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Proof CSM_GEOMETRY (#199) (#338)

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🕵️ Proofread #199
This commit is contained in:
Glenn Dwiyatcita 2018-05-25 21:37:33 +02:00 committed by James Harris
parent eaec0f796b
commit 4e0940e275
1 changed files with 46 additions and 49 deletions
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95
Comanche055/CSM_GEOMETRY.agc
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@ -32,19 +32,20 @@
SETLOC COMGEOM1 SETLOC COMGEOM1
BANK BANK
# THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT # THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT
# VECTOR REFERENCED TO THE NAVIGATION BASE COORDINATE SYSTEM AND COINCIDENT WITH THE SEXTANT LINE OF SIGHT. # VECTOR REFERENCED TO THE NAVIGATION BASE COORDINATE SYSTEM AND COINCIDENT WITH THE SEXTANT LINE OF SIGHT.
# #
# THE INPUTS ARE: 1) THE SEXTANT SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE # THE INPUTS ARE 1) THE SEXTANT SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE
# MARK VAC AREA. 2) THE COMPLEMENT OF THE BASE ADDRESS OF THE MARK VAC AREA IS STORED SP AT LOCATION X1 OF YOUR # MARK VAC AREA. 2) THE COMPLEMENT OF THE BASE ADDRESS OF THE MARK VAC AREA IS STORED SP AT LOCATION X1 OF YOUR
# JOB VAC AREA. # JOB VAC AREA.
# #
# THE OUTPUT IS A HALF-UNIT VECTOR IN NAVIGATION BASE COORDINATES AND STORED AT LOCATION 32D OF THE VAC AREA. THE # THE OUTPUT IS A HALF-UNIT VECTOR IN NAVIGATION BASE COORDINATES AND STORED AT LOCATION 32D OF THE VAC AREA. THE
# OUTPUT IS ALSO AVAILABLE AT MPAC. # OUTPUT IS ALSO AVAILABLE AT MPAC.
COUNT 23/GEOM COUNT 23/GEOM
SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D
5,1 # TRUNNION = TA 5,1 # TRUNNION = TA
CDULOGIC CDULOGIC
RTB PUSH RTB PUSH
@ -71,26 +72,27 @@ SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D
STORE 32D STORE 32D
RVQ RVQ
SXTLOGIC CAF 10DEGS- # CORRECT FOR 19.775 DEGREE OFFSET SXTLOGIC CAF 10DEGS- # CORRECT FOR 19.775 DEGREE OFFSET
ADS MPAC ADS MPAC
CAF QUARTER CAF QUARTER
TC SHORTMP TC SHORTMP
TC DANZIG TC DANZIG
# Page 286 # Page 286
# CALCSXA COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE- # CALCSXA COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-
# OF-SIGHT LIES ALONG THE STAR VECTOR. THE ROUTINE TAKES THE GIVEN STAR VECTOR AND EXPRESSES IT AS A VECTOR REF- # OF-SIGHT LIES ALONG THE STAR VECTOR. THE ROUTINE TAKES THE GIVEN STAR VECTOR AND EXPRESSES IT AS A VECTOR REF-
# ERENECED TO THE OPTICS COORDINATE SYSTEM. IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X, Y, AND Z AXES # ERENCED TO THE OPTICS COORDINATE SYSTEM. IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X,Y, AND Z AXES
# REFERENCED TO THE OPTICS COORDINATE SYSTEM. # REFERENCED TO THE OPTICS COORDINATE SYSTEM.
# #
# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO THE PRESENT STABLE MEMBER COORDINATES STORED AT STAR. 2) SAME ANGLE # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT STAR. 2) SAME ANGLE
# INPUT AS *SMNB*, I.E., SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU. A CALL # INPUT AS *SMNB*, I.E. SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU. A CALL
# TO CDUTRIG WILL PROVIDE THIS INPUT. # TO CDUTRIG WILL PROVIDE THIS INPUT.
# #
# THE OUTPUT ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART # THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
# EQUAL TO ZERO). # EQUAL TO ZERO).
CALCSXA ITA VLOAD # PUSHDOWN 00-26D, 28D, 30D, 32D-36D
CALCSXA ITA VLOAD # PUSHDOWN 00-26D,28D,30D,32D-36D
28D 28D
STAR STAR
CALL CALL
@ -105,19 +107,19 @@ CALCSXA ITA VLOAD # PUSHDOWN 00-26D, 28D, 30D, 32D-36D
HIUNITZ HIUNITZ
STCALL ZNB1 STCALL ZNB1
SXTANG1 SXTANG1
# Page 287 # Page 287
# SXTANG COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-OF- # SXTANG COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-OF-
# SIGHT LIES ALONG THE STAR VECTOR. # SIGHT LIES ALONG THE STAR VECTOR.
# #
# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR. 2) THE NAVIGATION BASE # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR. 2) THE NAVIGATION BASE
# COORDINATES REFERRED TO THE SAME COORDINATE SYSTEM. THESE THREE HALF-UNIT VECTORS ARE STORED AT XNB, YNB, AND # COORDINATES REFERRED TO THE SAME COORDINATE SYSTEM. THESE THREE HALF-UNIT VECTORS ARE STORED AT XNB, YNB, AND
