P-AXIS_RCS_AUTOPILOT.agc - virtualagc - Virtual AGC and AGS emulation

Source path: svn/ trunk/ Luminary099/ P-AXIS_RCS_AUTOPILOT.agc

‹r390

r864

# Copyright: Public domain.
# Filename: P-AXIS_RCS_AUTOPILOT.agc
# Purpose: Part of the source code for Luminary 1A build 099.
# It is part of the source code for the Lunar Module's (LM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 1421-1441
# Mod history: 2009-05-27 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
# 2009-06-05 RSB Corrected a relative jump from
# +8 to +8D.
# 2009-06-07 RSB Corrected a typo.
# 2011-01-06 JL Fixed pseudo-label indentation.
# 2011-01-06 JL Added missing comment characters.
#
# 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 001 of AGC program LMY99 by NASA 2021112-61
# 16:27 JULY 14, 1969

# Page 1421
BANK 16
SETLOC DAPS1
BANK

EBANK= PERROR
COUNT* $$/DAPP

# THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
# THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.

PAXIS CA MS100
ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW
# SYNCHRONIZATION WITH OTHER INTERRUPTS ***

LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
EXTEND
QXCH QRUPT

# CHECK IF DAP PASS IS PERMISSIBLE

CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
OCT 02000 # CALLED FOR. IT IS NEVER ZERO

TC CHEKBITS # RETURN IS TC I+1 IF DAP SHOULD STAY ON.

CA CDUX # READ AND STORE CDU'S
TS DAPTREG4
CA CDUY
TS DAPTREG5
CA CDUZ
TS DAPTREG6

# ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
#
# THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
# AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).

CA CDUXD
EXTEND
MSU DELCDUX
TC 1STOTWOS
TS CDUXD
CA CDUYD
EXTEND
MSU DELCDUY
TC 1STOTWOS
TS CDUYD
CA CDUZD
EXTEND
MSU DELCDUZ
# Page 1422
TC 1STOTWOS
TS CDUZD
EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
DIM TCP # TIME COUNTERS.
EXTEND
DIM TCQR

# RATFLOOP COMPUTES JETRATEQ, JRATER, AND 1JACC*NO. PJEETS IN ITEMP1.
# RETURNS TO BACKP.
#
# JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
# JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
# JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)

TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
1STOTWOS CCS A
AD ONE
TC Q
CS A
TC Q
SUBDIVDE EXTEND # OVERFLOW PROTECTION ROUTINE TO GIVE
MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
DAS OMEGAU # OVERFLOW

+3 EXTEND
DCA OMEGAU
DXCH DAPTEMP5
CCS OMEGAU
TCF +2
TCF DIVIDER
AD -OCT630
EXTEND
BZMF DIVIDER

CCS OMEGAU
CA POSMAX # 45 DEG/SEC
TC Q
CS POSMAX
TC Q

DIVIDER DXCH OMEGAU
EXTEND
DV DAPTREG4
TC Q

OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
INDEX A
CS BIT15 -1
# Page 1423
TC Q

-OCT630 OCT 77147

BACKP CA DAPTEMP1
EXTEND
MP 1JACC
TS JETRATE

# BEGINNING OF THE RATE DERIVATION
# OMEGAP,Q,R BODY RATES SCALED AT PI/4
# TRAPEDP,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
# NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
# AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELERATION. (PI/4)
# JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELERATION. (PI/4)
# TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ETC.
# OMEGAU DP-TEMPORARY STORAGE
# OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)

CAE DAPTREG4 # CDUX IS STORED HERE
TS L
EXTEND
MSU OLDXFORP # SCALED AT PI
LXCH OLDXFORP
TS DAPTEMP1
CA 1/40
TS DAPTREG4
CS JETRATE
EXTEND
MP BIT14
ADS TRAPEDP
CA JETRATEQ
AD AOSQTERM
EXTEND
MP -BIT14
ADS TRAPEDQ
CA JETRATER
AD AOSRTERM
EXTEND
MP -BIT14
ADS TRAPEDR

