### FILE="Main.annotation" ## Copyright: Public domain. ## Filename: KALMAN_FILTER.agc ## Purpose: A section of LM131 revision 1. ## It is part of the reconstructed source code for the final ## release of the flight software for the Lunar Module's (LM) ## Apollo Guidance Computer (AGC) for Apollo 13. The code has ## been reconstructed from a listing of Luminary 131 and a dump ## of a core rope memory module B5, part number 2010802-171, ## which is the only module different between LM131 revision 1 ## and Luminary 131. The executable generated from this source ## has been verified against the module dump, so while the names, ## comments, and ordering may not be exactly correct, the ## resulting binary is. ## Reference: pp. 1462-1463 ## Assembler: yaYUL ## Contact: Ron Burkey . ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2022-10-28 MAS Created from Luminary 131. ## Page 1462 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 1463 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