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Proof KALCMANU_STEERING #598 (#735)

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Co-authored-by: James Harris <wopian@wopian.me>
This commit is contained in:
Karl Goffin 2020-10-20 17:56:00 +03:00 committed by GitHub
parent 8c1ce8ef4d
commit f2522c9bb3
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1 changed files with 16 additions and 24 deletions
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40
Luminary099/KALCMANU_STEERING.agc
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@ -37,7 +37,7 @@
NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
CADR ISITAUTO # ONLY CADR ISITAUTO # ONLY
CCS A CCS A
TCF NOGO -2 TCF NOGO -2
NEWANGL TC INTPRET NEWANGL TC INTPRET
AXC,1 AXC,2 AXC,1 AXC,2
MIS # COMPUTE THE NEW MATRIX FROM S/C TO MIS # COMPUTE THE NEW MATRIX FROM S/C TO
@ -45,9 +45,9 @@ NEWANGL TC INTPRET
CALL CALL
MXM3 MXM3
VLOAD STADR VLOAD STADR
STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
STADR STADR
STOVL MIS +6D STOVL MIS +6D
STADR STADR
STORE MIS STORE MIS
AXC,1 CALL AXC,1 CALL
@ -59,7 +59,7 @@ NEWANGL TC INTPRET
BONCLR EXIT BONCLR EXIT
CALCMAN2 CALCMAN2
MANUSTAT # TO START MANEUVER MANUSTAT # TO START MANEUVER
CAF TWO # +0 OTHERWISE CAF TWO # +0 OTHERWISE
INCRDCDU TS SPNDX INCRDCDU TS SPNDX
INDEX SPNDX INDEX SPNDX
CA BCDU # INITIAL CDU ANGLES CA BCDU # INITIAL CDU ANGLES
@ -67,16 +67,10 @@ INCRDCDU TS SPNDX
INDEX SPNDX INDEX SPNDX
MSU NCDU MSU NCDU
EXTEND EXTEND
SETLOC KALCMON1
# The following 2 lines seem to have no purpose at all. BANK
# I am removing them because they only serve to confuse
# the assembler by getting in between EXTEND and MP.
# --- RSB 2009.
#SETLOC KALCMON1
#BANK
MP DT/TAU MP DT/TAU
CCS A # CONVERT TO 2'S COMPLEMENT CCS A # CONVERT TO 2S COMPLEMENT
AD ONE AD ONE
TCF +2 TCF +2
COM COM
@ -94,7 +88,7 @@ INCRDCDU TS SPNDX
RELINT RELINT
# COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
TMANUCHK TC TIMECHK TMANUCHK TC TIMECHK
TCF CONTMANU TCF CONTMANU
@ -117,11 +111,11 @@ TIMECHK EXTEND
TC Q TC Q
TCF +2 TCF +2
TCF 2NDRETRN TCF 2NDRETRN
CCS TTEMP +1 CCS TTEMP +1
TC Q TC Q
TCF MANUOFF TCF MANUOFF
COM COM
MANUOFF AD ONESEK +1 MANUOFF AD ONESEK +1
EXTEND EXTEND
BZMF 2NDRETRN BZMF 2NDRETRN
INCR Q INCR Q
@ -134,7 +128,7 @@ MANUSTAT EXIT # INITIALIZATION ROUTINE
EXTEND # FOR AUTOMATIC MANEUVERS EXTEND # FOR AUTOMATIC MANEUVERS
DCA TIME2 DCA TIME2
# Page 367 # Page 367
DAS TM # TM+TO MANEUVER COMPLETION TIME DAS TM # TM+TO MANEUVER COMPLETION TIME
EXTEND EXTEND
DCS ONESEK DCS ONESEK
DAS TM # (TM+TO)-1 DAS TM # (TM+TO)-1
@ -157,14 +151,14 @@ RATEBIAS TS KSPNDX
MP BRATE MP BRATE
EXTEND EXTEND
INDEX KSPNDX INDEX KSPNDX
DV 1JACC # = AJX $ 90 DEG/SEC-SEC DV 1JACC # =AJX $ 90 DEG/SEC-SEC
INDEX KSPNDX INDEX KSPNDX
TS DELPEROR # $ 180 DEG TS DELPEROR # $ 180 DEG
CCS KSPNDX CCS KSPNDX
TCF RATEBIAS TCF RATEBIAS
CA TIME1 CA TIME1
AD ONESEK +1 AD ONESEK +1
XCH NEXTIME XCH NEXTIME
TCF INCRDCDU -1 TCF INCRDCDU -1
@ -185,7 +179,7 @@ MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
EBANK= TTEMP EBANK= TTEMP
2CADR UPDTCALL 2CADR UPDTCALL
# Page 368 # Page 368
CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
ADS NEXTIME ADS NEXTIME
TCF ENDOFJOB TCF ENDOFJOB
@ -213,7 +207,7 @@ MANUSTOP CAF ZERO # ZERO MANEUVER RATES
ENDROLL CA CPHI # NO FINAL YAW ENDROLL CA CPHI # NO FINAL YAW
TS CDUXD TS CDUXD
CAF ZERO CAF ZERO
TS OMEGAPD # I.E., MANEUVER DID NOT GO THRU TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
TS DELDCDU # GIMBAL LOCK ORIGINALLY TS DELDCDU # GIMBAL LOCK ORIGINALLY
TS DELPEROR TS DELPEROR
GOODMANU CA ATTPRIO # RESTORE USERS PRIO GOODMANU CA ATTPRIO # RESTORE USERS PRIO
@ -225,5 +219,3 @@ GOODMANU CA ATTPRIO # RESTORE USERS PRIO
TC SPVAC # RETURN TO USER TC SPVAC # RETURN TO USER
TC TASKOVER TC TASKOVER