588 lines
15 KiB
Plaintext
588 lines
15 KiB
Plaintext
# Copyright: Public domain.
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# Filename: R60_R62.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 472-485
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# Mod history: 2009-05-17 RSB Adapted from the corresponding
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# Luminary131 file, using page
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# images from Luminary 1A.
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#
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
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# 16:27 JULY 14, 1969
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# Page 472
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# MOD NO: 0 DATE: 1 MAY 1968
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# MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62
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#
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# FUNCTIONAL DESCRIPTION:
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#
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# CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
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# ATTITUDE.
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#
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# 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
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# CALCULATED (VECPOINT).
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#
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# 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
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#
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# 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
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#
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# 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
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# ASTRONAUT RESPONSE.
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#
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# 5. DISPLAY RESPONSE RETURNS.
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#
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# A. ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT.
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#
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# B. TERMINATE -- IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
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# THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
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# NOT IN R61 AN EXIT IS DONE VIA GOTOPOOH.
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#
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# C. PROCEED -- CONTINUE WITH PROGRAM AT STEP 6.
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#
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# 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
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# (VECPOINT).
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#
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# 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
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#
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# 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
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#
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# 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
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#
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# 10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES).
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#
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# 11. DO A PHASE-CHANGE.
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#
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# 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
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# GIMBAL ANGLES (GOMANUR).
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#
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# 13. AT END OF MANEUVER TO TO STEP 3.
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#
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# IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
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# FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
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# DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT
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# Page 473
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# STEP 5C.
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#
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# CALLING SEQUENCE: TC BANKCALL
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# CADR R60LEM
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#
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# ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT)
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# 3AXISFLG.
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#
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# SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF24, LINUS, GODSPER,
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# GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
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#
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# NORMAL EXIT MODES: CAE TEMPR60 (CALLER'S RETURN ADDRESS)
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# TC BANKJUMP
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#
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# ALARMS: NONE
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#
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# OUTPUT: NONE
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#
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# DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
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BANK 34
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SETLOC MANUVER
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BANK
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EBANK= TEMPR60
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COUNT* $$/R06
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R60LEM TC MAKECADR
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TS TEMPR60
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REDOMANN CAF 3AXISBIT
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MASK FLAGWRD5 # IS 3-AXIS FLAG SET
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CCS A
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TCF TOBALL # YES
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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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EXIT
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TOBALL TC BANKCALL
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CADR BALLANGS # TO CONVERT ANGLES TO FDAI
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TOBALLA CAF V06N18
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TC BANKCALL
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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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TC ENDMANU1 # ENTER I.E., FINISHED WITH R60
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# Page 474
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TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
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TC ENDOFJOB
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REDOMANC CAF 3AXISBIT
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MASK FLAGWRD5 # IS 3-AXIS FLAG SET
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CCS A
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TCF TOBALLC # YES
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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 ANGLES
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EXIT
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TOBALLC TC BANKCALL
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CADR BALLANGS # TO CONVERT ANGLES TO FDAI
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TC G+N,AUTO # CHECK AUTO MODE
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CCS A
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TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER.
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AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER
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TC BANKCALL
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CADR GODSPR
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TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
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STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU
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CADR GOMANUR
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ENDMANUV TCF TOBALLA # FINISHED MANEUVER.
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ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
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ADRES 3AXISFLG
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CAE TEMPR60
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TC BANKJUMP
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CHKLINUS CS FLAGWRD4
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MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET?
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CCS A
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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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TS TBASE2
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TC PHASCHNG
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OCT 00132
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CAF BIT7
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TC LINUS # GO SET BITS FOR PRIORITY DISPLAY
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TC MPAC +2
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# Page 475
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RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY
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TC PRIOCHNG
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CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
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MASK FLAGWRD1
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CCS A
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TCF RER60
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CAF RNDVZBIT # IS IT P20?