CA DAPTREG5 # CDUY IS STORED HERE
TS L
EXTEND
MSU OLDYFORP # SCALED AT PI
LXCH OLDYFORP
TS DAPTEMP2
EXTEND
MP M11 # M11 SCALED AT 1
# Page 1424
AD DAPTEMP1
DXCH OMEGAU

TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4

EXTEND
SU OMEGAP
ADS TRAPEDP
TC OVERSUB
TS TRAPEDP
EXTEND
DCA DAPTEMP5
DAS DXERROR
CS PLAST
EXTEND
MP 1/40
DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
CA DAPTREG6 # CDUZ IS STORED HERE
TS L
EXTEND
MSU OLDZFORQ
TS DAPTEMP3
LXCH OLDZFORQ
CA M21
EXTEND
MP DAPTEMP2
DXCH OMEGAU
CA M22
TC SUBDIVDE

EXTEND
SU OMEGAQ
ADS TRAPEDQ
TC OVERSUB
TS TRAPEDQ
EXTEND
DCA DAPTEMP5
DAS DYERROR
CS QLAST
EXTEND
MP 1/40
DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
CA M31
EXTEND
MP DAPTEMP2
DXCH OMEGAU
CA M32

TC SUBDIVDE
# Page 1425
EXTEND
SU OMEGAR
ADS TRAPEDR
TC OVERSUB
TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED

EXTEND
DCA DAPTEMP5
DAS DZERROR
CS RLAST
EXTEND
MP 1/40
DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
MASK CSMDOCKD
EXTEND
BZF LMONLY
EXTEND # DOCKED
DCA DKOMEGAN
DXCH DAPTREG4
CA DKTRAP
TCF +5
LMONLY EXTEND # UNDOCKED
DCA LMOMEGAN
DXCH DAPTREG4
CA LMTRAP
+5 TS DAPTREG6
CCS TRAPEDP
TCF +2
TCF SMALPDIF
AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
EXTEND
BZMF SMALPDIF
ZL
LXCH TRAPEDP
CA ZERO
EXTEND
DV NPTRAPS
ADS OMEGAP
TC OVERSUB
TS OMEGAP
CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
TS NPTRAPS
SMALPDIF INCR NPTRAPS
P-RATE CA JETRATE
ADS OMEGAP
TC OVERSUB
TS OMEGAP

CCS TRAPEDQ
# Page 1426
TCF +2
TCF Q-RATE
AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
EXTEND
BZMF Q-RATE
ZL
LXCH TRAPEDQ
CA ZERO
EXTEND
DV NQTRAPS
TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
ADS OMEGAQ
TC OVERSUB
TS OMEGAQ
CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
XCH NQTRAPS
AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
XCH DAPTEMP1
EXTEND
MP FIVE
EXTEND
DV DAPTEMP1
ADS AOSQ
Q-RATE INCR NQTRAPS
CA JETRATEQ
AD AOSQTERM
ADS OMEGAQ
TC OVERSUB
TS OMEGAQ

CCS TRAPEDR
TCF +2
TCF R-RATE
AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
EXTEND
BZMF R-RATE
ZL
LXCH TRAPEDR
CA ZERO
EXTEND
DV NRTRAPS
TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
ADS OMEGAR
TC OVERSUB
TS OMEGAR
CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
XCH NRTRAPS
AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
XCH DAPTEMP2
EXTEND
# Page 1427
MP FIVE
EXTEND
DV DAPTEMP2
ADS AOSR
R-RATE INCR NRTRAPS
CA JETRATER
AD AOSRTERM
ADS OMEGAR
TC OVERSUB
TS OMEGAR

# END OF RATE DERIVATION
# BEGIN OFFSET ESTIMATER
# IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
# AOS = AOS + K*SUMRATE

CS DAPBOOLS
MASK DRIFTBIT
CCS A
TCF WORKTIME
TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
TS ALPHAR
TS AOSQTERM
TS AOSRTERM
TS AOSQ
TS AOSR
TCF PRETIMCK
KAOS DEC 60
WORKTIME CA QACCDOT
EXTEND
MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
DAS AOSQ
CA AOSQ
TS ALPHAQ
EXTEND
MP 200MS # .2 AT 1
TS AOSQTERM
CA RACCDOT
EXTEND
MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
DAS AOSR
CA AOSR
TS ALPHAR
EXTEND
MP 200MS # .2 AT 1
TS AOSRTERM
TCF PRETIMCK

# Page 1428
PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
MASK RCSFLAGS
CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
TC ACDT+C12 # VALID.

