### FILE="Main.annotation"
## Copyright:	Public domain.
## Filename:	KALMAN_FILTER.agc
## Purpose:	Part of the reconstructed source code for LMY99 Rev 0,
##		otherwise known as Luminary Rev 99, the second release
##		of the Apollo Guidance Computer (AGC) software for Apollo 11.
##		It differs from LMY99 Rev 1 (the flown version) only in the
##		placement of a single label. The corrections shown here have
##		been verified to have the same bank checksums as AGC developer
##		Allan Klumpp's copy of Luminary Rev 99, and so are believed
##		to be accurate. This file is intended to be a faithful 
##		recreation, except that the code format has been changed to 
##		conform to the requirements of the yaYUL assembler rather than 
##		the original YUL assembler.
##
## Assembler:	yaYUL
## Contact:	Ron Burkey <info@sandroid.org>.
## Website:	www.ibiblio.org/apollo.
## Pages:	1470-1471
## Mod history:	2009-05-27 RSB	Adapted from the corresponding 
##				Luminary131 file, using page 
##				images from Luminary 1A.
##		2016-12-18 RSB	Proofed text comments with octopus/ProoferComments
##				but no errors found.
##		2017-08-01 MAS	Created from LMY99 Rev 1.

## 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.
##
## The code has been modified to match LMY99 Revision 0, otherwise
## known as Luminary Revision 99, the Apollo 11 software release preceeding
## the listing from which it was transcribed. It has been verified to
## contain the same bank checksums as AGC developer Allan Klumpp's listing
## of Luminary Revision 99 (for which we do not have scans).
##
## Notations on Allan Klumpp's listing read, in part:
##
##	ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51

## Page 1470
		EBANK=	NO.UJETS
		BANK	16
		SETLOC	DAPS1
		BANK

		COUNT*	$$/DAP

RATELOOP	CA	TWO
		TS	DAPTEMP6
		DOUBLE
		TS	Q
		INDEX	DAPTEMP6
		CCS	TJP
		TCF	+2
		TCF	LOOPRATE
		AD	-100MST6
		EXTEND
		BZMF	SMALLTJU
		INDEX	DAPTEMP6
		CCS	TJP
		CA	-100MST6
		TCF	+2
		CS	-100MST6
		INDEX	DAPTEMP6
		ADS	TJP
		INDEX	DAPTEMP6
		CCS	TJP
		CS	-100MS		# 0.1 AT 1
		TCF	+2
		CA	-100MS
LOOPRATE	EXTEND
		INDEX	DAPTEMP6
		MP	NO.PJETS
		CA	L
		INDEX	DAPTEMP6
		TS	DAPTEMP1	# SIGNED TORQUE AT 1 JET-SEC FOR FILTER
		EXTEND
		MP	BIT10		# RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
		EXTEND
		BZMF	NEGTORK
STORTORK	INDEX	Q		# INCREMENT DOWNLIST REGISTER.
		ADS	DOWNTORK	#	NOTE:  NOT INITIALIZED; OVERFLOWS.

		CCS	DAPTEMP6
		TCF	RATELOOP +1
		TCF	ROTORQUE
SMALLTJU	CA	ZERO
		INDEX	DAPTEMP6
		XCH	TJP
		EXTEND
## Page 1471
		MP	ELEVEN		# 10.24 PLUS
		CA	L
		TCF	LOOPRATE
ROTORQUE	CA	DAPTEMP2
		AD	DAPTEMP3
		EXTEND
		MP	1JACCR
		TS	JETRATER
		CS	DAPTEMP3
		AD	DAPTEMP2
		EXTEND
		MP	1JACCQ
		TS	JETRATEQ
		TCF	BACKP
-100MST6	DEC	-160

NEGTORK		COM
		INCR	Q
		TCF	STORTORK