* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(p1002/1024): Proof RCS-CSM_DIGITAL_AUTOPILOT #249 * done(p1024/1024): Proof RCS-CSM_DIGITAL_AUTOPILOT #249
This commit is contained in:
Glenn Dwiyatcita
James Harris
parent
aba87ac00f
commit
5fac70b6a0
@ -29,9 +29,9 @@
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# Page 1002
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# T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
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# START OF T5 INTERRUPT PROGRAM
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BANK 20
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SETLOC DAPS3
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BANK
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@ -40,7 +40,7 @@
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EBANK= KMPAC
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REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
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CA T5PHASE # ON A T5 RUPT
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CA T5PHASE # ON A T5 RUPT.
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EXTEND
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BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
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TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
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@ -57,7 +57,7 @@ RCSATT LXCH BANKRUPT # SAVE BB
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EXTEND # SAVE Q
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QXCH QRUPT
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CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
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EXTEND # S/C CONT SW IS IN CMC (I.E., IF G/C AUTO
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EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO
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RAND CHAN31 # PILOT IS FULLY ENABLED)
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EXTEND
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BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
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@ -92,17 +92,15 @@ ONESEK DEC 16284 # 1 SEC(TIME5)
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CHAN5 EQUALS 5
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CHAN6 EQUALS 6
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PRIO34A = PRIO34
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# CHECK PHASE OF T5 PROGRAM
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#
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# BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
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# BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO
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# THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
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# TO ALLOW FOR THE EXECUTION OF OTHER
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# INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
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# VARIABLES AT TURN ON.
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#
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# THE CODING OF T5PHASE IS...
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#
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# + = INITIALIZE T5 RCS-CSM AUTOPILOT
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# T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
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# - = RESTART DAP
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@ -147,16 +145,13 @@ RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
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TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
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# RATE FILTER TIMING = 7.72 MS
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#
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# RATE FILTER EQUATIONS
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#
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#
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# DRHO = DELRHO - (.1)ADOT + (1 = GAIN1)DRHO
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# -1
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#
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# ADOT = ADOT + GAIN2 DRHO + KMJ DFT
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# -1
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# _ * _ _
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# - * - -
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# WHERE DELRHO = AMGB (CDU - CDU )
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# -1
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@ -170,7 +165,7 @@ DRHOLOOP TS SPNDX
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INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
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MP GAIN1
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INDEX DPNDX
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DAS DRHO # (1 -.064) DRHO
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DAS DRHO # (1 -.064)DRHO
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EXTEND
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# Page 1005
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INDEX DPNDX
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@ -187,7 +182,7 @@ DRHOLOOP TS SPNDX
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CA CDUX # MEASURED BODY RATES--
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XCH RHO
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EXTEND
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MSU RHO # _ * _ _
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MSU RHO # - * - -
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COM # DELRHO = AMGB (CDU - CDU )
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# -1
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ZL
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@ -219,7 +214,7 @@ DRHOLOOP TS SPNDX
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TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
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EXTEND
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MP AMGB5
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DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
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DAS DELTEMPY # DELTEMPY =AMGB4(CDUY-RHO1)
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# + AMGB5(CDUZ-RHO2)
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CA AMGB8
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EXTEND
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@ -276,20 +271,20 @@ TENTHSEK TS ATTSEC
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# Page 1007
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# WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
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# SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
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#
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# CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
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# CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
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# CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
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#
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# THE STEERING PROGRAMS:
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# THE STEERING PROGRAMS-
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# 1) ATTITUDE MANEUVER ROUTINE
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# 2) LEM TRACKING
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#
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# SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
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# DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
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#
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# HOLDFLAG CODING:
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#
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# HOLDFLAG CODING-
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# + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
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# AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
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# ALSO IGNORE AUTOMATIC STEERING
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@ -306,7 +301,8 @@ TENTHSEK TS ATTSEC
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# +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
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# - = PERFORMING AUTOMATIC MANEUVER
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# -0 = NOT USED AT PRESENT
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#
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# NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
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# SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
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# DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE THE APPROPRIATE ACTION.
