# Copyright: Public domain. # Filename: Q_R-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: 1442-1459 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since # the former is not compatible with yaYUL. # # 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 1442 BANK17 SETLOC DAPS2 BANK
EBANK= CDUXD
COUNT* $$/DAPQR
CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES EXTEND# ARE IN MANUAL RATE COMMAND.
RAND CHAN31 CCS A TCF +5# IN AUTO COMPUTE Q,R ERRORS CS DAPBOOLS # IN MANUAL RATE COMMAND? MASK OURRCBIT EXTEND BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS. TC QERRCALC
Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS: TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED) TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE) TS COTROLER
DXCH EDOTQ TC ROT-TOUV DXCH OMEGAU
# X - TRANSLATION # # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER) # ULLAGER # APSFLAG, DRIFTBIT # ACC40R2X, ACRBTRAN # # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION # SENSETYP TELL ROTATION DIRECTION AND DESIRE # # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS EXTEND# SENSETYP WILL NOT OPPOSE ANYTRANS
RAND CHAN31 EXTEND BZF +X0RULGE # Page 1443 CA BIT8 EXTEND
RAND CHAN31 EXTEND BZF -XTRANS
CA ULLAGER MASK DAPBOOLS CCS A TCF +X0RULGE
TS NEXTU # STORE NULL TRANSLATION POLICIES TS NEXTV CS DAPBOOLS # BURNING OR DRIFTING? MASK DRIFTBIT EXTEND BZF TSENSE CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS? MASK APSFLBIT CCS A CAF TWO # FAVOR +X JETS DURING AN APS BURN.
TSENSE TS SENSETYP TCF QRCONTRL
+X0RULGE CAF ONE
-XTRANS AD FOUR TS ROTINDEX AD NEG3 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS. CA DAPBOOLS MASK ACC4OR2X CCS A TCF TRANS4
CA DAPBOOLS MASK AORBTRAN CCS A CA ONE # THREE FOR B AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
TSNUMBRT TS NUMBERT
# Q,R-AXES RCS CONTROL MODE SELECTION # SWITCHES INDICATION WHEN SET # BIT13/CHAN31 AUTO, GO TO ATTSTEER # PULSES MINIMUM IMPULSE MODE # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH. EXTEND
RAND CHAN31 # BITS INVERTED CCS A TCF ATTSTEER
CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC MASK DAPBOOLS EXTEND BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
# MINIMUM IMPULSE MODE
INHINT TC IBNKCALL CADR ZATTEROR CA ZERO TS QERROR TS RERROR # FOR DISPLAYS RELINT
EXTEND READ CHAN31 TS TEMP31 # IS EQUAL TO DAPTEMP1 CCS OLDQRMIN TCF CHECKIN
# RATE COMMAND MODE: # # DESCRIPTION (SAME AS P-AXIS)
CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD CS ONE # 1/ACCS WILL DO THE NULLING DRIVES TS COTROLER # COME BACK TO RCS NEXT TIME CA BIT15 MASK CH31TEMP EXTEND BZF RHCACTIV # BRANCH IF OUT OF DETENT. CA OURRCBIT # *********** MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL EXTEND# *********** LAST TIME. BZF STILLRCS CS BIT9 MASK RCSFLAGS TS RCSFLAGS # BIT 9 IS 0. TCF DAMPING 40CYCL OCT50 1/10S OCT1
LINRAT DEC46
DAMPING CA ZERO TS SAVEHAND TS SAVEHAND +1
RHCACTIV CCS SAVEHAND # ****************** TCF +3# Q,R MANUAL CONTROL WC = A*(B+|D|)*D TCF +2# ****************** TCF +1 DOUBLE# WHERE DOUBLE# AD LINRAT # WC = COMMANDED ROTATIONAL RATE EXTEND# A = QUADRATIC SENSITIVITY FACTOR MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY CA L # |D| = ABS. VALUE OF DEFLECTION EXTEND# D = HAND CONTROLLER DEFLECTION MP STIKSENS XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC
COM # Page 1447 AD QLAST TS DAPTEMP3 CCS SAVEHAND +1 TCF +3 TCF +2 TCF +1 DOUBLE DOUBLE AD LINRAT EXTEND MP SAVEHAND +1 CA L EXTEND MP STIKSENS XCH RLAST
COM AD RLAST TS DAPTEMP4 CS QLAST # INTERVAL. AD OMEGAQ TS QRATEDIF CS RLAST AD OMEGAR TS RRATEDIF
ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES TC ROT-TOUV DXCH URATEDIF CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS TC +3# BREAKOUT LEVEL. IF NOT, CHECK R. TC +2 TC +1 AD -RATEDB EXTEND BZMF +2 TCF ENTERUV -2# BREAKOUT LEVEL EXCEEDED. DIRECT RATE. CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK. TC +3 TC +2 TC +1 AD -RATEDB EXTEND BZMF +2 TCF ENTERUV -2# BREAKOUT LEVEL EXCEEDED. DIRECT RATE. CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR MASK QRBIT # DIRECT RATE CONTROL LAST TIME. EXTEND BZF +2 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL. TCF STILLRCS # PSEUDO-AUTO CONTROL. CA40CYCL # Page 1448 TS TCQR
