| Quellcodebibliothek Statistik Leitseite products/Sources/formale Sprachen/Asm/Apollo-11/Comanche055/ Datei vom 11.9.2026 mit Größe 39 kB |
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Quellcode-Bibliothek P51-P53.agc Sprache: Apollo |
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# Copyright: Public domain. # Filename: P51-P53.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 737-784 # Contact: Ron Burkey <info@sandroid.org> # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name, and Comanche 055 page images. # 2009-05-20 RSB Corrections: SETI/PDT -> SET1/PDT, # GOTOPOOH -> GOTOPOOH, R33EXIT -> R53EXIT, # V853 -> VB53, R56A -> R56A1 (some places # only), added missing R56A1 label, added a # missing CAF in COARSTYP, corrected a SETLOC # from P50S to P50S3. # 2009-05-21 RSB In COARFINE, a TC BANKCALL was corrected to # TC PHASCHNG. In R53C, a CADR GOFLASHR was # corrected to CADR GOFLASH. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 737 # PROGRAM NAME -- PROG52 DATE -- NOV 30, 1966 # MOD NO -- 2 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDISK REV 30 # # FUNCTIONAL DESCRIPTION -- # # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENT # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE: # # (A) PREFERRED ORIENTATION # # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CAL # STORED BY A PREVIOUSLY SELECTED PROGRAM. # # (B) NOMINAL ORIENTATION # # X = UNIT ( Y x Z ) # -SM -SM -SM # # Y = UNIT (V X R) # -SM - - # # Z = UNIT ( -R ) # -SM - # # WHERE: # # R = THE GEOMETRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT # - # # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT # - # # (C) RERSMMAT ORIENTATION # # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FRO # WAS LAST ALIGNED ONLY DUE TO GYRO DRIVE (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPT HA # SINCE THE LAST ALIGNMENT). # # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANG # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN T # COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AV # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED US # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. O # REQUESTED. # # CALLING SEQUENCE -- # # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # Page 738 # # SUBROUTINES CALLED -- # # 1. FLAGDOWN 7. S52.2 13. NEWMODEX # 2. R02BOTH 8. CAL53A 14. PRIOLARM # 3. GOPERF4 9. FLAGUP # 4. MATMOVE 10. R56 # 5. GOFLASH 11. R51 # 6. S52.3 12. GOPERF3 # # NORMAL EXIT MODES -- # # EXITS TO ENDOFJOB # # ALARM OR ABORT EXIT MODES -- # # NONE # # OUTPUT -- # # THE FOLLOWING MAY BE FLASHED ON THE DSKY # 1. IMU ORIENTATION CODE # 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED # 3. TIME OF NEXT IGNITION # 4. GIMBAL ANGLES # 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE # 6. PLEASE PERFORM P00 # THE MODE DISPLAY MAY BE CHANGED TO 20 # # ERASABLE INITIALIZATION REQUIRED -- # # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED I # XSMD, YSMD, ZSMD. # # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING. # # DEBRIS -- # # WORK AREA P54 = PROG52 BANK 33 SETLOC P50S BANK SBANK= LOWSUPER EBANK= SAC COUNT 15/P52 PROG52 TC PHASCHNG OCT 00254 TC DOWNFLAG ADRES UPDATFLG # BIT 7 FLAG 1 # Page 739 TC DOWNFLAG ADRES TRACKFLG # BIT 5 FLAG 1 TC BANKCALL CADR R02BOTH # IMU STATUS CHECK CAF BIT4 MASK STATE +2 # IS PFRATFLG SET? CCS A TC P52A # YES CAF BIT2 # NO TC P52A +1 P52A CAF BIT1 TS OPTION2 P52B CAF BIT1 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE CADR GOPERF4R TC GOTOPOOH TC +5 TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT TC PHASCHNG OCT 00014 TC ENDOFJOB CA OPTION2 MASK THREE INDEX A TC +1 TC P52T # L.S. TC P52J # PREF TC P52T # NORM TCF P52C # REF P52T EXTEND DCA NEG0 DXCH DSPTEM1 CAF V06N34 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 EXTEND DCA DSPTEM1 EXTEND BZF +2 TCF +4 EXTEND DCA TIME2 DXCH DSPTEM1 CA OPTION2 MASK BIT2 CCS A # Page 740 TCF +6 # NOM TC INTPRET # LS CALL P52LS GOTO P52D TC INTPRET DLOAD DSPTEM1 CALL # COMPUTE NOMINAL IMU S52.3 # ORIENTATION P52D CALL # READ VEHICLE ATTITUDE AND S52.2 # COMPUTE GIMBAL ANGLES EXIT CAF VB06N22 TC BANKCALL # DISPLAY GIMBAL ANGLES CADR GOFLASH TC GOTOPOOH