DXCH ARUPT
DXCH DAPARUPT
CA SUPERJOB # SETTING UP THE SUPERJOB
XCH BRUPT
LXCH QRUPT
DXCH DAPBQRPT
CA SUPERADR
DXCH ZRUPT
DXCH DAPZRUPT
TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
# FORM OF A JASK, AT SUPERJOB.

SUPERADR GENADR SUPERJOB +1

# COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.

SUPERJOB TCF RATELOOP
PRETIMCK CCS QGIMTIMR
TCF DECQTIMR # POSITIVE -- COUNTING DOWN
TCF TURNOFFQ # NEGATIVE -- DRIVE SHOULD BE ENDED
CHKRTIMR CCS RGIMTIMR # NEGATIVE -- INACTIVE
TCF DECRTIMR # (NEG ZERO -- IMPOSSIBLE)
TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.

EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
DIM PJETCTR
EXTEND
DIM UJETCTR
EXTEND
DIM VJETCTR
CA BIT12
MASK RCSFLAGS
EXTEND
BZF SKIPPAXS
TC CHKVISFZ
DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
TCF CHKRTIMR
DECRTIMR TS RGIMTIMR
TCF CHKRTIMR +3

TURNOFFQ TS NEGUQ # HALT DRIVES.
TS QACCDOT
CS QGIMBITS
EXTEND
# Page 1429
WAND CHAN12
CAF NEGMAX
TS QGIMTIMR
TCF CHKRTIMR
TURNOFFR TS NEGUR
TS RACCDOT
CS RGIMBITS
EXTEND
WAND CHAN12
CAF NEGMAX
TS RGIMTIMR
TCF CHKRTIMR +3
QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).

SKIPPAXS CS RCSFLAGS
MASK BIT12
ADS RCSFLAGS # BIT 12 SET TO 1.
TCF QRAXIS # GO TO QRAXIS OR TO CTS.

# Y-X TRANSLATION
#
# INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLLER)
#
# OUTPUT: NEXTP
#
# NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
# IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
# (1) FOR DIAGONAL TRANS: UNFAILED PAIR
# ALARM (IF NO PAIR)
# (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
# ALARM (IF DIAGONAL PAIRS ARE FAILED)

CHKVISFZ EXTEND
READ CHAN31
CS A
MASK 07400OCT
EXTEND
BZF TSNEXTP
EXTEND
MP BIT7
INDEX A
CA INDXYZ
TS ROTINDEX
TRYUORV CA SIX
TC SELECTYZ
CS SIX
AD NUMBERT
EXTEND
# Page 1430
BZF TSNEXTP -1
CS FIVE
AD ROTINDEX
EXTEND
BZMF ALTERYZ
CS NUMBERT
AD FOUR
EXTEND
BZMF TSNEXTP -1
ABORTYZ TC ALARM
OCT 02001
CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
LXCH RCSFLAGS
EXTEND
RXOR 1
TS RCSFLAGS
CA ZERO
TCF TSNEXTP
ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
LXCH RCSFLAGS
EXTEND
RXOR 1
TS RCSFLAGS
MASK BIT1
AD FOUR
ADS ROTINDEX
TCF TRYUORV
CA POLYTEMP
TSNEXTP TS NEXTP

# STATE LOGIC
# CHECK IN ORDER: IF ON
# LPDPHASE GO TO PURGENCY
# PULSES MINIMUM PULSE LOTIC
# DETENT(BIT15 CH31) RATE COMMAND
# GOTO TO PURGENCY

CA BIT13 # CHECK STICK IF IN ATT. HOLD.
EXTEND
RAND CHAN31
EXTEND
BZF MANMODE

CA DAPBOOLS
MASK XOVINHIB
CCS A
TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE

TCF DETENTCK
MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
MASK DAPBOOLS
# Page 1431
EXTEND
BZF DETENTCK # BRANCH FOR RATE COMMAND

