* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(p391/398): Proof R60_62 #247 * wip(p398/398: DONE): Proof R60_62 #247
This commit is contained in:
Glenn Dwiyatcita
James Harris
parent
4f83a11ecb
commit
e82746d732
@ -37,7 +37,7 @@
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COUNT 27/R60
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# CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18, 1968
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# CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18,1968
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R60CSM TC MAKECADR
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TS TEMPR60
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@ -51,7 +51,7 @@ REDOMANN CAF BIT6
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TC INTPRET
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CALL
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VECPOINT # TO COMPUTE FINAL ANGLES
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STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
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STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
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EXIT
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TOBALL CAF V06N18
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@ -59,7 +59,7 @@ TOBALL CAF V06N18
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CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
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TC R61TEST
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TC REDOMANC # PROCEED
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TCF ENDMANU1 # ENTER I.E., FINISHED WITH R60
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TCF ENDMANU1 # ENTER I.E. FINISHED WITH R60
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TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
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TC ENDOFJOB
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@ -83,14 +83,14 @@ TOBALLC CAF PRIO30 # IS MODE AUTO AND CTL GNC
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BZF +2 # AUTO, NON-FLASH N18
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TCF TOBALL # NOT AUTO
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CAF V06N18 # STATIC UP NON-FLASHING V06 N18
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CAF V06N18 # SET UP NON-FLASHING V06 N18
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TC BANKCALL
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CADR GODSPR
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TC CHKLINUS
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STARTMNV TC BANKCALL
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CADR GOMANUR
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ENDMANUV TCF TOBALL # FINISHED MANEUVER.
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ENDMANUV TCF TOBALL # FINISHED MANEUVER
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ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
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ADRES 3AXISFLG # BIT 6 FLAG 5
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@ -98,13 +98,13 @@ ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
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TC BANKJUMP
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CHKLINUS CS FLAGWRD4
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MASK BIT12 # IS PRIORITY DISPLAY FLAG SET?
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MASK BIT12 # IS PRIORITY DISPLAY FLAG SET
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CCS A
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TC Q # NO -- EXIT
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TC Q # NO - EXIT
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CA Q
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TS MPAC +2 # SAVE RETURN
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CS THREE # OBTAIN LOCATION FOR RESTART
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AD BUF2 # HOLD Q OF LAST DISPLAY
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CS THREE # OBTAIN LOCATION FOR RESTART.
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AD BUF2 # HOLDS Q OF LAST DISPLAY
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TS TBASE1
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TC PHASCHNG
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@ -141,7 +141,7 @@ GOREDO20 TC PHASCHNG
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R61TEST CA MODREG # ARE WE IN P00. IF YES THIS MUST BE
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EXTEND # VERB49 OR VERB89 SO DO ENDEXT.
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BZF ENDMANU1 # RESET 3-AXIS & RETURN. USER DOES ENDEXT
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BZF ENDMANU1 # RESET 3-AXIS & RUTURN. USER DOES ENDEXT
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CA FLAGWRD4 # ARE WE IN R61 (P20)
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MASK BIT12
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EXTEND
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@ -152,44 +152,43 @@ BIT14+7 OCT 20100
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V06N18 VN 0618
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# Page 393
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# PROGRAM DESCRIPTION -- VECPOINT
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#
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# PROGRAM DESCRIPTION - VECPOINT
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# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
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# TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
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# BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
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# THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
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# SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
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# VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
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# ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
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# ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
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# IN T(MPAC) BEFORE RETURNING TO THE CALLER.
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#
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# THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
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# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS-
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# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
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# PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
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# LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
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# LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR-X) AXIS,
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# THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
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# THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
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# STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER.