ENTERUV INHINT# DIRECT RATE CONTROL TC IBNKCALL
FCADR ZATTEROR RELINT CA ZERO TS DYERROR TS DYERROR +1 TS DZERROR TS DZERROR +1 CCS URATEDIF TCF +3 TCF +2 TCF +1 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE EXTEND# DIRECT RATE CONTROL. BZMF VDB CCS VRATEDIF TCF +3 TCF +2 TCF +1 AD TARGETDB EXTEND BZMF +2 TCF QRTIME CA ZERO TS VRATEDIF TCF QRTIME
VDB CCS VRATEDIF TC +3 TC +2 TC +1 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE EXTEND# DIRECT RATE CONTROL. IF NOT, FIRE AND BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT CA ZERO # PASS. TS URATEDIF
QRTIME CA TCQR # DIRECT RATE TIME CHECK. EXTEND BZMF +5# BRANCH IF TIME EXCEEDS 4 SEC. CS RCSFLAGS MASK QRBIT ADS RCSFLAGS # BIT 11 IS 1. TC +4
TOPSEUDO CS QRBIT MASK RCSFLAGS TS RCSFLAGS # BIT 11 IS 0. CA HANDADR TS RETJADR CA ONE
# Page 1449
BACKHAND TS AXISCTR
CA FOUR TS NUMBERT
INDEX AXISCTR INDEX SKIPU TCF +1 CA FOUR INDEX AXISCTR TS SKIPU TCF LOOPER
INDEX AXISCTR CCS URATEDIF # INDEX AXIS QUANTITY CA ZERO # 0 -U 1/JETACC-AOSU TCF +2# 1 +U 1/JETACC+AOSU CA ONE # 16 -V 1/JETACC-AOSV INDEX AXISCTR # 17 +V 1/JETACC+AOSV AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
INDEX A CS1/ANET2 +1 EXTEND INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC MP URATEDIF # JET TIME IN A, SCALED 32 SEC TS Q DAS A AD Q TS A # OVERFLOW SKIP TCF +2 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
SETTIME INDEX AXISCTR TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24 TCF AFTERTJ
ZEROTJ CA ZERO TCF SETTIME
HANDADR GENADR BACKHAND
# GTS WILL BE TRIED IF # 1. USEQRJTS = 0, # 2. ALLOWGTS POS, # 3. JETS ARE OFF (Q,R-AXES)
TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.) CCS A TCF RCS CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS? # Page 1450 TCF +2 TCF RCS EXTEND READ CHAN5 CCS A TCF CHKINGTS
GOTOGTS EXTEND DCA GTSCADR
DTCB
CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING TCF +2# YES. SET UP A DAMPED NULLING DRIVE. TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS. INHINT TC IBNKCALL CADR TIMEGMBL RELINT CAF ZERO TS INGTS TCF RCS
EBANK= CDUXD
GTSCADR 2CADR GTS
# Page 1451 # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
QERRCALC CAE CDUY # Q-ERROR CALCULATION EXTEND MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS) TS DAPTEMP1 # SAVE FOR RERRCALC EXTEND MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS TS E
CAE CDUZ # SECOND TERM CALCULATION: EXTEND MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS) TS DAPTEMP2 # SAVE FOR RERRCALC EXTEND MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS AD DELQEROR # KALCMANU INERFACE ERROR AD E XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION: EXTEND# CDU ANGLE -ANGLE DESIRED (Y-AXIS) MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS TS E
CAE DAPTEMP2 # SECOND TERM CALCULATION: EXTEND# CDU ANGLE -ANGLE DESIRED (Z-AXIS) MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS AD DELREROR # KALCMANU INERFACE ERROR AD E XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY. TC Q
# Page 1452 # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
STILLRCS CA RERROR LXCH A CA QERROR TC ROT-TOUV DXCH UERROR
# PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED)) # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
TJLAW CA TJLAWADR TS RETJADR CA ONE TS AXISCTR INDEX AXISCTR INDEX SKIPU TCF +1 CA FOUR INDEX AXISCTR TS SKIPU TCF LOOPER INDEX AXISCTR CA UERROR TS E INDEX AXISCTR CA OMEGAU TS EDOT CA DAPBOOLS MASK CSMDOCKD CCS A TCF +3 TC TJETLAW TCF AFTERTJ
+3CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL MASK USEQRJTS # ON THE NEXT PASS. CCS A # USEQRJTS BIT MUST NOT BE BIT 15. TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE. INHINT TC IBNKCALL CADR SPSRCS # DETERMINE RCS CONTROL RELINT CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V. TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