# ZNB. # ZNB.
# #
# THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART # THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
# EQUAL TO ZERO). # EQUAL TO ZERO).
SXTANG ITA RTB # PUSHDOWN 16D,18D,22D-26D,28D
SXTANG ITA RTB # PUSHDOWN 16D,18D,22D-26D,28D
28D 28D
TRANSP1 # EREF WRT NB2 TRANSP1 # EREF WRT NB2
VLOAD MXV VLOAD MXV
@ -179,7 +181,7 @@ SXTANG1 VLOAD VXV
28D 28D
SXTALARM SETGO # ALARM HAS BEEN REMOVED FROM THIS SXTALARM SETGO # ALARM HAS BEEN REMOVED FROM THIS
CULTFLAG CULTFLAG
28D # SUBROUTINE, ALARM WILL BE SET BY MPI 28D # SUBROUTINE,ALARM WILL BE SET BY MPI
ZNB=S1 DLOAD ZNB=S1 DLOAD
270DEG 270DEG
STODL SAC STODL SAC
@ -188,12 +190,11 @@ ZNB=S1 DLOAD
CLRGO CLRGO
CULTFLAG CULTFLAG
28D 28D
# Page 289 # Page 289
# THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM, CSM BY ADDING # 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 # 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. # OTHER VEHICLES COMPUTER.
# #
# INPUT # INPUT
@ -208,6 +209,7 @@ ZNB=S1 DLOAD
# OR # 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)
BANK 23 BANK 23
SETLOC COMGEOM2 SETLOC COMGEOM2
BANK BANK
@ -249,7 +251,6 @@ SVDWN2 VLOAD VSL*
0,2 0,2
STORE V-OTHER STORE V-OTHER
RVQ RVQ
# Page 291 # Page 291
# SUBROUTINE TO COMPUTE THE NATURAL LOG OF C(MPAC, MPAC +1). # SUBROUTINE TO COMPUTE THE NATURAL LOG OF C(MPAC, MPAC +1).
# #
@ -258,7 +259,7 @@ SVDWN2 VLOAD VSL*
# #
# SUBROUTINE RETURNS WITH -LOG IN DP MPAC. # SUBROUTINE RETURNS WITH -LOG IN DP MPAC.
# #
# EBANK IS ARBITRARY. # EBANK IS ARBITRARY..
BANK 14 BANK 14
SETLOC POWFLIT2 SETLOC POWFLIT2
@ -269,7 +270,9 @@ LOG NORM BDSU # GENERATES LOG BY SHIFTING ARG
MPAC +3 # UNTIL IT LIES BETWEEN .5 AND 1. MPAC +3 # UNTIL IT LIES BETWEEN .5 AND 1.
NEARLY1 # THE LOG OF THIS PART IS FOUND AND THE NEARLY1 # THE LOG OF THIS PART IS FOUND AND THE
EXIT # LOG OF THE SHIFTED PART IS COMPUTED EXIT # LOG OF THE SHIFTED PART IS COMPUTED
TC POLY # AND ADDED IN. SHIFT COUNT STORED TC POLY # AND ADDED IN. SHIFT COUNT STORED
DEC 2 # (N-1, SUPPLIED BY SMERZH) DEC 2 # (N-1, SUPPLIED BY SMERZH)
2DEC 0 # IN MPAC +3. 2DEC 0 # IN MPAC +3.
2DEC .031335467 2DEC .031335467
@ -299,29 +302,25 @@ NEARLY1 2DEC .999999999
CLOG2/32 2DEC .0216608494 CLOG2/32 2DEC .0216608494
# Page 293 # Page 293
# SUBROUTINE NAME: EARTH ROTATOR (EARROT1 OR EARROT2) DATE: 15 FEB 67 # SUBROUTINE NAME: EARTH ROTATOR (EARROT1 OR EARROT2) DATE: 15 FEB 67
# MOD NO: N +1 LOG SECTION: POWERED FLIGHT SUBROS # MOD NO: N +1 LOG SECTION: POWERED FLIGHT SUBROS
# MOD BY: ENTRY GROUP (BAIRNSFATHER) # MOD BY: ENTRY GROUP (BAIRNSFATHER)
# # FUNCTIONAL DESCRIPTION: THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH
# FUNCTIONAL DESCRIPTION: THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH
# THE ESTIMATED TIME OF FLIGHT. INITIAL CALL RESOLVES THE INITIAL TARGET VECTOR RTINIT INTO EASTERLY # THE ESTIMATED TIME OF FLIGHT. INITIAL CALL RESOLVES THE INITIAL TARGET VECTOR RTINIT INTO EASTERLY
# AND NORMAL COMPONENTS RTEAST AND RTNORM. INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR # AND NORMAL COMPONENTS RTEAST AND RTNORM . INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR
# ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE WIE DTEAROT TO OBTAIN THE ROTATED # ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE WIE DTEAROT TO OBTAIN THE ROTATED
