| Quellcodebibliothek Statistik Leitseite products/Sources/formale Sprachen/Asm/Apollo-11/Translations/ Datei vom 11.9.2026 mit Größe 5 kB |
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SSL P51-P53.agc Sprache: Apollo |
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# Copyright: Public domain. # Filename: P51-P53.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: Hartmuth Gutsche <hgutsche@xplornet.com>. # Website: www.ibiblio.org/apollo. # Pages: 926-983 # Mod history: 2009-05-31 HG Transcribed from page images. # 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 926 # PROGRAM NAME -- PROG52 DATE -- JAN 9, 1967 # MOD NO -- 0 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDANCE REV 46 # # 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 ( R ) # -SM # # Y = UNIT (V X R) # SM # # Z = UNIT (X X Y ) # SM SM SM # # WHERE: # # R = THE GEOCENTRIC 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 # # (D) LANDING SITE -- THIS IS NOT AVAILABLE IN SUNDANCE # # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION # 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 -- # # Page 927 # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # # 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 BANK 33 SETLOC P50S BANK EBANK= BESTI COUNT* $$/P52 PROG52 TC BANKCALL CADR R02BOTH # IMU STATUS CHECK CAF PFRATBIT MASK FLAGWRD2 # IS PFRATFLG SET? CCS A # Page 928 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 # FLASH V04N06 TC GOTOPOOH TCF +5 # V33 -- PROCEED TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT TC PHASCHNG # DISPLAY RETURN OCT 00014 TC ENDOFJOB CA OPTION2 MASK THREE INDEX A TC +1 TCF OPT4 # OPTION 4 LANDING SITE TCF P52H # OPTION 1 PREFERRED TCF P52T # OPTION 2 NOMINAL P52E TC INTPRET # OPTION 3 REFSMMAT GOTO P52F # GO DO R51 OPT4 EXTEND DCA TLAND # IF OPTION 4 DISPLAY TLAND TCF P52T +2 P52T EXTEND DCA NEG0 DXCH DSPTEM1 CAF V06N34* TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 DXCH DSPTEM1 EXTEND BZMF +2 # IF TIME ZERO OR NEG USE TIME2 TCF +3 EXTEND DCA TIME2 DXCH TALIGN P52V CA OPTION2 MASK BIT2 CCS A TC P52W # Page 929 TC INTPRET # OPTION 4 -- GET LS ORIENTATION GOTO P52LS # Page 930 P52W TC INTPRET DLOAD CALL # PICK UP ALIGN TIME TALIGN # COMPUTED NOMINAL IMU S52.3 # ORIENTATION P52D CALL # READ VEHICLE ATTITUDE AND S52.2 # COMPUTE GIMBAL ANGLES EXIT CAF V06N22 TC BANKCALL # DISPLAY GIMBAL ANGLES CADR GOFLASH TC GOTOPOOH TCF COARSTYP # V33 -- PROCEED, SEE IF GYRO TORQUE COARSE P52H TC INTPRET GOTO P52D REGCOARS TC INTPRET CALL # DO COARSE ALIGN CAL53A # ROUTINE COARSRET SET CLEAR REFSMFLG PFRATFLG P52F CALL R51 P52OUT EXIT TC GOTOPOOH VB05N09 = V05N09 V06N34* VN 634 # Page 931 # CHECK FOR GYRO TORQUE COARSE ALIGNMENT COARSTYP CAF OCT13 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION CADR GOPERF1 TCF GOTOPOOH # V34 -- TERMIN&OE TCF REGCOARS # V33 -- NORMAL COARSE TC INTPRET # V32 -- GYRO TORQUE COARSE VLOAD MXV XSMD # GET SM(DESIRED) WRT SM(PRESENT) REFSMMAT UNIT STOVL XDC YSMD MXV UNIT REFSMMAT STOVL YDC ZSMD MXV UNIT REFSMMAT STCALL ZDC GYCOARS GOTO P52OUT OCT13 OCT 13 # Page 932 # COMPUTE LANDING ORIENTATION FOR OPTION 4 P52LS SET CLEAR # GET LANDING SITE ORIENTATION LUNAFLAG ERADFLAG # TO PICK UP RLS SETPD VLOAD 0 RLS # PICK UP LANDING SITE VEC IN MF PDDL PUSH # RLS PD 0-5 TALIGN STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4 RP-TO-R # TRANS RLS TO REF VSR2 STODL ALPHAV # INPUT TO LAT-LONG TALIGN CALL N89DISP VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD) ALPHAV STCALL XSMD LSORIENT GOTO P52D # NOW GO COMPUTE GIMBAL ANGLES. # Page 933 # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE SETLOC P50S1 BANK EBANK= XSM N89DISP STQ QMAJ STCALL GDT/2 +4 # TEMP STORE TIME LAT-LONG DLOAD SR1 LONG STODL LANDLONG ALT STODL LANDALT LAT STODL LANDLAT EXIT LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT TC BANKCALL CADR GOFLASH TCF GOTOPOOH # V34 -- TERMINATE -- EXIT P57 TCF +2 # V33 -- PROCEED -- ACCEPT LS DATA TCF LSDISP # V32 OR E -- LOOK AGAIN AND/OR LOAD NEW LS TC INTPRET DLOAD SL1 LANDLONG STODL LONG LANDALT STODL ALT LANDLAT STODL LAT GDT/2 +4 # PICK UP TIME CALL # GET RLS BACK FROM LAT,LONG,ALT LALOTORV # RLS B-29 IN MPAC AND ALPHAV GOTO QMAJ V06N89* VN 689 # Page 