# Q,R-JET-SELECTION-LOGIC # # INPUT: AXISCTR 0,1 FOR U,V # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN # Page 1453 # TJU,TJV JET TIME SCALED 10.24 SEC. # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY # RETJADR WHERE TO RETURN TO # # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK # CHANNEL 5 # SKIPU,SKIPV FOR LESS THAN 150MS FIRING # # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT # IF NONE CAN BE FOUND. # # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL. EXTEND BZF DOROTAT CS FLGWRD10 MASK APSFLBIT EXTEND BZF DOROTAT CA DAPBOOLS MASK DRIFTBIT EXTEND BZF XTRANS
DOROTAT CAF TWO TS L INDEX AXISCTR CCS TJU TCF +5 TCF NOROTAT TCF +2 TCF NOROTAT
ZL AD ONE TS ABSTJ
CA AXISCTR AD L TS ROTINDEX # 0 1 2 3 = -U -V +U +V
CA ABSTJ AD -150MS EXTEND BZMF DOSKIP # Page 1454 TC SELCTSUB
INDEX AXISCTR CA INDEXES TS L
CA POLYTEMP INHINT INDEX L TC WRITEP
RELINT TCF FEEDBACK
NOROTAT INDEX AXISCTR CA INDEXES INHINT INDEX A TC WRITEP -1
ADS ABSTJ INDEX AXISCTR CCS TJU CA +TJMINT6 TCF +2 CS +TJMINT6 INDEX AXISCTR TS TJU
CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS TCF NOTMIN -1 EXTEND READ LOSCALAR MASK ONE TS NUMBERT
NOTMIN TC SELCTSUB
INDEX AXISCTR CA INDEXES INHINT # Page 1455 TS T6FURTHA +1 CA POLYTEMP INDEX T6FURTHA +1 TC WRITEP
CA ABSTJ TS T6FURTHA TC JTLST # IN QR BANK BY NOW
RELINT
CA ZERO INDEX AXISCTR TS SKIPU
FEEDBACK CS THREE AD NUMBERT EXTEND BZMF +3
CA TWO TCF +2 CA ONE INDEX AXISCTR TS NO.UJETS TCF LOOPER
XTRANS CA ZERO TS TJU TS TJV CA FOUR INHINT XCH SKIPU EXTEND BZF +2 TC WRITEU -1 CA FOUR XCH SKIPV RELINT
EXTEND BZF CLOSEOUT INHINT TC WRITEV -1 RELINT
TCF CLOSEOUT
INDEXES DEC4 DEC13
+TJMINT6 DEC22 # Page 1456
-150MS DEC -240
BIT8,9OCT00600
SCLNORM OCT266
TJLAWADR GENADR TJLAW +3# RETURN ADDRESS FOR RCS ATTITUDE CONTROL
# THE JET LIST: # THIS IS A WAITLIST FOR T6RUPTS. # # CALLED BY: # CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN # TS T6FURTHA # CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW) # TS T6FURTHA +1 # TC JTLST # # EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO. # # THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT) # THE INPUT IS THE LAST MEMBER OF THE LIST. # # RETURNS BY: # + TC Q # # DEFINITIONS: (OUTPUT) # TIME6 TIME OF NEXT RUPT # T6NEXT DELTA TIME TO NEXT RUPT # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT # NXT6ADR AXIS INDEX 0 -- P-AXIS # T6NEXT +1 AXIS INDEX 4 -- U-AXIS # T6FURTHA +1 AXIS INDEX 13 -- V-AXIS
JTLST CS T6FURTHA AD TIME6 EXTEND BZMF MIDORLST # TIME6 -- TI IS IN A
# Page 1457
MIDORLST AD T6NEXT EXTEND BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
LXCH T6NEXT +1 DXCH T6FURTHA EXTEND
SU TIME6 DXCH T6NEXT
TC Q
LASTCHG CS A AD NEG0 TS T6FURTHA
TC Q
# ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L. # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN # A AND THE V-COMPONENT IS IN L.
ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2 EXTEND MP COEFFQ XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2 EXTEND MP COEFFR TS L # COEFFR.(R) IS PUT INTO L AD ROTEMP2 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1 TCF +4 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX TS ROTEMP1 CS ROTEMP2 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A TS7 TCF +3 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L TC Q
SELCTSUB INDEX ROTINDEX CA ALLJETS INDEX NUMBERT MASK TYPEPOLY TS POLYTEMP # Page 1458 MASK CH5MASK CCS A TCF +2
TC Q
CA THREE
FAILOOP TS NUMBERT INDEX ROTINDEX CA ALLJETS INDEX NUMBERT MASK TYPEPOLY TS POLYTEMP MASK CH5MASK EXTEND BZF FAILOOP -2 CCS NUMBERT TCF FAILOOP INDEX AXISCTR TS TJU TC ALARM OCT02004 TCF NOROTAT
ALLJETS OCT00110# -U 6 13 OCT00022# -V 2 9 OCT00204# +U 5 14 OCT00041# +V 1 10
TYPEPOLY OCT00125# -X 1 5 9 13 OCT00252# +X 2 6 10 14 OCT00146# A 2 5 10 13 OCT00231# B 1 6 9 14 OCT00377# ALL 1 2 5 6 9 10 13 14
# THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
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