Co-authored-by: nabeel.hassan <nabeel.hassan@colwiz.com> Co-authored-by: James Harris <wopian@wopian.me>
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@ -53,10 +53,10 @@ ALTROUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG.
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CAF BIT2 # RATE COMMAND IS EXECUTED BEFORE RANGE.
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EXTEND
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WOR CHAN14 # ALTRATE (BIT2 = 1), ALTITUDE (BIT2 = 0).
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ARCOMP CA RUNIT # COMPUTE ALTRATE = RUNIT.VVECT M/CS *(-6).
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ARCOMP CA RUNIT # COMPUTE ALTRATE=RUNIT.VVECT M/CS *2(-6).
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EXTEND
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MP VVECT # MULTIPLY X-COMPONENTS.
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XCH RUPTREG1 # SAVE SINGLE PRECISION RESULT M/CS*2(-6)
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XCH RUPTREG1 # SAVE SINGLE PRECISION RESULT M/CS*2(-6).
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CA RUNIT +1 # MULTIPLY Y-COMPONENTS.
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EXTEND
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MP VVECT +1
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@ -80,10 +80,10 @@ ARCOMP CA RUNIT # COMPUTE ALTRATE = RUNIT.VVECT M/CS *(-6).
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# Page 899
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EXTEND # CHECK POLARITY OF ALTITUDE RATE.
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BZMF +2
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TCF DATAOUT # NEGATIVE -- SEND POS. PULSES TO ALTM REG.
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CA ALTRATE # POSITIVE OR ZERO -- SET SIGN BIT = 1 AND
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AD BIT15 # SEND TO ALTM REGISTER. *DO NOT SEND +0*
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DATAOUT TS ALTM # ACTIVATE THE LANDING ANALOG DISPLAYS
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TCF DATAOUT # NEGATIVE - SEND POS. PULSES TO ALTM REG.
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CA ALTRATE # POSITIVE OR ZERO - SET SIGN BIT = 1 AND
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AD BIT15 # SEND TO ALTM REGISTER. *DO NOT SEND +0*
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DATAOUT TS ALTM # ACTIVATE THE LANDING ANALOG DISPLAYS - -
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CAF BIT3
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EXTEND
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WOR CHAN14 # BIT3 DRIVES THE ALT/ALTRATE METER.
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@ -96,13 +96,13 @@ ALTOUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG.
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CS BIT2
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EXTEND
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WAND CHAN14
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CCS ALTBITS # = -1 IF OLD ALT. DATA TO BE EXTRAPOLATED.
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CCS ALTBITS # =-1 IF OLD ALT. DATA TOBE EXTRAPOLATED.
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TCF +4
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TCF +3
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TCF OLDDATA
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TS ALTBITS # SET ALTBITS FROM -0 TO +0.
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CS ONE
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DXCH ALTBITS # SET ALTBITS = -1 FOR SWITCH USE NEXT PASS.
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DXCH ALTBITS # SET ALTBITS=-1 FOR SWITCH USE NEXT PASS.
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DXCH ALTSAVE
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CA BIT10 # NEW ALTITUDE EXTRAPOLATION WITH ALTRATE.
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XCH Q
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@ -150,11 +150,11 @@ DISINDAT EXTEND
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RAND CHAN30 # DISPLAYS? I.E.,
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CCS A # IS THE MODE SELECT SWITCH IN PGNCS?
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TCF DISPRSET # NO. ASTRONAUT REQUESTS NO INERTIAL DATA
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CS FLAGWRD1 # YES. CHECK STATUS OF DIDFLAG.
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CS FLAGWRD1 # YES. CHECK STATUS OF DIDFLAG.
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MASK DIDFLBIT
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EXTEND
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BZF SPEEDRUN # SET. PERFORM DATA DISPLAY SEQUENCE.
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CS FLAGWRD1 # RESET. PERFORM INITIALIZATION FUNCTIONS.
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BZF SPEEDRUN # SET. PERFORM DATA DISPLAY SEQUENCE.
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CS FLAGWRD1 # RESET. PERFORM INITIALIZATION FUNCTIONS.
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MASK DIDFLBIT
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ADS FLAGWRD1 # SET DIDFLAG.
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CS BIT7
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@ -262,24 +262,24 @@ SPEEDRUN CS PIPTIME +1 # UPDATE THE VELOCITY VECTOR
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CA DELVS # HI X OF VELOCITY CORRECTION TERM.
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AD VVECT # HI X OF UPDATED VELOCITY VECTOR.
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TS ITEMP1 # = VX - DVX M/CS *2(-5).
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TS ITEMP1 # = VX - DVX M/CS*2(-5).
