Quelle INFLIGHT_ALIGNMENT_ROUTINES.agc
Sprache: Apollo
# Copyright: Public domain. # Filename: INFLIGHT_ALIGNMENT_ROUTINES.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 <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 1355-1364 # Mod history: 2009-05-14 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 1355 BANK22 SETLOC INFLIGHT BANK
EBANK= XSM
# CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION. # # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC. # # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC, # MGC, AND OGC RESPECTIVELY.
STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
S2
# Page 1357 # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE. # # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH. # # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO # AVAILABLE AT MPAC.
ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
SINTH
DSU BMN
QTSN45 # ABS(SIN/4) - SIN(45)/4
TRIG1 # IF (-45,45) OR (135,-135)
DLOAD SL1 # (45,135) OR (-135,-45)
COSTH
ACOS SIGN
SINTH STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
RVQ
TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
SINTH
ASIN STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
COSTH
BMN
TRIG2 # IF (135,-135)
DLOAD RVQ
THETA # X = ARCSIN(SIN) (-45,45)
TRIG2 DLOAD SIGN # (135,-135)
HIDPHALF
SINTH
DSU
THETA STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
RVQ # (+) - (+) OR (-) - (-)
# Page 1358 # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED # FLIGHT SUBROUTINES.
# Page 1359 # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION. # # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM. # # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D 0
VLOAD VXV
XNB # XNB = OGA (OUTER GIMBAL AXIS)
YSM # YSM = IGA (INNER GIMBAL AXIS)
UNIT PUSH# PD0 = UNIT(OGA X IGA) = MGA
DOT ITA
ZNB
S2 STOVL COSTH # COS(OG) = MGA . ZNB 0
DOT
YNB
STCALL SINTH # SIN(OG) = MGA . YNB
ARCTRIG STOVL OGC 0
VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
XNB
YSM
SL1 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
YSM
DOT
XNB
STCALL SINTH # SIN(MG) = IGA . OGA
ARCTRIG STORE MGC
ABS DSU
.166...
BPL
GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
# Page 1361 # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM. # # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF # THE VAC AREA. # # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
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