934 # NAME -- S50 ALIAS LOCSAM # BY # VINCENT # # FUNCTION -- COMPUTE INPUTS FOR PICAPAR AND PLANET # # DEFINE # # U = UNIT( SUN WRT EARTH ) # ES # # U = UNIT( MOON WRT EARTH ) # EM # # R = POSITION VECTOR OF LEM # L # # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON # EM # # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125 # EM # # R = EQUATORIAL RADIUS (6378.166KM) OF EARTH # E # # LOCSAM COMPUTES IN EARTH INFLUENCE # # VSUN = U # ES # # VEARTH = -UNIT( R ) # L # # VMOON = UNIT(R .U - R ) # EM EM L # # CSUN = COS 90 # # CEARTH = COS(5 + ARCSIN(R /MAG(R ))) # E L # # CMOON = COS 5 # # INPUT -- TIME IN MPAC # # OUTPUT -- LISTED ABOVE # # SUBROUTINES -- LSPOS, LEMPREC # # DEBRIS -- VAC AREA, TSIGHT # Page 935 COUNT* $$/LOSAM S50 = LOCSAM LOCSAM STQ QMIN STCALL TSIGHT LSPOS DLOAD TSIGHT STCALL TDEC1 LEMPREC SSP TIX,2 S2 0 MOONCNTR EARTCNTR VLOAD VXSC VMOON RSUBEM VSL1 VSU RATT UNIT STOVL VMOON RATT UNIT VCOMP STODL VEARTH RSUBE CALL OCCOS STODL CEARTH CSS5 STCALL CMOON ENDSAM MOONCNTR VLOAD VXSC VMOON ROE BVSU UNIT VSUN STOVL VSUN VMOON VXSC VAD RSUBEM RATT UNIT VCOMP STOVL VEARTH RATT UNIT VCOMP STODL VMOON RSUBM CALL OCCOS # Page 936 STODL CMOON CSS5 STORE CEARTH ENDSAM DLOAD CSSUN STORE CSUN GOTO QMIN OCCOS DDV SR1 36D ASIN DAD 5DEGREES COS SR1 RVQ CEARTH = 14D CSUN = 16D CMOON = 18D CSS5 2DEC .2490475 # (COS 5)/4 CSSUN 2DEC .125 # (COS 60)/4 5DEGREES 2DEC .013888889 # SCALED IN REVS # Page 937 # PROGRAM NAME -- R56 DATE: DEC 20 66 # MOD 1 LOG SECTION: P51-P53 # ASSEMBLY: SUNDISK REV4D # 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 INTERTIAL. EACH STAR IN THE CATALOG IS TESTED # TO DETERMIN 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 100 DEGREES # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN # 50 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 R56 # 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 # # DEBRIS # WORKAREA # X,Y,ZNB # SINCDU, COSCDU # STARAD -- STAR +5 R56 = PICAPAR COUNT* $$/R56 PICAPAR TC MAKECADR TS QMIN TC INTPRET CALL CDUTRIG CALL CALCSMSC SETPD 0 SET DLOAD # VFLAG = 1 VFLAG # Page 938 DPZERO STOVL BESTI XNB VXSC PDVL HALFDP ZNB AXT,1 VXSC 228D # X1 = 37 X 6 + 6 HALFDP VAD VXM UNIT REFSMMAT STORE SAX # SAX = SHAFT AXIS SSP SSP # S1 = S2 = 6 S1 6 S2 6 PIC1 TIX,1 GOTO # MAJOR STAR PIC2 PICEND PIC2 VLOAD* DOT CATLOG,1 SAX DSU BMN CSS33 PIC1 LXA,2 X1 PIC3 TIX,2 GOTO PIC4 PIC1 PIC4 VLOAD* DOT CATLOG,2 SAX DSU BMN CSS33 PIC3 VLOAD* DOT* CATLOG,1 CATLOG,2 DSU BPL CSS40 PIC3 VLOAD* CALL CATLOG,1 OCCULT BON CULTFLAG PIC1 # Page 939 VLOAD* CALL CATLOG,2 OCCULT BON CULTFLAG PIC3 STRATGY BONCLR VFLAG NEWPAR XCHX,1 XCHX,2 BESTI BESTJ STRAT VLOAD* DOT* CATLOG,1 CATLOG,2 PUSH BOFINV VFLAG STRAT -3 DLOAD DSU BPL PIC3 NEWPAR SXA,1 SXA,2 BESTI BESTJ GOTO PIC3 OCCULT MXV BVSU CULTRIX CSS BZE CULTED BMN SIGN CULTED MPAC +3 BMN SIGN CULTED MPAC +5 BMN CLRGO CULTED CULTFLAG QPRET CULTED SETGO CULTFLAG QPRET CSS = CEARTH CSS40 2DEC .16070 # COS 50 / 4 CSS33 2DEC .16070 # COS 50 / 4 PICEND BOFF EXIT # Page 940 VFLAG PICGXT TC PICBXT PICGXT LXA,1 LXA,2 BESTI BESTJ VLOAD DOT* SAX CATLOG,1 PDVL DOT* SAX CATLOG,2 DSU BPL SXA,1 PICNSWP BESTJ SXA,2 BESTI PICNSWP EXIT INCR QMIN PICBXT CA QMIN TC SWCALL VPD = 0D V0 = 6D V1 = 12D V2 = 18D V3 = 24D DP0 = 30D DP1 = 32D # Page 941 # NAME -- R51 FINE ALIGN # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT # CALLING SEQ -- CALL R51 # INPUT -- REFSMMAT # OUTPUT -- GYRO TORQUE PULSES # SUBROUTINES -- LOCSAM, PICAPAR, R52, R53, R54, R55 COUNT* $$/R51 R51 STQ QMAJ R51.1 EXIT TC PHASCHNG OCT 04024 R51C CAF OCT15 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC +2 # V33E TC R51E # ENTER TC INTPRET RTB DAD LOADTIME TSIGHT1 CALL LOCSAM EXIT TC BANKCALL CADR R56 TC R51I R51F TC R51E R51I TC ALARM OCT 405 CAF VB05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC R51E TC R51C R51E CAF ZERO TS STARIND R51.2 TC INTPRET R51.3 EXIT TC PHASCHNG OCT 04024 TC INTPRET CALL R52 # AOP WILL MAKE CALLS TO SIGHTING EXIT TC BANKCALL # Page 942 CADR AOTMARK TC BANKCALL CADR OPTSTALL TC CURTAINS CCS STARIND TCF +2 TC R51.4 TC INTPRET VLOAD STARAD +6 STORE STARSAV2 EXIT TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT PLANET MXV UNIT REFSMMAT STOVL STARAD +6 PLANVEC MXV UNIT REFSMMAT