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@ -314,7 +310,7 @@ TENTHSEK TS ATTSEC
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CS HOLDFLAG
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EXTEND
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BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
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# COMMANDS.
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# COMMANDS
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DCDUINCR CAF TWO
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DELOOP TS SPNDX
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DOUBLE
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@ -339,32 +335,32 @@ DELOOP TS SPNDX
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# Page 1009
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# RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
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#
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# THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI:
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#
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# THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI-
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# MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
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# GENERATED INTERNALLY BY THE AUTOPILOT
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#
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# MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
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# WITH RESPECT TO THE CONTENTS OF N22
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#
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# MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
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# WITH RESPECT TO THE CONTENTS OF N17
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#
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# MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
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# MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE.
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#
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# MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE
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# MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
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# IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
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# AS A FLY-TO INDICATOR.
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#
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# MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
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# IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
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# AS A FLY-TO INDICATOR.
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#
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# V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
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# WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
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#
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# THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
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# INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
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# V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
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@ -380,43 +376,44 @@ KRESUME1 TCF RESUME # END PHASE 1
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# Page 1010
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# FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
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#
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# PROGRAM DESCRIPTION: D. KEENE 5/24/67
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#
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# THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
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# IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
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# OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
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# THE DACS.
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#
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# CALLING SEQUENCE:
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#
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# DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
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# TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
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#
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# CS RCSFLAGS # IN EBANK6
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# MASK BIT3
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# ADS RCSFLAGS
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#
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# THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
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#
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# AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
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# AK1 SCALED 180 DEGREES TO CHANGE
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# AK2 SCALED 180 DEGREES
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#
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# FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
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# (= 384 BITS IN IMU ERROR COUNTER)
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#
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# A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
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#
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# INHINT
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# TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6
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# CADR NEEDLER
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# RELINT
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#
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# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PRORAM ARE
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# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
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# REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
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# NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
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#
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# ERASABLE USED:
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# AK CDUXCMD
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# AK1 CDUYCMD
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@ -424,21 +421,23 @@ KRESUME1 TCF RESUME # END PHASE 1
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# EDRIVEX A,L,Q
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# EDRIVEY T5TEMP
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# EDRIVEZ SPNDX
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#
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# SWITCHES; RCSFLAGS BITS 3,2
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#
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# SWITCHES: RCSFLAGS BITS 3,2
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# I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
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# Page 1011
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# CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
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# CHAN14 BIT 13,14,15 (DAC ACTIVITY)
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#
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# SIGN CONVENTION: AK = THETAC - THETA
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# SIGN CONVENTION< AK = THETAC - THETA
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# WHERE THETAC = COMMAND ANGLE
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# THETA = PRESENT ANGLE
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NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
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EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
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RAND CHAN12 # ERROR COUNTERS. DON'T USE NEEDLES
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RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES
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EXTEND
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BZF NEEDLER1
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CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
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@ -456,7 +455,7 @@ NEEDLER1 CA RCSFLAGS
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CS BIT6 # FIRST PASS BIT3 = 1
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EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
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WAND CHAN12 # MUST WAIT AT LEAST 60 MS. BEFORE
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WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
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NEEDLE11 CS ZERO # ENABLING COUNTERS.
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TS AK # ZERO THE INPUTS ON FIRST PASS
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TS AK1
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@ -533,9 +532,9 @@ DACLIMIT DEC 16000
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# Page 1014
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# INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
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#
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# THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
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#
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# WBODY (+1) DFT TAU2
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# WBODY1 (+1) DFT1 BIAS
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# WBODY2 (+1) DFT2 BIAS1
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@ -545,7 +544,6 @@ DACLIMIT DEC 16000
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# MERRORX (+1) ATTSEC ERRORZ
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# MERRORY (+1) TAU
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# MERRORZ (+1) TAU1
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FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
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TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
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# ATTITUDE HOLD REFERENCE
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@ -582,7 +580,7 @@ ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
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# MS FROM NOW AND EVERY 100MS THEREAFTER.
