# Copyright: Public domain. # Filename: P40-P47.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: 752-784 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed interpretive indentation. # # 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 752 # PROGRAM DESCRIPTION: P40BOTH DECEMBER 22, 1966 # MOD 03 BY PETER ADLER MARCH 3, 1967 # CALLED VIA JOB FROM V37E # # FUNCTIONAL DESCRIPTION # # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS # THRUSTING MANEUVER. # (There is no item #2 in the original program listing --- RSB 2009.) # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE. # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A # PGNCS CONTROLLED DPS MANEUVER. # 5) IN POSTBURN --- ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER, # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO. # # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL. # # SUBROUTINES USED # # R02 IMU STATUS CHECK # S40.1 COMPUTATION OF THRUST DIRECTION # S40.13 LENGTH OF BURN # S40.2,3 PREFERRED IMU ORIENTATION # S40.8 X PRODUCT STEERING # S40.9 LAMBERT VTOGAIN # R60LEM ATTITUDE MANEUVER # LEMPREC EXTRAPOLATE STATE VECTOR # PREREAD AVERAGE G, SERVICER # ALLCOAST DAP COASTING INITIALIZATION # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN # PHASCHANG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM, # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT, # KILLTASK, SGNAGREE, TPAGREE, ETC. # # RESTARTS VIA GROUP 4 # # DISPLAYS # # V50N25 203 A/P TO PGNCS, AUTO-THROTTLE MODE, AUTO ATTITUDE CONTROL # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK) # V50N99 PLEASE PERFORM ENGINE ON ENABLE # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND # V16N40 FINAL VALUES OF TG, VG, DELTAVM # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER # V05N09 POSSIBLE ALARMS # V50N07 PLEASE SELECT P00 # # Page 753 # VIA R30 # # V06N44 HAPO, PERI, TFF # V06N35 TIME TO PERIGEE, HMS # # ALARM OR ABORT EXIT MODES # # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED. # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH. # # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP # TIG BY 45 SECS. # # ERASABLE INITIALIZATION # # DEBRIS # # OUTPUT # # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB # XDELVFLG = 1 FOR EXT DELV COMPUTATION # = 0 FOR AIMPT (LAMBERT COMP
COUNT* $$/P40 EBANK= WHICH
BANK36 SETLOC P40S BANK
P40LM TC PHASCHNG OCT04024
CAF P40ADRES # INITIALIZATION FOR BURNBABY TS WHICH
CA FLGWRD10 MASK APSFLBIT CCS A TCF P40ALM TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE. CADR R02BOTH
CS DAPBOOLS # INITIALIZE DVMON MASK CSMDOCKD CCS A CAF THRESH1 AD THRESH3 TS DVTHRUSH CAF FOUR TS DVCNTR # Page 754 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
VLOAD CLEAR # LOAD F, MDOT, TDECAY
FDPS
NOTHROTL STORE F SLOAD
DPSVEX
P40IN DCOMP SR1
STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
S40.1# COMPUTES UT AND VGTIG CALL
S40.2,3# COMPUTES PREFERRED IMU ORIENTATION EXIT
INHINT TC IBNKCALL CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
TC P40SXT4
# ********************************
TCF BURNBABY
# ********************************
P40SXT4 EXTEND QXCH P40/RET
P41MANU RELINT
TC DOWNFLAG # CLEAR 3AXISFLG -- R60 USE VECPOINT. ADRES3AXISFLG
TERM40 EXTEND DCA SERVCADR DXCH AVEGEXIT CAF ZERO TS TRKMKCNT # ZERO RENDZVS CNTERS CA Z TS DISPDEX INHINT TC IBNKCALL CADR RESTORDB RELINT TC GOTOPOOH
EBANK= WHICH COUNT* $$/P41
P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY TS WHICH
TC BANKCALL CADR R02BOTH
TC INTPRET # BOTH LM
BON DLOAD# IF NJETSFLAG IS SET, LOAD Z JET F
NJETSFLG
P41FJET1
FRCS4 # IF NJETSFLG IS CLEAR, LOAD 4 JET F
P41FJET STCALL F
P41IN
P41FJET1 DLOAD # Page 756
FRCS2 STORE F
P41IN CALL
S40.1# BOTH
P41NORM CALL
S40.2,3# CALCULATE PREFERRED IMU ORIENTATION AND EXIT# SET PFRATFLG.