TC COARSTYP P52J TC INTPRET # RECYCLE: VEHICLE HAS BEEN MANEUVERED GOTO P52D TC INTPRET CALL # DO COARSE ALIGN CAL53A # ROUTINE CAL53RET SET EXIT REFSMFLG P52C TC PHASCHNG OCT 04024 CAF ALRM15 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC +2 # V33 TC P52F # E TC INTPRET RTB DAD LOADTIME TSIGHT1 CALL LOCSAM EXIT P52E TC BANKCALL # DO STAR SELECTION CADR PICAPAR TC P52I # 2 STARS NOT AVAILABLE P52F TC INTPRET # 2 STARS AVAILABLE CALL R51 ENDP50S EXIT TC GOTOPOOH # Page 741 P52I TC ALARM OCT 405 CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC P52F # PROCEED: DO FINE ALIGN-R51 TC P52C # RECYCLE: VEHICLE HAS BEEN MANEUVERED V06N34 VN 0634 VB06N22 VN 00622 COARSTYP CAF OCT13 TC BANKCALL CADR GOPERF1 TCF GOTOPOOH # V34 TCF P52J +3 # NORMAL TC INTPRET # GYRO COARSE GYCRS VLOAD MXV XSMD REFSMMAT UNIT STOVL XDC YSMD MXV UNIT REFSMMAT STOVL YDC ZSMD MXV UNIT REFSMMAT STCALL ZDC CALCGTA CLEAR CLEAR DRIFTFLG REFSMFLG EXIT CAF V16N20 TC BANKCALL CADR GODSPR CA R55CDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TC PHASCHNG OCT 04024 TC INTPRET AXC,1 AXC,2 XSMD REFSMMAT CALL # Page 742 MATMOVE CLEAR SET PFRATFLG REFSMFLG RTB VLOAD SET1/PDT ZEROVEC STORE GCOMP SET GOTO DRIFTFLG R51K V16N20 VN 1620 ALRM15 EQUALS OCT15 SETLOC P50S2 BANK V06N89* VN 0689 # NAME -- P52LS # # FUNCTION -- TO DISPLAY THE LANDING SITE LATITUDE, # LONGITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA # THE KEYBOARD. TO COMPUTE THE LANDING SITE # ORIENTATION FOR P52 OR P54 # # LET: # RLS = LANDING SITE VECTOR IN REF COORDINATES # R = CSM POSITION VECTOR IN REF COORDINATES # V = CSM VELOCITY VECTOR IN REF COORDINATES # THEN THE LANDING SITE ORIENTATION IS: # XSMD = UNIT(RLS) # YSMD = UNIT(ZSMD*XSMD) # ZSMD = UNIT((R*V)*RLS) # # CALL: CALL # P52LS # # INPUTS: DSPTEM1 = TIME OF ALIGNMENT # RLS = LANDING SITE VECTOR IN MOON FIXED COORDINATES # # OUTPUTS: XSMD, YSMD, ZSMD # # SUBROUTINES: RP-TO-R, LAT-LONG, LLASRD, LLASRDA, CSMPREC # # DEBRIS: VAC, SEE SUBROUTINES P52LS STQ SET QMAJ LUNAFLAG DLOAD DSPTEM1 STORE TSIGHT VLOAD SET RLS ERADFLAG STODL 0D TSIGHT STCALL 6D # Page 743 RP-TO-R VSR2 STODL ALPHAV TSIGHT CALL LAT-LONG CALL LLASRD EXIT LSDISP CAF V06N89* TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC LSDISP TC INTPRET CALL LLASRDA DLOAD CALL TSIGHT LALOTORV VLOAD UNIT ALPHAV STODL XSMD TSIGHT STCALL TDEC1 CSMPREC VLOAD VXV RATT VATT VXV UNIT XSMD STORE ZSMD VXV UNIT XSMD STCALL YSMD QMAJ SETLOC P50S1 BANK # NAME: AUTOMATIC OPTICS POSITIONING ROUTINE # # FUNCTION: (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS. # # CALLING: CALL R52 # # INPUT: 1. TARG1FLG AND TARG2FLG: PRESET BY CALLER # 2. RNDVZFLG AND TRACKFLG: PRESET BY CALLER # 3. STAR CODE: PRESET BY CALLER. ALSO INPUT THROUGH DSKY # 4. LAT, LONG, AND ALT OF LANDMARK: INPUT THROUGH DSKY # Page 744 # 5. NO. OF MARKS (MARKINDX): PRESET BY CALLER # # OUTPUT: DRIVE SHAFT AND TRUNNION CDUS. # # SUBROUTINES: 1. FIXDELAY 7. CLEANDSP # 2. GOPERF1 8. GODSPR # 3. GOFLASH 9. REFLASHR # 4. R53 10. R52.2 # 5. ALARM 11. R52.3 # 6. SR52.1 COUNT 15/R52 R52 STQ CLEAR SAVQR52 ADVTRK R52VRB EXIT EXTEND DCA CDUT DXCH DESOPTT TC INTPRET SSP CLEAR OPTIND 0 R53FLAG EXIT R52A TC INTPRET SET BON TRUNFLAG TARG1FLG R52H CLEAR EXIT TERMIFLG R52C CA SWSAMPLE # IS OPTICS MODE IN AGC EXTEND BZMF R52M # MANUAL R52D TC BANKCALL # AGC CADR SR52.1 TCF R52L # GR 90 DEGREES TCF R52J # GR 50 DEGREES TC UPFLAG # LS 50 DEGREES ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0 R52JA CAF BIT10 # IS THIS A LEM MASK STATE +1 CCS A TC R52E # YES CAF BIT6 # NO, IS R53FLAG SET MASK STATE CCS A TCF R52E # YES # Page 745 CAF V06N92 # NO TC BANKCALL CADR GODSPR R52E CA SWSAMPLE # IS OSS IN CMC MODE EXTEND BZMF R52F # NO CS STATE # YES: IS TRUNFLAG SET MASK BIT4 CCS A TC +3 # NO CA PAC # YES TS DESOPTT CA SAC TS DESOPTS R52F CAF .5SEC # WAIT 1/2 SEC TC BANKCALL CADR DELAYJOB CAF BIT10 MASK STATE +1 CCS A TCF R52HA # YES, LEM CAF BIT15 # NO MASK STATE +7 # IS TERMIFLG SET EXTEND BZF R52C # NO R52Q TC INTPRET # YES GOTO SAVQR52 R52H EXIT # LEM R52HA TC BANKCALL CADR R61CSM CA STATE +1 MASK BIT5 EXTEND # TRACKFLG BZF R52Q CS STATE +1 MASK BIT7 # UPDATFLG CCS A TCF R52SYNC R52I CA STATE +5 MASK BIT10 CCS A