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#
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# STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
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# WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
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# CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
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# REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
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# EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
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#
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# CALLING SEQUENCE
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#
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# CALLING SEQUENCE -
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# 1) LOAD SCAXIS, POINTVSM
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# 2) CALL
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# VECPOINT
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#
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# RETURNS WITH
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#
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# 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
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# 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
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# 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
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#
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# ERASABLES USED --
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#
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# ERASABLES USED -
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# 1) SCAXIS 6
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# 2) POINTVSM 6
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# 3) MIS 18
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@ -197,7 +196,7 @@ V06N18 VN 0618
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# 5) COF 6
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# 6) VECQTEMP 1
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# 7) ALL OF VAC AREA 43
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#
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# TOTAL 99
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SETLOC VECPT
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@ -217,7 +216,7 @@ VECLEAR AXC,2 RTB
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CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
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VLOAD VXM
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POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
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MIS # INITIAL S/C AXES (VF = POINTVSM)
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MIS # INITIAL S/C AXES ( VF = POINTVSM)
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UNIT
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STORE 28D
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# PD 28 29 30 31 32 33
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@ -234,7 +233,7 @@ VECLEAR AXC,2 RTB
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SCAXIS
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28D
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SL1 ARCCOS
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COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM
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COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
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DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
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AXC,1 AXC,2
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MIS # COMPUTE THE TRANSFORMATION FROM FINAL
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@ -246,8 +245,8 @@ COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM
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6 # MFS6 = SIN(CPSI) $2
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DSU BMN
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SINGIMLC # = SIN(59 DEGS) $2
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FINDGIMB # /CPSI/ LESS THAN 59 DEGS.
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# I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
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FINDGIMB # /CPSI/ LESS THAN 59 DEGS
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# I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
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DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
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SCAXIS # THE THRUST AXIS
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@ -268,8 +267,8 @@ COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM
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IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
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SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
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U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3)
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# X SCAXIS . XF) LESS THAN Q, U = SCAXIS
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U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
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# X SCAXIS . XF) LESS THAN 0, U = SCAXIS
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# OTHERWISE U = -SCAXIS.
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VLOAD VCOMP
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@ -289,7 +288,7 @@ CHEKAXIS DLOAD ABS
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COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
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# OF GIMBAL LOCK (VECANG2 $360)
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PICKANG1 DLOAD
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VECANG1 # = 50 DEGS. $360
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VECANG1 # = 50 DEGS $360
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COMPMFSN CALL
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DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
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AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
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@ -303,13 +302,13 @@ FINDGIMB AXC,1 CALL
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0 # EXTRACT THE COMMANDED CDU ANGLES FROM
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DCMTOCDU # THIS MATRIX
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RTB SETPD
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V1STO2S # CONVERT TO 2'S COMPLEMENT
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V1STO2S # CONVERT TO 2:S COMPLEMENT
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# Page 396
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0
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GOTO
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VECQTEMP # RETURN TO CALLER
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PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
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PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
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28D
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SCAXIS
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BMN TLOAD
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@ -320,10 +319,10 @@ PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
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ROT180 VLOAD VXV # IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION
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MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
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HIUNITX # INITIAL S/C AXES.
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HIUNITX # INITIAL S/C AXIS.
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UNIT VXV # FIND Y(SM) X X(I)
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SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
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UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I),
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UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
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PICKX # Y(SM) PERPENDICULAR TO VI
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STODL COF
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36D # CHECK MAGNITUDE
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@ -343,18 +342,18 @@ PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
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SETLOC MANUVER1
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BANK
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SINGIMLC 2DEC .4285836003 # = SIN(59) $2
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SINGIMLC 2DEC .4285836003 # =SIN(59) $2
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SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
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SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
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SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
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SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
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VECANG1 2DEC .1388888889 # = 50 DEGREES $360
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VECANG2 2DEC .09722222222 # = 35 DEGREES $360
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1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ********
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1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
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DPB-14 OCT 00001
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# Page 397
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OCT 00000
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@ -377,11 +376,10 @@ R62DISP CAF V06N22 # DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
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TCF R62DISP # ENTER
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# ASTRONAUT MAY LOAD NEW ICDUS AT THIS
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# POINT.
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GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
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ADRES 3AXISFLG
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# POINT
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GOMOVE TC UPFLAG # SET 3-AXIS FLAG
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ADRES 3AXISFLG # BIT 6 FLAG 5
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TC BANKCALL
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CADR R60CSM
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TCF ENDEXT
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