STOVL STARAD STARSAV1 STOVL 6D STARSAV2 STCALL 12D R54 # STAR DATA TEST BOFF CALL FREEFLAG R51K AXISGEN CALL R55 # GYRO TORQUE CLEAR PFRATFLG R51K EXIT R51P63 CAF OCT14 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC R51C TC INTPRET GOTO QMAJ R51.4 TC INTPRET VLOAD # Page 943 STARAD +6 STORE STARSAV1 DLOAD CALL TSIGHT PLANET STORE PLANVEC SSP STARIND 1 GOTO R51.3 TSIGHT1 2DEC 36000 # 6 MIN TO MARKING # Page 944 # GYRO TORQUE COARSE ALGNMENT GYCOARS STQ CALL QMAJ CALCGTA CLEAR CLEAR DRIFTFLG REFSMFLG EXIT CAF V16N20 # MONITOR GIMBALS 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 # STORE DESIRED REFSMMAT MATMOVE CLEAR SET PFRATFLG REFSMFLG CALL NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT GOTO R51K V16N20 VN 1620 # Page 945 # 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 COUNT* $$/R55 R55 STQ QMIN CALL CALCGTA PULSEM EXIT R55.1 CAF V06N93 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC R55.2 TC R55RET R55.2 TC PHASCHNG OCT 00214 CA R55CDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TC PHASCHNG OCT 04024 R55RET TC INTPRET GOTO QMIN V06N93 VN 0693 R55CDR ECADR OGC R54 = CHKSDATA # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967 # MOD NO -- 0 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- # # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR S # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED -- # OS1 = OBSERVED STAR 1 VECTOR # OS2 = OBSERVED STAR 2 VECTOR # SS1 = STORED STAR 1 VECTOR # SS2 = STORED STAR 2 VECTOR # A1 = ARCCOS(OS1 - OS2) # A2 = ARCCOS(SS1 - SS2) # A = ABS(2(A1 - A2)) # Page 946 # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE. # # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE # # OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS. # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D. # # ERASABLE INITIALIZATION REQUIRED -- # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6. # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D. # # DEBRIS -- COUNT* $$/R54 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 18D ABS RTB # COMPUTE POS DIFF SGNAGREE STORE NORMTEM1 SET EXIT FREEFLAG CAF VB6N5 TC BANKCALL CADR GOFLASH TCF GOTOPOOH TC CHKSDA # PROCEED TC INTPRET CLEAR GOTO FREEFLAG QMIN CHKSDA TC INTPRET # Page 947 GOTO QMIN VB6N5 VN 605 # NAME -- CAL53A # FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY # CALLING SEQUENCE -- CALL CAL53A # INPUT -- X,Y,ZSMD, CDUX,Y,Z # DESIRED GIMBAL ANGLES -- THETAD,+1,+2 # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT # SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE COUNT* $$/R50 CAL53A CALL S52.2 # MAKE ONE FINAL COMP OF GIMBAL ANGLES RTB SSP RDCDUS # READ CDUS S1 1 AXT,1 SETPD 3 4 CALOOP DLOAD* SR1 THETAD +3D,1 PDDL* SR1 4,1 DSU ABS PUSH DSU DEGREE1 BMN DLOAD CALOOP1 DSU BPL DEG359 CALOOP1 EXIT TC PHASCHNG OCT 04024 TC INTPRET COARFINE CALL COARSE CALL NCOARSE GOTO FINEONLY CALOOP1 TIX,1 CALOOP FINEONLY AXC,1 AXC,2 XSM REFSMMAT CALL MATMOVE # Page 948 GOTO COARSRET MATMOVE VLOAD* # TRANSFER MATRIX 0,1 STORE 0,2 VLOAD* 6D,1 STORE 6D,2 VLOAD* 12D,1 STORE 12D,2 RVQ DEGREE1 DEC 46 # 1 DEG SCALED CDU/2 DEG359 DEC 16338 # 359 DEG SCALED CDU/2 RDCDUS INHINT # READ CDUS CA CDUX INDEX FIXLOC TS 1 CA CDUY INDEX FIXLOC TS 2 CA CDUZ INDEX FIXLOC TS 3 RELINT TC DANZIG COUNT* $$/INFLT # Page 949 # NAME -- P51 -- IMU ORIENTATION DETERMINATION # MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53 # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56 # # FUNCTIONAL DESCRIPTION # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SI # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THE # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN. # # CALLING SEQUENCE # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # # SUBROUTINES CALLED # GOPERF3 # GOPERF1 # GODSPR # IMUCOARS # IMUFIN20 # AOTMARK (R53) # CHKSDATA (R54) # MKRELEAS # AXISGEN # MATMOVE # # ALARMS # NONE. # # ERASABLE INITIALIZATION # IMU ZERO FLAG SHOULD BE SET. # # OUTPUT # REFSMMAT # REFSMFLG # # DEBRIS # WORK AREA # STARAD # STARIND # BESTI # BESTJ COUNT* $$/P51 # Page 950 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH. CAF OCT15 TC BANKCALL CADR GOPERF1 TC GOTOPOOH # TERM. TCF P51B # V33 TC PHASCHNG OCT 04024 CAF