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MASK FLAGWRD0
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CCS A
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TC +4 # YES
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TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT
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OCT 40112
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TC ENDOFJOB
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TC PHASCHNG # SET 2.7 SPOT FOR P20
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OCT 40072
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TC ENDOFJOB
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RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART
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ADRES PDSPFLAG
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TC TBASE2
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R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89
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EXTEND
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BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER
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CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25)
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MASK PDSPFBIT
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EXTEND
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BZF GOTOPOOH # NO
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TC GOTOV56 # YES
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BIT14+7 OCT 20100
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OCT203 OCT 203
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V06N18 VN 0618
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# SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
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#
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# RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO
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# RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
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G+N,AUTO EXTEND
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READ CHAN30
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MASK BIT10
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CCS A
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TC Q # NOT IN G+N C(A) = +
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# Page 476
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ISITAUTO EXTEND # CHECK FOR AUTO MODE
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READ CHAN31
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MASK BIT14
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TC Q # (+) = NOT IN AUTO, (+0) = AOK
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# Page 477
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# PROGRAM DESCRIPTION BALLANGS
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# MOD NO. LOG SECTION R60,R62
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#
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# WRITTEN BY RAMA M. AIYAWAR
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#
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# FUNCTIONAL DESCRIPTION
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#
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# COMPUTES LM FDAI BALL DISPLAY ANGLES
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#
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# CALLING SEQUENCE
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#
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# TC BALLANGS
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#
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# NORMAL EXIT MODE
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#
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# TC BALLEXIT # (SAVED Q)
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#
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# ALARM OR EXIT MODE: NIL
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#
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# SUBROUTINES CALLED
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#
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# CD*TR*G
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# ARCTAN
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#
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# INPUT
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#
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# CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE
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# SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION.
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#
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# OUTPUT
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#
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# FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
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# SP,2'S COMPEMENT.
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#
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# THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
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#
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# ERASABLE INITIALIZATION REQUIRED
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#
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# CPHI, CTHETA, CPSI EACH AN SP REGISTER
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#
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# DEBRIS
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#
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# A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
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#
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# NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
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# EQUIVALENTLY, CDUX, CDUY, AND CDUZ.
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#
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# NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
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SETLOC BAWLANGS
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BANK
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COUNT* $$/BALL
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BALLANGS TC MAKECADR
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TS BALLEXIT
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CA CPHI
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# Page 478
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TS CDUSPOT +4
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CA CTHETA
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TS CDUSPOT
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CA CPSI
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TS CDUSPOT +2
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TC INTPRET
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SETPD CALL
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0D
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CD*TR*G
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DLOAD DMP
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SINCDUX # SIN (OGA)
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COSCDUZ # COS (MGA)
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SL1 DCOMP # SCALE
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ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD
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SINCDUZ
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STODL SINTH # (SINTH = 18D IN PD)
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COSCDUZ
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DMP SL1 # RESCALE
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COSCDUX
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STCALL COSTH # (COSTH = 16D IN PD)
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ARCTAN
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PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
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SINCDUZ
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SINCDUX
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SL2 PUSH # SXSZ INTO 4 PD
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DMP PDDL # SXSZCY INTO 4 PD
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COSCDUY
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DMP PDDL # SXSZSY INTO 6 PD
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SINCDUY
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COSCDUX
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DMP SL1 # CXCY
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COSCDUY
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DSU STADR # PULL UP FORM 6 PD
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STODL COSTH # COSTH = CXCY - SXSZSY
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SINCDUY
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DMP SL1
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COSCDUX # CXSY
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DAD STADR # PULL UP FORM 4 PD
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STCALL SINTH # SINTH = CXSY + SXSZCY
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ARCTAN # RETURNS WITH D(MPAC) = PITCH
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PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
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RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
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V1STO2S
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STORE FDAIX # MODE IS TP
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EXIT
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ENDBALL CA BALLEXIT
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# Page 479
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TC BANKJUMP
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# Page 480
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# PROGRAM DESCRIPTION -- VECPOINT
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#
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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 INFORMTION 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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# 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 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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# 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 IN T(MPAC) BEFORE RETURNING TO THE CALLER.
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#
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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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# 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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# 1) SCAXIS 6
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# 2) POINTVSM 6
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# 3) MIS 18
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# 4) DEL 18
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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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BANK
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# Page 481
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COUNT* $$/VECPT
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EBANK= BCDU
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VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS
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VECQTEMP # NOT PRESENT -- ENTER WITH CDUD'S IN MPAC
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VECPNT2
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VECPNT2 AXC,2 GOTO
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MIS
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STORANG
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VECPOINT STQ BOV # SAVE RETURN ADDRESS
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VECQTEMP
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VECLEAR # AND CLEAR OVFIND
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VECLEAR AXC,2 RTB
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MIS # READ THE PRESENT CDU ANGLES AND
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READCDUK # STORE THEM IN PD25, 26, 27
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STORANG STCALL 25D
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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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UNIT
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STORE 28D
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# PD 28 29 30 31 32 33
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VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
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SCAXIS # WHERE VI = SCAXIS
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BOV VCOMP
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PICKAXIS
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STODL COF # CHECK MAGNITUDE
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36D # OF CROSS PRODUCT
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DSU BMN # VECTOR, IF LESS
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DPB-14 # THAN B-14 ASSUME
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PICKAXIS # UNIT OPERATION
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VLOAD DOT # INVALID.
