# 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. # # 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 2021112-061 # 16:27 JULY 14, 1969
# Page 1421 BANK16 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 OCT02000# 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 TC1STOTWOS TS CDUXD CA CDUYD EXTEND MSU DELCDUY TC1STOTWOS TS CDUYD CA CDUZD EXTEND MSU DELCDUZ # Page 1422 TC1STOTWOS 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
OVERSUB TS7# 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 OCT77147
BACKP CA DAPTEMP1 EXTEND MP1JACC 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 CA1/40 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 MP1/40 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 MP1/40 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 MP1/40 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
+5TS 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 DEC60
WORKTIME CA QACCDOT EXTEND MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6). DAS AOSQ CA AOSQ TS ALPHAQ EXTEND MP200MS # .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 MP200MS # .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
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 MASK07400OCT 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 OCT02001 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
-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
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 CA40CYC 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 MP1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI DAS A TC OVERSUB EXTEND MP25/32# 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
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 CONSTRUCTION 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 OCT02003 TCF JETSOFF # ********** TCF ALARMJET **********
SELECTYZ TS NUMBERT TCF SELECTP +1
-1TCF ABORTYZ +2
JETSALL OCT00252 OCT00125# +P OCT00140# -Y OCT00006# -Z OCT00220# +Y OCT00011# +Z OCT00151# +V
TYPEP OCT00146# -U OCT00226# -V OCT00231# +U OCT00151# +V OCT00132# 1-3 OCT00245# 2-4 OCT00377# ALL
INDXYZ = -136MST6
-136MST6 DEC -218 DEC4 DEC2 OCT07776 DEC5 DEC9 DEC10 OCT07776 DEC3 # Page 1441 DEC8 DEC7 OCT07776# THESE INDEXES OF MASK JETSALL WILL OCT07776# CHANGE THE INSTRUCTION AT SELECTP +4 OCT07776# TO BE TC JETSALL -1 OCT07776# ONLY USED FOR TRANSLATION FAILURE OCT07776
+150MST6 DEC240 07400OCTOCT07400
# T-JET LAW FIXED CONSTANTS
NORMSCL OCT266
-100MS DEC -.1 200MS DEC .2 25/32 = PRIO31 # (DEC .78125)
BITS8,9OCTAL00600 1/40DEC .02500
MINTIMES DEC -22 DEC22
PSKIPADR GENADR SKIPPAXS
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