ZERO TS THETAD # ZERO THE GIMBALS TS THETAD +1 TS THETAD +2 CAF V06N22 TC BANKCALL CADR GODSPRET CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41 TC BANKCALL CADR GODSPRET TC INTPRET CALL COARSE EXIT TC PHASCHNG OCT 04024 TCF P51 +2 P51B TC PHASCHNG OCT 00014 TC INTPRET CALL NCOARSE SSP SETPD STARIND # INDEX -- STAR 1 OR 2 0 0 P51C EXIT TC PHASCHNG OCT 04024 TC BANKCALL CADR AOTMARK # R53 TC BANKCALL CADR AOTSTALL TC CURTAINS CCS STARIND TCF P51D +1 TC INTPRET # Page 951 VLOAD STARAD +6 STORE STARSAV1 P51D EXIT TC PHASCHNG OCT 04024 CCS STARIND TCF P51E TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT PLANET STORE PLANVEC EXIT CAF BIT1 TS STARIND TCF P51C +1 # DO SECOND STAR P51E TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT PLANET STOVL 12D PLANVEC STOVL 6D STARSAV1 STOVL STARAD STARSAV2 STCALL STARAD +6 CHKSDATA # CHECK STAR ANGLES IN STARAD AND BON EXIT FREEFLAG P51G TC P51 +2 P51G CALL AXISGEN # COME BACK WITH REFSMMAT IN XDC AXC,1 AXC,2 XDC REFSMMAT CALL MATMOVE SET EXIT REFSMFLG TC GOTOPOOH # FINIS # Page 952 V41K VN 4100 COARSE EXIT TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC CURTAINS TC BANKCALL CADR IMUFINE TC BANKCALL CADR IMUSTALL TC CURTAINS TC INTPRET RVQ NCOARSE EXIT CA TIME1 TS 1/PIPADT CS ZERO TS PIPAX TS PIPAY TS PIPAZ TC INTPRET VLOAD ZEROVEC STORE GCOMP SET RVQ DRIFTFLG # Page 953 # NAME -- S52.2 # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE # CALL -- CALL S52.2 # INPUT -- X,Y,ZSMD # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2 # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA COUNT* $$/S52.1 S52.2 STQ CALL QMAJ 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 954 # NAME -- S52.3 # FUNCTION -- XSMD= UNIT R # YSMD= UNIT(V X R) # ZSMD= UNIT(XSMD X YSMD) # CALL -- DLOAD CALL # TALIGN # S52.3 # INPUT -- TIME OF ALIGNMENT IN MPAC # OUTPUT -- X,Y,ZSMD # SUBROUTINES -- CSMCONIC COUNT* $$/S52.3 S52.3 STQ QMAJ STCALL TDEC1 LEMCONIC VLOAD UNIT RATT STOVL XSMD VATT VXV UNIT RATT STOVL YSMD XSMD VXV UNIT YSMD STCALL ZSMD QMAJ # Page 955 # NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE) # # FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT # # CALLING -- CALL R52 # # INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6) # # OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9 # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID) # POINTVSM-1/2 UNIT NAV STAR VEC IN SM # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE # # SUBROUT -- R60LEM COUNT* $$/R52 R52 STQ EXIT SAVQR52 INDEX STARIND CA BESTI # PICK UP STARCODE DETERMINED BY R56 EXTEND MP 1/6TH AD BIT8 # SET DETENT POSITION 2 TS STARCODE # SCALE AND STORE IN STARCODE R52A CAF V01N70 TC BANKCALL CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE TC GOTOPOOH # V34 -- TERMINATE TCF R52B # V33 -- PROCEED TO ORIENT LEM TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE R52B TC DOWNFLAG ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT CA STARCODE # GRAB DETENT CODE MASK HIGH9 EXTEND MP BIT9 TS L # TEMP STORE DETENT EXTEND BZMF GETAZEL # CODE 0, COAS CALIBRATION AD NEG7 EXTEND BZF GETAZEL # CODE 7, COAS SIGHTING EBANK= XYMARK CA EBANK7 TS EBANK # Page 956 INDEX L CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT TS L EBANK= XSM CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L TS EBANK CA BIT13 # SET ELV TO 45 DEG XCH L # SET C(A)=AZ, C(L)=45 DEG TCF AZEL # GO COMP OPTIC AXIS GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN TC BANKCALL CADR GOFLASH TC GOTOPOOH # V34 -- TERMINATE TCF +2 # PROCEED -- CALC OPTIC AXIS TCF GETAZEL # ENTER -- RECYCLE EXTEND DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC DXCH 8D TC INTPRET CALL # GO COMPUTE OPTIC AXIS AND STORE IN OANB # SCAXIS IN NB COORDS RTB CALL LOADTIME PLANET MXV UNIT REFSMMAT STORE POINTVSM # STORE FOR VECPOINT EXIT TC BANKCALL CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE MASK STARCODE EXTEND BZF R52A TC INTPRET # RETURN FROM KALCMANU GOTO SAVQR52 # RETURN TO CALLER 1/6TH DEC .1666667 V01N70 VN 0170 V06N87 VN 687 # Page 957 # LUNAR SURFACE STAR ACQUISITION BANK 15 SETLOC P50S BANK COUNT* $$/R59 R59 CS FLAGWRD3 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE CCS A TCF R59OUT # NO REFSMMAT GO TO AOTMARK