CA ZERO
TS PERROR

# MINIMUM IMPULSE MODE

CA CDUX
TS CDUXD

CCS OLDPMIN
TCF CHECKP

FIREP CA BIT3
EXTEND
RAND CHAN31
EXTEND
BZF +XMIN

CA BIT4
EXTEND
RAND CHAN31
EXTEND
BZF -XMIN

TCF JETSOFF

CHECKP EXTEND
READ CHAN31
CS A
MASK OCT14
TS OLDPMIN
TCF JETSOFF

-XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
TCF +2 # IN JET SELECTION ROUTINE
+XMIN CA TEN
TS TJP
CA ONE
TS OLDPMIN
TCF PJETSLEC -6

# MANUAL RATE COMMAND MODE
# ========================
# BY ROBERT F. STENGEL
#
# THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
# THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
# RATE CONTROL AND ATTITUDE HOLD.
#
# Page 1432
# IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
# THE `BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
# THE `TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
#
# IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
# CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
# IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
#
# SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
# OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
# R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
#
# HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
# AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
# OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
# CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
#
# ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
# JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)

DETENTCK EXTEND
READ CHAN31
TS CH31TEMP
MASK BIT15 # CHECK OUT-OF-DETENT BIT.
EXTEND
BZF RHCMOVED # BRANCH IF OUT OF DETENT.
CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
MASK DAPBOOLS
EXTEND
BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.

# ................................................................................

CA BIT9 # JUST IN DETENT??
MASK RCSFLAGS
EXTEND
BZF RUTH
CAF BIT13 # CHECK FOR ATTITUDE HOLD.
EXTEND
RAND CHAN31
EXTEND
BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.

CS BITS9,11 # IN AUTO.
MASK RCSFLAGS # (X-AXIS OVERRIDE)
TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
TCF RATEDAMP

RUTH CA RCSFLAGS
MASK PBIT # IN ATTITUDE HOLD.
EXTEND
BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
TCF RATEDAMP

# Page 1433
CA RCSFLAGS
MASK QRBIT
EXTEND
BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
TCF RATEDAMP

# ============================================

1/10SEC OCT 1
40CYC OCT 50
PQRBIT OCT 74777
BITS9,11 EQUALS EBANK5
LINRATP DEC 46

# ============================================

RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
INHINT # ALL AXES.
MASK DAPBOOLS
TS DAPBOOLS

# READ CDUS INTO CDU DESIRED REGISTERS

CAF BIT13
EXTEND
RAND CHAN31
EXTEND
BZF +4
CA CDUX # (X-AXIS OVERRIDE)
TS CDUXD
TC +3
TC IBNKCALL
FCADR ZATTEROR
RELINT
TCF PURGENCY

TS PERROR
JUSTOUT CA OURRCBIT # INITIALIZATION -- FIRST MANUAL PASS.
ADS DAPBOOLS
CA ZERO
TS DXERROR
TS DXERROR +1
TS DYERROR
TS DYERROR +1
TS DZERROR
TS DZERROR +1
TS PLAST
TS QLAST
TS RLAST
TS Q-RHCCTR
TS R-RHCCTR
CA PQRBIT
MASK RCSFLAGS
TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
# Page 1434
CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
MASK BIT9
ADS RCSFLAGS
TC ZEROENBL
TCF JETSOFF
ZEROENBL LXCH R-RHCCTR
CA Q-RHCCTR
DXCH SAVEHAND
CA ZERO
TS P-RHCCTR
TS Q-RHCCTR
TS R-RHCCTR
CA BITS8,9
EXTEND
WOR CHAN13 # COUNTERS ZEROED AND ENABLED
TC Q
RATEDAMP CA ZERO
TS P-RHCCTR
TCF RATERROR