INHINT TC IBNKCALL CADR ZATTEROR # ZERO ATTITUDE ERRORS TC IBNKCALL CADR SETMINDB # SET 0.3 DEGREE DEADBAND TC P40SXT4
TC INTPRET
VLOAD CALL# TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
S41.1# AXIS COORDINATES FOR V16N85 DISPLAY. STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND) EXIT
CAF V16N85B TC BANKCALL CADR GODSPRET
CAF PRIO5 TS DISPDEX # FOR SAFETY ONLY TC FINDVAC EBANK= VGPREV 2CADR DYNMDISP
TC2PHSCHNG OCT00076# GROUP 6 RESTARTS AT REDO6.7 OCT04024# GROUP 4 RESTARTS HERE
# ********************************
TCF B*RNB*B*
# ********************************
BLNKWAIT CAF1SEC TC BANKCALL CADR DELAYJOB
REDO6.7CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
# ******************************** # Page 757
EXTEND BZF BLNKWAIT
CAF V16N85B TC BANKCALL CADR GODSPRET
CAF PRIO5 TC PRIOCHNG
DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST EXTEND# TIG-35, SO SERVICER WILL BE DOING THE BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP. TC INTPRET
VLOAD CALL
VGPREV
S41.1 STORE VGBODY EXIT CAF1SEC TC BANKCALL CADR DELAYJOB TCF DYNMDISP
TCF REDO4.2# CHECKS PHASE 5 AND GOES TO PREREAD # SEE TIG-30 IN BURNBABY
CALCN83 TC INTPRET
VLOAD VAD
DELVCTL
DELVREF STORE DELVSIN # TEMP STORAGE FOR RESTARTS # Page 759 CALL
S41.1 STORE DELVIMU EXIT TC PHASCHNG OCT10035# REREADAC AND HERE
ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT. MASK IDLEFBIT ADS FLAGWRD7
TC NOULLAGE
ENGINOF4 EXTEND DCA TIME2 DXCH TEVENT
ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR. MASK FLAGWRD5 TS FLAGWRD5 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM EXTEND# SUBROUTINE.
RAND DSALMOUT AD PRIO20 # TURN OFF THE ENGINE -- DPS OR APS EXTEND WRITE DSALMOUT
CS DAPBOOLS # TURN OFF TRIM GIMBAL MASK USEQRJTS ADS DAPBOOLS
CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE TS THRUST # IS TURNED OFF. CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE EXTEND# ENGINE IS DISARMED. WOR CHAN14
EBANK= DVCNTR
NSTEER INHINT CA EBANK7 TSEBANK CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF CCS A # STEERING IS ALMOST DONE.
TCF +5# IMPULSW = 0 EXIT CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON) CCS A TCF +3# DVMON ON --> THRUSTING --> IMPULSW VIA S40.8 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT CADR SERVEXIT
GETDT CCS A TCF +3 TCF +2 CAF ZERO AD ONE XCH L CAF ZERO DXCH TGO CA TGO +1 TC Q
# **************************************
SEC15DP OCT00000# DON'T SEPARATE
SEC15 DEC1500# DON'T SEPARATE
SEC30DP 2DEC3000
SEC45DP OCT00000# DON'T MOVE FROM JUST BEFORE SEC45
SEC45 DEC4500 5SECDP OCT00000# DON'T MOVE FROM JUST BEFORE 5SEC 5SEC DEC500 26SECS DEC2600
V16N40 VN1640
V16N85B VN1685
V1683 VN1683
SEC01 = 1SEC
ACADN85 = P41TABLE +2
EBANK= DELVIMU
ACADN83 2CADR CALCN83
# ****************************************** # Page 764 # PROGRAM DESCRIPTION: S40.1 DATE: 15 NOV 66 # MOD N02 LOG SECTION P40-P47 # MOD BY ZELDIN AND ADAPTED BY TALAYCO # # FUNCTIONAL DESCRIPTION # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG # VECTOR(VGTIG). # # CALLING SEQUENCE # L CALL # L+1 S40.1 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR # ERROR RETURN IF NOSOFLAG =1 # # SUBROUTINES CALLED # LEMPREC # INITVEL # CALCGRAV # MIDGIM # # ALARM OR ABORT EXIT MODES # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1 # # ERASABLE INITIALIZATION REQUIRED # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER # F THRUST FOR ENGINE USED # IF DELTA-V MANEUVER: # DELVSIN SPECIFIED DELTA-V REQUIRED IN # INERTIAL COORDS. OF ACTIVE VEHICLE # AT TIME OF IGNITION VECTOR B7 M/CS # DELVSAB MAG. OF DELVSIN DP B7 M/CS # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS. # IF AIMPT STEER: # TIG TIME OF IGNITION DP B28 CS # RTARG POSITION TARGET TIME VECTOR B29 M # CSTEER C FOR STEER LAW DP B2 # DLTARG TARGET TIME-IGNITION TIME DP B28 CS # # OUTPUT # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS) # VGTIG INITIAL VALUE OF VELOCITY # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC) # -GDT FOR S40.13 VECT B7 M/CS # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B27M # POSITION AT TIME OF IGNITION # # DEBRIS QTEMP1 # MPAC, QPRET # PUSHLIST
BANK14 SETLOC P40S1 BANK # Page 765 COUNT* $$/S40.1
S40.1 STQ DLOAD
QTEMP
TIG STORE TIGSAVE
DELVTEST BOFF
XDELVFLG
S40.1B
CALCTHET SETPD VLOAD 0
VTIG STORE VINIT
VXV UNIT
RTIG STOVL UT # UP IN UT
RTIG STORE RINIT
VSQ PDDL 36D
DMP DDV
THETACON
DMP DMP
DELVSAB
WEIGHT/G
DDV
F STOVL14D
DELVSIN
DOT VXSC
UT
UT
VSL2 PUSH# (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
DELVSIN 14D
SIN PDVL 6D
VXV UNIT
UT VXSCSTADR STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6 14D
COS VXSC
VAD VXSC
VGTIG 36D
VSL2 VAD STADR # Page 766 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
UNIT STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
VGTIG PUSHCALL
GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
GOTO
QTEMP
S40.1B DLOAD
TIG STORE TDEC1
BDSU
TPASS4
STCALL DELLT4 # INTERCEPT TIME -- TIG.
LEMPREC
VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
RATT 0 STORE RTIG STORE RINIT
UNIT STOVL UNIT/R/
VATT STORE VTIG STORE VINIT DLOAD PDDL # NUMIT = 0
ZEROVECS
EPS1
BOFF DAD
NORMSW
SMALLEPS
EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
SMALLEPS PUSH SXA,1
RTX1
SXA,2CALL
RTX2
INITVEL
VLOAD PUSH
DELVEET3 # VGTIG = VR - VN. STORE VGTIG
UNIT # UT = UNIT (VGTIG) STODL UT 36D
STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
GET.LVC # VERTICAL COORDINATES.
GOTO
QTEMP
EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION
# Page 768 # SUBROUTINE NAME: S40.2,3 MOD. NO. 3, DATE APRIL 4, 1967 # MODIFICATION BY: JONATHON D. ADDELSTON (ADAMS ASSOCIATES) # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL) # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL) # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DELVELOPMENT CORP) # # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT" # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION, # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG). # # CALLING SEQUENCE: # L CALL # INTERPRETIVE CALL. # L +1 S40.2,3 # L +2 (RETURN) # GIMBAL ANGLE VECTOR IN MPAC. # # SUBROUTINES CALLED: NONE. # # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE). # # ALARM/ABORT MODES: NONE. # # INPUT: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2. # 2. UT HALF-UNIT DESIRED THRUST DIRECTION. # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES. # # OUTPUT: # 1. `XSCREF' WINGS-LEVEL HEADS-UP LM ORIENTATION # `YSCREF' IN REFERENCE COORDINATES # `ZSCREF' (PREFERRED IMU ORIENTATION). # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES. # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES. # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED. # # DEBRIS: NONE # Page 769
COUNT* $$/S40.2