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SCAXIS
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28D
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SL1 ARCCOS
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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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KEL # S/C AXES TO STABLE MEMBER AXES
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CALL # MFS = MIS MFI
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MXM3 # (IN PD LIST)
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DLOAD ABS
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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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# Page 482
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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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DSU BPL
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SINVEC1 # SIN 49.4 DEGS $2
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FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
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VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
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STADR
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STOVL MIS +12D
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STADR # STORE MFS (IN PD LIST) IN MIS
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STOVL MIS +6
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STADR
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STOVL MIS
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MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
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BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
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IGSAMEX # FINAL X S/C AXIS
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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 0, U = SCAXIS
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# OTHERWISE U = -SCAXIS.
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VLOAD VCOMP
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SCAXIS
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STCALL COF # ROTATE ABOUT -SCAXIS
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CHEKAXIS
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U=SCAXIS VLOAD
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SCAXIS
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STORE COF # ROTATE ABOUT + SCAXIS
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CHEKAXIS DLOAD ABS
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SCAXIS # SEE IF WE ARE POINTING THE AOT
|
|
DSU BPL
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|
SINVEC2 # SIN 29.5 DEGS $2
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PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
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DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
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|
VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
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|
COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
|
|
# OF GIMBAL LOCK (VECANG2 $360)
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|
PICKANG1 DLOAD
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|
VECANG1 # = 50 DEGS. $360
|
|
COMPMFSN CALL
|
|
DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
|
|
AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
|
|
MIS
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|
KEL
|
|
CALL # COMPUTE THE NEW TRANSFORMATION FROM
|
|
MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
|
|
# WHICH WILL ALIGN VI WITH VF AND AVOID
|
|
# Page 483
|
|
# GIMBAL LOCK
|
|
FINDGIMB AXC,1 CALL
|
|
0 # EXTRACT THE COMMANDED CDU ANGLES FROM
|
|
DCMTOCDU # THIS MATRIX
|
|
RTB SETPD
|
|
V1STO2S # CONVERT TO 2'S COMPLEMENT
|
|
0
|
|
GOTO
|
|
VECQTEMP # RETURN TO CALLER
|
|
|
|
PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
|
|
28D
|
|
SCAXIS
|
|
BMN TLOAD
|
|
ROT180
|
|
25D
|
|
GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
|
|
VECQTEMP # PRESENT CDU ANGLES
|
|
|
|
BANK 35
|
|
SETLOC MANUVER1
|
|
BANK
|
|
ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
|
|
MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
|
|
HIDPHALF # INITIAL S/C AXES.
|
|
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),
|
|
PICKX # Y(SM) PERPENDICULAR TO VI
|
|
STODL COF
|
|
36D # CHECK MAGNITUDE
|
|
DSU BMN # OF THIS VECTOR.
|
|
DPB-14 # IF LESS THAN B-14,
|
|
PICKX # PICK X-AXIS.
|
|
VLOAD
|
|
COF
|
|
XROT STODL COF
|
|
HIDPHALF
|
|
GOTO
|
|
COMPMATX
|
|
PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
|
|
HIDPHALF
|
|
XROT
|
|
SINGIMLC 2DEC .4285836003 # = SIN(59) $2
|
|
|
|
SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
|
|
|
|
SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
|
|
|
|
VECANG1 2DEC .1388888889 # = 50 DEGREES $360
|
|
# Page 484
|
|
VECANG2 2DEC .09722222222 # = 35 DEGREES $360
|
|
|
|
1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ************
|
|
DPB-14 OCT 00001
|
|
OCT 00000
|
|
|
|
# Page 485
|
|
# ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
|
|
|
|
BANK 34
|
|
SETLOC R62
|
|
BANK
|
|
EBANK= BCDU
|
|
|
|
COUNT* $$/R62
|
|
|
|
R62DISP EQUALS R62FLASH
|
|
|
|
R62FLASH CAF V06N22 # FLASH V06N22 AND
|
|
TC BANKCALL # ICDU ANGLES
|
|
CADR GOFLASH
|
|
TCF ENDEXT # TERMINATE
|
|
TCF GOMOVE # PROCEED
|
|
TCF R62FLASH # ENTER
|
|
|
|
# ASTRONAUT MAY LOAD NEW ICDUS AT THIS
|
|
# POINT.
|
|
GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
|
|
ADRES 3AXISFLG
|
|
|
|
TC BANKCALL
|
|
CADR R60LEM
|
|
TCF ENDEXT # END R62
|
|
|