# Copyright: Public domain. # Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1002-1024 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1002 # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT # START OF T5 INTERRUPT PROGRAM BANK 20 SETLOC DAPS3 BANK COUNT 21/DAPRC EBANK= KMPAC REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE CA T5PHASE # ON A T5 RUPT EXTEND BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO - TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP CS ONE TS T5PHASE EXTEND DCA RCSLOC DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT TCF RCSATT +1 EBANK= KMPAC RCSLOC 2CADR RCSATT RCSATT LXCH BANKRUPT # SAVE BB EXTEND # SAVE Q QXCH QRUPT CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND EXTEND # S/C CONT SW IS IN CMC (I.E., IF G/C AUTO RAND CHAN31 # PILOT IS FULLY ENABLED) EXTEND BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED, # GO TO SETT5 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED, MASK BIT14 ADS RCSFLAGS # SET NORATE FLAG, CAF POSMAX TS HOLDFLAG # SET HOLDFLAG +, CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ, TS ERRORX TS ERRORY TS ERRORZ CAF BIT14 EXTEND RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31). EXTEND # Page 1003 BZF SETT5 # IF IN FREE MODE, GO TO SETT5. TS T5PHASE # IF NOT IN FREE MODE, CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP) TS TIME5 # IN 100 MS VIA T5RUPT TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET TCF KMATRIX DELTATT OCT 37770 # 80MS (TIME5) DELTATT2 OCT 37776 # 20MS (TIME5) ONESEK DEC 16284 # 1 SEC(TIME5) CHAN5 EQUALS 5 CHAN6 EQUALS 6 PRIO34A = PRIO34 # CHECK PHASE OF T5 PROGRAM # # BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC, # TO ALLOW FOR THE EXECUTION OF OTHER # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT # VARIABLES AT TURN ON. # # THE CODING OF T5PHASE IS... # # + = INITIALIZE T5 RCS-CSM AUTOPILOT # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM # - = RESTART DAP # -0 = PHASE1 OF THE T5 PROGRAM SETT5 CCS T5PHASE TCF FRESHDAP # TURN ON AUTOPILOT TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM TCF REDAP # RESTART AUTOPILOT TS T5PHASE # PHASE 1 RESET FOR PHASE 2 CA TIME5 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2 TS TIME5 # OF PROGRAM # Page 1004 # IMU STATUS CHECK CS IMODES33 # CHECK IMU STATUS MASK BIT6 # BIT6 = 0 IMU OK CCS A # BIT6 = 1 NO IMU TCF RATEFILT FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN MASK BIT14 # INITIALIZED ADS RCSFLAGS CAF BIT14 # NO ATTITUDE REFERENCE TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE # TO PICK UP CDU ANGLES UPON RESUMPTION OF # ATTITUDE HOLD EXTEND RAND CHAN31 # CHECK FOR FREE MODE EXTEND BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY TCF REINIT # .....TILT............................... BITS4,5 OCT 30 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED MASK BIT14 EXTEND # IF SO, PROCEED WITH RATE DERIVATION BZF +2 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION # RATE FILTER TIMING = 7.72 MS # # RATE FILTER EQUATIONS # # # DRHO = DELRHO - (.1)ADOT + (1 = GAIN1)DRHO # -1 # # ADOT = ADOT + GAIN2 DRHO + KMJ DFT # -1 # _ * _ _ # WHERE DELRHO = AMGB (CDU - CDU ) # -1 CAF TWO DRHOLOOP TS SPNDX DOUBLE TS DPNDX INDEX DPNDX CS DRHO # DRHO SCALED 180 DEGS EXTEND INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN MP GAIN1 INDEX DPNDX DAS DRHO # (1 -.064) DRHO EXTEND # Page 1005 INDEX DPNDX DCS ADOT DXCH KMPAC # -(.1)ADOT CA QUARTER TC SMALLMP DXCH KMPAC INDEX DPNDX DAS DRHO CCS SPNDX TCF DRHOLOOP CA CDUX # MEASURED BODY RATES-- XCH RHO EXTEND MSU RHO # _ * _ _ COM # DELRHO = AMGB (CDU - CDU ) # -1 ZL DXCH DELTEMPX CA CDUY XCH RHO1 EXTEND MSU RHO1 COM TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS EXTEND MP AMGB1 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1) # MUST BE DOUBLE PRECISION OR WILL LOSE # PULSES CA AMGB4 EXTEND MP T5TEMP DXCH DELTEMPY CA AMGB7 EXTEND MP T5TEMP DXCH DELTEMPZ CA CDUZ XCH RHO2 EXTEND MSU RHO2 COM TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS EXTEND MP AMGB5 DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1) # + AMGB5(CDUZ-RHO2) CA AMGB8 EXTEND # Page 1006 MP T5TEMP DAS DELTEMPZ # DELTEMPZ = AMBG7(CDUY-RHO1) # + AMGB8(CDUZ-RHO2) CAF TWO ADOTLOOP TS SPNDX DOUBLE TS DPNDX EXTEND INDEX DPNDX DCA DELTEMPX INDEX DPNDX DAS DRHO EXTEND INDEX DPNDX DCA DELTEMPX INDEX DPNDX DAS MERRORX INDEX DPNDX CA DRHO DOUBLE # N.B. DOUBLE # N.B. EXTEND INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS MP GAIN2 INDEX DPNDX # ADOT + (.16)(.1)DRHO DAS ADOT # -1 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3 EXTEND INDEX SPNDX MP DFT INDEX DPNDX DAS ADOT # KMJ(DFT) CCS SPNDX TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES KMATRIX CA ATTSEC MASK LOW4 CCS A TCF TENTHSEK CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES EBANK= KMPAC 2CADR AMBGUPDT CAF NINE TENTHSEK TS ATTSEC # Page 1007 # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT-- # # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION) # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION) # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION) # # THE STEERING PROGRAMS: # 1) ATTITUDE MANEUVER ROUTINE # 2) LEM TRACKING # # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY, # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES. # # HOLDFLAG CODING: # # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES # ALSO IGNORE AUTOMATIC STEERING # SET = + BY # 1) INITIALIZATION PHASE OF AUTOPILOT # 2) OCCURRENCE OF RHC COMMANDS # 3) FREE MODE # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO # WHILE DOING AUTOMATIC STEERING (IN THIS CASE # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC # FUNCTIONS AS IF IT WERE.) # 5) S/C CONTROL SWITCH IS SCS # 6) IMU POWER OFF # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE # - = PERFORMING AUTOMATIC MANEUVER # -0 = NOT USED AT PRESENT # # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT. # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE THE APPROPRIATE ACTION. CS HOLDFLAG EXTEND BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC # COMMANDS. DCDUINCR CAF TWO DELOOP TS SPNDX DOUBLE TS DPNDX EXTEND INDEX A DCA CDUXD # Page 1008 DXCH KMPAC EXTEND INDEX DPNDX DCA DELCDUX TC DPADD EXTEND DCA KMPAC INDEX SPNDX TS THETADX INDEX DPNDX DXCH CDUXD CCS SPNDX TCF DELOOP # Page 1009 # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY # # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI: # # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E # GENERATED INTERNALLY BY THE AUTOPILOT # # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E # WITH RESPECT TO THE CONTENTS OF N22 # # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E # WITH RESPECT TO THE CONTENTS OF N17 # # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE. # # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES # AS A FLY-TO INDICATOR. # # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES # AS A FLY-TO INDICATOR. # # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME. # # THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME. DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2 MASK BIT4 EXTEND BZF FDAIDSP2 FDAIDSP1 ADS RCSFLAGS TC NEEDLER KRESUME1 TCF RESUME # END PHASE 1 # Page 1010 # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE # # PROGRAM DESCRIPTION: D. KEENE 5/24/67 # # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES # THE DACS. # # CALLING