S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE). STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION)
VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
RTIG # YSCREF = UNIT(UT X RTIG)
PDDL BHIZ 36D # TEST MAGNITUDE OF UT X RTIG
FIXY # IF SMALL, USE UT X VTIG AS YSC
STORY VLOAD STADR STORE YSCREF
VXV VSL1 # COMPUTE (YSCREF X XCREF), BUT FOR A
XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
VCOMP # ZSCREF = - (YSCREF X XSCREF) STORE ZSCREF # = + (XSCREF X YSCREF)
SET RVQ
PFRATFLG
FIXY VLOAD VXV # IN THIS CASE,
XSCREF # YSCREF = UNIT(XSCREF X VTIG)
VTIG
UNIT PUSH
GOTO
STORY # Page 770 # SUBROUTINE S40.8 # MODIFIED APRIL 3, 1968 BY PETER ADLER, MIT/IL # # DESCRIPTION # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP. # # CALLING SEQUENCE # L-1 CALL # L S40.8 # L+1 INTERPRETIVE RETURN # # ALARM # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS # AND SET ALARM 1407. RETURN TO CALLER NORMALLY. # # INPUT AND INITIALIZATION # VGPREV REFERENCE 2(7) M/CS # DELVREF REFERENCE 2(7) M/CS # BDT REFERENCE 2(7) M/CS # TDECAY TAIL-OFF TIME 2(28) CS # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT) # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET. # # NOTE: VGTIG EQUALS VGPREV # # OUTPUT # STEERSW SEE INPUT # INPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN # TGO TIME TO CUT-OFF 2(28) CS # SEE FINDCDUW FOR STEERING OUTPUTS. # # SUBROUTINE CALLED # FINDCDUW # # DEBRIS # MPACS, PUSHLIST
COUNT* $$/S40.8 # Page 771
S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
XDELVFLG
RASTEER1
VLOAD VSU
VGPREV
DELVREF
VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
MXV VSL1
REFSMMAT STORE UNFC/2
BDTOK VLOAD ABVAL
VG STORE VGDISP
TGDCALC SETPD VLOAD 0
VG STOVL VGPREV
DELVREF
BOFF VCOMP
STEERSW
QPRET
UNIT
DOT PUSH
VG
BPL DDV
ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
VEX
DAD DMP
DPHALF
SR DDV 10D 36D
DMP DAD
-FOURDT
TDECAY STORE TGO
DAD
PIPTIME STODL TIG
TGO
DSU BPL
FOURSECS # 400 CS
FINDCDUW -2
SET CLRGO
IMPULSW
STEERSW
QPRET
ALARMIT EXIT
# Page 772 TC ALARM OCT01407 TC INTPRET
GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
FINDCDUW -2# FINDCDUW WILL EXIT TO UPDATEVG +3.
# Page 773 # NAME: S40.13 -- TIMEBURN # # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE # BURN # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF # SIGNAL # # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB # # INPUT VGTIG -- VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7 # WEIGHT/G -- MASS OF VEHICLE IN KGM AT +16 # F -- APS ENGINE THRUST IN M.NEWTONS AT +7 # AND ALSO FOR RCS ENGINE # MDOT -- RATE OF DECREASE OF VEHICLE MASS DURING ENGINE # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY # REQUIRE MODIFICATION FOR SATURN BURNS. # ENG1FLAG -- SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED # =0 DPS # =1 APS # # OUTPUT IMPULSW ZERO FOR STEERING # ONE FOR ATTITUDE HOLD # NOTHROTL ZERO FOR THROTTLING # ONE TO INHIBIT THROTTLING # TGO TIME TO BURN IN CS # # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS # FORCE.
EBANK= TGO COUNT* $$/40.13
S40.13TC INTPRET
SETPD CLEAR 00D
IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
VLOAD ABVAL
VGTIG # VELOCITY TO BE GAINED AT +7
PDDL DMP # 00D = MAG OF VGTIG AT +7 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