TC R52D # PRFTRKAT = 1 R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME TCF R52F +1 R52J TC DOWNFLAG # CLEAR TRUNFLAG ADRES TRUNFLAG # BIT 4 FLAG 0 # Page 746 TC ALARM # SET 407 ALARM OCT 407 TC R52JA R52M CAF BIT6 # IS R53FLAG SET MASK STATE CCS A TC R52F # YES INHINT # NO CAF PRIO24 TC FINDVAC EBANK= SAC 2CADR R53JOB RELINT TCF R52F R53JOB TC INTPRET CALL R53 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB (R22 USES) TC ENDOFJOB V06N92 VN 00692 V06N89A VN 0689 SHAXIS 2DEC .5376381241 B-1 2DEC 0 2DEC .8431766920 B-1 R52L CAF BIT10 # IS THIS A LEM MASK STATE +1 CCS A TC R52J # YES CAF OCT404 TC BANKCALL CADR PRIOLARM TCF TERM52 # TERMINATE TCF R52F # PROCEED TCF R52F # NO PROVISION FOR NEW DATA TCF ENDOFJOB OCT404 OCT 404 1.8SEC DEC 180 TERM52 TC CLEARMRK TC BANKCALL # KILL MARK SYSTEM CADR MKRELEAS # Page 747 CAF ZERO TS OPTCADR TC BANKCALL # CLEAR OUT EXTENDED VERBS CADR KLEENEX TC GOTOPOOH # NO GO TO P00 ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING SAVQR52 ADVTRK SET SET LUNAFLAG ERADFLAG GOTO R52VRB # Page 748 # NAME -- S50 ALIAS LOCSAM # NAME: LOCSAM # # FUNCTION -- TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE # IMU ALIGNMENT PROGRAMS. # # DEFINE: # # RATT = POSITION VECTOR OF CM WRT PRIMARY BODY # # VATT = VELOCITY VECTOR OF CM WRT PRIMARY BODY # # RE = RADIUS OF EARTH # # RM = RADIUS OF MOON # # ECLIPOL = POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH # WRT TO SUN OVER THE VELOCITY OF LIGHT # # REM = POSITION OF MOON WRT EARTH # # RES = POSITION OF SUN WRT EARTH # # C = VELOCITY OF LIGHT # # EARTH IS PRIMARY MOON IS PRIMARY # _ _ # VEARTH=-1(RATT) VEARTH=-1(REM+RATT) # _ _ # VMOON = 1(REM-RATT) VMOON =-1(RATT) # _ _ # VSUN = 1(RES) VSUN = 1(RES-REM) # -1 # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5 # -1 # CMOON =COS 5 CMOON =COS(SIN CRM/RATT)+5) # # CSUN =COS 15 CSUN =COS 15 # # VEL/C = VSUN x ECLIPOL + VATT/C # # CALL: DLOAD CALL # DESIRED TIME # LOCSAM # # INPUTS: MPAC = TIME # # OUTPUTS: VEARTH, VMOON, VSUN, CEARTH, CMOON, CSUN, VEL/C # # SUBROUTINES: LSPOS, CSMCONIC # # DEBRIS: VAC AREA, SEE SUBROUTINES. # Page 749 SETLOC P50S1 BANK COUNT* $$/S50 LOCSAM = S50 S50 STQ QMAJ STCALL TSIGHT LSPOS STOVL VMOON 2D STODL VSUN TSIGHT STCALL TDEC1 CSMCONIC SSP TIX,2 S2 0 MOONCNTR EARTCNTR VLOAD VSU VMOON RATT UNIT STOVL VMOON RATT UNIT VCOMP STODL VEARTH RSUBE CALL OCCOS STODL CEARTH CSS5 STOVL CMOON VSUN UNIT STCALL VSUN ENDSAM MOONCNTR VLOAD VSR8 VMOON VSR1 BVSU VSUN UNIT STOVL VSUN VMOON VAD UNIT RATT VCOMP STOVL VEARTH # Page 750 RATT UNIT VCOMP STODL VMOON RSUBM CALL OCCOS STODL CMOON CSS5 STOVL CEARTH VSUN ENDSAM VXV ECLIPOL STOVL VEL/C VATT VXSC VAD 1/C VEL/C STODL VEL/C CSSUN STCALL CSUN QMAJ OCCOS DDV SR1 36D ASIN DAD 5DEGREES COS SR1 RVQ SETLOC P50S BANK RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS RSUBE 2DEC 6378166 B-29 5DEGREES 2DEC .013888889 # SCALED IN REVS 1/C 2DEC .000042699 B-1 # * ECLIPOL 2DEC 0 # * 2DEC -.00007896 B-1 # * 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY TSIGHT1 2DEC 24000 CEARTH = 14D CSUN = 16D CMOON = 18D CSS5 2DEC .2490475 # (COS 5)/4 # Page 751 CSSUN 2DEC .24148 # (COS 15)/4 # Page 752 # PROGRAM NAME -- PICAPAR DATE: DEC 20 66 # MOD 1 LOG SECTION: P51-P53 # ASSEMBLY: SUNDISK REV40 # BY KEN VINCENT # # FUNCTION # THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX) # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED # TO DETERMINE IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STARS OF LOWER INDEX. # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66 DEGREES # AND MORE THAN 40 DEGREES. THOSE PAIRS WITH GOOD SEPARATION # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN # 33 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW. # # CALLING SEQUENCE # L TC BANKCALL # L+1 CADR PICAPAR # L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW # L+3 NORMAL RETURN # # OUTPUT # BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6 # VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW # # INITIALIZATION # 1) A CALL TO LOCSAM MUST BE MADE # 2) VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TO APPROXIMATE TIME OF # SIGHTINGS. # # DEBRIS # WORK AREA # X,Y,ZNB # SINCDU, COSCDU # STARAD -- STAR +5 COUNT 14/PICAP SETLOC P50S1 BANK PICAPAR TC MAKECADR TS QMIN TC INTPRET CALL CDUTRIG CALL CALCSMSC # Page 753 SETPD 0 SET DLOAD # VFLAG = 1 VFLAG DPZERO STOVL BESTI XNB VXSC PDVL SIN33 ZNB AXT,1 VXSC 228D # X1 = 37 X 6 + 6 COS33 VAD VXM UNIT REFSMMAT STORE SAX # SAX = SHAFT AXIS SSP SSP # S1 = S2 = 6 S1 6 S2 6 PIC1 TIX,1 GOTO # MAJOR STAR PIC2 PICEND PIC2 VLOAD* CALL CATLOG,1 OCCULT BON LXA,2 CULTFLAG PIC1 X1 PIC3 TIX,2 GOTO PIC4 PIC1 PIC4 VLOAD* CALL CATLOG,2 OCCULT BON VLOAD* CULTFLAG PIC3 CATLOG,1 DOT* DSU CATLOG,2 CSS66 # SEPARATION LESS THAN 66 DEG. BMN DAD PIC3 CSS6640 # SEPARATION MORE THAN 40 DEG. BPL PIC3 # Page 754 VLOAD* DOT CATLOG,1 SAX DSU BMN # MAJOR STAR IN CONE CSS33 PIC1 VLOAD* DOT CATLOG,2 SAX DSU BPL CSS33 STRATGY GOTO PIC3 STRATGY BONCLR VFLAG NEWPAR XCHX,1 XCHX,2 BESTI BESTJ STRAT VLOAD* DOT* CATLOG,1 CATLOG,2 PUSH BOFINV VFLAG STRAT -3 DLOAD DSU BPL PIC3 NEWPAR SXA,1 SXA,2 BESTI BESTJ GOTO PIC3 OCCULT MXV BVSU CULTRIX CSS BZE CULTED BMN SIGN CULTED MPAC +3 BMN SIGN CULTED MPAC +5 BMN CLRGO CULTED CULTFLAG QPRET CULTED SETGO # Page 755 CULTFLAG QPRET CSS = CEARTH SIN33 2DEC .5376381241 COS33 2DEC .8431756920 CSS66 2DEC .060480472 # (COS76)/4 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4 CSS33 2DEC .197002688 # (COS(1/2(76))/4 PICEND BOFF EXIT VFLAG PICGXT TC PICBXT PICGXT EXIT INCR QMIN PICBXT CA QMIN TC SWCALL #V1 = 12D # Page 756 # NAME -- R51 FINE ALIGN # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT # CALLING SEQ -- CALL R51 # INPUT -- BESTI, BESTJ (PAIR OF STAR NO) # OUTPUT -- GYRO TORQUE PULSES # SUBROUTINES -- R52, R54, R55 (SXTNB, NBSM, AXISGEN) COUNT 14/R51 R51 EXIT CAF BIT1 TS STARIND TS MARKINDX R51.2 TC INTPRET R51.3 CLEAR CLEAR TARG2FLG TARG1FLG EXIT TC PHASCHNG OCT 05024 # RESTART GR 4 FOR R52-R53 OCT 13000 INDEX STARIND CA BESTI EXTEND MP 1/6TH TS STARCODE R51DSP CAF V01N70 TC BANKCALL CADR GOFLASHR TC GOTOPOOH TC +5 TC -5 CAF SIX TC BLANKET TCF ENDOFJOB TC CHKSCODE TC FALTON TC R51DSP TC INTPRET RTB CALL LOADTIME PLANET SSP LXA,1 S1 0 STARIND TIX,1 R51ST STCALL STARSAV2 # 2ND STAR R51ST +1 R51ST STORE STARSAV1 # 1ST STAR # Page 757 EXIT CS MODREG # IS THIS P54 AD OCT66 EXTEND BZF R51B # YES TC INTPRET CALL R52 # AOP WILL MAKE CALLS TO SIGHTING R51A CALL # COMPUTE LOS IN SM FROM MARK DATA SXTSM STORE STARSAV2 EXIT TC BANKCALL CADR MKRELEAS TC INTPRET DLOAD CALL TSIGHT PLANET EXIT CCS STARIND TC R51.4 TC INTPRET MXV UNIT REFSMMAT STORE STARAD VLOAD STARSAV2 STOVL 6D STARSAV1 STOVL 12D PLANVEC STCALL STARAD +6 R54 # STAR DATA TEST BOFF CALL FREEFLAG R51K AXISGEN CALL R55 # GYRO TORQUE CLEAR PFRATFLG R51K EXIT CAF OCT14 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC +2 # V33 TC +3 TC BANKCALL CADR P52C # Page 758 TC INTPRET GOTO ENDP50S R51.4 TC INTPRET MXV UNIT REFSMMAT STOVL PLANVEC STARSAV2 STORE STARSAV1 SSP STARIND 0 GOTO R51.3 R51B TC INTPRET CALL R56 GOTO R51A OCT66 OCT 00066 V01N70 VN 0170 1/6TH DEC .1666667 # Page 759 # NAME: R55 GYRO TORQUE # FUNCTION -- COMPUTE AND SEND GYRO PULSES # CALLING SEQ -- CALL R55 # INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER # OUTPUT -- GYRO PULSES # SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1 SETLOC P50S BANK COUNT* $$/R55 R55 STQ QMIN CALL CALCGTA PULSEM EXIT R55.1 CAF V06N93 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC R55.2 TC R55RET R55.2 TC PHASCHNG OCT 00314 CA R55CDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TC PHASCHNG OCT 05024 OCT 13000 R55RET TC INTPRET GOTO QMIN V06N93 VN 0693 R55CDR ECADR OGC R54 = CHKSDATA # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967 # MOD NO -- 0 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- # # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR S # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED -- # OS1 = OBSERVED STAR 1 VECTOR # OS2 = OBSERVED STAR 2 VECTOR # SS1 = STORED STAR 1 VECTOR # SS2 = STORED STAR 2 VECTOR # A1 = ARCCOS(OS1 - OS2) # Page 760 # A2 = ARCCOS(SS1 - SS2) # A = ABS(2(A1 - A2)) # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE. # # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE # # OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS. # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D. # # ERASABLE