RHCMOVED CA OURRCBIT # P CONTROL
MASK DAPBOOLS
EXTEND
BZF JUSTOUT -1
RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
TS CDUXD # X-AXIS OVERRIDE
CCS P-RHCCTR
TCF +3
TCF +2
TCF +1
DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
DOUBLE # (SEE EXPLANATION OF Q,R-AXES RCS
AD LINRATP # AUTOPILOT)
EXTEND
MP P-RHCCTR
CA L
EXTEND
MP STIKSENS
XCH PLAST
COM
AD PLAST
TS DAPTEMP1
TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
CS PLAST
AD OMEGAP
TS EDOTP
CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
TCF +1
# Page 1435
AD -RATEDB
EXTEND
BZMF +4
CA 40CYC
TS TCP
TC PEGI
CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
MASK PBIT
EXTEND
BZF +2
TC PEGI # TO PURE RATE COMMAND
CA DXERROR # PSEUDO-AUTO CONTROL.
TS E # X-ATTITUDE ERROR (SP)
TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
TC PURGENCY +4
PEGI CA CDUX # DIRECT RATE CONTROL.
TS CDUXD
CA ZERO
TS DXERROR
TS DXERROR +1
TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
CCS EDOTP
TC +3
TC +2
TC +1
TS ABSEDOTP
AD TARGETDB
EXTEND # IF RATE ERROR IS LESS THAN DEADBANK,
BZMF LAST # FIRE, AN SWITCH TO PSEUDO-AUTO.
CA TCP
EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.
BZMF LAST
CS RCSFLAGS
MASK PBIT
ADS RCSFLAGS # BIT 10 IS 1.
TCF +4
LAST CS PBIT
MASK RCSFLAGS
TS RCSFLAGS # BIT 10 IS 0.
CS EDOTP
EXTEND
MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
DAS A
TC OVERSUB
EXTEND
MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
TS TJP # 4.JET TIME
CA ABSEDOTP
AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
EXTEND
# Page 1436
BZMF +3

CA SIX
TCF +8D
CA TJP
ADS TJP

# GOES TO PJETSLEC FOR TWO JETS
# P-JET-SELECTION-ROUTINE (ROTATION)
#
# INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
# TJP + FOR +P ROTATION
#
# OUTPUT: CHANNEL 6
# PJUMPADR FOR P-AXIS SKIP
# (JTLST CALL) (SMALL TJP)
#
# ORDER OF POLICIES TRIED IN CASE OF FAILURE.
# +P -P
# 7,15 8,16
# 4,12 3,11
# 4,7 8,11
# 7,12 11,16
# 12,15 3,16
# 4,15 3,8
# ALARM ALARM

CA AORBSYST
MASK DAPBOOLS
CCS A
CA ONE
AD FOUR
TS NUMBERT
PJETSLEC CA ONE
TS L
CCS TJP
TCF +5
TCF JETSOFF
TCF +2
TCF JETSOFF
ZL
AD ONE
TS ABSTJ
LXCH ROTINDEX
TC SELECTP
CS SIX
AD NUMBERT
EXTEND
BZF +2

CS TWO

# Page 1437
AD FOUR
TS NO.PJETS
CA POLYTEMP
TC WRITEP
CS ABSTJ
AD +150MST6
EXTEND
BZMF QRAXIS # GO TO QRAXIS OR TO GTS.

AD -136MST6
EXTEND
BZMF +5

ADS ABSTJ
INDEX ROTINDEX
CA MINTIMES
TS TJP

CA ABSTJ
ZL
INHINT
DXCH T6FURTHA
TC IBNKCALL
CADR JTLST
CS BIT12
MASK RCSFLAGS
TS RCSFLAGS # BIT 12 SET TO 0.
TC ALTSYST
TCF QRAXIS

ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
TS L
CA AORBSYST
EXTEND
RXOR LCHAN
TS DAPBOOLS
RELINT
TC Q

DKALT TC ALTSYST

JETSOFF TC WRITEP -1
CA ZERO
TS TJP
TCF QRAXIS

# (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)

CALCPERR CA CDUY # P-ERROR CALCULATION.
EXTEND
MSU CDUYD # CDU VALUE -- ANGLE DESIRED (Y-AXIS)
# Page 1438
EXTEND
MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
XCH E # SAVE FIRST TERM (OF TWO)
CA CDUX # THIRD COMPONENT
EXTEND
MSU CDUXD # CDU VALUE -- ANGLE DESIRED (X-AXIS)
# EXTEND
# MP M13
AD DELPEROR # KALCMANU INTERFACE ERROR.
ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
TC Q # RETURN TO CALLER