FRCS2
DDV SL1 # SCALE
WEIGHT/G
BDSU PUSH
BOFF SET
APSFLAG
S40.13D # FOR DPS ENGINE
NOTHROTL DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
K1VAL # M.NEWTONS-CS AT +24
WEIGHT/G
BDSU BMN # Page 774 00D
S40.131# TGO LESS THAN 100 CS
PDDL DMP # 02D = TEMP1 AT +7
MDOT
# MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY # REQUIRE ADJUSTMENT.
3.5SEC # 350 CS AT +14
BDSU PDDL
WEIGHT/G
F
DMP SR2 # SCALE 5SECS
DDV PUSH# 04D = TEMP2
BDSU BPL 02D
S40.13D DLOAD BDDV
DMP DAD 5SECS 1SEC2D # 100 CS AT +14
GOTO
S40.132
S40.131DLOAD DMP
WEIGHT/G
SR1 PUSH
DAD DDV
K2VAL # M.NEWTON CS AT +24
K3VAL # M.NEWTON CS AT +10
S40.132 SET EXIT
IMPULSW
S40.132* TC TPAGREE CA MPAC XCH L CA ZERO DXCH TGO TCF S40.134
S40.13D DLOAD DMP # FOR DPS ENGINE 00D
WEIGHT/G PUSH BON
APSFLAG
APSTGO
DDV CLEAR
S40.136
NOTHROTL
BOV PUSH # Page 775
S40.130V
S40.127 DSU BPL 6SEC # 600.0 CS AT +14
S40.138
DAD GOTO 6SEC
S40.132
S40.133EXIT
S40.134TC PHASCHNG OCT00003 TC ENDOFJOB
S40.130V DLOAD SR4 # RECOMPUTED TGO IN TIMER UNITS
DDV
S40.136_ # S40.136 SHIFTED LEFT 10 STORE TGO EXIT TCF S40.134# REJOIN COMMON CODING FOR RESTART PROTECT
S40.138 DSU BPL 89SECS
STORETGO
SET
NOTHROTL
STORETGO DLOAD# LOAD TGO AT 2(14) EXIT TCF S40.132*
# FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO # COMPUTATION CYCLES (4 SECONDS). # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE. # # CALLING SEQUENCE VIA FINDVAC AS NEW JOB. # # INPUT RN ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29 # VN ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7 # Page 776 # VPREV LAST COMPUTED VELOCITY REQUIRED VECTOR IN # METERS/CS AT +7. # TIG TIME OF IGNITION IN CS AT +28. # DLTARG COMPUTATION CYCLE INTERVAL = 200 CS AT +28. # PIPTIME TIME OF RN AND VN IN CS AT +28. # GDT/2 HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO # ACCELERATION OF GRAVITY IN METERS/CS AT +7. # DELVREF CHANGE IN VELOCITY DURING LAST 2 SEC IN # METERS/CS AT +7. # # OUTPUT VGPREV VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7. # VGDISP MAG OF VGPREV FOR DISPLAY PURPOSES. # VRPREV VELOCTY REQUIRED VECTOR IN METERS/CS AT +7. # BDT B VECTOR IN METERS/CS AT +7. # # SUBROUTINES USED INITVEL
EBANK= VGPREV COUNT* $$/S40.9
S40.9TC INTPRET
SETPD 00D
SET DLOAD
AVFLAG # SET AVFLAG FOR LEM ACTIVE
HI6ZEROS
PDDL
EPS1
BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
NORMSW
EPSSMALL
EPS2
EPSSMALL PUSHCALL
HAVEGUES
ENDS40.9EXIT TC PHASCHNG OCT2 TCF ENDOFJOB
# Page 778
R1C
XSU,2 SL*
X1 1,2
SQRT PDDL # -B (NO SIGN)
SS
DSU DDV 30D
SS
SQRT PUSH
SR1 ASIN
DMP PDDL 2PI+3
PDDL DDV 30D
SS
BOV
+1
SQRT DMP
SR3 BDSU
SIGN PDDL
GEOMSGN 2PI+3
SR2 DSU
DMP PDDL
SS
SS
SR3 SQRT
DMP
PDDL SL3
MUASTEER
SQRT BDDV
DSU DAD
TPASS4
PIPTIME STODL30D
SIGN 30D # B WITH SIGN STORE30D
BON VLOAD
NORMSW 180MESS
IC
VSU UNIT
UNIT/R/ VXSC PDVL 30D
IC
VAD UNIT
UNIT/R/ # Page 779
GETVRVG1 VXSC VAD 32D
GETVRVG2 LXC,2 VSR*
RTX2 0 -1,2 STORE VIPRIME
GOTO
ASTREND -2 180MESS VLOAD DOT
IC
UNIT/R/
BMN VLOAD
NEGPROD
IC
VSR1 PDVL
UNIT/R/
VSR1 VAD
UNIT PUSH VCOMP # FOR A
VXV SIGN
UN
GEOMSGN
UNIT VXSC 30D
PDVL # UNIT(IC-IR) +-B
GOTO
GETVRVG1
NEGPROD VLOAD VSR1
UNIT/R/
PDVL VSR1
IC
VSU UNIT PUSH
VXV SIGN
UN # FOR B
GEOMSGN
UNIT VXSC 32D
PDVL VXSC VAD 30D
GOTO
GETVRVG2
VSU
VN1
ASTREND STORE DELVEET3
FIRSTTME SLOAD BZE
RTX2
GETGOBL
VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE # Page 780