INITIALIZATION REQUIRED -- # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6. # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D. # # DEBRIS -- SETLOC P50S1 BANK COUNT* $$/R50 CHKSDATA STQ SET QMIN FREEFLAG CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA STARAD CHKSB VLOAD* DOT* # CAL. ANGLE THETA 0,1 6,1 SL1 ACOS STORE THETA BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS FREEFLAG CHKSD FREEFLAG # CLEAR FREEFLAG AXC,1 DLOAD # SET X1 TO MARK ANGLES 6D THETA STORE 18D GOTO CHKSB # RETURN TO CAL. 2ND ANGLE CHKSD DLOAD DSU THETA # COMPUTE POS DIFF 18D ABS RTB SGNAGREE STORE NORMTEM1 SET EXIT FREEFLAG CAF ZERO TC BANKCALL CADR CLEANDSP CAF VB6N5 # Page 761 TC BANKCALL CADR GOFLASH TCF GOTOPOOH TC CHKSDA # PROCEED TC INTPRET CLEAR GOTO FREEFLAG QMIN CHKSDA TC INTPRET GOTO QMIN VB6N5 VN 605 # NAME -- CAL53A # FUNCTION -- COARSE ALIGN THE IMU, IF NECESSARY # CALLING SEQUENCE -- CALL CAL53A # INPUT -- PRESENT GIMBAL ANGLES -- CDUX, CDUY, CDUZ # DESIRED GIMBAL ANGLES -- THETAD,+1,+2 # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT # SUBROUTINES -- 1.IMUCOARS, 2.IMUSTALL, 3CURTAINS COUNT 14/R50 CAL53A CALL S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES RTB SSP RDCDUS # READ CDUS S1 1 AXT,1 SETPD 3 4 CALOOP DLOAD* SR1 THETAD +3D,1 PDDL* SR1 4,1 DSU ABS PUSH DSU DEGREE1 BMN DLOAD CALOOP1 DSU BPL DEG359 CALOOP1 COARFINE EXIT TC PHASCHNG OCT 04024 TC BANKCALL CADR IMUCOARS # PERFORM COARSE ALIGNMENT TC BANKCALL CADR IMUSTALL # REQUEST MODE SWITCH # Page 762 TC CURTAINS TC BANKCALL CADR IMUFIN20 TC BANKCALL CADR IMUSTALL TC CURTAINS # TEST FOR MALFUNCTION TC INTPRET RTB VLOAD SET1/PDT ZEROVEC STORE GCOMP SET GOTO DRIFTFLG FINEONLY CALOOP1 TIX,1 CALOOP FINEONLY AXC,1 AXC,2 XSM REFSMMAT CALL MATMOVE GOTO CAL53RET MATMOVE VLOAD* # TRANSFER MATRIX 0,1 STORE 0,2 VLOAD* 6D,1 STORE 6D,2 VLOAD* 12D,1 STORE 12D,2 RVQ DEGREE1 DEC 46 DEG359 DEC 16338 SETLOC P50S BANK RDCDUS INHINT # READ CDUS CA CDUX INDEX FIXLOC TS 1 CA CDUY INDEX FIXLOC TS 2 CA CDUZ INDEX FIXLOC TS 3 RELINT TC DANZIG # Page 763 # NAME: GIMB # # FUNCTION: DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT. # # CALLING SEQUENCE: CALL GIMB # # INPUT: DESIRED IMU INERTIAL ORIENTATION VECTORS: XSMD, YSMD, ZSMD # # OUTPUT: GIMBAL ANGLES LEFT IN THETAD, +1, +2 # # SUBROUTINES USED: 1.CDUTRIG 2.CALCSMSC 3.CALCGA SETLOC P50S2 BANK COUNT 14/INFLT CALCSMSC DLOAD DMP SINCDUY COSCDUZ DCOMP PDDL SR1 SINCDUZ PDDL DMP COSCDUY COSCDUZ VDEF VSL1 STORE XNB DLOAD DMP SINCDUX SINCDUZ SL1 STORE 26D DMP SINCDUY PDDL DMP COSCDUX COSCDUY DSU PDDL DMP SINCDUX COSCDUZ DCOMP PDDL DMP COSCDUX SINCDUY PDDL DMP COSCDUY 26D DAD VDEF VSL1 STORE ZNB VXV VSL1 XNB STORE YNB RVQ # NAME -- P51 -- IMU ORIENTATION DETERMINATION # MOD. NO. 2 21 DEC 66 LOG SECTION -- P51-P53 # Page 764 # MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15 # # FUNCTIONAL DESCRIPTION # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SI # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR # THEN PROCESSED AS FOLLOWS. # # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE # TRUNNION ANGLES, RESPECTIVELY. THEN, # _ # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR) # NB # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM. # # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES. # _ T T T _ # V = Q *Q *Q *V , WHERE # 1 2 3 NB # # ( COS(IG) 0 -SIN(IG) ) # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM # Q = ( 0 1 0 ), IG= INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS- # 1 ( ) ROT AND CDULOGIC) # ( SIN(IG) 0 COS(IG) ) # # ( COS(MG) SIN(MG) 0 ) # ( ) # Q = (-SIN(MG) COS(MG) 0 ), MG= MIDDLE GIMBAL ANGLE # 2 ( ) # ( 0 0 1 ) # # ( 1 0 0 ) # ( ) # Q = ( 0 COS(OG) SIN(OG) ), OG= OUTER GIMBAL ANGLE # 3 ( ) # ( 0 -SIN(OG) COS(OG) ) # # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED. # # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA. # # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS. # _ _ # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS, A AND B (BASIC AND STABLE M # 1 2 # Page 765 # DEFINE, # _ _ # U = S # A A1 # _ _ _ # V = UNIT(S x S ) # A A1 A2 # _ _ _ # W = U x V # A A A # # AND, # _ _ # U = S # B B1 # _ _ _ # V = UNIT(S x S ) # B B1 B2 # _ _ _ # W = U x V # B B B # # THEN # _ _ _ _ # X = U *U + V *V + W *W # B1 A B1 A B1 A # _ _ _ _ # Y = U *U + V *V + W *W (REFSMMAT) # B2 A B2 A B2 A # _ _ _ _ # Z = U *U + V *V + W *W # B3 A B3 A B3 A # # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS # _ # S IN 6-11 OF THE VAC AREA # A1 # _ # S IN 12-17 OF THE VAC AREA # A2 # _ # S IN STARAD # B1 # Page 766 _ # S IN STARAD +6 # B2 # # CALLING SEQUENCE: # # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # # SUBROUTINES CALLED: # # GOPERF3 # GOPERF1R # GODSPR # IMUCOARS # IMUFIN20 # R53 # SXTNB # NBSM # MKRELEAS # CHKSDATA # MATMOVE # # ALARMS # # NONE # # ERASABLE INITIALIZATION: # # IMU ZERO FLAG SHOULD BE SET. # # OUTPUT # # REFSMMAT # REFSMFLG # # DEBRIS # # WORK AREA # STARAD # STARIND # BESTI # BESTJ SETLOC P50S1 BANK COUNT 14/P5153 P53 EQUALS P51 P51 CS IMODES30 MASK BIT9 CCS A # Page 767 TC P51A TC ALARM OCT 210 TC GOTOPOOH P51A TC BANKCALL CADR R02ZERO P51AA CAF PRFMSTAQ TC BANKCALL CADR GOPERF1 TC GOTOPOOH # TERM. TC P51B # V33 TC PHASCHNG OCT 05024 OCT 13000 CAF P51ZERO TS THETAD # ZERO THE GIMBALS TS THETAD +1 TS THETAD +2 CAF V6N22 TC BANKCALL CADR GODSPRET CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41 TC BANKCALL CADR GODSPRET TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC CURTAINS # CAGING OR BAD END TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS, IN 5 CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL, TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE. CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US TC CURTAINS # UP. TC PHASCHNG OCT 05024 OCT 13000 TCF P51AA # COARSE ALIGN DONE: RECYCLE FOR FINE # Page 768 # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT P51B TC PHASCHNG OCT 00014 TC INTPRET SSP SETPD STARIND # INDEX -- STAR 1 OR 2 0 0 RTB VLOAD SET1/PDT ZEROVEC STORE GCOMP SET CLEAR DRIFTFLG # ENABLE T4 COMPENSATION TARG2FLG # SHOW MARK IS STAR --- NOT LANDMARK EXIT CAF BIT1 TS MARKINDX # INITIALIZE FOR ONE MARK P51C TC PHASCHNG OCT 05024 OCT 13000 TC CHECKMM MM 53 # BACKUP PROGRAM TCF P51C.1 # NOT P53 TC INTPRET CALL R56 GOTO P51C.2 P51C.1 TC INTPRET CALL R53 # SIGHTING ROUTINE P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA SXTSM PUSH SLOAD BZE STARIND P51D VLOAD STADR STORE STARSAV2 # DOWNLINK GOTO P51E P51D VLOAD STADR STODL STARSAV1 TSIGHT CALL PLANET STORE PLANVEC # Page 769 P51E EXIT TC PHASCHNG OCT 05024 OCT 13000 TC BANKCALL CADR MKRELEAS # ZERO MARKSTAT CCS STARIND TCF P51F # STAR 2 TC PHASCHNG OCT 05024 OCT 13000 CAF BIT1 TS STARIND TCF P51C # GO DO SECOND STAR P51F TC PHASCHNG OCT 05024 OCT 13000 TC INTPRET DLOAD CALL TSIGHT PLANET STOVL 12D PLANVEC STOVL 6D STARSAV1 STOVL STARAD STARSAV2 STCALL STARAD +6 CHKSDATA # CHECK STAR ANGLES IN STARAD AND BON EXIT FREEFLAG P51G TC P51AA P51G CALL AXISGEN # COME BACK WITH REFSMMAT IN XDC AXC,1 AXC,2 XDC REFSMMAT CLEAR CALL REFSMFLG MATMOVE SET GOTO REFSMFLG ENDP50S PRFMSTAQ = OCT15 P51ZERO = ZERO P51FIVE = FIVE V6N22 VN 0622 V41K VN 4100 SET1/PDT CA TIME1 # Page 770 TS 1/PIPADT TCF DANZIG # Page 771 # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA SETLOC P50S3 BANK SXTSM STQ QMAJ LXC,1 DLOAD* MARKSTAT 0D,1 STORE TSIGHT LXC,2 SLOAD* STARIND MKDNCDR,2 LXC,2 VLOAD* MPAC 0,1 STORE 0,2 DLOAD* 5,1 STORE 5,2 CALL SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC LXA,1 INCR,1 MARKSTAT 2 # INCREMENT TO BASE ADR OF ICDU SXA,1 CALL S1 NBSM # TRANSFORM LOS TO SM GOTO QMAJ MKDNCDR ECADR MARKDOWN ECADR MARK2DWN # Page 772 # PROGRAM DESCRIPTION: R53 -- SIGHTING MARK ROUTINE # MOD. NO. 2 21 DEC 66 # MOD. BY STURLAUGSON # # FUNCTIONAL DESCRIPTION: # # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 IC # OCDUS) AND THE TIME OF THE MARK. # # CALLING SEQUENCE: # # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET. # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF. # # SUBROUTINES CALLED # # SXTMARK # OPTSTALL # GOFLASH # # ERASABLE INITIALIZATION: # # TARGET FLAG -- STAR OR LANDMARK # MARKINDX -- NUMBER OF MARKS WANTED # STARIND -- INDEX TO BESTI OR BESTJ (STAR NUMBER) # # OUTPUT # # MARKSTAT CONTAINS INDEX TO VACANT AREA WEHRE MARK DATA IS STORED # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED. # # DEBRIS # # MARKINDX CONTAINS NUMBER OF MARKS DESIRED SETLOC RT53 BANK COUNT 14/R53 R53 STQ SET # SET SIGHTING MARK FLAG R53EXIT R53FLAG EXIT R53A CA MARKINDX # NUMBER OF MARKS MASK LOW3 TC BANKCALL CADR SXTMARK TC BANKCALL CADR OPTSTALL TC CURTAINS INDEX MARKSTAT CCS QPRET # NUMBER OF MARKS ACTUALLY DONE TCF R53B TCF +2 # ZERO TCF +1 # CCS HOLE CAF ZERO # HOUSEKEEP VAC AREA SAVE XCH MARKSTAT # AND MARKSTAT # Page 773 CCS A INDEX A TS 0 TCF R53A R53B TC CHECKMM MM 22 TCF +2 TCF R53D TC CHECKMM MM 23 TCF R53C1 TCF R53D R53C1 CAF ZERO TC BANKCALL CADR CLEANDSP R53C CAF V01N71 TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERM. TCF R53Z TC R53C # RECYCLE R53Z TC CHKSCODE TC FALTON TC R53C CS HIGH9 MASK STARCODE EXTEND MP SIGHTSIX XCH L INDEX STARIND TS BESTI R53D TC INTPRET R53OUT SETGO TERMIFLG # SET TERMINATE FOR R52 R53EXIT SIGHTSIX = SIX V01N71 VN 0171 # ****** KEEP IN SAME BANK AS R51 AND R53 ******** CHKSCODE CCS STARCODE AD NEG47 CCS A TC Q # SC < 0 OR SC > 50 TCF +2 # SC = + OR - 0 TCF +1 # 0 <= SC< 50 INDEX Q # SC = 50 TC 00002 NEG47 OCT 77730 # Page 774 # NAME -- S52.2 # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE # CALL -- CALL S52.2 # INPUT -- X,Y,ZSMD # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2 # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA SETLOC S52/2 BANK COUNT 13/S52.2 S52.2 STQ QMAJ CALL CDUTRIG CALL CALCSMSC AXT,1 SSP 18D S1 6D S52.2A VLOAD* VXM XNB +18D,1 REFSMMAT UNIT STORE XNB +18D,1 TIX,1 S52.2A S52.2.1 AXC,1 AXC,2 XSMD XSM CALL MATMOVE CALL CALCGA GOTO QMAJ # Page 775 # PROGRAM NAME: SR52.1 DATE: DEC 20 1968 # MOD 1 LOG SEC: P51-P53 # BY KEN VINCENT ASSEMBLY: SUNDISK REV 40 # # FUNCTION # # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE # LEM, STAR, OR LANDMARK. IN CASE OF LEM OR LMK, THE PRESENT TIME PLUS # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD, +1). IF THE LEM IS # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE # COMMON PART OF THE THIS PROGRAM. # # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING # VECTOR FOR THE COMMON PART OF THIS ROUTINE. # # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR. # # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG. # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG. # # CALLING SEQUENCE # # L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5 DEG OF DESIRED # L TC BANKCALL # L+1 CADR SR52.1 # L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG. # L+3 ERROR RETURN TRUNNION GREATER THAN 50 DEG # L+4 NORMAL RETURN # # OUTPUT # # SAC: SINGLE PREC, 2'S COMP, SCALED AT HALF REVS -- SHAFT ANGLE DESIRED. # PAC: SINGLE PREC, 2'S COMP, SCALED AT EIGHTH REVS -- TRUNNION ANGLE DESIRED. # # INITIALIZATION # # IF TARG1FLG =1 THEN TARGET IS LEM -- NO OTHER INPUT REQUIRED. # # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES # ARE 6 TIMES STAR NUMBER. # # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SETT ROUTINE # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH # RADIUS # # DEBRIS # # WORK AREA # STARAD -- STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES) COUNT* $$/SR521 # Page 776 SETLOC SR52/1 BANK SR52.1 TC MAKECADR TS QMIN TC INTPRET RTB DAD LOADTIME 1.3SECDP STORE AOPTIME BON BON TARG1FLG LEM52 TARG2FLG LMK52 GOTO STAR52 LEM52 DLOAD AOPTIME STCALL TDEC1 LEMCONIC VLOAD RATT GOTO LMKLMCOM LMK52 BON DLOAD ADVTRK ADVTRACK AOPTIME CALL LALOTORV VLOAD ALPHAV LMKLMCOM STODL STAR AOPTIME STCALL TDEC1 CSMCONIC VLOAD VSU STAR RATT UNIT GOTO COM52 STAR52 SSP LXA,1 S1 0 STARIND TIX,1 ST52ST VLOAD GOTO STARSAV2 # Page 777 COM52 ST52ST VLOAD STARSAV1 COM52 MXV UNIT REFSMMAT STORE STAR SETPD CALL 0 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA CALL # NOW EXPECT TO SEE THE CDU ANGLES. CALCSXA BOFF EXIT CULTFLAG TRUN38 TC SR52E1 TRUN38 DLOAD DSU PAC 38TRDEG BPL DLOAD SR52E22 PAC DSU BPL 20DEGSMN SR52E3 SR52E22 EXIT TC SR52E2 SR52E3 EXIT INCR QMIN SR52E2 INCR QMIN SR52E1 CA QMIN TC SWCALL 38TRDEG 2DEC .66666667 # CORRESPONDS TO 50 DEGS IN TRUNION 1.3SECDP 2DEC 130 20DEGSMN DEC -07199 DEC -0 # Page 778 # THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO # A POINT ON THE GROUND TRACK 60 DEGREES