Quelle IMU_PERFORMANCE_TESTS_4.agc
Sprache: Apollo
# Copyright: Public domain. # Filename: IMU_PERFORMANCE_TESTS_4.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: 382-389 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # 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 382 # PROGRAM -- IMU PERFORMANCE TESTS 4 # DATE -- NOV 15, 1966 # BY -- GEORGE SCHMIDT IL7-146 EXT 1126 # MOD NO-ZERO # # FUNCTIONAL DESCRIPTION # # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST. # # EARTHR,OGC ZERO,ERTHRVSE # # NORMAL EXIT # # LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL # # ALARMS # # 1600 OVERFLOW IN DRIFT TEST # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL # OUTPUT # # FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2 # # DEBRIS # # ALL CENTRALS -- ALL OF EBANK XSM
# Page 383 BANK33 SETLOC IMU4 BANK COUNT* $$/P07
EBANK= XSM
ESTIMS INHINT
CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO # ZERO THE PIPAS TS PIPAX TS PIPAY TS PIPAZ RELINT CA77DECML TS ZERONDX CA ALXXXZ TC ZEROING TC INTPRET SLOAD
SCHZEROS STOVL GCOMPSW -1
INTVAL +2 STOVL ALX1S
SCHZEROS STORE DELVX STORE GCOMP SLOAD
TORQNDX
DCOMP BMN
VERTSKIP CALL
ERTHRVSE
VERTSKIP EXIT TC SLEEPIE +1
# Page 384
ALLOOP CA OVFLOWCK EXTEND BZF +2 TC TASKOVER CCS ALTIM CA A # SHOULD NEVER HIT THIS LOCATION TS ALTIMS CS A TS ALTIM CS ONE AD GEOCOMPS EXTEND BZF +4 CA LENGTHOT EXTEND BZMF +5
CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO XCH PIPAX TS DELVX CAF ZERO XCH PIPAY TS DELVY CAF ZERO XCH PIPAZ TS DELVZ
SPECSTS CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR ALFLT # START THE JOB
# Page 388
SETUPER1 TC INTPRET DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
ANGZ
ANGY
PDDL VDEF
ANGX
VCOMP VXSC
GEORGEJ
MXV VSR1
XSM STORE OGC EXIT
CA OGCPL TC BANKCALL CADR IMUPULSE TC IMUSLLLG
GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST TC VALMIS TC INTPRET CALL
ERTHRVSE EXIT TC TORQUE
SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT CCS TORQNDX # ARE WE DOING VERTDRIFT TC EARTHR* TC ENDOFJOB
SOMEERRR CA EBANK5 TSEBANK CA ONE TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF TC ALARM OCT1600 TC ENDTEST1
SOMERR2 CAF OCT1601 TC VARALARM TC DOWNFLAG ADRES IMUSE TC ENDOFJOB
OCT1601 OCT01601
DEC585 OCT06200# 3200 B+14 ORDER IS IMPORTANT
SCHZEROS 2DEC .00000000 # Page 389 2DEC .00000000
OCT00000
ONEDPP OCT00000# ORDER IS IMPORTANT OCT00001
INTVAL OCT4 OCT2 DEC144 DEC -1
SOUPLY 2DEC .93505870# INITIAL GAINS FOR PIP OUTPUTS
2DEC .26266423# INITIAL GAINS/4 FOR ERECTION ANGLES
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