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Proof JET_SELECTION_LOGIC #220 (#388)

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* Proof FIXED_FIXED_CONSTANT_POOL (#207)

* wip(p1041/1062): Proof JET_SELECTION_LOGIC #220

* wip(p1062/1062: DONE): Proof JET_SELECTION_LOGIC #220
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Glenn Dwiyatcita 2019-05-09 06:40:19 +02:00 committed by James Harris
parent 9d2f8c04ab
commit c1421dfa88
1 changed files with 68 additions and 80 deletions
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72
Comanche055/JET_SELECTION_LOGIC.agc
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@ -127,7 +127,6 @@ XLNNDX DEC 0 # INDICES FOR TRANSLATION COMMANDS
DEC 0
TWELVE = OCT14
# TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
# BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
# Page 1041
@ -167,7 +166,7 @@ DFAILY CAF TWELVE
# BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
# BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
# BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
# BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
# BITS 12,11 : NO. YAW JETS USED TO PERFORM ROTATION
# ROT TRANS QUAD BIAS
PYTABLE OCT 0 # 0 0 0
@ -254,7 +253,7 @@ BDZCHECK CA ZNDX
# Page 1044
# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION: IF THE RESULTANT NET ROLL
# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL
# COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
# ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
@ -356,36 +355,32 @@ NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
# Page 1047
# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
#
# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
# PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
# IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
#
# IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
# FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
# SWITCH TO AC ROLL.
#
# NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL
# INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
#
# WORD MAKE UP....RTABLE
#
# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPONDING
# TO AC ROLL HAS THE FOLLOWING INTERPRETATION:
#
# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS:
#
# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND-
# ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
# BIT NO. 11 10 9 NO. OF ROLL JETS
#
# 0 0 0 -2
# 0 0 1 -1
# 0 1 0 0
# 0 1 1 +1
# 1 0 0 +2
#
# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
# CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
#
# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
# (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
@ -408,25 +403,23 @@ RTABLE OCT 11000 # 0 0
OCT 04442 # - C(D) 12
# Page 1048
# RTABLE MASKS:
# RTABLE MASKS -
ACRJETS OCT 03760
BDRJETS OCT 34017
# Page 1049
# Y, Z TRANSLATION TABLE
#
# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
# USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
# WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
# COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
# COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
#
# TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE
# ABOVE.
#
# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILARLY BITS
# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS
# 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
# TRANSLATION QUADFAIL BIAS
@ -441,7 +434,7 @@ YZTABLE OCT 11000 # 0 0
OCT 15421 # +Z(+Y) D(C) 6
OCT 04442 # -Z(-Y) D(C) 6
# YZ-TABLE MASKS:
# YZ-TABLE MASKS-
BDZJETS OCT 03417
ACYJETS OCT 34360
@ -456,19 +449,16 @@ ACYJETS OCT 34360
#
# THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
# OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5
# INTERVAL.
#
# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
# ERVAL.
# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
# (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
#
# NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
# UPDATE DFT.
#
# WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
# THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
# THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
# AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
# ATLEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
# COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
# ACTIVE FOR ATLEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
@ -568,13 +558,13 @@ ROLLTIME CCS TAU
TS DFT # PRESENT
TCF RBYPASS
DEC -480 # =-.3SEC
DEC -320 # =-.2SEC
=-.1SEC DEC -160 # =-.1SEC
DEC -480 # = -.3SEC
DEC -320 # = -.2SEC
=-.1SEC DEC -160 # = -.1SEC
DFTMAX DEC 0 # 0
=+.1SEC DEC 160 # =+.1SEC
DEC 320 # =+.2SEC
DEC 480 # =+.3SEC
=+.1SEC DEC 160 # = +.1SEC
DEC 320 # = +.2SEC
DEC 480 # = +.3SEC
=14MS DEC 23 # =14MS
RBLAST CA TAU
@ -620,10 +610,9 @@ NJET DEC 0
# Page 1055
# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
# CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
#
# IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
# CORRESPONDING ROTATIONS ARE COMPLETED.
#
# GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
ASMBLWP CCS RACFAIL
@ -760,18 +749,18 @@ YBYPASS CA YWORD1
# Page 1059
# SORT THE JET ON-TIMES
#
# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
#
# RWORD1
# RWORD2 BLAST
#
# PWORD1
# PWORD2 BLAST1
#
# YWORD1
# YWORD2 BLAST2
#
# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
# THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
# WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
@ -929,4 +918,3 @@ ENABT6 TS TIME6
# END OF T6 INTERRUPT
ENDSLECT EQUALS