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CA DELVS +2 # Y
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AD VVECT +1 # Y
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TS ITEMP2 # = VY - DVY M/CS *2(-5)
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TS ITEMP2 # = VY - DVY M/CS*2(-5).
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CA DELVS +4 # Z
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AD VVECT +2 # Z
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TS ITEMP3 # = VZ - DVZ M/CS *2(-5)
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TS ITEMP3 # = VZ - DVZ M/CS*2(-5).
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CA ITEMP1 # COMPUTE VHY, VELOCITY DIRECTED ALONG THE
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EXTEND # Y-COORDINATE.
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MP UHYP # HI X OF CROSS-RANGE HALF-UNIT VECTOR
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MP UHYP # HI X OF CROSS-RANGE HALF-UNIT VECTOR.
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XCH RUPTREG1
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CA ITEMP2
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EXTEND
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MP UHYP +2 # Y
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MP UHYP +2 # Y
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ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
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CA ITEMP3
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EXTEND
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MP UHYP +4 # Z
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MP UHYP +4 # Z
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ADS RUPTREG1
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# Page 903
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CA RUPTREG1
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@ -291,11 +291,11 @@ SPEEDRUN CS PIPTIME +1 # UPDATE THE VELOCITY VECTOR
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XCH RUPTREG1
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CA ITEMP2
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EXTEND
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MP UHZP +2 # Y
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MP UHZP +2 # Y
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ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
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CA ITEMP3
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EXTEND
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MP UHZP +4 # Z
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MP UHZP +4 # Z
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ADS RUPTREG1
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CA RUPTREG1
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DOUBLE
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@ -317,7 +317,7 @@ LATFWDV CA ITEMP4 # COMPUTE LATERAL AND FORWARD VELOCITIES.
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CA ITEMP3
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EXTEND
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MP VHZ
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ADS RUPTREG1 # = VHY(COS)AOG+VHZ(SIN)AOG M/CS *2(-5)
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ADS RUPTREG1 # =VHY(COS)AOG+VHZ(SIN)AOG M/CS *2(-5)
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CA VELCONV # CONVERT LATERAL VELOCITY TO BIT UNITS.
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EXTEND
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MP RUPTREG1
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@ -344,7 +344,7 @@ LATFWDV CA ITEMP4 # COMPUTE LATERAL AND FORWARD VELOCITIES.
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CAF ONE # LOOP TWICE.
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VMONITOR TS ITEMP5 # FORWARD AND LATERAL VELOCITY LANDING
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INDEX ITEMP5 # ANALOG DISPLAYS MONITOR.
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INDEX ITEMP5 # ANALOG DISPLAYS MONITOR.
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CCS LATVEL
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TCF +4
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TCF LVLIMITS
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@ -427,7 +427,6 @@ LVLIMITS INDEX ITEMP5
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BZMF +2
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TCF NEGLMLV
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INDEX ITEMP5
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CS LATVEL
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EXTEND
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BZMF LVMINLM
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@ -500,11 +499,11 @@ ZEROLSTY INDEX ITEMP5
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EXTEND
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WOR CHAN14
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TC LADQSAVE # GO TO ALTROUT +1 OR TO ALTOUT +1
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ZERODATA CAF ZERO # ZERO ALTSAVE AND ALTSAVE +1
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TS L # NO NEGATIVE ALTITUDES ALLOWED.
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ZERODATA CAF ZERO # ZERO ALTSAVE AND ALTSAVE +1 - - -
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TS L # NO NEGATIVE ALTITUDES ALLOWED.
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TCF ZDATA2
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# ****************************************************************************
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# ************************************************************************
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DISPRSET CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
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MASK R10FLBIT
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@ -514,7 +513,7 @@ DISPRSET CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
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MASK IMODES33 # CHECK IF INERTIAL DATA JUST DISPLAYED.
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CCS A
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CAF BIT2 # YES. DISABLE RR ERROR COUNTER
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AD BIT8 # NO. REMOVE DISPLAY INERTIAL DATA
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AD BIT8 # NO. REMOVE DISPLAY INERTIAL DATA
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COM
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EXTEND
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WAND CHAN12
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@ -525,12 +524,10 @@ ABORTON CS BITS8/7 # RESET INERTIAL DATA, INTERLEAVE FLAGS.
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MASK FLAGWRD1
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TS FLAGWRD1 # RESET DIDFLAG.
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TCF TASKOVER
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# ******************************************************************************
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# ************************************************************************
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BITS8/7 OCT 00300 # INERTIAL DATA AND INTERLEAVE FLAGS.
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BITSET = PRIO6
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# ******************************************************************************
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# ************************************************************************
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