# TARGET VECTOR RT. ALL VECTORS EXCEPT UNITW ARE HALF UNIT. # TARGET VECTOR RT . ALL VECTORS EXCEPT UNITW ARE HALF UNIT.
# THE EQUATIONS ARE: # THE EQUATIONS ARE
# _ _ _ _ # - - - -
# RT = RTINIT + RTNORM (COS(WT) - 1) + RTEAST SIN(WT) # RT = RTINIT + RTNORM (COS(WT) - 1) + RTEAST SIN(WT)
#
# WHERE WT = WIE DTEAROT # WHERE WT = WIE DTEAROT
#
# RTINIT = INITIAL TARGET VECTOR # RTINIT = INITIAL TARGET VECTOR
# _ _ _ # - - -
# RTEAST = UNITW * RTINIT # RTEAST = UNITW*RTINIT
# _ _ _ # - - -
# RTNORM = RTEAST * UNITW # RTNORM = RTEAST*UNITW
# #
# FOR CONTINUOUS UPDATING, ONLY ONE ENTRY TO EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2. # FOR CONTINUOUS UPDATING, ONLY ONE ENTRY TO EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2.
#
# CALLING SEQUENCE: FIRST CALL SUBSEQUENT CALL # CALLING SEQUENCE: FIRST CALL SUBSEQUENT CALL
# STCALL DTEAROT STCALL DTEAROT # STCALL DTEAROT STCALL DTEAROT
# EARROT1 EARROT2 # EARROT1 EARROT2
@ -329,21 +328,16 @@ CLOG2/32 2DEC .0216608494
# PUSHLOC = PDL+0, ARBITRARY. 6 LOCATIONS USED. # PUSHLOC = PDL+0, ARBITRARY. 6 LOCATIONS USED.
# #
# SUBROUTINES USED: NONE # SUBROUTINES USED: NONE
#
# NORMAL EXIT MODES: RVQ # NORMAL EXIT MODES: RVQ
#
# ALARMS: NONE # ALARMS: NONE
# # OUTPUT: RTEAST (-1) .5 UNIT VECTOR EAST, COMPNT OF RTINIT LEFT BY FIRST CALL
# OUTPUT: RTEAST (-1) .5 UNIT VECTOR EAST, COMPNT OF RTINIT LEFT BY FIRST CALL # RTNORM (-1) .5 UNIT VECTOR NORML, COMPNT OF RTINIT LEFT BY FIRST CALL
# RTNORM (-1) .5 UNIT VECTOR NORML, COMPNT OF RTINIT LEFT BY FIRST CALL # RT (-1) .5 UNIT TARGET VECTOR, ROTATED LEFT BY ALL CALLS
# RT (-1) .5 UNIT TARGET VECTOR, ROTATED LEFT BY ALL CALLS # DTEAROT (-28) CS MAY BE CHANGED BY EARROT2, IF OVER 1 DAY
# DTEAROT (-28) CS MAY BE CHANGED BY EARROT2, IF OVER 1 DAY
#
# ERASABLE INITIALIZATION REQUIRED: # ERASABLE INITIALIZATION REQUIRED:
# UNITW (0) UNIT POLAR VECTOR PAD LOADED # UNITW (0) UNIT POLAR VECTOR PAD LOADED
# RTINIT (-1) .5 UNIT INITIAL TARGET VECTOR LEFT BY ENTRY # RTINIT (-1) .5 UNIT INITIAL TARGET VECTOR LEFT BY ENTRY
# DTEAROT (-28) CS TIME OF FLIGHT LEFT BY CALLER # DTEAROT (-28) CS TIME OF FLIGHT LEFT BY CALLER
#
# DEBRIS: QPRET, PDL+0 ... PDL+5 # DEBRIS: QPRET, PDL+0 ... PDL+5
# Page 294 # Page 294
EBANK= RTINIT EBANK= RTINIT
@ -370,7 +364,7 @@ EARROT2 BOVB DDV
SIN VXSC SIN VXSC
RTEAST # .5 UNIT RTEAST # .5 UNIT
VAD VSL1 VAD VSL1
VAD UNIT # INSURE THAT RT IS "UNIT". VAD UNIT # INSURE THAT RT IS 'UNIT'.
RTINIT # .5 UNIT RTINIT # .5 UNIT
STORE RT # .5 UNIT TARGET VECTOR STORE RT # .5 UNIT TARGET VECTOR
@ -407,12 +401,15 @@ NB1NB2 2DEC +.8431756920 B-1
2DEC -.5376381241 B-1 2DEC -.5376381241 B-1
2DEC 0 2DEC 0
2DEC +.8431756920 B-1 2DEC +.8431756920 B-1
# Page 296 # Page 296
10DEGS- DEC 3600 10DEGS- DEC 3600
270DEG OCT 60000 # SHAFT 270 DEGREES 25 COMP.
270DEG OCT 60000 # SHAFT 270 DEGREES 2S COMP.
OCT 00000 OCT 00000
20DEGS- DEC -07199 20DEGS- DEC -07199
DEC -00000 DEC -00000
20DEG- DEC 03600 20DEG- DEC 03600
DEC 00000 DEC 00000