FORWARD OF THE LOCAL VERTICAL # OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW. SETLOC 26P50S BANK ADVTRACK SETPD 0 VLOAD PUSH # INITIALIZE FOR RP-TO-R UNITZ # UZ VEC IN PD 0-5 RTB PUSH # TIME IN PD 6-7 LOADTIME STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC RP-TO-R # GET MOON ROTATION VEC IN REF STODL STAR AOPTIME # PICK UP TIME STCALL TDEC1 # UPDATE STATE TO TIME CSMCONIC VLOAD VXV VATT RATT UNIT STOVL 24D # SAVE -UNIT(VxR) FOR 2ND ROTATION RATT UNIT VCOMP SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5 0 EXIT CA LANDMARK MASK SEVEN # GET NUMBER OF ADVANCE PERIODS EXTEND MP BIT11 # GET N/16 XCH L INDEX FIXLOC TS 30D # TEMP STORE N/16 TC INTPRET SLOAD DMP 30D MPERIOD STCALL AOPTIME # ROTATE ANG ABOUT UR ROTA VLOAD 24D # PICK UP 2ND ROTATION AXIS STODL STAR DP1/6 DSU AOPTIME # 2ND RAT ANGLE = 60 - A STCALL AOPTIME ROTA # GO ROTATE 2ND TIME VLOAD # Page 779 0 STCALL STAR # STORE FINAL LOS IN STAR COM52 # RETURN TO SR52.1 ROTA DLOAD SIN AOPTIME PDVL VXV # PUSH 1/2SIN(A) PD 6-7 STAR # UR VEC 0 # LOS VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11 PDVL DOT STAR 0 VXSC VSL2 STAR PDDL COS # 1/2(UR . LOS)UR 12-17 AOPTIME PDVL BVSU # PUSH 1/2COS(A) 18-19 12D 0 VXSC VSL1 # UP 18-19 VAD VAD # UP 12-17 UP 6011 UNIT SETPD 0 PUSH RVQ DP1/6 2DEC .16666666 MPERIOD 2DEC .047619 # APPROX LUNAR ROT ANG IN 2HRS x 16 # Page 780 # NAME -- S52.3 # FUNCTION -- XSMD= UNIT(YSMD x ZSMD) # YSMD= UNIT(V X R) # ZSMD= UNIT(-R) # CALL -- DLOAD CALL # TALIGN # S52.3 # INPUT -- TIME OF ALIGNMENT IN MPAC # OUTPUT -- X,Y,ZSMD # SUBROUTINES -- CSMCONIC SETLOC P50S2 BANK COUNT 15/S52.3 S52.3 STQ QMAJ STCALL TDEC1 CSMPREC SETPD 0 VLOAD VCOMP RATT UNIT STOVL ZSMD VATT VXV UNIT RATT STORE YSMD VXV UNIT ZSMD STCALL XSMD QMAJ # Page 781 # PROGRAM DESCRIPTION: R56 -- ALTERNATE LOS SIGHTING MARK ROUTINE # # FUNCTIONAL DESCRIPTION # # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOW # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE AST # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO # IN N92. # # CALLING SEQUENCE # # CALL # R56 # # SUBROUTINES CALLED # # A PORTION OF SXTMARK (VAC.AREA SEARCH) # GOFLASH # GOPERF1 # # ERASABLE INITIALIZATION # # STARIND: INDEX TO STAR NUMBER # # OUTPUT # # MARKSTAT: INDEX TO VAC.AREA WHERE OUTPUT IS STORED. # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER. # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS: # VAC +2 CDUY # VAC +3 CDUS # VAC +4 CDUZ # VAC +5 CDUT # VAC +6 CDUX COUNT* $$/R56 SETLOC P50S3 BANK R56 STQ EXIT R53EXIT CAF V06N94B TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERM. TC R56A # PROCEED: ANGLES OK TC -5 # ENTER: NEW ANGLES R56A TC BANKCALL CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA CAF ZERO TC BANKCALL CADR CLEANDSP R56A1 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK TC BANKCALL # Page 782 CADR GOMARK2 TCF GOTOPOOH # V34: TERMINATE TCF R56A1 # V33: DON'T PROCEED -- JUST ENTER TO MARK TC INTPRET DLOAD MRKBUF1 +3 STODL SAC MRKBUF1 +5 STORE PAC EXIT INHINT EXTEND DCA TIME2 INDEX MARKSTAT DXCH 0 CA CDUY # ENTER: THIS IS A BACKUP SYSTEM MARK INDEX MARKSTAT TS 2 CA SAC INDEX MARKSTAT TS 3 CA CDUZ INDEX MARKSTAT TS 4 CA PAC INDEX MARKSTAT TS 5 CA CDUX INDEX MARKSTAT TS 6 RELINT TC CLEARMRK # ENABLE EXTENDED VERBS CAF OCT16 TC BANKCALL CADR GOPERF1 TC GOTOPOOH # TERM. TCF R56B # PROCEED: MARK COMPLETED TCF R56A +2 # RECYCLE: DO ANOTHER MARK -- LIKE REJECT. R56B TC BANKCALL CADR R53C1 VB53 VN 05300 # ALTERNATE MARK VERB V06N94B VN 00694 SETLOC P50S BANK PLANET STORE TSIGHT STQ CALL QMIN LOCSAM VLOAD # Page 783 VEARTH STOVL 0D VSUN STOVL VEARTH 0D STORE VSUN NOSAM EXIT CS HIGH9 MASK STARCODE EXTEND MP SIGHTSIX XCH L INDEX STARIND TS BESTI CCS A TCF NOTPLAN CAF VNPLANV TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 TC INTPRET VLOAD VXSC STARSAV3 1/SQR3 UNIT GOTO CORPLAN NOTPLAN CS A AD DEC227 EXTEND BZMF CALSAM1 INDEX STARIND CA BESTI INDEX FIXLOC TS X1 TC INTPRET VLOAD* GOTO CATLOG,1 CORPLAN CALSAM1 TC INTPRET LXC,1 DLOAD* STARIND BESTI,1 LXC,1 VLOAD* MPAC STARAD -228D,1 CORPLAN VAD UNIT VEL/C GOTO # Page 784 QMIN DEC227 DEC 227 VNPLANV VN 0688 1/SQR3 2DEC .57735021
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