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CAF ELEVEN
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TS ATTKALMN # RESET TO PICK UP KALMAN FILTER TAINS
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TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS
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# TO INITIALIZE THE S/C ANGULAR RATES
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# Page 1015
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CA CDUX
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@ -600,7 +598,7 @@ ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
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TCF IMUAOK
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TS ATTKALMN # CANNOT USE IMU
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CAF RCSINITB # PROVIDE FREE CONTROL ONLY
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TCF RCSSWIT # DON'T START UP RATE FILTER
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TCF RCSSWIT # DONT START UP RATE FILTER
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# SIGNAL NO RATE FILTER
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IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
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@ -608,10 +606,10 @@ IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
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EBANK= KMPAC
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2CADR AMBGUPDT
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CAF RCSINIT # CLEAR BIT14 --ASSUME WE HAVE A GOOD IMU
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RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM
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# SET BIT3 --INITIALIZE NEEDLES
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# CLEAR BIT4 --RESET FOR FDAIDSP1
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CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU
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RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM
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# SET BIT3 -INITIALIZE NEEDLES
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# CLEAR BIT4 -RESET FOR FDAIDSP1
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CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
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# ERROR COUNTER TO ZERO.
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# (MINIMUM DELAY = 15 MS)
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@ -632,7 +630,7 @@ T6ADDR 2CADR T6START
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ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
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TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
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CAF ZERO # AND RWORD1
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CAF ZERO # AND RWORD1.
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# Page 1016
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INDEX SPNDX
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@ -705,7 +703,7 @@ NOHIAUTO TS ATTKALMN
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# ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
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# PITCH
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CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND
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CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND
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MASK OCT16000 # 11 OF RCSFLAGS)
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ADS RCSFLAGS
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@ -721,7 +719,7 @@ NOCHANGE CS CH31TEMP
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# MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
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# +, OR - ROTATION RESPECTIVELY AS
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# COMMANDED BY THE RHC.
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#
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# HOWEVER, IT IS WELL TO NOTE THAT AFTER
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# THE RHC IS RETURNED TO DETENT, THE
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# PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
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@ -792,7 +790,7 @@ NORATE ZL
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MASK OCT16000
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EXTEND # IS RATE DAMPING COMPLETED
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BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
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TCF ZEROER # NO, GO TO ZEROER
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TCF ZEROER # NO,GO TO ZEROER
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MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
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CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
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@ -853,7 +851,7 @@ T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
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# Page 1021
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DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
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DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
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DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
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DEC .2112 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
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GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
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DEC .3180 # OF ATTITUDE RATES
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DEC .3452
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@ -868,7 +866,7 @@ GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
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DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
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DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
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DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
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DEC .0174 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS
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GAIN2 DEC .0016 # SCALED 10
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DEC .0454
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DEC .0545
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@ -885,8 +883,8 @@ STICKCHK TS T5TEMP
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TS PMANNDX
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CA T5TEMP
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EXTEND # MAN RATE 0 0 RATE (DP)
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MP QUARTER # +1 + RATE (DP)
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TS T5TEMP # +2 - RATE (DP)
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MP QUARTER # +1 +RATE (DP)
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TS T5TEMP # +2 -RATE (DP)
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MASK THREE # (+3) 0 RATE (DP)
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TS YMANNDX
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CA T5TEMP
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@ -894,6 +892,8 @@ STICKCHK TS T5TEMP
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MP QUARTER
|
||||
TS RMANNDX
|
||||
TC Q
|
||||
|
||||
|
||||
KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
|
||||
# KALMAN FILTER TAKES 1.1 SEC
|
||||
|
||||
@ -918,7 +918,7 @@ FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
|
||||
EXTEND
|
||||
BZF FDAITOTL
|
||||
EXTEND
|
||||
DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
|
||||
DCS ERRORX # OFF -DISPLAY AUTOPILOT FOLLOWING ERROR
|
||||
DXCH AK
|
||||
CS ERRORZ
|
||||
TS AK2
|
||||
@ -973,4 +973,3 @@ WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
|
||||
TCF GETAKS
|
||||
|
||||
# Page 1024 (empty page)
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user