SEQUENCE: # # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM: # # CS RCSFLAGS # IN EBANK6 # MASK BIT3 # ADS RCSFLAGS # # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERRED TO THE FOLLOWING LOCATIONS IN EBANK6: # # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT # AK1 SCALED 180 DEGREES TO CHANGE # AK2 SCALED 180 DEGREES # # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR # (= 384 BITS IN IMU ERROR COUNTER) # # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY: # # INHINT # TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6 # CADR NEEDLER # RELINT # # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PRORAM ARE # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS. # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING. # # ERASABLE USED: # AK CDUXCMD # AK1 CDUYCMD # AK2 CDUZCMD # EDRIVEX A,L,Q # EDRIVEY T5TEMP # EDRIVEZ SPNDX # # SWITCHES; RCSFLAGS BITS 3,2 # # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY) # Page 1011 # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) # CHAN14 BIT 13,14,15 (DAC ACTIVITY) # # SIGN CONVENTION: AK = THETAC - THETA # WHERE THETAC = COMMAND ANGLE # THETA = PRESENT ANGLE NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE EXTEND # IF IN COARSE ALIGN DO NOT USE IMU RAND CHAN12 # ERROR COUNTERS. DON'T USE NEEDLES EXTEND BZF NEEDLER1 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS MASK BIT3 ADS RCSFLAGS TC Q NEEDLER1 CA RCSFLAGS MASK SIX EXTEND BZF NEEDLES3 MASK BIT3 EXTEND BZF NEEDLER2 # BIT3 = 0, BIT2 = 1 CS BIT6 # FIRST PASS BIT3 = 1 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS WAND CHAN12 # MUST WAIT AT LEAST 60 MS. BEFORE NEEDLE11 CS ZERO # ENABLING COUNTERS. TS AK # ZERO THE INPUTS ON FIRST PASS TS AK1 TS AK2 TS EDRIVEX # ZERO THE DISPLAY REGISTERS TS EDRIVEY TS EDRIVEZ TS CDUXCMD # ZERO THE OUT COUNTERS TS CDUYCMD TS CDUZCMD CS SIX # RESET RCSFLAGS FOR PASS2 MASK RCSFLAGS AD BIT2 TS RCSFLAGS TC Q # END PASS1 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS EXTEND WOR CHAN12 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE # Page 1012 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR TS RCSFLAGS # RELAY CLOSURE TC Q NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER EXTEND # IS ENABLED RAND CHAN12 EXTEND # IF NOT RECYCLE NEEDLES BZF NEEDLER +5 NEEDLES CAF TWO DACLOOP TS SPNDX CS QUARTER EXTEND INDEX SPNDX MP AK TS L CCS A CA DACLIMIT TCF +2 CS DACLIMIT AD L TS T5TEMP # OVFLO CHK TCF +4 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384 CAF DACLIMIT TS L INDEX SPNDX CS EDRIVEX # CURRENT VALUE OF DAC AD L INDEX SPNDX ADS CDUXCMD INDEX SPNDX LXCH EDRIVEX CCS SPNDX TCF DACLOOP CAF 13,14,15 EXTEND WOR CHAN14 # SET DAC ACTIVITY BITS TC Q REINIT CAF DELAY200 # ........TILT LOGIC TS TIME5 # REINITIALIZE DAP IN 200MS TS T5PHASE TCF RESUME DELAY200 DEC 16364 # 200MS DEC -384 # Page 1013 DACLIMIT DEC 16000 DEC 384 # Page 1014 # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT # # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY # # WBODY (+1) DFT TAU2 # WBODY1 (+1) DFT1 BIAS # WBODY2 (+1) DFT2 BIAS1 # ADOT (+1) DRHO (+1) BIAS2 # ADOT1 (+1) DRHO1 (+1) ERRORX # ADOT2 (+1) DRHO2 (+1) ERRORY # MERRORX (+1) ATTSEC ERRORZ # MERRORY (+1) TAU # MERRORZ (+1) TAU1 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN # ATTITUDE HOLD REFERENCE REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT TC IBNKCALL # DECODE IXX, IAVG, AND CONVERT CADR S40.14 # TO AUTOPILOT GAINS CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS CAF ZERO INDEX SPNDX TS WBODY CCS SPNDX TCF ZEROT5 TCR ZEROJET CS ZERO TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR # MANUAL RATE MODES CAF =.24 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE CAF FOUR TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT # IN (80MS - T5TIME(40MS)). THEREFORE # PHASE 1 (RATEFILTER) BEGINS CYCLING 100 # MS FROM NOW AND EVERY 100MS THEREAFTER. CAF ELEVEN TS ATTKALMN # RESET TO PICK UP KALMAN FILTER TAINS # TO INITIALIZE THE S/C ANGULAR RATES # Page 1015 CA CDUX TS RHO CA CDUY TS RHO1 CA CDUZ TS RHO2 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING TS T5PHASE # PHASE2 OF PROGRAM CS IMODES33 # CHECK IMU STATUS MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN CCS A # IF BIT6 = 1 IMU NOT READY TCF IMUAOK TS ATTKALMN # CANNOT USE IMU CAF RCSINITB # PROVIDE FREE CONTROL ONLY TCF RCSSWIT # DON'T START UP RATE FILTER # SIGNAL NO RATE FILTER IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN EBANK= KMPAC 2CADR AMBGUPDT CAF RCSINIT # CLEAR BIT14 --ASSUME WE HAVE A GOOD IMU RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM # SET BIT3 --INITIALIZE NEEDLES # CLEAR BIT4 --RESET FOR FDAIDSP1 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU # ERROR COUNTER TO ZERO. # (MINIMUM DELAY = 15 MS) TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE # FILTER WILL BEGIN OPERATING ZOOMS FROM # NOW # CONSTANTS USED IN INITIALIZATION PROGRAM NO.T5VAR DEC 36 =.24 DEC .24 # = SLOPE OF 0.6/SEC RCSINIT OCT 00004 RCSINITB OCT 20004 T5WAIT60 DEC 16378 # = 6 CS EBANK= KMPAC T6ADDR 2CADR T6START ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2, TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2, CAF ZERO # AND RWORD1 # Page 1016 INDEX SPNDX TS RWORD1 CCS SPNDX TCF ZEROJET +1 CAF FOUR TS BLAST1 +1 CAF ELEVEN TS BLAST2 +1 CS BIT1 MASK RCSFLAGS TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0 EXTEND DCA T6ADDR DXCH T6LOC CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS. TS TIME6 CAF BIT15 EXTEND WOR CHAN13 TC Q T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE TCF KALUPDT TCF +2 # ONLY IF ATTKALMN POSITIVE TCF +1 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS XCH TIME5 # (JET SELECTION LOGIC) ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET EXTEND # ATTKALMN TO -1 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0. CS ONE NOHIAUTO TS ATTKALMN # Page 1017 # MANUAL ROTATION COMMANDS CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO TS RCSFLAGS EXTEND READ CHAN31 TS L CA CH31TEMP EXTEND RXOR LCHAN MASK MANROT # = OCT00077 EXTEND BZMF NOCHANGE LXCH A TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP CA L EXTEND MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L CA L ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH # CHANGES IN COMMAND. BITS 10,9 FOR # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR # PITCH CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND MASK OCT16000 # 11 OF RCSFLAGS) ADS RCSFLAGS NOCHANGE CS CH31TEMP MASK MANROT EXTEND BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT TS HOLDFLAG # SET HOLDFLAG + TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX, # YMANNDX, AND RMANNDX ARE ALL SET, BY # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO, # +, OR - ROTATION RESPECTIVELY AS # COMMANDED BY THE RHC. # # HOWEVER, IT IS WELL TO NOTE THAT AFTER # THE RHC IS RETURNED TO DETENT, THE # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS # STICKCHK SO PMANNDX, YMANNDX, AND # RMANNDX ARE NOT RESET TO ZERO BUT RATHER # LEFT SET TO THEIR LAST OUT OF DETENT # Page 1018 # VALUES. CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT CAF BIT14 EXTEND RAND CHAN31 EXTEND BZMF FREEFUNC CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER MASK BIT14 # HAS BEEN INITIALIZED CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER CS FIVE # IF MANUAL MANEUVER IS AT HIGH RTE, SET AD RATEINDX # ATTKALMN TO -1. EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE. BZMF +3 CS ONE TS ATTKALMN CAF TWO # AUTO-HOLD MANUAL ROTATION SETWBODY TS SPNDX DOUBLE TS DPNDX INDEX SPNDX # RMANNDX = 0 NO ROTATION CA RMANNDX # = 1 + ROTATION EXTEND # = 2 - ROTATION BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS, # GO TO NORATE. AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC TS Q # = 2 0.2 DEG/SEC INDEX Q # = 4 0.5 DEG/SEC CA MANTABLE -1 # = 6 2.0 DEG/SEC EXTEND MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6 INDEX DPNDX # TO GET COMMANDED RATE. DXCH WBODY # SET WBODY TO COMMANDED RATE. CA RCSFLAGS MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE # ERROR. # Page 1019 ZEROER CA ZERO # ZEROER ZEROS MERRORS ZL INDEX DPNDX DXCH MERRORX TCF SPNDXCHK NORATE ZL INDEX DPNDX DXCH WBODY # ZERO WBODY FOR THIS AXIS CA RCSFLAGS MASK OCT16000 EXTEND # IS RATE DAMPING COMPLETED BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK TCF ZEROER # NO, GO TO ZEROER MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8 SPNDXCHK INDEX DPNDX CA MERRORX INDEX SPNDX TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX CCS SPNDX TCF SETWBODY TCF JETS OCT01760 OCT 01760 # FORCED FIRING BITS MASK OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE # PRESERVED # FOR INDEXING MANROT OCT 77 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK MANTABLE DEC .0071111 DEC -.0071111 DEC .028444 DEC -0.028444 DEC .071111 DEC -.071111 DEC .284444 DEC -.284444 =+14MS DEC 23 FREEFUNC INDEX RMANNDX # ACCELERATION # Page 1020 CA FREETAU # COMMANDS TS TAU INDEX PMANNDX CA FREETAU # FREETAU 0 SEC TS TAU1 # +1 +0.10 SEC INDEX YMANNDX # +2 -0.10 SEC CA FREETAU # (+3) 0 SEC TS TAU2 TCF T6PROGM FREETAU DEC 0 DEC 480 DEC -480 DEC 0 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS TS ERRORX TS ERRORY TS ERRORZ TCF T6PROG # Page 1021 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION DEC .3180 # OF ATTITUDE RATES DEC .3452 DEC .3774 DEC .4161 DEC .4634 DEC .5223 DEC .5970 DEC .6933 DEC .8151 DEC .9342 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS GAIN2 DEC .0016 # SCALED 10 DEC .0454 DEC .0545 DEC .0666 DEC .0832 DEC .1069 DEC .1422 DEC .1985 DEC .2955 DEC .4817 DEC .8683 STICKCHK TS T5TEMP MASK THREE # INDICES FOR MANUAL ROTATION TS PMANNDX CA T5TEMP EXTEND # MAN RATE 0 0 RATE (DP) MP QUARTER # +1 + RATE (DP) TS T5TEMP # +2 - RATE (DP) MASK THREE # (+3) 0 RATE (DP) TS YMANNDX CA T5TEMP EXTEND MP QUARTER TS RMANNDX TC Q KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING # KALMAN FILTER TAKES 1.1 SEC CA DELTATT # =1SEC - 80MS AD T5TIME # + DELAYS # Page 1022 TS TIME5 TCF +3 CAF DELTATT2 # SAFETY PLAY TO ASSURE TS TIME5 # A T5RUPT KRESUME2 CS ZERO # RESET FOR PHASE1 TS T5PHASE # RESUME INTERRUPTED PROGRAM TCF RESUME FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1 MASK RCSFLAGS TS RCSFLAGS CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE MASK BIT9 # ERRORS EXTEND BZF FDAITOTL EXTEND DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR DXCH AK CS ERRORZ TS AK2 TCF RESUME # END PHASE 1 FDAITOTL CA FLAGWRD9 MASK BIT6 EXTEND BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0 # IF SO, GO TO WRTN17 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE CA CPHI # COMPONENTS OF N22 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES TS AK CA WTEMP EXTEND MSU CDUY TS T5TEMP EXTEND MP AMGB1 ADS AK CA T5TEMP EXTEND MP AMGB4 # Page 1023 TS AK1 CA T5TEMP EXTEND MP AMGB7 TS AK2 CA WTEMP +1 EXTEND MSU CDUZ TS T5TEMP EXTEND MP AMGB5 ADS AK1 CA T5TEMP EXTEND MP AMGB8 ADS AK2 TCF RESUME # END PHASE1 OF RCS DAP WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP DXCH WTEMP # THE THREE COMPONENTS OF N17 CA CPHIX TCF GETAKS # Page 1024 (empty page)