DELVEET3
NOGOBL
GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
RN DLOAD DSU
PIPTIME # 2
GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
DMP DDV # OBL
EARTHMU 34D # 34D = /RN/ (2) FROM UNIT OPERATION. VXSC VAD
UNITGOBL
DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
GOTO
VGAIN*
2PI+32DEC3.141592653 B-2
# Page 781 # TRIMGIMB (FORMERLY S40.6) # MOD 0 24 FEB 67 PETER ADLER # # FUNCTION: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK) # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE # SPECIFIED BY GAEC) IN - PITCH AND - ROLL. # # CALLING SEQUENCE: # VIA WAITLIST FROM R03 # # INPUT: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS) # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS) # # SUBROUTINES USED: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON. EXTEND WAND CHAN12 CAF EBANK5 # TURN ON + PITCH, + ROLL. EXTEND WOR CHAN12 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS DEC6000# AT FULL + PITCH AND FULL + ROLL CS EBANK5 # TURN OFF + PITCH, + ROLL. EXTEND WAND CHAN12 CAF PRIO5 # TURN ON - PITCH, - ROLL. EXTEND WOR CHAN12
CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN ADRES PITCHOFF
CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY TC VARDELAY # UNTIL THEN CS BIT12 EXTEND WAND CHAN12 # SHUT OFF ROLL
ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE? EXTEND BZF PITCHOFF +4# NO. SET FLAG, ROLL OR PITCH DONE. CAF PRIO10 # RETURN TO R03. TC NOVAC EBANK= WHOCARES # Page 782 2CADR TRIMDONE
TC TASKOVER
PITCHOFF CS BIT10 EXTEND WAND CHAN12 # SHUT OFF PITCH TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO. TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH. ADRES GMBDRVSW TC TASKOVER
# Page 783 # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967 # MOD. NO. 1 DATE: JANUARY 23, 1968, BY PETER ADLER (MIT/IL) # # AUTHOR: JONATHON D. ADDLESTON (ADAMS ASSOCIATES) # # S41.1 PERFORMS THE COORDINATE SYSTEM TRANSFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM. # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES. # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE # SUBROUTINE *SMNB*. FINALLY, THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED BO THE # CALLER WITH C(MPAC) = VELOCITY(LM). # # CALLING SEQUENCE: # L VLOAD CALL # L +1 VELOCITY(REF) # SCALED AT 2(+7) M/CS IN REFERENCE COORDS. # L +2 S41.1 # L +3 STORE VELOCITY(LM) # SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS. # # SUBROUTINES CALLED: # 1. CDUTRIG, # WHICH CALLS CDULOGIC. # 2. *SMNB* # # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.) # # ALARM/ABORT MODES: NONE. # # RESTART PROTECTION: NONE. # # Page 784 # INPUT: # 1. REFSMMAT. # 2. CDUX, CDUY, CDUZ. # 3. VELOCITY (REF) IN MPAC. # # OUTPUT: # 1. CSUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X. # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS. # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND) # # DEBRIS: NONE. # # CHECKOUT STATUS: CODED
COUNT* $$/S41.1
S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
REFSMMAT # TO SM AND RESCALE DUE TO HALF-UNIT MATRIX
GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN # VIA RVQ TO THE CALLER OF S41.1.
Messung V0.5 in Prozent
¤ Dauer der Verarbeitung: 0.18 Sekunden
(vorverarbeitet am 2026-10-12)
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