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# T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
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# T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
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# T5 CALL OF PITCHDAP BY DAPINIT
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@ -67,13 +66,13 @@
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# T5 CALL OF PITCHDAP BY YAWDAP
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# ETC.
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# (AUTOMATIC SEQUENCING FROM TVCDAPON)
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#
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# NORMAL EXIT MODE....RESUME
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#
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# ALARM OR ABORT EXIT MODES....NONE
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#
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# SUBROUTINES CALLED....
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#
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# HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
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# PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
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# DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
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@ -83,17 +82,17 @@
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# FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
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# OUTPUTS AND STORAGE VALUES
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# RESUME
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#
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# Page 962
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# OTHER INTERFACES
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#
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# OTHER INTERFACES....
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# S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
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# S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
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# TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
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# TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
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#
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# ERASABLE INITIALIZATION REQUIRED....
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#
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# PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS )
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# CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
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# ENGINE-ON BIT (11.13) FOR RESTARTS
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@ -101,20 +100,19 @@
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# T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
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# MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
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# INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
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# CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY QUICTRIG1 (WITH
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# CDUX,Y,Z AND SINCDUX....COSCDUX AS PREPARED BY QUICTRIG (WITH
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# UPDATES EVERY 1/2 SECOND)
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# ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
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# UNLESS BENCH-TESTING.
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#
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# OUTPUT....
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#
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# TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL
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# COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
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# TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
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# TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
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# AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
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# OFFSET-TRACKER-FILTER OUTPUTS, ETC.
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#
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# DEBRIS....
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#
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# MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
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BANK 17
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@ -126,7 +124,7 @@
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COUNT* $$/DAPS
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# Page 963
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# PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
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# PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
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PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
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EXTEND
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@ -158,7 +156,7 @@ PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
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TCF PINTEGRL
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RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
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EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD
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EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD)
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MP 1/RTLIM
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EXTEND
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BZF +3
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@ -238,7 +236,7 @@ PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
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TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
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DELBARP CAE DELPBAR +1
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DELBARP CAE DELPBAR +1 # UPDATE PITCH OFFSET-TRACKER-FILTER
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EXTEND
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MP E(-AT)
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TS DELBRTMP +1
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@ -363,7 +361,7 @@ YOFFSET EXTEND
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DCA YDELOFF
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DAS CMDTMP # NOW SCALED AT B+0 ASCREV
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YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
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YACLIM TCR ACTLIM # ROUND OFF & LIMIT YAW ACTUATOR COMMAND
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YOUT CS YCMD # INCREMENTAL YAW COMMAND
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AD CMDTMP
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@ -451,6 +449,7 @@ YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
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# Page 971
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# SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
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# INITIALIZATION PACKAGE FOR CDURATES....
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DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
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@ -485,6 +484,7 @@ ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
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TC Q
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# ACTUATOR-COMMAND LIMITER PACKAGE....
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ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
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@ -506,6 +506,7 @@ ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
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TC Q
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# FILTER COMPUTATIONS FOR PRESENT OUTPUT................
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FWDFLTR CAF ZERO
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@ -568,18 +569,19 @@ OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
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MP VARK
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DAS CMDTMP
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DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS
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DXCH CMDTMP # FIX UP SCALING - SCALED B+3 ASCREVS
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DDOUBL
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DDOUBL
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DXCH CMDTMP # -- SCALED B+1 ASCREVS
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# NOTE -- THERE IS AN INHERENT GAIN OF
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DXCH CMDTMP # - SCALED B+1 ASCREVS
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# NOTE - THERE IS AN INHERANT GAIN OF
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# (B+1 ASCREVS) ON THE OUTPUT DACS.
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TC Q
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# FILTER PRECOMPUTATIONS FOR NEXT PASS................
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PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
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PRECOMP CAF ZERO # ***** FIRST CASCADE FILTER **********
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TS TTMP1
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TS TTMP2
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@ -637,7 +639,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
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DXCH TTMP1
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DAS TMP2
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2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER **********
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2CASFLTR CAF ZERO # *****SECOND CASCADE FILTER*****
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TS TTMP1
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TS TTMP2
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@ -674,7 +676,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
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TS TMP4
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CA DAP1 +1 # MULTIPLY INPUT BY
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EXTEND # SECOND-ORDER NUMERATOR COEFF.
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EXTEND
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MP N10 +7 # N22
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TS TTMP1 +1
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CA DAP1
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@ -694,13 +696,14 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
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DXCH TTMP1
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DAS TMP4
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CAE DAPDATR1 # TEST FOR LEM ON OR OFF
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MASK BIT13
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CCS A
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TC Q # EXIT IF LEM OFF
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# Page 976
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3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER **********
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3CASFLTR CAF ZERO # *****THIRD CASCADE FILTER*****
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TS TTMP1
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TS TTMP2
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@ -763,6 +766,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
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# CONSTANTS FOR AUTOPILOTS
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# NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)
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# 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
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ACTSAT DEC 253 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
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@ -778,4 +782,3 @@ YAWT5 GENADR YAWDAP # REQUIRED.
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1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG
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1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
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E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
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