Proof R60_62 #247 (#386)

* 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 2019-05-08 20:41:36 +02:00 committed by James Harris
parent 4f83a11ecb
commit e82746d732

View File

@ -37,7 +37,7 @@
COUNT 27/R60
# CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18, 1968
# CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18,1968
R60CSM TC MAKECADR
TS TEMPR60
@ -51,7 +51,7 @@ REDOMANN CAF BIT6
TC INTPRET
CALL
VECPOINT # TO COMPUTE FINAL ANGLES
STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
EXIT
TOBALL CAF V06N18
@ -59,7 +59,7 @@ TOBALL CAF V06N18
CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
TC R61TEST
TC REDOMANC # PROCEED
TCF ENDMANU1 # ENTER I.E., FINISHED WITH R60
TCF ENDMANU1 # ENTER I.E. FINISHED WITH R60
TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
TC ENDOFJOB
@ -83,14 +83,14 @@ TOBALLC CAF PRIO30 # IS MODE AUTO AND CTL GNC
BZF +2 # AUTO, NON-FLASH N18
TCF TOBALL # NOT AUTO
CAF V06N18 # STATIC UP NON-FLASHING V06 N18
CAF V06N18 # SET UP NON-FLASHING V06 N18
TC BANKCALL
CADR GODSPR
TC CHKLINUS
STARTMNV TC BANKCALL
CADR GOMANUR
ENDMANUV TCF TOBALL # FINISHED MANEUVER.
ENDMANUV TCF TOBALL # FINISHED MANEUVER
ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
ADRES 3AXISFLG # BIT 6 FLAG 5
@ -98,13 +98,13 @@ ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
TC BANKJUMP
CHKLINUS CS FLAGWRD4
MASK BIT12 # IS PRIORITY DISPLAY FLAG SET?
MASK BIT12 # IS PRIORITY DISPLAY FLAG SET
CCS A
TC Q # NO -- EXIT
TC Q # NO - EXIT
CA Q
TS MPAC +2 # SAVE RETURN
CS THREE # OBTAIN LOCATION FOR RESTART
AD BUF2 # HOLD Q OF LAST DISPLAY
CS THREE # OBTAIN LOCATION FOR RESTART.
AD BUF2 # HOLDS Q OF LAST DISPLAY
TS TBASE1
TC PHASCHNG
@ -141,7 +141,7 @@ GOREDO20 TC PHASCHNG
R61TEST CA MODREG # ARE WE IN P00. IF YES THIS MUST BE
EXTEND # VERB49 OR VERB89 SO DO ENDEXT.
BZF ENDMANU1 # RESET 3-AXIS & RETURN. USER DOES ENDEXT
BZF ENDMANU1 # RESET 3-AXIS & RUTURN. USER DOES ENDEXT
CA FLAGWRD4 # ARE WE IN R61 (P20)
MASK BIT12
EXTEND
@ -152,53 +152,52 @@ BIT14+7 OCT 20100
V06N18 VN 0618
# Page 393
# PROGRAM DESCRIPTION -- VECPOINT
#
# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
# PROGRAM DESCRIPTION - VECPOINT
# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
# TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
# BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
# THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
# SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
# VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
# ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
# ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
# IN T(MPAC) BEFORE RETURNING TO THE CALLER.
#
# THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS-
# THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
# PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
# 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,
# 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,
# THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
# THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
# STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER.
#
# WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
# STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
# WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
# CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
# REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
# EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
#
# CALLING SEQUENCE
#
# 1) LOAD SCAXIS, POINTVSM
# 2) CALL
# CALLING SEQUENCE -
# 1) LOAD SCAXIS, POINTVSM
# 2) CALL
# VECPOINT
#
# RETURNS WITH
#
# 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
# 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
# 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
#
# ERASABLES USED --
#
# 1) SCAXIS 6
# 2) POINTVSM 6
# 3) MIS 18
# 4) DEL 18
# 5) COF 6
# 6) VECQTEMP 1
# 7) ALL OF VAC AREA 43
#
# TOTAL 99
# RETURNS WITH
# 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
# 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
# 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
# ERASABLES USED -
# 1) SCAXIS 6
# 2) POINTVSM 6
# 3) MIS 18
# 4) DEL 18
# 5) COF 6
# 6) VECQTEMP 1
# 7) ALL OF VAC AREA 43
# TOTAL 99
SETLOC VECPT