CAF V01N70* # SELECT STAR CODE FOR ACQUISITION TC BANKCALL CADR GOFLASH TC GOTOPOOH # V34 -- TERMINATE TCF R59A # V33 -- PROCEED TCF R59 # V32 -- RECYCLE R59A CS HIGH9 # GRAB STARCODE FOR INDEX MASK AOTCODE EXTEND MP REVCNT # JUST 6 XCH L INDEX STARIND TS BESTI INDEX FIXLOC TS X1 # CODE X 6 FOR CATLOG STAR INDEX EXTEND BZF R59OUT # BYPASS ACQUISITION IF NOT CATLOG STAR COM AD DEC227 EXTEND BZMF R59OUT TC INTPRET VLOAD* MXV CATLOG,1 # GRAB STAR VECTOR REFSMMAT # TRANSFORM TO SM UNIT CALL CDU*SMNB STORE STAR # TEMP STORE STAR VEC(NB) EXIT CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60) TS POSCODE EBANK= XYMARK INCAZ CA EBANK7 TS EBANK # Page 958 INDEX POSCODE CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE TS L EBANK= XSM CA EBANK5 TS EBANK CA BIT13 # SET ELV TO 45 DEG XCH L # SET C(A)=AZ, C(L)=45 DEG TS QMIN # STORE QMIN=AZ FOR LATER INDEX FIXLOC DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB TC INTPRET CALL OANB # GO CALC OPTIC AXIS WRT NB VLOAD DOT STAR # DOT STAR WITH OA SCAXIS SL1 ARCCOS STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS) DSU BPL DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW NXAX # NOT IN FIELD -- TRY NEXT POSITION DLOAD DSU # SEE IF STAR AT FIELD CENTER 24D DEG.5 BMN DLOAD # CALC SPIRAL AND CURSOR ZSPCR # GO ZERO CURSOR AND SPIRAL 24D # GET SPIRAL DMP SL4 3/4 # 12 SCALED AT 16 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS SCAXIS # OA VXV UNIT XUNIT PUSH VXV # OA X UNITX PD 0-5 SCAXIS VCOMP UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11 SCAXIS VXV UNIT STAR PUSH DOT # 1/2(OA X STAR) PD 12-17 0 # DOT WITH 1/2(OA X UNITX) FOR YROT SL1 ARCCOS STOVL 26D # STORE THET SCALED IN REVS # Page 959 DOT # UP 12-17, UP 6-11 FOR C2 BPL DLOAD # IF THET NEG -- GET 360-THET R59D ABOUTONE DSU 26D STORE 26D # 360-THET SCALED IN REVS R59D SLOAD SR1 QMIN # RESCALE AZ(N) TO REVS DAD PUSH # PUSH YROT + AZ(N) REVS 26D RTB 1STO2S STODL CURSOR # YROT IN 1/2 REVS 24D # LOAD SROT IN REVS DAD # 12(SEP) + YROT RTB 1STO2S STORE SPIRAL # SROT IN 1/2 REVS EXIT TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE ZSPCR EXIT CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR TS CURSOR # AND SPIRAL ANGLES TS SPIRAL TCF 79DISP NXAX EXIT INCR POSCODE CS POSCODE AD SEVEN EXTEND BZMF R59ALM # THIS STAR NOT AT ANY POSITION TCF INCAZ R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD OCT 404 CAF VB05N09 # DISPLAY ALARM TC BANKCALL CADR GOFLASH TCF GOTOPOOH # VB34 -- TERMINATE TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE TC BANKCALL CADR GOFLASH TCF GOTOPOOH # V34 -- TERMINATE # Page 960 TCF R59E # V33 -- PROCEED TO MARK ROUTINE TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE MASK POSCODE EXTEND MP BIT7 # DETEND CODE NOW IN L CS HIGH9 MASK AOTCODE # ISOLATE STAR NO BIT 1-6 AD L TS AOTCODE # STORE DETENT 7-9 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING CADR AOTMARK TC BANKCALL CADR AOTSTALL # SLEEP TILL SIGHTING DONE TC CURTAINS # BADEND RETURN FROM AOTMARK TCF R59RET # RETURN TO 1 STAR OR 2STAR V01N70* VN 170 V06N79 VN 679 DEG30 2DEC .083333333 # 30 DEGREES DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS. DEG60 OCT 12525 # 60 DEG CDU SCALING CURSOR EQUALS GDT/2 SPIRAL EQUALS GDT/2 +2 POSCODE EQUALS GDT/2 +4 # Page 961 # NAME -- PLANET # FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED # BY DSKY INPUT. # CALL -- CALL # PLANET # INPUT -- TIME IN MPAC # OUTPUT -- VECTOR IN MPAC # SUBROUTINES -- LOCSAM # DEBRIS -- VAC, STARAD - STARAD +17 SETLOC P50S BANK COUNT* $$/P51 PLANET STOVL TSIGHT ZEROVEC STORE STARAD STQ EXIT GCTR CS HIGH9 MASK AOTCODE EXTEND MP REVCNT XCH L INDEX STARIND TS BESTI CCS A TCF NOTPLAN CAF VNPLANV TC BANKCALL CADR GOFLASH TC -3 TC +2 TC -5 TC INTPRET VLOAD UNIT STARAD GOTO GCTR NOTPLAN CS A AD DEC227 EXTEND BZMF CALSAM1 INDEX STARIND CA BESTI INDEX FIXLOC TS X1 TC INTPRET # Page 962 VLOAD* GOTO CATLOG,1 GCTR CALSAM1 TC INTPRET CALSAM DLOAD CALL TSIGHT LOCSAM LXC,1 VLOAD STARIND VEARTH STOVL 0D VSUN STOVL VEARTH 0D STORE VSUN DLOAD* LXC,1 BESTI,1 MPAC VLOAD* GOTO STARAD -228D,1 GCTR DEC227 DEC 227 VNPLANV VN 0688 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1 # Page 963 # GRAVITY VECTOR DETERMINATION ROUTINE # BY KEN VINCENT # # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5. # # THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY # WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO # PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO # ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE # READINGS. # # CALL -- # TC BANKCALL # CADR GVDETER # # INPUTS -- # PIPAS, CDUS # # OUTPUTS -- # STARSAV1 = UNIT GRAVITY # GSAV = DITTO # GRAVBIT = 1 # # SUBROUTINES -- # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG, # *NBSM*, *SNMB*, CALCGA, GOFLASH # # DEBRIS -- # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU GVDETER CAF 42DEG TS THETAD COM TS THETAD +1 CAF 35DEG TS THETAD +2 TC INTPRET CLEAR CALL REFSMFLG LUNG # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC # # DEFINE G COOR SYS # _ # [ X ] [ UNIT G ] # * [ _ ] [ _ ] # M = [ Y ] = [ UNITEZSM * X ] # [ _ ] [ _ _ ] # [ Z ] [ UNIT( X * Y )] # # THEN ROTATED SM WRT PRESENT IS # # Page 964 # [ 1 0 0 ] # * *T [ ] * * * # XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I # [ ] I J # [ 0 0 -1 ] # # ALSO NB WRT PRES SM IS # # * * * # XNB = NBSM I # # * * # GIMBAL ANGLES = CALCGA( XSM, XNB ) SETLOC P50S BANK COUNT* $$/P57 AXT,1 SSP # X1=18 18D # S1=6 S1 # X2, -2 6D LXC,2 S1 GRAVEL VLOAD* CALL XUNIT -6,2 *NBSM* # SIN AND COS COMPUTED IN LUNG STORE XNB +18D,1 VLOAD STAR LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD -- X2 STAR +6,2 # OUTER PRODUCT VSL2 LXC,2 X2 VSU* INCR,2 XUNIT -6,2 2D STORE XSM +18D,1 TIX,1 CALL GRAVEL CALCGA VLOAD VSR1 GOUT STCALL STARAD +12D LUNG VLOAD VSR1 GOUT VAD UNIT STARAD +12D STORE STARSAV1 DOT GSAV SL1 ACOS # Page 965 STORE DSPTEM1 EXIT TC DOWNFLAG # CLAR FREEFLAG IN CASE OF RECYCLE ADRES FREEFLAG CA DISGRVER TC BANKCALL CADR GOFLASH TC GOTOPOOH TCF PROGRAV # VB33 -- PROCEED TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE PROGRAV TC PHASCHNG OCT 04024 TC INTPRET VLOAD STARSAV1 STORE GSAV EXIT CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY MASK FLAGWRD0 CCS A TCF GVDETER # SET TCF ATTCHK # EXIT FROM GVDETER LUNG STQ VLOAD QMIN ZEROVEC STORE GACC EXIT TC PHASCHNG OCT 04024 TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC CURTAINS TC BANKCALL CADR IMUFINE TC BANKCALL CADR IMUSTALL TC CURTAINS CA T/2SEC TS GCTR CA PRIO31 TS 1/PIPADT TC BANKCALL # Page 966 CADR GCOMPZER # INITIALIZE COMPENSATION TC PHASCHNG OCT 04024 TC BANKCALL # DON'T NEED TO INHINT. THIS USED TO CADR PIPSRINE # INITIALIZE PIPAS. DON'T USE DATA TC INTPRET GREED EXIT # = MASK 7776 IN BASIC SO DON'T CARE CAF 2SECS TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS ADRES GRABGRAV TC ENDOFJOB GRABGRAV TC IBNKCALL CADR PIPSRINE CAF PRIO13 # RE-ESTABLISH MAINLINE JOB TC FINDVAC EBANK= STARAD 2CADR ADDGRAV TC TASKOVER ADDGRAV TC BANKCALL CADR 1/PIPA INCR GCTR TC INTPRET VLOAD VAD DELV GACC STORE GACC # ACCUMULATE G VECTOR SLOAD BMN GCTR GREED VLOAD UNIT GACC STCALL STAR CDUTRIG # TRANSFORM IN NB COOR AND STORE CALL # IN OUTPUT *SMNB* STORE GOUT EXIT TC PHASCHNG OCT 04024 QMINEXIT TC INTPRET GOTO QMIN T/2SEC DEC -20 # Page 967 DISGRVER VN 0604 42DEG OCT 07357 35DEG OCT 06211 # Page 968 # NAME -- GYROTRIM # # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION. # # CALL CALL # GYROTRIM # # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES # CDUX,CDUY,CDUZ # # OUTPUT GYRO TORQUE PULSES # # SUBROUTINES TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE # IMPULSE, IMUSTALL # _______ ______ ______ * * ___ # DEBRIS CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC COUNT* $$/P57 GYROTRIM STQ DLOAD QMIN THETAD PDDL PDDL THETAD +2 THETAD +1 VDEF STOVL CDUSPOT XUNIT CALL TRG*NBSM STOVL STARAD YUNIT CALL *NBSM* STCALL STARAD +6 CDUTRIG CALL CALCSMSC VLOAD XNB STOVL 6D YNB STCALL 12D AXISGEN CALL CALCGTA JUSTTRIM EXIT TC BANKCALL CADR IMUFINE TC BANKCALL # Page 969 CADR IMUSTALL TC CURTAINS CA GYRCDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TCF QMINEXIT GYRCDR ECADR OGC # Page 970 # PERFORM STAR ACQUISITION AND STAR SIGHTINGS 2STARS CAF ZERO # INITIALIZE STARIND TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR 1STAR CAF BIT1 TS STARIND TC PHASCHNG OCT 04024 TCF R59 # GO DO STAR ACQUIRE AND AOTMARK R59RET CA STARIND # BACK FROM SURFACE MARKING EXTEND BZF ASTAR # 1ST STAR