# P-AXIS URGENCY FUNCTION CALCULATION.

PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
AD OMEGAP # SPS-BACKUP MODE.
TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC

CS ONE
TS AXISCTR
CA DAPBOOLS
MASK CSMDOCKD
EXTEND
BZF HEADTJET
INHINT # IF CSMDOCKD = 1, GOT TO DOCKED RCS LOGIC
TC IBNKCALL
CADR SPSRCS

CA TJP
EXTEND
BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
RELINT
TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS.
HEADTJET CA ZERO
TS SENSETYP
INHINT
TC IBNKCALL
CADR TJETLAW
RELINT

CS FIREFCT
AD -FOURDEG
EXTEND
BZMF PJETSLEC -6
CCS TJP
TCF +2
TCF JETSOFF
# Page 1439
AD -160MST6
EXTEND
BZMF PJETSLEC -6
CA SIX
TCF PJETSLEC -1
-160MST6 DEC -256
-FOURDEG DEC -.08888

# Page 1440
# JET POLICY CONTSTRUCTION SUBROUTINE
#
# INPUT: ROTINDEX, NUMBERT
#
# OUTPUT: POLYTEMP (JET POLICY)
#
# THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE

SELECTP CA SIX
TS TEMPNUM
INDEX NUMBERT
CA TYPEP
INDEX ROTINDEX
MASK JETSALL
TS POLYTEMP
MASK CH6MASK
CCS A
TCF +2
TC Q
CCS TEMPNUM
TCF +4
TC ALARM
OCT 02003
TCF JETSOFF # ********** TCF ALARMJET **********
SELECTYZ TS NUMBERT
TCF SELECTP +1
-1 TCF ABORTYZ +2
JETSALL OCT 00252
OCT 00125 # +P
OCT 00140 # -Y
OCT 00006 # -Z
OCT 00220 # +Y
OCT 00011 # +Z
OCT 00151 # +V
TYPEP OCT 00146 # -U
OCT 00226 # -V
OCT 00231 # +U
OCT 00151 # +V
OCT 00132 # 1-3
OCT 00245 # 2-4
OCT 00377 # ALL
INDXYZ = -136MST6
-136MST6 DEC -218
DEC 4
DEC 2
OCT 07776
DEC 5
DEC 9
DEC 10
OCT 07776
DEC 3
# Page 1441
DEC 8
DEC 7
OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
OCT 07776 # TO BE TC JETSALL -1
OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
OCT 07776
+150MST6 DEC 240
07400OCT OCT 07400

# T-JET LAW FIXED CONSTANTS

NORMSCL OCT 266
-100MS DEC -.1
200MS DEC .2
25/32 = PRIO31 # (DEC .78125)
BITS8,9 OCTAL 00600
1/40 DEC .02500
MINTIMES DEC -22
DEC 22
PSKIPADR GENADR SKIPPAXS

# GOES TO Q,R-AXES RCS AUTOPILOT

QRAXIS CS OMEGARD
AD OMEGAR
TC OVERSUB
TS EDOTR
CS OMEGAQD
AD OMEGAQ
TC OVERSUB
TS EDOTQ
EXTEND
DCA QERRCALL
DTCB

EBANK= AOSQ
QERRCALL 2CADR CALLQERR

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Change log

r694 by jim.lawton on Jan 6, 2011 Diff

Fixed a bunch of indentation errors,
comment chars missing. Fixed a few pseudo-
labels not indented at all, resulting in
spurious symbols.

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Older revisions

r390 by jim.lawton on Sep 3, 2009 Diff

Set eol-style on AGC sources to
native.

r259 by i...@sandroid.org on Jul 21, 2009 Diff

AGC source code renamed from *.s to
*.agc and AEA source code
renamed from *.s to *.aea to take
advantage of the fact that
Google has implemented syntax
...

r224 by i...@sandroid.org on Jun 7, 2009 Diff

Luminary 099 support ready to try,
though it would be premature to think
that we can have great
confidence in it yet.  The changes
are:
...

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