BANK
@ -217,7 +216,7 @@ VECLEAR AXC,2 RTB
CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
VLOAD VXM
POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
MIS # INITIAL S/C AXES (VF = POINTVSM)
MIS # INITIAL S/C AXES ( VF = POINTVSM)
UNIT
STORE 28D
# PD 28 29 30 31 32 33
@ -230,11 +229,11 @@ VECLEAR AXC,2 RTB
DSU BMN # VECTOR, IF LESS
DPB-14 # THAN B-14 ASSUME
PICKAXIS # UNIT OPERATION
VLOAD DOT # INVALID.
VLOAD DOT # INVALID.
SCAXIS
28D
SL1 ARCCOS
COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM
COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM
DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
AXC,1 AXC,2
MIS # COMPUTE THE TRANSFORMATION FROM FINAL
@ -246,8 +245,8 @@ COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM
6 # MFS6 = SIN(CPSI) $2
DSU BMN
SINGIMLC # = SIN(59 DEGS) $2
FINDGIMB # /CPSI/ LESS THAN 59 DEGS.
# I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
FINDGIMB # /CPSI/ LESS THAN 59 DEGS
# I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
SCAXIS # THE THRUST AXIS
@ -268,8 +267,8 @@ COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM
IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3)
# X SCAXIS . XF) LESS THAN Q, U = SCAXIS
U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
# X SCAXIS . XF) LESS THAN 0, U = SCAXIS
# OTHERWISE U = -SCAXIS.
VLOAD VCOMP
@ -289,7 +288,7 @@ CHEKAXIS DLOAD ABS
COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
# OF GIMBAL LOCK (VECANG2 $360)
PICKANG1 DLOAD
VECANG1 # = 50 DEGS. $360
VECANG1 # = 50 DEGS $360
COMPMFSN CALL
DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
@ -303,13 +302,13 @@ FINDGIMB AXC,1 CALL
0 # EXTRACT THE COMMANDED CDU ANGLES FROM
DCMTOCDU # THIS MATRIX
RTB SETPD
V1STO2S # CONVERT TO 2'S COMPLEMENT
V1STO2S # CONVERT TO 2:S COMPLEMENT
# Page 396
0
GOTO
VECQTEMP # RETURN TO CALLER
PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI
28D
SCAXIS
BMN TLOAD
@ -320,10 +319,10 @@ PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
ROT180 VLOAD VXV # IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION
MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
HIUNITX # INITIAL S/C AXES.
HIUNITX # INITIAL S/C AXIS.
UNIT VXV # FIND Y(SM) X X(I)
SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I),
UNIT BOV # I.E. PICK A VECTOR IN THE PLANE OF X(I),
PICKX # Y(SM) PERPENDICULAR TO VI
STODL COF
36D # CHECK MAGNITUDE
@ -343,18 +342,18 @@ PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
SETLOC MANUVER1
BANK
SINGIMLC 2DEC .4285836003 # = SIN(59) $2
SINGIMLC 2DEC .4285836003 # =SIN(59) $2
SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
SINVEC1 2DEC .3796356537 # =SIN(49.4) $2
SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
SINVEC2 2DEC .2462117800 # =SIN(29.5) $2
VECANG1 2DEC .1388888889 # = 50 DEGREES $360
VECANG2 2DEC .09722222222 # = 35 DEGREES $360
1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ********
1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) *********
DPB-14 OCT 00001
# Page 397
OCT 00000
@ -377,11 +376,10 @@ R62DISP CAF V06N22 # DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
TCF R62DISP # ENTER
# ASTRONAUT MAY LOAD NEW ICDUS AT THIS
# POINT.
GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
ADRES 3AXISFLG
# POINT
GOMOVE TC UPFLAG # SET 3-AXIS FLAG
ADRES 3AXISFLG # BIT 6 FLAG 5
TC BANKCALL
CADR R60CSM
TCF ENDEXT