MARKED TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT # TIME OF 2ND MARK PLANET STCALL VEC2 # STORE 2ND CATALOG VEC (REF) SURFLINE ASTAR TC INTPRET VLOAD STARAD +6 STORE STARSAV1 # 1ST OBSERVED STAR (SM) DLOAD CALL TSIGHT # TIME OF 1ST MARK PLANET STORE VEC1 # STORE 1ST CATALOG VEC (REF) EXIT TCF 1STAR # GO GET 2ND STAR SIGHTING # Page 971 # DO FINE OR COARSE ALIGNMENT OF IMU SURFLINE SSP AXT,2 S2 6 12D WRTDESIR VLOAD* MXV VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH XSMD UNIT STORE STARAD +12D,2 # VEC IN SM VLOAD* STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM STORE 18D,2 TIX,2 BON WRTDESIR INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54 INITBY DOALIGN CALL R54 # DO CHKSDATA BOFF FREEFLAG P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS INITBY CALL AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC CALL CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC EXIT CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY MASK FLAGWRD8 CCS A TCF 5DEGTEST CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93 TC BANKCALL CADR GOFLASH TC GOTOPOOH # V34 -- TERMINATE TCF 5DEGTEST # VB33 -- PROCEED TO COARSE OR FINE TCF P57POST +1 # VB32 -- RECYCLE, MAYBE RE-ALIGN 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE VLOAD BOV OGC SURFSUP SURFSUP STORE OGCT V/SC BOV 5DEGREES COATRIM SSP GOTO QMIN SURFDISP # Page 972 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ SURFDISP EXIT TC PHASCHNG OCT 04024 TC INTPRET AXC,1 AXC,2 XSMD REFSMMAT SET CALL REFSMFLG MATMOVE EXIT CCS OPTION2 # IF OPTION ZERO DO FINISH TCF B2F8 TCF P57POST +1 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE. MASK FLAGWRD8 CCS A TCF P57JUMP # IT'S SET TC INTPRET CALL REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV) P57POST EXIT CAF OCT14 # DISPLAY V50N25 CHK CODE 14 TC BANKCALL CADR GOPERF1 TCF GOTOPOOH # VB34 -- TERMINATE TCF P57JUMP # VB33 -- PROCEED TO RE-ALIGN CS BIT2 # TEST TO SEE IF ALIGNED BY OPTION 2 AD OPTION2 EXTEND BZF +2 # YES -- GO CALCULATE LANDING SITE TCF GOTOPOOH # NO -- EXIT P57 TC PHASCHNG # RESTART PLACE OCT 04024 TC INTPRET VLOAD CALL # USE GNB GSAV CDU*NBSM # GO TO SM COORDS VXM SET # ON MOON SO SET LUNAFLAG REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB LUNAFLAG PDVL ABVAL RLS VXSC STADR STORE ALPHAV # ALPHAV = RLSMAG * G(REF) CLEAR RTB # Page 973 ERADFLAG LOADTIME CALL N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK STORE RN # RN=RLS B-29 = LM POSITION VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-50 IN PDLIST GDT/2 +4 # TIME TEMP STORED IN N89DISP PUSH # TIME AT 6-7 IN PDLIST STCALL PIPTIME # PIPTIME = LM STATE TIME R-TO-RP STORE RLS # RLS IN MOON-FIXED COORDS EXIT TCF GOTOPOOH # EXIT P57 # Page 974 # COARSE AND FINE ALIGN IMU COATRIM AXC,1 AXC,2 XDC XSM CALL MATMOVE CALL CDUTRIG CALL CALCSMSC CALL CALCGA BOFF EXIT INITALGN # IF INITIAL ALIGNMENT DISPLAY FINAL CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER CAF V06N22 # THAN 5 DEGREES TC BANKCALL CADR GOFLASH TC GOTOPOOH TCF +2 TCF -5 TC PHASCHNG OCT 04024 TC INTPRET CORSIT CALL COARSE CALL NCOARSE CALL GYROTRIM GOTO SURFDISP DISPGYRO VN 0693 # Page 975 # LUNAR SURFACE IMU ALIGNMENT PROGRAM P57 TC BANKCALL # IS ISS ON -- IF NOT, IMUCHK WILL SEND CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP. TS OPTION2 P57OPT CAF BIT1 TC BANKCALL CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE TC GOTOPOOH # V34 TERMINATE TCF ALIGNOPT # V33 PROCEED TCF P57OPT # V32 RECYCLE TC PHASCHNG OCT 00014 TC ENDOFJOB ALIGNOPT CA OPTION2 MASK THREE INDEX A TCF +1 TCF TDISP # OPTION 4 LS ORIENTATION TCF PACKOPTN # OPTION 1 PREFERRED TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE TC INTPRET # OPTION 3 REFSMMAT AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC REFSMMAT XSMD CALL MATMOVE GOTO PACKOPTN -1 TDISP TC INTPRET DLOAD TIG # LOAD ASCENT TIME FOR DISPLAY P57A STORE DSPTEM1 EXIT P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1 TC BANKCALL CADR GOFLASH TCF GOTOPOOH # V34 -- TERMINATE TCF +2 TCF P57AA # VB32 -- RECYCLE TC INTPRET RTB PDDL LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN DSPTEM1 # Page 976 BZE PDDL P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1 DSPTEM1 P57C DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME STORE TIG # STORE IT IN TIG STCALL TALIGN P57D P57C DLOAD STADR STORE TALIGN P57D STCALL TDEC1 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE VLOAD UNIT # IN X,Y,ZSMD RATT STCALL XSMD LSORIENT EXIT PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION CAF REFSMBIT MASK FLAGWRD3 # REFSMFLG CCS A CAF BIT7 # SET ADS OPTION1 +2 # CLEAR -- JUST ZERO CAF ATTFLBIT MASK FLAGWRD6 # ATTFLG CCS A CAF BIT4 # SET ADS OPTION1 +2 # CLEAR -- ZERO IN A CAF BIT4 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS TC BANKCALL CADR GOFLASH TCF GOTOPOOH # VB34 -- TERMINATE TCF +2 # V33 -- PROCEED TCF DSPOPTN # V32 -- RECYCLE CAF REFSMBIT MASK FLAGWRD3 CCS A TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE CAF ATTFLBIT # CLEAR -- CHECK ATTFLAG FOR STORED ATTITUDE. MASK FLAGWRD6 CCS A TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP CAF BIT2 # SEE IF OPTION 2 OR 3 # Page 977 MASK OPTION2 CCS A TCF BYLMATT # OPTION 2 OR 3 BUT DON'T HAVE ATTITUDE TC ALARM # OPTION INCONSISTENT WITH FLAGS -- ALARM 701 OCT 701 CAF VB05N09 # DISPLAY ALARM FOR ACTION TC BANKCALL CADR GOFLASH TCF GOTOPOOH # VB34 -- TERMINATE TCF DSPOPTN # V33 -- PROCEED *********TEMPORARY TCF DSPOPTN # VB32 -- RECYCLE TO OPTION DISPLAY V 05N06 # Page 978 # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2 MFREF STQ SETPD QMAJ 0 RTB LOADTIME STOVL TSIGHT VEC1 PDDL PUSH TSIGHT CALL RP-TO-R STOVL VEC1 VEC2 SETPD PDDL 0 TSIGHT PUSH CALL RP-TO-R STCALL VEC2 QMAJ # Page 979 # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND # STORE IN YNBSAV AND ZNBSAV. REFMF STQ CALL QMAJ CDUTRIG # GET SIN AND COS OF CDUS RTB SETPD LOADTIME 0 STCALL TSIGHT CALCSMSC # GET YNB IN SM VLOAD VXM YNB REFSMMAT # YNB TO REF UNIT PDDL TSIGHT PUSH CALL R-TO-RP STOVL YNBSAV # YNB TO MF ZNB VXM UNIT REFSMMAT # ZNB TO REF PDDL PUSH TSIGHT CALL R-TO-RP # ZNB TO MF STORE ZNBSAV SETGO ATTFLAG QMAJ # Page 980 # BRANCH TO ALIGNMENT OPTION GETLMATT TC INTPRET CALL REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV EXIT BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG ADRES INITALGN CAF BIT1 MASK OPTION2 # SEE IF OPTION 1 OR 3 CCS A TCF GVDETER # OPTION 1 OR 2, GET GRAVITY ATTCHK TC PHASCHNG OCT 04024 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG MASK FLAGWRD6 CCS A TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0 P57JUMP TC PHASCHNG OCT 04024 TC DOWNFLAG # ATTFLG CLEAR -- RESET INTALIGN FLAG ADRES INITALGN CAF THREE MASK OPTION2 # BRANCH ON OPTION CODE INDEX A TCF +1 TCF P57OPT0 # OPTION IS 0 TCF P57OPT1 # OPTION IS 1 TCF P57OPT2 # OPTION IS 2 TCF P57OPT3 # OPTION IS 3 # Page 981 # OPTION 0, GET TWO ATTITUDE VECS P57OPT0 TC INTPRET VLOAD YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF STOVL VEC1 ZNBSAV STCALL VEC2 CDUTRIG CALL CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM VLOAD YNB SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM ZNB STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM MFREF # TRANSFORM VEC1,2 FROM MF TO REF GOTO SURFLINE # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC P57OPT1 TC INTPRET VLOAD UNIT RLS # LANDING SITE VEC STOVL VEC1 ZNBSAV # Z ATTITUDE VEC STCALL VEC2 CDUTRIG CALL CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2 VLOAD CALL GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1 CDU*NBSM GOTO SAMETYP # NOW DO SAME AS OPTION 0 # Page 982 # OPTION 2, GET TWO STAR SIGHTINGS P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING P57OPT3 TC INTPRET VLOAD UNIT RLS # LANDING SITE VEC STORE VEC1 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR GSAV # GRAVITY VEC NB CALL CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1 STCALL STARSAV1 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR EXIT TCF 1STAR # 1STAR GET VEC2, STARSAV2 GOES TO SURFLINE. VB05N06 VN 506 # Page 983 # CHECK IMODES30 TO VERIFY IMU IS ON IMUCHK CS IMODES30 MASK BIT9 CCS A # IS IMU ON TCF +4 # YES TC ALARM # NO, SEND ALARM AND EXIT OCT 210 TC GOTOPOOH TC UPFLAG ADRES IMUSE # SET IMUSE FLAG TC SWRETURN BANK 04 SETLOC AOTMARK2 BANK COUNT* $$/P57 LSORIENT STQ VLOAD QMAJ RRECTCSM VXV VXV VRECTCSM XSMD UNIT STORE ZSMD VXV UNIT XSMD STCALL YSMD QMAJ
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2026-10-11